[4541] | 1 | /* |
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| 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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| 11 | ### File Specific: |
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| 12 | main-programmer: Patrick Boenzli |
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| 13 | co-programmer: ... |
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| 14 | */ |
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| 15 | |
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| 16 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION |
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| 17 | |
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| 18 | #include "obb_tree_node.h" |
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[4542] | 19 | #include "list.h" |
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| 20 | #include "obb.h" |
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[4544] | 21 | #include "fast_math.h" |
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| 22 | #include "vector.h" |
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[4541] | 23 | |
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[4543] | 24 | #include <math.h> |
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| 25 | |
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[4541] | 26 | using namespace std; |
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| 27 | |
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| 28 | |
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| 29 | /** |
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| 30 | \brief standard constructor |
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| 31 | */ |
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| 32 | OBBTreeNode::OBBTreeNode () |
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| 33 | { |
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| 34 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
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| 35 | |
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| 36 | } |
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| 37 | |
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| 38 | |
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| 39 | /** |
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| 40 | \brief standard deconstructor |
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| 41 | |
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| 42 | */ |
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| 43 | OBBTreeNode::~OBBTreeNode () |
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| 44 | { |
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| 45 | // delete what has to be deleted here |
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| 46 | } |
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| 47 | |
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| 48 | |
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[4542] | 49 | |
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| 50 | /** |
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| 51 | \brief creates a new BVTree or BVTree partition |
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| 52 | \param depth: the depth of the tree |
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| 53 | \param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
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| 54 | */ |
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[4544] | 55 | void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length) |
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[4542] | 56 | { |
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[4543] | 57 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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| 58 | float face; //!< surface area of the entire convex hull |
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[4545] | 59 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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| 60 | Vector centre; //!< the centre of the entire hull |
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[4542] | 61 | OBB* obb = new OBB(); //!< the new obb to add |
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[4544] | 62 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 63 | Vector t1, t2; //!< temporary values |
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| 64 | float covariance[3][3]; //!< the covariance matrix |
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| 65 | |
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| 66 | /* fist compute all the convex hull face/facelets and centroids */ |
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| 67 | for(int i = 0; i < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4542] | 68 | { |
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[4544] | 69 | p = *(verticesList + i); |
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| 70 | q = *(verticesList + i + 1); |
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| 71 | r = *(verticesList + i + 2); |
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| 72 | |
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| 73 | t1 = p - q; t2 = p - r; |
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| 74 | |
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| 75 | /* finding the facelet surface via cross-product */ |
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| 76 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 77 | /* update the entire convex hull surface */ |
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| 78 | face += facelet[i]; |
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[4545] | 79 | |
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| 80 | |
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| 81 | /* calculate the cetroid of the hull triangles */ |
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| 82 | centroid[i] = (p + q + r) * 1/3; |
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| 83 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 84 | centre += centroid[i] * facelet[i]; |
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[4542] | 85 | } |
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[4545] | 86 | /* take the average of the centroid sum */ |
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| 87 | centre /= face; |
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| 88 | |
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| 89 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
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| 90 | for(int j = 0; j < 3; ++j) |
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| 91 | { |
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| 92 | for(int k = 0; k < 3; ++k) |
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| 93 | { |
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| 94 | for(int i = 0; i < length; i+=3) |
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| 95 | { |
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| 96 | p = *(verticesList + i); |
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| 97 | q = *(verticesList + i + 1); |
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| 98 | r = *(verticesList + i + 2); |
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[4544] | 99 | |
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[4545] | 100 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j]* p[k] + |
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| 101 | q[j] * q[k] + r[j]*r[k]) - centre[j] * centre[k]; |
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| 102 | } |
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| 103 | } |
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| 104 | } |
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[4542] | 105 | } |
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| 106 | |
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| 107 | |
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| 108 | void OBBTreeNode::collideWith(const BVTree &tree) |
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| 109 | {} |
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| 110 | |
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| 111 | |
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| 112 | void OBBTreeNode::drawBV(int currentDepth, const int depth) const |
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| 113 | {} |
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| 114 | |
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| 115 | |
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| 116 | void OBBTreeNode::drawBVPolygon(int currentDepth, const int depth) const |
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| 117 | {} |
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| 118 | |
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| 119 | |
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| 120 | void OBBTreeNode::drawBVBlended(int currentDepth, const int depth) const |
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| 121 | {} |
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