[4588] | 1 | /* |
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[4541] | 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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[4617] | 11 | ### File Specific: |
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[4541] | 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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[4616] | 21 | #include "obb_tree.h" |
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[4544] | 22 | #include "vector.h" |
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[4550] | 23 | #include "abstract_model.h" |
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[4541] | 24 | |
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[4543] | 25 | #include <math.h> |
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| 26 | |
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[4572] | 27 | |
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| 28 | #define WANT_STREAM |
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| 29 | #define WANT_MATH |
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| 30 | #define WANT_FSTREAM |
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| 31 | |
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| 32 | |
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| 33 | #include "include.h" |
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| 34 | #include "newmat.h" |
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| 35 | #include "newmatap.h" |
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| 36 | #include "newmatio.h" |
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| 37 | |
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| 38 | |
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| 39 | |
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| 40 | |
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[4541] | 41 | using namespace std; |
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| 42 | |
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[4622] | 43 | OBBTree* OBBTreeNode::obbTree = NULL; |
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[4541] | 44 | |
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| 45 | /** |
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| 46 | \brief standard constructor |
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[4617] | 47 | */ |
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[4588] | 48 | OBBTreeNode::OBBTreeNode () |
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[4541] | 49 | { |
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[4617] | 50 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
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[4618] | 51 | this->nodeLeft = NULL; |
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| 52 | this->nodeRight = NULL; |
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[4541] | 53 | } |
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| 54 | |
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| 55 | |
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| 56 | /** |
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| 57 | \brief standard deconstructor |
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[4617] | 58 | */ |
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[4588] | 59 | OBBTreeNode::~OBBTreeNode () |
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[4541] | 60 | { |
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| 61 | // delete what has to be deleted here |
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| 62 | } |
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| 63 | |
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| 64 | |
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[4542] | 65 | |
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| 66 | /** |
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| 67 | \brief creates a new BVTree or BVTree partition |
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[4614] | 68 | \param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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[4542] | 69 | \param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
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[4617] | 70 | */ |
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[4544] | 71 | void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length) |
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[4542] | 72 | { |
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[4614] | 73 | this->depth = depth; |
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| 74 | |
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[4617] | 75 | this->bvElement = this->createBox(); |
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| 76 | this->calculateBoxAttributes(this->bvElement, verticesList, length); |
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| 77 | |
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[4614] | 78 | if( likely( this->depth > 0)) |
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| 79 | { |
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| 80 | this->forkBox(this->bvElement); |
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| 81 | } |
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[4557] | 82 | } |
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| 83 | |
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| 84 | |
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| 85 | OBB* OBBTreeNode::createBox() |
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| 86 | { |
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| 87 | return new OBB(); |
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| 88 | } |
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| 89 | |
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| 90 | |
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[4560] | 91 | void OBBTreeNode::calculateBoxAttributes(OBB* box, sVec3D* verticesList, int length) |
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[4557] | 92 | { |
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[4543] | 93 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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| 94 | float face; //!< surface area of the entire convex hull |
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[4588] | 95 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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[4557] | 96 | Vector center; //!< the center of the entire hull |
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[4544] | 97 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 98 | Vector t1, t2; //!< temporary values |
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[4562] | 99 | float covariance[3][3]; //!< the covariance matrix |
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[4588] | 100 | |
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[4553] | 101 | this->numOfVertices = length; |
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| 102 | this->vertices = verticesList; |
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[4588] | 103 | box->vertices = verticesList; |
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| 104 | box->numOfVertices = length; |
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[4553] | 105 | |
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[4562] | 106 | |
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[4545] | 107 | /* fist compute all the convex hull face/facelets and centroids */ |
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| 108 | for(int i = 0; i < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4617] | 109 | { |
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| 110 | p = verticesList[i]; |
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| 111 | q = verticesList[i +1]; |
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| 112 | r = verticesList[i + 2]; |
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[4588] | 113 | |
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[4617] | 114 | t1 = p - q; t2 = p - r; |
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[4588] | 115 | |
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[4617] | 116 | /* finding the facelet surface via cross-product */ |
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| 117 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 118 | /* update the entire convex hull surface */ |
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| 119 | face += facelet[i]; |
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[4545] | 120 | |
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[4617] | 121 | /* calculate the cetroid of the hull triangles */ |
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| 122 | centroid[i] = (p + q + r) * 1/3; |
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| 123 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 124 | center += centroid[i] * facelet[i]; |
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| 125 | } |
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[4545] | 126 | /* take the average of the centroid sum */ |
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[4557] | 127 | center /= face; |
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[4562] | 128 | |
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| 129 | |
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[4588] | 130 | |
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[4545] | 131 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
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| 132 | for(int j = 0; j < 3; ++j) |
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[4617] | 133 | { |
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| 134 | for(int k = 0; k < 3; ++k) |
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[4545] | 135 | { |
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[4617] | 136 | for(int i = 0; i < length; i+=3) |
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| 137 | { |
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| 138 | p = verticesList[i]; |
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| 139 | q = verticesList[i +1]; |
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| 140 | r = verticesList[i + 2]; |
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[4544] | 141 | |
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[4617] | 142 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j]* p[k] + |
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| 143 | q[j] * q[k] + r[j]*r[k]) - center[j] * center[k]; |
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| 144 | } |
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[4545] | 145 | } |
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[4617] | 146 | } |
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[4562] | 147 | |
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[4617] | 148 | printf("\nVertex Data:\n"); |
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| 149 | for(int i = 0; i < length; i++) |
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| 150 | { |
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| 151 | printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
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| 152 | } |
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[4588] | 153 | |
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[4578] | 154 | printf("\nCovariance Matrix:\n"); |
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[4553] | 155 | for(int j = 0; j < 3; ++j) |
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[4617] | 156 | { |
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| 157 | printf(" |"); |
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| 158 | for(int k = 0; k < 3; ++k) |
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[4551] | 159 | { |
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[4617] | 160 | printf(" \b%f ", covariance[j][k]); |
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[4551] | 161 | } |
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[4617] | 162 | printf(" |\n"); |
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| 163 | } |
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[4560] | 164 | printf("center: %f, %f, %f\n\n", center.x, center.y, center.z); |
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[4553] | 165 | |
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[4588] | 166 | |
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[4560] | 167 | for(int i = 0; i < 3; ++i) |
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[4617] | 168 | { |
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[4588] | 169 | |
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[4617] | 170 | box->covarianceMatrix[i][0] = covariance[i][0]; |
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| 171 | box->covarianceMatrix[i][1] = covariance[i][1]; |
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| 172 | box->covarianceMatrix[i][3] = covariance[i][2]; |
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| 173 | } |
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[4560] | 174 | *box->center = center; |
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[4557] | 175 | |
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| 176 | |
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| 177 | /* now getting spanning vectors of the sub-space: |
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[4617] | 178 | the eigenvectors of a symmertric matrix, such as the |
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| 179 | covarience matrix are mutually orthogonal. |
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| 180 | after normalizing them, they can be used as a the basis |
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| 181 | vectors |
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[4557] | 182 | */ |
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[4573] | 183 | Matrix V(3,3); //!< for eigenvectors |
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[4588] | 184 | DiagonalMatrix D(3); //!< for eigenvalues |
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[4573] | 185 | SymmetricMatrix C(3); //!< for the covariance symmetrical matrix |
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[4576] | 186 | Vector** axis = new Vector*[3]; //!< the references to the obb axis |
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[4588] | 187 | |
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[4573] | 188 | C(1,1) = covariance[0][0]; |
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| 189 | C(1,2) = covariance[0][1]; |
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| 190 | C(1,3) = covariance[0][2]; |
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[4588] | 191 | C(2,1) = covariance[1][0]; |
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[4573] | 192 | C(2,2) = covariance[1][1]; |
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[4588] | 193 | C(2,3) = covariance[1][2]; |
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[4573] | 194 | C(3,1) = covariance[2][0]; |
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| 195 | C(3,2) = covariance[2][1]; |
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| 196 | C(3,3) = covariance[2][2]; |
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[4572] | 197 | |
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[4573] | 198 | Jacobi(C, D, V); /* do the jacobi decomposition */ |
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[4572] | 199 | |
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[4609] | 200 | printf("\nwe got a result! YES: \n"); |
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[4572] | 201 | |
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[4573] | 202 | for(int j = 1; j < 4; ++j) |
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| 203 | { |
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| 204 | printf(" |"); |
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| 205 | for(int k = 1; k < 4; ++k) |
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| 206 | { |
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| 207 | printf(" \b%f ", V(j, k)); |
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| 208 | } |
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| 209 | printf(" |\n"); |
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| 210 | } |
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| 211 | |
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[4576] | 212 | axis[0] = new Vector(V(1, 1), V(2, 1), V(3, 1)); |
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| 213 | axis[1] = new Vector(V(1, 2), V(2, 2), V(3, 2)); |
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| 214 | axis[2] = new Vector(V(1, 3), V(2, 3), V(3, 3)); |
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| 215 | box->axis = axis; |
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[4588] | 216 | |
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[4609] | 217 | printf("\neigenvector: %f, %f, %f\n", box->axis[0]->x, box->axis[0]->y, box->axis[0]->z); |
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[4586] | 218 | printf("eigenvector: %f, %f, %f\n", box->axis[1]->x, box->axis[1]->y, box->axis[1]->z); |
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| 219 | printf("eigenvector: %f, %f, %f\n", box->axis[2]->x, box->axis[2]->y, box->axis[2]->z); |
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[4573] | 220 | |
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[4588] | 221 | |
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[4576] | 222 | /* now get the axis length */ |
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[4578] | 223 | Line ax[3]; //!< the axis |
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| 224 | float* halfLength = new float[3]; //!< half length of the axis |
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| 225 | float tmpLength; //!< tmp save point for the length |
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[4609] | 226 | Plane p0(*box->axis[0], *box->center); //!< the axis planes |
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| 227 | Plane p1(*box->axis[1], *box->center); |
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| 228 | Plane p2(*box->axis[2], *box->center); |
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[4588] | 229 | |
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[4589] | 230 | halfLength[0] = -1.0f; |
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[4585] | 231 | for(int j = 0; j < length; ++j) |
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[4578] | 232 | { |
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[4589] | 233 | tmpLength = fabs(p0.distancePoint(vertices[j])); |
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[4585] | 234 | if( tmpLength > halfLength[0]) |
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| 235 | halfLength[0] = tmpLength; |
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[4578] | 236 | } |
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| 237 | |
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[4589] | 238 | halfLength[1] = -1.0f; |
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[4585] | 239 | for(int j = 0; j < length; ++j) |
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| 240 | { |
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[4589] | 241 | tmpLength = fabs(p1.distancePoint(vertices[j])); |
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[4585] | 242 | if( tmpLength > halfLength[1]) |
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| 243 | halfLength[1] = tmpLength; |
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| 244 | } |
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| 245 | |
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[4589] | 246 | halfLength[2] = -1.0f; |
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[4585] | 247 | for(int j = 0; j < length; ++j) |
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| 248 | { |
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[4589] | 249 | tmpLength = fabs(p2.distancePoint(vertices[j])); |
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[4585] | 250 | if( tmpLength > halfLength[2]) |
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| 251 | halfLength[2] = tmpLength; |
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| 252 | } |
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| 253 | |
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[4586] | 254 | box->halfLength = halfLength; |
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[4585] | 255 | |
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[4588] | 256 | |
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[4609] | 257 | printf("\nwe got length: \n"); |
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[4578] | 258 | for(int i = 0; i < 3; ++i) |
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[4586] | 259 | printf("length[%i] = %f\n", i, box->halfLength[i]); |
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[4542] | 260 | } |
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| 261 | |
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| 262 | |
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[4609] | 263 | |
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| 264 | /** |
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| 265 | \brief this separates an ob-box in the middle |
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| 266 | \param box: the box to separate |
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| 267 | |
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| 268 | this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
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| 269 | */ |
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[4557] | 270 | void OBBTreeNode::forkBox(OBB* box) |
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| 271 | { |
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| 272 | /* get the longest axis of the box */ |
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[4609] | 273 | float aLength = -1.0f; //!< the length of the longest axis |
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| 274 | int axisIndex = 0; //!< this is the nr of the longest axis |
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| 275 | |
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[4557] | 276 | for(int i = 0; i < 3; ++i) |
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[4609] | 277 | { |
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| 278 | if( aLength < box->halfLength[i]) |
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[4557] | 279 | { |
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[4609] | 280 | aLength = box->halfLength[i]; |
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| 281 | axisIndex = i; |
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[4557] | 282 | } |
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[4609] | 283 | } |
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[4588] | 284 | |
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[4609] | 285 | printf("\nlongest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength); |
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| 286 | |
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| 287 | |
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[4557] | 288 | /* get the closest vertex near the center */ |
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[4611] | 289 | float dist = 999999.0f; //!< the smallest distance to each vertex |
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[4609] | 290 | float tmpDist; //!< temporary distance |
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| 291 | int vertexIndex; |
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[4611] | 292 | Plane middlePlane(*box->axis[axisIndex], *box->center); //!< the middle plane |
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[4588] | 293 | |
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[4609] | 294 | for(int i = 0; i < box->numOfVertices; ++i) |
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| 295 | { |
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[4611] | 296 | tmpDist = fabs(middlePlane.distancePoint(box->vertices[i])); |
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| 297 | if( tmpDist < dist) |
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| 298 | { |
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[4609] | 299 | dist = tmpDist; |
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[4611] | 300 | vertexIndex = i; |
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| 301 | } |
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[4609] | 302 | } |
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| 303 | |
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| 304 | printf("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist); |
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| 305 | |
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| 306 | |
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[4611] | 307 | /* now definin the separation plane through this specified nearest point and partition |
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[4617] | 308 | the points depending on which side they are located |
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[4611] | 309 | */ |
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| 310 | Plane separationPlane(*box->axis[axisIndex], box->vertices[vertexIndex]); //!< separation plane |
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| 311 | tList<sVec3D> partition1; //!< the vertex partition 1 |
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| 312 | tList<sVec3D> partition2; //!< the vertex partition 2 |
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| 313 | |
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[4612] | 314 | for(int i = 0; i < box->numOfVertices; ++i) |
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| 315 | { |
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| 316 | if( separationPlane.distancePoint(box->vertices[i]) > 0.0f) |
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| 317 | partition1.add(&box->vertices[i]); |
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| 318 | else |
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| 319 | partition2.add(&box->vertices[i]); |
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| 320 | } |
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[4613] | 321 | partition1.add(&box->vertices[vertexIndex]); |
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[4611] | 322 | |
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[4612] | 323 | printf("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize()); |
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| 324 | |
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[4613] | 325 | |
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| 326 | /* now comes the separation into two different sVec3D arrays */ |
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| 327 | tIterator<sVec3D>* iterator; //!< the iterator to go through the lists |
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| 328 | sVec3D* element; //!< the elements |
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| 329 | int index; //!< index storage place |
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| 330 | sVec3D* vertList1; //!< the vertex list 1 |
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| 331 | sVec3D* vertList2; //!< the vertex list 2 |
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| 332 | |
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| 333 | vertList1 = new sVec3D[partition1.getSize()]; |
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| 334 | vertList2 = new sVec3D[partition2.getSize()]; |
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| 335 | |
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| 336 | iterator = partition1.getIterator(); |
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| 337 | element = iterator->nextElement(); |
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| 338 | index = 0; |
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| 339 | while( element != NULL) |
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| 340 | { |
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| 341 | vertList1[index][0] = element[0][0]; |
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| 342 | vertList1[index][1] = element[0][1]; |
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| 343 | vertList1[index][2] = element[0][2]; |
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| 344 | ++index; |
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| 345 | element = iterator->nextElement(); |
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| 346 | } |
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| 347 | |
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| 348 | printf("\npartition 1:\n"); |
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| 349 | for(int i = 0; i < partition1.getSize(); ++i) |
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| 350 | { |
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| 351 | printf("v[%i][0] = %f\n", i, vertList1[i][0]); |
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| 352 | printf("v[%i][1] = %f\n", i, vertList1[i][1]); |
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| 353 | printf("v[%i][2] = %f\n", i, vertList1[i][2]); |
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| 354 | } |
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| 355 | |
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| 356 | iterator = partition2.getIterator(); |
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| 357 | element = iterator->nextElement(); |
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| 358 | index = 0; |
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| 359 | while( element != NULL) |
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| 360 | { |
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| 361 | vertList2[index][0] = element[0][0]; |
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| 362 | vertList2[index][1] = element[0][1]; |
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| 363 | vertList2[index][2] = element[0][2]; |
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| 364 | ++index; |
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| 365 | element = iterator->nextElement(); |
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| 366 | } |
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| 367 | |
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| 368 | printf("\npartition 2:\n"); |
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| 369 | for(int i = 0; i < partition2.getSize(); ++i) |
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| 370 | { |
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| 371 | printf("v[%i][0] = %f\n", i, vertList2[i][0]); |
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| 372 | printf("v[%i][1] = %f\n", i, vertList2[i][1]); |
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| 373 | printf("v[%i][2] = %f\n", i, vertList2[i][2]); |
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| 374 | } |
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| 375 | |
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[4614] | 376 | /* now spawn the obb tree: create the nodes and descent */ |
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| 377 | OBBTreeNode* node1 = new OBBTreeNode(); |
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| 378 | OBBTreeNode* node2 = new OBBTreeNode(); |
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| 379 | |
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| 380 | this->nodeLeft = node1; |
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| 381 | this->nodeRight = node2; |
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| 382 | |
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[4617] | 383 | this->nodeLeft->spawnBVTree(depth - 1, vertList1, partition1.getSize()); |
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| 384 | this->nodeRight->spawnBVTree(depth - 1, vertList2, partition2.getSize()); |
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[4557] | 385 | } |
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| 386 | |
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| 387 | |
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[4542] | 388 | void OBBTreeNode::collideWith(const BVTree &tree) |
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| 389 | {} |
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| 390 | |
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| 391 | |
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[4618] | 392 | void OBBTreeNode::drawBV(int depth) const |
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[4553] | 393 | { |
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[4622] | 394 | glBegin(GL_TRIANGLES); |
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| 395 | glColor3f(1.0, 1.0, 1.0); |
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| 396 | for(int i = 0; i < this->bvElement->numOfVertices; ++i) |
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| 397 | { |
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| 398 | glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
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| 399 | //printf("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]); |
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| 400 | } |
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| 401 | glEnd(); |
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| 402 | //this->drawBVPolygon(depth); |
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[4553] | 403 | } |
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[4542] | 404 | |
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| 405 | |
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[4618] | 406 | void OBBTreeNode::drawBVPolygon(int depth) const |
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[4557] | 407 | { |
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[4622] | 408 | //OBBTree::material->select(); |
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[4588] | 409 | |
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[4622] | 410 | this->obbTree->getMaterial(depth)->select(); |
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[4616] | 411 | |
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[4589] | 412 | /* draw world axes */ |
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[4618] | 413 | // glBegin(GL_LINES); |
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| 414 | // glColor3f(0.0, 0.4, 0.3); |
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| 415 | // glVertex3f(0.0, 0.0, 0.0); |
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| 416 | // glVertex3f(3.0, 0.0, 0.0); |
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| 417 | // |
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| 418 | // glVertex3f(0.0, 0.0, 0.0); |
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| 419 | // glVertex3f(0.0, 3.0, 0.0); |
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| 420 | // |
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| 421 | // glVertex3f(0.0, 0.0, 0.0); |
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| 422 | // glVertex3f(0.0, 0.0, 3.0); |
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| 423 | // glEnd(); |
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[4589] | 424 | |
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| 425 | |
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| 426 | |
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[4588] | 427 | /* draw the obb axes */ |
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[4618] | 428 | // glBegin(GL_LINES); |
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| 429 | // glColor3f(0.0, 0.4, 0.3); |
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| 430 | // glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
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| 431 | // glVertex3f(this->bvElement->center->x + this->bvElement->axis[0]->x * this->bvElement->halfLength[0], |
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| 432 | // this->bvElement->center->y + this->bvElement->axis[0]->y * this->bvElement->halfLength[0], |
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| 433 | // this->bvElement->center->z + this->bvElement->axis[0]->z * this->bvElement->halfLength[0]); |
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| 434 | // |
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| 435 | // glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
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| 436 | // glVertex3f(this->bvElement->center->x + this->bvElement->axis[1]->x * this->bvElement->halfLength[1], |
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| 437 | // this->bvElement->center->y + this->bvElement->axis[1]->y * this->bvElement->halfLength[1], |
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| 438 | // this->bvElement->center->z + this->bvElement->axis[1]->z * this->bvElement->halfLength[1]); |
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| 439 | // |
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| 440 | // glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
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| 441 | // glVertex3f(this->bvElement->center->x + this->bvElement->axis[2]->x * this->bvElement->halfLength[2], |
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| 442 | // this->bvElement->center->y + this->bvElement->axis[2]->y * this->bvElement->halfLength[2], |
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| 443 | // this->bvElement->center->z + this->bvElement->axis[2]->z * this->bvElement->halfLength[2]); |
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| 444 | // glEnd(); |
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[4588] | 445 | |
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[4581] | 446 | |
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[4588] | 447 | Vector cen = *this->bvElement->center; |
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| 448 | Vector** axis = this->bvElement->axis; |
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| 449 | float* len = this->bvElement->halfLength; |
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| 450 | |
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| 451 | /* draw bounding box */ |
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| 452 | glBegin(GL_LINE_LOOP); |
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| 453 | glColor3f(0.3, 0.4, 0.7); |
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| 454 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 455 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 456 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 457 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 458 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 459 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 460 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 461 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 462 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 463 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 464 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 465 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 466 | glEnd(); |
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| 467 | |
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| 468 | glBegin(GL_LINE_LOOP); |
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| 469 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 470 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 471 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 472 | glVertex3f(cen.x + axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 473 | cen.y + axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 474 | cen.z + axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 475 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 476 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 477 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 478 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 479 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 480 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 481 | glEnd(); |
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| 482 | |
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| 483 | glBegin(GL_LINE_LOOP); |
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| 484 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 485 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 486 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 487 | glVertex3f(cen.x - axis[0]->x * len[0] - axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 488 | cen.y - axis[0]->y * len[0] - axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 489 | cen.z - axis[0]->z * len[0] - axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 490 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 491 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 492 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 493 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 494 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 495 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 496 | glEnd(); |
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| 497 | |
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| 498 | glBegin(GL_LINE_LOOP); |
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| 499 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 500 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 501 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 502 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 503 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 504 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 505 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
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| 506 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 507 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]); |
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| 508 | glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
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| 509 | cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 510 | cen.z + axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
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| 511 | glEnd(); |
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| 512 | |
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| 513 | /* |
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| 514 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] - axis[2]->x * len[2], |
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[4617] | 515 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] - axis[2]->y * len[2], |
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| 516 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] - axis[2]->z * len[2]); |
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[4588] | 517 | glVertex3f(cen.x - axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2], |
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[4617] | 518 | cen.y - axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2], |
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| 519 | cen.z - axis[0]->z * len[0] + axis[1]->z * len[1] + axis[2]->z * len[2]);*/ |
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[4588] | 520 | |
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| 521 | |
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| 522 | glEnd(); |
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| 523 | |
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[4622] | 524 | if( this->nodeLeft != NULL && depth != 0 ) |
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| 525 | this->nodeLeft->drawBVPolygon(depth - 1); |
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[4618] | 526 | if( this->nodeRight != NULL && depth != 0) |
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[4622] | 527 | this->nodeRight->drawBVPolygon(depth - 1); |
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[4588] | 528 | |
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[4557] | 529 | } |
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[4542] | 530 | |
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| 531 | |
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[4618] | 532 | void OBBTreeNode::drawBVBlended(int depth) const |
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[4542] | 533 | {} |
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[4568] | 534 | |
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| 535 | |
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| 536 | void OBBTreeNode::debug() |
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| 537 | { |
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| 538 | |
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| 539 | /* |
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| 540 | for(int i = 0; i < length; i++) |
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[4617] | 541 | { |
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| 542 | printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
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| 543 | } |
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[4568] | 544 | */ |
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| 545 | } |
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