[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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[4700] | 24 | #include "p_node.h" |
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[4541] | 25 | |
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[4543] | 26 | #include <math.h> |
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| 27 | |
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[4638] | 28 | #include "stdincl.h" |
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[4572] | 29 | |
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[4627] | 30 | #include "lin_alg.h" |
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[4572] | 31 | |
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| 32 | |
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| 33 | |
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[4627] | 34 | |
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[4541] | 35 | using namespace std; |
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| 36 | |
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[4622] | 37 | OBBTree* OBBTreeNode::obbTree = NULL; |
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[4541] | 38 | |
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[4630] | 39 | float** OBBTreeNode::coMat = NULL; |
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| 40 | float** OBBTreeNode::eigvMat = NULL; |
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| 41 | float* OBBTreeNode::eigvlMat = NULL; |
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| 42 | int* OBBTreeNode::rotCount = NULL; |
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| 43 | |
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[4541] | 44 | /** |
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| 45 | \brief standard constructor |
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[4617] | 46 | */ |
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[4588] | 47 | OBBTreeNode::OBBTreeNode () |
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[4541] | 48 | { |
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[4617] | 49 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
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[4618] | 50 | this->nodeLeft = NULL; |
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| 51 | this->nodeRight = NULL; |
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[4630] | 52 | |
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| 53 | if(coMat == NULL) |
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| 54 | { |
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| 55 | coMat = new float*[4]; |
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| 56 | for(int i = 0; i < 4; i++) |
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| 57 | coMat[i] = new float[4]; |
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| 58 | } |
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| 59 | if(eigvMat == NULL) |
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| 60 | { |
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| 61 | eigvMat = new float*[4]; |
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| 62 | for(int i = 0; i < 4; i++) |
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| 63 | eigvMat[i] = new float[4]; |
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| 64 | } |
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| 65 | if( eigvlMat == NULL) |
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| 66 | { |
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| 67 | eigvlMat = new float[4]; |
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| 68 | } |
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| 69 | if( rotCount == NULL) |
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| 70 | rotCount = new int; |
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[4638] | 71 | |
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| 72 | this->sphereObj = gluNewQuadric(); |
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[4541] | 73 | } |
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| 74 | |
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| 75 | |
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| 76 | /** |
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| 77 | \brief standard deconstructor |
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[4617] | 78 | */ |
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[4588] | 79 | OBBTreeNode::~OBBTreeNode () |
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[4541] | 80 | { |
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| 81 | // delete what has to be deleted here |
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| 82 | } |
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| 83 | |
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| 84 | |
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[4542] | 85 | |
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| 86 | /** |
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| 87 | \brief creates a new BVTree or BVTree partition |
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[4614] | 88 | \param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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[4542] | 89 | \param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
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[4617] | 90 | */ |
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[4544] | 91 | void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length) |
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[4542] | 92 | { |
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[4638] | 93 | PRINT(0)("\n"); |
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| 94 | this->treeIndex = this->obbTree->getID(); |
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| 95 | PRINTF(0)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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[4614] | 96 | this->depth = depth; |
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| 97 | |
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[4638] | 98 | |
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[4630] | 99 | this->bvElement = new OBB(); |
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[4638] | 100 | this->bvElement->vertices = verticesList; |
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| 101 | this->bvElement->numOfVertices = length; |
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| 102 | PRINTF(3)("Created OBBox\n"); |
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[4632] | 103 | this->calculateBoxCovariance(this->bvElement, verticesList, length); |
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[4638] | 104 | PRINTF(3)("Calculated attributes1\n"); |
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[4632] | 105 | this->calculateBoxEigenvectors(this->bvElement, verticesList, length); |
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[4638] | 106 | PRINTF(3)("Calculated attributes2\n"); |
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[4632] | 107 | this->calculateBoxAxis(this->bvElement, verticesList, length); |
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[4638] | 108 | PRINTF(3)("Calculated attributes3\n"); |
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[4617] | 109 | |
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[4632] | 110 | |
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[4614] | 111 | if( likely( this->depth > 0)) |
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| 112 | { |
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| 113 | this->forkBox(this->bvElement); |
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[4626] | 114 | |
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[4630] | 115 | |
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[4648] | 116 | if(this->tmpLen1 > 0) |
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[4638] | 117 | { |
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| 118 | OBBTreeNode* node1 = new OBBTreeNode(); |
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| 119 | this->nodeLeft = node1; |
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| 120 | this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 121 | } |
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| 122 | else |
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| 123 | { |
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| 124 | PRINTF(0)("Aboarding tree walk: less than 3 vertices left\n"); |
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| 125 | } |
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[4630] | 126 | |
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[4648] | 127 | if( this->tmpLen2 > 0) |
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[4638] | 128 | { |
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| 129 | OBBTreeNode* node2 = new OBBTreeNode(); |
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| 130 | this->nodeRight = node2; |
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| 131 | this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 132 | } |
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| 133 | else |
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| 134 | { |
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| 135 | PRINTF(0)("Aboarding tree walk: less than 3 vertices left\n"); |
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| 136 | } |
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[4630] | 137 | |
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[4614] | 138 | } |
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[4557] | 139 | } |
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| 140 | |
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| 141 | |
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| 142 | |
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[4632] | 143 | void OBBTreeNode::calculateBoxCovariance(OBB* box, sVec3D* verticesList, int length) |
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[4557] | 144 | { |
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[4543] | 145 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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| 146 | float face; //!< surface area of the entire convex hull |
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[4588] | 147 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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[4557] | 148 | Vector center; //!< the center of the entire hull |
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[4544] | 149 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 150 | Vector t1, t2; //!< temporary values |
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[4628] | 151 | float covariance[3][3]; //!< the covariance matrix |
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[4674] | 152 | int mode = 0; //!< mode = 0: vertex soup, no connections, mode = 1: 3 following verteces build a triangle |
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[4588] | 153 | |
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[4553] | 154 | this->numOfVertices = length; |
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| 155 | this->vertices = verticesList; |
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| 156 | |
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[4562] | 157 | |
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[4648] | 158 | if( likely(mode == 0)) |
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| 159 | { |
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| 160 | /* fist compute all the convex hull face/facelets and centroids */ |
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| 161 | for(int i = 0; i < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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| 162 | { |
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| 163 | p = verticesList[i]; |
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| 164 | q = verticesList[i + 1]; |
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| 165 | r = verticesList[i + 2]; |
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[4638] | 166 | |
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[4648] | 167 | t1 = p - q; t2 = p - r; |
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[4638] | 168 | |
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[4648] | 169 | /* finding the facelet surface via cross-product */ |
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| 170 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 171 | /* update the entire convex hull surface */ |
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| 172 | face += facelet[i]; |
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| 173 | |
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| 174 | /* calculate the cetroid of the hull triangles */ |
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| 175 | centroid[i] = (p + q + r) * 1/3; |
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| 176 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 177 | center += centroid[i] * facelet[i]; |
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| 178 | } |
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| 179 | /* take the average of the centroid sum */ |
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| 180 | center /= face; |
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| 181 | PRINTF(3)("-- Calculated Center\n"); |
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| 182 | |
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| 183 | |
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| 184 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
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| 185 | for(int j = 0; j < 3; ++j) |
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| 186 | { |
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| 187 | for(int k = 0; k < 3; ++k) |
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| 188 | { |
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| 189 | for(int i = 0; i < length; i+=3) |
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| 190 | { |
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| 191 | p = verticesList[i]; |
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| 192 | q = verticesList[i + 1]; |
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| 193 | r = verticesList[i + 2]; |
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| 194 | |
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| 195 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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| 196 | q[j] * q[k] + r[j] * r[k]) - center[j] * center[k]; |
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| 197 | } |
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| 198 | } |
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| 199 | } |
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| 200 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 201 | } |
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| 202 | else if( mode == 1) |
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[4617] | 203 | { |
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[4648] | 204 | for( int i = 0; i < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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| 205 | { |
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| 206 | p = verticesList[i]; |
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| 207 | q = verticesList[i + 1]; |
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| 208 | r = verticesList[i + 2]; |
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[4588] | 209 | |
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[4648] | 210 | centroid[i] = (p + q + r) / 3.0f; |
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| 211 | center += centroid[i]; |
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| 212 | } |
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| 213 | center /= length; |
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[4588] | 214 | |
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[4648] | 215 | for( int j = 0; j < 3; ++j) |
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| 216 | { |
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| 217 | for( int k = 0; k < 3; ++k) |
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| 218 | { |
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| 219 | for( int i = 0; i < length; i+=3) |
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| 220 | { |
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| 221 | p = verticesList[i]; |
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| 222 | q = verticesList[i +1]; |
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| 223 | r = verticesList[i + 2]; |
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[4545] | 224 | |
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[4648] | 225 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 226 | } |
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| 227 | covariance[j][k] /= (3.0f * length); |
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| 228 | } |
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| 229 | } |
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| 230 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 231 | } |
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[4648] | 232 | else if( mode == 2) |
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| 233 | { |
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| 234 | /* fist compute all the convex hull face/facelets and centroids */ |
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| 235 | for(int i = 0; i < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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| 236 | { |
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| 237 | p = verticesList[i]; |
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| 238 | q = verticesList[i + 1]; |
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| 239 | r = verticesList[i + 2]; |
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[4562] | 240 | |
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[4648] | 241 | t1 = p - q; t2 = p - r; |
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[4562] | 242 | |
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[4648] | 243 | /* finding the facelet surface via cross-product */ |
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| 244 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 245 | /* update the entire convex hull surface */ |
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| 246 | face += facelet[i]; |
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| 247 | |
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| 248 | /* calculate the cetroid of the hull triangles */ |
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| 249 | centroid[i] = (p + q + r) * 1/3; |
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| 250 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 251 | center += centroid[i] * facelet[i]; |
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| 252 | } |
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| 253 | /* take the average of the centroid sum */ |
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| 254 | center /= face; |
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| 255 | PRINTF(3)("-- Calculated Center\n"); |
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| 256 | |
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| 257 | for( int j = 0; j < 3; ++j) |
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| 258 | { |
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| 259 | for( int k = 0; k < 3; ++k) |
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| 260 | { |
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| 261 | for( int i = 0; i < length; i+=3) |
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| 262 | { |
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| 263 | p = verticesList[i]; |
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| 264 | q = verticesList[i +1]; |
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| 265 | r = verticesList[i + 2]; |
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| 266 | |
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| 267 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 268 | } |
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| 269 | covariance[j][k] /= (3.0f * length); |
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| 270 | } |
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| 271 | } |
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| 272 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 273 | } |
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| 274 | else |
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[4617] | 275 | { |
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[4648] | 276 | for( int i = 0; i < length; ++i) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4545] | 277 | { |
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[4648] | 278 | center += verticesList[i]; |
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| 279 | } |
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| 280 | center /= length; |
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| 281 | |
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| 282 | for( int j = 0; j < 3; ++j) |
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| 283 | { |
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| 284 | for( int k = 0; k < 3; ++k) |
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[4617] | 285 | { |
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[4648] | 286 | for( int i = 0; i < length; i+=3) |
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| 287 | { |
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| 288 | p = verticesList[i]; |
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| 289 | q = verticesList[i +1]; |
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| 290 | r = verticesList[i + 2]; |
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[4544] | 291 | |
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[4648] | 292 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 293 | } |
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| 294 | covariance[j][k] /= (3.0f * length); |
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[4617] | 295 | } |
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[4545] | 296 | } |
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[4648] | 297 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 298 | } |
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[4562] | 299 | |
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[4648] | 300 | PRINTF(3)("\nVertex Data:\n"); |
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[4638] | 301 | for(int i = 0; i < length; i++) |
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| 302 | { |
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[4648] | 303 | PRINTF(3)("vertex %i: %f, %f, %f\n", i, box->vertices[i][0], box->vertices[i][1], box->vertices[i][2]); |
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[4638] | 304 | } |
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[4588] | 305 | |
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[4648] | 306 | |
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[4675] | 307 | PRINTF(3)("\nCovariance Matrix:\n"); |
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[4674] | 308 | for(int j = 0; j < 3; ++j) |
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| 309 | { |
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[4675] | 310 | PRINT(3)(" |"); |
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[4674] | 311 | for(int k = 0; k < 3; ++k) |
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| 312 | { |
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[4675] | 313 | PRINT(3)(" \b%f ", covariance[j][k]); |
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[4674] | 314 | } |
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[4675] | 315 | PRINT(3)(" |\n"); |
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[4674] | 316 | } |
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| 317 | |
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[4638] | 318 | PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z); |
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[4553] | 319 | |
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[4588] | 320 | |
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[4674] | 321 | for(int i = 0; i < 3; ++i) |
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| 322 | { |
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| 323 | box->covarianceMatrix[i][0] = covariance[i][0]; |
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| 324 | box->covarianceMatrix[i][1] = covariance[i][1]; |
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| 325 | box->covarianceMatrix[i][2] = covariance[i][2]; |
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| 326 | } |
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[4560] | 327 | *box->center = center; |
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[4638] | 328 | PRINTF(3)("-- Written Result to obb\n"); |
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[4631] | 329 | } |
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[4557] | 330 | |
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[4631] | 331 | |
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| 332 | |
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[4632] | 333 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, sVec3D* verticesList, int length) |
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[4631] | 334 | { |
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| 335 | |
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[4557] | 336 | /* now getting spanning vectors of the sub-space: |
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[4617] | 337 | the eigenvectors of a symmertric matrix, such as the |
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| 338 | covarience matrix are mutually orthogonal. |
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| 339 | after normalizing them, they can be used as a the basis |
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| 340 | vectors |
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[4557] | 341 | */ |
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[4660] | 342 | Vector* axis = new Vector[3]; //!< the references to the obb axis |
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[4588] | 343 | |
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[4631] | 344 | coMat[1][1] = box->covarianceMatrix[0][0]; coMat[1][2] = box->covarianceMatrix[0][1]; coMat[1][3] = box->covarianceMatrix[0][2]; |
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| 345 | coMat[2][1] = box->covarianceMatrix[1][0]; coMat[2][2] = box->covarianceMatrix[1][1]; coMat[2][3] = box->covarianceMatrix[1][2]; |
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| 346 | coMat[3][1] = box->covarianceMatrix[2][0]; coMat[3][2] = box->covarianceMatrix[2][1]; coMat[3][3] = box->covarianceMatrix[2][2]; |
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[4627] | 347 | |
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[4630] | 348 | /* new jacobi tests */ |
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| 349 | JacobI(coMat, 3, eigvlMat, eigvMat, rotCount); |
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[4638] | 350 | PRINTF(3)("-- Done Jacobi Decomposition\n"); |
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[4628] | 351 | |
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[4627] | 352 | |
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[4638] | 353 | // PRINTF(3)("Jacobi\n"); |
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[4629] | 354 | // for(int j = 1; j < 4; ++j) |
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| 355 | // { |
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[4638] | 356 | // PRINTF(3)(" |"); |
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[4629] | 357 | // for(int k = 1; k < 4; ++k) |
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| 358 | // { |
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[4638] | 359 | // PRINTF(3)(" \b%f ", eigvMat[j][k]); |
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[4629] | 360 | // } |
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[4638] | 361 | // PRINTF(3)(" |\n"); |
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[4629] | 362 | // } |
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| 363 | |
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[4660] | 364 | axis[0].x = eigvMat[1][1]; axis[0].y = eigvMat[2][1]; axis[0].z = eigvMat[3][1]; |
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| 365 | axis[1].x = eigvMat[1][2]; axis[1].y = eigvMat[2][2]; axis[1].z = eigvMat[3][2]; |
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| 366 | axis[2].x = eigvMat[1][3]; axis[2].y = eigvMat[2][3]; axis[2].z = eigvMat[3][3]; |
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[4576] | 367 | box->axis = axis; |
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[4660] | 368 | |
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[4638] | 369 | PRINTF(3)("-- Got Axis\n"); |
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[4588] | 370 | |
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[4675] | 371 | PRINTF(3)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z); |
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| 372 | PRINTF(3)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z); |
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| 373 | PRINTF(3)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z); |
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[4632] | 374 | } |
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[4588] | 375 | |
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[4626] | 376 | |
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[4632] | 377 | void OBBTreeNode::calculateBoxAxis(OBB* box, sVec3D* verticesList, int length) |
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[4631] | 378 | { |
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[4630] | 379 | |
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[4576] | 380 | /* now get the axis length */ |
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[4578] | 381 | Line ax[3]; //!< the axis |
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| 382 | float* halfLength = new float[3]; //!< half length of the axis |
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| 383 | float tmpLength; //!< tmp save point for the length |
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[4660] | 384 | Plane p0(box->axis[0], *box->center); //!< the axis planes |
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| 385 | Plane p1(box->axis[1], *box->center); |
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| 386 | Plane p2(box->axis[2], *box->center); |
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[4658] | 387 | float maxLength[3]; |
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| 388 | float minLength[3]; |
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[4588] | 389 | |
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[4658] | 390 | |
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| 391 | /* get a bad bounding box */ |
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[4589] | 392 | halfLength[0] = -1.0f; |
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[4585] | 393 | for(int j = 0; j < length; ++j) |
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[4658] | 394 | { |
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[4661] | 395 | tmpLength = fabs(p0.distancePoint(vertices[j])); |
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[4658] | 396 | if( tmpLength > halfLength[0]) |
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[4659] | 397 | halfLength[0] = tmpLength; |
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[4658] | 398 | } |
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| 399 | |
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| 400 | halfLength[1] = -1.0f; |
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| 401 | for(int j = 0; j < length; ++j) |
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| 402 | { |
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| 403 | tmpLength = fabs(p1.distancePoint(vertices[j])); |
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| 404 | if( tmpLength > halfLength[1]) |
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[4659] | 405 | halfLength[1] = tmpLength; |
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[4658] | 406 | } |
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| 407 | |
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| 408 | halfLength[2] = -1.0f; |
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| 409 | for(int j = 0; j < length; ++j) |
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| 410 | { |
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[4661] | 411 | tmpLength = fabs(p2.distancePoint(vertices[j])); |
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[4658] | 412 | if( tmpLength > halfLength[2]) |
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[4659] | 413 | halfLength[2] = tmpLength; |
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[4658] | 414 | } |
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| 415 | |
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| 416 | |
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| 417 | |
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| 418 | /* get the maximal dimensions of the body in all directions */ |
---|
[4660] | 419 | maxLength[0] = 0.0f; |
---|
| 420 | minLength[0] = 0.0f; |
---|
| 421 | for(int j = 0; j < length; ++j) |
---|
| 422 | { |
---|
| 423 | tmpLength = p0.distancePoint(vertices[j]); |
---|
| 424 | if( tmpLength > maxLength[0]) |
---|
| 425 | maxLength[0] = tmpLength; |
---|
| 426 | else if( tmpLength < minLength[0]) |
---|
| 427 | minLength[0] = tmpLength; |
---|
| 428 | } |
---|
[4578] | 429 | |
---|
[4660] | 430 | maxLength[1] = 0.0f; |
---|
| 431 | minLength[1] = 0.0f; |
---|
| 432 | for(int j = 0; j < length; ++j) |
---|
| 433 | { |
---|
[4661] | 434 | tmpLength = p1.distancePoint(vertices[j]); |
---|
[4660] | 435 | if( tmpLength > maxLength[1]) |
---|
| 436 | maxLength[1] = tmpLength; |
---|
| 437 | else if( tmpLength < minLength[1]) |
---|
| 438 | minLength[1] = tmpLength; |
---|
| 439 | } |
---|
[4585] | 440 | |
---|
[4660] | 441 | maxLength[2] = 0.0f; |
---|
| 442 | minLength[2] = 0.0f; |
---|
| 443 | for(int j = 0; j < length; ++j) |
---|
| 444 | { |
---|
[4661] | 445 | tmpLength = p2.distancePoint(vertices[j]); |
---|
[4660] | 446 | if( tmpLength > maxLength[2]) |
---|
| 447 | maxLength[2] = tmpLength; |
---|
| 448 | else if( tmpLength < minLength[2]) |
---|
| 449 | minLength[2] = tmpLength; |
---|
| 450 | } |
---|
[4585] | 451 | |
---|
[4660] | 452 | |
---|
| 453 | /* calculate the real centre of the body by using the axis length */ |
---|
[4668] | 454 | float centerOffset[3]; |
---|
| 455 | float newHalfLength[3]; |
---|
[4660] | 456 | for(int i = 0; i < 3; ++i) |
---|
| 457 | { |
---|
[4674] | 458 | PRINTF(3)("max: %f, min: %f \n", maxLength[i], minLength[i]); |
---|
[4668] | 459 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; // min length is negatie |
---|
| 460 | newHalfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative |
---|
| 461 | *box->center += (box->axis[i] * centerOffset[i]); // update the new center vector |
---|
| 462 | halfLength[i] = newHalfLength[i]; |
---|
[4660] | 463 | } |
---|
| 464 | |
---|
| 465 | |
---|
| 466 | |
---|
[4586] | 467 | box->halfLength = halfLength; |
---|
[4638] | 468 | PRINTF(3)("-- Written Axis to obb\n"); |
---|
| 469 | PRINTF(3)("-- Finished Calculating Attributes\n"); |
---|
[4585] | 470 | |
---|
[4638] | 471 | |
---|
| 472 | |
---|
| 473 | // PRINTF(3)("\nwe got length: \n"); |
---|
| 474 | for(int i = 0; i < 3; ++i) |
---|
| 475 | { |
---|
| 476 | //if( box->halfLength[i] == 0.0) |
---|
[4660] | 477 | PRINTF(3)("length[%i] = %f\n", i, box->halfLength[i]); |
---|
[4638] | 478 | } |
---|
[4542] | 479 | } |
---|
| 480 | |
---|
| 481 | |
---|
[4609] | 482 | |
---|
| 483 | /** |
---|
| 484 | \brief this separates an ob-box in the middle |
---|
| 485 | \param box: the box to separate |
---|
| 486 | |
---|
| 487 | this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
---|
| 488 | */ |
---|
[4557] | 489 | void OBBTreeNode::forkBox(OBB* box) |
---|
| 490 | { |
---|
| 491 | /* get the longest axis of the box */ |
---|
[4609] | 492 | float aLength = -1.0f; //!< the length of the longest axis |
---|
| 493 | int axisIndex = 0; //!< this is the nr of the longest axis |
---|
| 494 | |
---|
[4557] | 495 | for(int i = 0; i < 3; ++i) |
---|
[4609] | 496 | { |
---|
| 497 | if( aLength < box->halfLength[i]) |
---|
[4557] | 498 | { |
---|
[4609] | 499 | aLength = box->halfLength[i]; |
---|
| 500 | axisIndex = i; |
---|
[4557] | 501 | } |
---|
[4609] | 502 | } |
---|
[4588] | 503 | |
---|
[4688] | 504 | PRINTF(3)("longest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength); |
---|
[4609] | 505 | |
---|
| 506 | |
---|
[4557] | 507 | /* get the closest vertex near the center */ |
---|
[4611] | 508 | float dist = 999999.0f; //!< the smallest distance to each vertex |
---|
[4609] | 509 | float tmpDist; //!< temporary distance |
---|
| 510 | int vertexIndex; |
---|
[4660] | 511 | Plane middlePlane(box->axis[axisIndex], *box->center); //!< the middle plane |
---|
[4588] | 512 | |
---|
[4660] | 513 | vertexIndex = 0; |
---|
[4609] | 514 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 515 | { |
---|
[4611] | 516 | tmpDist = fabs(middlePlane.distancePoint(box->vertices[i])); |
---|
| 517 | if( tmpDist < dist) |
---|
| 518 | { |
---|
[4609] | 519 | dist = tmpDist; |
---|
[4611] | 520 | vertexIndex = i; |
---|
| 521 | } |
---|
[4609] | 522 | } |
---|
| 523 | |
---|
[4638] | 524 | // PRINTF(3)("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist); |
---|
[4609] | 525 | |
---|
| 526 | |
---|
[4611] | 527 | /* now definin the separation plane through this specified nearest point and partition |
---|
[4617] | 528 | the points depending on which side they are located |
---|
[4611] | 529 | */ |
---|
| 530 | tList<sVec3D> partition1; //!< the vertex partition 1 |
---|
| 531 | tList<sVec3D> partition2; //!< the vertex partition 2 |
---|
| 532 | |
---|
[4695] | 533 | PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices); |
---|
[4660] | 534 | this->separationPlane = new Plane(box->axis[axisIndex], box->vertices[vertexIndex]); //!< separation plane |
---|
[4632] | 535 | this->sepPlaneCenter = &box->vertices[vertexIndex]; |
---|
| 536 | this->longestAxisIndex = axisIndex; |
---|
| 537 | |
---|
[4612] | 538 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 539 | { |
---|
[4632] | 540 | if( this->separationPlane->distancePoint(box->vertices[i]) > 0.0f) |
---|
[4612] | 541 | partition1.add(&box->vertices[i]); |
---|
| 542 | else |
---|
| 543 | partition2.add(&box->vertices[i]); |
---|
| 544 | } |
---|
[4613] | 545 | partition1.add(&box->vertices[vertexIndex]); |
---|
[4611] | 546 | |
---|
[4638] | 547 | // PRINTF(3)("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize()); |
---|
[4612] | 548 | |
---|
[4613] | 549 | |
---|
| 550 | /* now comes the separation into two different sVec3D arrays */ |
---|
| 551 | tIterator<sVec3D>* iterator; //!< the iterator to go through the lists |
---|
| 552 | sVec3D* element; //!< the elements |
---|
| 553 | int index; //!< index storage place |
---|
| 554 | sVec3D* vertList1; //!< the vertex list 1 |
---|
| 555 | sVec3D* vertList2; //!< the vertex list 2 |
---|
| 556 | |
---|
| 557 | vertList1 = new sVec3D[partition1.getSize()]; |
---|
| 558 | vertList2 = new sVec3D[partition2.getSize()]; |
---|
| 559 | |
---|
| 560 | iterator = partition1.getIterator(); |
---|
| 561 | element = iterator->nextElement(); |
---|
| 562 | index = 0; |
---|
| 563 | while( element != NULL) |
---|
| 564 | { |
---|
| 565 | vertList1[index][0] = element[0][0]; |
---|
| 566 | vertList1[index][1] = element[0][1]; |
---|
| 567 | vertList1[index][2] = element[0][2]; |
---|
| 568 | ++index; |
---|
| 569 | element = iterator->nextElement(); |
---|
| 570 | } |
---|
| 571 | |
---|
[4638] | 572 | // PRINTF(0)("\npartition 1:\n"); |
---|
[4626] | 573 | // for(int i = 0; i < partition1.getSize(); ++i) |
---|
| 574 | // { |
---|
[4638] | 575 | // PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList1[i][0], i, vertList1[i][1], i, vertList1[i][2]); |
---|
[4626] | 576 | // } |
---|
[4613] | 577 | |
---|
| 578 | iterator = partition2.getIterator(); |
---|
| 579 | element = iterator->nextElement(); |
---|
| 580 | index = 0; |
---|
| 581 | while( element != NULL) |
---|
| 582 | { |
---|
| 583 | vertList2[index][0] = element[0][0]; |
---|
| 584 | vertList2[index][1] = element[0][1]; |
---|
| 585 | vertList2[index][2] = element[0][2]; |
---|
| 586 | ++index; |
---|
| 587 | element = iterator->nextElement(); |
---|
| 588 | } |
---|
| 589 | |
---|
[4630] | 590 | this->tmpVert1 = vertList1; |
---|
| 591 | this->tmpVert2 = vertList2; |
---|
| 592 | this->tmpLen1 = partition1.getSize(); |
---|
| 593 | this->tmpLen2 = partition2.getSize(); |
---|
| 594 | |
---|
[4638] | 595 | delete iterator; |
---|
| 596 | |
---|
| 597 | // PRINTF(0)("\npartition 2:\n"); |
---|
[4626] | 598 | // for(int i = 0; i < partition2.getSize(); ++i) |
---|
| 599 | // { |
---|
[4638] | 600 | // PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList2[i][0], i, vertList2[i][1], i, vertList2[i][2]); |
---|
[4626] | 601 | // } |
---|
[4557] | 602 | } |
---|
| 603 | |
---|
| 604 | |
---|
[4626] | 605 | |
---|
| 606 | |
---|
[4700] | 607 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, PNode* nodeA, PNode* nodeB) |
---|
[4695] | 608 | { |
---|
[4700] | 609 | PRINTF(0)("collideWith\n"); |
---|
[4695] | 610 | /* if the obb overlap, make subtests: check which node is realy overlaping */ |
---|
[4700] | 611 | if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4695] | 612 | { |
---|
| 613 | /* check if left node overlaps */ |
---|
| 614 | if( unlikely( this->nodeLeft != NULL)) |
---|
[4700] | 615 | if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
| 616 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
[4695] | 617 | /* check if right node overlaps */ |
---|
| 618 | if( unlikely( this->nodeRight != NULL)) |
---|
[4700] | 619 | if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
| 620 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
[4695] | 621 | } |
---|
| 622 | } |
---|
[4542] | 623 | |
---|
| 624 | |
---|
[4626] | 625 | |
---|
[4700] | 626 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, PNode* nodeA, PNode* nodeB) |
---|
[4695] | 627 | { |
---|
[4700] | 628 | |
---|
| 629 | |
---|
[4696] | 630 | /* first check all axis */ |
---|
[4700] | 631 | Vector t = nodeA->getAbsCoor() + *boxA->center - ( nodeB->getAbsCoor() + *boxB->center); |
---|
| 632 | float rA = 0.0f; |
---|
| 633 | float rB = 0.0f; |
---|
| 634 | Vector l; |
---|
[4626] | 635 | |
---|
[4700] | 636 | for(int j = 0; j < 3; ++j) |
---|
| 637 | { |
---|
| 638 | rA = 0.0f; |
---|
| 639 | rB = 0.0f; |
---|
| 640 | l = boxA->axis[j]; |
---|
| 641 | |
---|
| 642 | for(int i = 0; i < 3; ++i) |
---|
| 643 | { |
---|
| 644 | rA += fabs(boxA->halfLength[i] * boxA->axis[i].dot(l)); |
---|
| 645 | } |
---|
| 646 | |
---|
| 647 | for(int i = 0; i < 3; ++i) |
---|
| 648 | { |
---|
| 649 | rB += fabs(boxB->halfLength[i] * boxB->axis[i].dot(l)); |
---|
| 650 | } |
---|
| 651 | |
---|
| 652 | PRINTF(0)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 653 | |
---|
| 654 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 655 | PRINTF(0)(" - The Boxes are disjoint!\n"); |
---|
| 656 | else |
---|
| 657 | PRINTF(0)(" - The Boxes are not disjoint\n"); |
---|
| 658 | |
---|
| 659 | PRINTF(0)("rA = %f, rB = %f\n", rA, rB); |
---|
| 660 | |
---|
| 661 | |
---|
| 662 | /* now check all orthogonals from the axis */ |
---|
| 663 | |
---|
| 664 | } |
---|
| 665 | return false; |
---|
[4695] | 666 | } |
---|
| 667 | |
---|
| 668 | |
---|
[4696] | 669 | |
---|
[4635] | 670 | void OBBTreeNode::drawBV(int depth, int drawMode) const |
---|
[4553] | 671 | { |
---|
[4638] | 672 | this->obbTree->getMaterial(treeIndex)->select(); |
---|
[4635] | 673 | |
---|
| 674 | /* draw the model itself, there is some problem concerning this: the vertices are drawn multiple times */ |
---|
| 675 | if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL) |
---|
| 676 | { |
---|
[4638] | 677 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4622] | 678 | { |
---|
[4638] | 679 | for(int i = 0; i < this->bvElement->numOfVertices; ++i) |
---|
| 680 | { |
---|
| 681 | glPushMatrix(); |
---|
[4648] | 682 | //glMatrixMode(GL_MODELVIEW); |
---|
| 683 | //glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
[4638] | 684 | glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
[4676] | 685 | gluSphere(this->sphereObj, 0.1, 10, 10); |
---|
[4648] | 686 | //PRINTF(0)("v(%f, %f, %f)\n", this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
[4638] | 687 | glPopMatrix(); |
---|
| 688 | } |
---|
[4622] | 689 | } |
---|
[4635] | 690 | } |
---|
[4542] | 691 | |
---|
| 692 | |
---|
[4589] | 693 | /* draw world axes */ |
---|
[4676] | 694 | if( drawMode & DRAW_BV_AXIS) |
---|
| 695 | { |
---|
| 696 | glBegin(GL_LINES); |
---|
| 697 | glColor3f(0.0, 0.4, 0.3); |
---|
| 698 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 699 | glVertex3f(3.0, 0.0, 0.0); |
---|
[4589] | 700 | |
---|
[4676] | 701 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 702 | glVertex3f(0.0, 3.0, 0.0); |
---|
[4589] | 703 | |
---|
[4676] | 704 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 705 | glVertex3f(0.0, 0.0, 3.0); |
---|
| 706 | glEnd(); |
---|
| 707 | } |
---|
[4674] | 708 | |
---|
[4688] | 709 | |
---|
[4635] | 710 | if( drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL) |
---|
| 711 | { |
---|
[4636] | 712 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 713 | { |
---|
| 714 | /* draw the obb axes */ |
---|
| 715 | glBegin(GL_LINES); |
---|
| 716 | glColor3f(0.0, 0.4, 0.3); |
---|
| 717 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 718 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 719 | this->bvElement->center->y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 720 | this->bvElement->center->z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
[4589] | 721 | |
---|
[4635] | 722 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 723 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
| 724 | this->bvElement->center->y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 725 | this->bvElement->center->z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
[4588] | 726 | |
---|
[4635] | 727 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 728 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 729 | this->bvElement->center->y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 730 | this->bvElement->center->z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
[4635] | 731 | glEnd(); |
---|
| 732 | } |
---|
| 733 | } |
---|
[4581] | 734 | |
---|
[4588] | 735 | |
---|
[4674] | 736 | /* DRAW POLYGONS */ |
---|
[4673] | 737 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
[4635] | 738 | { |
---|
[4636] | 739 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 740 | { |
---|
[4636] | 741 | Vector cen = *this->bvElement->center; |
---|
[4660] | 742 | Vector* axis = this->bvElement->axis; |
---|
[4636] | 743 | float* len = this->bvElement->halfLength; |
---|
[4588] | 744 | |
---|
[4670] | 745 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 746 | this->obbTree->getTransparentMaterial(treeIndex)->select(); |
---|
| 747 | |
---|
[4636] | 748 | /* draw bounding box */ |
---|
[4670] | 749 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 750 | glBegin(GL_QUADS); |
---|
| 751 | else |
---|
| 752 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 753 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 754 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 755 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 756 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 757 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 758 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 759 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 760 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 761 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 762 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 763 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 764 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 765 | glEnd(); |
---|
[4588] | 766 | |
---|
[4670] | 767 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 768 | glBegin(GL_QUADS); |
---|
| 769 | else |
---|
| 770 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 771 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 772 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 773 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 774 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 775 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 776 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 777 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 778 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 779 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 780 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 781 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 782 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 783 | glEnd(); |
---|
[4588] | 784 | |
---|
[4670] | 785 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 786 | glBegin(GL_QUADS); |
---|
| 787 | else |
---|
| 788 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 789 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 790 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 791 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 792 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 793 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 794 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 795 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 796 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 797 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 798 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 799 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 800 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 801 | glEnd(); |
---|
[4588] | 802 | |
---|
[4670] | 803 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 804 | glBegin(GL_QUADS); |
---|
| 805 | else |
---|
| 806 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 807 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 808 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 809 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 810 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 811 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 812 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 813 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 814 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 815 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 816 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 817 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 818 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[4636] | 819 | glEnd(); |
---|
[4670] | 820 | |
---|
[4671] | 821 | |
---|
[4670] | 822 | if( drawMode & DRAW_BV_BLENDED) |
---|
[4671] | 823 | { |
---|
| 824 | glBegin(GL_QUADS); |
---|
| 825 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 826 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 827 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 828 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 829 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 830 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 831 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 832 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 833 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 834 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 835 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 836 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 837 | glEnd(); |
---|
| 838 | |
---|
| 839 | glBegin(GL_QUADS); |
---|
| 840 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 841 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 842 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 843 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 844 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 845 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 846 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 847 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 848 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 849 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 850 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 851 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 852 | glEnd(); |
---|
| 853 | } |
---|
| 854 | |
---|
| 855 | |
---|
| 856 | if( drawMode & DRAW_BV_BLENDED) |
---|
[4670] | 857 | this->obbTree->getMaterial(treeIndex)->select(); |
---|
[4635] | 858 | } |
---|
[4636] | 859 | |
---|
[4635] | 860 | } |
---|
[4588] | 861 | |
---|
[4674] | 862 | /* DRAW SEPARATING PLANE */ |
---|
[4635] | 863 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
[4632] | 864 | { |
---|
[4636] | 865 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 866 | { |
---|
[4671] | 867 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 868 | this->obbTree->getTransparentMaterial(treeIndex)->select(); |
---|
| 869 | |
---|
[4636] | 870 | /* now draw the separation plane */ |
---|
[4660] | 871 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
| 872 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
[4636] | 873 | Vector c = *this->bvElement->center; |
---|
| 874 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
| 875 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
| 876 | glBegin(GL_QUADS); |
---|
| 877 | glVertex3f(c.x + a1.x * l1 + a2.x * l2, c.y + a1.y * l1+ a2.y * l2, c.z + a1.z * l1 + a2.z * l2); |
---|
| 878 | glVertex3f(c.x - a1.x * l1 + a2.x * l2, c.y - a1.y * l1+ a2.y * l2, c.z - a1.z * l1 + a2.z * l2); |
---|
| 879 | glVertex3f(c.x - a1.x * l1 - a2.x * l2, c.y - a1.y * l1- a2.y * l2, c.z - a1.z * l1 - a2.z * l2); |
---|
| 880 | glVertex3f(c.x + a1.x * l1 - a2.x * l2, c.y + a1.y * l1- a2.y * l2, c.z + a1.z * l1 - a2.z * l2); |
---|
| 881 | glEnd(); |
---|
[4671] | 882 | |
---|
| 883 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 884 | this->obbTree->getMaterial(treeIndex)->select(); |
---|
| 885 | |
---|
[4635] | 886 | } |
---|
[4632] | 887 | } |
---|
[4588] | 888 | |
---|
[4622] | 889 | if( this->nodeLeft != NULL && depth != 0 ) |
---|
[4635] | 890 | this->nodeLeft->drawBV(depth - 1, drawMode); |
---|
[4618] | 891 | if( this->nodeRight != NULL && depth != 0) |
---|
[4635] | 892 | this->nodeRight->drawBV(depth - 1, drawMode); |
---|
[4588] | 893 | |
---|
[4557] | 894 | } |
---|
[4542] | 895 | |
---|
| 896 | |
---|
[4568] | 897 | |
---|
[4685] | 898 | void OBBTreeNode::debug(void) const |
---|
[4568] | 899 | { |
---|
| 900 | |
---|
| 901 | /* |
---|
| 902 | for(int i = 0; i < length; i++) |
---|
[4617] | 903 | { |
---|
[4638] | 904 | PRINTF(3)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
---|
[4617] | 905 | } |
---|
[4568] | 906 | */ |
---|
| 907 | } |
---|