source: orxonox.OLD/orxonox/trunk/src/lib/collision_detection/obb_tree_node.h @ 4631

/*!
    \file bv_tree.h
    \brief Definition of a bounding volume tree

 */

#ifndef _OBB_TREE_NODE_H
#define _OBB_TREE_NODE_H

#include "bv_tree_node.h"



// FORWARD DEFINITION
class BoundingVolume;
class OBB;
class OBBTree;
//struct sVec3D;

//! A class that represents a bounding volume tree
class OBBTreeNode : public BVTreeNode {


  public:
    OBBTreeNode();
    virtual ~OBBTreeNode();

    virtual void spawnBVTree(const int depth, sVec3D *verticesList, const int length);

    BoundingVolume* getBV(int index) const { return (BoundingVolume*)this->bvElement; }
    inline const int getIndex() { return this->treeIndex; }
    inline void setTreeRef(OBBTree* tree) { this->obbTree = tree;}

    virtual void collideWith(const BVTree &tree);

    virtual void drawBV(int depth) const;
    virtual void drawBVPolygon(int depth) const;
    virtual void drawBVBlended(int depth) const;

    void debug();

  private:
    void calculateBoxAttributes1(OBB* box, sVec3D* verticesList, int length);
    void calculateBoxAttributes2(OBB* box, sVec3D* verticesList, int length);
    void calculateBoxAttributes3(OBB* box, sVec3D* verticesList, int length);
    void forkBox(OBB* box);


  protected:
    OBB* bvElement;                                 //!< the obb element
    OBBTreeNode* nodeLeft;                          //!< ref to the left tree node
    OBBTreeNode* nodeRight;                         //!< ref to the right tree node


  private:
    unsigned int        treeIndex;                  //!< Index number of the BV in the tree
    sVec3D*             vertices;                   //!< pointer to the vertices data
    int                 numOfVertices;              //!< number of vertices in vertices data
    int                 depth;                      //!< the depth of the node in the tree
    static OBBTree*     obbTree;                    //!< reference to the obb tree

    /* tmp saving place for obb variables */
    sVec3D*             tmpVert1;
    sVec3D*             tmpVert2;
    int                 tmpLen1;
    int                 tmpLen2;

    static float**       coMat;
    static float**       eigvMat;
    static float*        eigvlMat;
    static int*          rotCount;
};

#endif /* _OBB_TREE_NODE_H */