[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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[5674] | 22 | #include "matrix.h" |
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[4550] | 23 | #include "abstract_model.h" |
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[5028] | 24 | #include "world_entity.h" |
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[4541] | 25 | |
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[5481] | 26 | #include "color.h" |
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[4543] | 27 | |
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[5511] | 28 | #include "debug.h" |
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[5431] | 29 | #include "glincl.h" |
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[4572] | 30 | |
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| 31 | |
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| 32 | |
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[4541] | 33 | using namespace std; |
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| 34 | |
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[4622] | 35 | OBBTree* OBBTreeNode::obbTree = NULL; |
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[4541] | 36 | |
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[5431] | 37 | float** OBBTreeNode::coMat = NULL; |
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| 38 | float** OBBTreeNode::eigvMat = NULL; |
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| 39 | float* OBBTreeNode::eigvlMat = NULL; |
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| 40 | int* OBBTreeNode::rotCount = NULL; |
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[5430] | 41 | GLUquadricObj* OBBTreeNode_sphereObj = NULL; |
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[4630] | 42 | |
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[4541] | 43 | /** |
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[4836] | 44 | * standard constructor |
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[4617] | 45 | */ |
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[4588] | 46 | OBBTreeNode::OBBTreeNode () |
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[4541] | 47 | { |
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[4617] | 48 | this->setClassID(CL_OBB_TREE_NODE, "OBBTreeNode"); |
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[4618] | 49 | this->nodeLeft = NULL; |
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| 50 | this->nodeRight = NULL; |
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[4814] | 51 | this->bvElement = NULL; |
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[4630] | 52 | |
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[5431] | 53 | if(OBBTreeNode::coMat == NULL) |
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[4630] | 54 | { |
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[5431] | 55 | OBBTreeNode::coMat = new float*[4]; |
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[4630] | 56 | for(int i = 0; i < 4; i++) |
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[5431] | 57 | OBBTreeNode::coMat[i] = new float[4]; |
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[4630] | 58 | } |
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[5431] | 59 | if(OBBTreeNode::eigvMat == NULL) |
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[4630] | 60 | { |
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[5431] | 61 | OBBTreeNode::eigvMat = new float*[4]; |
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[4630] | 62 | for(int i = 0; i < 4; i++) |
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[5431] | 63 | OBBTreeNode::eigvMat[i] = new float[4]; |
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[4630] | 64 | } |
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[5431] | 65 | if( OBBTreeNode::eigvlMat == NULL) |
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[4630] | 66 | { |
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[5431] | 67 | OBBTreeNode::eigvlMat = new float[4]; |
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[4630] | 68 | } |
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[5431] | 69 | if( OBBTreeNode::rotCount == NULL) |
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| 70 | OBBTreeNode::rotCount = new int; |
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[4638] | 71 | |
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[5430] | 72 | if (OBBTreeNode_sphereObj == NULL) |
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| 73 | OBBTreeNode_sphereObj = gluNewQuadric(); |
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[4541] | 74 | } |
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| 75 | |
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| 76 | |
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| 77 | /** |
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[4836] | 78 | * standard deconstructor |
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[4617] | 79 | */ |
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[4588] | 80 | OBBTreeNode::~OBBTreeNode () |
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[4541] | 81 | { |
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[4814] | 82 | if( this->nodeLeft) |
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| 83 | { |
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| 84 | delete this->nodeLeft; |
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| 85 | this->nodeLeft = NULL; |
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| 86 | } |
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| 87 | if( this->nodeRight) |
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| 88 | { |
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| 89 | delete this->nodeRight; |
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| 90 | this->nodeRight = NULL; |
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| 91 | } |
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| 92 | if( this->bvElement) |
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| 93 | delete this->bvElement; |
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| 94 | this->bvElement = NULL; |
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[4541] | 95 | } |
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| 96 | |
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| 97 | |
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[5684] | 98 | /** |
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| 99 | * creates a new BVTree or BVTree partition |
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| 100 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 101 | * @param modInfo: model informations from the abstrac model |
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[5689] | 102 | * |
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[5684] | 103 | * this function creates the Bounding Volume tree from a modelInfo struct and bases its calculations |
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| 104 | * on the triangle informations (triangle soup not polygon soup) |
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| 105 | */ |
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| 106 | void OBBTreeNode::spawnBVTree(const int depth, const modelInfo& modInfo) |
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| 107 | { |
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| 108 | int length = 0; |
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| 109 | sVec3D* verticesList; |
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[5689] | 110 | |
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[5684] | 111 | PRINT(3)("\n"); |
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| 112 | this->treeIndex = this->obbTree->getID(); |
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| 113 | PRINTF(3)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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| 114 | this->depth = depth; |
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[4542] | 115 | |
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[5684] | 116 | |
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| 117 | this->bvElement = new OBB(); |
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| 118 | this->bvElement->vertices = verticesList; |
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| 119 | this->bvElement->numOfVertices = length; |
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| 120 | PRINTF(3)("Created OBBox\n"); |
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| 121 | this->calculateBoxCovariance(this->bvElement, modInfo); |
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| 122 | PRINTF(3)("Calculated attributes1\n"); |
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| 123 | this->calculateBoxEigenvectors(this->bvElement, modInfo); |
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| 124 | PRINTF(3)("Calculated attributes2\n"); |
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| 125 | this->calculateBoxAxis(this->bvElement,modInfo); |
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| 126 | PRINTF(3)("Calculated attributes3\n"); |
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| 127 | |
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| 128 | /* if this is the first node, the vertices data are the original ones of the model itself, so dont delete them in cleanup */ |
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| 129 | if( this->treeIndex == 1) |
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| 130 | this->bvElement->bOrigVertices = true; |
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| 131 | |
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| 132 | if( likely( this->depth > 0)) |
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| 133 | { |
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| 134 | this->forkBox(this->bvElement); |
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| 135 | |
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| 136 | |
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| 137 | // if(this->tmpLen1 > 2) |
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| 138 | // { |
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| 139 | // OBBTreeNode* node1 = new OBBTreeNode(); |
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| 140 | // this->nodeLeft = node1; |
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| 141 | // this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 142 | // } |
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| 143 | // else |
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| 144 | // { |
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| 145 | // PRINTF(3)("Aboarding tree walk: less than 3 vertices left\n"); |
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| 146 | // } |
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[5689] | 147 | // |
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[5684] | 148 | // if( this->tmpLen2 > 2) |
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| 149 | // { |
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| 150 | // OBBTreeNode* node2 = new OBBTreeNode(); |
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| 151 | // this->nodeRight = node2; |
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| 152 | // this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 153 | // } |
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| 154 | // else |
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| 155 | // { |
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| 156 | // PRINTF(3)("Abording tree walk: less than 3 vertices left\n"); |
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| 157 | // } |
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| 158 | |
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| 159 | } |
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| 160 | } |
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| 161 | |
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| 162 | |
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[4542] | 163 | /** |
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[4836] | 164 | * creates a new BVTree or BVTree partition |
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| 165 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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| 166 | * @param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle |
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[5689] | 167 | * |
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[5684] | 168 | * this function creates an Bounding Volume tree from a vertices soup (no triangle data) |
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[4617] | 169 | */ |
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[5688] | 170 | void OBBTreeNode::spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length) |
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[4542] | 171 | { |
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[4717] | 172 | PRINT(3)("\n"); |
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[4638] | 173 | this->treeIndex = this->obbTree->getID(); |
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[4717] | 174 | PRINTF(3)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length); |
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[4614] | 175 | this->depth = depth; |
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| 176 | |
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[4638] | 177 | |
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[4630] | 178 | this->bvElement = new OBB(); |
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[4638] | 179 | this->bvElement->vertices = verticesList; |
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| 180 | this->bvElement->numOfVertices = length; |
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| 181 | PRINTF(3)("Created OBBox\n"); |
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[4632] | 182 | this->calculateBoxCovariance(this->bvElement, verticesList, length); |
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[4638] | 183 | PRINTF(3)("Calculated attributes1\n"); |
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[4632] | 184 | this->calculateBoxEigenvectors(this->bvElement, verticesList, length); |
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[4638] | 185 | PRINTF(3)("Calculated attributes2\n"); |
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[4632] | 186 | this->calculateBoxAxis(this->bvElement, verticesList, length); |
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[4638] | 187 | PRINTF(3)("Calculated attributes3\n"); |
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[4617] | 188 | |
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[4814] | 189 | /* if this is the first node, the vertices data are the original ones of the model itself, so dont delete them in cleanup */ |
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| 190 | if( this->treeIndex == 1) |
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| 191 | this->bvElement->bOrigVertices = true; |
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[4632] | 192 | |
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[4614] | 193 | if( likely( this->depth > 0)) |
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| 194 | { |
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| 195 | this->forkBox(this->bvElement); |
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[4626] | 196 | |
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[4630] | 197 | |
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[4710] | 198 | if(this->tmpLen1 > 2) |
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[4638] | 199 | { |
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| 200 | OBBTreeNode* node1 = new OBBTreeNode(); |
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| 201 | this->nodeLeft = node1; |
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| 202 | this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1); |
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| 203 | } |
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| 204 | else |
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| 205 | { |
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[4717] | 206 | PRINTF(3)("Aboarding tree walk: less than 3 vertices left\n"); |
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[4638] | 207 | } |
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[4630] | 208 | |
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[4710] | 209 | if( this->tmpLen2 > 2) |
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[4638] | 210 | { |
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| 211 | OBBTreeNode* node2 = new OBBTreeNode(); |
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| 212 | this->nodeRight = node2; |
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| 213 | this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2); |
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| 214 | } |
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| 215 | else |
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| 216 | { |
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[4717] | 217 | PRINTF(3)("Abording tree walk: less than 3 vertices left\n"); |
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[4638] | 218 | } |
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[4614] | 219 | } |
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[4557] | 220 | } |
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| 221 | |
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| 222 | |
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[5684] | 223 | void OBBTreeNode::calculateBoxCovariance(OBB* box, const modelInfo& modInfo) |
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| 224 | {} |
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[4557] | 225 | |
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[5684] | 226 | |
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[5688] | 227 | void OBBTreeNode::calculateBoxCovariance(OBB* box, const sVec3D* verticesList, unsigned int length) |
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[4557] | 228 | { |
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[4543] | 229 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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[5428] | 230 | float face = 0.0f; //!< surface area of the entire convex hull |
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[4588] | 231 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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[4557] | 232 | Vector center; //!< the center of the entire hull |
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[4544] | 233 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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[4545] | 234 | Vector t1, t2; //!< temporary values |
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[4628] | 235 | float covariance[3][3]; //!< the covariance matrix |
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[4674] | 236 | int mode = 0; //!< mode = 0: vertex soup, no connections, mode = 1: 3 following verteces build a triangle |
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[4588] | 237 | |
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[4553] | 238 | this->numOfVertices = length; |
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| 239 | this->vertices = verticesList; |
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| 240 | |
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[4562] | 241 | |
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[4648] | 242 | if( likely(mode == 0)) |
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| 243 | { |
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| 244 | /* fist compute all the convex hull face/facelets and centroids */ |
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[5428] | 245 | for( int i = 0; i+3 < length ; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 246 | { |
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| 247 | p = verticesList[i]; |
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| 248 | q = verticesList[i + 1]; |
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| 249 | r = verticesList[i + 2]; |
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[4638] | 250 | |
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[4648] | 251 | t1 = p - q; t2 = p - r; |
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[4638] | 252 | |
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[4648] | 253 | /* finding the facelet surface via cross-product */ |
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| 254 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 255 | /* update the entire convex hull surface */ |
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| 256 | face += facelet[i]; |
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| 257 | |
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| 258 | /* calculate the cetroid of the hull triangles */ |
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| 259 | centroid[i] = (p + q + r) * 1/3; |
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| 260 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 261 | center += centroid[i] * facelet[i]; |
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| 262 | } |
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| 263 | /* take the average of the centroid sum */ |
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| 264 | center /= face; |
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| 265 | PRINTF(3)("-- Calculated Center\n"); |
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| 266 | |
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| 267 | |
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| 268 | /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */ |
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[5428] | 269 | for( int j = 0; j < 3; ++j) |
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[4648] | 270 | { |
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[5428] | 271 | for( int k = 0; k < 3; ++k) |
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[4648] | 272 | { |
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[5428] | 273 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 274 | { |
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| 275 | p = verticesList[i]; |
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| 276 | q = verticesList[i + 1]; |
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| 277 | r = verticesList[i + 2]; |
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| 278 | |
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| 279 | covariance[j][k] = facelet[i] / (12.0f * face) * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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| 280 | q[j] * q[k] + r[j] * r[k]) - center[j] * center[k]; |
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| 281 | } |
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| 282 | } |
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| 283 | } |
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| 284 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 285 | } |
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| 286 | else if( mode == 1) |
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[4617] | 287 | { |
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[5428] | 288 | for( int i = 0; i + 3 < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 289 | { |
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| 290 | p = verticesList[i]; |
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| 291 | q = verticesList[i + 1]; |
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| 292 | r = verticesList[i + 2]; |
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[4588] | 293 | |
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[4648] | 294 | centroid[i] = (p + q + r) / 3.0f; |
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| 295 | center += centroid[i]; |
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| 296 | } |
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| 297 | center /= length; |
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[4588] | 298 | |
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[4648] | 299 | for( int j = 0; j < 3; ++j) |
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| 300 | { |
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| 301 | for( int k = 0; k < 3; ++k) |
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| 302 | { |
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[5428] | 303 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 304 | { |
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| 305 | p = verticesList[i]; |
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| 306 | q = verticesList[i +1]; |
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| 307 | r = verticesList[i + 2]; |
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[4545] | 308 | |
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[4648] | 309 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 310 | } |
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| 311 | covariance[j][k] /= (3.0f * length); |
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| 312 | } |
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| 313 | } |
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| 314 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 315 | } |
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[4648] | 316 | else if( mode == 2) |
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| 317 | { |
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| 318 | /* fist compute all the convex hull face/facelets and centroids */ |
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[5428] | 319 | for(int i = 0; i + 3 < length; i+=3) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4648] | 320 | { |
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| 321 | p = verticesList[i]; |
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| 322 | q = verticesList[i + 1]; |
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| 323 | r = verticesList[i + 2]; |
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[4562] | 324 | |
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[4648] | 325 | t1 = p - q; t2 = p - r; |
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[4562] | 326 | |
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[4648] | 327 | /* finding the facelet surface via cross-product */ |
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| 328 | facelet[i] = 0.5f * fabs( t1.cross(t2).len() ); |
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| 329 | /* update the entire convex hull surface */ |
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| 330 | face += facelet[i]; |
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| 331 | |
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| 332 | /* calculate the cetroid of the hull triangles */ |
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| 333 | centroid[i] = (p + q + r) * 1/3; |
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| 334 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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| 335 | center += centroid[i] * facelet[i]; |
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| 336 | } |
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| 337 | /* take the average of the centroid sum */ |
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| 338 | center /= face; |
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| 339 | PRINTF(3)("-- Calculated Center\n"); |
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| 340 | |
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| 341 | for( int j = 0; j < 3; ++j) |
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| 342 | { |
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| 343 | for( int k = 0; k < 3; ++k) |
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| 344 | { |
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[5428] | 345 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 346 | { |
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| 347 | p = verticesList[i]; |
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| 348 | q = verticesList[i +1]; |
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| 349 | r = verticesList[i + 2]; |
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| 350 | |
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| 351 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 352 | } |
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| 353 | covariance[j][k] /= (3.0f * length); |
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| 354 | } |
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| 355 | } |
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| 356 | PRINTF(3)("-- Calculated Covariance\n"); |
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| 357 | } |
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| 358 | else |
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[4617] | 359 | { |
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[4648] | 360 | for( int i = 0; i < length; ++i) /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/ |
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[4545] | 361 | { |
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[4648] | 362 | center += verticesList[i]; |
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| 363 | } |
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| 364 | center /= length; |
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| 365 | |
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| 366 | for( int j = 0; j < 3; ++j) |
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| 367 | { |
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| 368 | for( int k = 0; k < 3; ++k) |
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[4617] | 369 | { |
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[5428] | 370 | for( int i = 0; i + 3 < length; i+=3) |
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[4648] | 371 | { |
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| 372 | p = verticesList[i]; |
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| 373 | q = verticesList[i +1]; |
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| 374 | r = verticesList[i + 2]; |
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[4544] | 375 | |
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[4648] | 376 | covariance[j][k] = p[j] * p[k] + q[j] * q[k] + r[j] + r[k]; |
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| 377 | } |
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| 378 | covariance[j][k] /= (3.0f * length); |
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[4617] | 379 | } |
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[4545] | 380 | } |
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[4648] | 381 | PRINTF(3)("-- Calculated Covariance\n"); |
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[4617] | 382 | } |
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[4562] | 383 | |
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[4648] | 384 | PRINTF(3)("\nVertex Data:\n"); |
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[4638] | 385 | for(int i = 0; i < length; i++) |
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| 386 | { |
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[4648] | 387 | 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] | 388 | } |
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[4588] | 389 | |
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[4648] | 390 | |
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[4675] | 391 | PRINTF(3)("\nCovariance Matrix:\n"); |
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[4674] | 392 | for(int j = 0; j < 3; ++j) |
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| 393 | { |
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[4675] | 394 | PRINT(3)(" |"); |
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[4674] | 395 | for(int k = 0; k < 3; ++k) |
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| 396 | { |
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[4675] | 397 | PRINT(3)(" \b%f ", covariance[j][k]); |
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[4674] | 398 | } |
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[4675] | 399 | PRINT(3)(" |\n"); |
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[4674] | 400 | } |
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| 401 | |
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[4638] | 402 | PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z); |
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[4553] | 403 | |
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[4588] | 404 | |
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[4674] | 405 | for(int i = 0; i < 3; ++i) |
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| 406 | { |
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| 407 | box->covarianceMatrix[i][0] = covariance[i][0]; |
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| 408 | box->covarianceMatrix[i][1] = covariance[i][1]; |
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| 409 | box->covarianceMatrix[i][2] = covariance[i][2]; |
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| 410 | } |
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[4560] | 411 | *box->center = center; |
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[4638] | 412 | PRINTF(3)("-- Written Result to obb\n"); |
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[4631] | 413 | } |
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[4557] | 414 | |
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[4631] | 415 | |
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[5684] | 416 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const modelInfo& modInfo) |
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| 417 | {} |
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[4631] | 418 | |
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[5688] | 419 | void OBBTreeNode::calculateBoxEigenvectors(OBB* box, const sVec3D* verticesList, unsigned int length) |
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[4631] | 420 | { |
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| 421 | |
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[4557] | 422 | /* now getting spanning vectors of the sub-space: |
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[4617] | 423 | the eigenvectors of a symmertric matrix, such as the |
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| 424 | covarience matrix are mutually orthogonal. |
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| 425 | after normalizing them, they can be used as a the basis |
---|
| 426 | vectors |
---|
[4557] | 427 | */ |
---|
[4660] | 428 | Vector* axis = new Vector[3]; //!< the references to the obb axis |
---|
[4588] | 429 | |
---|
[5674] | 430 | Matrix covMat( box->covarianceMatrix[0][0], box->covarianceMatrix[0][1], box->covarianceMatrix[0][2], |
---|
| 431 | box->covarianceMatrix[1][0], box->covarianceMatrix[1][1], box->covarianceMatrix[1][2], |
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| 432 | box->covarianceMatrix[2][0], box->covarianceMatrix[2][1], box->covarianceMatrix[2][2] ); |
---|
| 433 | covMat.getEigenVectors(axis[0], axis[1], axis[2] ); |
---|
[4627] | 434 | |
---|
[5449] | 435 | |
---|
[4630] | 436 | /* new jacobi tests */ |
---|
[5674] | 437 | // JacobI(OBBTreeNode::coMat, OBBTreeNode::eigvlMat, OBBTreeNode::eigvMat, OBBTreeNode::rotCount); |
---|
| 438 | // PRINTF(3)("-- Done Jacobi Decomposition\n"); |
---|
[4628] | 439 | |
---|
[4627] | 440 | |
---|
[5491] | 441 | // PRINTF(0)("Jacobi\n"); |
---|
| 442 | // for(int j = 0; j < 3; ++j) |
---|
[4629] | 443 | // { |
---|
[5491] | 444 | // printf(" |"); |
---|
| 445 | // for(int k = 0; k < 3; ++k) |
---|
[4629] | 446 | // { |
---|
[5491] | 447 | // printf(" \t%f ", OBBTreeNode::OBBTreeNode::eigvMat[j][k]); |
---|
[4629] | 448 | // } |
---|
[5491] | 449 | // printf(" |\n"); |
---|
[4629] | 450 | // } |
---|
| 451 | |
---|
[5674] | 452 | /* axis[0].x = OBBTreeNode::eigvMat[0][0]; axis[0].y = OBBTreeNode::eigvMat[1][0]; axis[0].z = OBBTreeNode::eigvMat[2][0]; |
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[5449] | 453 | axis[1].x = OBBTreeNode::eigvMat[0][1]; axis[1].y = OBBTreeNode::eigvMat[1][1]; axis[1].z = OBBTreeNode::eigvMat[2][1]; |
---|
| 454 | axis[2].x = OBBTreeNode::eigvMat[0][2]; axis[2].y = OBBTreeNode::eigvMat[1][2]; axis[2].z = OBBTreeNode::eigvMat[2][2]; |
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[4705] | 455 | axis[0].normalize(); |
---|
| 456 | axis[1].normalize(); |
---|
[5674] | 457 | axis[2].normalize();*/ |
---|
[4576] | 458 | box->axis = axis; |
---|
[4660] | 459 | |
---|
[5492] | 460 | // PRINTF(0)("-- Got Axis\n"); |
---|
| 461 | // |
---|
| 462 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0].x, box->axis[0].y, box->axis[0].z); |
---|
| 463 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1].x, box->axis[1].y, box->axis[1].z); |
---|
| 464 | // PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2].x, box->axis[2].y, box->axis[2].z); |
---|
[4632] | 465 | } |
---|
[4588] | 466 | |
---|
[4626] | 467 | |
---|
[5684] | 468 | void OBBTreeNode::calculateBoxAxis(OBB* box, const modelInfo& modInfo) |
---|
[5686] | 469 | { |
---|
[5689] | 470 | this->calculateBoxAxis(box, (const sVec3D*)modInfo.pVertices, modInfo.numVertices); |
---|
[5686] | 471 | } |
---|
[5684] | 472 | |
---|
| 473 | |
---|
[5686] | 474 | |
---|
[5688] | 475 | void OBBTreeNode::calculateBoxAxis(OBB* box, const sVec3D* verticesList, unsigned int length) |
---|
[4631] | 476 | { |
---|
[4630] | 477 | |
---|
[4576] | 478 | /* now get the axis length */ |
---|
[4578] | 479 | Line ax[3]; //!< the axis |
---|
| 480 | float* halfLength = new float[3]; //!< half length of the axis |
---|
| 481 | float tmpLength; //!< tmp save point for the length |
---|
[4660] | 482 | Plane p0(box->axis[0], *box->center); //!< the axis planes |
---|
| 483 | Plane p1(box->axis[1], *box->center); |
---|
| 484 | Plane p2(box->axis[2], *box->center); |
---|
[4658] | 485 | float maxLength[3]; |
---|
| 486 | float minLength[3]; |
---|
[4588] | 487 | |
---|
[4658] | 488 | |
---|
| 489 | /* get a bad bounding box */ |
---|
[4589] | 490 | halfLength[0] = -1.0f; |
---|
[4585] | 491 | for(int j = 0; j < length; ++j) |
---|
[4658] | 492 | { |
---|
[4661] | 493 | tmpLength = fabs(p0.distancePoint(vertices[j])); |
---|
[4658] | 494 | if( tmpLength > halfLength[0]) |
---|
[4659] | 495 | halfLength[0] = tmpLength; |
---|
[4658] | 496 | } |
---|
| 497 | |
---|
| 498 | halfLength[1] = -1.0f; |
---|
| 499 | for(int j = 0; j < length; ++j) |
---|
| 500 | { |
---|
| 501 | tmpLength = fabs(p1.distancePoint(vertices[j])); |
---|
| 502 | if( tmpLength > halfLength[1]) |
---|
[4659] | 503 | halfLength[1] = tmpLength; |
---|
[4658] | 504 | } |
---|
| 505 | |
---|
| 506 | halfLength[2] = -1.0f; |
---|
| 507 | for(int j = 0; j < length; ++j) |
---|
| 508 | { |
---|
[4661] | 509 | tmpLength = fabs(p2.distancePoint(vertices[j])); |
---|
[4658] | 510 | if( tmpLength > halfLength[2]) |
---|
[4659] | 511 | halfLength[2] = tmpLength; |
---|
[4658] | 512 | } |
---|
| 513 | |
---|
| 514 | |
---|
| 515 | |
---|
| 516 | /* get the maximal dimensions of the body in all directions */ |
---|
[4710] | 517 | maxLength[0] = p0.distancePoint(vertices[0]); |
---|
| 518 | minLength[0] = p0.distancePoint(vertices[0]); |
---|
[4660] | 519 | for(int j = 0; j < length; ++j) |
---|
| 520 | { |
---|
| 521 | tmpLength = p0.distancePoint(vertices[j]); |
---|
| 522 | if( tmpLength > maxLength[0]) |
---|
| 523 | maxLength[0] = tmpLength; |
---|
| 524 | else if( tmpLength < minLength[0]) |
---|
| 525 | minLength[0] = tmpLength; |
---|
| 526 | } |
---|
[4578] | 527 | |
---|
[4710] | 528 | maxLength[1] = p1.distancePoint(vertices[0]); |
---|
| 529 | minLength[1] = p1.distancePoint(vertices[0]); |
---|
[4660] | 530 | for(int j = 0; j < length; ++j) |
---|
| 531 | { |
---|
[4661] | 532 | tmpLength = p1.distancePoint(vertices[j]); |
---|
[4660] | 533 | if( tmpLength > maxLength[1]) |
---|
| 534 | maxLength[1] = tmpLength; |
---|
| 535 | else if( tmpLength < minLength[1]) |
---|
| 536 | minLength[1] = tmpLength; |
---|
| 537 | } |
---|
[4585] | 538 | |
---|
[4710] | 539 | maxLength[2] = p2.distancePoint(vertices[0]); |
---|
| 540 | minLength[2] = p2.distancePoint(vertices[0]); |
---|
[4660] | 541 | for(int j = 0; j < length; ++j) |
---|
| 542 | { |
---|
[4661] | 543 | tmpLength = p2.distancePoint(vertices[j]); |
---|
[4660] | 544 | if( tmpLength > maxLength[2]) |
---|
| 545 | maxLength[2] = tmpLength; |
---|
| 546 | else if( tmpLength < minLength[2]) |
---|
| 547 | minLength[2] = tmpLength; |
---|
| 548 | } |
---|
[4585] | 549 | |
---|
[4660] | 550 | |
---|
| 551 | /* calculate the real centre of the body by using the axis length */ |
---|
[4668] | 552 | float centerOffset[3]; |
---|
| 553 | float newHalfLength[3]; |
---|
[4660] | 554 | for(int i = 0; i < 3; ++i) |
---|
| 555 | { |
---|
[4674] | 556 | PRINTF(3)("max: %f, min: %f \n", maxLength[i], minLength[i]); |
---|
[4710] | 557 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; // min length is negatie |
---|
| 558 | newHalfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative |
---|
[4668] | 559 | *box->center += (box->axis[i] * centerOffset[i]); // update the new center vector |
---|
| 560 | halfLength[i] = newHalfLength[i]; |
---|
[4660] | 561 | } |
---|
| 562 | |
---|
| 563 | |
---|
| 564 | |
---|
[4586] | 565 | box->halfLength = halfLength; |
---|
[4638] | 566 | PRINTF(3)("-- Written Axis to obb\n"); |
---|
| 567 | PRINTF(3)("-- Finished Calculating Attributes\n"); |
---|
[4542] | 568 | } |
---|
| 569 | |
---|
| 570 | |
---|
[4609] | 571 | |
---|
| 572 | /** |
---|
| 573 | \brief this separates an ob-box in the middle |
---|
[4836] | 574 | * @param box: the box to separate |
---|
[4609] | 575 | |
---|
| 576 | this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
---|
| 577 | */ |
---|
[4557] | 578 | void OBBTreeNode::forkBox(OBB* box) |
---|
| 579 | { |
---|
| 580 | /* get the longest axis of the box */ |
---|
[4609] | 581 | float aLength = -1.0f; //!< the length of the longest axis |
---|
| 582 | int axisIndex = 0; //!< this is the nr of the longest axis |
---|
| 583 | |
---|
[4557] | 584 | for(int i = 0; i < 3; ++i) |
---|
[4609] | 585 | { |
---|
| 586 | if( aLength < box->halfLength[i]) |
---|
[4557] | 587 | { |
---|
[4609] | 588 | aLength = box->halfLength[i]; |
---|
| 589 | axisIndex = i; |
---|
[4557] | 590 | } |
---|
[4609] | 591 | } |
---|
[4588] | 592 | |
---|
[4688] | 593 | PRINTF(3)("longest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength); |
---|
[4609] | 594 | |
---|
| 595 | |
---|
[4557] | 596 | /* get the closest vertex near the center */ |
---|
[4611] | 597 | float dist = 999999.0f; //!< the smallest distance to each vertex |
---|
[4609] | 598 | float tmpDist; //!< temporary distance |
---|
| 599 | int vertexIndex; |
---|
[4660] | 600 | Plane middlePlane(box->axis[axisIndex], *box->center); //!< the middle plane |
---|
[4588] | 601 | |
---|
[4660] | 602 | vertexIndex = 0; |
---|
[4609] | 603 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 604 | { |
---|
[4611] | 605 | tmpDist = fabs(middlePlane.distancePoint(box->vertices[i])); |
---|
| 606 | if( tmpDist < dist) |
---|
| 607 | { |
---|
[4609] | 608 | dist = tmpDist; |
---|
[4611] | 609 | vertexIndex = i; |
---|
| 610 | } |
---|
[4609] | 611 | } |
---|
| 612 | |
---|
[4710] | 613 | PRINTF(3)("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist); |
---|
[4609] | 614 | |
---|
| 615 | |
---|
[4611] | 616 | /* now definin the separation plane through this specified nearest point and partition |
---|
[4617] | 617 | the points depending on which side they are located |
---|
[4611] | 618 | */ |
---|
[5688] | 619 | tList<const sVec3D> partition1; //!< the vertex partition 1 |
---|
| 620 | tList<const sVec3D> partition2; //!< the vertex partition 2 |
---|
[4611] | 621 | |
---|
[4710] | 622 | |
---|
[4695] | 623 | PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices); |
---|
[4660] | 624 | this->separationPlane = new Plane(box->axis[axisIndex], box->vertices[vertexIndex]); //!< separation plane |
---|
[4632] | 625 | this->sepPlaneCenter = &box->vertices[vertexIndex]; |
---|
| 626 | this->longestAxisIndex = axisIndex; |
---|
| 627 | |
---|
[4612] | 628 | for(int i = 0; i < box->numOfVertices; ++i) |
---|
| 629 | { |
---|
[4710] | 630 | if( i == vertexIndex) continue; |
---|
| 631 | tmpDist = this->separationPlane->distancePoint(box->vertices[i]); |
---|
| 632 | if( tmpDist > 0.0) |
---|
| 633 | partition1.add(&box->vertices[i]); /* positive numbers plus zero */ |
---|
[4612] | 634 | else |
---|
[4710] | 635 | partition2.add(&box->vertices[i]); /* negatice numbers */ |
---|
[4612] | 636 | } |
---|
[4613] | 637 | partition1.add(&box->vertices[vertexIndex]); |
---|
[4710] | 638 | partition2.add(&box->vertices[vertexIndex]); |
---|
[4611] | 639 | |
---|
[4710] | 640 | PRINTF(3)("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize()); |
---|
[4612] | 641 | |
---|
[4613] | 642 | |
---|
| 643 | /* now comes the separation into two different sVec3D arrays */ |
---|
[5688] | 644 | tIterator<const sVec3D>* iterator; //!< the iterator to go through the lists |
---|
| 645 | const sVec3D* element; //!< the elements |
---|
[4613] | 646 | int index; //!< index storage place |
---|
| 647 | sVec3D* vertList1; //!< the vertex list 1 |
---|
| 648 | sVec3D* vertList2; //!< the vertex list 2 |
---|
| 649 | |
---|
| 650 | vertList1 = new sVec3D[partition1.getSize()]; |
---|
| 651 | vertList2 = new sVec3D[partition2.getSize()]; |
---|
| 652 | |
---|
| 653 | iterator = partition1.getIterator(); |
---|
[5115] | 654 | element = iterator->firstElement(); |
---|
[4613] | 655 | index = 0; |
---|
| 656 | while( element != NULL) |
---|
| 657 | { |
---|
| 658 | vertList1[index][0] = element[0][0]; |
---|
| 659 | vertList1[index][1] = element[0][1]; |
---|
| 660 | vertList1[index][2] = element[0][2]; |
---|
| 661 | ++index; |
---|
| 662 | element = iterator->nextElement(); |
---|
| 663 | } |
---|
| 664 | |
---|
[4638] | 665 | // PRINTF(0)("\npartition 1:\n"); |
---|
[4626] | 666 | // for(int i = 0; i < partition1.getSize(); ++i) |
---|
| 667 | // { |
---|
[4638] | 668 | // 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] | 669 | // } |
---|
[4613] | 670 | |
---|
| 671 | iterator = partition2.getIterator(); |
---|
[5115] | 672 | element = iterator->firstElement(); |
---|
[4613] | 673 | index = 0; |
---|
| 674 | while( element != NULL) |
---|
| 675 | { |
---|
| 676 | vertList2[index][0] = element[0][0]; |
---|
| 677 | vertList2[index][1] = element[0][1]; |
---|
| 678 | vertList2[index][2] = element[0][2]; |
---|
| 679 | ++index; |
---|
| 680 | element = iterator->nextElement(); |
---|
| 681 | } |
---|
| 682 | |
---|
[4630] | 683 | this->tmpVert1 = vertList1; |
---|
| 684 | this->tmpVert2 = vertList2; |
---|
| 685 | this->tmpLen1 = partition1.getSize(); |
---|
| 686 | this->tmpLen2 = partition2.getSize(); |
---|
| 687 | |
---|
[4638] | 688 | delete iterator; |
---|
| 689 | |
---|
| 690 | // PRINTF(0)("\npartition 2:\n"); |
---|
[4626] | 691 | // for(int i = 0; i < partition2.getSize(); ++i) |
---|
| 692 | // { |
---|
[4638] | 693 | // 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] | 694 | // } |
---|
[4557] | 695 | } |
---|
| 696 | |
---|
| 697 | |
---|
[4626] | 698 | |
---|
| 699 | |
---|
[5028] | 700 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 701 | { |
---|
[4705] | 702 | PRINTF(3)("collideWith\n"); |
---|
[4695] | 703 | /* if the obb overlap, make subtests: check which node is realy overlaping */ |
---|
[4705] | 704 | PRINT(3)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
[4718] | 705 | if( unlikely(treeNode == NULL)) return; |
---|
[5042] | 706 | |
---|
[4700] | 707 | if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4695] | 708 | { |
---|
[5044] | 709 | PRINTF(3)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassName(), nodeB->getClassName(), this->nodeLeft, this->nodeRight); |
---|
[5038] | 710 | |
---|
[4695] | 711 | /* check if left node overlaps */ |
---|
[4704] | 712 | if( likely( this->nodeLeft != NULL)) |
---|
| 713 | { |
---|
[4705] | 714 | PRINT(3)("Checking OBB %i vs %i: ", this->nodeLeft->getIndex(), treeNode->getIndex()); |
---|
[4700] | 715 | if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4704] | 716 | { |
---|
[4700] | 717 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
[4704] | 718 | this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
| 719 | } |
---|
| 720 | } |
---|
[4695] | 721 | /* check if right node overlaps */ |
---|
[4704] | 722 | if( likely( this->nodeRight != NULL)) |
---|
| 723 | { |
---|
[4705] | 724 | PRINT(3)("Checking OBB %i vs %i: ", this->nodeRight->getIndex(), treeNode->getIndex()); |
---|
[4700] | 725 | if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement, nodeA, nodeB)) |
---|
[4704] | 726 | { |
---|
| 727 | this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeLeft, nodeA, nodeB); |
---|
| 728 | this->nodeRight->collideWith(((OBBTreeNode*)treeNode)->nodeRight, nodeA, nodeB); |
---|
| 729 | } |
---|
[5044] | 730 | } |
---|
[5028] | 731 | |
---|
[5044] | 732 | /* so there is a collision and this is the last box in the tree (i.e. leaf) */ |
---|
| 733 | if( unlikely(this->nodeRight == NULL && this->nodeLeft == NULL)) |
---|
| 734 | { |
---|
[5046] | 735 | nodeA->collidesWith(nodeB, *((OBBTreeNode*)treeNode)->bvElement->center); |
---|
| 736 | |
---|
| 737 | nodeB->collidesWith(nodeA, *this->bvElement->center); |
---|
[4704] | 738 | } |
---|
[5044] | 739 | |
---|
[4695] | 740 | } |
---|
| 741 | } |
---|
[4542] | 742 | |
---|
| 743 | |
---|
[4626] | 744 | |
---|
[5028] | 745 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
[4695] | 746 | { |
---|
[4696] | 747 | /* first check all axis */ |
---|
[4708] | 748 | Vector t; |
---|
[4700] | 749 | float rA = 0.0f; |
---|
| 750 | float rB = 0.0f; |
---|
| 751 | Vector l; |
---|
[4708] | 752 | Vector rotAxisA[3]; |
---|
| 753 | Vector rotAxisB[3]; |
---|
[4626] | 754 | |
---|
[4708] | 755 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
| 756 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
| 757 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
| 758 | |
---|
| 759 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
| 760 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
| 761 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
| 762 | |
---|
| 763 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(*boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(*boxB->center)); |
---|
| 764 | |
---|
| 765 | // printf("\n"); |
---|
| 766 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxA->axis[0].x, boxA->axis[0].y, boxA->axis[0].z, rotAxisA[0].x, rotAxisA[0].y, rotAxisA[0].z); |
---|
| 767 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxA->axis[1].x, boxA->axis[1].y, boxA->axis[1].z, rotAxisA[1].x, rotAxisA[1].y, rotAxisA[1].z); |
---|
| 768 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxA->axis[2].x, boxA->axis[2].y, boxA->axis[2].z, rotAxisA[2].x, rotAxisA[2].y, rotAxisA[2].z); |
---|
| 769 | // |
---|
| 770 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxB->axis[0].x, boxB->axis[0].y, boxB->axis[0].z, rotAxisB[0].x, rotAxisB[0].y, rotAxisB[0].z); |
---|
| 771 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxB->axis[1].x, boxB->axis[1].y, boxB->axis[1].z, rotAxisB[1].x, rotAxisB[1].y, rotAxisB[1].z); |
---|
| 772 | // printf("(%f, %f, %f) -> (%f, %f, %f)\n", boxB->axis[2].x, boxB->axis[2].y, boxB->axis[2].z, rotAxisB[2].x, rotAxisB[2].y, rotAxisB[2].z); |
---|
| 773 | |
---|
| 774 | |
---|
[4703] | 775 | /* All 3 axis of the object A */ |
---|
[4701] | 776 | for( int j = 0; j < 3; ++j) |
---|
[4705] | 777 | { |
---|
| 778 | rA = 0.0f; |
---|
| 779 | rB = 0.0f; |
---|
[4708] | 780 | l = rotAxisA[j]; |
---|
[4705] | 781 | |
---|
[4708] | 782 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 783 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 784 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4705] | 785 | |
---|
[4708] | 786 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 787 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 788 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4705] | 789 | |
---|
| 790 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 791 | |
---|
| 792 | if( (rA + rB) < fabs(t.dot(l))) |
---|
[4700] | 793 | { |
---|
[5689] | 794 | PRINT(3)("no Collision\n"); |
---|
[4705] | 795 | return false; |
---|
| 796 | } |
---|
| 797 | } |
---|
[4700] | 798 | |
---|
[4705] | 799 | /* All 3 axis of the object B */ |
---|
| 800 | for( int j = 0; j < 3; ++j) |
---|
| 801 | { |
---|
| 802 | rA = 0.0f; |
---|
| 803 | rB = 0.0f; |
---|
[4708] | 804 | l = rotAxisB[j]; |
---|
[4701] | 805 | |
---|
[4708] | 806 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 807 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 808 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4700] | 809 | |
---|
[4708] | 810 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 811 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 812 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4703] | 813 | |
---|
[4705] | 814 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 815 | |
---|
| 816 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 817 | { |
---|
[5689] | 818 | PRINT(3)("no Collision\n"); |
---|
[4705] | 819 | return false; |
---|
[4701] | 820 | } |
---|
[4705] | 821 | } |
---|
[4700] | 822 | |
---|
[4705] | 823 | |
---|
| 824 | /* Now check for all face cross products */ |
---|
| 825 | |
---|
| 826 | for( int j = 0; j < 3; ++j) |
---|
| 827 | { |
---|
| 828 | for(int k = 0; k < 3; ++k ) |
---|
[4701] | 829 | { |
---|
| 830 | rA = 0.0f; |
---|
| 831 | rB = 0.0f; |
---|
[4708] | 832 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
[4701] | 833 | |
---|
[4708] | 834 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
| 835 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
| 836 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
[4701] | 837 | |
---|
[4708] | 838 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
| 839 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
| 840 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
[4701] | 841 | |
---|
[4703] | 842 | PRINTF(3)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
| 843 | |
---|
[4701] | 844 | if( (rA + rB) < fabs(t.dot(l))) |
---|
| 845 | { |
---|
[4705] | 846 | PRINT(3)("keine Kollision\n"); |
---|
[4701] | 847 | return false; |
---|
| 848 | } |
---|
[4703] | 849 | } |
---|
[4705] | 850 | } |
---|
[4701] | 851 | |
---|
| 852 | |
---|
[4705] | 853 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
| 854 | boxB->bCollided = true; |
---|
| 855 | PRINT(3)("Kollision!\n"); |
---|
| 856 | return true; |
---|
[4695] | 857 | } |
---|
| 858 | |
---|
| 859 | |
---|
[4696] | 860 | |
---|
[4708] | 861 | |
---|
| 862 | |
---|
[5481] | 863 | void OBBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
[4553] | 864 | { |
---|
[4635] | 865 | |
---|
| 866 | /* draw the model itself, there is some problem concerning this: the vertices are drawn multiple times */ |
---|
| 867 | if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL) |
---|
| 868 | { |
---|
[4638] | 869 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4622] | 870 | { |
---|
[4712] | 871 | if( drawMode & DRAW_POINTS) |
---|
| 872 | glBegin(GL_POINTS); |
---|
[4638] | 873 | for(int i = 0; i < this->bvElement->numOfVertices; ++i) |
---|
| 874 | { |
---|
[4712] | 875 | if( drawMode & DRAW_POINTS) |
---|
| 876 | glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
| 877 | else |
---|
| 878 | { |
---|
| 879 | glPushMatrix(); |
---|
| 880 | glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]); |
---|
[5430] | 881 | gluSphere(OBBTreeNode_sphereObj, 0.1, 10, 10); |
---|
[4712] | 882 | glPopMatrix(); |
---|
| 883 | } |
---|
[4638] | 884 | } |
---|
[4712] | 885 | if( drawMode & DRAW_POINTS) |
---|
| 886 | glEnd(); |
---|
[4622] | 887 | } |
---|
[4635] | 888 | } |
---|
[4542] | 889 | |
---|
[5481] | 890 | if (top) |
---|
| 891 | { |
---|
| 892 | glPushAttrib(GL_ENABLE_BIT); |
---|
| 893 | glDisable(GL_LIGHTING); |
---|
| 894 | glDisable(GL_TEXTURE_2D); |
---|
| 895 | } |
---|
| 896 | glColor3f(color.x, color.y, color.z); |
---|
[4542] | 897 | |
---|
[5481] | 898 | |
---|
[4589] | 899 | /* draw world axes */ |
---|
[4676] | 900 | if( drawMode & DRAW_BV_AXIS) |
---|
| 901 | { |
---|
| 902 | glBegin(GL_LINES); |
---|
[5481] | 903 | glColor3f(1.0, 0.0, 0.0); |
---|
[4676] | 904 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 905 | glVertex3f(3.0, 0.0, 0.0); |
---|
[4589] | 906 | |
---|
[5481] | 907 | glColor3f(0.0, 1.0, 0.0); |
---|
[4676] | 908 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 909 | glVertex3f(0.0, 3.0, 0.0); |
---|
[4589] | 910 | |
---|
[5481] | 911 | glColor3f(0.0, 0.0, 1.0); |
---|
[4676] | 912 | glVertex3f(0.0, 0.0, 0.0); |
---|
| 913 | glVertex3f(0.0, 0.0, 3.0); |
---|
| 914 | glEnd(); |
---|
| 915 | } |
---|
[4674] | 916 | |
---|
[4688] | 917 | |
---|
[4635] | 918 | if( drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL) |
---|
| 919 | { |
---|
[4636] | 920 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 921 | { |
---|
| 922 | /* draw the obb axes */ |
---|
| 923 | glBegin(GL_LINES); |
---|
| 924 | glColor3f(0.0, 0.4, 0.3); |
---|
| 925 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 926 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
| 927 | this->bvElement->center->y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
| 928 | this->bvElement->center->z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
[4589] | 929 | |
---|
[4635] | 930 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 931 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
| 932 | this->bvElement->center->y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
| 933 | this->bvElement->center->z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
[4588] | 934 | |
---|
[4635] | 935 | glVertex3f(this->bvElement->center->x, this->bvElement->center->y, this->bvElement->center->z); |
---|
[4660] | 936 | glVertex3f(this->bvElement->center->x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
| 937 | this->bvElement->center->y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
| 938 | this->bvElement->center->z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
[4635] | 939 | glEnd(); |
---|
| 940 | } |
---|
| 941 | } |
---|
[4581] | 942 | |
---|
[4588] | 943 | |
---|
[4674] | 944 | /* DRAW POLYGONS */ |
---|
[4673] | 945 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
[4635] | 946 | { |
---|
[5487] | 947 | if (top) |
---|
| 948 | { |
---|
| 949 | glEnable(GL_BLEND); |
---|
| 950 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
| 951 | } |
---|
| 952 | |
---|
[4711] | 953 | if(this->nodeLeft == NULL || this->nodeRight == NULL) |
---|
[4710] | 954 | depth = 0; |
---|
[4636] | 955 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 956 | { |
---|
[4636] | 957 | Vector cen = *this->bvElement->center; |
---|
[4660] | 958 | Vector* axis = this->bvElement->axis; |
---|
[4636] | 959 | float* len = this->bvElement->halfLength; |
---|
[4588] | 960 | |
---|
[4702] | 961 | if( this->bvElement->bCollided) |
---|
[5481] | 962 | { |
---|
[5487] | 963 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
[5481] | 964 | } |
---|
[4702] | 965 | else if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 966 | { |
---|
| 967 | glColor4f(color.x, color.y, color.z, .5); |
---|
| 968 | } |
---|
[4670] | 969 | |
---|
[4636] | 970 | /* draw bounding box */ |
---|
[4670] | 971 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 972 | glBegin(GL_QUADS); |
---|
| 973 | else |
---|
| 974 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 975 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 976 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 977 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 978 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 979 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 980 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 981 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 982 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 983 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 984 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 985 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 986 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 987 | glEnd(); |
---|
[4588] | 988 | |
---|
[4670] | 989 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 990 | glBegin(GL_QUADS); |
---|
| 991 | else |
---|
| 992 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 993 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 994 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 995 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 996 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 997 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 998 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 999 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1000 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1001 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1002 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1003 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1004 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 1005 | glEnd(); |
---|
[4588] | 1006 | |
---|
[4670] | 1007 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1008 | glBegin(GL_QUADS); |
---|
| 1009 | else |
---|
| 1010 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 1011 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1012 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1013 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1014 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1015 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1016 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1017 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1018 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1019 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1020 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1021 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1022 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
[4636] | 1023 | glEnd(); |
---|
[4588] | 1024 | |
---|
[4670] | 1025 | if( drawMode & DRAW_BV_BLENDED) |
---|
| 1026 | glBegin(GL_QUADS); |
---|
| 1027 | else |
---|
| 1028 | glBegin(GL_LINE_LOOP); |
---|
[4660] | 1029 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1030 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1031 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1032 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1033 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1034 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1035 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1036 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1037 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1038 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1039 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1040 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
[4636] | 1041 | glEnd(); |
---|
[4670] | 1042 | |
---|
[4671] | 1043 | |
---|
[4670] | 1044 | if( drawMode & DRAW_BV_BLENDED) |
---|
[4671] | 1045 | { |
---|
| 1046 | glBegin(GL_QUADS); |
---|
| 1047 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1048 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1049 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1050 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1051 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1052 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1053 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1054 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1055 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1056 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
| 1057 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
| 1058 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
| 1059 | glEnd(); |
---|
| 1060 | |
---|
| 1061 | glBegin(GL_QUADS); |
---|
| 1062 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1063 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1064 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1065 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1066 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1067 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1068 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1069 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1070 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1071 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
| 1072 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
| 1073 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
| 1074 | glEnd(); |
---|
| 1075 | } |
---|
| 1076 | |
---|
| 1077 | |
---|
| 1078 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1079 | glColor3f(color.x, color.y, color.z); |
---|
[4635] | 1080 | } |
---|
[4636] | 1081 | |
---|
[4635] | 1082 | } |
---|
[4588] | 1083 | |
---|
[4674] | 1084 | /* DRAW SEPARATING PLANE */ |
---|
[4635] | 1085 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
[4632] | 1086 | { |
---|
[4636] | 1087 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
[4635] | 1088 | { |
---|
[4671] | 1089 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1090 | glColor4f(color.x, color.y, color.z, .6); |
---|
[4671] | 1091 | |
---|
[4636] | 1092 | /* now draw the separation plane */ |
---|
[4660] | 1093 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
| 1094 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
[4636] | 1095 | Vector c = *this->bvElement->center; |
---|
| 1096 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
| 1097 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
| 1098 | glBegin(GL_QUADS); |
---|
| 1099 | 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); |
---|
| 1100 | 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); |
---|
| 1101 | 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); |
---|
| 1102 | 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); |
---|
| 1103 | glEnd(); |
---|
[4671] | 1104 | |
---|
| 1105 | if( drawMode & DRAW_BV_BLENDED) |
---|
[5481] | 1106 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
[4671] | 1107 | |
---|
[4635] | 1108 | } |
---|
[4632] | 1109 | } |
---|
[4588] | 1110 | |
---|
[4702] | 1111 | |
---|
| 1112 | |
---|
[5481] | 1113 | if (depth > 0) |
---|
| 1114 | { |
---|
| 1115 | if( this->nodeLeft != NULL) |
---|
[5494] | 1116 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
[5481] | 1117 | if( this->nodeRight != NULL) |
---|
[5494] | 1118 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
[5481] | 1119 | } |
---|
| 1120 | this->bvElement->bCollided = false; |
---|
[4588] | 1121 | |
---|
[5481] | 1122 | if (top) |
---|
| 1123 | glPopAttrib(); |
---|
[4557] | 1124 | } |
---|
[4542] | 1125 | |
---|
| 1126 | |
---|
[4568] | 1127 | |
---|
[4746] | 1128 | void OBBTreeNode::debug() const |
---|
[4568] | 1129 | { |
---|
| 1130 | |
---|
| 1131 | /* |
---|
| 1132 | for(int i = 0; i < length; i++) |
---|
[4617] | 1133 | { |
---|
[4638] | 1134 | PRINTF(3)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]); |
---|
[4617] | 1135 | } |
---|
[4568] | 1136 | */ |
---|
| 1137 | } |
---|