1 | /* |
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2 | orxonox - the future of 3D-vertical-scrollers |
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3 | |
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4 | Copyright (C) 2004 orx |
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5 | |
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6 | This program is free software; you can redistribute it and/or modify |
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7 | it under the terms of the GNU General Public License as published by |
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8 | the Free Software Foundation; either version 2, or (at your option) |
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9 | any later version. |
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10 | |
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11 | ### File Specific: |
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12 | main-programmer: Patrick Boenzli |
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13 | */ |
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14 | |
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15 | #define DEBUG_SPECIAL_MODULE 3/* DEBUG_MODULE_COLLISION_DETECTION*/ |
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16 | |
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17 | #include "obb_tree_node.h" |
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18 | #include "obb_tree.h" |
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19 | #include "obb.h" |
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20 | |
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21 | #include "matrix.h" |
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22 | #include "model.h" |
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23 | #include "world_entity.h" |
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24 | #include "plane.h" |
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25 | |
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26 | #include "color.h" |
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27 | #include "glincl.h" |
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28 | |
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29 | #include <list> |
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30 | #include <vector> |
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31 | #include "debug.h" |
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32 | |
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33 | |
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34 | |
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35 | |
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36 | |
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37 | |
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38 | GLUquadricObj* OBBTreeNode_sphereObj = NULL; |
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39 | |
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40 | ObjectListDefinition(OBBTreeNode); |
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41 | /** |
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42 | * standard constructor |
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43 | * @param tree: reference to the obb tree |
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44 | * @param depth: the depth of the obb tree to generate |
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45 | */ |
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46 | OBBTreeNode::OBBTreeNode (const OBBTree& tree, OBBTreeNode* prev, int depth) |
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47 | : BVTreeNode() |
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48 | { |
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49 | this->registerObject(this, OBBTreeNode::_objectList); |
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50 | |
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51 | this->obbTree = &tree; |
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52 | this->nodePrev = prev; |
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53 | this->depth = depth; |
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54 | this->nextID = 0; |
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55 | |
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56 | this->nodeLeft = NULL; |
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57 | this->nodeRight = NULL; |
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58 | this->bvElement = NULL; |
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59 | |
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60 | this->triangleIndexList1 = NULL; |
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61 | this->triangleIndexList2 = NULL; |
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62 | |
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63 | this->modelInf = NULL; |
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64 | this->triangleIndexes = NULL; |
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65 | |
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66 | if( OBBTreeNode_sphereObj == NULL) |
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67 | OBBTreeNode_sphereObj = gluNewQuadric(); |
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68 | |
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69 | this->owner = NULL; |
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70 | |
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71 | /* debug ids */ |
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72 | if( this->nodePrev) |
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73 | this->treeIndex = 100 * this->depth + this->nodePrev->getID(); |
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74 | else |
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75 | this->treeIndex = 0; |
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76 | } |
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77 | |
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78 | |
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79 | /** |
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80 | * standard deconstructor |
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81 | */ |
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82 | OBBTreeNode::~OBBTreeNode () |
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83 | { |
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84 | if( this->nodeLeft) |
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85 | delete this->nodeLeft; |
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86 | if( this->nodeRight) |
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87 | delete this->nodeRight; |
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88 | |
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89 | if( this->bvElement) |
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90 | delete this->bvElement; |
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91 | } |
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92 | |
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93 | |
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94 | |
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95 | void OBBTreeNode::createBox(Vector start, Vector end) |
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96 | { |
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97 | |
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98 | this->bvElement = new OBB(); |
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99 | this->nodeLeft = NULL; |
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100 | this->nodeRight = NULL; |
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101 | // this->depth = 0; |
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102 | |
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103 | this->bvElement->center = (end - start) * 0.5f; |
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104 | this->bvElement->halfLength[0] = (end.x - start.x) * 0.5f; |
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105 | this->bvElement->halfLength[1] = (end.y - start.y) * 0.5f; |
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106 | this->bvElement->halfLength[2] = (end.z - start.z) * 0.5f; |
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107 | |
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108 | this->bvElement->axis[0] = Vector(1,0,0); |
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109 | this->bvElement->axis[1] = Vector(0,1,0); |
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110 | this->bvElement->axis[2] = Vector(0,0,1); |
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111 | } |
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112 | |
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113 | |
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114 | |
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115 | /** |
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116 | * creates a new BVTree or BVTree partition |
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117 | * @param depth: how much more depth-steps to go: if == 1 don't go any deeper! |
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118 | * @param modInfo: model informations from the abstrac model |
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119 | * |
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120 | * this function creates the Bounding Volume tree from a modelInfo struct and bases its calculations |
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121 | * on the triangle informations (triangle soup not polygon soup) |
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122 | */ |
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123 | void OBBTreeNode::spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length) |
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124 | { |
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125 | PRINTF(4)("\n==============================Creating OBB Tree Node==================\n"); |
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126 | PRINT(4)(" OBB Tree Infos: \n"); |
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127 | PRINT(4)("\tDepth: %i \n\tTree Index: %i \n\tNumber of Triangles: %i\n", depth, this->treeIndex, length); |
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128 | this->depth = depth; |
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129 | |
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130 | this->bvElement = new OBB(); |
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131 | this->bvElement->modelInf = &modelInf; |
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132 | this->bvElement->triangleIndexes = triangleIndexes; |
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133 | this->bvElement->triangleIndexesLength = length; |
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134 | |
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135 | /* create the bounding boxes in three steps */ |
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136 | this->calculateBoxCovariance(*this->bvElement, modelInf, triangleIndexes, length); |
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137 | this->calculateBoxEigenvectors(*this->bvElement, modelInf, triangleIndexes, length); |
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138 | this->calculateBoxAxis(*this->bvElement, modelInf, triangleIndexes, length); |
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139 | |
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140 | /* do we need to descent further in the obb tree?*/ |
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141 | if( likely( this->depth > 0)) |
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142 | { |
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143 | this->forkBox(*this->bvElement); |
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144 | |
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145 | if( this->triangleIndexLength1 >= 3) |
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146 | { |
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147 | this->nodeLeft = new OBBTreeNode(*this->obbTree, this, depth - 1); |
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148 | this->nodeLeft->spawnBVTree(modelInf, this->triangleIndexList1, this->triangleIndexLength1); |
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149 | } |
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150 | if( this->triangleIndexLength2 >= 3) |
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151 | { |
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152 | this->nodeRight = new OBBTreeNode(*this->obbTree, this, depth - 1); |
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153 | this->nodeRight->spawnBVTree(modelInf, this->triangleIndexList2, this->triangleIndexLength2); |
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154 | } |
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155 | } |
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156 | } |
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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 | * calculate the box covariance matrix |
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162 | * @param box: reference to the box |
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163 | * @param modelInf: the model info structure of the model |
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164 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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165 | * @param length: the length of the indexes array |
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166 | */ |
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167 | void OBBTreeNode::calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length) |
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168 | { |
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169 | float facelet[length]; //!< surface area of the i'th triangle of the convex hull |
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170 | float face = 0.0f; //!< surface area of the entire convex hull |
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171 | Vector centroid[length]; //!< centroid of the i'th convex hull |
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172 | Vector center; //!< the center of the entire hull |
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173 | Vector p, q, r; //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d |
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174 | Vector t1, t2; //!< temporary values |
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175 | float covariance[3][3] = {{0,0,0}, {0,0,0}, {0,0,0}};//!< the covariance matrix |
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176 | |
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177 | /* fist compute all the convex hull face/facelets and centroids */ |
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178 | for( int i = 0; i < length ; ++i) |
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179 | { |
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180 | p = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]; |
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181 | q = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]; |
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182 | r = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]; |
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183 | |
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184 | /* finding the facelet surface via cross-product */ |
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185 | t1 = p - q; |
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186 | t2 = p - r; |
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187 | facelet[i] = 0.5f * /*fabs*/( t1.cross(t2).len() ); |
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188 | /* update the entire convex hull surface */ |
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189 | face += facelet[i]; |
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190 | |
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191 | /* calculate the cetroid of the hull triangles */ |
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192 | centroid[i] = (p + q + r) / 3.0f; |
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193 | /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */ |
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194 | center += centroid[i] * facelet[i]; |
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195 | /* the arithmetical center */ |
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196 | } |
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197 | /* take the average of the centroid sum */ |
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198 | center /= face; |
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199 | |
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200 | |
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201 | /* now calculate the covariance matrix - if not written in three for-loops, |
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202 | it would compute faster: minor */ |
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203 | for( int j = 0; j < 3; ++j) |
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204 | { |
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205 | for( int k = 0; k < 3; ++k) |
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206 | { |
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207 | for( int i = 0; i < length; ++i) |
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208 | { |
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209 | p = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[0]]); |
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210 | q = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[1]]); |
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211 | r = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[i]].indexToVertices[2]]); |
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212 | |
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213 | covariance[j][k] = facelet[i] * (9.0f * centroid[i][j] * centroid[i][k] + p[j] * p[k] + |
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214 | q[j] * q[k] + r[j] * r[k]); |
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215 | } |
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216 | covariance[j][k] = covariance[j][k] / (12.0f * face) - center[j] * center[k]; |
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217 | } |
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218 | } |
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219 | for( int i = 0; i < 3; ++i) |
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220 | { |
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221 | box.covarianceMatrix[i][0] = covariance[i][0]; |
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222 | box.covarianceMatrix[i][1] = covariance[i][1]; |
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223 | box.covarianceMatrix[i][2] = covariance[i][2]; |
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224 | } |
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225 | box.center = center; |
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226 | |
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227 | /* debug output section*/ |
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228 | PRINTF(4)("\nOBB Covariance Matrix:\n"); |
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229 | for(int j = 0; j < 3; ++j) |
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230 | { |
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231 | PRINT(4)("\t\t"); |
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232 | for(int k = 0; k < 3; ++k) |
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233 | { |
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234 | PRINT(4)("%11.4f\t", covariance[j][k]); |
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235 | } |
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236 | PRINT(4)("\n"); |
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237 | } |
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238 | PRINTF(4)("\nWeighteed OBB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", center.x, center.y, center.z); |
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239 | } |
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240 | |
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241 | |
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242 | |
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243 | /** |
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244 | * calculate the eigenvectors for the object oriented box |
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245 | * @param box: reference to the box |
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246 | * @param modelInf: the model info structure of the model |
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247 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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248 | * @param length: the length of the indexes array |
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249 | */ |
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250 | void OBBTreeNode::calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf, |
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251 | const int* triangleIndexes, int length) |
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252 | { |
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253 | |
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254 | Vector axis[3]; //!< the references to the obb axis |
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255 | Matrix covMat( box.covarianceMatrix ); //!< covariance matrix (in the matrix dataform) |
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256 | |
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257 | /* |
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258 | now getting spanning vectors of the sub-space: |
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259 | the eigenvectors of a symmertric matrix, such as the |
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260 | covarience matrix are mutually orthogonal. |
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261 | after normalizing them, they can be used as a the basis |
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262 | vectors |
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263 | */ |
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264 | |
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265 | /* calculate the axis */ |
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266 | covMat.getEigenVectors(axis[0], axis[1], axis[2] ); |
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267 | box.axis[0] = axis[0]; |
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268 | box.axis[1] = axis[1]; |
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269 | box.axis[2] = axis[2]; |
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270 | |
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271 | // this is for axis aligned bouning boxes only |
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272 | // box.axis[0] = Vector(1,0,0); |
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273 | // box.axis[1] = Vector(0,1,0); |
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274 | // box.axis[2] = Vector(0,0,1); |
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275 | |
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276 | PRINTF(4)("Eigenvectors:\n"); |
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277 | PRINT(4)("\t\t%11.2f \t%11.2f \t%11.2f\n", box.axis[0].x, box.axis[0].y, box.axis[0].z); |
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278 | PRINT(4)("\t\t%11.2f \t%11.2f \t%11.2f\n", box.axis[1].x, box.axis[1].y, box.axis[1].z); |
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279 | PRINT(4)("\t\t%11.2f \t%11.2f \t%11.2f\n", box.axis[2].x, box.axis[2].y, box.axis[2].z); |
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280 | } |
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281 | |
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282 | |
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283 | |
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284 | |
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285 | /** |
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286 | * @brief calculate the eigenvectors for the object oriented box |
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287 | * @param box: reference to the box |
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288 | * @param modelInf: the model info structure of the model |
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289 | * @param tirangleIndexes: an array with the indexes of the triangles inside this |
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290 | * @param length: the length of the indexes array |
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291 | */ |
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292 | void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length) |
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293 | { |
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294 | |
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295 | PRINTF(4)("Calculate Box Axis\n"); |
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296 | /* now get the axis length */ |
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297 | float tmpLength; //!< tmp save point for the length |
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298 | Plane p0(box.axis[0], box.center); //!< the axis planes |
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299 | Plane p1(box.axis[1], box.center); //!< the axis planes |
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300 | Plane p2(box.axis[2], box.center); //!< the axis planes |
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301 | float maxLength[3]; //!< maximal lenth of the axis |
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302 | float minLength[3]; //!< minimal length of the axis |
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303 | const float* tmpVec; //!< variable taking tmp vectors |
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304 | float centerOffset[3]; |
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305 | |
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306 | /* get the maximal dimensions of the body in all directions */ |
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307 | /* for the initialisation the value just has to be inside of the polygon soup -> first vertices (rand) */ |
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308 | for( int k = 0; k < 3; k++) |
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309 | { |
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310 | tmpVec = (&modelInf.pVertices[modelInf.pTriangles[triangleIndexes[0]].indexToVertices[0]]); |
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311 | Plane* p; |
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312 | if( k == 0) |
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313 | p = &p0; |
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314 | else if( k == 1) |
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315 | p = &p1; |
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316 | else |
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317 | p = &p2; |
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318 | maxLength[k] = p->distancePoint(tmpVec); |
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319 | minLength[k] = p->distancePoint(tmpVec); |
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320 | |
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321 | for( int j = 0; j < length; ++j) { |
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322 | for( int i = 0; i < 3; ++i) { |
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323 | tmpVec = &modelInf.pVertices[modelInf.pTriangles[triangleIndexes[j]].indexToVertices[i]]; |
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324 | tmpLength = p->distancePoint(tmpVec); |
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325 | |
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326 | if( tmpLength > maxLength[k]) |
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327 | maxLength[k] = tmpLength; |
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328 | else if( tmpLength < minLength[k]) |
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329 | minLength[k] = tmpLength; |
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330 | } |
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331 | } |
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332 | } |
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333 | |
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334 | |
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335 | |
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336 | /* calculate the real centre of the body by using the axis length */ |
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337 | for( int i = 0; i < 3; ++i) |
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338 | { |
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339 | if( maxLength[i] > 0.0f && minLength[i] > 0.0f) // both axis positiv |
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340 | centerOffset[i] = minLength[i] + (maxLength[i] - minLength[i]) / 2.0f; |
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341 | else if( maxLength[i] > 0.0f && maxLength[i] < 0.0f) // positiv and negativ |
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342 | centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f; |
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343 | else //both negativ |
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344 | centerOffset[i] = minLength[i] + (maxLength[i] - minLength[i]) / 2.0f; |
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345 | |
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346 | box.halfLength[i] = (maxLength[i] - minLength[i]) / 2.0f; |
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347 | } |
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348 | |
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349 | box.center += (box.axis[0] * centerOffset[0]); |
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350 | box.center += (box.axis[1] * centerOffset[1]); |
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351 | box.center += (box.axis[2] * centerOffset[2]); |
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352 | |
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353 | |
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354 | PRINTF(4)("\n"); |
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355 | PRINT(4)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[0], maxLength[0], minLength[0], centerOffset[0]); |
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356 | PRINT(4)("\tAxis halflength y: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[1], maxLength[1], minLength[1], centerOffset[1] ); |
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357 | PRINT(4)("\tAxis halflength z: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[2], maxLength[2], minLength[2], centerOffset[2]); |
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358 | } |
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359 | |
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360 | |
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361 | |
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362 | /** |
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363 | * @brief this separates an ob-box in the middle |
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364 | * @param box: the box to separate |
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365 | * |
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366 | * this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis |
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367 | */ |
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368 | void OBBTreeNode::forkBox(OBB& box) |
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369 | { |
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370 | |
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371 | PRINTF(4)("Fork Box\n"); |
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372 | PRINTF(4)("Calculating the longest Axis\n"); |
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373 | /* get the longest axis of the box */ |
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374 | float longestAxis = -1.0f; //!< the length of the longest axis |
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375 | int longestAxisIndex = 0; //!< this is the nr of the longest axis |
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376 | |
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377 | |
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378 | /* now get the longest axis of the three exiting */ |
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379 | for( int i = 0; i < 3; ++i) |
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380 | { |
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381 | if( longestAxis < box.halfLength[i]) |
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382 | { |
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383 | longestAxis = box.halfLength[i]; |
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384 | longestAxisIndex = i; |
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385 | } |
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386 | } |
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387 | this->bvElement->radius = longestAxis; |
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388 | PRINTF(4)("\nLongest Axis is: Nr %i with a half-length of:%11.2f\n", longestAxisIndex, longestAxis); |
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389 | |
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390 | |
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391 | PRINTF(4)("Separating along the longest axis\n"); |
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392 | /* get the closest vertex near the center */ |
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393 | float tmpDist; //!< variable to save diverse distances temporarily |
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394 | Plane middlePlane(box.axis[longestAxisIndex], box.center); //!< the middle plane |
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395 | |
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396 | |
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397 | /* now definin the separation plane through this specified nearest point and partition |
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398 | the points depending on which side they are located |
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399 | */ |
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400 | std::list<int> partition1; //!< the vertex partition 1 |
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401 | std::list<int> partition2; //!< the vertex partition 2 |
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402 | float* triangleCenter = new float[3]; //!< the center of the triangle |
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403 | const float* a; //!< triangle edge a |
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404 | const float* b; //!< triangle edge b |
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405 | const float* c; //!< triangle edge c |
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406 | |
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407 | |
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408 | /* find the center of the box */ |
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409 | this->separationPlane = Plane(box.axis[longestAxisIndex], box.center); |
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410 | this->sepPlaneCenter[0] = box.center.x; |
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411 | this->sepPlaneCenter[1] = box.center.y; |
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412 | this->sepPlaneCenter[2] = box.center.z; |
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413 | this->longestAxisIndex = longestAxisIndex; |
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414 | |
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415 | for( int i = 0; i < box.triangleIndexesLength; ++i) |
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416 | { |
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417 | /* first calculate the middle of the triangle */ |
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418 | a = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[0]]; |
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419 | b = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[1]]; |
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420 | c = &box.modelInf->pVertices[box.modelInf->pTriangles[box.triangleIndexes[i]].indexToVertices[2]]; |
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421 | |
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422 | triangleCenter[0] = (a[0] + b[0] + c[0]) / 3.0f; |
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423 | triangleCenter[1] = (a[1] + b[1] + c[1]) / 3.0f; |
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424 | triangleCenter[2] = (a[2] + b[2] + c[2]) / 3.0f; |
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425 | tmpDist = this->separationPlane.distancePoint(*((sVec3D*)triangleCenter)); |
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426 | |
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427 | if( tmpDist > 0.0f) |
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428 | partition1.push_back(box.triangleIndexes[i]); /* positive numbers plus zero */ |
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429 | else if( tmpDist < 0.0f) |
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430 | partition2.push_back(box.triangleIndexes[i]); /* negatice numbers */ |
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431 | else { |
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432 | partition1.push_back(box.triangleIndexes[i]); /* 0.0f? unprobable... */ |
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433 | partition2.push_back(box.triangleIndexes[i]); |
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434 | } |
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435 | } |
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436 | delete [] triangleCenter; |
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437 | PRINTF(4)("\nPartition1: got \t%i Vertices \nPartition2: got \t%i Vertices\n", partition1.size(), partition2.size()); |
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438 | |
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439 | |
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440 | /* now comes the separation into two different sVec3D arrays */ |
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441 | int index; //!< index storage place |
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442 | int* triangleIndexList1; //!< the vertex list 1 |
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443 | int* triangleIndexList2; //!< the vertex list 2 |
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444 | std::list<int>::iterator element; //!< the list iterator |
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445 | |
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446 | triangleIndexList1 = new int[partition1.size()]; |
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447 | triangleIndexList2 = new int[partition2.size()]; |
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448 | |
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449 | for( element = partition1.begin(), index = 0; element != partition1.end(); element++, index++) |
---|
450 | triangleIndexList1[index] = (*element); |
---|
451 | |
---|
452 | for( element = partition2.begin(), index = 0; element != partition2.end(); element++, index++) |
---|
453 | triangleIndexList2[index] = (*element); |
---|
454 | |
---|
455 | if( this->triangleIndexList1!= NULL) |
---|
456 | delete[] this->triangleIndexList1; |
---|
457 | this->triangleIndexList1 = triangleIndexList1; |
---|
458 | this->triangleIndexLength1 = partition1.size(); |
---|
459 | |
---|
460 | if( this->triangleIndexList2 != NULL) |
---|
461 | delete[] this->triangleIndexList2; |
---|
462 | this->triangleIndexList2 = triangleIndexList2; |
---|
463 | this->triangleIndexLength2 = partition2.size(); |
---|
464 | } |
---|
465 | |
---|
466 | |
---|
467 | |
---|
468 | /** |
---|
469 | * collides one tree with an other |
---|
470 | * @param treeNode the other bv tree node |
---|
471 | * @param nodeA the worldentity belonging to this bv |
---|
472 | * @param nodeB the worldentity belonging to treeNode |
---|
473 | */ |
---|
474 | void OBBTreeNode::collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
475 | { |
---|
476 | if( unlikely(treeNode == NULL || nodeA == NULL || nodeB == NULL)) |
---|
477 | return; |
---|
478 | |
---|
479 | // float distanceMax = this->bvElement->radius + ((OBBTreeNode*)treeNode)->bvElement->radius; |
---|
480 | // float distance = fabs((nodeA->getAbsCoor() - nodeB->getAbsCoor()).len()); |
---|
481 | |
---|
482 | |
---|
483 | // if( distance < distanceMax) |
---|
484 | // PRINTF(0)(" %s (%s: group %i) vs %s (%s: group %i): distanceMax: %f, distance: %f\n", nodeA->getClassCName(), nodeA->getName(), nodeA->getOMListNumber(), nodeB->getClassCName(), nodeB->getName(), nodeB->getOMListNumber(), distanceMax, distance); |
---|
485 | |
---|
486 | |
---|
487 | PRINTF(4)("collideWith\n"); |
---|
488 | PRINTF(5)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex()); |
---|
489 | |
---|
490 | // for now only collide with OBBTreeNodes |
---|
491 | this->collideWithOBB((OBBTreeNode*)treeNode, nodeA, nodeB); |
---|
492 | } |
---|
493 | |
---|
494 | |
---|
495 | |
---|
496 | /** |
---|
497 | * collides one obb tree with an other |
---|
498 | * @param treeNode the other bv tree node |
---|
499 | * @param nodeA the worldentity belonging to this bv |
---|
500 | * @param nodeB the worldentity belonging to treeNode |
---|
501 | */ |
---|
502 | void OBBTreeNode::collideWithOBB(OBBTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
503 | { |
---|
504 | |
---|
505 | if( this->overlapTest(this->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
506 | { |
---|
507 | PRINTF(5)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassCName(), nodeB->getClassCName(), this->nodeLeft, this->nodeRight); |
---|
508 | |
---|
509 | |
---|
510 | // left node |
---|
511 | if( this->nodeLeft != NULL ) |
---|
512 | { |
---|
513 | if( this->overlapTest(this->nodeLeft->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
514 | { |
---|
515 | bool bAdvance = false; |
---|
516 | if( treeNode->nodeLeft != NULL) |
---|
517 | this->nodeLeft->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
518 | else |
---|
519 | bAdvance = true; |
---|
520 | |
---|
521 | if( treeNode->nodeRight != NULL) |
---|
522 | this->nodeLeft->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
523 | else |
---|
524 | bAdvance = true; |
---|
525 | |
---|
526 | if( bAdvance) |
---|
527 | this->nodeLeft->collideWith(treeNode, nodeA, nodeB); // go down the other tree also |
---|
528 | } |
---|
529 | } |
---|
530 | |
---|
531 | // right node |
---|
532 | if( this->nodeRight != NULL ) |
---|
533 | { |
---|
534 | if( this->overlapTest(this->nodeRight->bvElement, treeNode->bvElement, nodeA, nodeB)) |
---|
535 | { |
---|
536 | bool bAdvance = false; |
---|
537 | |
---|
538 | if( treeNode->nodeLeft != NULL) |
---|
539 | this->nodeRight->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
540 | else |
---|
541 | bAdvance = true; |
---|
542 | |
---|
543 | if( treeNode->nodeRight != NULL) |
---|
544 | this->nodeRight->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
545 | else |
---|
546 | bAdvance = true; |
---|
547 | |
---|
548 | if( bAdvance) |
---|
549 | this->nodeRight->collideWith(treeNode, nodeA, nodeB); // go down the other tree also |
---|
550 | } |
---|
551 | } |
---|
552 | |
---|
553 | |
---|
554 | // hybrid mode: we reached the end of this obbtree, now reach the end of the other tree |
---|
555 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
556 | { |
---|
557 | if( treeNode->nodeLeft != NULL) |
---|
558 | this->collideWith(treeNode->nodeLeft, nodeA, nodeB); |
---|
559 | if( treeNode->nodeRight != NULL) |
---|
560 | this->collideWith(treeNode->nodeRight, nodeA, nodeB); |
---|
561 | } |
---|
562 | |
---|
563 | |
---|
564 | // now check if we reached the end of both trees |
---|
565 | if( unlikely((this->nodeRight == NULL && this->nodeLeft == NULL) && |
---|
566 | (treeNode->nodeRight == NULL && treeNode->nodeLeft == NULL)) ) |
---|
567 | { |
---|
568 | // PRINTF(0)("----------------------------------------------\n\n\n\n\n\n--------------------------------\n\n\n"); |
---|
569 | nodeA->registerCollision(nodeA, nodeB, (BoundingVolume*)this->bvElement, (BoundingVolume*)treeNode->bvElement); |
---|
570 | } |
---|
571 | |
---|
572 | } |
---|
573 | } |
---|
574 | |
---|
575 | |
---|
576 | /** |
---|
577 | * this actualy checks if one obb box touches the other |
---|
578 | * @param boxA the box from nodeA |
---|
579 | * @param boxB the box from nodeB |
---|
580 | * @param nodeA the node itself |
---|
581 | * @param nodeB the node itself |
---|
582 | */ |
---|
583 | bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB) |
---|
584 | { |
---|
585 | |
---|
586 | //HACK remove this again |
---|
587 | this->owner = nodeA; |
---|
588 | // if( boxB == NULL || boxA == NULL) |
---|
589 | // return false; |
---|
590 | |
---|
591 | /* first check all axis */ |
---|
592 | Vector t; |
---|
593 | float rA = 0.0f; |
---|
594 | float rB = 0.0f; |
---|
595 | Vector l; |
---|
596 | Vector rotAxisA[3]; |
---|
597 | Vector rotAxisB[3]; |
---|
598 | |
---|
599 | rotAxisA[0] = nodeA->getAbsDir().apply(boxA->axis[0]); |
---|
600 | rotAxisA[1] = nodeA->getAbsDir().apply(boxA->axis[1]); |
---|
601 | rotAxisA[2] = nodeA->getAbsDir().apply(boxA->axis[2]); |
---|
602 | |
---|
603 | rotAxisB[0] = nodeB->getAbsDir().apply(boxB->axis[0]); |
---|
604 | rotAxisB[1] = nodeB->getAbsDir().apply(boxB->axis[1]); |
---|
605 | rotAxisB[2] = nodeB->getAbsDir().apply(boxB->axis[2]); |
---|
606 | |
---|
607 | t = nodeA->getAbsCoor() + nodeA->getAbsDir().apply(boxA->center) - ( nodeB->getAbsCoor() + nodeB->getAbsDir().apply(boxB->center)); |
---|
608 | |
---|
609 | /* All 3 axis of the object A */ |
---|
610 | for( int j = 0; j < 3; ++j) |
---|
611 | { |
---|
612 | rA = 0.0f; |
---|
613 | rB = 0.0f; |
---|
614 | l = rotAxisA[j]; |
---|
615 | |
---|
616 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
617 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
618 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
619 | |
---|
620 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
621 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
622 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
623 | |
---|
624 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
625 | |
---|
626 | if( (rA + rB) < fabs(t.dot(l))) |
---|
627 | { |
---|
628 | PRINTF(4)("no Collision\n"); |
---|
629 | return false; |
---|
630 | } |
---|
631 | } |
---|
632 | |
---|
633 | /* All 3 axis of the object B */ |
---|
634 | for( int j = 0; j < 3; ++j) |
---|
635 | { |
---|
636 | rA = 0.0f; |
---|
637 | rB = 0.0f; |
---|
638 | l = rotAxisB[j]; |
---|
639 | |
---|
640 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
641 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
642 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
643 | |
---|
644 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
645 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
646 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
647 | |
---|
648 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
649 | |
---|
650 | if( (rA + rB) < fabs(t.dot(l))) |
---|
651 | { |
---|
652 | PRINTF(4)("no Collision\n"); |
---|
653 | return false; |
---|
654 | } |
---|
655 | } |
---|
656 | |
---|
657 | |
---|
658 | /* Now check for all face cross products */ |
---|
659 | |
---|
660 | for( int j = 0; j < 3; ++j) |
---|
661 | { |
---|
662 | for(int k = 0; k < 3; ++k ) |
---|
663 | { |
---|
664 | rA = 0.0f; |
---|
665 | rB = 0.0f; |
---|
666 | l = rotAxisA[j].cross(rotAxisB[k]); |
---|
667 | |
---|
668 | rA += fabs(boxA->halfLength[0] * rotAxisA[0].dot(l)); |
---|
669 | rA += fabs(boxA->halfLength[1] * rotAxisA[1].dot(l)); |
---|
670 | rA += fabs(boxA->halfLength[2] * rotAxisA[2].dot(l)); |
---|
671 | |
---|
672 | rB += fabs(boxB->halfLength[0] * rotAxisB[0].dot(l)); |
---|
673 | rB += fabs(boxB->halfLength[1] * rotAxisB[1].dot(l)); |
---|
674 | rB += fabs(boxB->halfLength[2] * rotAxisB[2].dot(l)); |
---|
675 | |
---|
676 | PRINTF(5)("s = %f, rA+rB = %f\n", fabs(t.dot(l)), rA+rB); |
---|
677 | |
---|
678 | if( (rA + rB) < fabs(t.dot(l))) |
---|
679 | { |
---|
680 | PRINTF(4)("keine Kollision\n"); |
---|
681 | return false; |
---|
682 | } |
---|
683 | } |
---|
684 | } |
---|
685 | |
---|
686 | /* FIXME: there is no collision mark set now */ |
---|
687 | boxA->bCollided = true; /* use this ONLY(!!!!) for drawing operations */ |
---|
688 | boxB->bCollided = true; |
---|
689 | |
---|
690 | |
---|
691 | PRINTF(4)("Kollision!\n"); |
---|
692 | return true; |
---|
693 | } |
---|
694 | |
---|
695 | |
---|
696 | /** |
---|
697 | * |
---|
698 | * draw the BV tree - debug mode |
---|
699 | */ |
---|
700 | void OBBTreeNode::drawBV(int depth, int drawMode, const Vector& color, bool top) const |
---|
701 | { |
---|
702 | |
---|
703 | /* this function can be used to draw the triangles and/or the points only */ |
---|
704 | if( 1 /*drawMode & DRAW_MODEL || drawMode & DRAW_ALL*/) |
---|
705 | { |
---|
706 | if( depth == 0/*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
707 | { |
---|
708 | if( 0 /*drawMode & DRAW_POINTS*/) |
---|
709 | { |
---|
710 | glBegin(GL_POINTS); |
---|
711 | glColor3f(0.3, 0.8, 0.54); |
---|
712 | for(unsigned int i = 0; i < this->bvElement->modelInf->numVertices*3; i+=3) |
---|
713 | glVertex3f(this->bvElement->modelInf->pVertices[i], |
---|
714 | this->bvElement->modelInf->pVertices[i+1], |
---|
715 | this->bvElement->modelInf->pVertices[i+2]); |
---|
716 | glEnd(); |
---|
717 | } |
---|
718 | } |
---|
719 | } |
---|
720 | |
---|
721 | if (top) |
---|
722 | { |
---|
723 | glPushAttrib(GL_ENABLE_BIT); |
---|
724 | glDisable(GL_LIGHTING); |
---|
725 | glDisable(GL_TEXTURE_2D); |
---|
726 | } |
---|
727 | glColor3f(color.x, color.y, color.z); |
---|
728 | |
---|
729 | |
---|
730 | /* draw world axes */ |
---|
731 | // if( 1 /*drawMode & DRAW_BV_AXIS*/) |
---|
732 | // { |
---|
733 | // glBegin(GL_LINES); |
---|
734 | // glColor3f(1.0, 0.0, 0.0); |
---|
735 | // glVertex3f(0.0, 0.0, 0.0); |
---|
736 | // glVertex3f(3.0, 0.0, 0.0); |
---|
737 | // |
---|
738 | // glColor3f(0.0, 1.0, 0.0); |
---|
739 | // glVertex3f(0.0, 0.0, 0.0); |
---|
740 | // glVertex3f(0.0, 3.0, 0.0); |
---|
741 | // |
---|
742 | // glColor3f(0.0, 0.0, 1.0); |
---|
743 | // glVertex3f(0.0, 0.0, 0.0); |
---|
744 | // glVertex3f(0.0, 0.0, 3.0); |
---|
745 | // glEnd(); |
---|
746 | // } |
---|
747 | |
---|
748 | |
---|
749 | if( 1/*drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL*/) |
---|
750 | { |
---|
751 | if( 1/*drawMode & DRAW_SINGLE && depth != 0*/) |
---|
752 | { |
---|
753 | /* draw the obb axes */ |
---|
754 | glBegin(GL_LINES); |
---|
755 | glColor3f(1.0, 0.0, 0.0); |
---|
756 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
757 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[0].x * this->bvElement->halfLength[0], |
---|
758 | this->bvElement->center.y + this->bvElement->axis[0].y * this->bvElement->halfLength[0], |
---|
759 | this->bvElement->center.z + this->bvElement->axis[0].z * this->bvElement->halfLength[0]); |
---|
760 | |
---|
761 | glColor3f(0.0, 1.0, 0.0); |
---|
762 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
763 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[1].x * this->bvElement->halfLength[1], |
---|
764 | this->bvElement->center.y + this->bvElement->axis[1].y * this->bvElement->halfLength[1], |
---|
765 | this->bvElement->center.z + this->bvElement->axis[1].z * this->bvElement->halfLength[1]); |
---|
766 | |
---|
767 | glColor3f(0.0, 0.0, 1.0); |
---|
768 | glVertex3f(this->bvElement->center.x, this->bvElement->center.y, this->bvElement->center.z); |
---|
769 | glVertex3f(this->bvElement->center.x + this->bvElement->axis[2].x * this->bvElement->halfLength[2], |
---|
770 | this->bvElement->center.y + this->bvElement->axis[2].y * this->bvElement->halfLength[2], |
---|
771 | this->bvElement->center.z + this->bvElement->axis[2].z * this->bvElement->halfLength[2]); |
---|
772 | glEnd(); |
---|
773 | } |
---|
774 | } |
---|
775 | |
---|
776 | |
---|
777 | /* DRAW POLYGONS */ |
---|
778 | if( drawMode & DRAW_BV_POLYGON || drawMode & DRAW_ALL || drawMode & DRAW_BV_BLENDED) |
---|
779 | { |
---|
780 | if (top) |
---|
781 | { |
---|
782 | glEnable(GL_BLEND); |
---|
783 | glBlendFunc(GL_SRC_ALPHA, GL_ONE); |
---|
784 | } |
---|
785 | |
---|
786 | if( this->nodeLeft == NULL && this->nodeRight == NULL) |
---|
787 | depth = 0; |
---|
788 | |
---|
789 | if( depth == 0 /*!(drawMode & DRAW_SINGLE && depth != 0)*/) |
---|
790 | { |
---|
791 | |
---|
792 | |
---|
793 | Vector cen = this->bvElement->center; |
---|
794 | Vector* axis = this->bvElement->axis; |
---|
795 | float* len = this->bvElement->halfLength; |
---|
796 | |
---|
797 | if( this->bvElement->bCollided) |
---|
798 | { |
---|
799 | glColor4f(1.0, 1.0, 1.0, .5); // COLLISION COLOR |
---|
800 | } |
---|
801 | else if( drawMode & DRAW_BV_BLENDED) |
---|
802 | { |
---|
803 | glColor4f(color.x, color.y, color.z, .5); |
---|
804 | } |
---|
805 | |
---|
806 | // debug out |
---|
807 | if( this->obbTree->getOwner() != NULL) |
---|
808 | { |
---|
809 | PRINTF(4)("debug poly draw: depth: %i, mode: %i, entity-name: %s, class: %s\n", depth, drawMode, this->obbTree->getOwner()->getCName(), this->obbTree->getOwner()->getClassCName()); |
---|
810 | } |
---|
811 | else |
---|
812 | PRINTF(4)("debug poly draw: depth: %i, mode: %i\n", depth, drawMode); |
---|
813 | |
---|
814 | |
---|
815 | /* draw bounding box */ |
---|
816 | if( drawMode & DRAW_BV_BLENDED) |
---|
817 | glBegin(GL_QUADS); |
---|
818 | else |
---|
819 | glBegin(GL_LINE_LOOP); |
---|
820 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
821 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
822 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
823 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
824 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
825 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
826 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
827 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
828 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
829 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
830 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
831 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
832 | glEnd(); |
---|
833 | |
---|
834 | if( drawMode & DRAW_BV_BLENDED) |
---|
835 | glBegin(GL_QUADS); |
---|
836 | else |
---|
837 | glBegin(GL_LINE_LOOP); |
---|
838 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
839 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
840 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
841 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
842 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
843 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
844 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
845 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
846 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
847 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
848 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
849 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
850 | glEnd(); |
---|
851 | |
---|
852 | if( drawMode & DRAW_BV_BLENDED) |
---|
853 | glBegin(GL_QUADS); |
---|
854 | else |
---|
855 | glBegin(GL_LINE_LOOP); |
---|
856 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
857 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
858 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
859 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
860 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
861 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
862 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
863 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
864 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
865 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
866 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
867 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
868 | glEnd(); |
---|
869 | |
---|
870 | if( drawMode & DRAW_BV_BLENDED) |
---|
871 | glBegin(GL_QUADS); |
---|
872 | else |
---|
873 | glBegin(GL_LINE_LOOP); |
---|
874 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
875 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
876 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
877 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
878 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
879 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
880 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
881 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
882 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
883 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
884 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
885 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
886 | glEnd(); |
---|
887 | |
---|
888 | |
---|
889 | if( drawMode & DRAW_BV_BLENDED) |
---|
890 | { |
---|
891 | glBegin(GL_QUADS); |
---|
892 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
893 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
894 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
895 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] - axis[2].x * len[2], |
---|
896 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] - axis[2].y * len[2], |
---|
897 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] - axis[2].z * len[2]); |
---|
898 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
899 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
900 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
901 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] - axis[2].x * len[2], |
---|
902 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] - axis[2].y * len[2], |
---|
903 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] - axis[2].z * len[2]); |
---|
904 | glEnd(); |
---|
905 | |
---|
906 | glBegin(GL_QUADS); |
---|
907 | glVertex3f(cen.x - axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
908 | cen.y - axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
909 | cen.z - axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
910 | glVertex3f(cen.x + axis[0].x * len[0] + axis[1].x * len[1] + axis[2].x * len[2], |
---|
911 | cen.y + axis[0].y * len[0] + axis[1].y * len[1] + axis[2].y * len[2], |
---|
912 | cen.z + axis[0].z * len[0] + axis[1].z * len[1] + axis[2].z * len[2]); |
---|
913 | glVertex3f(cen.x + axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
914 | cen.y + axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
915 | cen.z + axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
916 | glVertex3f(cen.x - axis[0].x * len[0] - axis[1].x * len[1] + axis[2].x * len[2], |
---|
917 | cen.y - axis[0].y * len[0] - axis[1].y * len[1] + axis[2].y * len[2], |
---|
918 | cen.z - axis[0].z * len[0] - axis[1].z * len[1] + axis[2].z * len[2]); |
---|
919 | glEnd(); |
---|
920 | } |
---|
921 | |
---|
922 | if( drawMode & DRAW_BV_BLENDED) |
---|
923 | glColor3f(color.x, color.y, color.z); |
---|
924 | } |
---|
925 | } |
---|
926 | |
---|
927 | /* DRAW SEPARATING PLANE */ |
---|
928 | if( drawMode & DRAW_SEPARATING_PLANE || drawMode & DRAW_ALL) |
---|
929 | { |
---|
930 | if( !(drawMode & DRAW_SINGLE && depth != 0)) |
---|
931 | { |
---|
932 | if( drawMode & DRAW_BV_BLENDED) |
---|
933 | glColor4f(color.x, color.y, color.z, .6); |
---|
934 | |
---|
935 | /* now draw the separation plane */ |
---|
936 | Vector a1 = this->bvElement->axis[(this->longestAxisIndex + 1)%3]; |
---|
937 | Vector a2 = this->bvElement->axis[(this->longestAxisIndex + 2)%3]; |
---|
938 | Vector c = this->bvElement->center; |
---|
939 | float l1 = this->bvElement->halfLength[(this->longestAxisIndex + 1)%3]; |
---|
940 | float l2 = this->bvElement->halfLength[(this->longestAxisIndex + 2)%3]; |
---|
941 | glBegin(GL_QUADS); |
---|
942 | 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); |
---|
943 | 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); |
---|
944 | 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); |
---|
945 | 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); |
---|
946 | glEnd(); |
---|
947 | |
---|
948 | if( drawMode & DRAW_BV_BLENDED) |
---|
949 | glColor4f(color.x, color.y, color.z, 1.0); |
---|
950 | |
---|
951 | } |
---|
952 | } |
---|
953 | |
---|
954 | |
---|
955 | |
---|
956 | if (depth > 0) |
---|
957 | { |
---|
958 | if( this->nodeLeft != NULL) |
---|
959 | this->nodeLeft->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(15.0,0.0,0.0)), false); |
---|
960 | if( this->nodeRight != NULL) |
---|
961 | this->nodeRight->drawBV(depth - 1, drawMode, Color::HSVtoRGB(Color::RGBtoHSV(color)+Vector(30.0,0.0,0.0)), false); |
---|
962 | } |
---|
963 | this->bvElement->bCollided = false; |
---|
964 | |
---|
965 | if (top) |
---|
966 | glPopAttrib(); |
---|
967 | } |
---|
968 | |
---|
969 | |
---|
970 | |
---|
971 | void OBBTreeNode::debug() const |
---|
972 | { |
---|
973 | PRINT(0)("========OBBTreeNode::debug()=====\n"); |
---|
974 | PRINT(0)(" Current depth: %i", this->depth); |
---|
975 | PRINT(0)(" "); |
---|
976 | PRINT(0)("=================================\n"); |
---|
977 | } |
---|