Changeset 4544 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 7, 2005, 10:40:18 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: new feature in vector class, now can overtake values of a sVec3D, spawn tree alg, fast-math library, thats not used anymore

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (3 diffs)

orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -19 +19 @@
 #include "list.h"
 #include "obb.h"
+#include "fast_math.h"
+#include "vector.h"
 
 #include <math.h>
@@ -51 +53 @@
    \param verticesList: the list of vertices of the object - each vertices triple is interpreted as a triangle
 */
-void OBBTreeNode::spawnBVTree(const int depth, const sVec3D *verticesList, const int length)
+void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -57 +59 @@
   float     centroid[length];                        //!< centroid of the i'th convex hull  
   OBB*      obb = new OBB();                         //!< the new obb to add
+  Vector    p, q, r;                                 //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d
+  Vector    t1, t2;
 
-  /* fist compute all the convex hull facelets */
-  for(int i = 0; i < length; ++i)
+  /* fist compute all the convex hull face/facelets */
+  for(int i = 0; i < length; i+=3)
     {
-      facelet[i] = 0.5f * fabs(5.0);
+      p = *(verticesList + i);
+      q = *(verticesList + i + 1);
+      r = *(verticesList + i + 2);
+      
+      t1 = p - q; t2 = p - r;
+      
+      /* finding the facelet surface via cross-product */
+      facelet[i] = 0.5f * fabs( t1.cross(t2).len() );
+
+      /* update the entire convex hull surface */
+      face += facelet[i];
     }
+
+
 }