Changeset 4576 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 10, 2005, 2:18:01 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: calculating box dimensions

File:

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

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

@@ -166 +166 @@
      vectors
   */
-
   Matrix                V(3,3);                               //!< for eigenvectors
   DiagonalMatrix        D(3);                                 //!< for eigenvalues    
   SymmetricMatrix       C(3);                                 //!< for the covariance symmetrical matrix
-  Vector**              axis;                                 //!< the references to the obb axis
+  Vector**              axis = new Vector*[3];                //!< the references to the obb axis
   
   C(1,1) = covariance[0][0];
@@ -196 +195 @@
   }
 
-   //axis1 = 
-
+  axis[0] = new Vector(V(1, 1), V(2, 1), V(3, 1));
+  axis[1] = new Vector(V(1, 2), V(2, 2), V(3, 2));
+  axis[2] = new Vector(V(1, 3), V(2, 3), V(3, 3));
+  box->axis = axis;
+  
+  printf("eigenvector: %f, %f, %f\n", V(1, 1), V(2, 1), V(3, 1));
+  printf("eigenvector: %f, %f, %f\n", V(1, 2), V(2, 2), V(3, 2));
+  printf("eigenvector: %f, %f, %f\n", V(1, 3), V(2, 3), V(3, 3));
+
+
+  /* now get the axis length */
+  Line                ax1(*box->center, *box->axis[0]);      //!< the the axis representation
+  Line                ax2(*box->center, *box->axis[1]);      //!< the the axis representation
+  Line                ax3(*box->center, *box->axis[2]);      //!< the the axis representation
+  
+
+  
 }
 
@@ -208 +222 @@
   for(int i = 0; i < 3; ++i)
     {
-      if( aLength < box->axis[i].len())
+      if( aLength < box->axis[i]->len())
         {
-          aLength = box->axis[i].len();
+          aLength = box->axis[i]->len();
           axisNr = i;
         }