Changeset 4578 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 10, 2005, 2:52:46 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: box dimension alg implemented, got some incontinuities

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (2 diffs)

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

@@ -136 +136 @@
     }
 
-  
-  printf("Covariance Matrix:\n");
+    printf("\nVertex Data:\n");
+    for(int i = 0; i < length; i++)
+    {
+      printf("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
+    }
+  
+  printf("\nCovariance Matrix:\n");
   for(int j = 0; j < 3; ++j)
     {
@@ -206 +211 @@
 
   /* 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
-  
-
-  
+  Line                ax[3];                                 //!< the axis
+  float*              halfLength = new float[3];             //!< half length of the axis
+  float               tmpLength;                             //!< tmp save point for the length
+  
+  ax[0].r = *box->center; ax[0].a = *box->axis[0];
+  ax[1].r = *box->center; ax[1].a = *box->axis[1];
+  ax[2].r = *box->center; ax[2].a = *box->axis[2];
+
+  for(int i = 0; i < 3; ++i)
+  {
+    for(int j = 0; j < length; ++j)
+    {
+      tmpLength = ax[i].distancePoint(vertices[j]);
+      if( tmpLength > halfLength[i])
+        halfLength[i] = tmpLength; 
+    }
+  }
+
+  printf("we got length: \n");
+  for(int i = 0; i < 3; ++i)
+    printf("length[%i] = %f\n", i, halfLength[i]);
 }