Changeset 4628 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 14, 2005, 2:02:35 AM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: FINALLY! MUAHHAHAHAA, i found a function to compute the eigenvec. just wanted to go to sleep, but…

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (4 diffs)

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

@@ -103 +103 @@
   Vector    p, q, r;                                 //!< holder of the polygon data, much more conveniant to work with Vector than sVec3d
   Vector    t1, t2;                                  //!< temporary values
-  double    covariance[3][3];                        //!< the covariance matrix
+  float     covariance[3][3];                        //!< the covariance matrix
 
   this->numOfVertices = length;
@@ -194 +194 @@
 
 
-  double a[4][4];
-
-  a[0][0] = C(1,1) = covariance[0][0];
-  a[0][1] = C(1,2) = covariance[0][1];
-  a[0][2] = C(1,3) = covariance[0][2];
-  a[1][0] = C(2,1) = covariance[1][0];
-  a[1][1] = C(2,2) = covariance[1][1];
-  a[1][2] = C(2,3) = covariance[1][2];
-  a[2][0] = C(3,1) = covariance[2][0];
-  a[2][1] = C(3,2) = covariance[2][1];
-  a[2][2] = C(3,3) = covariance[2][2];
+  C(1,1) = covariance[0][0];
+  C(1,2) = covariance[0][1];
+  C(1,3) = covariance[0][2];
+  C(2,1) = covariance[1][0];
+  C(2,2) = covariance[1][1];
+  C(2,3) = covariance[1][2];
+  C(3,1) = covariance[2][0];
+  C(3,2) = covariance[2][1];
+  C(3,3) = covariance[2][2];
 
   Jacobi(C, D, V);                                            /* do the jacobi decomposition */
@@ -211 +209 @@
 
   /* new jacobi tests */
-  double eigenvectors[3][3];
-  double eigval[3];
-
-  EVJacobi jac;
-  jac.setMatrix(2, covariance, 0, 0);
-  jac.getEigenVector(eigenvectors);
-
+  float** a = new float*[4];
+  a[0] = new float[4]; a[1] = new float[4]; a[2] = new float[4]; a[3] = new float[4];
+
+  float** b = new float*[4];
+  b[0] = new float[4]; b[1] = new float[4]; b[2] = new float[4]; b[3] = new float[4];
+
+  float eigval[3];
+
+  int* rot = new int;
+
+
+  a[1][1] = covariance[0][0];
+  a[1][2] = covariance[0][1];
+  a[1][3] = covariance[0][2];
+  a[2][1] = covariance[1][0];
+  a[2][2] = covariance[1][1];
+  a[2][3] = covariance[1][2];
+  a[3][1] = covariance[2][0];
+  a[3][2] = covariance[2][1];
+  a[3][3] = covariance[2][2];
+
+
+//   EVJacobi jac;
+//   jac.setMatrix(2, covariance, 0, 0);
+//   jac.getEigenVector(eigenvectors);
+//
+
+  JacobI(a, 3, eigval, b, rot);
 
   printf("Old Jacobi\n");
@@ -231 +250 @@
 
   printf("New Jacobi\n");
-  for(int j = 0; j < 3; ++j)
+  for(int j = 1; j < 4; ++j)
   {
     printf(" |");
-    for(int k = 0; k < 3; ++k)
+    for(int k = 1; k < 4; ++k)
     {
-      printf(" \b%f ", eigenvectors[j][k]);
+      printf(" \b%f ", b[j][k]);
     }
     printf(" |\n");