Changeset 4631 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 14, 2005, 5:28:21 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: the damn segfault is nomore, patrick is on killing spree

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (6 diffs)

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

@@ -102 +102 @@
   this->bvElement = new OBB();
   PRINTF(0)("Created OBBox\n");
-  this->calculateBoxAttributes(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes\n");
+  this->calculateBoxAttributes1(this->bvElement, verticesList, length);
+  PRINTF(0)("Calculated attributes1\n");
+  this->calculateBoxAttributes2(this->bvElement, verticesList, length);
+  PRINTF(0)("Calculated attributes2\n");
+  this->calculateBoxAttributes3(this->bvElement, verticesList, length);
+  PRINTF(0)("Calculated attributes3\n");
 
   if( likely( this->depth > 0))
@@ -123 +127 @@
 
 
-void OBBTreeNode::calculateBoxAttributes(OBB* box, sVec3D* verticesList, int length)
+void OBBTreeNode::calculateBoxAttributes1(OBB* box, sVec3D* verticesList, int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -180 +184 @@
   }
   PRINTF(0)("-- Calculated Covariance\n");
+  return;
 
 //   printf("\nVertex Data:\n");
@@ -209 +214 @@
   *box->center = center;
   PRINTF(0)("-- Written Result to obb\n");
+}
+
+
+
+void OBBTreeNode::calculateBoxAttributes2(OBB* box, sVec3D* verticesList, int length)
+{
 
   /* now getting spanning vectors of the sub-space:
@@ -226 +237 @@
   //eigvMat[0] = new float[4]; eigvMat[1] = new float[4]; eigvMat[2] = new float[4]; eigvMat[3] = new float[4];
 
-  coMat[1][1] = covariance[0][0]; coMat[1][2] = covariance[0][1]; coMat[1][3] = covariance[0][2];
-  coMat[2][1] = covariance[1][0]; coMat[2][2] = covariance[1][1]; coMat[2][3] = covariance[1][2];
-  coMat[3][1] = covariance[2][0]; coMat[3][2] = covariance[2][1]; coMat[3][3] = covariance[2][2];
+  coMat[1][1] = box->covarianceMatrix[0][0]; coMat[1][2] = box->covarianceMatrix[0][1]; coMat[1][3] = box->covarianceMatrix[0][2];
+  coMat[2][1] = box->covarianceMatrix[1][0]; coMat[2][2] = box->covarianceMatrix[1][1]; coMat[2][3] = box->covarianceMatrix[1][2];
+  coMat[3][1] = box->covarianceMatrix[2][0]; coMat[3][2] = box->covarianceMatrix[2][1]; coMat[3][3] = box->covarianceMatrix[2][2];
 
   /* new jacobi tests */
@@ -265 +276 @@
 //
 //   delete rot;
-
+}
+
+void OBBTreeNode::calculateBoxAttributes3(OBB* box, sVec3D* verticesList, int length)
+{
 
   /* now get the axis length */