Changeset 4638 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 16, 2005, 1:42:14 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: changed the way the data is displayed, now supports colors and stuff. noticed some data drawing problems. the tree separation seems so work perfectly but the graphical data representation is buggy

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (19 diffs)

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

@@ -30 +30 @@
 #define WANT_FSTREAM
 
+#include "stdincl.h"
 
 #include "include.h"
@@ -77 +78 @@
   if( rotCount == NULL)
     rotCount = new int;
+
+  this->sphereObj = gluNewQuadric();
 }
 
@@ -97 +100 @@
 void OBBTreeNode::spawnBVTree(const int depth, sVec3D *verticesList, const int length)
 {
-  printf("OBB Depth: %i, numVertices: %i\n", depth, length);
+  PRINT(0)("\n");
+  this->treeIndex = this->obbTree->getID();
+  PRINTF(0)("OBB Depth: %i, tree index: %i, numVertices: %i\n", depth, treeIndex, length);
   this->depth = depth;
 
+
   this->bvElement = new OBB();
-  PRINTF(0)("Created OBBox\n");
+  this->bvElement->vertices = verticesList;
+  this->bvElement->numOfVertices = length;
+  PRINTF(3)("Created OBBox\n");
   this->calculateBoxCovariance(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes1\n");
+  PRINTF(3)("Calculated attributes1\n");
   this->calculateBoxEigenvectors(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes2\n");
+  PRINTF(3)("Calculated attributes2\n");
   this->calculateBoxAxis(this->bvElement, verticesList, length);
-  PRINTF(0)("Calculated attributes3\n");
+  PRINTF(3)("Calculated attributes3\n");
 
 
@@ -114 +122 @@
     this->forkBox(this->bvElement);
 
-    OBBTreeNode*       node1 = new OBBTreeNode();
-    OBBTreeNode*       node2 = new OBBTreeNode();
-
-    this->nodeLeft = node1;
-    this->nodeRight = node2;
-
-    this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1);
-    this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2);
+
+    if(this->tmpLen1 > 2)
+    {
+      OBBTreeNode* node1 = new OBBTreeNode();
+      this->nodeLeft = node1;
+      this->nodeLeft->spawnBVTree(depth - 1, this->tmpVert1, this->tmpLen1);
+    }
+    else
+    {
+      PRINTF(0)("Aboarding tree walk: less than 3 vertices left\n");
+    }
+
+    if( this->tmpLen2 > 2)
+    {
+      OBBTreeNode* node2 = new OBBTreeNode();
+      this->nodeRight = node2;
+      this->nodeRight->spawnBVTree(depth - 1, this->tmpVert2, this->tmpLen2);
+    }
+    else
+    {
+      PRINTF(0)("Aboarding tree walk: less than 3 vertices left\n");
+    }
 
   }
@@ -140 +162 @@
   this->numOfVertices = length;
   this->vertices = verticesList;
-  box->vertices = verticesList;
-  box->numOfVertices = length;
+
+
 
 
@@ -165 +187 @@
   /* take the average of the centroid sum */
   center /= face;
-  PRINTF(0)("-- Calculated Center\n");
+  PRINTF(3)("-- Calculated Center\n");
 
 
@@ -184 +206 @@
     }
   }
-  PRINTF(0)("-- Calculated Covariance\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");
+  PRINTF(3)("-- Calculated Covariance\n");
+
+
+  PRINTF(0)("\nVertex Data:\n");
+  for(int i = 0; i < length; i++)
+  {
+    //PRINTF(0)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
+    PRINTF(0)("vertex %i: %f, %f, %f\n", i, box->vertices[i][0], box->vertices[i][1], box->vertices[i][2]);
+  }
+
+//   PRINTF(3)("\nCovariance Matrix:\n");
 //   for(int j = 0; j < 3; ++j)
 //   {
-//     printf(" |");
+//     PRINTF(3)(" |");
 //     for(int k = 0; k < 3; ++k)
 //     {
-//       printf(" \b%f ", covariance[j][k]);
+//       PRINTF(3)(" \b%f ", covariance[j][k]);
 //     }
-//     printf(" |\n");
+//     PRINTF(3)(" |\n");
 //   }
-  PRINTF(0)("center: %f, %f, %f\n", center.x, center.y, center.z);
+  PRINTF(3)("center: %f, %f, %f\n", center.x, center.y, center.z);
 
 
@@ -213 +236 @@
 //   }
   *box->center = center;
-  PRINTF(0)("-- Written Result to obb\n");
+  PRINTF(3)("-- Written Result to obb\n");
 }
 
@@ -235 +258 @@
   /* new jacobi tests */
   JacobI(coMat, 3, eigvlMat, eigvMat, rotCount);
-  PRINTF(0)("-- Done Jacobi Decomposition\n");
-
-
-//   printf("Jacobi\n");
+  PRINTF(3)("-- Done Jacobi Decomposition\n");
+
+
+//   PRINTF(3)("Jacobi\n");
 //   for(int j = 1; j < 4; ++j)
 //   {
-//     printf(" |");
+//     PRINTF(3)(" |");
 //     for(int k = 1; k < 4; ++k)
 //     {
-//       printf(" \b%f ", eigvMat[j][k]);
+//       PRINTF(3)(" \b%f ", eigvMat[j][k]);
 //     }
-//     printf(" |\n");
+//     PRINTF(3)(" |\n");
 //   }
 
@@ -253 +276 @@
   axis[2] = new Vector(eigvMat[1][3], eigvMat[2][3], eigvMat[3][3]);
   box->axis = axis;
-  PRINTF(0)("-- Got Axis\n");
-
-//   printf("\neigenvector: %f, %f, %f\n", box->axis[0]->x, box->axis[0]->y, box->axis[0]->z);
-//   printf("eigenvector: %f, %f, %f\n", box->axis[1]->x, box->axis[1]->y, box->axis[1]->z);
-//   printf("eigenvector: %f, %f, %f\n", box->axis[2]->x, box->axis[2]->y, box->axis[2]->z);
+  PRINTF(3)("-- Got Axis\n");
+
+  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[0]->x, box->axis[0]->y, box->axis[0]->z);
+  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[1]->x, box->axis[1]->y, box->axis[1]->z);
+  PRINTF(0)("eigenvector: %f, %f, %f\n", box->axis[2]->x, box->axis[2]->y, box->axis[2]->z);
 }
 
@@ -297 +320 @@
 
   box->halfLength = halfLength;
-  PRINTF(0)("-- Written Axis to obb\n");
-  PRINTF(0)("-- Finished Calculating Attributes\n");
-
-//   printf("\nwe got length: \n");
-//   for(int i = 0; i < 3; ++i)
-//     printf("length[%i] = %f\n", i, box->halfLength[i]);
+  PRINTF(3)("-- Written Axis to obb\n");
+  PRINTF(3)("-- Finished Calculating Attributes\n");
+
+
+
+//   PRINTF(3)("\nwe got length: \n");
+  for(int i = 0; i < 3; ++i)
+  {
+    //if( box->halfLength[i] == 0.0)
+      PRINTF(0)("length[%i] = %f\n", i, box->halfLength[i]);
+  }
 }
 
@@ -328 +356 @@
   }
 
-//   printf("\nlongest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength);
+   PRINTF(0)("longest axis is: nr %i with a half-length of: %f\n", axisIndex, aLength);
 
 
@@ -347 +375 @@
   }
 
-//   printf("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist);
+//   PRINTF(3)("\nthe clostest vertex is nr: %i, with a dist of: %f\n", vertexIndex ,dist);
 
 
@@ -370 +398 @@
   partition1.add(&box->vertices[vertexIndex]);
 
-//   printf("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize());
+//   PRINTF(3)("\npartition1: got %i vertices/ partition 2: got %i vertices\n", partition1.getSize(), partition2.getSize());
 
 
@@ -395 +423 @@
   }
 
-//   printf("\npartition 1:\n");
+//   PRINTF(0)("\npartition 1:\n");
 //   for(int i = 0; i < partition1.getSize(); ++i)
 //   {
-//     printf("v[%i][0] = %f\n", i, vertList1[i][0]);
-//     printf("v[%i][1] = %f\n", i, vertList1[i][1]);
-//     printf("v[%i][2] = %f\n", i, vertList1[i][2]);
+//     PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList1[i][0], i, vertList1[i][1], i, vertList1[i][2]);
 //   }
 
@@ -420 +446 @@
   this->tmpLen2 = partition2.getSize();
 
-  //delete iterator;
-//   printf("\npartition 2:\n");
+  delete iterator;
+
+//   PRINTF(0)("\npartition 2:\n");
 //   for(int i = 0; i < partition2.getSize(); ++i)
 //   {
-//     printf("v[%i][0] = %f\n", i, vertList2[i][0]);
-//     printf("v[%i][1] = %f\n", i, vertList2[i][1]);
-//     printf("v[%i][2] = %f\n", i, vertList2[i][2]);
+//     PRINTF(0)("v[%i][0] = %f,\tv[%i][1] = %f,\tv[%i][1] = %f\n", i, vertList2[i][0], i,  vertList2[i][1], i, vertList2[i][2]);
 //   }
 }
@@ -441 +466 @@
 void OBBTreeNode::drawBV(int depth, int drawMode) const
 {
-  //OBBTree::material->select();
-
-  this->obbTree->getMaterial(depth)->select();
+  this->obbTree->getMaterial(treeIndex)->select();
 
   /* draw the model itself, there is some problem concerning this: the vertices are drawn multiple times */
   if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL)
   {
-    glBegin(GL_TRIANGLES);
-    glColor3f(1.0, 1.0, 1.0);
-    for(int i = 0; i < this->bvElement->numOfVertices; ++i)
-    {
-      glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
-      //printf("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]);
-    }
-    glEnd();
+    if( !(drawMode & DRAW_SINGLE && depth != 0))
+    {
+      glBegin(GL_LINE_STRIP);
+      for(int i = 0; i < this->bvElement->numOfVertices; ++i)
+      {
+        glPushMatrix();
+        glMatrixMode(GL_MODELVIEW);
+      //glVertex3f(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
+        glTranslatef(this->bvElement->vertices[i][0], this->bvElement->vertices[i][1], this->bvElement->vertices[i][2]);
+        gluSphere(this->sphereObj, 1, 10, 10);
+        //PRINTF(0)("v(%f, %f, %f)\n", this->vertices[i][0], this->vertices[i][1], this->vertices[i][2]);
+        glPopMatrix();
+      }
+      glEnd();
+    }
   }
 
@@ -509 +539 @@
     /* draw bounding box */
     glBegin(GL_LINE_LOOP);
-    glColor3f(0.3, 0.4, 0.7);
     glVertex3f(cen.x + axis[0]->x * len[0] + axis[1]->x * len[1] + axis[2]->x * len[2],
                cen.y + axis[0]->y * len[0] + axis[1]->y * len[1] + axis[2]->y * len[2],
@@ -606 +635 @@
   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(3)("vertex %i: %f, %f, %f\n", i, verticesList[i][0], verticesList[i][1], verticesList[i][2]);
 }
   */