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Changeset 4658 in orxonox.OLD for orxonox/trunk/src/lib


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Timestamp:
Jun 20, 2005, 12:54:32 AM (19 years ago)
Author:
patrick
Message:

orxonox/trunk: new way to find center - not yet perfect..

File:
1 edited

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

    r4648 r4658  
    383383  Plane               p1(*box->axis[1], *box->center);
    384384  Plane               p2(*box->axis[2], *box->center);
    385 
     385  float               maxLength[3];
     386  float               minLength[3];
     387
     388
     389  /* get a bad bounding box */
    386390  halfLength[0] = -1.0f;
    387391  for(int j = 0; j < length; ++j)
    388   {
    389     tmpLength = fabs(p0.distancePoint(vertices[j]));
    390     if( tmpLength > halfLength[0])
    391       halfLength[0] = tmpLength;
    392   }
     392    {
     393      tmpLength = fabs(p1.distancePoint(vertices[j]));
     394      if( tmpLength > halfLength[0])
     395        halfLength[0] = tmpLength;
     396    }
    393397
    394398  halfLength[1] = -1.0f;
    395399  for(int j = 0; j < length; ++j)
    396   {
    397     tmpLength = fabs(p1.distancePoint(vertices[j]));
    398     if( tmpLength > halfLength[1])
    399       halfLength[1] = tmpLength;
    400   }
     400    {
     401      tmpLength = fabs(p1.distancePoint(vertices[j]));
     402      if( tmpLength > halfLength[1])
     403        halfLength[1] = tmpLength;
     404    }
    401405
    402406  halfLength[2] = -1.0f;
    403407  for(int j = 0; j < length; ++j)
    404   {
    405     tmpLength = fabs(p2.distancePoint(vertices[j]));
    406     if( tmpLength > halfLength[2])
    407       halfLength[2] = tmpLength;
    408   }
     408    {
     409      tmpLength = fabs(p1.distancePoint(vertices[j]));
     410      if( tmpLength > halfLength[2])
     411        halfLength[2] = tmpLength;
     412    }
     413
     414
     415
     416  /* get the maximal dimensions of the body in all directions */
     417  maxLength[0] = 0.0f;
     418  minLength[0] = 0.0f;
     419  for(int j = 0; j < length; ++j)
     420  {
     421    tmpLength = p0.distancePoint(vertices[j]);
     422    if( tmpLength > maxLength[0])
     423      maxLength[0] = tmpLength;
     424    else if( tmpLength < minLength[0])
     425      minLength[0] = tmpLength;
     426  }
     427
     428  maxLength[1] = 0.0f;
     429  minLength[1] = 0.0f;
     430  for(int j = 0; j < length; ++j)
     431  {
     432    tmpLength = p0.distancePoint(vertices[j]);
     433    if( tmpLength > maxLength[1])
     434      maxLength[1] = tmpLength;
     435    else if( tmpLength < minLength[1])
     436      minLength[1] = tmpLength;
     437  }
     438
     439  maxLength[2] = 0.0f;
     440  minLength[2] = 0.0f;
     441  for(int j = 0; j < length; ++j)
     442  {
     443    tmpLength = p0.distancePoint(vertices[j]);
     444    if( tmpLength > maxLength[2])
     445      maxLength[2] = tmpLength;
     446    else if( tmpLength < minLength[2])
     447      minLength[2] = tmpLength;
     448  }
     449
     450 
     451  /* calculate the real centre of the body by using the axis length */
     452  float center[3];
     453  float offset[3];
     454  for(int i = 0; i < 3; ++i)
     455    {
     456      center[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative
     457      offset[i] = halfLength[i] - center[i];
     458      box->center[i] +=  *box->axis[i] * offset[i];            // update the new center vector
     459      PRINTF(0)("Center Translation Operation: halfLength old: %f, new: %f\n", halfLength[i], center[i]);
     460      halfLength[i] = center[i];
     461    }
     462
     463 
    409464
    410465  box->halfLength = halfLength;
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