Changeset 4658 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

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:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (1 diff)

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

@@ -383 +383 @@
   Plane               p1(*box->axis[1], *box->center);
   Plane               p2(*box->axis[2], *box->center);
-
+  float               maxLength[3];
+  float               minLength[3];
+
+
+  /* get a bad bounding box */
   halfLength[0] = -1.0f;
   for(int j = 0; j < length; ++j)
-  {
-    tmpLength = fabs(p0.distancePoint(vertices[j]));
-    if( tmpLength > halfLength[0])
-      halfLength[0] = tmpLength;
-  }
+    {
+      tmpLength = fabs(p1.distancePoint(vertices[j]));
+      if( tmpLength > halfLength[0])
+        halfLength[0] = tmpLength;
+    }
 
   halfLength[1] = -1.0f;
   for(int j = 0; j < length; ++j)
-  {
-    tmpLength = fabs(p1.distancePoint(vertices[j]));
-    if( tmpLength > halfLength[1])
-      halfLength[1] = tmpLength;
-  }
+    {
+      tmpLength = fabs(p1.distancePoint(vertices[j]));
+      if( tmpLength > halfLength[1])
+        halfLength[1] = tmpLength;
+    }
 
   halfLength[2] = -1.0f;
   for(int j = 0; j < length; ++j)
-  {
-    tmpLength = fabs(p2.distancePoint(vertices[j]));
-    if( tmpLength > halfLength[2])
-      halfLength[2] = tmpLength;
-  }
+    {
+      tmpLength = fabs(p1.distancePoint(vertices[j]));
+      if( tmpLength > halfLength[2])
+        halfLength[2] = tmpLength;
+    }
+
+
+
+  /* get the maximal dimensions of the body in all directions */
+  maxLength[0] = 0.0f;
+  minLength[0] = 0.0f;
+  for(int j = 0; j < length; ++j)
+  {
+    tmpLength = p0.distancePoint(vertices[j]);
+    if( tmpLength > maxLength[0])
+      maxLength[0] = tmpLength;
+    else if( tmpLength < minLength[0])
+      minLength[0] = tmpLength;
+  }
+
+  maxLength[1] = 0.0f;
+  minLength[1] = 0.0f;
+  for(int j = 0; j < length; ++j)
+  {
+    tmpLength = p0.distancePoint(vertices[j]);
+    if( tmpLength > maxLength[1])
+      maxLength[1] = tmpLength;
+    else if( tmpLength < minLength[1])
+      minLength[1] = tmpLength;
+  }
+
+  maxLength[2] = 0.0f;
+  minLength[2] = 0.0f;
+  for(int j = 0; j < length; ++j)
+  {
+    tmpLength = p0.distancePoint(vertices[j]);
+    if( tmpLength > maxLength[2])
+      maxLength[2] = tmpLength;
+    else if( tmpLength < minLength[2])
+      minLength[2] = tmpLength;
+  }
+
+  
+  /* calculate the real centre of the body by using the axis length */
+  float center[3];
+  float offset[3];
+  for(int i = 0; i < 3; ++i)
+    {
+      center[i] = (maxLength[i] - minLength[i]) / 2.0f; // min length is negative
+      offset[i] = halfLength[i] - center[i];
+      box->center[i] +=  *box->axis[i] * offset[i];            // update the new center vector
+      PRINTF(0)("Center Translation Operation: halfLength old: %f, new: %f\n", halfLength[i], center[i]);
+      halfLength[i] = center[i];
+    }
+
+  
 
   box->halfLength = halfLength;