Changeset 4695 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 24, 2005, 11:15:12 PM (20 years ago)

Author:

patrick

Message:

orxonox/trunk: no only the overlap test is missing

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (2 diffs)

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

@@ -530 +530 @@
   tList<sVec3D>      partition2;                           //!< the vertex partition 2
 
-  printf("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices);
+  PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices);
   this->separationPlane = new Plane(box->axis[axisIndex], box->vertices[vertexIndex]);  //!< separation plane
   this->sepPlaneCenter = &box->vertices[vertexIndex];
@@ -604 +604 @@
 
 
-void OBBTreeNode::collideWith(const BVTree &tree)
-{}
-
-
+void OBBTreeNode::collideWith(BVTreeNode* treeNode)
+{
+  /* if the obb overlap, make subtests: check which node is realy overlaping  */
+  if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
+  {
+    /* check if left node overlaps */
+    if( unlikely( this->nodeLeft != NULL))
+      if( this->overlapTest(this->nodeLeft->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
+        this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeLeft);
+    /* check if right node overlaps */
+    if( unlikely( this->nodeRight != NULL))
+      if(this->overlapTest(this->nodeRight->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
+        this->nodeLeft->collideWith(((OBBTreeNode*)treeNode)->nodeRight);
+  }
+}
+
+
+
+bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB)
+{
+
+}