Changeset 5428 in orxonox.OLD

Timestamp:

Oct 24, 2005, 7:07:00 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: fixed a bug in the CD engine

Location:

trunk

Files:

• Makefile.in (modified) (1 diff)
• src/lib/collision_detection/lin_alg.h (modified) (2 diffs)
• src/lib/collision_detection/obb_tree_node.cc (modified) (8 diffs)
• src/world_entities/environment.cc (modified) (1 diff)
• src/world_entities/test_entity.cc (modified) (1 diff)
• src/world_entities/world_entity.cc (modified) (1 diff)

trunk/Makefile.in

@@ -39 +39 @@
         $(srcdir)/doc/documentation.am $(top_srcdir)/configure AUTHORS \
         COPYING ChangeLog INSTALL NEWS config.guess config.sub depcomp \
-        install-sh ltmain.sh missing mkinstalldirs
+        install-sh missing mkinstalldirs
 subdir = .
 ACLOCAL_M4 = $(top_srcdir)/aclocal.m4

trunk/src/lib/collision_detection/lin_alg.h

@@ -24 +24 @@
 void JacobI(float **A,int N,float *D, float **V, int *NROT) {
 float  *B, *Z;
-double  c,g,h,s,sm,t,tau,theta,tresh;
-int     i,j,ip,iq;
-
-// void *vmblock1 = NULL;
+double  c=0.0f, g=0.0f, h=0.0f, s=0.0f, sm=0.0f, t=0.0f, tau=0.0f, theta=0.0f, tresh=0.0f;
+int     i=0,j=0,ip=0,iq=0;
 
   //allocate vectors B, Z
-  //vmblock1 = vminit();
+
   B = (float *) calloc(100, 32);
   Z = (float *) calloc(100, 32);
 
-  for (ip=1; ip<=N; ip++) {  //initialize V to identity matrix
+  for(ip=1; ip<=N; ip++) {  //initialize V to identity matrix
     for (iq=1; iq<=N; iq++)  V[ip][iq]=0;
     V[ip][ip]=1;
@@ -118 +116 @@
   } //end of main i loop
 //  printf("\n 50 iterations !\n");
+  free(B);
+  free(Z);
   return;  //too many iterations
 }

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -160 +160 @@
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
-  float     face;                                    //!< surface area of the entire convex hull
+  float     face = 0.0f;                             //!< surface area of the entire convex hull
   Vector    centroid[length];                        //!< centroid of the i'th convex hull
   Vector    center;                                  //!< the center of the entire hull
@@ -175 +175 @@
   {
     /* fist compute all the convex hull face/facelets and centroids */
-    for(int i = 0; i+3 < length ; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
+    for( int i = 0; i+3 < length ; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
     {
       p = verticesList[i];
@@ -199 +199 @@
 
     /* now calculate the covariance matrix - if not written in three for-loops, it would compute faster: minor */
-    for(int j = 0; j < 3; ++j)
-    {
-      for(int k = 0; k < 3; ++k)
+    for( int j = 0; j < 3; ++j)
+    {
+      for( int k = 0; k < 3; ++k)
       {
-        for(int i = 0; i < length; i+=3)
+        for( int i = 0; i + 3 < length; i+=3)
         {
           p = verticesList[i];
@@ -218 +218 @@
   else if( mode == 1)
   {
-    for( int i = 0; i < length; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
+    for( int i = 0; i + 3 < length; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
     {
       p = verticesList[i];
@@ -233 +233 @@
       for( int k = 0; k < 3; ++k)
       {
-        for( int i = 0; i < length; i+=3)
+        for( int i = 0; i + 3 < length; i+=3)
         {
           p = verticesList[i];
@@ -249 +249 @@
   {
     /* fist compute all the convex hull face/facelets and centroids */
-    for(int i = 0; i < length; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
+    for(int i = 0; i + 3 < length; i+=3)          /* FIX-ME-QUICK: hops of 3, array indiscontinuity*/
     {
       p = verticesList[i];
@@ -275 +275 @@
       for( int k = 0; k < 3; ++k)
       {
-        for( int i = 0; i < length; i+=3)
+        for( int i = 0; i + 3 < length; i+=3)
         {
           p = verticesList[i];
@@ -300 +300 @@
       for( int k = 0; k < 3; ++k)
       {
-        for( int i = 0; i < length; i+=3)
+        for( int i = 0; i + 3 < length; i+=3)
         {
           p = verticesList[i];

trunk/src/world_entities/environment.cc

@@ -38 +38 @@
   this->loadModel("models/ships/bolido.obj");
 
-/*  if(this->obbTree == NULL)
-    this->obbTree = new OBBTree(4, (sVec3D*)this->model->getVertexArray(), this->model->getVertexCount());*/
+  if(this->obbTree == NULL)
+    this->obbTree = new OBBTree(4, (sVec3D*)this->model->getVertexArray(), this->model->getVertexCount());
 }
 

trunk/src/world_entities/test_entity.cc

@@ -37 +37 @@
 //   this->md2Model = new MD2Model("models/tris.md2", "models/tris.pcx");
 // this->md2Model = new MD2Model("models/goblin.md2", "maps/goblin.bmp");
-//  this->obbTree = new OBBTree(4, (sVec3D*)this->md2Model->data->pVertices, this->md2Model->data->numVertices);
+  this->obbTree = new OBBTree(4, (sVec3D*)this->md2Model->data->pVertices, this->md2Model->data->numVertices);
 
   this->md2Model->setAnim(RUN);

trunk/src/world_entities/world_entity.cc

@@ -98 +98 @@
 bool WorldEntity::buildObbTree(unsigned int depth)
 {
-//   if (this->obbTree)
-//     delete this->obbTree;
-//
-//   if (this->model)
-//   {
-//     PRINTF(4)("creating obb tree\n");
-//     this->obbTree = new OBBTree(depth, (sVec3D*)this->model->getVertexArray(), this->model->getVertexCount());
-//     return true;
-//   }
-//   else
-//   {
-//     PRINTF(2)("could not create obb-tree, because no model was loaded yet\n");
-//     this->obbTree = NULL;
-//     return false;
-//  }
+  if (this->obbTree)
+    delete this->obbTree;
+
+  if (this->model)
+  {
+    PRINTF(4)("creating obb tree\n");
+    this->obbTree = new OBBTree(depth, (sVec3D*)this->model->getVertexArray(), this->model->getVertexCount());
+    return true;
+  }
+  else
+  {
+    PRINTF(2)("could not create obb-tree, because no model was loaded yet\n");
+    this->obbTree = NULL;
+    return false;
+  }
 }