Changeset 5428 in orxonox.OLD for trunk/src/lib/collision_detection

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/src/lib/collision_detection

Files:

• lin_alg.h (modified) (2 diffs)
• obb_tree_node.cc (modified) (8 diffs)

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];