Changeset 5449 in orxonox.OLD for trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Oct 29, 2005, 2:38:25 PM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: Jacobi-reloaded

File:

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

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -360 +360 @@
   Vector*              axis = new Vector[3];                //!< the references to the obb axis
 
-  OBBTreeNode::coMat[1][1] = box->covarianceMatrix[0][0]; OBBTreeNode::coMat[1][2] = box->covarianceMatrix[0][1]; OBBTreeNode::coMat[1][3] = box->covarianceMatrix[0][2];
-  OBBTreeNode::coMat[2][1] = box->covarianceMatrix[1][0]; OBBTreeNode::coMat[2][2] = box->covarianceMatrix[1][1]; OBBTreeNode::coMat[2][3] = box->covarianceMatrix[1][2];
-  OBBTreeNode::coMat[3][1] = box->covarianceMatrix[2][0]; OBBTreeNode::coMat[3][2] = box->covarianceMatrix[2][1]; OBBTreeNode::coMat[3][3] = box->covarianceMatrix[2][2];
+  OBBTreeNode::coMat[0][0] = box->covarianceMatrix[0][0];
+  OBBTreeNode::coMat[0][1] = box->covarianceMatrix[0][1];
+  OBBTreeNode::coMat[0][2] = box->covarianceMatrix[0][2];
+
+  OBBTreeNode::coMat[1][0] = box->covarianceMatrix[1][0];
+  OBBTreeNode::coMat[1][1] = box->covarianceMatrix[1][1];
+  OBBTreeNode::coMat[1][2] = box->covarianceMatrix[1][2];
+
+  OBBTreeNode::coMat[2][0] = box->covarianceMatrix[2][0];
+  OBBTreeNode::coMat[2][1] = box->covarianceMatrix[2][1];
+  OBBTreeNode::coMat[2][2] = box->covarianceMatrix[2][2];
 
 //   OBBTreeNode::coMat[0][0] = box->covarianceMatrix[0][0];
@@ -393 +401 @@
 //   }
 
-  axis[0].x = OBBTreeNode::eigvMat[1][1]; axis[0].y = OBBTreeNode::eigvMat[2][1]; axis[0].z = OBBTreeNode::eigvMat[3][1];
-  axis[1].x = OBBTreeNode::eigvMat[1][2]; axis[1].y = OBBTreeNode::eigvMat[2][2]; axis[1].z = OBBTreeNode::eigvMat[3][2];
-  axis[2].x = OBBTreeNode::eigvMat[1][3]; axis[2].y = OBBTreeNode::eigvMat[2][3]; axis[2].z = OBBTreeNode::eigvMat[3][3];
+  axis[0].x = OBBTreeNode::eigvMat[0][0]; axis[0].y = OBBTreeNode::eigvMat[1][0]; axis[0].z = OBBTreeNode::eigvMat[2][0];
+  axis[1].x = OBBTreeNode::eigvMat[0][1]; axis[1].y = OBBTreeNode::eigvMat[1][1]; axis[1].z = OBBTreeNode::eigvMat[2][1];
+  axis[2].x = OBBTreeNode::eigvMat[0][2]; axis[2].y = OBBTreeNode::eigvMat[1][2]; axis[2].z = OBBTreeNode::eigvMat[2][2];
   axis[0].normalize();
   axis[1].normalize();