Changeset 5674 in orxonox.OLD for trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Nov 21, 2005, 4:51:07 PM (18 years ago)

Author:

bensch

Message:

orxonox/trunk: collision-detection with new Matrix-class

File:

• trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (3 diffs)

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -20 +20 @@
 #include "obb.h"
 #include "obb_tree.h"
-#include "vector.h"
+#include "matrix.h"
 #include "abstract_model.h"
 #include "world_entity.h"
 
-#include <math.h>
 #include "color.h"
 
 #include "debug.h"
-#include "stdincl.h"
 #include "lin_alg.h"
 #include "glincl.h"
@@ -361 +359 @@
   Vector*              axis = new Vector[3];                //!< the references to the obb axis
 
-  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] = 1;
-//   OBBTreeNode::coMat[0][1] = 2;
-//   OBBTreeNode::coMat[0][2] = 7;
-//
-//   OBBTreeNode::coMat[1][0] = 2;
-//   OBBTreeNode::coMat[1][1] = 5;
-//   OBBTreeNode::coMat[1][2] = 5;
-//
-//   OBBTreeNode::coMat[2][0] = 7;
-//   OBBTreeNode::coMat[2][1] = 5;
-//   OBBTreeNode::coMat[2][2] = 8;
-
-//   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];
+  Matrix covMat(  box->covarianceMatrix[0][0], box->covarianceMatrix[0][1], box->covarianceMatrix[0][2],
+                  box->covarianceMatrix[1][0], box->covarianceMatrix[1][1], box->covarianceMatrix[1][2],
+                  box->covarianceMatrix[2][0], box->covarianceMatrix[2][1], box->covarianceMatrix[2][2] );
+  covMat.getEigenVectors(axis[0], axis[1], axis[2] );
 
 
   /* new jacobi tests */
-  JacobI(OBBTreeNode::coMat, OBBTreeNode::eigvlMat, OBBTreeNode::eigvMat, OBBTreeNode::rotCount);
-  PRINTF(3)("-- Done Jacobi Decomposition\n");
+//  JacobI(OBBTreeNode::coMat, OBBTreeNode::eigvlMat, OBBTreeNode::eigvMat, OBBTreeNode::rotCount);
+//  PRINTF(3)("-- Done Jacobi Decomposition\n");
 
 
@@ -415 +381 @@
 //   }
 
-  axis[0].x = OBBTreeNode::eigvMat[0][0]; axis[0].y = OBBTreeNode::eigvMat[1][0]; axis[0].z = OBBTreeNode::eigvMat[2][0];
+/*  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();
-  axis[2].normalize();
+  axis[2].normalize();*/
   box->axis = axis;