Changeset 5699 in orxonox.OLD for branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Nov 22, 2005, 2:26:46 AM (18 years ago)

Author:

bensch

Message:

orxonox/branches/collision_detection: switched from pointers to Values, to save debug-time deleting all the nice little new Pointer-arrays

@patrick: hope you approve

File:

• branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc (modified) (10 diffs)

branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc

@@ -50 +50 @@
   this->nodeRight = NULL;
   this->bvElement = NULL;
+  this->tmpVert1 = NULL;
+  this->tmpVert2 = NULL;
 
   if( OBBTreeNode::coMat == NULL)
@@ -93 +95 @@
     delete this->bvElement;
   this->bvElement = NULL;
+
+  if (this->tmpVert1 != NULL)
+    delete this->tmpVert1;
+  if (this->tmpVert2 != NULL)
+    delete this->tmpVert2;
 }
 
@@ -426 +433 @@
   vectors
   */
-  Vector*              axis = new Vector[3];                //!< the references to the obb axis
+  Vector axis[3];                //!< the references to the obb axis
 
   Matrix covMat(  box->covarianceMatrix  );
@@ -454 +461 @@
   axis[1].normalize();
   axis[2].normalize();*/
-  box->axis = axis;
+  box->axis[0] = axis[0];
+  box->axis[1] = axis[1];
+  box->axis[2] = axis[2];
 
 //   PRINTF(0)("-- Got Axis\n");
@@ -476 +485 @@
   /* now get the axis length */
   Line                ax[3];                                 //!< the axis
-  float*              halfLength = new float[3];             //!< half length of the axis
+  float               halfLength[3];                         //!< half length of the axis
   float               tmpLength;                             //!< tmp save point for the length
-  Plane               p0(box->axis[0], *box->center);       //!< the axis planes
+  Plane               p0(box->axis[0], *box->center);        //!< the axis planes
   Plane               p1(box->axis[1], *box->center);
   Plane               p2(box->axis[2], *box->center);
@@ -561 +570 @@
 
 
-  box->halfLength = halfLength;
+  box->halfLength[0] = halfLength[0];
+  box->halfLength[1] = halfLength[1];
+  box->halfLength[2] = halfLength[2];
   PRINTF(3)("-- Written Axis to obb\n");
   PRINTF(3)("-- Finished Calculating Attributes\n");
@@ -620 +631 @@
 
   PRINTF(3)("vertex index: %i, of %i\n", vertexIndex, box->numOfVertices);
-  this->separationPlane = new Plane(box->axis[axisIndex], box->vertices[vertexIndex]);  //!< separation plane
+  this->separationPlane = Plane(box->axis[axisIndex], box->vertices[vertexIndex]);  //!< separation plane
   this->sepPlaneCenter = &box->vertices[vertexIndex];
   this->longestAxisIndex = axisIndex;
@@ -627 +638 @@
   {
     if( i == vertexIndex) continue;
-    tmpDist = this->separationPlane->distancePoint(box->vertices[i]);
+    tmpDist = this->separationPlane.distancePoint(box->vertices[i]);
     if( tmpDist > 0.0)
       partition1.add(&box->vertices[i]); /* positive numbers plus zero */
@@ -660 +671 @@
     element = iterator->nextElement();
   }
-
+  delete iterator;
 //   PRINTF(0)("\npartition 1:\n");
 //   for(int i = 0; i < partition1.getSize(); ++i)
@@ -679 +690 @@
   }
 
+  if (this->tmpVert1 != NULL)
+    delete[] this->tmpVert1;
   this->tmpVert1 = vertList1;
+  if (this->tmpVert2 != NULL)
+    delete[] this->tmpVert2;
   this->tmpVert2 = vertList2;
   this->tmpLen1 = partition1.getSize();