Changeset 5922 in orxonox.OLD

Timestamp:

Dec 4, 2005, 11:28:35 PM (18 years ago)

Author:

patrick

Message:

collision_detection: working on centeroid obb structures

Location:

branches/collision_detection/src/lib/collision_detection

Files:

• bounding_volume.h (modified) (1 diff)
• obb_tree_node.cc (modified) (7 diffs)

branches/collision_detection/src/lib/collision_detection/bounding_volume.h

@@ -32 +32 @@
 
   public:
-    Vector              center;                     //!< Center point of box
+    Vector              center;                     //!< Weighter average center point of box
+    Vector              arithCenter;                //!< Arithmetical center of the box
 
     const modelInfo*    modelInf;                   //!< Reference to the model's ModelInfo

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

@@ -28 +28 @@
 
 #include <list>
+#include <vector>
 #include "debug.h"
 
@@ -171 +172 @@
     /* now calculate the centroid of the entire convex hull, weighted average of triangle centroids */
     center += centroid[i] * facelet[i];
+    /* the arithmetical center */
   }
   /* take the average of the centroid sum */
@@ -197 +199 @@
   }
 
+
+  std::vector<int>           vertIndexVector;                           //!< vertex indexes list
+  int                        vertIndex;                                 //!< index to vertex
+  bool                       vertexFound;                               //!< vertex found flag
+  Vector                     arithCenter;                               //!< aritmetical center
+
+
+  /* calculate the arithmetical center of the box */
+
+  /* go thourgh all vertices, add only the used vertices indexes */
+  for( int i = 0; i < length; ++i)
+  {
+    for(int j = 0; j < 3; ++j)
+    {
+      vertIndex = modelInf.pTriangles[triangleIndexes[i]].indexToVertices[j];
+
+      vertexFound = false;
+      for( int i = 0; i < vertIndexVector.size(); i++)
+      {
+        if( vertIndexVector[i] == vertIndex)
+          vertexFound = true;
+      }
+      if( !vertexFound)
+        vertIndexVector.push_back(vertIndex);
+    }
+  }
+  /* now realy calculate the center */
+  for( int i = 0; i < vertIndexVector.size(); ++i)
+  {
+    tmpVec = (sVec3D*)(&modelInf.pVertices[vertIndexVector[i]]);
+    arithCenter += *tmpVec;
+  }
+  arithCenter.debug();
+  box.arithCenter = arithCenter / vertIndexVector.size();
+
+
+
+
   PRINTF(3)("\nOBB Covariance Matrix:\n");
   for(int j = 0; j < 3; ++j)
@@ -207 +247 @@
     PRINT(3)("\n");
   }
-  PRINTF(3)("\nOBB Center:\n\t\t%11.2f\t %11.2f\t %11.2f\n", center.x, center.y, center.z);
+  PRINTF(3)("\nWeighteed OBB Center:\n\t\t%11.2f\t %11.2f\t %11.2f\n", center.x, center.y, center.z);
+  PRINTF(3)("\nArithmetical OBB Center:\n\t\t%11.2f\t %11.2f\t %11.2f\n", arithCenter.x, arithCenter.y, arithCenter.z);
 
   /* write back the covariance matrix data to the object oriented bouning box */
@@ -267 +308 @@
 void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length)
 {
-
-  sVec3D* verticesList;
-
 
   PRINTF(3)("Calculate Box Axis\n");
@@ -385 +423 @@
   float               newHalfLength[3];
 
-  for(int i = 0; i < 3; ++i)
+  for( int i = 0; i < 3; ++i)
   {
     centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f;       // min length is negatie
@@ -453 +491 @@
 
 
-  ./* find the center of the box */
+  /* find the center of the box */
 
   this->separationPlane = Plane(box.axis[longestAxisIndex], box.center);