Changeset 6447 in orxonox.OLD for branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jan 9, 2006, 12:39:15 AM (18 years ago)

Author:

patrick

Message:

collision: some more debug work on the collision detection framework

File:

• branches/collision_detection/src/lib/collision_detection/obb_tree_node.cc (modified) (11 diffs)

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

@@ -11 +11 @@
 ### File Specific:
    main-programmer: Patrick Boenzli
-   co-programmer: ...
 */
 
@@ -44 +43 @@
  * @param depth: the depth of the obb tree to generate
  */
-OBBTreeNode::OBBTreeNode (const OBBTree& tree, unsigned int depth)
+OBBTreeNode::OBBTreeNode (const OBBTree& tree, OBBTreeNode* prev, int depth)
     : BVTreeNode()
 {
@@ -50 +49 @@
 
   this->obbTree = &tree;
+  this->nodePrev = prev;
   this->depth = depth;
+  this->nextID = 0;
 
   this->nodeLeft = NULL;
@@ -64 +65 @@
   if( OBBTreeNode_sphereObj == NULL)
     OBBTreeNode_sphereObj = gluNewQuadric();
+
+  /* debug ids */
+  if( this->nodePrev)
+    this->treeIndex = 100 * this->depth + this->nodePrev->getID();
+  else
+    this->treeIndex = 0;
 }
 
@@ -95 +102 @@
  * on the triangle informations (triangle soup not polygon soup)
  */
-void OBBTreeNode::spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, unsigned int length)
+void OBBTreeNode::spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length)
 {
   PRINTF(3)("\n==============================Creating OBB Tree Node==================\n");
   PRINT(3)(" OBB Tree Infos: \n");
-  PRINT(3)("\tDepth: %i \n\tTree Index: %i \n\tNumber of Triangles: %i\n", depth, treeIndex, length);
+  PRINT(3)("\tDepth: %i \n\tTree Index: %i \n\tNumber of Triangles: %i\n", depth, this->treeIndex, length);
   this->depth = depth;
 
@@ -107 +114 @@
   this->bvElement->triangleIndexesLength = length;
 
-  /* create the boxes in three steps */
+  /* create the bounding boxes in three steps */
   this->calculateBoxCovariance(*this->bvElement, modelInf, triangleIndexes, length);
   this->calculateBoxEigenvectors(*this->bvElement, modelInf, triangleIndexes, length);
@@ -119 +126 @@
     if( this->triangleIndexLength1 >= 3)
     {
-      this->nodeLeft = new OBBTreeNode(*this->obbTree, depth - 1);
+      this->nodeLeft = new OBBTreeNode(*this->obbTree, this, depth - 1);
       this->nodeLeft->spawnBVTree(modelInf, this->triangleIndexList1, this->triangleIndexLength1);
     }
     if( this->triangleIndexLength2 >= 3)
     {
-      this->nodeRight = new OBBTreeNode(*this->obbTree, depth - 1);
+      this->nodeRight = new OBBTreeNode(*this->obbTree, this, depth - 1);
       this->nodeRight->spawnBVTree(modelInf, this->triangleIndexList2, this->triangleIndexLength2);
     }
@@ -139 +146 @@
  * @param length: the length of the indexes array
  */
-void OBBTreeNode::calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length)
+void OBBTreeNode::calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -269 +276 @@
  */
 void OBBTreeNode::calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf,
-    const int* triangleIndexes, unsigned int length)
+    const int* triangleIndexes, int length)
 {
 
@@ -305 +312 @@
  * @param length: the length of the indexes array
  */
-void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, unsigned int length)
+void OBBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length)
 {
 
@@ -448 +455 @@
 
   /* find the center of the box */
-
   this->separationPlane = Plane(box.axis[longestAxisIndex], box.center);
   this->sepPlaneCenter[0] = box.center.x;