Changeset 6657 in orxonox.OLD for branches/cd_merge/src/lib/collision_detection/obb_tree.cc

Timestamp:

Jan 23, 2006, 2:25:13 PM (18 years ago)

Author:

bensch

Message:

orxonox/cd_merge: merged the old collision-detection here.

File:

• branches/cd_merge/src/lib/collision_detection/obb_tree.cc (modified) (7 diffs)

branches/cd_merge/src/lib/collision_detection/obb_tree.cc

@@ -14 +14 @@
 */
 
-#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION
+#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_COLLISION_DETECTION
 
 #include "obb_tree.h"
@@ -31 +31 @@
  *  standard constructor
 */
-OBBTree::OBBTree ()
+OBBTree::OBBTree(int depth, const modelInfo& modelInf)
+  : BVTree()
 {
+  this->depth = depth;
   this->init();
-}
-
-OBBTree::OBBTree(int depth, sVec3D *verticesList, const int length)
-{
-  this->init();
-  this->spawnBVTree(depth, verticesList, length);
-}
-
-OBBTree::OBBTree(int depth, const modelInfo& modInfo)
-{
-  this->init();
-  this->spawnBVTree(depth, modInfo);
+  this->spawnBVTree(modelInf);
 }
 
@@ -53 +44 @@
 {
   this->setClassID(CL_OBB_TREE, "OBBTree");
-
   this->rootNode = NULL;
-
   this->id = 0;
 }
@@ -69 +58 @@
 
 
-void OBBTree::spawnBVTree(int depth, sVec3D *verticesList, const int length)
-{
-  if( unlikely(this->rootNode != NULL))
-    {
-      PRINTF(2)("The BVTree has already been spawned, flushing and respawning again...\n");
-      this->flushTree();
-    }
-  OBBTreeNode* node = new OBBTreeNode();
-  this->rootNode = node;
-  this->rootNode->setTreeRef(this);
-  this->rootNode->spawnBVTree(--depth, verticesList, length);
-}
-
-
-void OBBTree::spawnBVTree(int depth, const modelInfo& modInfo)
+/**
+ *  this function creates a bv tree out of a modelInf structure
+ * @param modelInf the model info of a model (modelInfo), containing vertices, triangle and normal infos
+ */
+void OBBTree::spawnBVTree(const modelInfo& modelInf)
 {
   if( unlikely(this->rootNode != NULL))
@@ -90 +69 @@
     this->flushTree();
   }
-  OBBTreeNode* node = new OBBTreeNode();
-  this->rootNode = node;
-  this->rootNode->setTreeRef(this);
-  this->rootNode->spawnBVTree(--depth, modInfo);
+  this->rootNode = new OBBTreeNode(*this, NULL, depth-1);
+
+  /* triangles indexes created */
+  int* triangleIndexes = new int[modelInf.numTriangles];
+  for( int i = 0; i < modelInf.numTriangles; ++i)
+    triangleIndexes[i] = i;
+
+  this->rootNode->spawnBVTree(modelInf, triangleIndexes, modelInf.numTriangles);
 }
 
 
+/**
+ *  release the current bv tree if any
+ */
 void OBBTree:: flushTree()
 {}
 
 
-void OBBTree::collideWith(WorldEntity* entity1, WorldEntity* entity2)
+/**
+ * this collides two bvtrees together. the trees are attached to pnodes Objects A and B
+ * @param nodeA: PNode of object A
+ * @param nodeB: Pnode of object B
+ */
+void OBBTree::collideWith(const WorldEntity& entity1, const WorldEntity& entity2) const
 {
-  if( likely(entity2->getOBBTree() != NULL) )
-    this->rootNode->collideWith(((OBBTree*)entity2->getOBBTree())->getRootNode(), entity1, entity2);
+  if( likely(entity2.getOBBTree() != NULL) )
+    this->rootNode->collideWith(*(((OBBTree*)entity2.getOBBTree())->getRootNode()), entity1, entity2);
 }
 
 
 /**
- * this collides two bvtrees together. the trees are attached to pnodes Objects A and B
- * @param tree: the other tree to collide with (Object B)
- * @param nodeA: PNode of object A
- * @param nodeB: Pnode of object B
+ *  draw bv tree
  */
-void OBBTree::collideWith(BVTree* tree, WorldEntity* nodeA, WorldEntity* nodeB)
-{
-  this->rootNode->collideWith(((OBBTree*)tree)->getRootNode(), nodeA, nodeB);
-}
-
-
 void OBBTree::drawBV(int depth, int drawMode) const
 {
@@ -129 +111 @@
 
 
-
+/**
+ *  some debug output and creation function
+ *
+ * doesn't work at the moment
+ */
 void OBBTree::debug()
 {
@@ -153 +139 @@
     }
 
-  this->spawnBVTree(3, vertList, length);
+//   this->spawnBVTree(vertList, length);
 
   PRINT(0)("=  Spawning Tree: Finished\n");