Changeset 6657 in orxonox.OLD for branches/cd_merge/src/lib/math/matrix.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/math/matrix.cc (modified) (2 diffs)

branches/cd_merge/src/lib/math/matrix.cc

@@ -244 +244 @@
 
     eigVc3 = eigVc1.cross(eigVc2);
+
+    eigVc2 = eigVc3.cross(eigVc1);
   }
   else if (eigenValuesCount == 1)
@@ -254 +256 @@
   eigVc2.normalize();
   eigVc3.normalize();
+
+  if (!(eigVc1.cross(eigVc3) == eigVc2))
+  {
+    eigVc3.cross(eigVc1).debug();
+    eigVc2.debug();
+  }
+  printf("ok\n");
 }