Changeset 7365 in orxonox.OLD for branches/cd/src/lib/collision_detection/obb_tree_node.h

Timestamp:

Apr 25, 2006, 3:17:20 PM (18 years ago)

Author:

bensch

Message:

orxonox/branches/cd: merged the new collision-detection back.
merged and collissions resolved.

File:

• branches/cd/src/lib/collision_detection/obb_tree_node.h (modified) (3 diffs)

branches/cd/src/lib/collision_detection/obb_tree_node.h

@@ -1 +1 @@
 /*!
  * @file bv_tree.h
-  *  Definition of a bounding volume tree
-
+ *  Definition of a bounding volume tree
  */
 
@@ -8 +7 @@
 #define _OBB_TREE_NODE_H
 
+
 #include "bv_tree_node.h"
+#include "plane.h"
 
-
-
-// FORWARD DECLARATION
 class BoundingVolume;
 class OBB;
@@ -18 +16 @@
 class Plane;
 class PNode;
-//struct sVec3D;
+
 
 //! A class that represents a bounding volume tree
-class OBBTreeNode : public BVTreeNode {
+class OBBTreeNode : public BVTreeNode
+{
 
 
   public:
-    OBBTreeNode();
+    OBBTreeNode(const OBBTree& tree, OBBTreeNode* prev, int depth);
     virtual ~OBBTreeNode();
 
-    virtual void spawnBVTree(const int depth, const sVec3D *verticesList, unsigned int length);
-    virtual void spawnBVTree(const int depth, const modelInfo& modInfo);
+    /**  this function returns the bounding volume of this tree node @return: returns the BV */
+    virtual inline const BoundingVolume* getBV() const { return (BoundingVolume*)this->bvElement; }
 
-    BoundingVolume* getBV(int index) const { return (BoundingVolume*)this->bvElement; }
-    inline const int getIndex() { return this->treeIndex; }
-    inline void setTreeRef(OBBTree* tree) { this->obbTree = tree;}
+    virtual void spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length);
 
     virtual void collideWith(BVTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB);
-
     virtual void drawBV(int depth, int drawMode, const Vector& color = Vector(1,0,0), bool top = true) const;
-
     void debug() const;
 
-  private:
-    void calculateBoxCovariance(OBB* box, const sVec3D* verticesList, unsigned int length);
-    void calculateBoxEigenvectors(OBB* box, const sVec3D* verticesList, unsigned int length);
-    void calculateBoxAxis(OBB* box, const sVec3D* verticesList, unsigned int length);
-
-    void calculateBoxCovariance(OBB* box, const modelInfo& modInfo);
-    void calculateBoxEigenvectors(OBB* box, const modelInfo& modInfo);
-    void calculateBoxAxis(OBB* box, const modelInfo& modInfo);
+    /**  gets the id of the current child @return id of the child */
+    inline const int getID() { return this->nextID++; }
 
 
-    void forkBox(OBB* box);
+  private:
+    void calculateBoxAxis(OBB& box, const sVec3D* verticesList, unsigned int length);
 
-    bool overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB);
+    void calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
+    void calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
+    void calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
+    void forkBox(OBB& box);
+
+    bool overlapTest(OBB& boxA, OBB& boxB, WorldEntity* nodeA, WorldEntity* nodeB);
+
 
   protected:
     OBB*                bvElement;                  //!< the obb element
+    OBBTreeNode*        nodePrev;                   //!< ref to the previous (parent) tree node = NULL if first
     OBBTreeNode*        nodeLeft;                   //!< ref to the left tree node
     OBBTreeNode*        nodeRight;                  //!< ref to the right tree node
 
+
   private:
-    unsigned int        treeIndex;                  //!< Index number of the BV in the tree
-    const sVec3D*       vertices;                   //!< pointer to the vertices data
-    int                 numOfVertices;              //!< number of vertices in vertices data
+    int                 treeIndex;                  //!< Index number of the BV in the tree
+    int                 nextID;                     //!< the id of the next child
     int                 depth;                      //!< the depth of the node in the tree
-    static OBBTree*     obbTree;                    //!< reference to the obb tree
-    Plane*              separationPlane;            //!< the separation plane of the obb
-    const sVec3D*       sepPlaneCenter;             //!< only needed to draw plane
+    const OBBTree*      obbTree;                    //!< reference to the obb tree
+
+    const modelInfo*    modelInf;                   //!< pointer to the models modelInfo object
+    const int*          triangleIndexes;            //!< indexes to the used model triangles
+
+    Plane               separationPlane;            //!< the separation plane of the obb
+    sVec3D              sepPlaneCenter;             //!< only needed to draw plane
     int                 longestAxisIndex;           //!< only needed to draw plane
 
     /* tmp saving place for obb variables */
-    sVec3D*             tmpVert1;                   //!< pointer to the vert data of obbox1
-    sVec3D*             tmpVert2;                   //!< pointer to the vert data of obbox1
-    int                 tmpLen1;                    //!< len vert data obbox1
-    int                 tmpLen2;                    //!< len vert data obbox2
+    int*                triangleIndexList1;         //!< pointer to the vert data of obbox1
+    int*                triangleIndexList2;         //!< pointer to the vert data of obbox1
+    int                 triangleIndexLength1;       //!< len vert data obbox1
+    int                 triangleIndexLength2;       //!< len vert data obbox2
 
-    static float**      coMat;
-    static float**      eigvMat;
-    static float*       eigvlMat;
-    static int*         rotCount;
+    WorldEntity*        owner;
 };