Changeset 7554 in orxonox.OLD for branches/cd/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

May 6, 2006, 1:27:07 PM (18 years ago)

Author:

patrick

Message:

cd: debuging like hell

File:

• branches/cd/src/lib/collision_detection/obb_tree_node.cc (modified) (6 diffs)

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

@@ -159 +159 @@
   float     covariance[3][3] = {0,0,0, 0,0,0, 0,0,0};//!< the covariance matrix
   sVec3D*   tmpVec = NULL;                           //!< a temp saving place for sVec3Ds
-
 
   /* fist compute all the convex hull face/facelets and centroids */
@@ -361 +360 @@
   for( int i = 0; i < 3; ++i)
   {
-    centerOffset[i] = (maxLength[i] + minLength[i]) / 2.0f;       // min length is negatie
-    box.halfLength[i] = (maxLength[i]- minLength[i]) / 2.0f;      // min length is negative
+    centerOffset[i] = (fabs(maxLength[i]) - fabs(minLength[i])) / 2.0f;       // min length is negatie
+    box.halfLength[i] = (maxLength[i] - minLength[i]) / 2.0f;                 // min length is negative
   }
   box.center.x += centerOffset[0];
@@ -369 +368 @@
 
   PRINTF(3)("\n");
-  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f)\n", box.halfLength[0], maxLength[0], minLength[0]);
-  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f)\n", box.halfLength[1], maxLength[1], minLength[1]);
-  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f)\n", box.halfLength[2], maxLength[2], minLength[2]);
-
-
-//   box.halfLength[0] = halfLength[0];
-//   box.halfLength[1] = halfLength[1];
-//   box.halfLength[2] = halfLength[2];
+  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[0], maxLength[0], minLength[0], centerOffset[0]);
+  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[1], maxLength[1], minLength[1], centerOffset[1] );
+  PRINT(3)("\tAxis halflength x: %11.2f (max: %11.2f, \tmin: %11.2f), offset: %11.2f\n", box.halfLength[2], maxLength[2], minLength[2], centerOffset[2]);
 }
 
@@ -677 +671 @@
 {
   /* this function can be used to draw the triangles and/or the points only  */
-  if( drawMode & DRAW_MODEL || drawMode & DRAW_ALL)
-  {
-    if( !(drawMode & DRAW_SINGLE && depth != 0))
-    {
-      if( drawMode & DRAW_POINTS)
+  if( 1 /*drawMode & DRAW_MODEL || drawMode & DRAW_ALL*/)
+  {
+    if( depth == 0/*!(drawMode & DRAW_SINGLE && depth != 0)*/)
+    {
+      if( 1 /*drawMode & DRAW_POINTS*/)
       {
         glBegin(GL_POINTS);
+        glColor3f(0.3, 0.8, 0.54);
         for( int i = 0; i < this->bvElement->modelInf->numVertices*3; i+=3)
           glVertex3f(this->bvElement->modelInf->pVertices[i],
@@ -703 +698 @@
 
   /* draw world axes */
-  if( drawMode & DRAW_BV_AXIS)
+  if( 1 /*drawMode & DRAW_BV_AXIS*/)
   {
     glBegin(GL_LINES);
@@ -721 +716 @@
 
 
-  if( drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL)
-  {
-    if( drawMode & DRAW_SINGLE && depth != 0)
+  if( 1/*drawMode & DRAW_BV_AXIS || drawMode & DRAW_ALL*/)
+  {
+    if( 1/*drawMode & DRAW_SINGLE && depth != 0*/)
     {
       /* draw the obb axes */