Changeset 7735 in orxonox.OLD for trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

May 19, 2006, 5:36:25 PM (18 years ago)

Author:

patrick

Message:

trunk: the new collision detection seems to be much more accurate than the old. There is still a little issue with the detection

File:

• trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (4 diffs)

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -282 +282 @@
   box.axis[2] = axis[2];
 
+  // this is for axis aligned bouning boxes only
 //   box.axis[0] = Vector(1,0,0);
 //   box.axis[1] = Vector(0,1,0);
@@ -489 +490 @@
 {
   if( unlikely(treeNode == NULL || nodeA == NULL || nodeB == NULL))
-  {
-//     assert(false);
     return;
-  }
+
 
   PRINTF(4)("collideWith\n");
@@ -517 +516 @@
 
     /* check if left node overlaps */
-    if( likely( this->nodeLeft != NULL))
+    if( this->nodeLeft != NULL )
     {
       PRINTF(5)("Checking OBB %i vs %i: ", this->nodeLeft->getIndex(), treeNode->getIndex());
@@ -538 +537 @@
 
     /* so there is a collision and this is the last box in the tree (i.e. leaf) */
-    /* FIXME: If we would choose || insead of && there would also be asymmetrical cases supported */
-    if( unlikely(this->nodeRight == NULL || this->nodeLeft == NULL))
+    if( unlikely((this->nodeRight == NULL || this->nodeLeft == NULL) ||
+                 (treeNode->nodeRight == NULL || treeNode->nodeLeft == NULL)) )
     {
       nodeA->collidesWith(nodeB, treeNode->bvElement->center);