Changeset 8190 in orxonox.OLD for trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 7, 2006, 3:00:01 PM (18 years ago)

Author:

patrick

Message:

trunk: merged the cr branche to trunk

File:

• trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (1 diff)

trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -481 +481 @@
     PRINTF(5)("collision @ lvl %i, object %s vs. %s, (%p, %p)\n", this->depth, nodeA->getClassName(), nodeB->getClassName(), this->nodeLeft, this->nodeRight);
 
-    /* check if left node overlaps */
+
+    // left node
     if( this->nodeLeft != NULL )
     {
-      PRINTF(5)("Checking OBB %i vs %i: ", this->nodeLeft->getIndex(), treeNode->getIndex());
       if( this->overlapTest(this->nodeLeft->bvElement, treeNode->bvElement, nodeA, nodeB))
       {
-        this->nodeLeft->collideWith(treeNode->nodeLeft, nodeA, nodeB);
-        this->nodeLeft->collideWith(treeNode->nodeRight, nodeA, nodeB);
+        if( treeNode->nodeLeft != NULL)
+          this->nodeLeft->collideWith(treeNode->nodeLeft, nodeA, nodeB);
+        if( treeNode->nodeRight != NULL)
+          this->nodeLeft->collideWith(treeNode->nodeRight, nodeA, nodeB);
       }
     }
-    /* check if right node overlaps */
-    if( likely( this->nodeRight != NULL))
-    {
-      PRINTF(5)("Checking OBB %i vs %i: ", this->nodeRight->getIndex(), treeNode->getIndex());
-      if(this->overlapTest(this->nodeRight->bvElement, treeNode->bvElement, nodeA, nodeB))
+
+    // right node
+    if( this->nodeRight != NULL )
+    {
+      if( this->overlapTest(this->nodeRight->bvElement, treeNode->bvElement, nodeA, nodeB))
       {
-        this->nodeRight->collideWith(treeNode->nodeLeft, nodeA, nodeB);
-        this->nodeRight->collideWith(treeNode->nodeRight, nodeA, nodeB);
+        if( treeNode->nodeLeft != NULL)
+          this->nodeRight->collideWith(treeNode->nodeLeft, nodeA, nodeB);
+        if( treeNode->nodeRight != NULL)
+          this->nodeRight->collideWith(treeNode->nodeRight, nodeA, nodeB);
       }
     }
 
-    /* so there is a collision and this is the last box in the tree (i.e. leaf) */
-    if( unlikely((this->nodeRight == NULL || this->nodeLeft == NULL) ||
-                 (treeNode->nodeRight == NULL || treeNode->nodeLeft == NULL)) )
-    {
-      nodeA->collidesWith(nodeB, treeNode->bvElement->center);
-      nodeB->collidesWith(nodeA, this->bvElement->center);
+
+    // hybrid mode: we reached the end of this obbtree, now reach the end of the other tree
+    if( this->nodeLeft == NULL && this->nodeRight == NULL)
+    {
+      if( treeNode->nodeLeft != NULL)
+        this->collideWith(treeNode->nodeLeft, nodeA, nodeB);
+      if( treeNode->nodeRight != NULL)
+        this->collideWith(treeNode->nodeRight, nodeA, nodeB);
+    }
+
+
+    // now check if we reached the end of both trees
+    if( unlikely((this->nodeRight == NULL && this->nodeLeft == NULL) &&
+        (treeNode->nodeRight == NULL && treeNode->nodeLeft == NULL)) )
+    {
+      nodeA->registerCollision(nodeA, nodeB, (BoundingVolume*)this->bvElement, (BoundingVolume*)treeNode->bvElement);
     }