Changeset 8508 in orxonox.OLD for branches/bsp_model/src/lib/collision_detection

Timestamp:

Jun 15, 2006, 11:59:56 PM (18 years ago)

Author:

patrick

Message:

bsp: added the bounding box for each model on WE level

Location:

branches/bsp_model/src/lib/collision_detection

Files:

• Makefile.am (modified) (2 diffs)
• aabb.cc (added)
• aabb.h (added)
• aabb_tree_node.cc (modified) (10 diffs)
• aabb_tree_node.h (modified) (2 diffs)

branches/bsp_model/src/lib/collision_detection/Makefile.am

@@ -12 +12 @@
                      bounding_volume.cc \
                      bounding_sphere.cc \
-                     aabb_tree_node.cc
+                     aabb_tree_node.cc \
+                     aabb.cc
 
 
@@ -24 +25 @@
                      bounding_volume.h \
                      bounding_sphere.h \
-                     aabb_tree_node.h
+                     aabb_tree_node.h \
+                     aabb.h
 

branches/bsp_model/src/lib/collision_detection/aabb_tree_node.cc

@@ -16 +16 @@
 
 #include "aabb_tree_node.h"
-#include "obb_tree.h"
-#include "obb.h"
+#include "aabb.h"
+
+#include "bv_tree.h"
 
 #include "matrix.h"
@@ -133 +134 @@
 void AABBTreeNode::spawnBVTree(const modelInfo& modelInf, const int* triangleIndexes, int length)
 {
-  PRINTF(4)("\n==============================Creating OBB Tree Node==================\n");
-  PRINT(4)(" OBB Tree Infos: \n");
+  PRINTF(4)("\n==============================Creating AABB Tree Node==================\n");
+  PRINT(4)(" AABB Tree Infos: \n");
   PRINT(4)("\tDepth: %i \n\tTree Index: %i \n\tNumber of Triangles: %i\n", depth, this->treeIndex, length);
   this->depth = depth;
 
-  this->bvElement = new OBB();
+  this->bvElement = new AABB();
   this->bvElement->modelInf = &modelInf;
   this->bvElement->triangleIndexes = triangleIndexes;
@@ -175 +176 @@
  * @param length: the length of the indexes array
  */
-void AABBTreeNode::calculateBoxCovariance(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length)
+void AABBTreeNode::calculateBoxCovariance(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length)
 {
   float     facelet[length];                         //!< surface area of the i'th triangle of the convex hull
@@ -246 +247 @@
     PRINT(4)("\n");
   }
-  PRINTF(4)("\nWeighteed OBB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", center.x, center.y, center.z);
+  PRINTF(4)("\nWeighteed AABB Center:\n\t\t%11.4f\t %11.4f\t %11.4f\n", center.x, center.y, center.z);
 }
 
@@ -258 +259 @@
  * @param length: the length of the indexes array
  */
-void AABBTreeNode::calculateBoxEigenvectors(OBB& box, const modelInfo& modelInf,
+void AABBTreeNode::calculateBoxEigenvectors(AABB& box, const modelInfo& modelInf,
     const int* triangleIndexes, int length)
 {
@@ -295 +296 @@
  * @param length: the length of the indexes array
  */
-void AABBTreeNode::calculateBoxAxis(OBB& box, const modelInfo& modelInf, const int* triangleIndexes, int length)
+void AABBTreeNode::calculateBoxAxis(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length)
 {
 
@@ -371 +372 @@
  * this will separate the box into to smaller boxes. the separation is done along the middle of the longest axis
  */
-void AABBTreeNode::forkBox(OBB& box)
+void AABBTreeNode::forkBox(AABB& box)
 {
 
@@ -481 +482 @@
 
   PRINTF(4)("collideWith\n");
-  PRINTF(5)("Checking OBB %i vs %i: ", this->getIndex(), treeNode->getIndex());
+  PRINTF(5)("Checking AABB %i vs %i: ", this->getIndex(), treeNode->getIndex());
 
   // for now only collide with AABBTreeNodes
@@ -556 +557 @@
  * @param nodeB the node itself
  */
-bool AABBTreeNode::overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB)
+bool AABBTreeNode::overlapTest(AABB* boxA, AABB* boxB, WorldEntity* nodeA, WorldEntity* nodeB)
 {
   //HACK remove this again
@@ -776 +777 @@
         glColor4f(color.x, color.y, color.z, .5);
       }
-
-      // debug out
-      if( this->obbTree->getOwner() != NULL)
-      {
-        PRINTF(4)("debug poly draw: depth: %i, mode: %i, entity-name: %s, class: %s\n", depth, drawMode, this->obbTree->getOwner()->getName(), this->obbTree->getOwner()->getClassName());
-      }
-      else
-        PRINTF(4)("debug poly draw: depth: %i, mode: %i\n", depth, drawMode);
 
 

branches/bsp_model/src/lib/collision_detection/aabb_tree_node.h

@@ -12 +12 @@
 
 class BoundingVolume;
-class OBB;
+class AABB;
 class OBBTree;
 class Plane;
@@ -41 +41 @@
     /**  gets the id of the current child @return id of the child */
     inline const int getID() { return this->nextID++; }
-
+    inline AABB* getAABB() { return this->bvElement; }
 
   private:
-    void calculateBoxAxis(OBB& box, const sVec3D* verticesList, unsigned int length);
+    void calculateBoxAxis(AABB& box, const sVec3D* verticesList, unsigned int length);
 
-    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);
+    void calculateBoxCovariance(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
+    void calculateBoxEigenvectors(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
+    void calculateBoxAxis(AABB& box, const modelInfo& modelInf, const int* triangleIndexes, int length);
+    void forkBox(AABB& box);
 
     void collideWithOBB(AABBTreeNode* treeNode, WorldEntity* nodeA, WorldEntity* nodeB);
-    bool overlapTest(OBB* boxA, OBB* boxB, WorldEntity* nodeA, WorldEntity* nodeB);
+    bool overlapTest(AABB* boxA, AABB* boxB, WorldEntity* nodeA, WorldEntity* nodeB);
 
 
   protected:
-    OBB*                bvElement;                  //!< the obb element
+    AABB*                bvElement;                  //!< the obb element
     AABBTreeNode*        nodePrev;                   //!< ref to the previous (parent) tree node = NULL if first
     AABBTreeNode*        nodeLeft;                   //!< ref to the left tree node