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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@230 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-12-22 16:22:47 +00:00
parent 8c92896ad8
commit 4b1dbb2f47
2 changed files with 84 additions and 31 deletions
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107
sources/reactphysics3d/body/OBB.cpp
View File

@ -34,13 +34,13 @@ OBB::OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
const Vector3D& axis3, double extent1, double extent2, double extent3) {
this->center = center;
oldAxis[0] = axis1;
oldAxis[1] = axis2;
oldAxis[2] = axis3;
oldAxis[0] = axis1.getUnit();
oldAxis[1] = axis2.getUnit();
oldAxis[2] = axis3.getUnit();
this->axis[0] = axis1;
this->axis[1] = axis2;
this->axis[2] = axis3;
this->axis[0] = oldAxis[0];
this->axis[1] = oldAxis[1];
this->axis[2] = oldAxis[2];
this->extent[0] = extent1;
this->extent[1] = extent2;
@ -138,23 +138,36 @@ std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D axis) const {
assert(axis.length() != 0);
std::vector<Vector3D> extremeVertices;
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
// For each vertex of the OBB
for (unsigned int i=0; i<8; ++i) {
Vector3D vertex = getVertex(i);
// Check if the given axis is parallel to an axis on the OBB
if (axis[0].isParallelWith(axis)) {
// TODO : Complete this
}
else if(axis[1].isParallelWith(axis) {
// TODO : Complete this
}
else if(axis[2].isParallelWith(axis) {
// TODO : Complete this
}
else { // The extreme is made of an unique vertex or an edge
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
// Compute the projection length of the current vertex onto the projection axis
double projectionLength = axis.scalarProduct(vertex-center) / axis.length();
// For each vertex of the OBB
for (unsigned int i=0; i<8; ++i) {
Vector3D vertex = getVertex(i);
// If we found a bigger projection length
if (projectionLength > maxProjectionLength + EPSILON) {
maxProjectionLength = projectionLength;
extremeVertices.clear();
extremeVertices.push_back(vertex);
}
else if (equal(projectionLength, maxProjectionLength)) {
extremeVertices.push_back(vertex);
// Compute the projection length of the current vertex onto the projection axis
double projectionLength = axis.scalarProduct(vertex-center) / axis.length();
// If we found a bigger projection length
if (projectionLength > maxProjectionLength + EPSILON) {
maxProjectionLength = projectionLength;
extremeVertices.clear();
extremeVertices.push_back(vertex);
}
else if (approxEqual(projectionLength, maxProjectionLength)) {
extremeVertices.push_back(vertex);
}
}
}
@ -165,12 +178,52 @@ std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D axis) const {
return extremeVertices;
}
// Return the 4 vertices the OBB's face in the direction of a given axis.
// This method returns the set of vertices of the face (vertices are ordered).
std::vector<Vector3D> OBB::getFace(Vector3D& axis) const {
std::vector<Vector3D> face;
// Return the 4 vertices of a face of the OBB. The 4 vertices will be ordered. The convention is that the index 0 corresponds to
// the face in the direction of the axis[0], 1 corresponds to the face in the opposite direction of the axis[0], 2 corresponds to
// the face in the direction of the axis[1], etc.
std::vector<Vector3D> OBB::getFace(int index) const throw(std::invalid_argument) {
// Check the argument
if (index >=0 && index <6) {
std::vector<Vector3D> vertices;
switch(index) {
case 0: vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
vertices.push_back(center + (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
vertices.push_back(center + (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]));
vertices.push_back(center + (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]));
break;
case 1: vertices.push_back(center - (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]));
vertices.push_back(center - (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]));
vertices.push_back(center - (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]));
vertices.push_back(center - (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]));
break;
case 2: vertices.push_back(center + (axis[1]*extent[1]) + (axis[0]*extent[0]) - (axis[2]*extent[2]));
vertices.push_back(center + (axis[1]*extent[1]) + (axis[0]*extent[0]) + (axis[2]*extent[2]));
vertices.push_back(center + (axis[1]*extent[1]) - (axis[0]*extent[0]) + (axis[2]*extent[2]));
vertices.push_back(center + (axis[1]*extent[1]) - (axis[0]*extent[0]) - (axis[2]*extent[2]));
break;
case 3: vertices.push_back(center - (axis[1]*extent[1]) + (axis[0]*extent[0]) - (axis[2]*extent[2]));
vertices.push_back(center - (axis[1]*extent[1]) + (axis[0]*extent[0]) + (axis[2]*extent[2]));
vertices.push_back(center - (axis[1]*extent[1]) - (axis[0]*extent[0]) + (axis[2]*extent[2]));
vertices.push_back(center - (axis[1]*extent[1]) - (axis[0]*extent[0]) - (axis[2]*extent[2]));
break;
case 4: vertices.push_back(center + (axis[2]*extent[2]) + (axis[0]*extent[0]) - (axis[1]*extent[1]));
vertices.push_back(center + (axis[2]*extent[2]) + (axis[0]*extent[0]) + (axis[1]*extent[1]));
vertices.push_back(center + (axis[2]*extent[2]) - (axis[0]*extent[0]) + (axis[1]*extent[1]));
vertices.push_back(center + (axis[2]*extent[2]) - (axis[0]*extent[0]) - (axis[1]*extent[1]));
break;
case 5: vertices.push_back(center - (axis[2]*extent[2]) + (axis[0]*extent[0]) - (axis[1]*extent[1]));
vertices.push_back(center - (axis[2]*extent[2]) + (axis[0]*extent[0]) + (axis[1]*extent[1]));
vertices.push_back(center - (axis[2]*extent[2]) - (axis[0]*extent[0]) + (axis[1]*extent[1]));
vertices.push_back(center - (axis[2]*extent[2]) - (axis[0]*extent[0]) - (axis[1]*extent[1]));
break;
}
assert(face.size() == 4);
return face;
// Return the vertices
assert(vertices.size() == 4);
return vertices;
}
else {
// Throw an exception
throw std::invalid_argument("Exception: The argument must be between 0 and 5");
}
}

8
sources/reactphysics3d/body/OBB.h
View File

@ -52,11 +52,11 @@ class OBB : public BoundingVolume {
Vector3D getCenter() const; // Return the center point of the OBB
void setCenter(const Vector3D& center); // Set the center point
Vector3D getAxis(unsigned int index) const throw(std::invalid_argument) const; // Return an axis of the OBB
Vector3D getAxis(unsigned int index) const throw(std::invalid_argument); // Return an axis of the OBB
void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis
Vector3D getVertex(unsigned int index) const throw (std::invalid_argument) const; // Return a vertex of the OBB
std::vector<Vector3D> getFace(Vector3D& axis) const; // Return the 4 vertices the OBB's face in the direction of a given axis
double getExtent(unsigned int index) const throw(std::invalid_argument) const; // Return an extent value
Vector3D getVertex(unsigned int index) const throw (std::invalid_argument); // Return a vertex of the OBB
std::vector<Vector3D> getFace(int index) const throw(std::invalid_argument); // Return the 4 vertices the OBB's face in the direction of a given axis
double getExtent(unsigned int index) const throw(std::invalid_argument); // Return an extent value
void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value
virtual std::vector<Vector3D> getExtremeVertices(const Vector3D axis) const; // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis
virtual void updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion); // Update the oriented bounding box orientation according to a new orientation of the rigid body