git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@232 92aac97c-a6ce-11dd-a772-7fcde58d38e6

This commit is contained in:
chappuis.daniel 2009-12-23 10:06:10 +00:00
parent 2bd9701164
commit 902f3ab2b4
3 changed files with 31 additions and 15 deletions

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@ -162,7 +162,7 @@ inline Vector3D BodyState::getForce() const {
// Set the force over the body // Set the force over the body
inline void BodyState::setForce(const Vector3D& force) { inline void BodyState::setForce(const Vector3D& force) {
this->force; this->force = force;
} }
// Return the current torque of the body // Return the current torque of the body

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@ -134,30 +134,46 @@ void OBB::draw() const {
// Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis. // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis.
// Be careful when this method returns vertices of a polygonal face because vertices are not necessarly ordered. // Be careful when this method returns vertices of a polygonal face because vertices are not necessarly ordered.
std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D axis) const { std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) const {
assert(axis.length() != 0); assert(directionAxis.length() != 0);
std::vector<Vector3D> extremeVertices; std::vector<Vector3D> extremeVertices;
// Check if the given axis is parallel to an axis on the OBB // Check if the given axis is parallel to an axis on the OBB
if (axis[0].isParallelWith(axis)) { if (axis[0].isParallelWith(directionAxis)) {
// TODO : Complete this if (axis[0].scalarProduct(directionAxis) >= 0) { // If both axis are in the same direction
extremeVertices = getFace(0); // The extreme is the face 0
}
else {
extremeVertices = getFace(1); // The extreme is the face 1
}
} }
else if(axis[1].isParallelWith(axis) { else if(axis[1].isParallelWith(directionAxis)) {
// TODO : Complete this if (axis[1].scalarProduct(directionAxis) >= 0) { // If both axis are in the same direction
extremeVertices = getFace(2); // The extreme is the face 2
}
else {
extremeVertices = getFace(3); // The extreme is the face 3
}
} }
else if(axis[2].isParallelWith(axis) { else if(axis[2].isParallelWith(directionAxis)) {
// TODO : Complete this if (axis[2].scalarProduct(directionAxis) >= 0) { // If both axis are in the same direction
extremeVertices = getFace(4); // The extreme is the face 4
}
else {
extremeVertices = getFace(5); // The extreme is the face 5
}
} }
else { // The extreme is made of an unique vertex or an edge 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 double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
// For each vertex of the OBB // For each vertex of the OBB
for (unsigned int i=0; i<8; ++i) { for (unsigned int i=0; i<8; ++i) {
Vector3D vertex = getVertex(i); Vector3D vertex = getVertex(i);
// Compute the projection length of the current 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(); double projectionLength = directionAxis.scalarProduct(vertex-center) / directionAxis.length();
// If we found a bigger projection length // If we found a bigger projection length
if (projectionLength > maxProjectionLength + EPSILON) { if (projectionLength > maxProjectionLength + EPSILON) {

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@ -58,7 +58,7 @@ class OBB : public BoundingVolume {
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 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 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 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 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 virtual void updateOrientation(const Vector3D& newCenter, const Quaternion& rotationQuaternion); // Update the oriented bounding box orientation according to a new orientation of the rigid body
virtual void draw() const; // Draw the OBB (only for testing purpose) virtual void draw() const; // Draw the OBB (only for testing purpose)
}; };
@ -74,7 +74,7 @@ inline void OBB::setCenter(const Vector3D& center) {
} }
// Return an axis of the OBB // Return an axis of the OBB
inline Vector3D OBB::getAxis(unsigned int index) const throw(std::invalid_argument) const { inline Vector3D OBB::getAxis(unsigned int index) const throw(std::invalid_argument) {
// Check if the index value is valid // Check if the index value is valid
if (index >= 0 && index <3) { if (index >= 0 && index <3) {
return axis[index]; return axis[index];
@ -98,7 +98,7 @@ inline void OBB::setAxis(unsigned int index, const Vector3D& axis) throw(std::in
} }
// Return a vertex of the OBB // Return a vertex of the OBB
inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_argument) const { inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_argument) {
// Check if the index value is valid // Check if the index value is valid
if (index >= 0 && index <8) { if (index >= 0 && index <8) {
Vector3D vertex; Vector3D vertex;
@ -133,7 +133,7 @@ inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_arg
// Return an extent value // Return an extent value
inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) const { inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) {
// Check if the index value is valid // Check if the index value is valid
if (index >= 0 && index <3) { if (index >= 0 && index <3) {
return extent[index]; return extent[index];