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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@227 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-12-12 21:28:06 +00:00
parent c049fdd855
commit a89fcb13fe
2 changed files with 59 additions and 40 deletions
sources/reactphysics3d/body
OBB.cppOBB.h

41
sources/reactphysics3d/body/OBB.cpp
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@ -133,50 +133,33 @@ 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.
// The function returns the number of extreme vertices and a set that contains thoses vertices. std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D axis) const {
int OBB::getExtremeVertices(const Vector3D projectionAxis, std::vector<Vector3D>& extremeVertices) const { assert(axis.length() != 0);
assert(extremeVertices.size() == 0);
assert(projectionAxis.length() != 0);
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis std::vector<Vector3D> extremeVertices;
double maxProjectionLength = 0.0; // Longest projection length of a vertex onto the projection axis
// Compute the vertices of the OBB // For each vertex of the OBB
double e0 = extent[0]; for (unsigned int i=0; i<8; ++i) {
double e1 = extent[1]; Vector3D vertex = getVertex(i);
double e2 = extent[2];
Vector3D vertices[8];
vertices[0] = center + (axis[0]*e0) + (axis[1]*e1) - (axis[2]*e2);
vertices[1] = center + (axis[0]*e0) + (axis[1]*e1) + (axis[2]*e2);
vertices[2] = center - (axis[0]*e0) + (axis[1]*e1) + (axis[2]*e2);
vertices[3] = center - (axis[0]*e0) + (axis[1]*e1) - (axis[2]*e2);
vertices[4] = center + (axis[0]*e0) - (axis[1]*e1) - (axis[2]*e2);
vertices[5] = center + (axis[0]*e0) - (axis[1]*e1) + (axis[2]*e2);
vertices[6] = center - (axis[0]*e0) - (axis[1]*e1) + (axis[2]*e2);
vertices[7] = center - (axis[0]*e0) - (axis[1]*e1) - (axis[2]*e2);
for (int i=0; i<8; ++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 = projectionAxis.scalarProduct(vertices[i]-center) / projectionAxis.length(); double projectionLength = axis.scalarProduct(vertex-center) / axis.length();
//std::cout << "Projection length : " << projectionLength << std::endl;
//std::cout << "Max Projection length : " << maxProjectionLength << std::endl;
// If we found a bigger projection length // If we found a bigger projection length
if (projectionLength > maxProjectionLength + EPSILON) { if (projectionLength > maxProjectionLength + EPSILON) {
maxProjectionLength = projectionLength; maxProjectionLength = projectionLength;
extremeVertices.clear(); extremeVertices.clear();
extremeVertices.push_back(vertices[i]); extremeVertices.push_back(vertex);
//std::cout << "PRINT 1" << std::endl;
} }
else if (equal(projectionLength, maxProjectionLength)) { else if (equal(projectionLength, maxProjectionLength)) {
extremeVertices.push_back(vertices[i]); extremeVertices.push_back(vertex);
//std::cout << "PRINT 2" << std::endl;
} }
} }
// An extreme should be a unique vertex, an edge or a face // An extreme should be a unique vertex, an edge or a face
assert(extremeVertices.size() == 1 || extremeVertices.size() == 2 || extremeVertices.size() == 4); assert(extremeVertices.size() == 1 || extremeVertices.size() == 2 || extremeVertices.size() == 4);
// Return the number of extreme vertices // Return the extreme vertices
return extremeVertices.size(); return extremeVertices;
} }

58
sources/reactphysics3d/body/OBB.h
View File

@ -50,15 +50,16 @@ class OBB : public BoundingVolume {
OBB(const OBB& obb); // Copy-Constructor OBB(const OBB& obb); // Copy-Constructor
virtual ~OBB(); // Destructor virtual ~OBB(); // Destructor
Vector3D getCenter() const; // Return the center point of the OBB Vector3D getCenter() const; // Return the center point of the OBB
void setCenter(const Vector3D& center); // Set the center point void setCenter(const Vector3D& center); // Set the center point
Vector3D getAxis(unsigned int index) const throw(std::invalid_argument); // Return an axis of the OBB Vector3D getAxis(unsigned int index) const throw(std::invalid_argument) const; // Return an axis of the OBB
void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis void setAxis(unsigned int index, const Vector3D& axis) throw(std::invalid_argument); // Set an axis
double getExtent(unsigned int index) const throw(std::invalid_argument); // Return an extent value Vector3D getVertex(unsigned int index) const throw (std::invalid_argument) const; // Return a vertex of the OBB
void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value double getExtent(unsigned int index) const throw(std::invalid_argument) const; // Return an extent value
virtual int getExtremeVertices(const Vector3D projectionAxis, std::vector<Vector3D>& extremeVertices) const; // Return all the vertices that are projected at the extreme of the projection of the bouding volume on the axis void setExtent(unsigned int index, double extent) throw(std::invalid_argument); // Set an extent value
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 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 draw() const; // Draw the OBB (only for testing purpose) 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)
}; };
// Return the center point of the OBB // Return the center point of the OBB
@ -72,7 +73,7 @@ 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) { inline Vector3D OBB::getAxis(unsigned int index) const throw(std::invalid_argument) const {
// 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];
@ -95,8 +96,43 @@ inline void OBB::setAxis(unsigned int index, const Vector3D& axis) throw(std::in
} }
} }
// Return a vertex of the OBB
inline Vector3D OBB::getVertex(unsigned int index) const throw (std::invalid_argument) const {
// Check if the index value is valid
if (index >= 0 && index <8) {
Vector3D vertex;
switch(index) {
case 0 : vertex = center + (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]);
break;
case 1 : vertex = center + (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]);
break;
case 2 : vertex = center - (axis[0]*extent[0]) + (axis[1]*extent[1]) + (axis[2]*extent[2]);
break;
case 3 : vertex = center - (axis[0]*extent[0]) + (axis[1]*extent[1]) - (axis[2]*extent[2]);
break;
case 4 : vertex = center + (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]);
break;
case 5 : vertex = center + (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]);
break;
case 6 : vertex = center - (axis[0]*extent[0]) - (axis[1]*extent[1]) + (axis[2]*extent[2]);
break;
case 7 : vertex = center - (axis[0]*extent[0]) - (axis[1]*extent[1]) - (axis[2]*extent[2]);
break;
}
// Return the vertex
return vertex;
}
else {
// The index value is not valid, we throw an exception
throw std::invalid_argument("Exception : The index value has to be between 0 and 8");
}
}
// Return an extent value // Return an extent value
inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) { inline double OBB::getExtent(unsigned int index) const throw(std::invalid_argument) const {
// 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];