git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@351 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/body/OBB.cpp

@@ -120,6 +120,18 @@ std::vector<Vector3D> OBB::getExtremeVertices(const Vector3D& directionAxis) con
 
     std::vector<Vector3D> extremeVertices;
 
+    // TODO : Delete this
+    std::cout << "------------------------------------" << std::endl;
+    for (int i=0; i<8; i++)
+    {
+        Vector3D vertex = getVertex(i);
+
+        // Compute the projection length of the current vertex onto the projection axis
+        double projectionLength = directionAxis.scalarProduct(vertex-center) / directionAxis.length();
+        std::cout << "Point : x=" << vertex.getX() << " y=" << vertex.getY() << "z=" << vertex.getZ() << std::endl;
+        std::cout << "projection length = " << projectionLength << std::endl;
+    }
+
     // Check if the given axis is parallel to an axis on the OBB
     if (axis[0].isParallelWith(directionAxis)) {
         if (axis[0].scalarProduct(directionAxis) >= 0) {    // If both axis are in the same direction
@@ -226,3 +238,30 @@ std::vector<Vector3D> OBB::getFace(unsigned int index) const throw(std::invalid_
         throw std::invalid_argument("Exception: The argument must be between 0 and 5");
     }
 }
+
+// Return the axis that correspond the better to the vector
+Vector3D OBB::getBestAxis(const Vector3D& vector) const {
+    double vectorLength = vector.length();
+    double minDifference = DBL_MAX;
+    int bestAxis = -1;
+    bool opposite = false;
+    
+    for (int i=0; i<3; i++) {
+        double scalarProd = axis[i].scalarProduct(vector);
+        double lengthValue = axis[i].length() * vectorLength;
+        
+        if (std::abs(std::abs(scalarProd) - lengthValue) < minDifference) {
+            bestAxis = i;
+            minDifference = std::abs(std::abs(scalarProd) - lengthValue);
+            
+            if (scalarProd >= 0) {
+                opposite = false;
+            }
+            else {
+                opposite = true;
+            }
+        }
+    }
+
+    return opposite ? axis[bestAxis].getOpposite() : axis[bestAxis];
+}

sources/reactphysics3d/body/OBB.h

@@ -21,6 +21,7 @@
 #define OBB_H
 
 // Libraries
+#include <cfloat>
 #include "BoundingVolume.h"
 #include "../mathematics/mathematics.h"
 
@@ -60,6 +61,7 @@ class OBB : public BoundingVolume {
         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 draw() const;                                                                              // Draw the OBB (only for testing purpose)
+        Vector3D getBestAxis(const Vector3D& vector) const;                                                     // Return the axis that correspond the better to the vector
 };
 
 // Return the center point of the OBB
@@ -167,7 +169,6 @@ inline void OBB::updateOrientation(const Vector3D& newCenter, const Quaternion&
     axis[2] = rotateVectorWithQuaternion(oldAxis[2], rotationQuaternion).getUnit();
 }
 
-
 }; // End of the ReactPhysics3D namespace
 
 #endif