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

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This commit is contained in:
chappuis.daniel 2010-07-19 19:21:33 +00:00
parent f57cd95dba
commit b43c6a42a3
2 changed files with 41 additions and 1 deletions
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39
sources/reactphysics3d/body/OBB.cpp
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@ -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];
}

3
sources/reactphysics3d/body/OBB.h
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@ -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