185 lines
6 KiB
C
185 lines
6 KiB
C
|
/**
|
||
|
|
* PANDA 3D SOFTWARE
|
||
|
|
* Copyright (c) Carnegie Mellon University. All rights reserved.
|
||
|
|
*
|
||
|
|
* All use of this software is subject to the terms of the revised BSD
|
||
|
|
* license. You should have received a copy of this license along
|
||
|
|
* with this source code in a file named "LICENSE."
|
||
|
|
*
|
||
|
|
* @file collisionBox.h
|
||
|
|
* @author amith tudur
|
||
|
|
* @date 2009-07-31
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef COLLISIONBOX_H
|
||
|
|
#define COLLISIONBOX_H
|
||
|
|
|
||
|
|
#include "pandabase.h"
|
||
|
|
#include "collisionSolid.h"
|
||
|
|
#include "parabola.h"
|
||
|
|
#include "plane.h"
|
||
|
|
#include "look_at.h"
|
||
|
|
#include "clipPlaneAttrib.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* A cuboid collision volume or object.
|
||
|
|
*/
|
||
|
|
class EXPCL_PANDA_COLLIDE CollisionBox : public CollisionSolid {
|
||
|
|
PUBLISHED:
|
||
|
|
INLINE explicit CollisionBox(const LPoint3 ¢er,
|
||
|
|
PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
|
||
|
|
INLINE explicit CollisionBox(const LPoint3 &min, const LPoint3 &max);
|
||
|
|
|
||
|
|
virtual LPoint3 get_collision_origin() const;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
INLINE CollisionBox();
|
||
|
|
|
||
|
|
public:
|
||
|
|
INLINE CollisionBox(const CollisionBox ©);
|
||
|
|
virtual CollisionSolid *make_copy();
|
||
|
|
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection(const CollisionEntry &entry) const;
|
||
|
|
virtual void xform(const LMatrix4 &mat);
|
||
|
|
|
||
|
|
virtual PStatCollector &get_volume_pcollector();
|
||
|
|
virtual PStatCollector &get_test_pcollector();
|
||
|
|
|
||
|
|
virtual void output(std::ostream &out) const;
|
||
|
|
|
||
|
|
INLINE static void flush_level();
|
||
|
|
void setup_box();
|
||
|
|
|
||
|
|
PUBLISHED:
|
||
|
|
INLINE int get_num_points() const;
|
||
|
|
INLINE LPoint3 get_point_aabb(int n) const;
|
||
|
|
INLINE LPoint3 get_point(int n) const;
|
||
|
|
INLINE int get_num_planes() const;
|
||
|
|
INLINE LPlane set_plane(int n) const;
|
||
|
|
INLINE LPlane get_plane(int n) const;
|
||
|
|
INLINE void set_center(const LPoint3 ¢er);
|
||
|
|
INLINE void set_center(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
|
||
|
|
INLINE const LPoint3 &get_center() const;
|
||
|
|
INLINE const LPoint3 &get_min() const;
|
||
|
|
INLINE const LPoint3 &get_max() const;
|
||
|
|
INLINE LVector3 get_dimensions() const;
|
||
|
|
|
||
|
|
PUBLISHED:
|
||
|
|
MAKE_PROPERTY(center, get_center);
|
||
|
|
MAKE_PROPERTY(min, get_min);
|
||
|
|
MAKE_PROPERTY(max, get_max);
|
||
|
|
MAKE_PROPERTY(dimensions, get_dimensions);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
virtual PT(BoundingVolume) compute_internal_bounds() const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_sphere(const CollisionEntry &entry) const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_line(const CollisionEntry &entry) const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_ray(const CollisionEntry &entry) const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_segment(const CollisionEntry &entry) const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_parabola(const CollisionEntry &entry) const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_capsule(const CollisionEntry &entry) const;
|
||
|
|
virtual PT(CollisionEntry)
|
||
|
|
test_intersection_from_box(const CollisionEntry &entry) const;
|
||
|
|
|
||
|
|
virtual void fill_viz_geom();
|
||
|
|
|
||
|
|
protected:
|
||
|
|
bool intersects_line(double &t1, double &t2,
|
||
|
|
const LPoint3 &from, const LVector3 &delta,
|
||
|
|
PN_stdfloat inflate_size=0) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
LPoint3 _center;
|
||
|
|
LPoint3 _min;
|
||
|
|
LPoint3 _max;
|
||
|
|
PN_stdfloat _x, _y, _z, _radius;
|
||
|
|
LPoint3 _vertex[8]; // Each of the Eight Vertices of the Box
|
||
|
|
LPlane _planes[6]; //Points to each of the six sides of the Box
|
||
|
|
|
||
|
|
static const int plane_def[6][4];
|
||
|
|
|
||
|
|
static PStatCollector _volume_pcollector;
|
||
|
|
static PStatCollector _test_pcollector;
|
||
|
|
|
||
|
|
private:
|
||
|
|
INLINE static bool is_right(const LVector2 &v1, const LVector2 &v2);
|
||
|
|
INLINE static PN_stdfloat dist_to_line(const LPoint2 &p,
|
||
|
|
const LPoint2 &f, const LVector2 &v);
|
||
|
|
static PN_stdfloat dist_to_line_segment(const LPoint2 &p,
|
||
|
|
const LPoint2 &f, const LPoint2 &t,
|
||
|
|
const LVector2 &v);
|
||
|
|
|
||
|
|
public:
|
||
|
|
class PointDef {
|
||
|
|
public:
|
||
|
|
INLINE PointDef(const LPoint2 &p, const LVector2 &v);
|
||
|
|
INLINE PointDef(PN_stdfloat x, PN_stdfloat y);
|
||
|
|
INLINE PointDef(const PointDef ©);
|
||
|
|
INLINE void operator = (const PointDef ©);
|
||
|
|
|
||
|
|
LPoint2 _p; // the point in 2-d space
|
||
|
|
LVector2 _v; // the normalized vector to the next point
|
||
|
|
};
|
||
|
|
typedef pvector<PointDef> Points;
|
||
|
|
|
||
|
|
static void compute_vectors(Points &points);
|
||
|
|
void draw_polygon(GeomNode *viz_geom_node, GeomNode *bounds_viz_geom_node,
|
||
|
|
const Points &points) const;
|
||
|
|
|
||
|
|
bool point_is_inside(const LPoint2 &p, const Points &points) const;
|
||
|
|
PN_stdfloat dist_to_polygon(const LPoint2 &p, const Points &points) const;
|
||
|
|
|
||
|
|
void setup_points(const LPoint3 *begin, const LPoint3 *end, int plane);
|
||
|
|
INLINE LPoint2 to_2d(const LVecBase3 &point3d, int plane) const;
|
||
|
|
INLINE void calc_to_3d_mat(LMatrix4 &to_3d_mat, int plane) const;
|
||
|
|
INLINE void rederive_to_3d_mat(LMatrix4 &to_3d_mat, int plane) const;
|
||
|
|
INLINE static LPoint3 to_3d(const LVecBase2 &point2d, const LMatrix4 &to_3d_mat);
|
||
|
|
bool clip_polygon(Points &new_points, const Points &source_points,
|
||
|
|
const LPlane &plane,int plane_no) const;
|
||
|
|
bool apply_clip_plane(Points &new_points, const ClipPlaneAttrib *cpa,
|
||
|
|
const TransformState *net_transform, int plane_no) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
Points _points[6]; // one set of points for each of the six planes that make up the box
|
||
|
|
LMatrix4 _to_2d_mat[6];
|
||
|
|
|
||
|
|
public:
|
||
|
|
INLINE Points get_plane_points( int n );
|
||
|
|
|
||
|
|
public:
|
||
|
|
static void register_with_read_factory();
|
||
|
|
virtual void write_datagram(BamWriter *manager, Datagram &me);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
static TypedWritable *make_CollisionBox(const FactoryParams ¶ms);
|
||
|
|
void fillin(DatagramIterator &scan, BamReader *manager);
|
||
|
|
|
||
|
|
public:
|
||
|
|
static TypeHandle get_class_type() {
|
||
|
|
return _type_handle;
|
||
|
|
}
|
||
|
|
static void init_type() {
|
||
|
|
CollisionSolid::init_type();
|
||
|
|
register_type(_type_handle, "CollisionBox",
|
||
|
|
CollisionSolid::get_class_type());
|
||
|
|
}
|
||
|
|
virtual TypeHandle get_type() const {
|
||
|
|
return get_class_type();
|
||
|
|
}
|
||
|
|
virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
|
||
|
|
|
||
|
|
private:
|
||
|
|
static TypeHandle _type_handle;
|
||
|
|
};
|
||
|
|
|
||
|
|
#include "collisionBox.I"
|
||
|
|
|
||
|
|
#endif /* COLLISIONBOX_H */
|