162 lines
5.4 KiB
C++
162 lines
5.4 KiB
C++
/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file collisionCapsule.h
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* @author drose
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* @date 2003-09-25
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*/
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#ifndef COLLISIONCAPSULE_H
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#define COLLISIONCAPSULE_H
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#include "pandabase.h"
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#include "collisionSolid.h"
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#include "parabola.h"
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/**
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* This implements a solid consisting of a cylinder with hemispherical endcaps,
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* also known as a capsule or a spherocylinder.
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*
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* This shape was previously erroneously called CollisionTube.
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*/
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class EXPCL_PANDA_COLLIDE CollisionCapsule : public CollisionSolid {
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PUBLISHED:
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INLINE explicit CollisionCapsule(const LPoint3 &a, const LPoint3 &db,
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PN_stdfloat radius);
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INLINE explicit CollisionCapsule(PN_stdfloat ax, PN_stdfloat ay, PN_stdfloat az,
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PN_stdfloat bx, PN_stdfloat by, PN_stdfloat bz,
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PN_stdfloat radius);
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virtual LPoint3 get_collision_origin() const;
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private:
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INLINE CollisionCapsule();
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public:
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INLINE CollisionCapsule(const CollisionCapsule ©);
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virtual CollisionSolid *make_copy();
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virtual PT(CollisionEntry)
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test_intersection(const CollisionEntry &entry) const;
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virtual void xform(const LMatrix4 &mat);
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virtual PStatCollector &get_volume_pcollector();
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virtual PStatCollector &get_test_pcollector();
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virtual void output(std::ostream &out) const;
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INLINE static void flush_level();
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PUBLISHED:
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INLINE void set_point_a(const LPoint3 &a);
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INLINE void set_point_a(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
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INLINE const LPoint3 &get_point_a() const;
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INLINE void set_point_b(const LPoint3 &b);
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INLINE void set_point_b(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
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INLINE const LPoint3 &get_point_b() const;
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INLINE void set_radius(PN_stdfloat radius);
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INLINE PN_stdfloat get_radius() const;
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PUBLISHED:
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MAKE_PROPERTY(point_a, get_point_a, set_point_a);
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MAKE_PROPERTY(point_b, get_point_b, set_point_b);
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MAKE_PROPERTY(radius, get_radius, set_radius);
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protected:
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virtual PT(BoundingVolume) compute_internal_bounds() const;
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protected:
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virtual PT(CollisionEntry)
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test_intersection_from_sphere(const CollisionEntry &entry) const;
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virtual PT(CollisionEntry)
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test_intersection_from_line(const CollisionEntry &entry) const;
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virtual PT(CollisionEntry)
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test_intersection_from_ray(const CollisionEntry &entry) const;
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virtual PT(CollisionEntry)
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test_intersection_from_segment(const CollisionEntry &entry) const;
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virtual PT(CollisionEntry)
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test_intersection_from_capsule(const CollisionEntry &entry) const;
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virtual PT(CollisionEntry)
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test_intersection_from_parabola(const CollisionEntry &entry) const;
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virtual void fill_viz_geom();
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private:
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void recalc_internals();
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LVertex calc_sphere1_vertex(int ri, int si, int num_rings, int num_slices);
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LVertex calc_sphere2_vertex(int ri, int si, int num_rings, int num_slices,
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PN_stdfloat length);
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static void calc_closest_segment_points(double &t1, double &t2,
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const LPoint3 &from1, const LVector3 &delta1,
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const LPoint3 &from2, const LVector3 &delta2);
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bool intersects_line(double &t1, double &t2,
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const LPoint3 &from, const LVector3 &delta,
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PN_stdfloat inflate_radius) const;
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static bool sphere_intersects_line(double &t1, double &t2, PN_stdfloat center_y,
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const LPoint3 &from, const LVector3 &delta,
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PN_stdfloat radius);
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bool intersects_parabola(double &t, const LParabola ¶bola,
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double t1, double t2,
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const LPoint3 &p1, const LPoint3 &p2) const;
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void calculate_surface_point_and_normal(const LPoint3 &surface_point,
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double extra_radius,
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LPoint3 &result_point,
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LVector3 &result_normal) const;
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void set_intersection_point(CollisionEntry *new_entry,
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const LPoint3 &into_intersection_point,
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double extra_radius) const;
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private:
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LPoint3 _a, _b;
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PN_stdfloat _radius;
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// These are derived from the above.
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LMatrix4 _mat;
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LMatrix4 _inv_mat;
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PN_stdfloat _length;
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static PStatCollector _volume_pcollector;
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static PStatCollector _test_pcollector;
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public:
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static void register_with_read_factory();
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virtual void write_datagram(BamWriter *manager, Datagram &dg);
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protected:
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static TypedWritable *make_from_bam(const FactoryParams ¶ms);
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void fillin(DatagramIterator &scan, BamReader *manager);
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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CollisionSolid::init_type();
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register_type(_type_handle, "CollisionCapsule",
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CollisionSolid::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
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private:
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static TypeHandle _type_handle;
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friend class CollisionBox;
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friend class CollisionPolygon;
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};
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#include "collisionCapsule.I"
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#endif
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