historical/toontown-classic.git/panda/include/collisionCapsule.h
2024-01-16 11:20:27 -06:00

162 lines
5.4 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 collisionCapsule.h
* @author drose
* @date 2003-09-25
*/
#ifndef COLLISIONCAPSULE_H
#define COLLISIONCAPSULE_H
#include "pandabase.h"
#include "collisionSolid.h"
#include "parabola.h"
/**
* This implements a solid consisting of a cylinder with hemispherical endcaps,
* also known as a capsule or a spherocylinder.
*
* This shape was previously erroneously called CollisionTube.
*/
class EXPCL_PANDA_COLLIDE CollisionCapsule : public CollisionSolid {
PUBLISHED:
INLINE explicit CollisionCapsule(const LPoint3 &a, const LPoint3 &db,
PN_stdfloat radius);
INLINE explicit CollisionCapsule(PN_stdfloat ax, PN_stdfloat ay, PN_stdfloat az,
PN_stdfloat bx, PN_stdfloat by, PN_stdfloat bz,
PN_stdfloat radius);
virtual LPoint3 get_collision_origin() const;
private:
INLINE CollisionCapsule();
public:
INLINE CollisionCapsule(const CollisionCapsule &copy);
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();
PUBLISHED:
INLINE void set_point_a(const LPoint3 &a);
INLINE void set_point_a(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
INLINE const LPoint3 &get_point_a() const;
INLINE void set_point_b(const LPoint3 &b);
INLINE void set_point_b(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
INLINE const LPoint3 &get_point_b() const;
INLINE void set_radius(PN_stdfloat radius);
INLINE PN_stdfloat get_radius() const;
PUBLISHED:
MAKE_PROPERTY(point_a, get_point_a, set_point_a);
MAKE_PROPERTY(point_b, get_point_b, set_point_b);
MAKE_PROPERTY(radius, get_radius, set_radius);
protected:
virtual PT(BoundingVolume) compute_internal_bounds() const;
protected:
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_capsule(const CollisionEntry &entry) const;
virtual PT(CollisionEntry)
test_intersection_from_parabola(const CollisionEntry &entry) const;
virtual void fill_viz_geom();
private:
void recalc_internals();
LVertex calc_sphere1_vertex(int ri, int si, int num_rings, int num_slices);
LVertex calc_sphere2_vertex(int ri, int si, int num_rings, int num_slices,
PN_stdfloat length);
static void calc_closest_segment_points(double &t1, double &t2,
const LPoint3 &from1, const LVector3 &delta1,
const LPoint3 &from2, const LVector3 &delta2);
bool intersects_line(double &t1, double &t2,
const LPoint3 &from, const LVector3 &delta,
PN_stdfloat inflate_radius) const;
static bool sphere_intersects_line(double &t1, double &t2, PN_stdfloat center_y,
const LPoint3 &from, const LVector3 &delta,
PN_stdfloat radius);
bool intersects_parabola(double &t, const LParabola &parabola,
double t1, double t2,
const LPoint3 &p1, const LPoint3 &p2) const;
void calculate_surface_point_and_normal(const LPoint3 &surface_point,
double extra_radius,
LPoint3 &result_point,
LVector3 &result_normal) const;
void set_intersection_point(CollisionEntry *new_entry,
const LPoint3 &into_intersection_point,
double extra_radius) const;
private:
LPoint3 _a, _b;
PN_stdfloat _radius;
// These are derived from the above.
LMatrix4 _mat;
LMatrix4 _inv_mat;
PN_stdfloat _length;
static PStatCollector _volume_pcollector;
static PStatCollector _test_pcollector;
public:
static void register_with_read_factory();
virtual void write_datagram(BamWriter *manager, Datagram &dg);
protected:
static TypedWritable *make_from_bam(const FactoryParams &params);
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, "CollisionCapsule",
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;
friend class CollisionBox;
friend class CollisionPolygon;
};
#include "collisionCapsule.I"
#endif