Panda3D
collisionCapsule.h
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1 /**
2  * PANDA 3D SOFTWARE
3  * Copyright (c) Carnegie Mellon University. All rights reserved.
4  *
5  * All use of this software is subject to the terms of the revised BSD
6  * license. You should have received a copy of this license along
7  * with this source code in a file named "LICENSE."
8  *
9  * @file collisionCapsule.h
10  * @author drose
11  * @date 2003-09-25
12  */
13 
14 #ifndef COLLISIONCAPSULE_H
15 #define COLLISIONCAPSULE_H
16 
17 #include "pandabase.h"
18 #include "collisionSolid.h"
19 #include "parabola.h"
20 
21 /**
22  * This implements a solid consisting of a cylinder with hemispherical endcaps,
23  * also known as a capsule or a spherocylinder.
24  *
25  * This shape was previously erroneously called CollisionTube.
26  */
27 class EXPCL_PANDA_COLLIDE CollisionCapsule : public CollisionSolid {
28 PUBLISHED:
29  INLINE explicit CollisionCapsule(const LPoint3 &a, const LPoint3 &db,
30  PN_stdfloat radius);
31  INLINE explicit CollisionCapsule(PN_stdfloat ax, PN_stdfloat ay, PN_stdfloat az,
32  PN_stdfloat bx, PN_stdfloat by, PN_stdfloat bz,
33  PN_stdfloat radius);
34 
35  virtual LPoint3 get_collision_origin() const;
36 
37 private:
38  INLINE CollisionCapsule();
39 
40 public:
41  INLINE CollisionCapsule(const CollisionCapsule &copy);
42  virtual CollisionSolid *make_copy();
43 
44  virtual PT(CollisionEntry)
45  test_intersection(const CollisionEntry &entry) const;
46 
47  virtual void xform(const LMatrix4 &mat);
48 
49  virtual PStatCollector &get_volume_pcollector();
51 
52  virtual void output(std::ostream &out) const;
53 
54  INLINE static void flush_level();
55 
56 PUBLISHED:
57  INLINE void set_point_a(const LPoint3 &a);
58  INLINE void set_point_a(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
59  INLINE const LPoint3 &get_point_a() const;
60 
61  INLINE void set_point_b(const LPoint3 &b);
62  INLINE void set_point_b(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
63  INLINE const LPoint3 &get_point_b() const;
64 
65  INLINE void set_radius(PN_stdfloat radius);
66  INLINE PN_stdfloat get_radius() const;
67 
68 PUBLISHED:
69  MAKE_PROPERTY(point_a, get_point_a, set_point_a);
70  MAKE_PROPERTY(point_b, get_point_b, set_point_b);
71  MAKE_PROPERTY(radius, get_radius, set_radius);
72 
73 protected:
74  virtual PT(BoundingVolume) compute_internal_bounds() const;
75 
76 protected:
77  virtual PT(CollisionEntry)
78  test_intersection_from_sphere(const CollisionEntry &entry) const;
79  virtual PT(CollisionEntry)
80  test_intersection_from_line(const CollisionEntry &entry) const;
81  virtual PT(CollisionEntry)
82  test_intersection_from_ray(const CollisionEntry &entry) const;
83  virtual PT(CollisionEntry)
84  test_intersection_from_segment(const CollisionEntry &entry) const;
85  virtual PT(CollisionEntry)
86  test_intersection_from_capsule(const CollisionEntry &entry) const;
87  virtual PT(CollisionEntry)
88  test_intersection_from_parabola(const CollisionEntry &entry) const;
89 
90  virtual void fill_viz_geom();
91 
92 private:
93  void recalc_internals();
94 
95  LVertex calc_sphere1_vertex(int ri, int si, int num_rings, int num_slices);
96  LVertex calc_sphere2_vertex(int ri, int si, int num_rings, int num_slices,
97  PN_stdfloat length);
98 
99  static void calc_closest_segment_points(double &t1, double &t2,
100  const LPoint3 &from1, const LVector3 &delta1,
101  const LPoint3 &from2, const LVector3 &delta2);
102  bool intersects_line(double &t1, double &t2,
103  const LPoint3 &from, const LVector3 &delta,
104  PN_stdfloat inflate_radius) const;
105  static bool sphere_intersects_line(double &t1, double &t2, PN_stdfloat center_y,
106  const LPoint3 &from, const LVector3 &delta,
107  PN_stdfloat radius);
108  bool intersects_parabola(double &t, const LParabola &parabola,
109  double t1, double t2,
110  const LPoint3 &p1, const LPoint3 &p2) const;
111  void calculate_surface_point_and_normal(const LPoint3 &surface_point,
112  double extra_radius,
113  LPoint3 &result_point,
114  LVector3 &result_normal) const;
115  void set_intersection_point(CollisionEntry *new_entry,
116  const LPoint3 &into_intersection_point,
117  double extra_radius) const;
118 
119 private:
120  LPoint3 _a, _b;
121  PN_stdfloat _radius;
122 
123  // These are derived from the above.
124  LMatrix4 _mat;
125  LMatrix4 _inv_mat;
126  PN_stdfloat _length;
127 
128  static PStatCollector _volume_pcollector;
129  static PStatCollector _test_pcollector;
130 
131 public:
132  static void register_with_read_factory();
133  virtual void write_datagram(BamWriter *manager, Datagram &dg);
134 
135 protected:
136  static TypedWritable *make_from_bam(const FactoryParams &params);
137  void fillin(DatagramIterator &scan, BamReader *manager);
138 
139 public:
140  static TypeHandle get_class_type() {
141  return _type_handle;
142  }
143  static void init_type() {
144  CollisionSolid::init_type();
145  register_type(_type_handle, "CollisionCapsule",
146  CollisionSolid::get_class_type());
147  }
148  virtual TypeHandle get_type() const {
149  return get_class_type();
150  }
151  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
152 
153 private:
154  static TypeHandle _type_handle;
155 
156  friend class CollisionBox;
157 };
158 
159 #include "collisionCapsule.I"
160 
161 #endif
This is the fundamental interface for extracting binary objects from a Bam file, as generated by a Ba...
Definition: bamReader.h:110
This is the fundamental interface for writing binary objects to a Bam file, to be extracted later by ...
Definition: bamWriter.h:63
This is an abstract class for any volume in any sense which can be said to define the locality of ref...
A cuboid collision volume or object.
Definition: collisionBox.h:27
This implements a solid consisting of a cylinder with hemispherical endcaps, also known as a capsule ...
Defines a single collision event.
The abstract base class for all things that can collide with other things in the world,...
virtual void write_datagram(BamWriter *manager, Datagram &me)
Function to write the important information in the particular object to a Datagram.
virtual PStatCollector & get_test_pcollector()
Returns a PStatCollector that is used to count the number of intersection tests made against a solid ...
A class to retrieve the individual data elements previously stored in a Datagram.
An ordered list of data elements, formatted in memory for transmission over a socket or writing to a ...
Definition: datagram.h:38
An instance of this class is passed to the Factory when requesting it to do its business and construc...
Definition: factoryParams.h:36
A lightweight class that represents a single element that may be timed and/or counted via stats.
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
Base class for objects that can be written to and read from Bam files.
Definition: typedWritable.h:35
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
void register_type(TypeHandle &type_handle, const std::string &name)
This inline function is just a convenient way to call TypeRegistry::register_type(),...
Definition: register_type.I:22