Panda3D
collisionBox.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 collisionBox.h
10  * @author amith tudur
11  * @date 2009-07-31
12  */
13 
14 #ifndef COLLISIONBOX_H
15 #define COLLISIONBOX_H
16 
17 #include "pandabase.h"
18 #include "collisionSolid.h"
19 #include "parabola.h"
20 #include "plane.h"
21 #include "look_at.h"
22 #include "clipPlaneAttrib.h"
23 
24 /**
25  * A cuboid collision volume or object.
26  */
27 class EXPCL_PANDA_COLLIDE CollisionBox : public CollisionSolid {
28 PUBLISHED:
29  INLINE explicit CollisionBox(const LPoint3 &center,
30  PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
31  INLINE explicit CollisionBox(const LPoint3 &min, const LPoint3 &max);
32 
33  virtual LPoint3 get_collision_origin() const;
34 
35 protected:
36  INLINE CollisionBox();
37 
38 public:
39  INLINE CollisionBox(const CollisionBox &copy);
40  virtual CollisionSolid *make_copy();
41 
42  virtual PT(CollisionEntry)
43  test_intersection(const CollisionEntry &entry) const;
44  virtual void xform(const LMatrix4 &mat);
45 
46  virtual PStatCollector &get_volume_pcollector();
48 
49  virtual void output(std::ostream &out) const;
50 
51  INLINE static void flush_level();
52  void setup_box();
53 
54 PUBLISHED:
55  INLINE int get_num_points() const;
56  INLINE LPoint3 get_point_aabb(int n) const;
57  INLINE LPoint3 get_point(int n) const;
58  INLINE int get_num_planes() const;
59  INLINE LPlane set_plane(int n) const;
60  INLINE LPlane get_plane(int n) const;
61  INLINE void set_center(const LPoint3 &center);
62  INLINE void set_center(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z);
63  INLINE const LPoint3 &get_center() const;
64  INLINE const LPoint3 &get_min() const;
65  INLINE const LPoint3 &get_max() const;
66  INLINE LVector3 get_dimensions() const;
67 
68 PUBLISHED:
69  MAKE_PROPERTY(center, get_center);
70  MAKE_PROPERTY(min, get_min);
71  MAKE_PROPERTY(max, get_max);
72  MAKE_PROPERTY(dimensions, get_dimensions);
73 
74 protected:
75  virtual PT(BoundingVolume) compute_internal_bounds() const;
76  virtual PT(CollisionEntry)
77  test_intersection_from_sphere(const CollisionEntry &entry) const;
78  virtual PT(CollisionEntry)
79  test_intersection_from_line(const CollisionEntry &entry) const;
80  virtual PT(CollisionEntry)
81  test_intersection_from_ray(const CollisionEntry &entry) const;
82  virtual PT(CollisionEntry)
83  test_intersection_from_segment(const CollisionEntry &entry) const;
84  virtual PT(CollisionEntry)
85  test_intersection_from_capsule(const CollisionEntry &entry) const;
86  virtual PT(CollisionEntry)
87  test_intersection_from_box(const CollisionEntry &entry) const;
88 
89  virtual void fill_viz_geom();
90 
91 protected:
92  bool intersects_line(double &t1, double &t2,
93  const LPoint3 &from, const LVector3 &delta,
94  PN_stdfloat inflate_size=0) const;
95 
96 private:
97  LPoint3 _center;
98  LPoint3 _min;
99  LPoint3 _max;
100  PN_stdfloat _x, _y, _z, _radius;
101  LPoint3 _vertex[8]; // Each of the Eight Vertices of the Box
102  LPlane _planes[6]; //Points to each of the six sides of the Box
103 
104  static const int plane_def[6][4];
105 
106  static PStatCollector _volume_pcollector;
107  static PStatCollector _test_pcollector;
108 
109 private:
110  INLINE static bool is_right(const LVector2 &v1, const LVector2 &v2);
111  INLINE static PN_stdfloat dist_to_line(const LPoint2 &p,
112  const LPoint2 &f, const LVector2 &v);
113  static PN_stdfloat dist_to_line_segment(const LPoint2 &p,
114  const LPoint2 &f, const LPoint2 &t,
115  const LVector2 &v);
116 
117 public:
118  class PointDef {
119  public:
120  INLINE PointDef(const LPoint2 &p, const LVector2 &v);
121  INLINE PointDef(PN_stdfloat x, PN_stdfloat y);
122  INLINE PointDef(const PointDef &copy);
123  INLINE void operator = (const PointDef &copy);
124 
125  LPoint2 _p; // the point in 2-d space
126  LVector2 _v; // the normalized vector to the next point
127  };
128  typedef pvector<PointDef> Points;
129 
130  static void compute_vectors(Points &points);
131  void draw_polygon(GeomNode *viz_geom_node, GeomNode *bounds_viz_geom_node,
132  const Points &points) const;
133 
134  bool point_is_inside(const LPoint2 &p, const Points &points) const;
135  PN_stdfloat dist_to_polygon(const LPoint2 &p, const Points &points) const;
136 
137  void setup_points(const LPoint3 *begin, const LPoint3 *end, int plane);
138  INLINE LPoint2 to_2d(const LVecBase3 &point3d, int plane) const;
139  INLINE void calc_to_3d_mat(LMatrix4 &to_3d_mat, int plane) const;
140  INLINE void rederive_to_3d_mat(LMatrix4 &to_3d_mat, int plane) const;
141  INLINE static LPoint3 to_3d(const LVecBase2 &point2d, const LMatrix4 &to_3d_mat);
142  LPoint3 legacy_to_3d(const LVecBase2 &point2d, int axis) const;
143  bool clip_polygon(Points &new_points, const Points &source_points,
144  const LPlane &plane,int plane_no) const;
145  bool apply_clip_plane(Points &new_points, const ClipPlaneAttrib *cpa,
146  const TransformState *net_transform, int plane_no) const;
147 
148 private:
149  Points _points[6]; // one set of points for each of the six planes that make up the box
150  LMatrix4 _to_2d_mat[6];
151 
152 public:
153  INLINE Points get_plane_points( int n );
154 
155 public:
156  static void register_with_read_factory();
157  virtual void write_datagram(BamWriter *manager, Datagram &me);
158 
159 protected:
160  static TypedWritable *make_CollisionBox(const FactoryParams &params);
161  void fillin(DatagramIterator &scan, BamReader *manager);
162 
163 public:
164  static TypeHandle get_class_type() {
165  return _type_handle;
166  }
167  static void init_type() {
168  CollisionSolid::init_type();
169  register_type(_type_handle, "CollisionBox",
170  CollisionSolid::get_class_type());
171  }
172  virtual TypeHandle get_type() const {
173  return get_class_type();
174  }
175  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
176 
177 private:
178  static TypeHandle _type_handle;
179 };
180 
181 #include "collisionBox.I"
182 
183 #endif /* COLLISIONBOX_H */
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...
This functions similarly to a LightAttrib.
A cuboid collision volume or object.
Definition: collisionBox.h:27
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 node that holds Geom objects, renderable pieces of geometry.
Definition: geomNode.h:34
A lightweight class that represents a single element that may be timed and/or counted via stats.
Indicates a coordinate-system transform on vertices.
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.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bool is_right(const LVector2 &v1, const LVector2 &v2)
Returns true if the 2-d v1 is to the right of v2.
Definition: pgItem.cxx:51
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