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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 */
27class EXPCL_PANDA_COLLIDE CollisionCapsule : public CollisionSolid {
28PUBLISHED:
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
37private:
38 INLINE CollisionCapsule();
39
40public:
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
56PUBLISHED:
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
68PUBLISHED:
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
73protected:
74 virtual PT(BoundingVolume) compute_internal_bounds() const;
75
76protected:
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
92private:
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
119private:
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
131public:
132 static void register_with_read_factory();
133 virtual void write_datagram(BamWriter *manager, Datagram &dg);
134
135protected:
136 static TypedWritable *make_from_bam(const FactoryParams &params);
137 void fillin(DatagramIterator &scan, BamReader *manager);
138
139public:
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
153private:
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.
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...
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.
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(),...