Panda3D
collisionPolygon.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 collisionPolygon.h
10  * @author drose
11  * @date 2000-04-25
12  */
13 
14 #ifndef COLLISIONPOLYGON_H
15 #define COLLISIONPOLYGON_H
16 
17 #include "pandabase.h"
18 
19 #include "collisionPlane.h"
20 #include "clipPlaneAttrib.h"
21 #include "look_at.h"
22 #include "pvector.h"
23 
24 class GeomNode;
25 
26 /**
27  *
28  */
29 class EXPCL_PANDA_COLLIDE CollisionPolygon : public CollisionPlane {
30 PUBLISHED:
31  INLINE CollisionPolygon(const LVecBase3 &a, const LVecBase3 &b,
32  const LVecBase3 &c);
33  INLINE CollisionPolygon(const LVecBase3 &a, const LVecBase3 &b,
34  const LVecBase3 &c, const LVecBase3 &d);
35  INLINE CollisionPolygon(const LPoint3 *begin, const LPoint3 *end);
36 
37 private:
38  INLINE CollisionPolygon();
39 
40 public:
42 
43  virtual CollisionSolid *make_copy();
44 
45 PUBLISHED:
46  virtual LPoint3 get_collision_origin() const;
47 
48  INLINE size_t get_num_points() const;
49  INLINE LPoint3 get_point(size_t n) const;
50  MAKE_SEQ(get_points, get_num_points, get_point);
51 
52 
53  INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b,
54  const LPoint3 &c);
55  INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b,
56  const LPoint3 &c, const LPoint3 &d);
57  static bool verify_points(const LPoint3 *begin, const LPoint3 *end);
58 
59  bool is_valid() const;
60  bool is_concave() const;
61 
62 PUBLISHED:
63  MAKE_SEQ_PROPERTY(points, get_num_points, get_point);
64  MAKE_PROPERTY(valid, is_valid);
65  MAKE_PROPERTY(concave, is_concave);
66 
67 public:
68  virtual void xform(const LMatrix4 &mat);
69 
70  virtual PT(PandaNode) get_viz(const CullTraverser *trav,
71  const CullTraverserData &data,
72  bool bounds_only) const;
73 
76 
77  virtual void output(std::ostream &out) const;
78  virtual void write(std::ostream &out, int indent_level = 0) const;
79 
80  INLINE static void flush_level();
81 
82 protected:
83  virtual PT(BoundingVolume) compute_internal_bounds() const;
84 
85  virtual PT(CollisionEntry)
86  test_intersection_from_sphere(const CollisionEntry &entry) const;
87  virtual PT(CollisionEntry)
88  test_intersection_from_line(const CollisionEntry &entry) const;
89  virtual PT(CollisionEntry)
90  test_intersection_from_ray(const CollisionEntry &entry) const;
91  virtual PT(CollisionEntry)
92  test_intersection_from_segment(const CollisionEntry &entry) const;
93  virtual PT(CollisionEntry)
94  test_intersection_from_parabola(const CollisionEntry &entry) const;
95  virtual PT(CollisionEntry)
96  test_intersection_from_box(const CollisionEntry &entry) const;
97 
98  virtual void fill_viz_geom();
99 
100 private:
101  INLINE static bool is_right(const LVector2 &v1, const LVector2 &v2);
102  INLINE static PN_stdfloat dist_to_line(const LPoint2 &p,
103  const LPoint2 &f, const LVector2 &v);
104  static PN_stdfloat dist_to_line_segment(const LPoint2 &p,
105  const LPoint2 &f, const LPoint2 &t,
106  const LVector2 &v);
107 
108 private:
109  class PointDef {
110  public:
111  INLINE PointDef(const LPoint2 &p, const LVector2 &v);
112  INLINE PointDef(PN_stdfloat x, PN_stdfloat y);
113  INLINE PointDef(const PointDef &copy);
114  INLINE void operator = (const PointDef &copy);
115 
116  LPoint2 _p; // the point in 2-d space
117  LVector2 _v; // the normalized vector to the next point
118  };
119  typedef pvector<PointDef> Points;
120 
121  static void compute_vectors(Points &points);
122  void draw_polygon(GeomNode *viz_geom_node, GeomNode *bounds_viz_geom_node,
123  const Points &points) const;
124 
125  bool point_is_inside(const LPoint2 &p, const Points &points) const;
126  PN_stdfloat dist_to_polygon(const LPoint2 &p, const Points &points) const;
127  void project(const LVector3 &axis, PN_stdfloat &center, PN_stdfloat &extent) const;
128 
129  void setup_points(const LPoint3 *begin, const LPoint3 *end);
130  INLINE LPoint2 to_2d(const LVecBase3 &point3d) const;
131  INLINE void calc_to_3d_mat(LMatrix4 &to_3d_mat) const;
132  INLINE void rederive_to_3d_mat(LMatrix4 &to_3d_mat) const;
133  INLINE static LPoint3 to_3d(const LVecBase2 &point2d, const LMatrix4 &to_3d_mat);
134  LPoint3 legacy_to_3d(const LVecBase2 &point2d, int axis) const;
135 
136  bool clip_polygon(Points &new_points, const Points &source_points,
137  const LPlane &plane) const;
138  bool apply_clip_plane(Points &new_points, const ClipPlaneAttrib *cpa,
139  const TransformState *net_transform) const;
140 
141 private:
142  Points _points;
143  LMatrix4 _to_2d_mat;
144 
145  static PStatCollector _volume_pcollector;
146  static PStatCollector _test_pcollector;
147 
148 public:
149  static void register_with_read_factory();
150  virtual void write_datagram(BamWriter* manager, Datagram &me);
151 
152  static TypedWritable *make_CollisionPolygon(const FactoryParams &params);
153 
154 protected:
155  void fillin(DatagramIterator& scan, BamReader* manager);
156 
157 public:
158  static TypeHandle get_class_type() {
159  return _type_handle;
160  }
161  static void init_type() {
162  CollisionPlane::init_type();
163  register_type(_type_handle, "CollisionPolygon",
164  CollisionPlane::get_class_type());
165  }
166  virtual TypeHandle get_type() const {
167  return get_class_type();
168  }
169  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
170 
171 private:
172  static TypeHandle _type_handle;
173 };
174 
175 #include "collisionPolygon.I"
176 
177 #endif
clipPlaneAttrib.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
ClipPlaneAttrib
This functions similarly to a LightAttrib.
Definition: clipPlaneAttrib.h:31
collisionPolygon.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
pvector< PointDef >
pandabase.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
pvector.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
DatagramIterator
A class to retrieve the individual data elements previously stored in a Datagram.
Definition: datagramIterator.h:27
CollisionEntry
Defines a single collision event.
Definition: collisionEntry.h:42
register_type
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
BamReader
This is the fundamental interface for extracting binary objects from a Bam file, as generated by a Ba...
Definition: bamReader.h:110
BamWriter
This is the fundamental interface for writing binary objects to a Bam file, to be extracted later by ...
Definition: bamWriter.h:63
CollisionPlane::get_test_pcollector
virtual PStatCollector & get_test_pcollector()
Returns a PStatCollector that is used to count the number of intersection tests made against a solid ...
Definition: collisionPlane.cxx:84
CullTraverser
This object performs a depth-first traversal of the scene graph, with optional view-frustum culling,...
Definition: cullTraverser.h:45
TypedWritable
Base class for objects that can be written to and read from Bam files.
Definition: typedWritable.h:35
Datagram
An ordered list of data elements, formatted in memory for transmission over a socket or writing to a ...
Definition: datagram.h:38
TypeHandle
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
CollisionPlane::xform
virtual void xform(const LMatrix4 &mat)
Transforms the solid by the indicated matrix.
Definition: collisionPlane.cxx:53
GeomNode
A node that holds Geom objects, renderable pieces of geometry.
Definition: geomNode.h:34
FactoryParams
An instance of this class is passed to the Factory when requesting it to do its business and construc...
Definition: factoryParams.h:36
CollisionPlane::register_with_read_factory
static void register_with_read_factory()
Factory method to generate a CollisionPlane object.
Definition: collisionPlane.cxx:615
CollisionPolygon
Definition: collisionPolygon.h:29
TransformState
Indicates a coordinate-system transform on vertices.
Definition: transformState.h:54
CollisionPlane::get_collision_origin
virtual LPoint3 get_collision_origin() const
Returns the point in space deemed to be the "origin" of the solid for collision purposes.
Definition: collisionPlane.cxx:64
PStatCollector
A lightweight class that represents a single element that may be timed and/or counted via stats.
Definition: pStatCollector.h:43
CullTraverserData
This collects together the pieces of data that are accumulated for each node while walking the scene ...
Definition: cullTraverserData.h:40
CollisionPlane::write_datagram
virtual void write_datagram(BamWriter *manager, Datagram &me)
Function to write the important information in the particular object to a Datagram.
Definition: collisionPlane.cxx:578
CollisionSolid
The abstract base class for all things that can collide with other things in the world,...
Definition: collisionSolid.h:45
CollisionPlane::flush_level
static void flush_level()
Flushes the PStatCollectors used during traversal.
Definition: collisionPlane.I:45
CollisionPlane
Definition: collisionPlane.h:27
CollisionPlane::get_volume_pcollector
virtual PStatCollector & get_volume_pcollector()
Returns a PStatCollector that is used to count the number of bounding volume tests made against a sol...
Definition: collisionPlane.cxx:75
BoundingVolume
This is an abstract class for any volume in any sense which can be said to define the locality of ref...
Definition: boundingVolume.h:41
PandaNode
A basic node of the scene graph or data graph.
Definition: pandaNode.h:64
look_at.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
collisionPlane.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
is_right
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:50