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 
36 private:
37  INLINE CollisionPolygon();
38 
39 public:
40  INLINE CollisionPolygon(const LPoint3 *begin, const LPoint3 *end);
42 
43  virtual CollisionSolid *make_copy();
44 
45  static bool verify_points(const LPoint3 *begin, const LPoint3 *end);
46 
47 PUBLISHED:
48  virtual LPoint3 get_collision_origin() const;
49 
50  INLINE size_t get_num_points() const;
51  INLINE LPoint3 get_point(size_t n) const;
52  MAKE_SEQ(get_points, get_num_points, get_point);
53 
54 
55  INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b,
56  const LPoint3 &c);
57  INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b,
58  const LPoint3 &c, const LPoint3 &d);
59 
60  bool is_valid() const;
61  bool is_concave() const;
62 
63 PUBLISHED:
64  MAKE_SEQ_PROPERTY(points, get_num_points, get_point);
65  MAKE_PROPERTY(valid, is_valid);
66  MAKE_PROPERTY(concave, is_concave);
67 
68 public:
69  virtual void xform(const LMatrix4 &mat);
70 
71  virtual PT(PandaNode) get_viz(const CullTraverser *trav,
72  const CullTraverserData &data,
73  bool bounds_only) const;
74 
77 
78  virtual void output(std::ostream &out) const;
79  virtual void write(std::ostream &out, int indent_level = 0) const;
80 
81  INLINE static void flush_level();
82 
83 protected:
84  virtual PT(BoundingVolume) compute_internal_bounds() const;
85 
86  virtual PT(CollisionEntry)
87  test_intersection_from_sphere(const CollisionEntry &entry) const;
88  virtual PT(CollisionEntry)
89  test_intersection_from_line(const CollisionEntry &entry) const;
90  virtual PT(CollisionEntry)
91  test_intersection_from_ray(const CollisionEntry &entry) const;
92  virtual PT(CollisionEntry)
93  test_intersection_from_segment(const CollisionEntry &entry) const;
94  virtual PT(CollisionEntry)
95  test_intersection_from_parabola(const CollisionEntry &entry) const;
96  virtual PT(CollisionEntry)
97  test_intersection_from_box(const CollisionEntry &entry) const;
98 
99  virtual void fill_viz_geom();
100 
101 private:
102  INLINE static bool is_right(const LVector2 &v1, const LVector2 &v2);
103  INLINE static PN_stdfloat dist_to_line(const LPoint2 &p,
104  const LPoint2 &f, const LVector2 &v);
105  static PN_stdfloat dist_to_line_segment(const LPoint2 &p,
106  const LPoint2 &f, const LPoint2 &t,
107  const LVector2 &v);
108 
109 private:
110  class PointDef {
111  public:
112  INLINE PointDef(const LPoint2 &p, const LVector2 &v);
113  INLINE PointDef(PN_stdfloat x, PN_stdfloat y);
114  INLINE PointDef(const PointDef &copy);
115  INLINE void operator = (const PointDef &copy);
116 
117  LPoint2 _p; // the point in 2-d space
118  LVector2 _v; // the normalized vector to the next point
119  };
120  typedef pvector<PointDef> Points;
121 
122  static void compute_vectors(Points &points);
123  void draw_polygon(GeomNode *viz_geom_node, GeomNode *bounds_viz_geom_node,
124  const Points &points) const;
125 
126  bool point_is_inside(const LPoint2 &p, const Points &points) const;
127  PN_stdfloat dist_to_polygon(const LPoint2 &p, const Points &points) const;
128  void project(const LVector3 &axis, PN_stdfloat &center, PN_stdfloat &extent) const;
129 
130  void setup_points(const LPoint3 *begin, const LPoint3 *end);
131  INLINE LPoint2 to_2d(const LVecBase3 &point3d) const;
132  INLINE void calc_to_3d_mat(LMatrix4 &to_3d_mat) const;
133  INLINE void rederive_to_3d_mat(LMatrix4 &to_3d_mat) const;
134  INLINE static LPoint3 to_3d(const LVecBase2 &point2d, const LMatrix4 &to_3d_mat);
135  LPoint3 legacy_to_3d(const LVecBase2 &point2d, int axis) const;
136 
137  bool clip_polygon(Points &new_points, const Points &source_points,
138  const LPlane &plane) const;
139  bool apply_clip_plane(Points &new_points, const ClipPlaneAttrib *cpa,
140  const TransformState *net_transform) const;
141 
142 private:
143  Points _points;
144  LMatrix4 _to_2d_mat;
145 
146  static PStatCollector _volume_pcollector;
147  static PStatCollector _test_pcollector;
148 
149 public:
150  static void register_with_read_factory();
151  virtual void write_datagram(BamWriter* manager, Datagram &me);
152 
153  static TypedWritable *make_CollisionPolygon(const FactoryParams &params);
154 
155 protected:
156  void fillin(DatagramIterator& scan, BamReader* manager);
157 
158 public:
159  static TypeHandle get_class_type() {
160  return _type_handle;
161  }
162  static void init_type() {
163  CollisionPlane::init_type();
164  register_type(_type_handle, "CollisionPolygon",
165  CollisionPlane::get_class_type());
166  }
167  virtual TypeHandle get_type() const {
168  return get_class_type();
169  }
170  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
171 
172 private:
173  static TypeHandle _type_handle;
174 };
175 
176 #include "collisionPolygon.I"
177 
178 #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
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:65
look_at.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
CollisionPolygon::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...
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