266 lines
10 KiB
Plaintext
266 lines
10 KiB
Plaintext
// Filename: collisionPolygon.I
|
|
// Created by: drose (25Apr00)
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
//
|
|
// PANDA 3D SOFTWARE
|
|
// Copyright (c) Carnegie Mellon University. All rights reserved.
|
|
//
|
|
// All use of this software is subject to the terms of the revised BSD
|
|
// license. You should have received a copy of this license along
|
|
// with this source code in a file named "LICENSE."
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::Constructor
|
|
// Access: Published
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::
|
|
CollisionPolygon(const LVecBase3f &a, const LVecBase3f &b,
|
|
const LVecBase3f &c) {
|
|
LPoint3f array[3];
|
|
array[0] = a;
|
|
array[1] = b;
|
|
array[2] = c;
|
|
setup_points(array, array + 3);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::Constructor
|
|
// Access: Published
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::
|
|
CollisionPolygon(const LVecBase3f &a, const LVecBase3f &b,
|
|
const LVecBase3f &c, const LVecBase3f &d) {
|
|
LPoint3f array[4];
|
|
array[0] = a;
|
|
array[1] = b;
|
|
array[2] = c;
|
|
array[3] = d;
|
|
setup_points(array, array + 4);
|
|
}
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::Constructor
|
|
// Access: Published
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::
|
|
CollisionPolygon(const LPoint3f *begin, const LPoint3f *end) {
|
|
setup_points(begin, end);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::Constructor
|
|
// Access: Private
|
|
// Description: Creates an invalid polygon. Only used when reading
|
|
// from a bam file.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::
|
|
CollisionPolygon() {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::get_num_points
|
|
// Access: Published
|
|
// Description: Returns the number of vertices of the
|
|
// CollisionPolygon.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE int CollisionPolygon::
|
|
get_num_points() const {
|
|
return _points.size();
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::get_point
|
|
// Access: Published
|
|
// Description: Returns the nth vertex of the CollisionPolygon,
|
|
// expressed in 3-D space.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE LPoint3f CollisionPolygon::
|
|
get_point(int n) const {
|
|
nassertr(n >= 0 && n < (int)_points.size(), LPoint3f::zero());
|
|
LMatrix4f to_3d_mat;
|
|
rederive_to_3d_mat(to_3d_mat);
|
|
return to_3d(_points[n]._p, to_3d_mat);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::verify_points
|
|
// Access: Published, Static
|
|
// Description: Verifies that the indicated set of points will define
|
|
// a valid CollisionPolygon: that is, at least three
|
|
// non-collinear points, with no points repeated.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE bool CollisionPolygon::
|
|
verify_points(const LPoint3f &a, const LPoint3f &b,
|
|
const LPoint3f &c) {
|
|
LPoint3f array[3];
|
|
array[0] = a;
|
|
array[1] = b;
|
|
array[2] = c;
|
|
return verify_points(array, array + 3);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::verify_points
|
|
// Access: Published, Static
|
|
// Description: Verifies that the indicated set of points will define
|
|
// a valid CollisionPolygon: that is, at least three
|
|
// non-collinear points, with no points repeated.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE bool CollisionPolygon::
|
|
verify_points(const LPoint3f &a, const LPoint3f &b,
|
|
const LPoint3f &c, const LPoint3f &d) {
|
|
LPoint3f array[4];
|
|
array[0] = a;
|
|
array[1] = b;
|
|
array[2] = c;
|
|
array[3] = d;
|
|
return verify_points(array, array + 4);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::flush_level
|
|
// Access: Public, Static
|
|
// Description: Flushes the PStatCollectors used during traversal.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE void CollisionPolygon::
|
|
flush_level() {
|
|
_volume_pcollector.flush_level();
|
|
_test_pcollector.flush_level();
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::is_right
|
|
// Access: Private, Static
|
|
// Description: Returns true if the 2-d v1 is to the right of v2.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE bool CollisionPolygon::
|
|
is_right(const LVector2f &v1, const LVector2f &v2) {
|
|
return (v1[0] * v2[1] - v1[1] * v2[0]) > 1.0e-6f;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::dist_to_line
|
|
// Access: Private, Static
|
|
// Description: Returns the linear distance of p to the line defined
|
|
// by f and f+v, where v is a normalized vector. The
|
|
// result is negative if p is left of the line, positive
|
|
// if it is right of the line.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE float CollisionPolygon::
|
|
dist_to_line(const LPoint2f &p,
|
|
const LPoint2f &f, const LVector2f &v) {
|
|
LVector2f v1 = (p - f);
|
|
return (v1[0] * v[1] - v1[1] * v[0]);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::to_2d
|
|
// Access: Private
|
|
// Description: Assuming the indicated point in 3-d space lies within
|
|
// the polygon's plane, returns the corresponding point
|
|
// in the polygon's 2-d definition space.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE LPoint2f CollisionPolygon::
|
|
to_2d(const LVecBase3f &point3d) const {
|
|
LPoint3f point = LPoint3f(point3d) * _to_2d_mat;
|
|
return LPoint2f(point[0], point[2]);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::calc_to_3d_mat
|
|
// Access: Private
|
|
// Description: Fills the indicated matrix with the appropriate
|
|
// rotation transform to move points from the 2-d plane
|
|
// into the 3-d (X, 0, Z) plane.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE void CollisionPolygon::
|
|
calc_to_3d_mat(LMatrix4f &to_3d_mat) const {
|
|
// We have to be explicit about the coordinate system--we
|
|
// specifically mean CS_zup_right, because that points the forward
|
|
// vector down the Y axis and moves the coords in (X, 0, Z). We
|
|
// want this effect regardless of the user's coordinate system of
|
|
// choice.
|
|
|
|
// The up vector, on the other hand, is completely arbitrary.
|
|
|
|
look_at(to_3d_mat, -get_plane().get_normal(),
|
|
LVector3f(0.0f, 0.0f, 1.0f), CS_zup_right);
|
|
to_3d_mat.set_row(3, get_plane().get_point());
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::rederive_to_3d_mat
|
|
// Access: Private
|
|
// Description: Fills the indicated matrix with the appropriate
|
|
// rotation transform to move points from the 2-d plane
|
|
// into the 3-d (X, 0, Z) plane.
|
|
//
|
|
// This is essentially similar to calc_to_3d_mat, except
|
|
// that the matrix is rederived from whatever is stored
|
|
// in _to_2d_mat, guaranteeing that it will match
|
|
// whatever algorithm produced that one, even if it was
|
|
// produced on a different machine with different
|
|
// numerical precision.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE void CollisionPolygon::
|
|
rederive_to_3d_mat(LMatrix4f &to_3d_mat) const {
|
|
to_3d_mat.invert_from(_to_2d_mat);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::to_3d
|
|
// Access: Private, Static
|
|
// Description: Extrude the indicated point in the polygon's 2-d
|
|
// definition space back into 3-d coordinates.
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE LPoint3f CollisionPolygon::
|
|
to_3d(const LVecBase2f &point2d, const LMatrix4f &to_3d_mat) {
|
|
return LPoint3f(point2d[0], 0.0f, point2d[1]) * to_3d_mat;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::PointDef::Constructor
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::PointDef::
|
|
PointDef(const LPoint2f &p, const LVector2f &v) : _p(p), _v(v) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::PointDef::Constructor
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::PointDef::
|
|
PointDef(float x, float y) : _p(x, y), _v(0.0f, 0.0f) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::PointDef::Copy Constructor
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE CollisionPolygon::PointDef::
|
|
PointDef(const CollisionPolygon::PointDef ©) : _p(copy._p), _v(copy._v) {
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Function: CollisionPolygon::PointDef::Copy Assignment Operator
|
|
// Access: Public
|
|
// Description:
|
|
////////////////////////////////////////////////////////////////////
|
|
INLINE void CollisionPolygon::PointDef::
|
|
operator = (const CollisionPolygon::PointDef ©) {
|
|
_p = copy._p;
|
|
_v = copy._v;
|
|
}
|