TheCloud/panda3d
1
0
Fork 0
mirror of https://github.com/panda3d/panda3d.git synced 2025-10-17 20:23:47 -04:00
Code Issues Packages Projects Releases Wiki Activity

vounding checks and proper viz

Browse Source
This commit is contained in:
Zachary Pavlov 2007-07-12 19:15:31 +00:00
parent a5c85fe2f3
commit 5669af441b
2 changed files with 65 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

89
panda/src/collide/collisionFloorMesh.cxx
View File

@ -65,7 +65,18 @@ xform(const LMatrix4f &mat) {
LPoint3f pt = (*vi) * mat;
(*vi).set(pt[0],pt[1],pt[2]);
}
pvector<CollisionFloorMesh::TriangleIndices>::iterator ti;
for (ti=_triangles.begin();ti!=_triangles.end();++ti) {
CollisionFloorMesh::TriangleIndices tri = *ti;
LPoint3f v1 = _vertices[tri.p1];
LPoint3f v2 = _vertices[tri.p2];
LPoint3f v3 = _vertices[tri.p3];
tri.min_x=min(min(v1[0],v2[0]),v3[0]);
tri.max_x=max(max(v1[0],v2[0]),v3[0]);
tri.min_y=min(min(v1[1],v2[1]),v3[1]);
tri.max_y=max(max(v1[1],v2[1]),v3[1]);
}
CollisionSolid::xform(mat);
}
@ -138,32 +149,29 @@ test_intersection_from_ray(const CollisionEntry &entry) const {
DCAST_INTO_R(ray, entry.get_from(), 0);
const LMatrix4f &wrt_mat = entry.get_wrt_mat();
LPoint3f from_origin = ray->get_origin() * wrt_mat;
LVector3f from_direction = ray->get_direction() * wrt_mat;
double fx=from_origin[0];
double fy=from_origin[1];
CollisionFloorMesh::Triangles::const_iterator ti;
bool collided = false;
for (ti=_triangles.begin();ti< _triangles.end();++ti) {
TriangleIndices tri = *ti;
//First do a naive bounding box check on the triangle
if(fx<tri.min_x || fx>=tri.max_x || fy<tri.min_y || fy>=tri.max_y)
continue;
//okay, there's a good chance we'll be colliding
LPoint3f p0=_vertices[tri.p1];
LPoint3f p1=_vertices[tri.p2];
LPoint3f p2=_vertices[tri.p3];
double p0x = p0[0];
double p1x = p1[0];
double p2x = p2[0];
double p0y = p0[1];
double p1y = p1[1];
double p2y = p2[1];
double e0x,e0y,e1x,e1y,e2x,e2y;
double u,v;
float p0x = p0[0];
float p0y = p0[1];
float e0x,e0y,e1x,e1y,e2x,e2y;
float u,v;
e0x = fx - p0x; e0y = fy - p0y;
e1x = p1x - p0x; e1y = p1y - p0y;
e2x = p2x - p0x; e2y = p2y - p0y;
e1x = p1[0] - p0x; e1y = p1[1] - p0y;
e2x = p2[0] - p0x; e2y = p2[1] - p0y;
if (e1x==0) {
if (e2x == 0) continue;
u = e0x/e2x;
@ -172,7 +180,7 @@ test_intersection_from_ray(const CollisionEntry &entry) const {
v = ( e0y - (e2y*u))/e1y;
if (v<0) continue;
} else {
double d = (e2y * e1x)-(e2x * e1y);
float d = (e2y * e1x)-(e2x * e1y);
if (d==0) continue;
u = ((e0y * e1x) - (e0x * e1y))/d;
if (u<0 || u>1) continue;
@ -181,16 +189,12 @@ test_intersection_from_ray(const CollisionEntry &entry) const {
if (u + v > 1) continue;
}
//we collided!!
double mag = u + v;
double p0z = p0[2];
double p1z = p1[2];
double p2z = p2[2];
double uz = (p2z - p0z) * mag;
double vz = (p1z - p0z) * mag;
double ratio = u/(u+v);
double finalz = vz+((uz - vz) * ratio);
float mag = u + v;
float p0z = p0[2];
float uz = (p2[2] - p0z) * mag;
float vz = (p1[2] - p0z) * mag;
float finalz = p0z+vz+(((uz - vz) *u)/(u+v));
PT(CollisionEntry) new_entry = new CollisionEntry(entry);
new_entry->set_surface_normal(LPoint3f(0,0,1));
@ -219,7 +223,9 @@ fill_viz_geom() {
Geom::UH_static);
GeomVertexWriter vertex(vdata, InternalName::get_vertex());
PT(GeomTriangles) mesh = new GeomTriangles(Geom::UH_static);
PT(GeomLinestrips) wire = new GeomLinestrips(Geom::UH_static);
pvector<CollisionFloorMesh::TriangleIndices>::iterator ti;
pvector<LPoint3f>::iterator vi;
for (vi = _vertices.begin(); vi != _vertices.end(); vi++) {
@ -231,14 +237,23 @@ fill_viz_geom() {
mesh->add_vertex(tri.p1);
mesh->add_vertex(tri.p2);
mesh->add_vertex(tri.p3);
wire->add_vertex(tri.p1);
wire->add_vertex(tri.p2);
wire->add_vertex(tri.p3);
wire->add_vertex(tri.p1);
wire->close_primitive();
mesh->close_primitive();
}
PT(Geom) geom = new Geom(vdata);
PT(Geom) geom2 = new Geom(vdata);
geom->add_primitive(mesh);
geom2->add_primitive(wire);
_viz_geom->add_geom(geom, ((CollisionFloorMesh *)this)->get_solid_viz_state());
_viz_geom->add_geom(geom2, ((CollisionFloorMesh *)this)->get_wireframe_viz_state());
_viz_geom->add_geom(geom, get_solid_viz_state());
_bounds_viz_geom->add_geom(geom, get_solid_bounds_viz_state());
_bounds_viz_geom->add_geom(geom2, get_wireframe_bounds_viz_state());
}
////////////////////////////////////////////////////////////////////
@ -284,6 +299,11 @@ write_datagram(BamWriter *manager, Datagram &me)
me.add_uint32(_triangles[i].p1);
me.add_uint32(_triangles[i].p2);
me.add_uint32(_triangles[i].p3);
me.add_float32(_triangles[i].min_x);
me.add_float32(_triangles[i].max_x);
me.add_float32(_triangles[i].min_y);
me.add_float32(_triangles[i].max_y);
}
}
@ -313,7 +333,11 @@ fillin(DatagramIterator& scan, BamReader* manager)
tri.p1 = scan.get_uint32();
tri.p2 = scan.get_uint32();
tri.p3 = scan.get_uint32();
tri.min_x=scan.get_float32();
tri.max_x=scan.get_float32();
tri.min_y=scan.get_float32();
tri.max_y=scan.get_float32();
_triangles.push_back(tri);
}
}
@ -366,5 +390,14 @@ add_triangle(unsigned int pointA, unsigned int pointB, unsigned int pointC) {
tri.p1 = pointA;
tri.p2 = pointB;
tri.p3 = pointC;
LPoint3f v1 = _vertices[pointA];
LPoint3f v2 = _vertices[pointB];
LPoint3f v3 = _vertices[pointC];
tri.min_x=min(min(v1[0],v2[0]),v3[0]);
tri.max_x=max(max(v1[0],v2[0]),v3[0]);
tri.min_y=min(min(v1[1],v2[1]),v3[1]);
tri.max_y=max(max(v1[1],v2[1]),v3[1]);
_triangles.push_back(tri);
}

4
panda/src/collide/collisionFloorMesh.h
View File

@ -40,6 +40,10 @@ public:
unsigned int p1;
unsigned int p2;
unsigned int p3;
float min_x;
float max_x;
float min_y;
float max_y;
} TriangleIndices;