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collide: improve performance of colliding with visible geometry

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rdb 2020-04-01 18:58:15 +02:00
parent b306806512
commit 94571aac93
4 changed files with 26 additions and 25 deletions
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15
panda/src/collide/collisionPolygon.I
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@ -73,21 +73,6 @@ get_point(size_t n) const {
return to_3d(_points[n]._p, to_3d_mat); return to_3d(_points[n]._p, to_3d_mat);
} }
/**
* 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 LPoint3 &a, const LPoint3 &b,
const LPoint3 &c) {
LPoint3 array[3];
array[0] = a;
array[1] = b;
array[2] = c;
return verify_points(array, array + 3);
}
/** /**
* Verifies that the indicated set of points will define a valid * Verifies that the indicated set of points will define a valid
* CollisionPolygon: that is, at least three non-collinear points, with no * CollisionPolygon: that is, at least three non-collinear points, with no

17
panda/src/collide/collisionPolygon.cxx
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@ -69,6 +69,23 @@ make_copy() {
return new CollisionPolygon(*this); return new CollisionPolygon(*this);
} }
/**
* Verifies that the indicated set of points will define a valid
* CollisionPolygon: that is, at least three non-collinear points, with no
* points repeated.
*/
bool CollisionPolygon::
verify_points(const LPoint3 &a, const LPoint3 &b, const LPoint3 &c) {
// First, check for repeated or invalid points.
if (a.is_nan() || b.is_nan() || c.is_nan() || a == b || b == c || a == c) {
return false;
}
// Check that the vectors ab and ac are not colinear.
LVector3 normal = ::cross(b - a, c - a);
return normal.length_squared() != (PN_stdfloat)0.0f;
}
/** /**
* Verifies that the indicated set of points will define a valid * Verifies that the indicated set of points will define a valid
* CollisionPolygon: that is, at least three non-collinear points, with no * CollisionPolygon: that is, at least three non-collinear points, with no

3
panda/src/collide/collisionPolygon.h
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@ -50,10 +50,9 @@ PUBLISHED:
MAKE_SEQ(get_points, get_num_points, get_point); MAKE_SEQ(get_points, get_num_points, get_point);
INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b,
const LPoint3 &c);
INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b, INLINE static bool verify_points(const LPoint3 &a, const LPoint3 &b,
const LPoint3 &c, const LPoint3 &d); const LPoint3 &c, const LPoint3 &d);
static bool verify_points(const LPoint3 &a, const LPoint3 &b, const LPoint3 &c);
static bool verify_points(const LPoint3 *begin, const LPoint3 *end); static bool verify_points(const LPoint3 *begin, const LPoint3 *end);
bool is_valid() const; bool is_valid() const;

16
panda/src/collide/collisionTraverser.cxx
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@ -1289,15 +1289,15 @@ compare_collider_to_geom(CollisionEntry &entry, const Geom *geom,
if (CollisionPolygon::verify_points(v[0], v[1], v[2])) { if (CollisionPolygon::verify_points(v[0], v[1], v[2])) {
bool within_solid_bounds = true; bool within_solid_bounds = true;
if (from_node_gbv != nullptr) { if (from_node_gbv != nullptr) {
PT(BoundingSphere) sphere = new BoundingSphere; BoundingSphere sphere;
sphere->around(v, v + 3); sphere.around(v, v + 3);
within_solid_bounds = (sphere->contains(from_node_gbv) != 0); within_solid_bounds = (sphere.contains(from_node_gbv) != 0);
#ifdef DO_PSTATS #ifdef DO_PSTATS
CollisionGeom::_volume_pcollector.add_level(1); CollisionGeom::_volume_pcollector.add_level(1);
#endif // DO_PSTATS #endif // DO_PSTATS
} }
if (within_solid_bounds) { if (within_solid_bounds) {
PT(CollisionGeom) cgeom = new CollisionGeom(LVecBase3(v[0]), LVecBase3(v[1]), LVecBase3(v[2])); PT(CollisionGeom) cgeom = new CollisionGeom(v[0], v[1], v[2]);
entry._into = cgeom; entry._into = cgeom;
entry.test_intersection((*ci).second, this); entry.test_intersection((*ci).second, this);
} }
@ -1319,15 +1319,15 @@ compare_collider_to_geom(CollisionEntry &entry, const Geom *geom,
if (CollisionPolygon::verify_points(v[0], v[1], v[2])) { if (CollisionPolygon::verify_points(v[0], v[1], v[2])) {
bool within_solid_bounds = true; bool within_solid_bounds = true;
if (from_node_gbv != nullptr) { if (from_node_gbv != nullptr) {
PT(BoundingSphere) sphere = new BoundingSphere; BoundingSphere sphere;
sphere->around(v, v + 3); sphere.around(v, v + 3);
within_solid_bounds = (sphere->contains(from_node_gbv) != 0); within_solid_bounds = (sphere.contains(from_node_gbv) != 0);
#ifdef DO_PSTATS #ifdef DO_PSTATS
CollisionGeom::_volume_pcollector.add_level(1); CollisionGeom::_volume_pcollector.add_level(1);
#endif // DO_PSTATS #endif // DO_PSTATS
} }
if (within_solid_bounds) { if (within_solid_bounds) {
PT(CollisionGeom) cgeom = new CollisionGeom(LVecBase3(v[0]), LVecBase3(v[1]), LVecBase3(v[2])); PT(CollisionGeom) cgeom = new CollisionGeom(v[0], v[1], v[2]);
entry._into = cgeom; entry._into = cgeom;
entry.test_intersection((*ci).second, this); entry.test_intersection((*ci).second, this);
} }