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be more robust with new collision poly representation

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This commit is contained in:
David Rose 2003-12-04 18:13:33 +00:00
parent d2dccc99d3
commit cfcd70ad32
3 changed files with 35 additions and 6 deletions
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30
panda/src/collide/collisionPolygon.I
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@ -125,10 +125,38 @@ to_2d(const LVecBase3f &point3d) const {
////////////////////////////////////////////////////////////////////
INLINE void CollisionPolygon::
calc_to_3d_mat(LMatrix4f &to_3d_mat) const {
look_at(to_3d_mat, get_plane().get_normal());
// 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 inthe (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

10
panda/src/collide/collisionPolygon.cxx
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@ -227,7 +227,7 @@ xform(const LMatrix4f &mat) {
if (!_points.empty()) {
LMatrix4f to_3d_mat;
calc_to_3d_mat(to_3d_mat);
rederive_to_3d_mat(to_3d_mat);
pvector<LPoint3f> verts;
Points::const_iterator pi;
@ -254,7 +254,7 @@ xform(const LMatrix4f &mat) {
LPoint3f CollisionPolygon::
get_collision_origin() const {
LMatrix4f to_3d_mat;
calc_to_3d_mat(to_3d_mat);
rederive_to_3d_mat(to_3d_mat);
LPoint2f median = _points[0]._p;
for (int n = 1; n < (int)_points.size(); n++) {
@ -339,7 +339,7 @@ write(ostream &out, int indent_level) const {
}
LMatrix4f to_3d_mat;
calc_to_3d_mat(to_3d_mat);
rederive_to_3d_mat(to_3d_mat);
out << "In 3-d space:\n";
PTA_Vertexf verts;
for (pi = _points.begin(); pi != _points.end(); ++pi) {
@ -368,7 +368,7 @@ recompute_bound() {
// Now actually compute the bounding volume by putting it around all
// of our vertices.
LMatrix4f to_3d_mat;
calc_to_3d_mat(to_3d_mat);
rederive_to_3d_mat(to_3d_mat);
pvector<LPoint3f> vertices;
Points::const_iterator pi;
for (pi = _points.begin(); pi != _points.end(); ++pi) {
@ -737,7 +737,7 @@ draw_polygon(GeomNode *geom_node, const CollisionPolygon::Points &points) const
}
LMatrix4f to_3d_mat;
calc_to_3d_mat(to_3d_mat);
rederive_to_3d_mat(to_3d_mat);
PTA_Vertexf verts;
Points::const_iterator pi;
for (pi = points.begin(); pi != points.end(); ++pi) {

1
panda/src/collide/collisionPolygon.h
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@ -100,6 +100,7 @@ private:
void setup_points(const LPoint3f *begin, const LPoint3f *end);
INLINE LPoint2f to_2d(const LVecBase3f &point3d) const;
INLINE void calc_to_3d_mat(LMatrix4f &to_3d_mat) const;
INLINE void rederive_to_3d_mat(LMatrix4f &to_3d_mat) const;
INLINE static LPoint3f to_3d(const LVecBase2f &point2d, const LMatrix4f &to_3d_mat);
LPoint3f legacy_to_3d(const LVecBase2f &point2d, int axis) const;