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collide: Reimplement respect-prev-transform test for capsule-into-poly

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Taken from 6e168c2bc463a0ca70bfe064117b2f13c66db4c3 (which was written for the old test that was replaced)
This commit is contained in:
rdb 2022-10-24 11:00:17 +02:00
parent b018d65da9
commit e3ec6f7947
1 changed files with 56 additions and 3 deletions
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59
panda/src/collide/collisionPolygon.cxx
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@ -795,7 +795,8 @@ test_intersection_from_capsule(const CollisionEntry &entry) const {
const CollisionCapsule *capsule;
DCAST_INTO_R(capsule, entry.get_from(), nullptr);
const LMatrix4 &wrt_mat = entry.get_wrt_mat();
CPT(TransformState) wrt_space = entry.get_wrt_space();
const LMatrix4 &wrt_mat = wrt_space->get_mat();
LPoint3 from_a = capsule->get_point_a() * wrt_mat;
LPoint3 from_b = capsule->get_point_b() * wrt_mat;
@ -814,8 +815,60 @@ test_intersection_from_capsule(const CollisionEntry &entry) const {
}
if (dist_a <= -from_radius && dist_b <= -from_radius) {
// Entirely behind the plane also means no intersection.
return nullptr;
// Entirely behind the plane also means no intersection. But perhaps the
// capsule travelled through the plane?
if (!entry.get_respect_prev_transform()) {
return nullptr;
}
CPT(TransformState) wrt_prev_space = entry.get_wrt_prev_space();
if (wrt_prev_space == wrt_space) {
return nullptr;
}
// Note that we only check for a sphere at the center, since we don't
// know whether the capsule has undergone any rotation.
LPoint3 from_center = LPoint3((from_a + from_b) * 0.5f) * _to_2d_mat;
LPoint3 prev_center =
(LPoint3((capsule->get_point_a() + capsule->get_point_b()) * 0.5f) *
wrt_prev_space->get_mat()) * _to_2d_mat;
if (prev_center[1] > 0) {
// The center didn't pass through the polygon.
return nullptr;
}
// Determine the intersection of the sphere with the polygon.
// This isn't actually the right point to test for correct edge behavior,
// since this may miss the sphere if it grazes the edge at a very shallow
// angle, but the prev-transform test isn't intended to be perfect anyway.
PN_stdfloat t = from_center[1] / (from_center[1] - prev_center[1]);
LPoint2 p(
prev_center[0] * t + from_center[0] * (1.0f - t),
prev_center[2] * t + from_center[2] * (1.0f - t));
LPoint2 edge_p(p);
PN_stdfloat edge_dist = dist_to_polygon(p, edge_p, _points);
if (edge_dist >= 0 && edge_dist * edge_dist > from_radius_2) {
return nullptr;
}
if (collide_cat.is_debug()) {
collide_cat.debug()
<< "intersection detected from " << entry.get_from_node_path()
<< " into " << entry.get_into_node_path() << "\n";
}
PT(CollisionEntry) new_entry = new CollisionEntry(entry);
LVector3 normal = (has_effective_normal() && capsule->get_respect_effective_normal()) ? get_effective_normal() : get_normal();
new_entry->set_surface_normal(normal);
LMatrix4 to_3d_mat;
rederive_to_3d_mat(to_3d_mat);
LPoint3 deepest = (dist_a < dist_b ? from_a : from_b);
new_entry->set_surface_point(to_3d(edge_p, to_3d_mat));
new_entry->set_interior_point(deepest - get_normal() * from_radius);
return new_entry;
}
LMatrix4 to_3d_mat;