parabola collisions

panda/src/collide/Sources.pp

@@ -26,6 +26,7 @@
     collisionLevelStateBase.I collisionLevelStateBase.h \
     collisionLevelState.I collisionLevelState.h \
     collisionNode.I collisionNode.h \
+    collisionParabola.I collisionParabola.h  \
     collisionPlane.I collisionPlane.h  \
     collisionPolygon.I collisionPolygon.h \
     collisionFloorMesh.I collisionFloorMesh.h \
@@ -56,6 +57,7 @@
     collisionInvSphere.cxx  \
     collisionLine.cxx \
     collisionNode.cxx \
+    collisionParabola.cxx  \
     collisionPlane.cxx  \
     collisionPolygon.cxx \
     collisionFloorMesh.cxx \
@@ -86,6 +88,7 @@
     collisionLevelState.I collisionLevelState.h \
     collisionLine.I collisionLine.h \
     collisionNode.I collisionNode.h \
+    collisionParabola.I collisionParabola.h \
     collisionPlane.I collisionPlane.h \
     collisionPolygon.I collisionPolygon.h \
     collisionFloorMesh.I collisionFloorMesh.h \

panda/src/collide/collide_composite2.cxx

@@ -1,4 +1,5 @@
 #include "collisionNode.cxx"
+#include "collisionParabola.cxx"
 #include "collisionPlane.cxx"
 #include "collisionPolygon.cxx"
 #include "collisionFloorMesh.cxx"

panda/src/collide/collisionNode.I

@@ -113,6 +113,7 @@ get_solid(int n) const {
 INLINE PT(CollisionSolid) CollisionNode::
 modify_solid(int n) {
   nassertr(n >= 0 && n < get_num_solids(), NULL);
+  mark_internal_bounds_stale();
   return _solids[n].get_write_pointer();
 }
 

panda/src/collide/collisionParabola.I

@@ -0,0 +1,120 @@
+// Filename: collisionParabola.I
+// Created by:  drose (11Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::Default Constructor
+//       Access: Published
+//  Description: Creates an invalid parabola.
+////////////////////////////////////////////////////////////////////
+INLINE CollisionParabola::
+CollisionParabola() :
+  _t1(0.0f), _t2(0.0f)
+{
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::Constructor
+//       Access: Published
+//  Description: Creates a parabola with the endpoints between t1 and
+//               t2 in the parametric space of the parabola.
+////////////////////////////////////////////////////////////////////
+INLINE CollisionParabola::
+CollisionParabola(const Parabolaf &parabola, float t1, float t2) :
+  _parabola(parabola),
+  _t1(t1), _t2(t2)
+{
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::Copy Constructor
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE CollisionParabola::
+CollisionParabola(const CollisionParabola &copy) :
+  _parabola(copy._parabola),
+  _t1(copy._t1), _t2(copy._t2)
+{
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::set_parabola
+//       Access: Public
+//  Description: Replaces the parabola specified by this solid.
+////////////////////////////////////////////////////////////////////
+INLINE void CollisionParabola::
+set_parabola(const Parabolaf &parabola) {
+  _parabola = parabola;
+  mark_internal_bounds_stale();
+  mark_viz_stale();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::get_parabola
+//       Access: Public
+//  Description: Returns the parabola specified by this solid.
+////////////////////////////////////////////////////////////////////
+INLINE const Parabolaf &CollisionParabola::
+get_parabola() const {
+  return _parabola;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::set_t1
+//       Access: Public
+//  Description: Changes the starting point on the parabola.
+////////////////////////////////////////////////////////////////////
+INLINE void CollisionParabola::
+set_t1(float t1) {
+  _t1 = t1;
+  mark_internal_bounds_stale();
+  mark_viz_stale();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::get_t1
+//       Access: Public
+//  Description: Returns the starting point on the parabola.
+////////////////////////////////////////////////////////////////////
+INLINE float CollisionParabola::
+get_t1() const {
+  return _t1;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::set_t2
+//       Access: Public
+//  Description: Changes the ending point on the parabola.
+////////////////////////////////////////////////////////////////////
+INLINE void CollisionParabola::
+set_t2(float t2) {
+  _t2 = t2;
+  mark_internal_bounds_stale();
+  mark_viz_stale();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::get_t2
+//       Access: Public
+//  Description: Returns the ending point on the parabola.
+////////////////////////////////////////////////////////////////////
+INLINE float CollisionParabola::
+get_t2() const {
+  return _t2;
+}

panda/src/collide/collisionParabola.cxx

@@ -0,0 +1,283 @@
+// Filename: collisionParabola.cxx
+// Created by:  drose (11Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "collisionParabola.h"
+#include "collisionEntry.h"
+#include "datagram.h"
+#include "datagramIterator.h"
+#include "bamReader.h"
+#include "bamWriter.h"
+#include "geom.h"
+#include "geomLinestrips.h"
+#include "geomVertexWriter.h"
+#include "boundingHexahedron.h"
+#include "look_at.h"
+
+PStatCollector CollisionParabola::_volume_pcollector(
+  "Collision Volumes:CollisionParabola");
+PStatCollector CollisionParabola::_test_pcollector(
+  "Collision Tests:CollisionParabola");
+TypeHandle CollisionParabola::_type_handle;
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::get_collision_origin
+//       Access: Public, Virtual
+//  Description: Returns the point in space deemed to be the "origin"
+//               of the solid for collision purposes.  The closest
+//               intersection point to this origin point is considered
+//               to be the most significant.
+////////////////////////////////////////////////////////////////////
+LPoint3f CollisionParabola::
+get_collision_origin() const {
+  return _parabola.calc_point(_t1);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::make_copy
+//       Access: Public, Virtual
+//  Description:
+////////////////////////////////////////////////////////////////////
+CollisionSolid *CollisionParabola::
+make_copy() {
+  return new CollisionParabola(*this);
+}
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::test_intersection
+//       Access: Public, Virtual
+//  Description:
+////////////////////////////////////////////////////////////////////
+PT(CollisionEntry) CollisionParabola::
+test_intersection(const CollisionEntry &entry) const {
+  return entry.get_into()->test_intersection_from_parabola(entry);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::xform
+//       Access: Public, Virtual
+//  Description: Transforms the solid by the indicated matrix.
+////////////////////////////////////////////////////////////////////
+void CollisionParabola::
+xform(const LMatrix4f &mat) {
+  _parabola.xform(mat);
+
+  mark_viz_stale();
+  mark_internal_bounds_stale();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::get_volume_pcollector
+//       Access: Public, Virtual
+//  Description: Returns a PStatCollector that is used to count the
+//               number of bounding volume tests made against a solid
+//               of this type in a given frame.
+////////////////////////////////////////////////////////////////////
+PStatCollector &CollisionParabola::
+get_volume_pcollector() {
+  return _volume_pcollector;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::get_test_pcollector
+//       Access: Public, Virtual
+//  Description: Returns a PStatCollector that is used to count the
+//               number of intersection tests made against a solid
+//               of this type in a given frame.
+////////////////////////////////////////////////////////////////////
+PStatCollector &CollisionParabola::
+get_test_pcollector() {
+  return _test_pcollector;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::output
+//       Access: Public, Virtual
+//  Description:
+////////////////////////////////////////////////////////////////////
+void CollisionParabola::
+output(ostream &out) const {
+  out << _parabola << ", t1 = " << _t1 << ", t2 = " << _t2;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::compute_internal_bounds
+//       Access: Protected, Virtual
+//  Description:
+////////////////////////////////////////////////////////////////////
+PT(BoundingVolume) CollisionParabola::
+compute_internal_bounds() const {
+  LPoint3f p1 = _parabola.calc_point(get_t1());
+  LPoint3f p2 = _parabola.calc_point(get_t2());
+  LVector3f pdelta = p2 - p1;
+
+  // If p1 and p2 are sufficiently close, just put a sphere around
+  // them.
+  float d2 = pdelta.length_squared();
+  if (d2 < 10.0f) {
+    LPoint3f pmid = (p1 + p2) * 0.5f;
+    return new BoundingSphere(pmid, csqrt(d2) * 0.5f);
+  }
+
+  // OK, the more general bounding volume.  We use BoundingHexahedron
+  // to define a very thin box that roughly bounds the parabola's arc.
+  // We must use BoundingHexahedron instead of BoundingBox, because
+  // the box will not be axis-aligned, and might be inflated too large
+  // if we insist on using the axis-aligned BoundingBox.
+
+  // We first define "parabola space" as a coordinate space such that
+  // the YZ plane of parabola space corresponds to the plane of the
+  // parabola.
+
+  // We have to be explicit about the coordinate system--we
+  // specifically mean CS_zup_right here, to make the YZ plane.
+
+  LMatrix4f from_parabola;
+  look_at(from_parabola, pdelta, -_parabola.get_a(), CS_zup_right);
+  from_parabola.set_row(3, p1);
+
+  // The matrix that computes from world space to parabola space is
+  // the inverse of that which we just computed.
+  LMatrix4f to_parabola;
+  to_parabola.invert_from(from_parabola);
+
+  // Now convert the parabola itself into parabola space.
+  Parabolaf psp = _parabola;
+  psp.xform(to_parabola);
+
+  LPoint3f pp2 = psp.calc_point(get_t2());
+  float max_y = pp2[1];
+
+  // We compute a few points along the parabola to attempt to get the
+  // minmax.
+  float min_z = p1[2];
+  float max_z = p1[2];
+  static const int num_points = 4;
+  for (int i = 0; i < num_points; ++i) {
+    double t = (double)(i + 1) / (double)(num_points + 1);
+    LPoint3f p = psp.calc_point(get_t1() + t * (get_t2() - get_t1()));
+    min_z = min(min_z, p[2]);
+    max_z = max(max_z, p[2]);
+  }
+
+  // That gives us a simple bounding volume in parabola space.
+  PT(BoundingHexahedron) volume = 
+    new BoundingHexahedron(LPoint3f(-0.01, max_y, min_z), LPoint3f(0.01, max_y, min_z),
+                           LPoint3f(0.01, max_y, max_z), LPoint3f(-0.01, max_y, max_z), 
+                           LPoint3f(-0.01, 0, min_z), LPoint3f(0.01, 0, min_z), 
+                           LPoint3f(0.01, 0, max_z), LPoint3f(-0.01, 0, max_z));
+  // And convert that back into real space.
+  volume->xform(from_parabola);
+  return volume.p();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::fill_viz_geom
+//       Access: Protected, Virtual
+//  Description: Fills the _viz_geom GeomNode up with Geoms suitable
+//               for rendering this solid.
+////////////////////////////////////////////////////////////////////
+void CollisionParabola::
+fill_viz_geom() {
+  if (collide_cat.is_debug()) {
+    collide_cat.debug()
+      << "Recomputing viz for " << *this << "\n";
+  }
+
+  static const int num_points = 100;
+
+  PT(GeomVertexData) vdata = new GeomVertexData
+    ("collision", GeomVertexFormat::get_v3cp(),
+     Geom::UH_static);
+  GeomVertexWriter vertex(vdata, InternalName::get_vertex());
+  GeomVertexWriter color(vdata, InternalName::get_color());
+  
+  for (int i = 0; i < num_points; i++) {
+    double t = ((double)i / (double)num_points);
+    vertex.add_data3f(_parabola.calc_point(_t1 + t * (_t2 - _t1)));
+    
+    color.add_data4f(Colorf(1.0f, 1.0f, 1.0f, 0.0f) +
+                     t * Colorf(0.0f, 0.0f, 0.0f, 1.0f));
+  }
+
+  PT(GeomLinestrips) line = new GeomLinestrips(Geom::UH_static);
+  line->add_next_vertices(num_points);
+  line->close_primitive();
+  
+  PT(Geom) geom = new Geom(vdata);
+  geom->add_primitive(line);
+  
+  _viz_geom->add_geom(geom, get_other_viz_state());
+  _bounds_viz_geom->add_geom(geom, get_other_bounds_viz_state());
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::register_with_read_factory
+//       Access: Public, Static
+//  Description: Factory method to generate a CollisionParabola object
+////////////////////////////////////////////////////////////////////
+void CollisionParabola::
+register_with_read_factory() {
+  BamReader::get_factory()->register_factory(get_class_type(), make_from_bam);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::write_datagram
+//       Access: Public
+//  Description: Function to write the important information in
+//               the particular object to a Datagram
+////////////////////////////////////////////////////////////////////
+void CollisionParabola::
+write_datagram(BamWriter *manager, Datagram &me) {
+  CollisionSolid::write_datagram(manager, me);
+  _parabola.write_datagram(me);
+  me.add_float32(_t1);
+  me.add_float32(_t2);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::make_from_bam
+//       Access: Protected
+//  Description: Factory method to generate a CollisionParabola object
+////////////////////////////////////////////////////////////////////
+TypedWritable *CollisionParabola::
+make_from_bam(const FactoryParams &params) {
+  CollisionParabola *me = new CollisionParabola;
+  DatagramIterator scan;
+  BamReader *manager;
+
+  parse_params(params, scan, manager);
+  me->fillin(scan, manager);
+  return me;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionParabola::fillin
+//       Access: Protected
+//  Description: Function that reads out of the datagram (or asks
+//               manager to read) all of the data that is needed to
+//               re-create this object and stores it in the appropiate
+//               place
+////////////////////////////////////////////////////////////////////
+void CollisionParabola::
+fillin(DatagramIterator& scan, BamReader* manager) {
+  CollisionSolid::fillin(scan, manager);
+  _parabola.read_datagram(scan);
+  _t1 = scan.get_float32();
+  _t2 = scan.get_float32();
+}

panda/src/collide/collisionParabola.h

@@ -0,0 +1,113 @@
+// Filename: collisionParabola.h
+// Created by:  drose (11Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef COLLISIONPARABOLA_H
+#define COLLISIONPARABOLA_H
+
+#include "pandabase.h"
+
+#include "collisionSolid.h"
+#include "parabola.h"
+
+class LensNode;
+
+////////////////////////////////////////////////////////////////////
+//       Class : CollisionParabola
+// Description : This defines a parabolic arc, or subset of an arc,
+//               similar to the path of a projectile or falling
+//               object.  It is finite, having a specific beginning
+//               and end, but it is infinitely thin.
+//
+//               Think of it as a wire bending from point t1 to point
+//               t2 along the path of a pre-defined parabola.
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDA_COLLIDE CollisionParabola : public CollisionSolid {
+PUBLISHED:
+  INLINE CollisionParabola();
+  INLINE CollisionParabola(const Parabolaf &parabola, float t1, float t2);
+
+  virtual LPoint3f get_collision_origin() const;
+
+public:
+  INLINE CollisionParabola(const CollisionParabola &copy);
+  virtual CollisionSolid *make_copy();
+
+  virtual PT(CollisionEntry)
+  test_intersection(const CollisionEntry &entry) const;
+
+  virtual void xform(const LMatrix4f &mat);
+
+  virtual PStatCollector &get_volume_pcollector();
+  virtual PStatCollector &get_test_pcollector();
+
+  virtual void output(ostream &out) const;
+
+PUBLISHED:
+  INLINE void set_parabola(const Parabolaf &parabola);
+  INLINE const Parabolaf &get_parabola() const;
+
+  INLINE void set_t1(float t1);
+  INLINE float get_t1() const;
+
+  INLINE void set_t2(float t2);
+  INLINE float get_t2() const;
+
+protected:
+  virtual PT(BoundingVolume) compute_internal_bounds() const;
+
+protected:
+  virtual void fill_viz_geom();
+
+private:
+  Parabolaf _parabola;
+  float _t1, _t2;
+
+  static PStatCollector _volume_pcollector;
+  static PStatCollector _test_pcollector;
+
+public:
+  static void register_with_read_factory();
+  virtual void write_datagram(BamWriter *manager, Datagram &dg);
+
+protected:
+  static TypedWritable *make_from_bam(const FactoryParams &params);
+  void fillin(DatagramIterator &scan, BamReader *manager);
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    CollisionSolid::init_type();
+    register_type(_type_handle, "CollisionParabola",
+                  CollisionSolid::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "collisionParabola.I"
+
+#endif
+
+

panda/src/collide/collisionPlane.cxx

@@ -183,8 +183,15 @@ test_intersection_from_line(const CollisionEntry &entry) const {
 
   float t;
   if (!_plane.intersects_line(t, from_origin, from_direction)) {
-    // No intersection.
-    return NULL;
+    // No intersection.  The line is parallel to the plane.
+
+    if (_plane.dist_to_plane(from_origin) > 0.0f) {
+      // The line is entirely in front of the plane.
+      return NULL;
+    }
+
+    // The line is entirely behind the plane.
+    t = 0.0f;
   }
 
   if (collide_cat.is_debug()) {
@@ -222,14 +229,23 @@ test_intersection_from_ray(const CollisionEntry &entry) const {
   LVector3f from_direction = ray->get_direction() * wrt_mat;
 
   float t;
-  if (!_plane.intersects_line(t, from_origin, from_direction)) {
-    // No intersection.
-    return NULL;
-  }
 
-  if (t < 0.0f) {
-    // The intersection point is before the start of the ray.
-    return NULL;
+  if (_plane.dist_to_plane(from_origin) < 0.0f) {
+    // The origin of the ray is behind the plane, so we don't need to
+    // test further.
+    t = 0.0f;
+
+  } else {
+    if (!_plane.intersects_line(t, from_origin, from_direction)) {
+      // No intersection.  The ray is parallel to the plane.
+      return NULL;
+    }
+
+    if (t < 0.0f) {
+      // The intersection point is before the start of the ray, and so
+      // the ray is entirely in front of the plane.
+      return NULL;
+    }
   }
 
   if (collide_cat.is_debug()) {
@@ -268,15 +284,23 @@ test_intersection_from_segment(const CollisionEntry &entry) const {
   LVector3f from_direction = from_b - from_a;
 
   float t;
-  if (!_plane.intersects_line(t, from_a, from_direction)) {
-    // No intersection.
-    return NULL;
-  }
+  if (_plane.dist_to_plane(from_a) < 0.0f) {
+    // The first point of the line segment is behind the plane, so we
+    // don't need to test further.
+    t = 0.0f;
 
-  if (t < 0.0f || t > 1.0f) {
-    // The intersection point is before the start of the segment or
-    // after the end of the segment.
-    return NULL;
+  } else {
+    if (!_plane.intersects_line(t, from_a, from_direction)) {
+      // No intersection.  The line segment is parallel to the plane.
+      return NULL;
+    }
+
+    if (t < 0.0f || t > 1.0f) {
+      // The intersection point is before the start of the segment or
+      // after the end of the segment.  Therefore, the line segment is
+      // entirely in front of the plane.
+      return NULL;
+    }
   }
 
   if (collide_cat.is_debug()) {
@@ -296,6 +320,69 @@ test_intersection_from_segment(const CollisionEntry &entry) const {
   return new_entry;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionPlane::test_intersection_from_parabola
+//       Access: Public, Virtual
+//  Description: This is part of the double-dispatch implementation of
+//               test_intersection().  It is called when the "from"
+//               object is a parabola.
+////////////////////////////////////////////////////////////////////
+PT(CollisionEntry) CollisionPlane::
+test_intersection_from_parabola(const CollisionEntry &entry) const {
+  const CollisionParabola *parabola;
+  DCAST_INTO_R(parabola, entry.get_from(), 0);
+
+  const LMatrix4f &wrt_mat = entry.get_wrt_mat();
+
+  // Convert the parabola into local coordinate space.
+  Parabolaf local_p(parabola->get_parabola());
+  local_p.xform(wrt_mat);
+
+  float t;
+  if (_plane.dist_to_plane(local_p.calc_point(parabola->get_t1())) < 0.0f) {
+    // The first point in the parabola is behind the plane, so we
+    // don't need to test further.
+    t = parabola->get_t1();
+
+  } else {
+    float t1, t2;
+    if (!get_plane().intersects_parabola(t1, t2, local_p)) {
+      // No intersection.  The infinite parabola is entirely in front
+      // of the plane.
+      return NULL;
+    }
+
+    if (t2 < parabola->get_t1() || t1 > parabola->get_t2()) {
+      // The intersection points are before the start of the parabola
+      // or after the end of the parabola.  The finite subset of the
+      // parabola is entirely in front of the plane.
+      return NULL;
+    }
+
+    // Choose one of the intersecting points.
+    t = t1;
+    if (t < parabola->get_t1()) {
+      t = t2;
+    }
+  }
+
+  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);
+
+  LPoint3f into_intersection_point = local_p.calc_point(t);
+
+  LVector3f normal = (has_effective_normal() && parabola->get_respect_effective_normal()) ? get_effective_normal() : get_normal();
+
+  new_entry->set_surface_normal(normal);
+  new_entry->set_surface_point(into_intersection_point);
+
+  return new_entry;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: CollisionPlane::fill_viz_geom
 //       Access: Protected, Virtual

panda/src/collide/collisionPlane.h

@@ -71,6 +71,8 @@ protected:
   test_intersection_from_ray(const CollisionEntry &entry) const;
   virtual PT(CollisionEntry)
   test_intersection_from_segment(const CollisionEntry &entry) const;
+  virtual PT(CollisionEntry)
+  test_intersection_from_parabola(const CollisionEntry &entry) const;
 
   virtual void fill_viz_geom();
 

panda/src/collide/collisionPolygon.cxx

@@ -803,6 +803,96 @@ test_intersection_from_segment(const CollisionEntry &entry) const {
   return new_entry;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionPolygon::test_intersection_from_parabola
+//       Access: Public, Virtual
+//  Description: This is part of the double-dispatch implementation of
+//               test_intersection().  It is called when the "from"
+//               object is a parabola.
+////////////////////////////////////////////////////////////////////
+PT(CollisionEntry) CollisionPolygon::
+test_intersection_from_parabola(const CollisionEntry &entry) const {
+  if (_points.size() < 3) {
+    return NULL;
+  }
+
+  const CollisionParabola *parabola;
+  DCAST_INTO_R(parabola, entry.get_from(), 0);
+
+  const LMatrix4f &wrt_mat = entry.get_wrt_mat();
+
+  // Convert the parabola into local coordinate space.
+  Parabolaf local_p(parabola->get_parabola());
+  local_p.xform(wrt_mat);
+
+  float t1, t2;
+  if (!get_plane().intersects_parabola(t1, t2, local_p)) {
+    // No intersection.
+    return NULL;
+  }
+
+  // No guarantee that t1 < t2.  Enforce this.
+  if (t2 < t1) {
+    float tx = t1;
+    t1 = t2;
+    t2 = tx;
+  }
+
+  if (t2 < parabola->get_t1() || t1 > parabola->get_t2()) {
+    // The intersection points are before the start of the parabola
+    // or after the end of the parabola.
+    return NULL;
+  }
+
+  float t = t1;
+  if (t < parabola->get_t1()) {
+    t = t2;
+  }
+
+  LPoint3f plane_point = local_p.calc_point(t);
+  LPoint2f p = to_2d(plane_point);
+
+  const ClipPlaneAttrib *cpa = entry.get_into_clip_planes();
+  if (cpa != (ClipPlaneAttrib *)NULL) {
+    // We have a clip plane; apply it.
+    Points new_points;
+    if (apply_clip_plane(new_points, cpa, entry.get_into_node_path().get_net_transform())) {
+      // All points are behind the clip plane.
+      if (!point_is_inside(p, _points)) {
+        return NULL;
+      }
+
+    } else {
+      if (new_points.size() < 3) {
+        return NULL;
+      }
+      if (!point_is_inside(p, new_points)) {
+        return NULL;
+      }
+    }
+
+  } else {
+    // No clip plane is in effect.  Do the default test.
+    if (!point_is_inside(p, _points)) {
+      return NULL;
+    }
+  }
+
+  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);
+
+  LVector3f normal = (has_effective_normal() && parabola->get_respect_effective_normal()) ? get_effective_normal() : get_normal();
+
+  new_entry->set_surface_normal(normal);
+  new_entry->set_surface_point(plane_point);
+
+  return new_entry;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: CollisionPolygon::fill_viz_geom
 //       Access: Protected, Virtual

panda/src/collide/collisionPolygon.h

@@ -90,6 +90,8 @@ protected:
   test_intersection_from_ray(const CollisionEntry &entry) const;
   virtual PT(CollisionEntry)
   test_intersection_from_segment(const CollisionEntry &entry) const;
+  virtual PT(CollisionEntry)
+  test_intersection_from_parabola(const CollisionEntry &entry) const;
 
   virtual void fill_viz_geom();
 

panda/src/collide/collisionSolid.cxx

@@ -22,6 +22,7 @@
 #include "collisionLine.h"
 #include "collisionRay.h"
 #include "collisionSegment.h"
+#include "collisionParabola.h"
 #include "collisionEntry.h"
 #include "boundingSphere.h"
 #include "datagram.h"
@@ -298,6 +299,20 @@ test_intersection_from_segment(const CollisionEntry &) const {
   return NULL;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionSolid::test_intersection_from_parabola
+//       Access: Protected, Virtual
+//  Description: This is part of the double-dispatch implementation of
+//               test_intersection().  It is called when the "from"
+//               object is a parabola.
+////////////////////////////////////////////////////////////////////
+PT(CollisionEntry) CollisionSolid::
+test_intersection_from_parabola(const CollisionEntry &) const {
+  report_undefined_intersection_test(CollisionParabola::get_class_type(),
+                                     get_type());
+  return NULL;
+}
+
 #ifndef NDEBUG
 class CollisionSolidUndefinedPair {
 public:

panda/src/collide/collisionSolid.h

@@ -112,6 +112,8 @@ protected:
   test_intersection_from_ray(const CollisionEntry &entry) const;
   virtual PT(CollisionEntry)
   test_intersection_from_segment(const CollisionEntry &entry) const;
+  virtual PT(CollisionEntry)
+  test_intersection_from_parabola(const CollisionEntry &entry) const;
 
   static void report_undefined_intersection_test(TypeHandle from_type,
                                                  TypeHandle into_type);
@@ -178,6 +180,7 @@ private:
   friend class CollisionLine;
   friend class CollisionRay;
   friend class CollisionSegment;
+  friend class CollisionParabola;
   friend class CollisionHandlerFluidPusher;
 };
 

panda/src/collide/collisionSphere.cxx

@@ -561,6 +561,51 @@ test_intersection_from_segment(const CollisionEntry &entry) const {
   return new_entry;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionSphere::test_intersection_from_parabola
+//       Access: Public, Virtual
+//  Description:
+////////////////////////////////////////////////////////////////////
+PT(CollisionEntry) CollisionSphere::
+test_intersection_from_parabola(const CollisionEntry &entry) const {
+  const CollisionParabola *parabola;
+  DCAST_INTO_R(parabola, entry.get_from(), 0);
+
+  const LMatrix4f &wrt_mat = entry.get_wrt_mat();
+
+  // Convert the parabola into local coordinate space.
+  Parabolaf local_p(parabola->get_parabola());
+  local_p.xform(wrt_mat);
+
+  double t;
+  if (!intersects_parabola(t, local_p, parabola->get_t1(), parabola->get_t2(),
+                           local_p.calc_point(parabola->get_t1()),
+                           local_p.calc_point(parabola->get_t2()))) {
+    // No intersection.
+    return NULL;
+  }
+
+  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);
+
+  LPoint3f into_intersection_point = local_p.calc_point(t);
+  new_entry->set_surface_point(into_intersection_point);
+
+  if (has_effective_normal() && parabola->get_respect_effective_normal()) {
+    new_entry->set_surface_normal(get_effective_normal());
+  } else {
+    LVector3f normal = into_intersection_point - get_center();
+    normal.normalize();
+    new_entry->set_surface_normal(normal);
+  }
+
+  return new_entry;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: CollisionSphere::fill_viz_geom
 //       Access: Protected, Virtual
@@ -631,7 +676,7 @@ intersects_line(double &t1, double &t2,
   // A sphere with radius r about point c is defined as all P such
   // that r^2 = (P - c)^2.
 
-  // Subsituting P in the above we have:
+  // Substituting P in the above we have:
 
   // r^2 = (f + td - c)^2 =
   // (f^2 + ftd - fc + ftd + t^2d^2 - tdc - fc - tdc + c^2) =
@@ -682,6 +727,71 @@ intersects_line(double &t1, double &t2,
   return true;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionSphere::intersects_parabola
+//       Access: Protected
+//  Description: Determine a point of intersection of a parametric
+//               parabola with the sphere.
+//
+//               We only consider the segment of the parabola between
+//               t1 and t2, which has already been computed as
+//               corresponding to points p1 and p2.  If there is an
+//               intersection, t is set to the parametric point of
+//               intersection, and true is returned; otherwise, false
+//               is returned.
+////////////////////////////////////////////////////////////////////
+bool CollisionSphere::
+intersects_parabola(double &t, const Parabolaf &parabola,
+                    double t1, double t2,
+                    const LPoint3f &p1, const LPoint3f &p2) const {
+  if (t1 == t2) {
+    // Special case: a single point.
+    if ((p1 - _center).length_squared() > _radius * _radius) {
+      // No intersection.
+      return false;
+    }
+    t = t1;
+    return true;
+  }
+
+  // To directly test for intersection between a parabola (quadratic)
+  // and a sphere (also quadratic) requires solving a quartic
+  // equation.  Doable, but hard, and I'm a programmer, not a
+  // mathematician.  So I'll solve it the programmer's way instead, by
+  // approximating the parabola with a series of line segments.
+  // Hence, this function works by recursively subdividing the
+  // parabola as necessary.
+
+  // First, see if the line segment (p1 - p2) comes sufficiently close
+  // to the parabola.  Do this by computing the parametric intervening
+  // point and comparing its distance from the linear intervening
+  // point.
+  double tmid = (t1 + t2) * 0.5;
+  LPoint3f pmid = parabola.calc_point(tmid);
+  LPoint3f pmid2 = (p1 + p2) * 0.5f;
+
+  if ((pmid - pmid2).length_squared() > 0.001f) {
+    // Subdivide.
+    if (intersects_parabola(t, parabola, t1, tmid, p1, pmid)) {
+      return true;
+    }
+    return intersects_parabola(t, parabola, tmid, t2, pmid, p2);
+  }
+
+  // The line segment is sufficiently close; compare the segment itself.
+  double t1a, t2a;
+  if (!intersects_line(t1a, t2a, p1, p2 - p1, 0.0f)) {
+    return false;
+  }
+
+  if (t2a < 0.0 || t1a > 1.0) {
+    return false;
+  }
+
+  t = max(t1a, 0.0);
+  return true;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: CollisionSphere::compute_point
 //       Access: Protected

panda/src/collide/collisionSphere.h

@@ -20,8 +20,8 @@
 #define COLLISIONSPHERE_H
 
 #include "pandabase.h"
-
 #include "collisionSolid.h"
+#include "parabola.h"
 
 ////////////////////////////////////////////////////////////////////
 //       Class : CollisionSphere
@@ -74,6 +74,8 @@ protected:
   test_intersection_from_ray(const CollisionEntry &entry) const;
   virtual PT(CollisionEntry)
   test_intersection_from_segment(const CollisionEntry &entry) const;
+  virtual PT(CollisionEntry)
+  test_intersection_from_parabola(const CollisionEntry &entry) const;
 
   virtual void fill_viz_geom();
 
@@ -81,6 +83,9 @@ protected:
   bool intersects_line(double &t1, double &t2,
                        const LPoint3f &from, const LVector3f &delta,
                        float inflate_radius) const;
+  bool intersects_parabola(double &t, const Parabolaf &parabola,
+                           double t1, double t2,
+                           const LPoint3f &p1, const LPoint3f &p2) const;
   Vertexf compute_point(float latitude, float longitude) const;
 
 private:

panda/src/collide/collisionTraverser.cxx

@@ -1268,6 +1268,14 @@ compare_collider_to_solid(CollisionEntry &entry,
     #ifdef DO_PSTATS
     ((CollisionSolid *)entry.get_into())->get_volume_pcollector().add_level(1);
     #endif  // DO_PSTATS
+#ifndef NDEBUG
+    if (collide_cat.is_spam()) {
+      collide_cat.spam(false)
+        << "Comparing to solid: " << *from_node_gbv
+        << " to " << *solid_gbv << ", within_solid_bounds = " 
+        << within_solid_bounds << "\n";
+    }
+#endif  // NDEBUG
   }
   if (within_solid_bounds) {
     Colliders::const_iterator ci;

panda/src/collide/collisionTube.cxx

@@ -414,6 +414,59 @@ test_intersection_from_segment(const CollisionEntry &entry) const {
   return new_entry;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionTube::test_intersection_from_parabola
+//       Access: Public, Virtual
+//  Description:
+////////////////////////////////////////////////////////////////////
+PT(CollisionEntry) CollisionTube::
+test_intersection_from_parabola(const CollisionEntry &entry) const {
+  const CollisionParabola *parabola;
+  DCAST_INTO_R(parabola, entry.get_from(), 0);
+
+  const LMatrix4f &wrt_mat = entry.get_wrt_mat();
+
+  // Convert the parabola into local coordinate space.
+  Parabolaf local_p(parabola->get_parabola());
+  local_p.xform(wrt_mat);
+
+  double t;
+  if (!intersects_parabola(t, local_p, parabola->get_t1(), parabola->get_t2(),
+                           local_p.calc_point(parabola->get_t1()),
+                           local_p.calc_point(parabola->get_t2()))) {
+    // No intersection.
+    return NULL;
+  }
+
+  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);
+
+  LPoint3f into_intersection_point = local_p.calc_point(t);
+  set_intersection_point(new_entry, into_intersection_point, 0.0);
+
+  if (has_effective_normal() && parabola->get_respect_effective_normal()) {
+    new_entry->set_surface_normal(get_effective_normal());
+
+  } else {
+    LVector3f normal = into_intersection_point * _inv_mat;
+    if (normal[1] > _length) {
+      // The point is within the top endcap.
+      normal[1] -= _length;
+    } else if (normal[1] > 0.0f) {
+      // The point is within the cylinder body.
+      normal[1] = 0;
+    }
+    normal = normalize(normal * _mat);
+    new_entry->set_surface_normal(normal);
+  }
+
+  return new_entry;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: CollisionTube::fill_viz_geom
 //       Access: Protected, Virtual
@@ -773,6 +826,58 @@ sphere_intersects_line(double &t1, double &t2, float center_y,
   return true;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: CollisionTube::intersects_parabola
+//       Access: Protected
+//  Description: Determine a point of intersection of a parametric
+//               parabola with the tube.
+//
+//               We only consider the segment of the parabola between
+//               t1 and t2, which has already been computed as
+//               corresponding to points p1 and p2.  If there is an
+//               intersection, t is set to the parametric point of
+//               intersection, and true is returned; otherwise, false
+//               is returned.
+////////////////////////////////////////////////////////////////////
+bool CollisionTube::
+intersects_parabola(double &t, const Parabolaf &parabola,
+                    double t1, double t2,
+                    const LPoint3f &p1, const LPoint3f &p2) const {
+  // I don't even want to think about the math to do this calculation
+  // directly--it's even worse than sphere-parabola.  So I'll use the
+  // recursive subdivision solution again, just like I did for
+  // sphere-parabola.
+
+  // First, see if the line segment (p1 - p2) comes sufficiently close
+  // to the parabola.  Do this by computing the parametric intervening
+  // point and comparing its distance from the linear intervening
+  // point.
+  double tmid = (t1 + t2) * 0.5;
+  LPoint3f pmid = parabola.calc_point(tmid);
+  LPoint3f pmid2 = (p1 + p2) * 0.5f;
+
+  if ((pmid - pmid2).length_squared() > 0.001f) {
+    // Subdivide.
+    if (intersects_parabola(t, parabola, t1, tmid, p1, pmid)) {
+      return true;
+    }
+    return intersects_parabola(t, parabola, tmid, t2, pmid, p2);
+  }
+
+  // The line segment is sufficiently close; compare the segment itself.
+  double t1a, t2a;
+  if (!intersects_line(t1a, t2a, p1, p2 - p1, 0.0f)) {
+    return false;
+  }
+
+  if (t2a < 0.0 || t1a > 1.0) {
+    return false;
+  }
+
+  t = max(t1a, 0.0);
+  return true;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: CollisionTube::calculate_surface_point_and_normal
 //       Access: Private

panda/src/collide/collisionTube.h

@@ -20,8 +20,8 @@
 #define COLLISIONTUBE_H
 
 #include "pandabase.h"
-
 #include "collisionSolid.h"
+#include "parabola.h"
 
 ////////////////////////////////////////////////////////////////////
 //       Class : CollisionTube
@@ -81,6 +81,8 @@ protected:
   test_intersection_from_ray(const CollisionEntry &entry) const;
   virtual PT(CollisionEntry)
   test_intersection_from_segment(const CollisionEntry &entry) const;
+  virtual PT(CollisionEntry)
+  test_intersection_from_parabola(const CollisionEntry &entry) const;
 
   virtual void fill_viz_geom();
 
@@ -97,6 +99,9 @@ private:
   bool sphere_intersects_line(double &t1, double &t2, float center_y,
                               const LPoint3f &from, const LVector3f &delta,
                               float inflate_radius) const;
+  bool intersects_parabola(double &t, const Parabolaf &parabola,
+                           double t1, double t2,
+                           const LPoint3f &p1, const LPoint3f &p2) const;
   void calculate_surface_point_and_normal(const LPoint3f &surface_point,
                                           double extra_radius,
                                           LPoint3f &result_point,

panda/src/collide/config_collide.cxx

@@ -31,6 +31,7 @@
 #include "collisionLine.h"
 #include "collisionLevelStateBase.h"
 #include "collisionNode.h"
+#include "collisionParabola.h"
 #include "collisionPlane.h"
 #include "collisionPolygon.h"
 #include "collisionFloorMesh.h"
@@ -120,6 +121,7 @@ init_libcollide() {
   CollisionLine::init_type();
   CollisionLevelStateBase::init_type();
   CollisionNode::init_type();
+  CollisionParabola::init_type();
   CollisionPlane::init_type();
   CollisionPolygon::init_type();
   CollisionFloorMesh::init_type();
@@ -139,6 +141,7 @@ init_libcollide() {
   CollisionInvSphere::register_with_read_factory();
   CollisionLine::register_with_read_factory();
   CollisionNode::register_with_read_factory();
+  CollisionParabola::register_with_read_factory();
   CollisionPlane::register_with_read_factory();
   CollisionPolygon::register_with_read_factory();
   CollisionFloorMesh::register_with_read_factory();

panda/src/mathutil/Sources.pp

@@ -27,11 +27,11 @@
     mersenne.h \
     omniBoundingVolume.I  \
     omniBoundingVolume.h \
+    parabola.h parabola_src.I parabola_src.cxx parabola_src.h \
     perlinNoise.h perlinNoise.I \
     perlinNoise2.h perlinNoise2.I \
     perlinNoise3.h perlinNoise3.I \
-    plane.h plane_src.I plane_src.cxx  \
-    plane_src.h \
+    plane.h plane_src.I plane_src.cxx plane_src.h \
     randomizer.h randomizer.I \
     rotate_to.h rotate_to_src.cxx \
     stackedPerlinNoise2.h stackedPerlinNoise2.I \
@@ -49,14 +49,16 @@
     linmath_events.cxx \
     mersenne.cxx \
     omniBoundingVolume.cxx \
+    parabola.cxx \
     perlinNoise.cxx \
     perlinNoise2.cxx \
     perlinNoise3.cxx \
+    plane.cxx \
     randomizer.cxx \
+    rotate_to.cxx \
     stackedPerlinNoise2.cxx \
     stackedPerlinNoise3.cxx \
-    triangulator.cxx \
-    plane.cxx rotate_to.cxx
+    triangulator.cxx
 
   #define INSTALL_HEADERS \
     boundingHexahedron.I boundingHexahedron.h boundingLine.I \
@@ -71,11 +73,11 @@
     linmath_events.h \
     mersenne.h \
     omniBoundingVolume.I omniBoundingVolume.h \
+    parabola.h parabola_src.I parabola_src.cxx parabola_src.h \
     perlinNoise.h perlinNoise.I \
     perlinNoise2.h perlinNoise2.I \
     perlinNoise3.h perlinNoise3.I \
-    plane.h plane_src.I plane_src.cxx \
-    plane_src.h \
+    plane.h plane_src.I plane_src.cxx plane_src.h \
     randomizer.h randomizer.I \
     rotate_to.h rotate_to_src.cxx \
     stackedPerlinNoise2.h stackedPerlinNoise2.I \

panda/src/mathutil/boundingPlane.cxx

@@ -235,3 +235,38 @@ int BoundingPlane::
 contains_plane(const BoundingPlane *plane) const {
   return IF_possible;
 }
+
+////////////////////////////////////////////////////////////////////
+//     Function: BoundingPlane::contains_hexahedron
+//       Access: Protected, Virtual
+//  Description: Double-dispatch support: called by contains_other()
+//               when the type we're testing for intersection is known
+//               to be a hexahedron.
+////////////////////////////////////////////////////////////////////
+int BoundingPlane::
+contains_hexahedron(const BoundingHexahedron *hexahedron) const {
+  nassertr(!is_empty() && !is_infinite(), 0);
+  nassertr(!hexahedron->is_empty() && !hexahedron->is_infinite(), 0);
+
+  int result = IF_possible | IF_some | IF_all;
+
+  bool all_in = true;
+  bool all_out = true;
+  for (int i = 0; i < 8 && (all_in || all_out) ; ++i) {
+    if (_plane.dist_to_plane(hexahedron->get_point(i)) < 0.0f) {
+      // This point is inside the plane.
+      all_out = false;
+    } else {
+      // This point is outside the plane.
+      all_in = false;
+    }
+  }
+    
+  if (all_out) {
+    return IF_no_intersection;
+  } else if (!all_in) {
+    result &= ~IF_all;
+  }
+
+  return result;
+}

panda/src/mathutil/boundingPlane.h

@@ -65,6 +65,7 @@ protected:
   virtual int contains_box(const BoundingBox *box) const;
   virtual int contains_line(const BoundingLine *line) const;
   virtual int contains_plane(const BoundingPlane *plane) const;
+  virtual int contains_hexahedron(const BoundingHexahedron *hexahedron) const;
 
 private:
   Planef _plane;

panda/src/mathutil/mathutil_composite1.cxx

@@ -7,4 +7,5 @@
 #include "finiteBoundingVolume.cxx"
 #include "geometricBoundingVolume.cxx"
 #include "omniBoundingVolume.cxx"
+#include "parabola.cxx"
 #include "config_mathutil.cxx"

panda/src/mathutil/parabola.cxx

@@ -0,0 +1,25 @@
+// Filename: parabola.cxx
+// Created by:  drose (10Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "parabola.h"
+
+#include "fltnames.h"
+#include "parabola_src.cxx"
+
+#include "dblnames.h"
+#include "parabola_src.cxx"

panda/src/mathutil/parabola.h

@@ -0,0 +1,33 @@
+// Filename: parabola.h
+// Created by:  drose (10Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef PARABOLA_H
+#define PARABOLA_H
+
+#include "pandabase.h"
+
+#include "luse.h"
+#include "indent.h"
+
+#include "fltnames.h"
+#include "parabola_src.h"
+
+#include "dblnames.h"
+#include "parabola_src.h"
+
+#endif

panda/src/mathutil/parabola_src.I

@@ -0,0 +1,123 @@
+// Filename: parabola_src.I
+// Created by:  drose (10Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::Default Constructor
+//       Access: Published
+//  Description: Constructs a meaningless degenerate parabola.
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL FLOATNAME(Parabola)::
+FLOATNAME(Parabola)() :
+  _a(FLOATNAME(LVecBase3)::zero()), 
+  _b(FLOATNAME(LVecBase3)::zero()), 
+  _c(FLOATNAME(LVecBase3)::zero())
+{
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::Constructor
+//       Access: Published
+//  Description: Constructs a parabola given the three points of the
+//               parametric equation: the acceleration, initial
+//               velocity, and start point.
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL FLOATNAME(Parabola)::
+FLOATNAME(Parabola)(const FLOATNAME(LVecBase3) &a,
+                    const FLOATNAME(LVecBase3) &b,
+                    const FLOATNAME(LVecBase3) &c) :
+  _a(a), _b(b), _c(c)
+{
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::Copy Constructor
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL FLOATNAME(Parabola)::
+FLOATNAME(Parabola)(const FLOATNAME(Parabola) &copy) :
+  _a(copy._a),
+  _b(copy._b),
+  _c(copy._c)
+{
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::Copy Assignment Operator
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL void FLOATNAME(Parabola)::
+operator = (const FLOATNAME(Parabola) &copy) {
+  _a = copy._a;
+  _b = copy._b;
+  _c = copy._c;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::Destructor
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL FLOATNAME(Parabola)::
+~FLOATNAME(Parabola)() {
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::get_a
+//       Access: Published
+//  Description: Returns the first point of the parabola's parametric
+//               equation: the acceleration.
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL const FLOATNAME(LVecBase3) &FLOATNAME(Parabola)::
+get_a() const {
+  return _a;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::get_b
+//       Access: Published
+//  Description: Returns the second point of the parabola's parametric
+//               equation: the initial velocity.
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL const FLOATNAME(LVecBase3) &FLOATNAME(Parabola)::
+get_b() const {
+  return _b;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::get_c
+//       Access: Published
+//  Description: Returns the third point of the parabola's parametric
+//               equation: the start point.
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL const FLOATNAME(LVecBase3) &FLOATNAME(Parabola)::
+get_c() const {
+  return _c;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::calc_point
+//       Access: Published
+//  Description: Computes the point on the parabola at time t.
+////////////////////////////////////////////////////////////////////
+INLINE_MATHUTIL FLOATNAME(LPoint3) FLOATNAME(Parabola)::
+calc_point(FLOATTYPE t) const {
+  return _a * t * t + _b * t + _c;
+}

panda/src/mathutil/parabola_src.cxx

@@ -0,0 +1,75 @@
+// Filename: parabola_src.cxx
+// Created by:  drose (10Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::xform
+//       Access: Published
+//  Description: Transforms the parabola by the indicated matrix.
+////////////////////////////////////////////////////////////////////
+void FLOATNAME(Parabola)::
+xform(const FLOATNAME(LMatrix4) &mat) {
+  // I'm not really sure if this is the right thing to do here.
+  _a = mat.xform_vec_general(_a);
+  _b = mat.xform_vec_general(_b);
+  _c = mat.xform_point(_c);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::output
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+void FLOATNAME(Parabola)::
+output(ostream &out) const {
+  out << "Parabola(" << _a << ", " << _b << ", " << _c << ")";
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::write
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+void FLOATNAME(Parabola)::
+write(ostream &out, int indent_level) const {
+  indent(out, indent_level) << *this << "\n";
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: Parabola::write_datagram
+//       Access: Public
+//  Description: Function to write itself into a datagram
+////////////////////////////////////////////////////////////////////
+void FLOATNAME(Parabola)::
+write_datagram(Datagram &destination) const {
+  _a.write_datagram(destination);
+  _b.write_datagram(destination);
+  _c.write_datagram(destination);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: LVecBase4::read_datagram
+//       Access: Public
+//  Description: Function to read itself from a datagramIterator
+////////////////////////////////////////////////////////////////////
+void FLOATNAME(Parabola)::
+read_datagram(DatagramIterator &source) {
+  _a.read_datagram(source);
+  _b.read_datagram(source);
+  _c.read_datagram(source);
+}

panda/src/mathutil/parabola_src.h

@@ -0,0 +1,63 @@
+// Filename: parabola_src.h
+// Created by:  drose (10Oct07)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// panda3d-general@lists.sourceforge.net .
+//
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+//       Class : Parabola
+// Description : An abstract mathematical description of a parabola,
+//               particularly useful for describing arcs of
+//               projectiles.
+//
+//               The parabolic equation, given parametrically here, is
+//               P = At^2 + Bt + C.
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDA_MATHUTIL FLOATNAME(Parabola) {
+PUBLISHED:
+  INLINE_MATHUTIL FLOATNAME(Parabola)();
+  INLINE_MATHUTIL FLOATNAME(Parabola)(const FLOATNAME(LVecBase3) &a, 
+                                      const FLOATNAME(LVecBase3) &b,
+                                      const FLOATNAME(LVecBase3) &c);
+  INLINE_MATHUTIL FLOATNAME(Parabola)(const FLOATNAME(Parabola) &copy);
+  INLINE_MATHUTIL void operator = (const FLOATNAME(Parabola) &copy);
+  INLINE_MATHUTIL ~FLOATNAME(Parabola)();
+
+  void xform(const FLOATNAME(LMatrix4) &mat);
+
+  INLINE_MATHUTIL const FLOATNAME(LVecBase3) &get_a() const;
+  INLINE_MATHUTIL const FLOATNAME(LVecBase3) &get_b() const;
+  INLINE_MATHUTIL const FLOATNAME(LVecBase3) &get_c() const;
+
+  INLINE_MATHUTIL FLOATNAME(LPoint3) calc_point(FLOATTYPE t) const;
+
+  void output(ostream &out) const;
+  void write(ostream &out, int indent_level = 0) const;
+
+public:
+  void write_datagram(Datagram &destination) const;
+  void read_datagram(DatagramIterator &source);
+
+private:
+  FLOATNAME(LVecBase3) _a, _b, _c;
+};
+
+inline ostream &
+operator << (ostream &out, const FLOATNAME(Parabola) &p) {
+  p.output(out);
+  return out;
+}
+
+#include "parabola_src.I"

panda/src/mathutil/plane.h

@@ -25,6 +25,7 @@
 #include "indent.h"
 #include "nearly_zero.h"
 #include "cmath.h"
+#include "parabola.h"
 
 class Datagram;
 class DatagramIterator;

panda/src/mathutil/plane_src.cxx

@@ -103,6 +103,52 @@ intersects_plane(FLOATNAME(LPoint3) &from,
   return true;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: Plane::intersects_parabola
+//       Access: Published
+//  Description: Determines whether and where the indicated parabola
+//               intersects with the plane.
+//
+//               If there is no intersection with the plane, the
+//               function returns false and leaves t1 and t2
+//               undefined.  If there is an intersection with the
+//               plane, the function returns true and sets t1 and t2
+//               to the parametric value that defines the two points
+//               of intersection.  If the parabola is exactly tangent
+//               to the plane, then t1 == t2.
+////////////////////////////////////////////////////////////////////
+bool FLOATNAME(Plane)::
+intersects_parabola(FLOATTYPE &t1, FLOATTYPE &t2,
+                    const FLOATNAME(Parabola) &parabola) const {
+  //
+  // The parabola intersects the plane wherever:
+  //
+  // a * t^2 + b * t + c == 0
+  //
+  // where a = normal dot parabola.get_a(),
+  //       b = normal dot parabola.get_b(),
+  //       c = normal dot parabola.get_c() + d.
+  //
+
+  FLOATNAME(LVector3) normal = get_normal();
+  FLOATTYPE a = normal.dot(parabola.get_a());
+  FLOATTYPE b = normal.dot(parabola.get_b());
+  FLOATTYPE c = normal.dot(parabola.get_c()) + _v.v._3;
+
+  // Now use the quadratic equation to solve for t.
+  FLOATTYPE discriminant = b * b - 4.0 * a * c;
+  if (discriminant < 0.0f) {
+    // No intersection.
+    return false;
+  }
+
+  FLOATTYPE sqrd = csqrt(discriminant);
+
+  t1 = (-b - sqrd) / (2.0 * a);
+  t2 = (-b + sqrd) / (2.0 * a);
+  return true;
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: Plane::output
 //       Access: Published

panda/src/mathutil/plane_src.h

@@ -59,6 +59,9 @@ PUBLISHED:
                         FLOATNAME(LVector3) &delta,
                         const FLOATNAME(Plane) &other) const;
 
+  bool intersects_parabola(FLOATTYPE &t1, FLOATTYPE &t2,
+                           const FLOATNAME(Parabola) &parabola) const;
+
   void output(ostream &out) const;
   void write(ostream &out, int indent_level = 0) const;
 };