/
collisionUtil.py
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/
collisionUtil.py
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"""
Example Use:
def processMap(mapNodePath)
col=getCollision(mapNodePath)
holder=NodePath("CollisionAndMeshHolder")
mapNodePath.reparentTo(holder)
col.reparentTo(holder)
flattenStrong(mapNodePath)
return holder
def collisionFilter(n):
return not n.hasNetTag("noCollision")
def getCollision(node):
col=collisionUtil.rebuildGeomNodesToColPolys(node,filter=collisionFilter)
col=collisionUtil.colTree(col)
col.setCollideMask(collisionUtil.groundMask)
return col
"""
from panda3d.core import NodePath,CollisionPolygon,CollisionNode,GeomVertexReader,BitMask32,Point3,BoundingSphere
import math
groundMask=BitMask32(1)
pickingMask=BitMask32(2)
# from FenrirWolf via http://www.panda3d.org/forums/viewtopic.php?p=43705&sid=d5588e66bcedd9f7c7f51a3226ad890c
# modified by Craig Macomber
def rebuildGeomNodesToColPolys (incomingNode,relativeTo=None,filter=lambda n:True):
'''
Converts GeomNodes into CollisionPolys in a straight 1-to-1 conversion
Returns a new NodePath containing the CollisionNodes
If the geometry is at all complex, running the result of this through colTree
should improve performance.
'''
parent = NodePath('cGeomConversionParent')
for c in incomingNode.findAllMatches('**/+GeomNode'):
if not filter(c): continue
if relativeTo:
xform=c.getMat(relativeTo).xformPoint
else:
xform=(c.getMat(incomingNode)*(incomingNode.getMat())).xformPoint
geomNode = c.node()
for g in range(geomNode.getNumGeoms()):
geom = geomNode.getGeom(g).decompose()
vdata = geom.getVertexData()
vreader = GeomVertexReader(vdata, 'vertex')
cChild = CollisionNode("")
for p in range(geom.getNumPrimitives()):
prim = geom.getPrimitive(p)
for p2 in range(prim.getNumPrimitives()):
s = prim.getPrimitiveStart(p2)
e = prim.getPrimitiveEnd(p2)
if e-s>2:
v = []
for vi in range (s, e):
vreader.setRow(prim.getVertex(vi))
v.append(Point3(xform(vreader.getData3f())) )
colPoly = CollisionPolygon(*v)
cChild.addSolid(colPoly)
n=parent.attachNewNode(cChild)
return parent
def _toCenterBox(b):
if isinstance(b,BoundingSphere):
return b.getCenter(),b.getRadius()
a=b.getMin()
b=b.getMax()
center=(a+b)/2
maxDist=max(max(abs(a[i]-center[i]),abs(b[i]-center[i])) for i in [0,1,2])
return center,maxDist
def colTree (incomingNode):
'''
assumes all passed nodes are collision nodes with no transforms
returns produced oct-tree nodePath
This should increase the performance for doing collision tests, especially for large
models, like world maps
'''
maxLevels=10
top=NodePath(CollisionNode('colTreeTop'))
b=incomingNode.getBounds()
if b.isEmpty(): return top
maxSize=b.getCenter().length()+b.getRadius()
maxSize*=1.1
levels=[{} for i in range(maxLevels)]
levels[0][(0,0,0)]=top
offset=Point3(maxSize,maxSize,maxSize)
def fillNode(level,key):
if level==0:
assert key==(0,0,0)
d=levels[level]
cell=d.get(key)
if cell is None:
cell=NodePath(CollisionNode(""))
d[key]=cell
if level>0:
aboveKey=(key[0]/2,key[1]/2,key[2]/2)
aboveCell=fillNode(level-1,aboveKey)
cell.reparentTo(aboveCell)
return cell
for c in incomingNode.findAllMatches('**/+CollisionNode'):
cNode = c.node()
for i in range(cNode.getNumSolids()):
s=cNode.getSolid(i)
b=s.getBounds()
if not b.isEmpty():
center,size=_toCenterBox(b)
if size>0:
size=size/maxSize
level=math.log(1/size,2)
level+=3
level=min(level,maxLevels-1)
level=max(level,0)
level=int(math.ceil(level))
center=center+offset
center=center/(maxSize*2)
center=center*(2**level)
key=tuple(int(math.floor(center[i])) for i in [0,1,2])
cell=fillNode(level,key).node()
cell.addSolid(s)
_mergeCol(top)
return top
def _mergeCol(node):
"""
assumes all passed nodes are collision nodes
merges solids for child nodes up to minimize nodes with few solids
"""
mergeCount=10
c=node.node()
for n in node.getChildren():
_mergeCol(n)
cn=n.node()
removed=False
if n.getNumChildren()==0:
num=cn.getNumSolids()
if num<mergeCount:
for i in xrange(num):
c.addSolid(cn.getSolid(i))
n.removeNode()
removed=True
if not removed:
numChildren=n.getNumChildren()
num=cn.getNumSolids()
if num==0 and numChildren==1:
nn=n.getChild(0)
nn.reparentTo(node)
n.removeNode()