collide: Remove duplicate capsule-into-poly test

panda/src/collide/collisionPolygon.cxx

@@ -1070,193 +1070,6 @@ test_intersection_from_parabola(const CollisionEntry &entry) const {
   return new_entry;
 }
 
-/**
- * This is part of the double-dispatch implementation of test_intersection().
- * It is called when the "from" object is a capsule.
- */
-PT(CollisionEntry) CollisionPolygon::
-test_intersection_from_capsule(const CollisionEntry &entry) const {
-  if (_points.size() < 3) {
-    return nullptr;
-  }
-
-  const CollisionCapsule *capsule;
-  DCAST_INTO_R(capsule, entry.get_from(), nullptr);
-
-  CPT(TransformState) wrt_space = entry.get_wrt_space();
-  const LMatrix4 &wrt_mat = wrt_space->get_mat();
-  LMatrix4 plane_mat = wrt_mat * _to_2d_mat;
-
-  LPoint3 from_a = capsule->get_point_a() * plane_mat;
-  LPoint3 from_b = capsule->get_point_b() * plane_mat;
-
-  LVector3 from_radius_v =
-    LVector3(capsule->get_radius(), 0.0f, 0.0f) * wrt_mat;
-  PN_stdfloat from_radius_sq = from_radius_v.length_squared();
-
-  // Check if the capsule is colliding with the plane at all.
-  // Are the points on the same side of the plane?
-  if ((from_a[1] > 0) == (from_b[1] > 0)) {
-    // Yes, so calculate the distance of the closest point.
-    PN_stdfloat dist = min(cabs(from_a[1]), cabs(from_b[1]));
-    if (dist * dist > from_radius_sq) {
-      // Not currently colliding.  Did the capsule travel into the plane?
-      if (from_a[1] < 0 || !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 = (from_a + from_b) * 0.5f;
-      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 || prev_center[1] > 0) {
-        // Nope, it did not.
-        return nullptr;
-      }
-
-      // Determine the intersection of the sphere with the polygon.
-      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_sq) {
-        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 = (from_a[1] < from_b[1] ? capsule->get_point_b() : capsule->get_point_a()) * wrt_mat;
-      PN_stdfloat from_radius = csqrt(from_radius_sq);
-      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;
-    }
-  }
-
-  // Order from_a and from_b so that from_a has the deepest point.
-  bool swapped = (from_a[1] < from_b[1]);
-  if (swapped) {
-    std::swap(from_a, from_b);
-  }
-
-  LPoint3 surface_point, interior_point;
-
-  // Is the projection of from_a onto the plane inside the polygon?
-  LPoint2 from_a_proj(from_a[0], from_a[2]);
-  if (point_is_inside(from_a_proj, _points)) {
-    // Yes, and we already checked the vertical separation earlier on, so we
-    // know that the capsule is touching the polygon near from_a.
-    LPoint3 deepest = (swapped ? capsule->get_point_b() : capsule->get_point_a()) * wrt_mat;
-    PN_stdfloat from_radius = csqrt(from_radius_sq);
-    surface_point = get_plane().project(deepest);
-    interior_point = deepest - get_normal() * from_radius;
-  }
-  else {
-    LVector3 from_direction = from_b - from_a;
-
-    // Find the point in the capsule's inner segment with the closest distance
-    // to the polygon's edges.  We effectively test a sphere around that point.
-    PN_stdfloat min_dist_sq = make_inf((PN_stdfloat)0);
-    LPoint3 poly_point;
-    LPoint3 line_point;
-
-    LPoint2 last_point = _points.back()._p;
-    for (const PointDef &pd : _points) {
-      LVector2 dir = last_point - pd._p;
-      last_point = pd._p;
-
-      double t1, t2;
-      CollisionCapsule::calc_closest_segment_points(t1, t2,
-          LPoint3(pd._p[0], 0, pd._p[1]), LVector3(dir[0], 0, dir[1]),
-          from_a, from_direction);
-
-      LPoint3 point1(pd._p[0] + dir[0] * t1, 0, pd._p[1] + dir[1] * t1);
-      LPoint3 point2 = from_a + from_direction * t2;
-      PN_stdfloat dist_sq = (point2 - point1).length_squared();
-      if (dist_sq < min_dist_sq) {
-        min_dist_sq = dist_sq;
-        poly_point = point1;
-        line_point = point2;
-      }
-    }
-
-    // Project the closest point on the segment onto the polygon.  Is this point
-    // inside the polygon?
-    LPoint2 line_point_proj(line_point[0], line_point[2]);
-    if (point_is_inside(line_point_proj, _points)) {
-      // Yes, and we already checked the vertical separation earlier on, so we
-      // know that the capsule is touching the polygon here.
-      LMatrix4 to_3d_mat;
-      rederive_to_3d_mat(to_3d_mat);
-
-      surface_point = to_3d(line_point_proj, to_3d_mat);
-
-      LPoint3 interior;
-      if (IS_NEARLY_EQUAL(from_a[1], from_b[1])) {
-        // It's parallel to the polygon; we can use any point on the segment we
-        // want, so we might as well use the point we determined to be closest.
-        interior = line_point;
-      } else {
-        // Use the deepest point.  FIXME: we need something better.  This
-        // pushes the capsule out way too much.
-        interior = from_a;
-      }
-      interior[1] += csqrt(from_radius_sq);
-      interior_point = interior * to_3d_mat;
-    }
-    else if (min_dist_sq < from_radius_sq) {
-      // No, but it is colliding with an edge.
-      LMatrix4 to_3d_mat;
-      rederive_to_3d_mat(to_3d_mat);
-
-      surface_point = poly_point * to_3d_mat;
-
-      // Make sure we calculate an interior point that lies below the polygon.
-      LVector3 dir = line_point * to_3d_mat - surface_point;
-      dir.normalize();
-      interior_point = surface_point - dir * (csqrt(from_radius_sq) - csqrt(min_dist_sq));
-    }
-    else {
-      // It is outside the polygon altogether.
-      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);
-  new_entry->set_surface_point(surface_point);
-  new_entry->set_interior_point(interior_point);
-
-  return new_entry;
-}
-
 /**
  * This is part of the double-dispatch implementation of test_intersection().
  * It is called when the "from" object is a box.

panda/src/collide/collisionPolygon.h

@@ -100,8 +100,6 @@ protected:
   virtual PT(CollisionEntry)
   test_intersection_from_parabola(const CollisionEntry &entry) const;
   virtual PT(CollisionEntry)
-  test_intersection_from_capsule(const CollisionEntry &entry) const;
-  virtual PT(CollisionEntry)
   test_intersection_from_box(const CollisionEntry &entry) const;
 
   virtual void fill_viz_geom();