godot/modules/bullet/godot_result_callbacks.h

/*************************************************************************/
/*  godot_result_callbacks.h                                             */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/

#ifndef GODOT_RESULT_CALLBACKS_H
#define GODOT_RESULT_CALLBACKS_H

#include "servers/physics_server.h"

#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <btBulletDynamicsCommon.h>

/**
	@author AndreaCatania
*/

class RigidBodyBullet;

/// This callback is injected inside bullet server and allow me to smooth contacts against trimesh
bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);

/// This class is required to implement custom collision behaviour in the broadphase
struct GodotFilterCallback : public btOverlapFilterCallback {
	static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask);

	// return true when pairs need collision
	virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
};

/// It performs an additional check allow exclusions.
struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback {
	const Set<RID> *m_exclude;
	bool m_pickRay;
	int m_shapeId;

	bool collide_with_bodies;
	bool collide_with_areas;

public:
	GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
			btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
			m_exclude(p_exclude),
			m_pickRay(false),
			m_shapeId(0),
			collide_with_bodies(p_collide_with_bodies),
			collide_with_areas(p_collide_with_areas) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
		// Triangle index is an odd name but contains the compound shape ID.
		// A shape part of -1 indicates the index is a shape index and not a triangle index.
		if (rayResult.m_localShapeInfo && rayResult.m_localShapeInfo->m_shapePart == -1) {
			m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex;
		} else {
			m_shapeId = 0;
		}
		return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
	}
};

// store all colliding object
struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
public:
	PhysicsDirectSpaceState::ShapeResult *m_results;
	int m_resultMax;
	const Set<RID> *m_exclude;
	int count;

	GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) :
			m_results(p_results),
			m_resultMax(p_resultMax),
			m_exclude(p_exclude),
			count(0) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
};

struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
	const RigidBodyBullet *m_self_object;
	const Set<RID> *m_exclude;
	const bool m_infinite_inertia;

	GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia, const Set<RID> *p_exclude) :
			btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
			m_self_object(p_self_object),
			m_exclude(p_exclude),
			m_infinite_inertia(p_infinite_inertia) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
};

struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
	const Set<RID> *m_exclude;
	int m_shapeId;

	bool collide_with_bodies;
	bool collide_with_areas;

	GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
			btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
			m_exclude(p_exclude),
			m_shapeId(0),
			collide_with_bodies(p_collide_with_bodies),
			collide_with_areas(p_collide_with_areas) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
};

struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	const btCollisionObject *m_self_object;
	PhysicsDirectSpaceState::ShapeResult *m_results;
	int m_resultMax;
	const Set<RID> *m_exclude;
	int m_count;

	bool collide_with_bodies;
	bool collide_with_areas;

	GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
			m_self_object(p_self_object),
			m_results(p_results),
			m_resultMax(p_resultMax),
			m_exclude(p_exclude),
			m_count(0),
			collide_with_bodies(p_collide_with_bodies),
			collide_with_areas(p_collide_with_areas) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

/// Returns the list of contacts pairs in this order: Local contact, other body contact
struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	const btCollisionObject *m_self_object;
	Vector3 *m_results;
	int m_resultMax;
	const Set<RID> *m_exclude;
	int m_count;

	bool collide_with_bodies;
	bool collide_with_areas;

	GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
			m_self_object(p_self_object),
			m_results(p_results),
			m_resultMax(p_resultMax),
			m_exclude(p_exclude),
			m_count(0),
			collide_with_bodies(p_collide_with_bodies),
			collide_with_areas(p_collide_with_areas) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	const btCollisionObject *m_self_object;
	PhysicsDirectSpaceState::ShapeRestInfo *m_result;
	const Set<RID> *m_exclude;
	bool m_collided;
	real_t m_min_distance;
	const btCollisionObject *m_rest_info_collision_object;
	btVector3 m_rest_info_bt_point;
	bool collide_with_bodies;
	bool collide_with_areas;

	GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
			m_self_object(p_self_object),
			m_result(p_result),
			m_exclude(p_exclude),
			m_collided(false),
			m_min_distance(0),
			collide_with_bodies(p_collide_with_bodies),
			collide_with_areas(p_collide_with_areas) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

struct GodotDeepPenetrationContactResultCallback : public btManifoldResult {
	btVector3 m_pointNormalWorld;
	btVector3 m_pointWorld;
	btScalar m_penetration_distance;
	int m_other_compound_shape_index;

	GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
			btManifoldResult(body0Wrap, body1Wrap),
			m_penetration_distance(0),
			m_other_compound_shape_index(0) {}

	void reset() {
		m_penetration_distance = 0;
	}

	bool hasHit() {
		return m_penetration_distance < 0;
	}

	virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
};

#endif // GODOT_RESULT_CALLBACKS_H