/*************************************************************************/ /* godot_result_callbacks.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2020 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. */ /*************************************************************************/ #include "godot_result_callbacks.h" #include "area_bullet.h" #include "bullet_types_converter.h" #include "collision_object_bullet.h" #include "rigid_body_bullet.h" #include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> /** @author AndreaCatania */ bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) { btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1); } return true; } bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) { return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask; } bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const { return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask); } bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { if (!collide_with_areas) return false; } else { if (!collide_with_bodies) return false; } if (m_pickRay && !gObj->is_ray_pickable()) { return false; } if (m_exclude->has(gObj->get_self())) { return false; } return true; } else { return false; } } bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { if (count >= m_resultMax) return false; const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (m_exclude->has(gObj->get_self())) { return false; } return true; } else { return false; } } btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { if (count >= m_resultMax) return 1; // not used by bullet CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer()); PhysicsDirectSpaceState::ShapeResult &result = m_results[count]; result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID result.rid = gObj->get_self(); result.collider_id = gObj->get_instance_id(); result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); ++count; return 1; // not used by bullet } bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (gObj == m_self_object) { return false; } else { // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) return false; if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) return false; if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) return false; } return true; } else { return false; } } bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { if (!collide_with_areas) return false; } else { if (!collide_with_bodies) return false; } if (m_exclude->has(gObj->get_self())) { return false; } return true; } else { return false; } } btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { if (convexResult.m_localShapeInfo) m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID else m_shapeId = 0; return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); } bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { if (m_count >= m_resultMax) return false; const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { if (!collide_with_areas) return false; } else { if (!collide_with_bodies) return false; } if (m_exclude->has(gObj->get_self())) { return false; } return true; } else { return false; } } btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { if (m_count >= m_resultMax) return cp.getDistance(); if (cp.getDistance() <= 0) { PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count]; // Penetrated CollisionObjectBullet *colObj; if (m_self_object == colObj0Wrap->getCollisionObject()) { colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer()); result.shape = cp.m_index1; } else { colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer()); result.shape = cp.m_index0; } result.collider_id = colObj->get_instance_id(); result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); result.rid = colObj->get_self(); ++m_count; } return cp.getDistance(); } bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { if (m_count >= m_resultMax) return false; const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { if (!collide_with_areas) return false; } else { if (!collide_with_bodies) return false; } if (m_exclude->has(gObj->get_self())) { return false; } return true; } else { return false; } } btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { if (m_count >= m_resultMax) return 1; // not used by bullet if (m_self_object == colObj0Wrap->getCollisionObject()) { B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]); } else { B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]); } ++m_count; return 1; // Not used by bullet } bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { if (!collide_with_areas) return false; } else { if (!collide_with_bodies) return false; } if (m_exclude->has(gObj->get_self())) { return false; } return true; } else { return false; } } btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { if (cp.getDistance() <= m_min_distance) { m_min_distance = cp.getDistance(); CollisionObjectBullet *colObj; if (m_self_object == colObj0Wrap->getCollisionObject()) { colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer()); m_result->shape = cp.m_index1; B_TO_G(cp.getPositionWorldOnB(), m_result->point); B_TO_G(cp.m_normalWorldOnB, m_result->normal); m_rest_info_bt_point = cp.getPositionWorldOnB(); m_rest_info_collision_object = colObj1Wrap->getCollisionObject(); } else { colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer()); m_result->shape = cp.m_index0; B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal); m_rest_info_bt_point = cp.getPositionWorldOnA(); m_rest_info_collision_object = colObj0Wrap->getCollisionObject(); } m_result->collider_id = colObj->get_instance_id(); m_result->rid = colObj->get_self(); m_collided = true; } return 1; // Not used by bullet } void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { if (m_penetration_distance > depth) { // Has penetration? const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); m_penetration_distance = depth; m_other_compound_shape_index = isSwapped ? m_index0 : m_index1; m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB; m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; } }