190 lines
9.0 KiB
C++
190 lines
9.0 KiB
C++
/*************************************************************************/
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/* godot_result_callbacks.h */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef GODOT_RESULT_CALLBACKS_H
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#define GODOT_RESULT_CALLBACKS_H
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "btBulletDynamicsCommon.h"
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#include "servers/physics_server.h"
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#define MAX_PENETRATION_DEPTH 0.005
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class RigidBodyBullet;
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/// This class is required to implement custom collision behaviour in the broadphase
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struct GodotFilterCallback : public btOverlapFilterCallback {
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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);
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// return true when pairs need collision
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virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
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};
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/// It performs an additional check allow exclusions.
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struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback {
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const Set<RID> *m_exclude;
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bool m_pickRay;
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public:
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GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude)
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: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), m_exclude(p_exclude), m_pickRay(false) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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};
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// store all colliding object
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struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
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public:
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PhysicsDirectSpaceState::ShapeResult *m_results;
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int m_resultMax;
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int count;
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const Set<RID> *m_exclude;
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GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
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: m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), count(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
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};
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struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
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public:
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const RigidBodyBullet *m_self_object;
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const bool m_ignore_areas;
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GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas)
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: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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};
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struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
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public:
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const Set<RID> *m_exclude;
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int m_shapePart;
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GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
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: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
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};
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struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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const btCollisionObject *m_self_object;
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PhysicsDirectSpaceState::ShapeResult *m_results;
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int m_resultMax;
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int m_count;
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const Set<RID> *m_exclude;
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GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
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: m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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/// Returns the list of contacts pairs in this order: Local contact, other body contact
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struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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const btCollisionObject *m_self_object;
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Vector3 *m_results;
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int m_resultMax;
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int m_count;
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const Set<RID> *m_exclude;
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GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude)
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: m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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const btCollisionObject *m_self_object;
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PhysicsDirectSpaceState::ShapeRestInfo *m_result;
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bool m_collided;
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real_t m_min_distance;
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const btCollisionObject *m_rest_info_collision_object;
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btVector3 m_rest_info_bt_point;
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const Set<RID> *m_exclude;
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GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude)
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: m_self_object(p_self_object), m_result(p_result), m_exclude(p_exclude), m_collided(false), m_min_distance(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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struct GodotRecoverAndClosestContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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btVector3 m_pointNormalWorld;
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btVector3 m_pointWorld;
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btScalar m_penetration_distance;
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int m_other_compound_shape_index;
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const btCollisionObject *m_pointCollisionObject;
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const RigidBodyBullet *m_self_object;
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bool m_ignore_areas;
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btScalar m_most_penetrated_distance;
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btVector3 m_recover_penetration;
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GodotRecoverAndClosestContactResultCallback()
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: m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(NULL), m_ignore_areas(true), m_most_penetrated_distance(1e20), m_recover_penetration(0, 0, 0) {}
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GodotRecoverAndClosestContactResultCallback(const RigidBodyBullet *p_self_object, bool p_ignore_areas)
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: m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas), m_most_penetrated_distance(9999999999), m_recover_penetration(0, 0, 0) {}
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void reset() {
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m_pointCollisionObject = NULL;
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m_most_penetrated_distance = 1e20;
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m_recover_penetration.setZero();
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}
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bool hasHit() {
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return m_pointCollisionObject;
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}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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#endif // GODOT_RESULT_CALLBACKS_H
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