251 lines
10 KiB
C++
251 lines
10 KiB
C++
/*************************************************************************/
|
|
/* 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"
|
|
|
|
#if defined(__clang__) && (__clang_major__ >= 13)
|
|
#pragma clang diagnostic push
|
|
#pragma clang diagnostic ignored "-Wdeprecated-copy-with-user-provided-copy"
|
|
#endif
|
|
|
|
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
|
|
#include <btBulletDynamicsCommon.h>
|
|
|
|
#if defined(__clang__) && (__clang_major__ >= 13)
|
|
#pragma clang diagnostic pop
|
|
#endif
|
|
|
|
/**
|
|
@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
|