/*************************************************************************/ /* 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 #include /** @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 *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 *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 *m_exclude; int count; GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set *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 *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 *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 *m_exclude; int m_shapeId; bool collide_with_bodies; bool collide_with_areas; GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set *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 *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 *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 *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 *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 *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 *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