240 lines
10 KiB
C++
240 lines
10 KiB
C++
/*************************************************************************/
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/* godot_result_callbacks.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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 "servers/physics_server.h"
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#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
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#include <btBulletDynamicsCommon.h>
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/**
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@author AndreaCatania
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*/
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class RigidBodyBullet;
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/// This callback is injected inside bullet server and allow me to smooth contacts against trimesh
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bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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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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int m_shapeId;
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bool collide_with_bodies;
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bool collide_with_areas;
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public:
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GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
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btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
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m_exclude(p_exclude),
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m_pickRay(false),
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m_shapeId(0),
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collide_with_bodies(p_collide_with_bodies),
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collide_with_areas(p_collide_with_areas) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
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// Triangle index is an odd name but contains the compound shape ID.
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// A shape part of -1 indicates the index is a shape index and not a triangle index.
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if (rayResult.m_localShapeInfo && rayResult.m_localShapeInfo->m_shapePart == -1) {
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m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex;
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} else {
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m_shapeId = 0;
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}
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return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
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}
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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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const Set<RID> *m_exclude;
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int count;
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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),
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m_resultMax(p_resultMax),
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m_exclude(p_exclude),
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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 Set<RID> *m_exclude;
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const bool m_infinite_inertia;
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GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia, const Set<RID> *p_exclude) :
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btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
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m_self_object(p_self_object),
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m_exclude(p_exclude),
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m_infinite_inertia(p_infinite_inertia) {}
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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_shapeId;
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bool collide_with_bodies;
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bool collide_with_areas;
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GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
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btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
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m_exclude(p_exclude),
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m_shapeId(0),
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collide_with_bodies(p_collide_with_bodies),
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collide_with_areas(p_collide_with_areas) {}
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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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const Set<RID> *m_exclude;
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int m_count;
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bool collide_with_bodies;
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bool collide_with_areas;
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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) :
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m_self_object(p_self_object),
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m_results(p_results),
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m_resultMax(p_resultMax),
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m_exclude(p_exclude),
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m_count(0),
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collide_with_bodies(p_collide_with_bodies),
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collide_with_areas(p_collide_with_areas) {}
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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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const Set<RID> *m_exclude;
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int m_count;
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bool collide_with_bodies;
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bool collide_with_areas;
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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) :
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m_self_object(p_self_object),
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m_results(p_results),
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m_resultMax(p_resultMax),
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m_exclude(p_exclude),
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m_count(0),
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collide_with_bodies(p_collide_with_bodies),
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collide_with_areas(p_collide_with_areas) {}
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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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const Set<RID> *m_exclude;
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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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bool collide_with_bodies;
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bool collide_with_areas;
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GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) :
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m_self_object(p_self_object),
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m_result(p_result),
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m_exclude(p_exclude),
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m_collided(false),
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m_min_distance(0),
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collide_with_bodies(p_collide_with_bodies),
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collide_with_areas(p_collide_with_areas) {}
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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 GodotDeepPenetrationContactResultCallback : public btManifoldResult {
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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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GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
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btManifoldResult(body0Wrap, body1Wrap),
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m_penetration_distance(0),
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m_other_compound_shape_index(0) {}
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void reset() {
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m_penetration_distance = 0;
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}
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bool hasHit() {
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return m_penetration_distance < 0;
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}
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virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
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};
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#endif // GODOT_RESULT_CALLBACKS_H
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