f29f996199
Two main changes:
- Better handling of concave shapes to make sure the queries don't
return a triangle index instead of shape index.
Note: A concave shape within a compound shape will always return a shape
index of 0 because of Bullet limitations.
- Extra check for compound shapes in some queries to avoid undefined
behavior, because the shape index can have an uninitialized value with
convex shapes in some cases.
(cherry picked from commit 02d40de30d)
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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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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