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Diffstat (limited to 'modules/bullet/godot_ray_world_algorithm.cpp')
| -rw-r--r-- | modules/bullet/godot_ray_world_algorithm.cpp | 104 |
1 files changed, 104 insertions, 0 deletions
diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp new file mode 100644 index 0000000000..98daf8398e --- /dev/null +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -0,0 +1,104 @@ +/*************************************************************************/ +/* godot_ray_world_algorithm.cpp */ +/* Author: AndreaCatania */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 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. */ +/*************************************************************************/ + +#include "godot_ray_world_algorithm.h" +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "btRayShape.h" +#include "collision_object_bullet.h" + +GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) + : m_world(world) {} + +GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) + : m_world(world) {} + +GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) + : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap), + m_manifoldPtr(mf), + m_ownManifold(false), + m_world(world), + m_isSwapped(isSwapped) {} + +GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() { + if (m_ownManifold && m_manifoldPtr) { + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { + + if (!m_manifoldPtr) { + if (m_isSwapped) { + m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject()); + } else { + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()); + } + m_ownManifold = true; + } + m_manifoldPtr->clearManifold(); + resultOut->setPersistentManifold(m_manifoldPtr); + + const btRayShape *ray_shape; + btTransform ray_transform; + + const btCollisionObjectWrapper *other_co_wrapper; + + if (m_isSwapped) { + + ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape()); + ray_transform = body1Wrap->getWorldTransform(); + + other_co_wrapper = body0Wrap; + } else { + + ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape()); + ray_transform = body0Wrap->getWorldTransform(); + + other_co_wrapper = body1Wrap; + } + + btTransform to(ray_transform * ray_shape->getSupportPoint()); + + btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin()); + + m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult); + + if (btResult.hasHit()) { + btVector3 ray_normal(to.getOrigin() - ray_transform.getOrigin()); + ray_normal.normalize(); + ray_normal *= -1; + resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); + } +} + +btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { + return 1; +} |