diff options
Diffstat (limited to 'modules/bullet/godot_result_callbacks.cpp')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.cpp | 60 |
1 files changed, 32 insertions, 28 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index a91cbec340..197550d686 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -1,10 +1,9 @@ /*************************************************************************/ /* godot_result_callbacks.cpp */ -/* Author: AndreaCatania */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ -/* http://www.godotengine.org */ +/* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ @@ -30,10 +29,15 @@ /*************************************************************************/ #include "godot_result_callbacks.h" + #include "bullet_types_converter.h" #include "collision_object_bullet.h" #include "rigid_body_bullet.h" +/** + @author AndreaCatania +*/ + bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) { return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask; } @@ -59,6 +63,9 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co } bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + if (count >= m_resultMax) + return false; + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); @@ -66,6 +73,7 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con if (m_exclude->has(gObj->get_self())) { return false; } + return true; } else { return false; @@ -83,7 +91,7 @@ btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalCo result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); ++count; - return count < m_resultMax; + return 1; // not used by bullet } bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { @@ -94,11 +102,16 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox if (gObj == m_self_object) { return false; } else { - if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + + // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite + if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) return false; - } else if (m_self_object->has_collision_exception(gObj)) { + + if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) + return false; + + if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) return false; - } } return true; } else { @@ -159,10 +172,7 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con result.shape = cp.m_index0; } - if (colObj) - result.collider_id = colObj->get_instance_id(); - else - result.collider_id = 0; + result.collider_id = colObj->get_instance_id(); result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); result.rid = colObj->get_self(); ++m_count; @@ -172,6 +182,9 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con } bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + if (m_count >= m_resultMax) + return false; + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); @@ -197,7 +210,7 @@ btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint ++m_count; - return m_count < m_resultMax; + return 1; // Not used by bullet } bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { @@ -234,32 +247,23 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp m_rest_info_collision_object = colObj0Wrap->getCollisionObject(); } - if (colObj) - m_result->collider_id = colObj->get_instance_id(); - else - m_result->collider_id = 0; + m_result->collider_id = colObj->get_instance_id(); m_result->rid = colObj->get_self(); m_collided = true; } - return cp.getDistance(); + return 1; // Not used by bullet } void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { - if (depth < 0) { - // Has penetration - if (m_most_penetrated_distance > depth) { - - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + if (m_penetration_distance > depth) { // Has penetration? - m_most_penetrated_distance = depth; - m_pointCollisionObject = (isSwapped ? m_body0Wrap : m_body1Wrap)->getCollisionObject(); - m_other_compound_shape_index = isSwapped ? m_index1 : m_index0; - m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; - m_pointWorld = isSwapped ? (pointInWorldOnB + normalOnBInWorld * depth) : pointInWorldOnB; - m_penetration_distance = depth; - } + bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + m_penetration_distance = depth; + m_other_compound_shape_index = isSwapped ? m_index0 : m_index1; + m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; + m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB; } } |