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Diffstat (limited to 'modules/bullet/godot_result_callbacks.cpp')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.cpp | 291 |
1 files changed, 291 insertions, 0 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp new file mode 100644 index 0000000000..409d12f080 --- /dev/null +++ b/modules/bullet/godot_result_callbacks.cpp @@ -0,0 +1,291 @@ +/*************************************************************************/ +/* godot_result_callbacks.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_result_callbacks.h" +#include "bullet_types_converter.h" +#include "collision_object_bullet.h" +#include "rigid_body_bullet.h" + +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; +} + +bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const { + return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask); +} + +bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_pickRay && gObj->is_ray_pickable()) { + return true; + } else if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer()); + + PhysicsDirectSpaceState::ShapeResult &result = m_results[count]; + + result.shape = convexResult.m_localShapeInfo->m_shapePart; + result.rid = gObj->get_self(); + result.collider_id = gObj->get_instance_id(); + result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); + + ++count; + return count < m_resultMax; +} + +bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (gObj == m_self_object) { + return false; + } else { + if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + return false; + } else if (m_self_object->has_collision_exception(gObj)) { + return false; + } + } + return true; + } else { + return false; + } +} + +bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { + btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); + m_shapePart = convexResult.m_localShapeInfo->m_shapePart; + return res; +} + +bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (cp.getDistance() <= 0) { + + PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count]; + // Penetrated + + CollisionObjectBullet *colObj; + if (m_self_object == colObj0Wrap->getCollisionObject()) { + colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer()); + result.shape = cp.m_index1; + } else { + colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer()); + result.shape = cp.m_index0; + } + + if (colObj) + result.collider_id = colObj->get_instance_id(); + else + result.collider_id = 0; + result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); + result.rid = colObj->get_self(); + ++m_count; + } + + return m_count < m_resultMax; +} + +bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (m_self_object == colObj0Wrap->getCollisionObject()) { + B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact + B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]); + } else { + B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact + B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]); + } + + ++m_count; + + return m_count < m_resultMax; +} + +bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (cp.getDistance() <= m_min_distance) { + m_min_distance = cp.getDistance(); + + CollisionObjectBullet *colObj; + if (m_self_object == colObj0Wrap->getCollisionObject()) { + colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer()); + m_result->shape = cp.m_index1; + B_TO_G(cp.getPositionWorldOnB(), m_result->point); + m_rest_info_bt_point = cp.getPositionWorldOnB(); + m_rest_info_collision_object = colObj1Wrap->getCollisionObject(); + } else { + colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer()); + m_result->shape = cp.m_index0; + B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal); + m_rest_info_bt_point = cp.getPositionWorldOnA(); + 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->rid = colObj->get_self(); + + m_collided = true; + } + + return cp.getDistance(); +} + +bool GodotRecoverAndClosestContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + 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); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (gObj == m_self_object) { + return false; + } else { + if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + return false; + } else if (m_self_object->has_collision_exception(gObj)) { + return false; + } + } + return true; + } else { + return false; + } +} + +btScalar GodotRecoverAndClosestContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (cp.getDistance() < -MAX_PENETRATION_DEPTH) { + if (m_most_penetrated_distance > cp.getDistance()) { + m_most_penetrated_distance = cp.getDistance(); + + // take other object + btScalar sign(1); + if (m_self_object == colObj0Wrap->getCollisionObject()->getUserPointer()) { + m_pointCollisionObject = colObj1Wrap->getCollisionObject(); + m_other_compound_shape_index = cp.m_index1; + } else { + m_pointCollisionObject = colObj0Wrap->getCollisionObject(); + sign = -1; + m_other_compound_shape_index = cp.m_index0; + } + + m_pointNormalWorld = cp.m_normalWorldOnB * sign; + m_pointWorld = cp.getPositionWorldOnB(); + m_penetration_distance = cp.getDistance(); + + m_recover_penetration -= cp.m_normalWorldOnB * sign * (cp.getDistance() + MAX_PENETRATION_DEPTH); + } + } + return 1; +} |