diff options
Diffstat (limited to 'modules/bullet/godot_result_callbacks.cpp')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.cpp | 92 |
1 files changed, 84 insertions, 8 deletions
diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index 197550d686..0117bb375f 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -30,14 +30,23 @@ #include "godot_result_callbacks.h" +#include "area_bullet.h" #include "bullet_types_converter.h" #include "collision_object_bullet.h" #include "rigid_body_bullet.h" +#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> /** @author AndreaCatania */ +bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) { + btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1); + } + return true; +} + 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; } @@ -51,11 +60,23 @@ bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) co 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())) { + + if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { + if (!collide_with_areas) + return false; + } else { + if (!collide_with_bodies) + return false; + } + + if (m_pickRay && !gObj->is_ray_pickable()) { + return false; + } + + if (m_exclude->has(gObj->get_self())) { return false; } + return true; } else { return false; @@ -81,6 +102,9 @@ bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) con } btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { + if (count >= m_resultMax) + return 1; // not used by bullet + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer()); PhysicsDirectSpaceState::ShapeResult &result = m_results[count]; @@ -124,6 +148,15 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + + if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { + if (!collide_with_areas) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -134,16 +167,30 @@ bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) } btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { - btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); - m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID - return res; + if (convexResult.m_localShapeInfo) + m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + else + m_shapeId = 0; + return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); } bool GodotAllContactResultCallback::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); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + + if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { + if (!collide_with_areas) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -189,6 +236,15 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + + if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { + if (!collide_with_areas) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -199,6 +255,8 @@ bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *pr } btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + if (m_count >= m_resultMax) + return 1; // not used by bullet if (m_self_object == colObj0Wrap->getCollisionObject()) { B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact @@ -218,6 +276,15 @@ bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy if (needs) { btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + + if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) { + if (!collide_with_areas) + return false; + } else { + if (!collide_with_bodies) + return false; + } + if (m_exclude->has(gObj->get_self())) { return false; } @@ -260,10 +327,19 @@ void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 if (m_penetration_distance > depth) { // Has penetration? - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + const 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; + + const btCollisionObjectWrapper *bw0 = m_body0Wrap; + if (isSwapped) + bw0 = m_body1Wrap; + + if (bw0->getCollisionShape()->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) { + m_pointNormalWorld = bw0->m_worldTransform.getBasis().transpose() * btVector3(0, 0, 1); + } else { + m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld; + } } } |