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Diffstat (limited to 'modules/bullet/godot_result_callbacks.h')
| -rw-r--r-- | modules/bullet/godot_result_callbacks.h | 225 |
1 files changed, 0 insertions, 225 deletions
diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h deleted file mode 100644 index dd64762529..0000000000 --- a/modules/bullet/godot_result_callbacks.h +++ /dev/null @@ -1,225 +0,0 @@ -/*************************************************************************/ -/* godot_result_callbacks.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 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. */ -/*************************************************************************/ - -#ifndef GODOT_RESULT_CALLBACKS_H -#define GODOT_RESULT_CALLBACKS_H - -#include "servers/physics_server_3d.h" - -#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h> -#include <btBulletDynamicsCommon.h> - -class RigidBodyBullet; - -/// This callback is injected inside bullet server and allow me to smooth contacts against trimesh -bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); - -/// This class is required to implement custom collision behaviour in the broadphase -struct GodotFilterCallback : public btOverlapFilterCallback { - // return true when pairs need collision - virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const; -}; - -/// It performs an additional check allow exclusions. -struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback { - const Set<RID> *m_exclude; - bool m_pickRay = false; - int m_shapeId = 0; - - bool collide_with_bodies = false; - bool collide_with_areas = false; - -public: - GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : - btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), - m_exclude(p_exclude), - collide_with_bodies(p_collide_with_bodies), - collide_with_areas(p_collide_with_areas) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; - - virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) { - // Triangle index is an odd name but contains the compound shape ID. - // A shape part of -1 indicates the index is a shape index and not a triangle index. - if (rayResult.m_localShapeInfo && rayResult.m_localShapeInfo->m_shapePart == -1) { - m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; - } else { - m_shapeId = 0; - } - return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace); - } -}; - -// store all colliding object -struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback { -public: - PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; - int m_resultMax = 0; - const Set<RID> *m_exclude; - int count = 0; - - GodotAllConvexResultCallback(PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) : - m_results(p_results), - m_resultMax(p_resultMax), - m_exclude(p_exclude) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; - - virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace); -}; - -struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { -public: - const RigidBodyBullet *m_self_object; - const Set<RID> *m_exclude; - const bool m_infinite_inertia; - - GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia, const Set<RID> *p_exclude) : - btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), - m_self_object(p_self_object), - m_exclude(p_exclude), - m_infinite_inertia(p_infinite_inertia) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; -}; - -struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { -public: - const Set<RID> *m_exclude; - int m_shapeId = 0; - - bool collide_with_bodies = false; - bool collide_with_areas = false; - - GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : - btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), - m_exclude(p_exclude), - collide_with_bodies(p_collide_with_bodies), - collide_with_areas(p_collide_with_areas) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; - - virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace); -}; - -struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback { -public: - const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeResult *m_results = nullptr; - int m_resultMax = 0; - const Set<RID> *m_exclude; - int m_count = 0; - - bool collide_with_bodies = false; - bool collide_with_areas = false; - - GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : - m_self_object(p_self_object), - m_results(p_results), - m_resultMax(p_resultMax), - m_exclude(p_exclude), - collide_with_bodies(p_collide_with_bodies), - collide_with_areas(p_collide_with_areas) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; - - virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); -}; - -/// Returns the list of contacts pairs in this order: Local contact, other body contact -struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback { -public: - const btCollisionObject *m_self_object; - Vector3 *m_results = nullptr; - int m_resultMax = 0; - const Set<RID> *m_exclude; - int m_count = 0; - - bool collide_with_bodies = false; - bool collide_with_areas = false; - - 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) : - m_self_object(p_self_object), - m_results(p_results), - m_resultMax(p_resultMax), - m_exclude(p_exclude), - collide_with_bodies(p_collide_with_bodies), - collide_with_areas(p_collide_with_areas) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; - - virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); -}; - -struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback { -public: - const btCollisionObject *m_self_object; - PhysicsDirectSpaceState3D::ShapeRestInfo *m_result = nullptr; - const Set<RID> *m_exclude; - bool m_collided = false; - real_t m_min_distance = 0.0; - const btCollisionObject *m_rest_info_collision_object = nullptr; - btVector3 m_rest_info_bt_point; - bool collide_with_bodies = false; - bool collide_with_areas = false; - - GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState3D::ShapeRestInfo *p_result, const Set<RID> *p_exclude, bool p_collide_with_bodies, bool p_collide_with_areas) : - m_self_object(p_self_object), - m_result(p_result), - m_exclude(p_exclude), - collide_with_bodies(p_collide_with_bodies), - collide_with_areas(p_collide_with_areas) {} - - virtual bool needsCollision(btBroadphaseProxy *proxy0) const; - - virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); -}; - -struct GodotDeepPenetrationContactResultCallback : public btManifoldResult { - btVector3 m_pointNormalWorld; - btVector3 m_pointWorld; - btScalar m_penetration_distance = 0; - int m_other_compound_shape_index = 0; - - GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) : - btManifoldResult(body0Wrap, body1Wrap) {} - - void reset() { - m_penetration_distance = 0; - } - - bool hasHit() { - return m_penetration_distance < 0; - } - - virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth); -}; - -#endif // GODOT_RESULT_CALLBACKS_H |