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+/*************************************************************************/
+/* godot_result_callbacks.h */
+/* 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. */
+/*************************************************************************/
+
+#ifndef GODOT_RESULT_CALLBACKS_H
+#define GODOT_RESULT_CALLBACKS_H
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "btBulletDynamicsCommon.h"
+#include "servers/physics_server.h"
+
+#define MAX_PENETRATION_DEPTH 0.005
+
+class RigidBodyBullet;
+
+/// This class is required to implement custom collision behaviour in the broadphase
+struct GodotFilterCallback : public btOverlapFilterCallback {
+ static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask);
+
+ // 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;
+
+public:
+ GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude)
+ : btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), m_exclude(p_exclude), m_pickRay(false) {}
+
+ virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
+};
+
+// store all colliding object
+struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
+public:
+ PhysicsDirectSpaceState::ShapeResult *m_results;
+ int m_resultMax;
+ int count;
+ const Set<RID> *m_exclude;
+
+ GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
+ : m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), count(0) {}
+
+ 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 bool m_ignore_areas;
+
+ GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas)
+ : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas) {}
+
+ virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
+};
+
+struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
+public:
+ const Set<RID> *m_exclude;
+ int m_shapePart;
+
+ GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
+ : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}
+
+ 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;
+ PhysicsDirectSpaceState::ShapeResult *m_results;
+ int m_resultMax;
+ int m_count;
+ const Set<RID> *m_exclude;
+
+ GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
+ : m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}
+
+ 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;
+ int m_resultMax;
+ int m_count;
+ const Set<RID> *m_exclude;
+
+ GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude)
+ : m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}
+
+ 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;
+ PhysicsDirectSpaceState::ShapeRestInfo *m_result;
+ bool m_collided;
+ real_t m_min_distance;
+ const btCollisionObject *m_rest_info_collision_object;
+ btVector3 m_rest_info_bt_point;
+ const Set<RID> *m_exclude;
+
+ GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude)
+ : m_self_object(p_self_object), m_result(p_result), m_exclude(p_exclude), m_collided(false), m_min_distance(0) {}
+
+ 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 GodotRecoverAndClosestContactResultCallback : public btCollisionWorld::ContactResultCallback {
+public:
+ btVector3 m_pointNormalWorld;
+ btVector3 m_pointWorld;
+ btScalar m_penetration_distance;
+ int m_other_compound_shape_index;
+ const btCollisionObject *m_pointCollisionObject;
+
+ const RigidBodyBullet *m_self_object;
+ bool m_ignore_areas;
+
+ btScalar m_most_penetrated_distance;
+ btVector3 m_recover_penetration;
+
+ GodotRecoverAndClosestContactResultCallback()
+ : m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(NULL), m_ignore_areas(true), m_most_penetrated_distance(1e20), m_recover_penetration(0, 0, 0) {}
+
+ GodotRecoverAndClosestContactResultCallback(const RigidBodyBullet *p_self_object, bool p_ignore_areas)
+ : m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas), m_most_penetrated_distance(9999999999), m_recover_penetration(0, 0, 0) {}
+
+ void reset() {
+ m_pointCollisionObject = NULL;
+ m_most_penetrated_distance = 1e20;
+ m_recover_penetration.setZero();
+ }
+
+ bool hasHit() {
+ return m_pointCollisionObject;
+ }
+
+ 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);
+};
+
+#endif // GODOT_RESULT_CALLBACKS_H
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