/*************************************************************************/ /* godot_ray_world_algorithm.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 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_ray_world_algorithm.h" #include "btRayShape.h" #include "collision_object_bullet.h" #include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h> /** @author AndreaCatania */ // Epsilon to account for floating point inaccuracies #define RAY_PENETRATION_DEPTH_EPSILON 0.01 GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) : m_world(world) {} GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) : m_world(world) {} GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap), m_world(world), m_manifoldPtr(mf), m_isSwapped(isSwapped) {} GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() { if (m_ownManifold && m_manifoldPtr) { m_dispatcher->releaseManifold(m_manifoldPtr); } } void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { if (!m_manifoldPtr) { if (m_isSwapped) { m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject()); } else { m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()); } m_ownManifold = true; } m_manifoldPtr->clearManifold(); resultOut->setPersistentManifold(m_manifoldPtr); const btRayShape *ray_shape; btTransform ray_transform; const btCollisionObjectWrapper *other_co_wrapper; if (m_isSwapped) { ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape()); ray_transform = body1Wrap->getWorldTransform(); other_co_wrapper = body0Wrap; } else { ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape()); ray_transform = body0Wrap->getWorldTransform(); other_co_wrapper = body1Wrap; } btTransform to(ray_transform * ray_shape->getSupportPoint()); btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin()); m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult); if (btResult.hasHit()) { btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); if (depth > -RAY_PENETRATION_DEPTH_EPSILON) { depth = 0.0; } if (ray_shape->getSlipsOnSlope()) { resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth); } else { resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth); } } } btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { return 1; }