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/*************************************************************************/
/* 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;
}
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