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/*************************************************************************/
/* godot_result_callbacks.h */
/*************************************************************************/
/* 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. */
/*************************************************************************/
#ifndef GODOT_RESULT_CALLBACKS_H
#define GODOT_RESULT_CALLBACKS_H
#include "servers/physics_server_3d.h"
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <btBulletDynamicsCommon.h>
/**
@author AndreaCatania
*/
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 {
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 = false;
int m_shapeId = 0;
bool collide_with_bodies;
bool collide_with_areas;
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) {
if (rayResult.m_localShapeInfo) {
m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
} else {
m_shapeId = 0;
}
return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
}
};
// store all colliding object
struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
public:
PhysicsDirectSpaceState3D::ShapeResult *m_results;
int m_resultMax;
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 bool m_infinite_inertia;
GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_infinite_inertia) :
btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld),
m_self_object(p_self_object),
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;
bool collide_with_areas;
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;
int m_resultMax;
const Set<RID> *m_exclude;
int m_count = 0;
bool collide_with_bodies;
bool collide_with_areas;
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;
int m_resultMax;
const Set<RID> *m_exclude;
int m_count = 0;
bool collide_with_bodies;
bool collide_with_areas;
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;
const Set<RID> *m_exclude;
bool m_collided = false;
real_t m_min_distance = 0;
const btCollisionObject *m_rest_info_collision_object;
btVector3 m_rest_info_bt_point;
bool collide_with_bodies;
bool collide_with_areas;
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
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