1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
|
/*************************************************************************/
/* godot_result_callbacks.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 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.h"
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <btBulletDynamicsCommon.h>
/**
@author AndreaCatania
*/
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;
int m_shapeId;
public:
GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude) :
btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
m_exclude(p_exclude),
m_pickRay(false),
m_shapeId(0) {}
virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
}
};
// 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_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;
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 GodotDeepPenetrationContactResultCallback : public btManifoldResult {
btVector3 m_pointNormalWorld;
btVector3 m_pointWorld;
btScalar m_penetration_distance;
int m_other_compound_shape_index;
const btCollisionObject *m_pointCollisionObject;
btScalar m_most_penetrated_distance;
GodotDeepPenetrationContactResultCallback(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) :
btManifoldResult(body0Wrap, body1Wrap),
m_pointCollisionObject(NULL),
m_penetration_distance(0),
m_other_compound_shape_index(0),
m_most_penetrated_distance(1e20) {}
void reset() {
m_pointCollisionObject = NULL;
m_most_penetrated_distance = 1e20;
}
bool hasHit() {
return m_pointCollisionObject;
}
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth);
};
#endif // GODOT_RESULT_CALLBACKS_H
|