ec9fed69f4
Same thing that was already done in 2D, applies moving platform motion by using a call to move_and_collide that excludes the platform itself, instead of making it part of the body motion. Helps with handling walls and slopes correctly when the character walks on the moving platform. Also made some minor adjustments to the 2D version and documentation. Co-authored-by: fabriceci <fabricecipolla@gmail.com>
347 lines
12 KiB
C++
347 lines
12 KiB
C++
/*************************************************************************/
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/* godot_result_callbacks.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "godot_result_callbacks.h"
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#include "area_bullet.h"
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#include "bullet_types_converter.h"
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#include "collision_object_bullet.h"
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#include "rigid_body_bullet.h"
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#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
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/**
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@author AndreaCatania
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*/
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bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) {
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btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
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}
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return true;
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}
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bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
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return (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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}
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bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas) {
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return false;
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}
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} else {
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if (!collide_with_bodies) {
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return false;
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}
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}
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if (m_pickRay && !gObj->is_ray_pickable()) {
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (count >= m_resultMax) {
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return false;
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}
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
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if (count >= m_resultMax) {
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return 1; // not used by bullet
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}
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
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PhysicsDirectSpaceState3D::ShapeResult &result = m_results[count];
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result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID
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result.rid = gObj->get_self();
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result.collider_id = gObj->get_instance_id();
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result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id);
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++count;
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return 1; // not used by bullet
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}
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bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (gObj == m_self_object) {
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return false;
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} else {
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// A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite
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if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) {
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return false;
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}
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if (gObj->getType() == CollisionObjectBullet::TYPE_AREA) {
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return false;
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}
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if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object)) {
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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}
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return true;
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} else {
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return false;
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}
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}
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bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas) {
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return false;
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}
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} else {
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if (!collide_with_bodies) {
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return false;
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}
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
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if (convexResult.m_localShapeInfo) {
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m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is an odd name but contains the compound shape ID
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} else {
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m_shapeId = 0;
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}
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return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
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}
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bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (m_count >= m_resultMax) {
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return false;
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}
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas) {
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return false;
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}
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} else {
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if (!collide_with_bodies) {
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return false;
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}
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (m_count >= m_resultMax) {
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return cp.getDistance();
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}
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if (cp.getDistance() <= 0) {
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PhysicsDirectSpaceState3D::ShapeResult &result = m_results[m_count];
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// Penetrated
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CollisionObjectBullet *colObj;
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if (m_self_object == colObj0Wrap->getCollisionObject()) {
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colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
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result.shape = cp.m_index1;
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} else {
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colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
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result.shape = cp.m_index0;
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}
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result.collider_id = colObj->get_instance_id();
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result.collider = result.collider_id.is_null() ? nullptr : ObjectDB::get_instance(result.collider_id);
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result.rid = colObj->get_self();
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++m_count;
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}
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return cp.getDistance();
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}
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bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (m_count >= m_resultMax) {
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return false;
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}
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas) {
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return false;
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}
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} else {
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if (!collide_with_bodies) {
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return false;
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}
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (m_count >= m_resultMax) {
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return 1; // not used by bullet
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}
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if (m_self_object == colObj0Wrap->getCollisionObject()) {
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B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
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B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]);
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} else {
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B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact
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B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]);
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}
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++m_count;
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return 1; // Not used by bullet
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}
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bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (proxy0->m_collisionFilterGroup & m_collisionFilterMask) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas) {
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return false;
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}
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} else {
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if (!collide_with_bodies) {
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return false;
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}
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (cp.getDistance() <= m_min_distance) {
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m_min_distance = cp.getDistance();
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CollisionObjectBullet *colObj;
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if (m_self_object == colObj0Wrap->getCollisionObject()) {
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colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
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m_result->shape = cp.m_index1;
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B_TO_G(cp.getPositionWorldOnB(), m_result->point);
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B_TO_G(cp.m_normalWorldOnB, m_result->normal);
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m_rest_info_bt_point = cp.getPositionWorldOnB();
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m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
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} else {
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colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
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m_result->shape = cp.m_index0;
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B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
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m_rest_info_bt_point = cp.getPositionWorldOnA();
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m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
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}
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m_result->collider_id = colObj->get_instance_id();
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m_result->rid = colObj->get_self();
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m_collided = true;
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}
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return 1; // Not used by bullet
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}
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void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
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if (m_penetration_distance > depth) { // Has penetration?
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const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
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m_penetration_distance = depth;
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m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
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m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
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m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
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}
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}
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