9e57a07fb6
Implementing ragdoll Implementing ragdoll Implementing ragdoll Implementing ragdoll Implementing ragdoll a Implemented implicit hierarchy. Improved Added some physics properties Added bone offset to preserve COM, partially fixed scaling work in progress WIP wip Implemented Joint Gizmos Implemented pin joint joint Implemented all joints
270 lines
12 KiB
C++
270 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) 2007-2018 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2018 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 "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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/**
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@author AndreaCatania
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*/
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bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) {
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return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
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}
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bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
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return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask);
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}
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bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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_pickRay && gObj->is_ray_pickable()) {
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return true;
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} else 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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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
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PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
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result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a 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 = 0 == result.collider_id ? NULL : 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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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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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if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
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return false;
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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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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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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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 GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
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btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
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m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
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return res;
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}
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bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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 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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if (cp.getDistance() <= 0) {
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PhysicsDirectSpaceState::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 = 0 == result.collider_id ? NULL : 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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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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 GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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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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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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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 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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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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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_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
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m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
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}
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}
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