godot/modules/bullet/godot_result_callbacks.cpp
Rémi Verschelde a7f49ac9a1 Update copyright statements to 2020
Happy new year to the wonderful Godot community!

We're starting a new decade with a well-established, non-profit, free
and open source game engine, and tons of further improvements in the
pipeline from hundreds of contributors.

Godot will keep getting better, and we're looking forward to all the
games that the community will keep developing and releasing with it.
2020-01-01 11:16:22 +01:00

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/*************************************************************************/
/* godot_result_callbacks.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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_result_callbacks.h"
#include "area_bullet.h"
#include "bullet_types_converter.h"
#include "collision_object_bullet.h"
#include "rigid_body_bullet.h"
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
/**
@author AndreaCatania
*/
bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) {
btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
}
return true;
}
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) {
return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
}
bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask);
}
bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
if (m_pickRay && !gObj->is_ray_pickable()) {
return false;
}
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
if (count >= m_resultMax)
return false;
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
if (count >= m_resultMax)
return 1; // not used by bullet
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
result.rid = gObj->get_self();
result.collider_id = gObj->get_instance_id();
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
++count;
return 1; // not used by bullet
}
bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (gObj == m_self_object) {
return false;
} else {
// A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite
if (m_infinite_inertia && !btObj->isStaticOrKinematicObject())
return false;
if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
return false;
if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object))
return false;
}
return true;
} else {
return false;
}
}
bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
if (convexResult.m_localShapeInfo)
m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
else
m_shapeId = 0;
return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
}
bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
if (m_count >= m_resultMax)
return false;
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
if (m_count >= m_resultMax)
return cp.getDistance();
if (cp.getDistance() <= 0) {
PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count];
// Penetrated
CollisionObjectBullet *colObj;
if (m_self_object == colObj0Wrap->getCollisionObject()) {
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
result.shape = cp.m_index1;
} else {
colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
result.shape = cp.m_index0;
}
result.collider_id = colObj->get_instance_id();
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
result.rid = colObj->get_self();
++m_count;
}
return cp.getDistance();
}
bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
if (m_count >= m_resultMax)
return false;
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
if (m_count >= m_resultMax)
return 1; // not used by bullet
if (m_self_object == colObj0Wrap->getCollisionObject()) {
B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]);
} else {
B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact
B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]);
}
++m_count;
return 1; // Not used by bullet
}
bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
if (needs) {
btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
if (cp.getDistance() <= m_min_distance) {
m_min_distance = cp.getDistance();
CollisionObjectBullet *colObj;
if (m_self_object == colObj0Wrap->getCollisionObject()) {
colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
m_result->shape = cp.m_index1;
B_TO_G(cp.getPositionWorldOnB(), m_result->point);
B_TO_G(cp.m_normalWorldOnB, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnB();
m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
} else {
colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
m_result->shape = cp.m_index0;
B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
m_rest_info_bt_point = cp.getPositionWorldOnA();
m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
}
m_result->collider_id = colObj->get_instance_id();
m_result->rid = colObj->get_self();
m_collided = true;
}
return 1; // Not used by bullet
}
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
if (m_penetration_distance > depth) { // Has penetration?
const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
m_penetration_distance = depth;
m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
}
}