fb4871c919
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
292 lines
12 KiB
C++
292 lines
12 KiB
C++
/*************************************************************************/
|
|
/* godot_result_callbacks.cpp */
|
|
/* Author: AndreaCatania */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2017 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 "bullet_types_converter.h"
|
|
#include "collision_object_bullet.h"
|
|
#include "rigid_body_bullet.h"
|
|
|
|
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 (m_pickRay && gObj->is_ray_pickable()) {
|
|
return true;
|
|
} else if (m_exclude->has(gObj->get_self())) {
|
|
return false;
|
|
}
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
bool GodotAllConvexResultCallback::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 (m_exclude->has(gObj->get_self())) {
|
|
return false;
|
|
}
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
|
|
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
|
|
|
|
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
|
|
|
|
result.shape = convexResult.m_localShapeInfo->m_shapePart;
|
|
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 count < m_resultMax;
|
|
}
|
|
|
|
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 {
|
|
if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) {
|
|
return false;
|
|
} else if (m_self_object->has_collision_exception(gObj)) {
|
|
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 (m_exclude->has(gObj->get_self())) {
|
|
return false;
|
|
}
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
|
|
btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
|
|
m_shapePart = convexResult.m_localShapeInfo->m_shapePart;
|
|
return res;
|
|
}
|
|
|
|
bool GodotAllContactResultCallback::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 (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 (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;
|
|
}
|
|
|
|
if (colObj)
|
|
result.collider_id = colObj->get_instance_id();
|
|
else
|
|
result.collider_id = 0;
|
|
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
|
|
result.rid = colObj->get_self();
|
|
++m_count;
|
|
}
|
|
|
|
return m_count < m_resultMax;
|
|
}
|
|
|
|
bool GodotContactPairContactResultCallback::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 (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_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 m_count < m_resultMax;
|
|
}
|
|
|
|
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 (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);
|
|
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();
|
|
}
|
|
|
|
if (colObj)
|
|
m_result->collider_id = colObj->get_instance_id();
|
|
else
|
|
m_result->collider_id = 0;
|
|
m_result->rid = colObj->get_self();
|
|
|
|
m_collided = true;
|
|
}
|
|
|
|
return cp.getDistance();
|
|
}
|
|
|
|
bool GodotRecoverAndClosestContactResultCallback::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 {
|
|
if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) {
|
|
return false;
|
|
} else if (m_self_object->has_collision_exception(gObj)) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
btScalar GodotRecoverAndClosestContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
|
|
|
|
if (cp.getDistance() < -MAX_PENETRATION_DEPTH) {
|
|
if (m_most_penetrated_distance > cp.getDistance()) {
|
|
m_most_penetrated_distance = cp.getDistance();
|
|
|
|
// take other object
|
|
btScalar sign(1);
|
|
if (m_self_object == colObj0Wrap->getCollisionObject()->getUserPointer()) {
|
|
m_pointCollisionObject = colObj1Wrap->getCollisionObject();
|
|
m_other_compound_shape_index = cp.m_index1;
|
|
} else {
|
|
m_pointCollisionObject = colObj0Wrap->getCollisionObject();
|
|
sign = -1;
|
|
m_other_compound_shape_index = cp.m_index0;
|
|
}
|
|
|
|
m_pointNormalWorld = cp.m_normalWorldOnB * sign;
|
|
m_pointWorld = cp.getPositionWorldOnB();
|
|
m_penetration_distance = cp.getDistance();
|
|
|
|
m_recover_penetration -= cp.m_normalWorldOnB * sign * (cp.getDistance() + MAX_PENETRATION_DEPTH);
|
|
}
|
|
}
|
|
return 1;
|
|
}
|