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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;
}
}
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