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godot/modules/bullet/godot_result_callbacks.cpp

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Bullet physics engine implementation 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.
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/*************************************************************************/
/* godot_result_callbacks.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-05 07:50:27 +08:00
/* https://godotengine.org */
Bullet physics engine implementation 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.
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/*************************************************************************/
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 18:16:22 +08:00
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
Bullet physics engine implementation 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.
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/* */
/* 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"
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-05 07:50:27 +08:00
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
#include "area_bullet.h"
Bullet physics engine implementation 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.
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#include "bullet_types_converter.h"
#include "collision_object_bullet.h"
#include "rigid_body_bullet.h"
Fixing trimesh precision
2018-08-31 15:40:50 +08:00
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-05 07:50:27 +08:00
/**
@author AndreaCatania
*/
Fixing trimesh precision
2018-08-31 15:40:50 +08:00
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;
}
Bullet physics engine implementation 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.
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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) {
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());
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
Bullet picking will now ignore objects without input_ray_pickable
2018-08-20 04:14:12 +08:00
if (m_pickRay && !gObj->is_ray_pickable()) {
return false;
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
}
if (m_exclude->has(gObj->get_self())) {
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
return false;
}
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
Bullet physics engine implementation 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.
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return true;
} else {
return false;
}
}
bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
Corrected physics query max result checking
2018-04-04 17:55:58 +08:00
if (count >= m_resultMax)
return false;
Bullet physics engine implementation 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.
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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;
}
Corrected physics query max result checking
2018-04-04 17:55:58 +08:00
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
return true;
} else {
return false;
}
}
btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
Add more max-checking to physics queries Fixes some out-of-bounds problems when there are more collisions than have been requested for. This extends what has been done in 444b8471a3. Fixes godotengine/godot#23990
2018-11-27 01:15:29 +08:00
if (count >= m_resultMax)
return 1; // not used by bullet
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
Fixed kinematic movement on concave shape
2017-11-19 09:04:49 +08:00
result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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;
Corrected physics query max result checking
2018-04-04 17:55:58 +08:00
return 1; // not used by bullet
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
}
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 {
Improved kinematic body 2D and 3D, Now can move rigid body
2018-02-17 02:06:00 +08:00
// 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)
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
return false;
Improved kinematic body 2D and 3D, Now can move rigid body
2018-02-17 02:06:00 +08:00
Implemented ragdoll 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
2017-10-04 00:49:32 +08:00
if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object))
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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());
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
if (m_exclude->has(gObj->get_self())) {
return false;
}
return true;
} else {
return false;
}
}
btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
Add null check in godot result callback
2018-09-16 22:02:15 +08:00
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);
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
}
bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
Add more max-checking to physics queries Fixes some out-of-bounds problems when there are more collisions than have been requested for. This extends what has been done in 444b8471a3. Fixes godotengine/godot#23990
2018-11-27 01:15:29 +08:00
if (m_count >= m_resultMax)
return false;
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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());
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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) {
Fixed intersect_shape crash, closes #13697
2017-12-23 07:04:53 +08:00
if (m_count >= m_resultMax)
return cp.getDistance();
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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;
}
Removed useless check
2018-04-12 17:37:36 +08:00
result.collider_id = colObj->get_instance_id();
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
result.rid = colObj->get_self();
++m_count;
}
Fixed intersect_shape crash, closes #13697
2017-12-23 07:04:53 +08:00
return cp.getDistance();
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
}
bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
Corrected physics query max result checking
2018-04-04 17:55:58 +08:00
if (m_count >= m_resultMax)
return false;
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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());
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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) {
Add more max-checking to physics queries Fixes some out-of-bounds problems when there are more collisions than have been requested for. This extends what has been done in 444b8471a3. Fixes godotengine/godot#23990
2018-11-27 01:15:29 +08:00
if (m_count >= m_resultMax)
return 1; // not used by bullet
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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;
Corrected physics query max result checking
2018-04-04 17:55:58 +08:00
return 1; // Not used by bullet
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
}
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());
Added ray / shape / point / motion / rest cast exclusion of area and or body
2018-08-21 23:37:51 +08:00
if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
if (!collide_with_areas)
return false;
} else {
if (!collide_with_bodies)
return false;
}
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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);
`GodotRestInfoContactResultCallback::addSingleResult` now returns normal `PhysicsDirectSpaceState.get_rest_info()` now provides normals in result Addresses issue 24558
2018-12-23 10:26:18 +08:00
B_TO_G(cp.m_normalWorldOnB, m_result->normal);
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
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();
}
Removed useless check
2018-04-12 17:37:36 +08:00
m_result->collider_id = colObj->get_instance_id();
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
m_result->rid = colObj->get_self();
m_collided = true;
}
Corrected physics query max result checking
2018-04-04 17:55:58 +08:00
return 1; // Not used by bullet
Bullet physics engine implementation 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.
2017-11-05 03:52:59 +08:00
}
Fixed kinematic movement on concave shape
2017-11-19 09:04:49 +08:00
void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
Fixed kinematic sliding on trimesh
2018-04-04 16:49:10 +08:00
if (m_penetration_distance > depth) { // Has penetration?
Fixed kinematic char sliding
2018-02-26 04:05:14 +08:00
Added ray shape and move_and_slide with snapping on 3D. Added stop_on_slope on 2d part
2018-08-15 01:20:48 +08:00
const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
Fixed kinematic char sliding
2018-02-26 04:05:14 +08:00
m_penetration_distance = depth;
Fixed kinematic sliding on trimesh
2018-04-04 16:49:10 +08:00
m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
Added ray shape and move_and_slide with snapping on 3D. Added stop_on_slope on 2d part
2018-08-15 01:20:48 +08:00
Fix RayShape collision when used with a KinematicBody (Bullet Physics) - Added code handling non-compound collision to recover_from_penetration_ray() which is now needed due to the optimization avoiding the use of compound collisions when only a single collision shape is used. - Removed arbitrary margin applied in the collision algorithm of RayShapes which causes jittered movement. For lack of a better replacement and for lack of any explanation on why it has been introduced, it's now using the shape's margin property instead which is small enough to not show visible jitter. - Tried to get rid of inconsistent uses of the collision margin. - Removed hack from GodotDeepPenetrationContactResultCallback::addContactPoint for RayShape collision as it's no longer needed as the collision algorithm of RayShapes correctly calculates the contact normal for a while now. Fixes #25227.
2019-02-11 08:48:33 +08:00
m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
Fixed kinematic movement on concave shape
2017-11-19 09:04:49 +08:00
}
}
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