godot/modules/bullet/godot_ray_world_algorithm.cpp

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/*  godot_ray_world_algorithm.cpp                                        */
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#include "godot_ray_world_algorithm.h"

#include "btRayShape.h"
#include "collision_object_bullet.h"

#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>

/**
	@author AndreaCatania
*/

// Epsilon to account for floating point inaccuracies
#define RAY_PENETRATION_DEPTH_EPSILON 0.01

GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
		m_world(world) {}

GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) :
		m_world(world) {}

GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) :
		btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
		m_world(world),
		m_manifoldPtr(mf),
		m_isSwapped(isSwapped) {}

GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() {
	if (m_ownManifold && m_manifoldPtr) {
		m_dispatcher->releaseManifold(m_manifoldPtr);
	}
}

void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
	if (!m_manifoldPtr) {
		if (m_isSwapped) {
			m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject());
		} else {
			m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
		}
		m_ownManifold = true;
	}
	m_manifoldPtr->clearManifold();
	resultOut->setPersistentManifold(m_manifoldPtr);

	const btRayShape *ray_shape;
	btTransform ray_transform;

	const btCollisionObjectWrapper *other_co_wrapper;

	if (m_isSwapped) {
		ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape());
		ray_transform = body1Wrap->getWorldTransform();

		other_co_wrapper = body0Wrap;
	} else {
		ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape());
		ray_transform = body0Wrap->getWorldTransform();

		other_co_wrapper = body1Wrap;
	}

	btTransform to(ray_transform * ray_shape->getSupportPoint());

	btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin());

	m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);

	if (btResult.hasHit()) {
		btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));

		if (depth > -RAY_PENETRATION_DEPTH_EPSILON) {
			depth = 0.0;
		}

		if (ray_shape->getSlipsOnSlope()) {
			resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
		} else {
			resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
		}
	}
}

btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
	return 1;
}