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572367552c
`PhysicsDirectSpaceState.get_rest_info()` now provides normals in result Addresses issue 24558
347 lines
14 KiB
C++
347 lines
14 KiB
C++
/*************************************************************************/
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/* godot_result_callbacks.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "godot_result_callbacks.h"
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#include "area_bullet.h"
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#include "bullet_types_converter.h"
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#include "collision_object_bullet.h"
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#include "rigid_body_bullet.h"
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#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
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/**
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@author AndreaCatania
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*/
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bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) {
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btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
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}
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return true;
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}
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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) {
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return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
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}
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bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
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return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask);
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}
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bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas)
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return false;
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} else {
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if (!collide_with_bodies)
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return false;
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}
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if (m_pickRay && !gObj->is_ray_pickable()) {
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (count >= m_resultMax)
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return false;
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
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if (count >= m_resultMax)
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return 1; // not used by bullet
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());
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PhysicsDirectSpaceState::ShapeResult &result = m_results[count];
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result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
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result.rid = gObj->get_self();
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result.collider_id = gObj->get_instance_id();
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result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
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++count;
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return 1; // not used by bullet
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}
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bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (gObj == m_self_object) {
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return false;
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} else {
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// A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite
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if (m_infinite_inertia && !btObj->isStaticOrKinematicObject())
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return false;
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if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
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return false;
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if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object))
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas)
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return false;
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} else {
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if (!collide_with_bodies)
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
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if (convexResult.m_localShapeInfo)
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m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
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else
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m_shapeId = 0;
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return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
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}
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bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (m_count >= m_resultMax)
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return false;
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas)
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return false;
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} else {
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if (!collide_with_bodies)
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (m_count >= m_resultMax)
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return cp.getDistance();
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if (cp.getDistance() <= 0) {
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PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count];
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// Penetrated
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CollisionObjectBullet *colObj;
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if (m_self_object == colObj0Wrap->getCollisionObject()) {
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colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
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result.shape = cp.m_index1;
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} else {
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colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
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result.shape = cp.m_index0;
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}
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result.collider_id = colObj->get_instance_id();
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result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
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result.rid = colObj->get_self();
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++m_count;
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}
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return cp.getDistance();
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}
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bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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if (m_count >= m_resultMax)
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return false;
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas)
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return false;
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} else {
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if (!collide_with_bodies)
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (m_count >= m_resultMax)
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return 1; // not used by bullet
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if (m_self_object == colObj0Wrap->getCollisionObject()) {
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B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
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B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]);
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} else {
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B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact
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B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]);
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}
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++m_count;
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return 1; // Not used by bullet
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}
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bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
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if (!collide_with_areas)
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return false;
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} else {
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if (!collide_with_bodies)
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return false;
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}
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if (m_exclude->has(gObj->get_self())) {
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return false;
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (cp.getDistance() <= m_min_distance) {
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m_min_distance = cp.getDistance();
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CollisionObjectBullet *colObj;
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if (m_self_object == colObj0Wrap->getCollisionObject()) {
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colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
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m_result->shape = cp.m_index1;
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B_TO_G(cp.getPositionWorldOnB(), m_result->point);
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B_TO_G(cp.m_normalWorldOnB, m_result->normal);
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m_rest_info_bt_point = cp.getPositionWorldOnB();
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m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
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} else {
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colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
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m_result->shape = cp.m_index0;
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B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
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m_rest_info_bt_point = cp.getPositionWorldOnA();
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m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
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}
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m_result->collider_id = colObj->get_instance_id();
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m_result->rid = colObj->get_self();
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m_collided = true;
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}
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return 1; // Not used by bullet
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}
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void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {
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if (m_penetration_distance > depth) { // Has penetration?
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const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
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m_penetration_distance = depth;
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m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
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m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;
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const btCollisionObjectWrapper *bw0 = m_body0Wrap;
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if (isSwapped)
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bw0 = m_body1Wrap;
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if (bw0->getCollisionShape()->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
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m_pointNormalWorld = bw0->m_worldTransform.getBasis().transpose() * btVector3(0, 0, 1);
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} else {
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m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
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}
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}
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}
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