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112 lines
5.1 KiB
C++
112 lines
5.1 KiB
C++
/*************************************************************************/
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/* godot_ray_world_algorithm.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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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_ray_world_algorithm.h"
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#include "btRayShape.h"
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#include "collision_object_bullet.h"
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#include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
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// Epsilon to account for floating point inaccuracies
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#define RAY_PENETRATION_DEPTH_EPSILON 0.01
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GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) :
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m_world(world) {}
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GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) :
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m_world(world) {}
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GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) :
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btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
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m_world(world),
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m_manifoldPtr(mf),
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m_isSwapped(isSwapped) {}
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GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() {
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if (m_ownManifold && m_manifoldPtr) {
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
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if (!m_manifoldPtr) {
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if (m_isSwapped) {
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m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject());
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} else {
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m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
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}
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m_ownManifold = true;
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}
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m_manifoldPtr->clearManifold();
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resultOut->setPersistentManifold(m_manifoldPtr);
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const btRayShape *ray_shape;
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btTransform ray_transform;
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const btCollisionObjectWrapper *other_co_wrapper;
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if (m_isSwapped) {
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ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape());
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ray_transform = body1Wrap->getWorldTransform();
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other_co_wrapper = body0Wrap;
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} else {
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ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape());
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ray_transform = body0Wrap->getWorldTransform();
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other_co_wrapper = body1Wrap;
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}
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btTransform to(ray_transform * ray_shape->getSupportPoint());
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btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin());
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m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult);
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if (btResult.hasHit()) {
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btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
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if (depth > -RAY_PENETRATION_DEPTH_EPSILON) {
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depth = 0.0;
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}
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if (ray_shape->getSlipsOnSlope()) {
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resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
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} else {
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resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
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}
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}
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}
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btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) {
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return 1;
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}
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