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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.
190 lines
9.0 KiB
C++
190 lines
9.0 KiB
C++
/*************************************************************************/
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/* godot_result_callbacks.h */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 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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#ifndef GODOT_RESULT_CALLBACKS_H
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#define GODOT_RESULT_CALLBACKS_H
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "btBulletDynamicsCommon.h"
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#include "servers/physics_server.h"
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#define MAX_PENETRATION_DEPTH 0.005
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class RigidBodyBullet;
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/// This class is required to implement custom collision behaviour in the broadphase
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struct GodotFilterCallback : public btOverlapFilterCallback {
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static bool 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 true when pairs need collision
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virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
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};
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/// It performs an additional check allow exclusions.
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struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback {
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const Set<RID> *m_exclude;
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bool m_pickRay;
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public:
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GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude)
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: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), m_exclude(p_exclude), m_pickRay(false) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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};
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// store all colliding object
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struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
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public:
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PhysicsDirectSpaceState::ShapeResult *m_results;
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int m_resultMax;
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int count;
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const Set<RID> *m_exclude;
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GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
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: m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), count(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
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};
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struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
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public:
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const RigidBodyBullet *m_self_object;
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const bool m_ignore_areas;
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GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas)
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: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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};
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struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
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public:
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const Set<RID> *m_exclude;
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int m_shapePart;
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GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
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: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
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};
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struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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const btCollisionObject *m_self_object;
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PhysicsDirectSpaceState::ShapeResult *m_results;
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int m_resultMax;
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int m_count;
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const Set<RID> *m_exclude;
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GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
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: m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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/// Returns the list of contacts pairs in this order: Local contact, other body contact
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struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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const btCollisionObject *m_self_object;
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Vector3 *m_results;
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int m_resultMax;
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int m_count;
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const Set<RID> *m_exclude;
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GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude)
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: m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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const btCollisionObject *m_self_object;
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PhysicsDirectSpaceState::ShapeRestInfo *m_result;
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bool m_collided;
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real_t m_min_distance;
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const btCollisionObject *m_rest_info_collision_object;
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btVector3 m_rest_info_bt_point;
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const Set<RID> *m_exclude;
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GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude)
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: m_self_object(p_self_object), m_result(p_result), m_exclude(p_exclude), m_collided(false), m_min_distance(0) {}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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struct GodotRecoverAndClosestContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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btVector3 m_pointNormalWorld;
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btVector3 m_pointWorld;
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btScalar m_penetration_distance;
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int m_other_compound_shape_index;
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const btCollisionObject *m_pointCollisionObject;
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const RigidBodyBullet *m_self_object;
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bool m_ignore_areas;
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btScalar m_most_penetrated_distance;
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btVector3 m_recover_penetration;
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GodotRecoverAndClosestContactResultCallback()
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: m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(NULL), m_ignore_areas(true), m_most_penetrated_distance(1e20), m_recover_penetration(0, 0, 0) {}
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GodotRecoverAndClosestContactResultCallback(const RigidBodyBullet *p_self_object, bool p_ignore_areas)
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: m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas), m_most_penetrated_distance(9999999999), m_recover_penetration(0, 0, 0) {}
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void reset() {
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m_pointCollisionObject = NULL;
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m_most_penetrated_distance = 1e20;
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m_recover_penetration.setZero();
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}
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bool hasHit() {
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return m_pointCollisionObject;
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}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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#endif // GODOT_RESULT_CALLBACKS_H
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