godot/modules/bullet/godot_result_callbacks.h

/*************************************************************************/
/*  godot_result_callbacks.h                                             */
/*  Author: AndreaCatania                                                */
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#ifndef GODOT_RESULT_CALLBACKS_H
#define GODOT_RESULT_CALLBACKS_H

#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btBulletDynamicsCommon.h"
#include "servers/physics_server.h"

#define MAX_PENETRATION_DEPTH 0.005

class RigidBodyBullet;

/// This class is required to implement custom collision behaviour in the broadphase
struct GodotFilterCallback : public btOverlapFilterCallback {
	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);

	// return true when pairs need collision
	virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const;
};

/// It performs an additional check allow exclusions.
struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback {
	const Set<RID> *m_exclude;
	bool m_pickRay;

public:
	GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude)
		: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), m_exclude(p_exclude), m_pickRay(false) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
};

// store all colliding object
struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback {
public:
	PhysicsDirectSpaceState::ShapeResult *m_results;
	int m_resultMax;
	int count;
	const Set<RID> *m_exclude;

	GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
		: m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), count(0) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
};

struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
	const RigidBodyBullet *m_self_object;
	const bool m_ignore_areas;

	GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas)
		: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
};

struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback {
public:
	const Set<RID> *m_exclude;
	int m_shapePart;

	GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude)
		: btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace);
};

struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	const btCollisionObject *m_self_object;
	PhysicsDirectSpaceState::ShapeResult *m_results;
	int m_resultMax;
	int m_count;
	const Set<RID> *m_exclude;

	GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude)
		: m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

/// Returns the list of contacts pairs in this order: Local contact, other body contact
struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	const btCollisionObject *m_self_object;
	Vector3 *m_results;
	int m_resultMax;
	int m_count;
	const Set<RID> *m_exclude;

	GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude)
		: m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	const btCollisionObject *m_self_object;
	PhysicsDirectSpaceState::ShapeRestInfo *m_result;
	bool m_collided;
	real_t m_min_distance;
	const btCollisionObject *m_rest_info_collision_object;
	btVector3 m_rest_info_bt_point;
	const Set<RID> *m_exclude;

	GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude)
		: m_self_object(p_self_object), m_result(p_result), m_exclude(p_exclude), m_collided(false), m_min_distance(0) {}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

struct GodotRecoverAndClosestContactResultCallback : public btCollisionWorld::ContactResultCallback {
public:
	btVector3 m_pointNormalWorld;
	btVector3 m_pointWorld;
	btScalar m_penetration_distance;
	int m_other_compound_shape_index;
	const btCollisionObject *m_pointCollisionObject;

	const RigidBodyBullet *m_self_object;
	bool m_ignore_areas;

	btScalar m_most_penetrated_distance;
	btVector3 m_recover_penetration;

	GodotRecoverAndClosestContactResultCallback()
		: 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) {}

	GodotRecoverAndClosestContactResultCallback(const RigidBodyBullet *p_self_object, bool p_ignore_areas)
		: 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) {}

	void reset() {
		m_pointCollisionObject = NULL;
		m_most_penetrated_distance = 1e20;
		m_recover_penetration.setZero();
	}

	bool hasHit() {
		return m_pointCollisionObject;
	}

	virtual bool needsCollision(btBroadphaseProxy *proxy0) const;

	virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
};

#endif // GODOT_RESULT_CALLBACKS_H