godot/modules/bullet/godot_result_callbacks.cpp

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/*  godot_result_callbacks.cpp                                           */
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md)    */
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#include "godot_result_callbacks.h"

#include "area_bullet.h"
#include "bullet_types_converter.h"
#include "collision_object_bullet.h"
#include "rigid_body_bullet.h"
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>

/**
	@author AndreaCatania
*/

bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
	if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) {
		btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
	}
	return true;
}

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) {
	return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
}

bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const {
	return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask);
}

bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
			if (!collide_with_areas)
				return false;
		} else {
			if (!collide_with_bodies)
				return false;
		}

		if (m_pickRay && !gObj->is_ray_pickable()) {
			return false;
		}

		if (m_exclude->has(gObj->get_self())) {
			return false;
		}

		return true;
	} else {
		return false;
	}
}

bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	if (count >= m_resultMax)
		return false;

	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
		if (m_exclude->has(gObj->get_self())) {
			return false;
		}

		return true;
	} else {
		return false;
	}
}

btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
	if (count >= m_resultMax)
		return 1; // not used by bullet

	CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer());

	PhysicsDirectSpaceState::ShapeResult &result = m_results[count];

	result.shape = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
	result.rid = gObj->get_self();
	result.collider_id = gObj->get_instance_id();
	result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);

	++count;
	return 1; // not used by bullet
}

bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
		if (gObj == m_self_object) {
			return false;
		} else {

			// A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite
			if (m_infinite_inertia && !btObj->isStaticOrKinematicObject())
				return false;

			if (gObj->getType() == CollisionObjectBullet::TYPE_AREA)
				return false;

			if (m_self_object->has_collision_exception(gObj) || gObj->has_collision_exception(m_self_object))
				return false;
		}
		return true;
	} else {
		return false;
	}
}

bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
			if (!collide_with_areas)
				return false;
		} else {
			if (!collide_with_bodies)
				return false;
		}

		if (m_exclude->has(gObj->get_self())) {
			return false;
		}
		return true;
	} else {
		return false;
	}
}

btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) {
	if (convexResult.m_localShapeInfo)
		m_shapeId = convexResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID
	else
		m_shapeId = 0;
	return btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
}

bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	if (m_count >= m_resultMax)
		return false;

	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
			if (!collide_with_areas)
				return false;
		} else {
			if (!collide_with_bodies)
				return false;
		}

		if (m_exclude->has(gObj->get_self())) {
			return false;
		}
		return true;
	} else {
		return false;
	}
}

btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {

	if (m_count >= m_resultMax)
		return cp.getDistance();

	if (cp.getDistance() <= 0) {

		PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count];
		// Penetrated

		CollisionObjectBullet *colObj;
		if (m_self_object == colObj0Wrap->getCollisionObject()) {
			colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
			result.shape = cp.m_index1;
		} else {
			colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
			result.shape = cp.m_index0;
		}

		result.collider_id = colObj->get_instance_id();
		result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id);
		result.rid = colObj->get_self();
		++m_count;
	}

	return cp.getDistance();
}

bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	if (m_count >= m_resultMax)
		return false;

	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
			if (!collide_with_areas)
				return false;
		} else {
			if (!collide_with_bodies)
				return false;
		}

		if (m_exclude->has(gObj->get_self())) {
			return false;
		}
		return true;
	} else {
		return false;
	}
}

btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
	if (m_count >= m_resultMax)
		return 1; // not used by bullet

	if (m_self_object == colObj0Wrap->getCollisionObject()) {
		B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact
		B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]);
	} else {
		B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact
		B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]);
	}

	++m_count;

	return 1; // Not used by bullet
}

bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
	const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
	if (needs) {
		btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
		CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());

		if (CollisionObjectBullet::TYPE_AREA == gObj->getType()) {
			if (!collide_with_areas)
				return false;
		} else {
			if (!collide_with_bodies)
				return false;
		}

		if (m_exclude->has(gObj->get_self())) {
			return false;
		}
		return true;
	} else {
		return false;
	}
}

btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {

	if (cp.getDistance() <= m_min_distance) {
		m_min_distance = cp.getDistance();

		CollisionObjectBullet *colObj;
		if (m_self_object == colObj0Wrap->getCollisionObject()) {
			colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer());
			m_result->shape = cp.m_index1;
			B_TO_G(cp.getPositionWorldOnB(), m_result->point);
			B_TO_G(cp.m_normalWorldOnB, m_result->normal);
			m_rest_info_bt_point = cp.getPositionWorldOnB();
			m_rest_info_collision_object = colObj1Wrap->getCollisionObject();
		} else {
			colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer());
			m_result->shape = cp.m_index0;
			B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal);
			m_rest_info_bt_point = cp.getPositionWorldOnA();
			m_rest_info_collision_object = colObj0Wrap->getCollisionObject();
		}

		m_result->collider_id = colObj->get_instance_id();
		m_result->rid = colObj->get_self();

		m_collided = true;
	}

	return 1; // Not used by bullet
}

void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) {

	if (m_penetration_distance > depth) { // Has penetration?

		const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
		m_penetration_distance = depth;
		m_other_compound_shape_index = isSwapped ? m_index0 : m_index1;
		m_pointWorld = isSwapped ? (pointInWorldOnB + (normalOnBInWorld * depth)) : pointInWorldOnB;

		const btCollisionObjectWrapper *bw0 = m_body0Wrap;
		if (isSwapped)
			bw0 = m_body1Wrap;

		if (bw0->getCollisionShape()->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) {
			m_pointNormalWorld = bw0->m_worldTransform.getBasis().transpose() * btVector3(0, 0, 1);
		} else {
			m_pointNormalWorld = isSwapped ? normalOnBInWorld * -1 : normalOnBInWorld;
		}
	}
}