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);
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();
}
if (colObj)
m_result->collider_id = colObj->get_instance_id();
else
m_result->collider_id = 0;
m_result->rid = colObj->get_self();
m_collided = true;
}
return cp.getDistance();
}
virtual btScalar addSingleResult(btManifoldPoint& cp,
const btCollisionObject* col0, int partId0, int index0,
const btCollisionObject* col1, int partId1, int index1)
{
const RigidBody* body = dynamic_cast<const RigidBody*>(col1);
if(body && body->mName != mFilter)
{
btScalar distsqr = mOrigin.distance2(cp.getPositionWorldOnA());
if(!mObject || distsqr < mLeastDistSqr)
{
mObject = body;
mLeastDistSqr = distsqr;
mContactPoint = cp.getPositionWorldOnA();
}
}
return 0.f;
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(0, 0, 0);
btVector3 ptA = cp.getPositionWorldOnA();
btVector3 ptB = cp.getPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
return 0;
}
void handleVehicleResponse(GameObject* object, btManifoldPoint& mp, bool isA)
{
bool isVehicle = object->type() == GameObject::Vehicle;
if(! isVehicle) return;
if( mp.getAppliedImpulse() <= 100.f ) return;
btVector3 src, dmg;
if(isA) {
src = mp.getPositionWorldOnB();
dmg = mp.getPositionWorldOnA();
}
else {
src = mp.getPositionWorldOnA();
dmg = mp.getPositionWorldOnB();
}
object->takeDamage({
{dmg.x(), dmg.y(), dmg.z()},
{src.x(), src.y(), src.z()},
0.f,
GameObject::DamageInfo::Physics,
mp.getAppliedImpulse()
});
}
bool materialCombinerCallback(btManifoldPoint& cp,
const btCollisionObject* colObj0,
int partId0,
int index0,
const btCollisionObject* colObj1,
int partId1,
int index1)
{
btVector3 impact_point = cp.getPositionWorldOnA();
if (!colObj0->isStaticObject() && colObj0->isActive())
{
osg::Node *n0 = static_cast<osg::Node*>(colObj0->getUserPointer());
osg::Node *n1 = static_cast<osg::Node*>(colObj1->getUserPointer());
std::cout << "Hit at ["<< impact_point.getX() << ", " << impact_point.getY() << ", " << impact_point.getZ() << "] "<< std::endl;
//if (n0 && !n0->getName().empty()) std::cout << " obj0: " << n0->getName() << std::endl;
if (n1 && !n1->getName().empty()) std::cout << " obj1: " << n1->getName() << std::endl;
//std::cout << "Hit between " << static_cast<osg::Node *> (colObj0->getUserPointer())->getName() << " and " << static_cast<osg::Node *> (colObj1->getUserPointer())->getName() << " at ["<< impact_point.getX() << ", " << impact_point.getY() << ", " << impact_point.getZ() << "] "<< std::endl;
}
return false;
}
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("setupMultiBodyContactConstraint");
btVector3 rel_pos1;
btVector3 rel_pos2;
btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
if (bodyA)
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
if (bodyB)
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
relaxation = 1.f;
if (multiBodyA)
{
if (solverConstraint.m_linkA<0)
{
rel_pos1 = pos1 - multiBodyA->getBasePos();
} else
{
rel_pos1 = pos1 - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
}
const int ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
if (solverConstraint.m_deltaVelAindex <0)
{
solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA);
} else
{
btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
}
solverConstraint.m_jacAindex = m_data.m_jacobians.size();
m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA);
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
if(multiBodyA->isMultiDof())
multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
else
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
if(multiBodyA->isMultiDof())
multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
else
multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormal;
} else
{
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormal;
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
}
if (multiBodyB)
{
if (solverConstraint.m_linkB<0)
{
rel_pos2 = pos2 - multiBodyB->getBasePos();
} else
{
rel_pos2 = pos2 - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
}
const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6;
solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
if (solverConstraint.m_deltaVelBindex <0)
{
solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB);
}
solverConstraint.m_jacBindex = m_data.m_jacobians.size();
m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB);
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
if(multiBodyB->isMultiDof())
multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
else
multiBodyB->fillContactJacobian(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
if(multiBodyB->isMultiDof())
multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
else
multiBodyB->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormal;
} else
{
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormal;
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
}
{
btVector3 vec;
btScalar denom0 = 0.f;
btScalar denom1 = 0.f;
btScalar* jacB = 0;
btScalar* jacA = 0;
btScalar* lambdaA =0;
btScalar* lambdaB =0;
int ndofA = 0;
if (multiBodyA)
{
ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6;
jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
} else
{
if (rb0)
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = rb0->getInvMass() + contactNormal.dot(vec);
}
}
if (multiBodyB)
{
const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6;
jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
} else
{
if (rb1)
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + contactNormal.dot(vec);
}
}
btScalar d = denom0+denom1;
if (d>SIMD_EPSILON)
{
solverConstraint.m_jacDiagABInv = relaxation/(d);
} else
{
//disable the constraint row to handle singularity/redundant constraint
solverConstraint.m_jacDiagABInv = 0.f;
}
}
//compute rhs and remaining solverConstraint fields
btScalar restitution = 0.f;
btScalar penetration = isFriction? 0 : cp.getDistance()+infoGlobal.m_linearSlop;
btScalar rel_vel = 0.f;
int ndofA = 0;
int ndofB = 0;
{
btVector3 vel1,vel2;
if (multiBodyA)
{
ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6;
btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA ; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
} else
{
if (rb0)
{
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
}
}
if (multiBodyB)
{
ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6;
btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB ; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
} else
{
if (rb1)
{
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
}
}
solverConstraint.m_friction = cp.m_combinedFriction;
if(!isFriction)
{
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (restitution <= btScalar(0.))
{
restitution = 0.f;
}
}
}
///warm starting (or zero if disabled)
//disable warmstarting for btMultiBody, it has issues gaining energy (==explosion)
if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
if(multiBodyA->isMultiDof())
multiBodyA->applyDeltaVeeMultiDof(deltaV,impulse);
else
multiBodyA->applyDeltaVee(deltaV,impulse);
applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
} else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
if(multiBodyB->isMultiDof())
multiBodyB->applyDeltaVeeMultiDof(deltaV,impulse);
else
multiBodyB->applyDeltaVee(deltaV,impulse);
applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
} else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
}
}
} else
{
solverConstraint.m_appliedImpulse = 0.f;
}
solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
if (penetration>0)
{
positionalError = 0;
velocityError -= penetration / infoGlobal.m_timeStep;
} else
{
positionalError = -penetration * erp/infoGlobal.m_timeStep;
}
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if(!isFriction)
{
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
} else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
else
{
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
solverConstraint.m_cfm = 0.f; //why not use cfmSlip?
}
}
bool GameWorld::ContactProcessedCallback(btManifoldPoint &mp, void *body0, void *body1)
{
auto obA = static_cast<btCollisionObject*>(body0);
auto obB = static_cast<btCollisionObject*>(body1);
if( !( obA->getUserPointer() && obB->getUserPointer() ) ) {
return false;
}
GameObject* a = static_cast<GameObject*>(obA->getUserPointer());
GameObject* b = static_cast<GameObject*>(obB->getUserPointer());
bool valA = a && a->type() == GameObject::Instance;
bool valB = b && b->type() == GameObject::Instance;
if( ! (valA && valB) && (valB || valA) ) {
// Figure out which is the dynamic instance.
InstanceObject* dynInst = nullptr;
const btRigidBody* instBody = nullptr, * otherBody = nullptr;
btVector3 src, dmg;
if( valA ) {
dynInst = static_cast<InstanceObject*>(a);
instBody = static_cast<const btRigidBody*>(obA);
otherBody = static_cast<const btRigidBody*>(obB);
src = mp.getPositionWorldOnB();
dmg = mp.getPositionWorldOnA();
}
else {
dynInst = static_cast<InstanceObject*>(b);
instBody = static_cast<const btRigidBody*>(obB);
otherBody = static_cast<const btRigidBody*>(obA);
src = mp.getPositionWorldOnA();
dmg = mp.getPositionWorldOnB();
}
if( dynInst->dynamics != nullptr && instBody->isStaticObject() ) {
// Attempt to determine relative velocity.
auto dV = (otherBody->getLinearVelocity());
auto impulse = dV.length()/ (otherBody->getInvMass());
if( dynInst->dynamics->uprootForce <= impulse ) {
dynInst->takeDamage({
{dmg.x(), dmg.y(), dmg.z()},
{src.x(), src.y(), src.z()},
0.f,
GameObject::DamageInfo::Physics,
impulse
});
}
}
}
// Handle vehicles
if(a) handleVehicleResponse(a, mp, true);
if(b) handleVehicleResponse(b, mp, false);
return true;
}
