Improved ray shape (2D and 3D) by addiing the possibility to act as regular shape

modules/bullet/btRayShape.cpp

@@ -54,6 +54,11 @@ void btRayShape::setLength(btScalar p_length) {
 	reload_cache();
 }
 
+void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
+
+	slipsOnSlope = p_slipsOnSlope;
+}
+
 btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
 	return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
 }

modules/bullet/btRayShape.h

@@ -44,6 +44,7 @@ ATTRIBUTE_ALIGNED16(class)
 btRayShape : public btConvexInternalShape {
 
 	btScalar m_length;
+	bool slipsOnSlope;
 	/// The default axis is the z
 	btVector3 m_shapeAxis;
 
@@ -59,6 +60,9 @@ public:
 	void setLength(btScalar p_length);
 	btScalar getLength() const { return m_length; }
 
+	void setSlipsOnSlope(bool p_slipOnSlope);
+	bool getSlipsOnSlope() const { return slipsOnSlope; }
+
 	const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
 	const btScalar &getScaledLength() const { return m_cacheScaledLength; }
 

modules/bullet/godot_ray_world_algorithm.cpp

@@ -100,14 +100,16 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo
 
 	if (btResult.hasHit()) {
 
-		btVector3 ray_normal(ray_transform.getOrigin() - to.getOrigin());
-		ray_normal.normalize();
 		btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1));
 
 		if (depth >= -RAY_STABILITY_MARGIN)
 			depth = 0;
 
-		resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, depth);
+		if (ray_shape->getSlipsOnSlope())
+			resultOut->addContactPoint(btResult.m_hitNormalWorld, btResult.m_hitPointWorld, depth);
+		else {
+			resultOut->addContactPoint((ray_transform.getOrigin() - to.getOrigin()).normalize(), btResult.m_hitPointWorld, depth);
+		}
 	}
 }
 

modules/bullet/shape_bullet.cpp

@@ -135,8 +135,10 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
 	return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges));
 }
 
-btRayShape *ShapeBullet::create_shape_ray(real_t p_length) {
-	return bulletnew(btRayShape(p_length));
+btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
+	btRayShape *r(bulletnew(btRayShape(p_length)));
+	r->setSlipsOnSlope(p_slips_on_slope);
+	return r;
 }
 
 /* PLANE */
@@ -435,25 +437,33 @@ btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_impli
 /* Ray shape */
 RayShapeBullet::RayShapeBullet() :
 		ShapeBullet(),
-		length(1) {}
+		length(1),
+		slips_on_slope(false) {}
 
 void RayShapeBullet::set_data(const Variant &p_data) {
-	setup(p_data);
+
+	Dictionary d = p_data;
+	setup(d["length"], d["slips_on_slope"]);
 }
 
 Variant RayShapeBullet::get_data() const {
-	return length;
+
+	Dictionary d;
+	d["length"] = length;
+	d["slips_on_slope"] = slips_on_slope;
+	return d;
 }
 
 PhysicsServer::ShapeType RayShapeBullet::get_type() const {
 	return PhysicsServer::SHAPE_RAY;
 }
 
-void RayShapeBullet::setup(real_t p_length) {
+void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
 	length = p_length;
+	slips_on_slope = p_slips_on_slope;
 	notifyShapeChanged();
 }
 
 btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
-	return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin));
+	return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin, slips_on_slope));
 }

modules/bullet/shape_bullet.h

@@ -86,7 +86,7 @@ public:
 	static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
 	static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
 	static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
-	static class btRayShape *create_shape_ray(real_t p_length);
+	static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
 };
 
 class PlaneShapeBullet : public ShapeBullet {
@@ -216,6 +216,7 @@ class RayShapeBullet : public ShapeBullet {
 
 public:
 	real_t length;
+	bool slips_on_slope;
 
 	RayShapeBullet();
 
@@ -225,6 +226,6 @@ public:
 	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
 
 private:
-	void setup(real_t p_length);
+	void setup(real_t p_length, bool p_slips_on_slope);
 };
 #endif