Add threshold parameter to collision pick with minimum of 0

interface/src/raypick/CollisionPick.cpp

@@ -391,7 +391,7 @@ PickResultPointer CollisionPick::getEntityIntersection(const CollisionRegion& pi
         return std::make_shared<CollisionPickResult>(pick.toVariantMap(), CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
     }
     
-    auto entityIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_ENTITIES, *pick.shapeInfo, pick.transform);
+    auto entityIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_ENTITIES, *pick.shapeInfo, pick.transform, USER_COLLISION_GROUP_DYNAMIC, pick.threshold);
     filterIntersections(entityIntersections);
     return std::make_shared<CollisionPickResult>(pick, CollisionPickResult::LOAD_STATE_LOADED, entityIntersections, std::vector<ContactTestResult>());
 }
@@ -406,7 +406,7 @@ PickResultPointer CollisionPick::getAvatarIntersection(const CollisionRegion& pi
         return std::make_shared<CollisionPickResult>(pick, CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
     }
     
-    auto avatarIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_AVATARS, *pick.shapeInfo, pick.transform);
+    auto avatarIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_AVATARS, *pick.shapeInfo, pick.transform, USER_COLLISION_GROUP_DYNAMIC, pick.threshold);
     filterIntersections(avatarIntersections);
     return std::make_shared<CollisionPickResult>(pick, CollisionPickResult::LOAD_STATE_LOADED, std::vector<ContactTestResult>(), avatarIntersections);
 }

libraries/physics/src/PhysicsEngine.cpp

@@ -898,11 +898,12 @@ void PhysicsEngine::setShowBulletConstraintLimits(bool value) {
 }
 
 struct AllContactsCallback : public btCollisionWorld::ContactResultCallback {
-    AllContactsCallback(int32_t mask, int32_t group, const ShapeInfo& shapeInfo, const Transform& transform, btCollisionObject* myAvatarCollisionObject) :
+    AllContactsCallback(int32_t mask, int32_t group, const ShapeInfo& shapeInfo, const Transform& transform, btCollisionObject* myAvatarCollisionObject, float threshold) :
         btCollisionWorld::ContactResultCallback(),
         collisionObject(),
         contacts(),
-        myAvatarCollisionObject(myAvatarCollisionObject) {
+        myAvatarCollisionObject(myAvatarCollisionObject),
+        threshold(threshold) {
         const btCollisionShape* collisionShape = ObjectMotionState::getShapeManager()->getShape(shapeInfo);
 
         collisionObject.setCollisionShape(const_cast<btCollisionShape*>(collisionShape));
@@ -924,8 +925,13 @@ struct AllContactsCallback : public btCollisionWorld::ContactResultCallback {
     btCollisionObject collisionObject;
     std::vector<ContactTestResult> contacts;
     btCollisionObject* myAvatarCollisionObject;
+    btScalar threshold;
 
     btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0, int partId0, int index0, const btCollisionObjectWrapper* colObj1, int partId1, int index1) override {
+        if (cp.m_distance1 > -threshold) {
+            return 0;
+        }
+
         const btCollisionObject* otherBody;
         btVector3 penetrationPoint;
         btVector3 otherPenetrationPoint;
@@ -968,14 +974,14 @@ protected:
     }
 };
 
-std::vector<ContactTestResult> PhysicsEngine::contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group) const {
+std::vector<ContactTestResult> PhysicsEngine::contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group, float threshold) const {
     // TODO: Give MyAvatar a motion state so we don't have to do this
     btCollisionObject* myAvatarCollisionObject = nullptr;
     if ((mask & USER_COLLISION_GROUP_MY_AVATAR) && _myAvatarController) {
         myAvatarCollisionObject = _myAvatarController->getCollisionObject();
     }
 
-    auto contactCallback = AllContactsCallback((int32_t)mask, (int32_t)group, regionShapeInfo, regionTransform, myAvatarCollisionObject);
+    auto contactCallback = AllContactsCallback((int32_t)mask, (int32_t)group, regionShapeInfo, regionTransform, myAvatarCollisionObject, threshold);
     _dynamicsWorld->contactTest(&contactCallback.collisionObject, contactCallback);
 
     return contactCallback.contacts;

libraries/physics/src/PhysicsEngine.h

@@ -142,7 +142,7 @@ public:
 
     // Function for getting colliding objects in the world of specified type
     // See PhysicsCollisionGroups.h for mask flags.
-    std::vector<ContactTestResult> contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group = USER_COLLISION_GROUP_DYNAMIC) const;
+    std::vector<ContactTestResult> contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group = USER_COLLISION_GROUP_DYNAMIC, float threshold = 0.0f) const;
 
 private:
     QList<EntityDynamicPointer> removeDynamicsForBody(btRigidBody* body);

libraries/shared/src/RegisteredMetaTypes.h

@@ -254,12 +254,13 @@ public:
 };
 
 /**jsdoc
-* A CollisionPick defines a volume for checking collisions in the physics simulation.
+* A CollisionRegion defines a volume for checking collisions in the physics simulation.
 
-* @typedef {object} CollisionPick
+* @typedef {object} CollisionRegion
 * @property {Shape} shape - The information about the collision region's size and shape.
 * @property {Vec3} position - The position of the collision region, relative to a parent if defined.
 * @property {Quat} orientation - The orientation of the collision region, relative to a parent if defined.
+* @property {float} threshold - The approximate minimum penetration depth for a test object to be considered in contact with the collision region.
 * @property {Uuid} parentID - The ID of the parent, either an avatar, an entity, or an overlay.
 * @property {number} parentJointIndex - The joint of the parent to parent to, for example, the joints on the model of an avatar. (default = 0, no joint)
 * @property {string} joint - If "Mouse," parents the pick to the mouse. If "Head," parents the pick to MyAvatar's head. Otherwise, parents to the joint of the given name on MyAvatar.
@@ -269,6 +270,7 @@ public:
     CollisionRegion() { }
 
     CollisionRegion(const CollisionRegion& collisionRegion) :
+        threshold(collisionRegion.threshold),
         modelURL(collisionRegion.modelURL),
         shapeInfo(std::make_shared<ShapeInfo>()),
         transform(collisionRegion.transform)
@@ -299,6 +301,10 @@ public:
             }
         }
 
+        if (pickVariant["threshold"].isValid()) {
+            threshold = glm::max(0.0f, pickVariant["threshold"].toFloat());
+        }
+
         if (pickVariant["position"].isValid()) {
             transform.setTranslation(vec3FromVariant(pickVariant["position"]));
         }
@@ -317,6 +323,8 @@ public:
 
         collisionRegion["shape"] = shape;
 
+        collisionRegion["threshold"] = threshold;
+
         collisionRegion["position"] = vec3toVariant(transform.getTranslation());
         collisionRegion["orientation"] = quatToVariant(transform.getRotation());
 
@@ -324,13 +332,15 @@ public:
     }
 
     operator bool() const override {
-        return !(glm::any(glm::isnan(transform.getTranslation())) ||
+        return !std::isnan(threshold) &&
+            !(glm::any(glm::isnan(transform.getTranslation())) ||
             glm::any(glm::isnan(transform.getRotation())) ||
             shapeInfo->getType() == SHAPE_TYPE_NONE);
     }
 
     bool operator==(const CollisionRegion& other) const {
-        return glm::all(glm::equal(transform.getTranslation(), other.transform.getTranslation())) &&
+        return threshold == other.threshold &&
+            glm::all(glm::equal(transform.getTranslation(), other.transform.getTranslation())) &&
             glm::all(glm::equal(transform.getRotation(), other.transform.getRotation())) &&
             glm::all(glm::equal(transform.getScale(), other.transform.getScale())) &&
             shapeInfo->getType() == other.shapeInfo->getType() &&
@@ -354,6 +364,7 @@ public:
     // We can't compute the shapeInfo here without loading the model first, so we delegate that responsibility to the owning CollisionPick
     std::shared_ptr<ShapeInfo> shapeInfo = std::make_shared<ShapeInfo>();
     Transform transform;
+    float threshold;
 };
 
 namespace std {