openmw-tes3coop/bullet/cpp_player.cpp

// This file handles player-specific physics and collision detection

// TODO: Later we might handle various physics modes, eg. dynamic
// (full physics), player_walk, player_fall, player_swim, player_float,
// player_levitate, player_ghost. These would be applicable to any
// object (through Monster script), allowing player physics to be used
// on NPCs and creatures.

// Variables used internally in this file. Once we make per-object
// player collision, these will be member variables.
bool g_touchingContact;
btVector3 g_touchingNormal;

// Returns the reflection direction of a ray going 'direction' hitting
// a surface with normal 'normal'
btVector3 reflect (const btVector3& direction, const btVector3& normal)
{ return direction - (btScalar(2.0) * direction.dot(normal)) * normal; }

// Returns the portion of 'direction' that is perpendicular to
// 'normal'
btVector3 perpComponent (const btVector3& direction, const btVector3& normal)
{ return direction - normal * direction.dot(normal); }

btManifoldArray manifoldArray;

// Callback used for collision detection sweep tests. It prevents self
// collision and is used in calls to convexSweepTest().
class ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
{
public:
  ClosestNotMeConvexResultCallback()
    : btCollisionWorld::ClosestConvexResultCallback
      (btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
  {
    m_collisionFilterGroup = g_playerObject->
      getBroadphaseHandle()->m_collisionFilterGroup;

    m_collisionFilterMask = g_playerObject->
      getBroadphaseHandle()->m_collisionFilterMask;
  }

  btScalar addSingleResult(btCollisionWorld::LocalConvexResult&
                           convexResult, bool normalInWorldSpace)
  {
    if (convexResult.m_hitCollisionObject == g_playerObject) return 1.0;

    return ClosestConvexResultCallback::addSingleResult
      (convexResult, normalInWorldSpace);
  }
};

/* Used to step up small steps and slopes. Not done.
void KinematicCharacterController::stepUp (const btCollisionWorld* world)
{
  // phase 1: up
  btVector3 targetPosition = g_playerPosition + btVector3 (btScalar(0.0), m_stepHeight, btScalar(0.0));
  btTransform start, end;

  start.setIdentity ();
  end.setIdentity ();

  // FIXME: Handle penetration properly
  start.setOrigin (g_playerPosition + btVector3(0.0, 0.1, 0.0));
  end.setOrigin (targetPosition);

  ClosestNotMeConvexResultCallback callback (g_playerObject);
  world->convexSweepTest (g_playerShape, start, end, callback);

  if (callback.hasHit())
    {
      // we moved up only a fraction of the step height
      m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
      g_playerPosition.setInterpolate3(g_playerPosition, targetPosition,
                                       callback.m_closestHitFraction);
    }
  else
    {
      m_currentStepOffset = m_stepHeight;
      g_playerPosition = targetPosition;
    }
}
*/

void updateTargetPositionBasedOnCollision (const btVector3& hitNormal,
                                           btVector3 &targetPosition)
{
  btVector3 movementDirection = targetPosition - g_playerPosition;
  btScalar movementLength = movementDirection.length();

  if (movementLength <= SIMD_EPSILON)
    return;

  // Is this needed?
  movementDirection.normalize();

  btVector3 reflectDir = reflect(movementDirection, hitNormal);
  reflectDir.normalize();

  btVector3 perpendicularDir = perpComponent (reflectDir, hitNormal);

  targetPosition = g_playerPosition;
  targetPosition += perpendicularDir * movementLength;
}

// This covers all normal forward movement and collision, including
// walking sideways when hitting a wall at an angle. It does NOT
// handle walking up slopes and steps, or falling/gravity.
void stepForward(btVector3& walkMove)
{
  btVector3 originalDir = walkMove.normalized();

  // If no walking direction is given, we still run the function. This
  // allows moving forces to push the player around even if she is
  // standing still.
  if (walkMove.length() < SIMD_EPSILON)
    originalDir.setValue(0.f,0.f,0.f);

  btTransform start, end;
  btVector3 targetPosition = g_playerPosition + walkMove;
  start.setIdentity ();
  end.setIdentity ();
	
  btScalar fraction = 1.0;
  btScalar distance2 = (g_playerPosition-targetPosition).length2();

  if (g_touchingContact)
    if (originalDir.dot(g_touchingNormal) > btScalar(0.0))
      updateTargetPositionBasedOnCollision (g_touchingNormal, targetPosition);

  int maxIter = 10;

  while (fraction > btScalar(0.01) && maxIter-- > 0)
    {
      start.setOrigin (g_playerPosition);
      end.setOrigin (targetPosition);

      ClosestNotMeConvexResultCallback callback;
      g_dynamicsWorld->convexSweepTest (g_playerShape, start, end, callback);
		
      fraction -= callback.m_closestHitFraction;

      if (callback.hasHit())
        {	
          // We moved only a fraction
          btScalar hitDistance = (callback.m_hitPointWorld - g_playerPosition).length();
          // If the distance is further than the collision margin,
          // move
          if (hitDistance > 0.05)
            g_playerPosition.setInterpolate3(g_playerPosition, targetPosition,
                                             callback.m_closestHitFraction);

          updateTargetPositionBasedOnCollision(callback.m_hitNormalWorld,
                                               targetPosition);
          btVector3 currentDir = targetPosition - g_playerPosition;
          distance2 = currentDir.length2();

          if (distance2 <= SIMD_EPSILON)
            break;

          currentDir.normalize();

          if (currentDir.dot(originalDir) <= btScalar(0.0))
            break;
        }
      else
        // we moved the whole way
        g_playerPosition = targetPosition;
    }
}

/* Not done. Will handle gravity, falling, sliding, etc.
void KinematicCharacterController::stepDown (const btCollisionWorld* g_dynamicsWorld, btScalar dt)
{
  btTransform start, end;

  // phase 3: down
  btVector3 step_drop = btVector3(btScalar(0.0), m_currentStepOffset, btScalar(0.0));
  btVector3 gravity_drop = btVector3(btScalar(0.0), m_stepHeight, btScalar(0.0));
  targetPosition -= (step_drop + gravity_drop);

  start.setIdentity ();
  end.setIdentity ();

  start.setOrigin (g_playerPosition);
  end.setOrigin (targetPosition);

  ClosestNotMeConvexResultCallback callback (g_playerObject);
  g_dynamicsWorld->convexSweepTest (g_playerShape, start, end, callback);

  if (callback.hasHit())
    {
      // we dropped a fraction of the height -> hit floor
      g_playerPosition.setInterpolate3 (g_playerPosition, targetPosition, callback.m_closestHitFraction);
    } else {
      // we dropped the full height
		
      g_playerPosition = targetPosition;
    }
}
*/

// Check if the player currently collides with anything, and adjust
// its position accordingly. Returns true if collisions were found.
bool recoverFromPenetration()
{
  bool penetration = false;

  // Update the collision pair cache
  g_dispatcher->dispatchAllCollisionPairs(g_pairCache,
                                          g_dynamicsWorld->getDispatchInfo(),
                                          g_dispatcher);

  g_playerPosition = g_playerObject->getWorldTransform().getOrigin();
	
  btScalar maxPen = 0.0;
  for (int i = 0; i < g_pairCache->getNumOverlappingPairs(); i++)
    {
      manifoldArray.resize(0);

      btBroadphasePair* collisionPair = &g_pairCache->getOverlappingPairArray()[i];
      // Get the contact points
      if (collisionPair->m_algorithm)
        collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);

      // And handle them
      for (int j=0;j<manifoldArray.size();j++)
        {
          btPersistentManifold* manifold = manifoldArray[j];
          btScalar directionSign = manifold->getBody0() ==
            g_playerObject ? btScalar(-1.0) : btScalar(1.0);

          for (int p=0;p<manifold->getNumContacts();p++)
            {
              const btManifoldPoint &pt = manifold->getContactPoint(p);

              if (pt.getDistance() < 0.0)
                {
                  // Pick out the maximum penetration normal and store
                  // it
                  if (pt.getDistance() < maxPen)
                    {
                      maxPen = pt.getDistance();
                      g_touchingNormal = pt.m_normalWorldOnB * directionSign;//??

                    }
                  g_playerPosition += pt.m_normalWorldOnB * directionSign *
                    pt.getDistance() * btScalar(0.2);

                  penetration = true;
                }
            }
        }
    }

  btTransform newTrans = g_playerObject->getWorldTransform();
  newTrans.setOrigin(g_playerPosition);
  g_playerObject->setWorldTransform(newTrans);

  return penetration;
}

// Callback called at the end of each simulation cycle. This is the
// main function is responsible for player movement.
void playerStepCallback(btDynamicsWorld* dynamicsWorld, btScalar timeStep)
{
  // Before moving, recover from current penetrations

  int numPenetrationLoops = 0;
  g_touchingContact = false;
  while (recoverFromPenetration())
    {
      numPenetrationLoops++;
      g_touchingContact = true;

      // Make sure we don't stay here indefinitely
      if (numPenetrationLoops > 4)
        break;
    }

  // Get the player position
  btTransform xform;
  xform = g_playerObject->getWorldTransform ();
  g_playerPosition = xform.getOrigin();

  // Next, do the walk.

  // TODO: Walking direction should be set from D code, and the final
  // position should be retrieved back from C++. The walking direction
  // always reflects the intentional action of an agent (ie. the
  // player or the AI), but the end result comes from collision and
  // physics.

  btVector3 walkStep = g_walkDirection * timeStep;

  //stepUp();
  stepForward(walkStep);
  //stepDown(dt);

  // Move the player (but keep rotation)
  xform = g_playerObject->getWorldTransform ();
  xform.setOrigin (g_playerPosition);
  g_playerObject->setWorldTransform (xform);
}