Separate MovementSolver
Capostrophic
5 years ago
parent
ca6cce0c7e
commit
19010ec045
@ -0,0 +1,324 @@
|
||||
#include "movementsolver.hpp"
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
|
||||
|
||||
#include <components/esm/loadgmst.hpp>
|
||||
#include <components/misc/convert.hpp>
|
||||
|
||||
#include "../mwbase/world.hpp"
|
||||
#include "../mwbase/environment.hpp"
|
||||
|
||||
#include "../mwmechanics/actorutil.hpp"
|
||||
#include "../mwmechanics/creaturestats.hpp"
|
||||
#include "../mwmechanics/movement.hpp"
|
||||
|
||||
#include "../mwworld/class.hpp"
|
||||
#include "../mwworld/esmstore.hpp"
|
||||
#include "../mwworld/player.hpp"
|
||||
#include "../mwworld/refdata.hpp"
|
||||
|
||||
#include "actor.hpp"
|
||||
#include "collisiontype.hpp"
|
||||
#include "constants.hpp"
|
||||
#include "stepper.hpp"
|
||||
#include "trace.h"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
static bool isActor(const btCollisionObject *obj)
|
||||
{
|
||||
assert(obj);
|
||||
return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
|
||||
}
|
||||
|
||||
template <class Vec3>
|
||||
static bool isWalkableSlope(const Vec3 &normal)
|
||||
{
|
||||
static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
|
||||
return (normal.z() > sMaxSlopeCos);
|
||||
}
|
||||
|
||||
osg::Vec3f MovementSolver::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
|
||||
{
|
||||
osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
|
||||
|
||||
ActorTracer tracer;
|
||||
tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
|
||||
if (tracer.mFraction >= 1.0f)
|
||||
{
|
||||
actor->setOnGround(false);
|
||||
return position;
|
||||
}
|
||||
|
||||
actor->setOnGround(true);
|
||||
|
||||
// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
|
||||
// Required for some broken door destinations in Morrowind.esm, where the spawn point
|
||||
// intersects with other geometry if the actor's base is taken into account
|
||||
btVector3 from = Misc::Convert::toBullet(position);
|
||||
btVector3 to = from - btVector3(0,0,maxHeight);
|
||||
|
||||
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
|
||||
resultCallback1.m_collisionFilterGroup = 0xff;
|
||||
resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
|
||||
|
||||
collisionWorld->rayTest(from, to, resultCallback1);
|
||||
|
||||
if (resultCallback1.hasHit() && ((Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) - tracer.mEndPos + offset).length2() > 35*35
|
||||
|| !isWalkableSlope(tracer.mPlaneNormal)))
|
||||
{
|
||||
actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
|
||||
return Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
|
||||
}
|
||||
|
||||
actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
|
||||
|
||||
return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
|
||||
}
|
||||
|
||||
osg::Vec3f MovementSolver::move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
|
||||
bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
|
||||
std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker)
|
||||
{
|
||||
const ESM::Position& refpos = ptr.getRefData().getPosition();
|
||||
// Early-out for totally static creatures
|
||||
// (Not sure if gravity should still apply?)
|
||||
if (!ptr.getClass().isMobile(ptr))
|
||||
return position;
|
||||
|
||||
// Reset per-frame data
|
||||
physicActor->setWalkingOnWater(false);
|
||||
// Anything to collide with?
|
||||
if(!physicActor->getCollisionMode())
|
||||
{
|
||||
return position + (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
|
||||
osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
|
||||
) * movement * time;
|
||||
}
|
||||
|
||||
const btCollisionObject *colobj = physicActor->getCollisionObject();
|
||||
osg::Vec3f halfExtents = physicActor->getHalfExtents();
|
||||
|
||||
// NOTE: here we don't account for the collision box translation (i.e. physicActor->getPosition() - refpos.pos).
|
||||
// That means the collision shape used for moving this actor is in a different spot than the collision shape
|
||||
// other actors are using to collide against this actor.
|
||||
// While this is strictly speaking wrong, it's needed for MW compatibility.
|
||||
position.z() += halfExtents.z();
|
||||
|
||||
static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fSwimHeightScale")->mValue.getFloat();
|
||||
float swimlevel = waterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
|
||||
|
||||
ActorTracer tracer;
|
||||
|
||||
osg::Vec3f inertia = physicActor->getInertialForce();
|
||||
osg::Vec3f velocity;
|
||||
|
||||
if (position.z() < swimlevel || isFlying)
|
||||
{
|
||||
velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) * osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
|
||||
|
||||
if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
|
||||
|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
|
||||
inertia = velocity;
|
||||
else if (!physicActor->getOnGround() || physicActor->getOnSlope())
|
||||
velocity = velocity + inertia;
|
||||
}
|
||||
|
||||
// dead actors underwater will float to the surface, if the CharacterController tells us to do so
|
||||
if (movement.z() > 0 && ptr.getClass().getCreatureStats(ptr).isDead() && position.z() < swimlevel)
|
||||
velocity = osg::Vec3f(0,0,1) * 25;
|
||||
|
||||
if (ptr.getClass().getMovementSettings(ptr).mPosition[2])
|
||||
{
|
||||
const bool isPlayer = (ptr == MWMechanics::getPlayer());
|
||||
// Advance acrobatics and set flag for GetPCJumping
|
||||
if (isPlayer)
|
||||
{
|
||||
ptr.getClass().skillUsageSucceeded(ptr, ESM::Skill::Acrobatics, 0);
|
||||
MWBase::Environment::get().getWorld()->getPlayer().setJumping(true);
|
||||
}
|
||||
|
||||
// Decrease fatigue
|
||||
if (!isPlayer || !MWBase::Environment::get().getWorld()->getGodModeState())
|
||||
{
|
||||
const MWWorld::Store<ESM::GameSetting> &gmst = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
|
||||
const float fFatigueJumpBase = gmst.find("fFatigueJumpBase")->mValue.getFloat();
|
||||
const float fFatigueJumpMult = gmst.find("fFatigueJumpMult")->mValue.getFloat();
|
||||
const float normalizedEncumbrance = std::min(1.f, ptr.getClass().getNormalizedEncumbrance(ptr));
|
||||
const float fatigueDecrease = fFatigueJumpBase + normalizedEncumbrance * fFatigueJumpMult;
|
||||
MWMechanics::DynamicStat<float> fatigue = ptr.getClass().getCreatureStats(ptr).getFatigue();
|
||||
fatigue.setCurrent(fatigue.getCurrent() - fatigueDecrease);
|
||||
ptr.getClass().getCreatureStats(ptr).setFatigue(fatigue);
|
||||
}
|
||||
ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
|
||||
}
|
||||
|
||||
// Now that we have the effective movement vector, apply wind forces to it
|
||||
if (MWBase::Environment::get().getWorld()->isInStorm())
|
||||
{
|
||||
osg::Vec3f stormDirection = MWBase::Environment::get().getWorld()->getStormDirection();
|
||||
float angleDegrees = osg::RadiansToDegrees(std::acos(stormDirection * velocity / (stormDirection.length() * velocity.length())));
|
||||
static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fStromWalkMult")->mValue.getFloat();
|
||||
velocity *= 1.f-(fStromWalkMult * (angleDegrees/180.f));
|
||||
}
|
||||
|
||||
Stepper stepper(collisionWorld, colobj);
|
||||
osg::Vec3f origVelocity = velocity;
|
||||
osg::Vec3f newPosition = position;
|
||||
/*
|
||||
* A loop to find newPosition using tracer, if successful different from the starting position.
|
||||
* nextpos is the local variable used to find potential newPosition, using velocity and remainingTime
|
||||
* The initial velocity was set earlier (see above).
|
||||
*/
|
||||
float remainingTime = time;
|
||||
for (int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f; ++iterations)
|
||||
{
|
||||
osg::Vec3f nextpos = newPosition + velocity * remainingTime;
|
||||
|
||||
// If not able to fly, don't allow to swim up into the air
|
||||
if(!isFlying && nextpos.z() > swimlevel && newPosition.z() < swimlevel)
|
||||
{
|
||||
const osg::Vec3f down(0,0,-1);
|
||||
velocity = slide(velocity, down);
|
||||
// NOTE: remainingTime is unchanged before the loop continues
|
||||
continue; // velocity updated, calculate nextpos again
|
||||
}
|
||||
|
||||
if((newPosition - nextpos).length2() > 0.0001)
|
||||
{
|
||||
// trace to where character would go if there were no obstructions
|
||||
tracer.doTrace(colobj, newPosition, nextpos, collisionWorld);
|
||||
|
||||
// check for obstructions
|
||||
if(tracer.mFraction >= 1.0f)
|
||||
{
|
||||
newPosition = tracer.mEndPos; // ok to move, so set newPosition
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// The current position and next position are nearly the same, so just exit.
|
||||
// Note: Bullet can trigger an assert in debug modes if the positions
|
||||
// are the same, since that causes it to attempt to normalize a zero
|
||||
// length vector (which can also happen with nearly identical vectors, since
|
||||
// precision can be lost due to any math Bullet does internally). Since we
|
||||
// aren't performing any collision detection, we want to reject the next
|
||||
// position, so that we don't slowly move inside another object.
|
||||
break;
|
||||
}
|
||||
|
||||
// We are touching something.
|
||||
if (tracer.mFraction < 1E-9f)
|
||||
{
|
||||
// Try to separate by backing off slighly to unstuck the solver
|
||||
osg::Vec3f backOff = (newPosition - tracer.mHitPoint) * 1E-2f;
|
||||
newPosition += backOff;
|
||||
}
|
||||
|
||||
// We hit something. Check if we can step up.
|
||||
float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
|
||||
osg::Vec3f oldPosition = newPosition;
|
||||
bool result = false;
|
||||
if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
|
||||
{
|
||||
// Try to step up onto it.
|
||||
// NOTE: stepMove does not allow stepping over, modifies newPosition if successful
|
||||
result = stepper.step(newPosition, velocity*remainingTime, remainingTime);
|
||||
}
|
||||
if (result)
|
||||
{
|
||||
// don't let pure water creatures move out of water after stepMove
|
||||
if (ptr.getClass().isPureWaterCreature(ptr) && newPosition.z() + halfExtents.z() > waterlevel)
|
||||
newPosition = oldPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Can't move this way, try to find another spot along the plane
|
||||
osg::Vec3f newVelocity = slide(velocity, tracer.mPlaneNormal);
|
||||
|
||||
// Do not allow sliding upward if there is gravity.
|
||||
// Stepping will have taken care of that.
|
||||
if(!(newPosition.z() < swimlevel || isFlying))
|
||||
newVelocity.z() = std::min(newVelocity.z(), 0.0f);
|
||||
|
||||
if ((newVelocity-velocity).length2() < 0.01)
|
||||
break;
|
||||
if ((newVelocity * origVelocity) <= 0.f)
|
||||
break; // ^ dot product
|
||||
|
||||
velocity = newVelocity;
|
||||
}
|
||||
}
|
||||
|
||||
bool isOnGround = false;
|
||||
bool isOnSlope = false;
|
||||
if (!(inertia.z() > 0.f) && !(newPosition.z() < swimlevel))
|
||||
{
|
||||
osg::Vec3f from = newPosition;
|
||||
osg::Vec3f to = newPosition - (physicActor->getOnGround() ? osg::Vec3f(0,0,sStepSizeDown + 2*sGroundOffset) : osg::Vec3f(0,0,2*sGroundOffset));
|
||||
tracer.doTrace(colobj, from, to, collisionWorld);
|
||||
if(tracer.mFraction < 1.0f && !isActor(tracer.mHitObject))
|
||||
{
|
||||
const btCollisionObject* standingOn = tracer.mHitObject;
|
||||
PtrHolder* ptrHolder = static_cast<PtrHolder*>(standingOn->getUserPointer());
|
||||
if (ptrHolder)
|
||||
standingCollisionTracker[ptr] = ptrHolder->getPtr();
|
||||
|
||||
if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
|
||||
physicActor->setWalkingOnWater(true);
|
||||
if (!isFlying)
|
||||
newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
|
||||
|
||||
isOnGround = true;
|
||||
|
||||
isOnSlope = !isWalkableSlope(tracer.mPlaneNormal);
|
||||
}
|
||||
else
|
||||
{
|
||||
// standing on actors is not allowed (see above).
|
||||
// in addition to that, apply a sliding effect away from the center of the actor,
|
||||
// so that we do not stay suspended in air indefinitely.
|
||||
if (tracer.mFraction < 1.0f && isActor(tracer.mHitObject))
|
||||
{
|
||||
if (osg::Vec3f(velocity.x(), velocity.y(), 0).length2() < 100.f*100.f)
|
||||
{
|
||||
btVector3 aabbMin, aabbMax;
|
||||
tracer.mHitObject->getCollisionShape()->getAabb(tracer.mHitObject->getWorldTransform(), aabbMin, aabbMax);
|
||||
btVector3 center = (aabbMin + aabbMax) / 2.f;
|
||||
inertia = osg::Vec3f(position.x() - center.x(), position.y() - center.y(), 0);
|
||||
inertia.normalize();
|
||||
inertia *= 100;
|
||||
}
|
||||
}
|
||||
|
||||
isOnGround = false;
|
||||
}
|
||||
}
|
||||
|
||||
if((isOnGround && !isOnSlope) || newPosition.z() < swimlevel || isFlying)
|
||||
physicActor->setInertialForce(osg::Vec3f(0.f, 0.f, 0.f));
|
||||
else
|
||||
{
|
||||
inertia.z() -= time * Constants::GravityConst * Constants::UnitsPerMeter;
|
||||
if (inertia.z() < 0)
|
||||
inertia.z() *= slowFall;
|
||||
if (slowFall < 1.f) {
|
||||
inertia.x() *= slowFall;
|
||||
inertia.y() *= slowFall;
|
||||
}
|
||||
physicActor->setInertialForce(inertia);
|
||||
}
|
||||
physicActor->setOnGround(isOnGround);
|
||||
physicActor->setOnSlope(isOnSlope);
|
||||
|
||||
newPosition.z() -= halfExtents.z(); // remove what was added at the beginning
|
||||
return newPosition;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,40 @@
|
||||
#ifndef OPENMW_MWPHYSICS_MOVEMENTSOLVER_H
|
||||
#define OPENMW_MWPHYSICS_MOVEMENTSOLVER_H
|
||||
|
||||
#include <map>
|
||||
|
||||
#include <osg/Vec3f>
|
||||
|
||||
#include "../mwworld/ptr.hpp"
|
||||
|
||||
class btCollisionWorld;
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
class Actor;
|
||||
|
||||
class MovementSolver
|
||||
{
|
||||
private:
|
||||
///Project a vector u on another vector v
|
||||
static inline osg::Vec3f project(const osg::Vec3f& u, const osg::Vec3f &v)
|
||||
{
|
||||
return v * (u * v);
|
||||
// ^ dot product
|
||||
}
|
||||
|
||||
///Helper for computing the character sliding
|
||||
static inline osg::Vec3f slide(const osg::Vec3f& direction, const osg::Vec3f &planeNormal)
|
||||
{
|
||||
return direction - project(direction, planeNormal);
|
||||
}
|
||||
|
||||
public:
|
||||
static osg::Vec3f traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight);
|
||||
static osg::Vec3f move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
|
||||
bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
|
||||
std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker);
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue