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@ -29,12 +29,10 @@
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#include "../mwbase/environment.hpp"
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#include "../mwmechanics/creaturestats.hpp"
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#include "../mwmechanics/movement.hpp"
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#include "../mwmechanics/actorutil.hpp"
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#include "../mwworld/esmstore.hpp"
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#include "../mwworld/cellstore.hpp"
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#include "../mwworld/player.hpp"
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#include "../mwrender/bulletdebugdraw.hpp"
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@ -46,487 +44,14 @@
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#include "object.hpp"
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#include "heightfield.hpp"
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#include "hasspherecollisioncallback.hpp"
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#include "deepestnotmecontacttestresultcallback.hpp"
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#include "closestnotmerayresultcallback.hpp"
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#include "contacttestresultcallback.hpp"
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#include "constants.hpp"
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#include "movementsolver.hpp"
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namespace MWPhysics
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{
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static const float sStepSizeDown = 62.0f;
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static const float sMinStep = 10.f;
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static const float sGroundOffset = 1.0f;
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// Arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
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static const int sMaxIterations = 8;
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static bool isActor(const btCollisionObject *obj)
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{
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assert(obj);
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return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
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}
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template <class Vec3>
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static bool isWalkableSlope(const Vec3 &normal)
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{
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static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
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return (normal.z() > sMaxSlopeCos);
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}
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static bool canStepDown(const ActorTracer &stepper)
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{
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return stepper.mHitObject && isWalkableSlope(stepper.mPlaneNormal) && !isActor(stepper.mHitObject);
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}
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class Stepper
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{
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private:
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const btCollisionWorld *mColWorld;
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const btCollisionObject *mColObj;
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ActorTracer mTracer, mUpStepper, mDownStepper;
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bool mHaveMoved;
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public:
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Stepper(const btCollisionWorld *colWorld, const btCollisionObject *colObj)
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: mColWorld(colWorld)
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, mColObj(colObj)
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, mHaveMoved(true)
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{}
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bool step(osg::Vec3f &position, const osg::Vec3f &toMove, float &remainingTime)
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{
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/*
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* Slide up an incline or set of stairs. Should be called only after a
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* collision detection otherwise unnecessary tracing will be performed.
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*
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* NOTE: with a small change this method can be used to step over an obstacle
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* of height sStepSize.
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*
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* If successful return 'true' and update 'position' to the new possible
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* location and adjust 'remainingTime'.
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*
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* If not successful return 'false'. May fail for these reasons:
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* - can't move directly up from current position
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* - having moved up by between epsilon() and sStepSize, can't move forward
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* - having moved forward by between epsilon() and toMove,
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* = moved down between 0 and just under sStepSize but slope was too steep, or
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* = moved the full sStepSize down (FIXME: this could be a bug)
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*
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*
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*
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* Starting position. Obstacle or stairs with height upto sStepSize in front.
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*
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* +--+ +--+ |XX
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* | | -------> toMove | | +--+XX
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* | | | | |XXXXX
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* | | +--+ | | +--+XXXXX
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* | | |XX| | | |XXXXXXXX
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* +--+ +--+ +--+ +--------
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* ==============================================
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*/
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/*
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* Try moving up sStepSize using stepper.
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* FIXME: does not work in case there is no front obstacle but there is one above
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*
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* +--+ +--+
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* | | | |
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* | | | | |XX
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* | | | | +--+XX
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* | | | | |XXXXX
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* +--+ +--+ +--+ +--+XXXXX
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* |XX| |XXXXXXXX
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* +--+ +--------
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* ==============================================
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*/
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if (mHaveMoved)
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{
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mHaveMoved = false;
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mUpStepper.doTrace(mColObj, position, position+osg::Vec3f(0.0f,0.0f,sStepSizeUp), mColWorld);
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if(mUpStepper.mFraction < std::numeric_limits<float>::epsilon())
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return false; // didn't even move the smallest representable amount
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// (TODO: shouldn't this be larger? Why bother with such a small amount?)
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}
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/*
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* Try moving from the elevated position using tracer.
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*
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* +--+ +--+
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* | | |YY| FIXME: collision with object YY
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* | | +--+
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* | |
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* <------------------->| |
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* +--+ +--+
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* |XX| the moved amount is toMove*tracer.mFraction
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* +--+
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* ==============================================
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*/
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osg::Vec3f tracerPos = mUpStepper.mEndPos;
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mTracer.doTrace(mColObj, tracerPos, tracerPos + toMove, mColWorld);
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if(mTracer.mFraction < std::numeric_limits<float>::epsilon())
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return false; // didn't even move the smallest representable amount
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/*
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* Try moving back down sStepSizeDown using stepper.
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* NOTE: if there is an obstacle below (e.g. stairs), we'll be "stepping up".
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* Below diagram is the case where we "stepped over" an obstacle in front.
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*
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* +--+
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* |YY|
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* +--+ +--+
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* | |
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* | |
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* +--+ | |
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* |XX| | |
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* +--+ +--+
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* ==============================================
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*/
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mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
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if (!canStepDown(mDownStepper))
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{
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// Try again with increased step length
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if (mTracer.mFraction < 1.0f || toMove.length2() > sMinStep*sMinStep)
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return false;
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osg::Vec3f direction = toMove;
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direction.normalize();
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mTracer.doTrace(mColObj, tracerPos, tracerPos + direction*sMinStep, mColWorld);
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if (mTracer.mFraction < 0.001f)
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return false;
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mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
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if (!canStepDown(mDownStepper))
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return false;
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}
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if (mDownStepper.mFraction < 1.0f)
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{
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// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
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// TODO: stepper.mPlaneNormal does not appear to be reliable - needs more testing
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// NOTE: caller's variables 'position' & 'remainingTime' are modified here
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position = mDownStepper.mEndPos;
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remainingTime *= (1.0f-mTracer.mFraction); // remaining time is proportional to remaining distance
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mHaveMoved = true;
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return true;
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}
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return false;
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}
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};
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class MovementSolver
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{
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private:
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///Project a vector u on another vector v
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static inline osg::Vec3f project(const osg::Vec3f& u, const osg::Vec3f &v)
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{
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return v * (u * v);
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// ^ dot product
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}
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///Helper for computing the character sliding
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static inline osg::Vec3f slide(const osg::Vec3f& direction, const osg::Vec3f &planeNormal)
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{
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return direction - project(direction, planeNormal);
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}
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public:
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static osg::Vec3f traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
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{
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osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
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ActorTracer tracer;
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tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
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if(tracer.mFraction >= 1.0f)
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{
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actor->setOnGround(false);
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return position;
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}
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else
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{
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actor->setOnGround(true);
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// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
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// Required for some broken door destinations in Morrowind.esm, where the spawn point
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// intersects with other geometry if the actor's base is taken into account
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btVector3 from = Misc::Convert::toBullet(position);
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btVector3 to = from - btVector3(0,0,maxHeight);
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btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
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resultCallback1.m_collisionFilterGroup = 0xff;
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resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
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collisionWorld->rayTest(from, to, resultCallback1);
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if (resultCallback1.hasHit() &&
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( (Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) - (tracer.mEndPos-offset)).length2() > 35*35
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|| !isWalkableSlope(tracer.mPlaneNormal)))
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{
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actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
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return Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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else
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{
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actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
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}
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return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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}
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static osg::Vec3f move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
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bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
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std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker)
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{
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const ESM::Position& refpos = ptr.getRefData().getPosition();
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// Early-out for totally static creatures
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// (Not sure if gravity should still apply?)
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if (!ptr.getClass().isMobile(ptr))
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return position;
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// Reset per-frame data
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physicActor->setWalkingOnWater(false);
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// Anything to collide with?
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if(!physicActor->getCollisionMode())
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{
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return position + (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
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osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
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) * movement * time;
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}
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const btCollisionObject *colobj = physicActor->getCollisionObject();
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osg::Vec3f halfExtents = physicActor->getHalfExtents();
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// NOTE: here we don't account for the collision box translation (i.e. physicActor->getPosition() - refpos.pos).
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// That means the collision shape used for moving this actor is in a different spot than the collision shape
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// other actors are using to collide against this actor.
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// While this is strictly speaking wrong, it's needed for MW compatibility.
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position.z() += halfExtents.z();
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static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
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.find("fSwimHeightScale")->mValue.getFloat();
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float swimlevel = waterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
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ActorTracer tracer;
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osg::Vec3f inertia = physicActor->getInertialForce();
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osg::Vec3f velocity;
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if(position.z() < swimlevel || isFlying)
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{
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velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
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osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
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}
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else
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{
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velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
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if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
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|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
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inertia = velocity;
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else if (!physicActor->getOnGround() || physicActor->getOnSlope())
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velocity = velocity + inertia;
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}
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// dead actors underwater will float to the surface, if the CharacterController tells us to do so
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if (movement.z() > 0 && ptr.getClass().getCreatureStats(ptr).isDead() && position.z() < swimlevel)
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velocity = osg::Vec3f(0,0,1) * 25;
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if (ptr.getClass().getMovementSettings(ptr).mPosition[2])
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{
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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 && // can't fly
|
|
|
|
|
nextpos.z() > swimlevel && // but about to go above water
|
|
|
|
|
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
|
|
|
|
|
&& tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != CollisionType_Actor)
|
|
|
|
|
{
|
|
|
|
|
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 && tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor)
|
|
|
|
|
{
|
|
|
|
|
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;
|
|
|
|
|
}
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// ---------------------------------------------------------------
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
PhysicsSystem::PhysicsSystem(Resource::ResourceSystem* resourceSystem, osg::ref_ptr<osg::Group> parentNode)
|
|
|
|
|
: mShapeManager(new Resource::BulletShapeManager(resourceSystem->getVFS(), resourceSystem->getSceneManager(), resourceSystem->getNifFileManager()))
|
|
|
|
|
, mResourceSystem(resourceSystem)
|
|
|
|
|
@ -646,54 +171,6 @@ namespace MWPhysics
|
|
|
|
|
return true;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
class DeepestNotMeContactTestResultCallback : public btCollisionWorld::ContactResultCallback
|
|
|
|
|
{
|
|
|
|
|
const btCollisionObject* mMe;
|
|
|
|
|
const std::vector<const btCollisionObject*> mTargets;
|
|
|
|
|
|
|
|
|
|
// Store the real origin, since the shape's origin is its center
|
|
|
|
|
btVector3 mOrigin;
|
|
|
|
|
|
|
|
|
|
public:
|
|
|
|
|
const btCollisionObject *mObject;
|
|
|
|
|
btVector3 mContactPoint;
|
|
|
|
|
btScalar mLeastDistSqr;
|
|
|
|
|
|
|
|
|
|
DeepestNotMeContactTestResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3 &origin)
|
|
|
|
|
: mMe(me), mTargets(targets), mOrigin(origin), mObject(nullptr), mContactPoint(0,0,0),
|
|
|
|
|
mLeastDistSqr(std::numeric_limits<float>::max())
|
|
|
|
|
{ }
|
|
|
|
|
|
|
|
|
|
virtual btScalar addSingleResult(btManifoldPoint& cp,
|
|
|
|
|
const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
|
|
|
|
|
const btCollisionObjectWrapper* col1Wrap,int partId1,int index1)
|
|
|
|
|
{
|
|
|
|
|
const btCollisionObject* collisionObject = col1Wrap->m_collisionObject;
|
|
|
|
|
if (collisionObject != mMe)
|
|
|
|
|
{
|
|
|
|
|
if (!mTargets.empty())
|
|
|
|
|
{
|
|
|
|
|
if ((std::find(mTargets.begin(), mTargets.end(), collisionObject) == mTargets.end()))
|
|
|
|
|
{
|
|
|
|
|
PtrHolder* holder = static_cast<PtrHolder*>(collisionObject->getUserPointer());
|
|
|
|
|
if (holder && !holder->getPtr().isEmpty() && holder->getPtr().getClass().isActor())
|
|
|
|
|
return 0.f;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
btScalar distsqr = mOrigin.distance2(cp.getPositionWorldOnA());
|
|
|
|
|
if(!mObject || distsqr < mLeastDistSqr)
|
|
|
|
|
{
|
|
|
|
|
mObject = collisionObject;
|
|
|
|
|
mLeastDistSqr = distsqr;
|
|
|
|
|
mContactPoint = cp.getPositionWorldOnA();
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
return 0.f;
|
|
|
|
|
}
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
std::pair<MWWorld::Ptr, osg::Vec3f> PhysicsSystem::getHitContact(const MWWorld::ConstPtr& actor,
|
|
|
|
|
const osg::Vec3f &origin,
|
|
|
|
|
const osg::Quat &orient,
|
|
|
|
|
@ -784,35 +261,6 @@ namespace MWPhysics
|
|
|
|
|
return (point - Misc::Convert::toOsg(cb.m_hitPointWorld)).length();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
|
|
|
|
{
|
|
|
|
|
public:
|
|
|
|
|
ClosestNotMeRayResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3& from, const btVector3& to)
|
|
|
|
|
: btCollisionWorld::ClosestRayResultCallback(from, to)
|
|
|
|
|
, mMe(me), mTargets(targets)
|
|
|
|
|
{
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
|
|
|
|
|
{
|
|
|
|
|
if (rayResult.m_collisionObject == mMe)
|
|
|
|
|
return 1.f;
|
|
|
|
|
if (!mTargets.empty())
|
|
|
|
|
{
|
|
|
|
|
if ((std::find(mTargets.begin(), mTargets.end(), rayResult.m_collisionObject) == mTargets.end()))
|
|
|
|
|
{
|
|
|
|
|
PtrHolder* holder = static_cast<PtrHolder*>(rayResult.m_collisionObject->getUserPointer());
|
|
|
|
|
if (holder && !holder->getPtr().isEmpty() && holder->getPtr().getClass().isActor())
|
|
|
|
|
return 1.f;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
|
|
|
|
|
}
|
|
|
|
|
private:
|
|
|
|
|
const btCollisionObject* mMe;
|
|
|
|
|
const std::vector<const btCollisionObject*> mTargets;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
PhysicsSystem::RayResult PhysicsSystem::castRay(const osg::Vec3f &from, const osg::Vec3f &to, const MWWorld::ConstPtr& ignore, std::vector<MWWorld::Ptr> targets, int mask, int group) const
|
|
|
|
|
{
|
|
|
|
|
btVector3 btFrom = Misc::Convert::toBullet(from);
|
|
|
|
|
@ -957,32 +405,6 @@ namespace MWPhysics
|
|
|
|
|
return osg::Vec3f();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
class ContactTestResultCallback : public btCollisionWorld::ContactResultCallback
|
|
|
|
|
{
|
|
|
|
|
public:
|
|
|
|
|
ContactTestResultCallback(const btCollisionObject* testedAgainst)
|
|
|
|
|
: mTestedAgainst(testedAgainst)
|
|
|
|
|
{
|
|
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}
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const btCollisionObject* mTestedAgainst;
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std::vector<MWWorld::Ptr> mResult;
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virtual btScalar addSingleResult(btManifoldPoint& cp,
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const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
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const btCollisionObjectWrapper* col1Wrap,int partId1,int index1)
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{
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const btCollisionObject* collisionObject = col0Wrap->m_collisionObject;
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if (collisionObject == mTestedAgainst)
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collisionObject = col1Wrap->m_collisionObject;
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PtrHolder* holder = static_cast<PtrHolder*>(collisionObject->getUserPointer());
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if (holder)
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mResult.push_back(holder->getPtr());
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return 0.f;
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}
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};
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std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
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{
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btCollisionObject* me = nullptr;
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Bret Curtis
5 years ago
committed by
GitHub