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Move the movement solver code to mwworld's physics system

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This commit is contained in:
Chris Robinson 2013-02-05 12:45:10 -08:00
parent 0a4568bd11
commit 2c39760bd5
9 changed files with 184 additions and 229 deletions
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2
apps/openmw/CMakeLists.txt
View file

@ -64,7 +64,7 @@ add_openmw_dir (mwclass
add_openmw_dir (mwmechanics
mechanicsmanagerimp stat character creaturestats magiceffects movement actors activators
drawstate spells activespells npcstats aipackage aisequence alchemy aiwander aitravel aifollow
aiescort aiactivate movementsolver
aiescort aiactivate
)
add_openmw_dir (mwbase

1
apps/openmw/mwmechanics/actors.cpp
View file

@ -265,6 +265,7 @@ namespace MWMechanics
Ogre::Vector3 movement = iter->second.update(duration);
mMovement.push_back(std::make_pair(iter->first, movement));
}
MWBase::Environment::get().getWorld()->doPhysics(mMovement, duration);
mMovement.clear();
}

26
apps/openmw/mwmechanics/character.cpp
View file

@ -29,8 +29,6 @@
#include "../mwworld/class.hpp"
#include "movementsolver.hpp"
namespace MWMechanics
{
@ -79,7 +77,6 @@ static void getStateInfo(CharacterState state, std::string *group)
CharacterController::CharacterController(const MWWorld::Ptr &ptr, MWRender::Animation *anim, CharacterState state, bool loop)
: mPtr(ptr), mAnimation(anim), mState(state), mSkipAnim(false)
{
mMovementSolver = new MovementSolver();
if(!mAnimation)
return;
@ -98,7 +95,6 @@ CharacterController::CharacterController(const CharacterController &rhs)
, mCurrentGroup(rhs.mCurrentGroup), mState(rhs.mState)
, mSkipAnim(rhs.mSkipAnim)
{
mMovementSolver = new MovementSolver();
if(!mAnimation)
return;
/* We've been copied. Update the animation with the new controller. */
@ -107,7 +103,6 @@ CharacterController::CharacterController(const CharacterController &rhs)
CharacterController::~CharacterController()
{
delete mMovementSolver;
}
@ -181,21 +176,14 @@ Ogre::Vector3 CharacterController::update(float duration)
}
mSkipAnim = false;
if(duration > 0.0f)
{
const ESM::Position &refpos = mPtr.getRefData().getPosition();
const ESM::Position &refpos = mPtr.getRefData().getPosition();
// Rotates first around z, then y, then x
movement = (Ogre::Quaternion(Ogre::Radian(-refpos.rot[0]), Ogre::Vector3::UNIT_X)*
Ogre::Quaternion(Ogre::Radian(-refpos.rot[1]), Ogre::Vector3::UNIT_Y)*
Ogre::Quaternion(Ogre::Radian(-refpos.rot[2]), Ogre::Vector3::UNIT_Z)) *
movement;
// Rotates first around z, then y, then x
movement = (Ogre::Quaternion(Ogre::Radian(-refpos.rot[0]), Ogre::Vector3::UNIT_X)*
Ogre::Quaternion(Ogre::Radian(-refpos.rot[1]), Ogre::Vector3::UNIT_Y)*
Ogre::Quaternion(Ogre::Radian(-refpos.rot[2]), Ogre::Vector3::UNIT_Z)) *
movement;
Ogre::Vector3 res = mMovementSolver->move(mPtr, movement, duration);
MWBase::Environment::get().getWorld()->moveObject(mPtr, res.x, res.y, res.z);
}
return Ogre::Vector3(0.0f);
return movement;
}

4
apps/openmw/mwmechanics/character.hpp
View file

@ -13,8 +13,6 @@ namespace MWRender
namespace MWMechanics
{
class MovementSolver;
enum CharacterState {
CharState_Idle,
CharState_Idle2,
@ -51,8 +49,6 @@ class CharacterController
CharacterState mState;
bool mSkipAnim;
MovementSolver *mMovementSolver;
protected:
/* Called by the animation whenever a new text key is reached. */
void markerEvent(float time, const std::string &evt);

164
apps/openmw/mwmechanics/movementsolver.cpp
View file

@ -1,164 +0,0 @@
#include "movementsolver.hpp"
#include "libs/openengine/bullet/trace.h"
#include "libs/openengine/bullet/physic.hpp"
#include "../mwworld/ptr.hpp"
#include "../mwbase/environment.hpp"
#include "../mwbase/world.hpp"
#include <cmath>
namespace MWMechanics
{
static const float sMaxSlope = 45.0f;
MovementSolver::MovementSolver()
: mEngine(MWBase::Environment::get().getWorld()->getPhysicEngine())
{
}
MovementSolver::~MovementSolver()
{
// nothing to do
}
void MovementSolver::clipVelocity(const Ogre::Vector3& in, const Ogre::Vector3& normal, Ogre::Vector3& out, const float overbounce)
{
//Math stuff. Basically just project the velocity vector onto the plane represented by the normal.
//More specifically, it projects velocity onto the normal, takes that result, multiplies it by overbounce and then subtracts it from velocity.
float backoff;
backoff = in.dotProduct(normal);
if(backoff < 0.0f)
backoff *= overbounce;
else
backoff /= overbounce;
out = in - (normal*backoff);
}
void MovementSolver::projectVelocity(Ogre::Vector3& velocity, const Ogre::Vector3& direction)
{
Ogre::Vector3 normalizedDirection(direction);
normalizedDirection.normalise();
// no divide by normalizedDirection.length necessary because it's normalized
velocity = normalizedDirection * velocity.dotProduct(normalizedDirection);
}
bool MovementSolver::stepMove(Ogre::Vector3& position, const Ogre::Vector3 &velocity, float remainingTime, float verticalRotation, const Ogre::Vector3 &halfExtents, bool isInterior)
{
traceResults trace; // no initialization needed
newtrace(&trace, position+Ogre::Vector3(0.0f,0.0f,STEPSIZE),
position+Ogre::Vector3(0.0f,0.0f,STEPSIZE)+velocity*remainingTime,
halfExtents, verticalRotation, isInterior, mEngine);
if(trace.fraction == 0.0f || (trace.fraction != 1.0f && getSlope(trace.planenormal) > sMaxSlope))
return false;
newtrace(&trace, trace.endpos, trace.endpos-Ogre::Vector3(0,0,STEPSIZE), halfExtents, verticalRotation, isInterior, mEngine);
if(getSlope(trace.planenormal) < sMaxSlope)
{
// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
position = trace.endpos;
return true;
}
return false;
}
float MovementSolver::getSlope(const Ogre::Vector3 &normal)
{
return normal.angleBetween(Ogre::Vector3(0.0f,0.0f,1.0f)).valueDegrees();
}
Ogre::Vector3 MovementSolver::move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time)
{
Ogre::Vector3 position(ptr.getRefData().getPosition().pos);
/* Anything to collide with? */
OEngine::Physic::PhysicActor *physicActor = mEngine->getCharacter(ptr.getRefData().getHandle());
if(!physicActor || !physicActor->getCollisionMode())
return position + movement;
traceResults trace; //no initialization needed
int iterations=0, maxIterations=50; //arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
float verticalVelocity = physicActor->getVerticalForce();
Ogre::Vector3 horizontalVelocity = movement/time;
Ogre::Vector3 velocity(horizontalVelocity.x, horizontalVelocity.y, verticalVelocity); // we need a copy of the velocity before we start clipping it for steps
Ogre::Vector3 clippedVelocity(horizontalVelocity.x, horizontalVelocity.y, verticalVelocity);
float remainingTime = time;
bool isInterior = !ptr.getCell()->isExterior();
float verticalRotation = physicActor->getRotation().getYaw().valueDegrees();
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();
Ogre::Vector3 lastNormal(0.0f);
Ogre::Vector3 currentNormal(0.0f);
Ogre::Vector3 up(0.0f, 0.0f, 1.0f);
Ogre::Vector3 newPosition = position;
newtrace(&trace, position, position+Ogre::Vector3(0,0,-10), halfExtents, verticalRotation, isInterior, mEngine);
if(trace.fraction < 1.0f)
{
if(getSlope(trace.planenormal) > sMaxSlope)
{
// if we're on a really steep slope, don't listen to user input
clippedVelocity.x = clippedVelocity.y = 0.0f;
}
else
{
// if we're within 10 units of the ground, force velocity to track the ground
clipVelocity(clippedVelocity, trace.planenormal, clippedVelocity, 1.0f);
}
}
do {
// trace to where character would go if there were no obstructions
newtrace(&trace, newPosition, newPosition+clippedVelocity*remainingTime, halfExtents, verticalRotation, isInterior, mEngine);
newPosition = trace.endpos;
currentNormal = trace.planenormal;
remainingTime = remainingTime * (1.0f-trace.fraction);
// check for obstructions
if(trace.fraction != 1.0f)
{
//std::cout<<"angle: "<<getSlope(trace.planenormal)<<"\n";
if(getSlope(currentNormal) > sMaxSlope || currentNormal == lastNormal)
{
if(stepMove(newPosition, velocity, remainingTime, verticalRotation, halfExtents, mEngine))
std::cout<< "stepped" <<std::endl;
else
{
Ogre::Vector3 resultantDirection = currentNormal.crossProduct(up);
resultantDirection.normalise();
clippedVelocity = velocity;
projectVelocity(clippedVelocity, resultantDirection);
// just this isn't enough sometimes. It's the same problem that causes steps to be necessary on even uphill terrain.
clippedVelocity += currentNormal*clippedVelocity.length()/50.0f;
std::cout<< "clipped velocity: "<<clippedVelocity <<std::endl;
}
}
else
clipVelocity(clippedVelocity, currentNormal, clippedVelocity, 1.0f);
}
lastNormal = currentNormal;
iterations++;
} while(iterations < maxIterations && remainingTime != 0.0f);
verticalVelocity = clippedVelocity.z;
verticalVelocity -= time*400;
physicActor->setVerticalForce(verticalVelocity);
return newPosition;
}
}

41
apps/openmw/mwmechanics/movementsolver.hpp
View file

@ -1,41 +0,0 @@
#ifndef GAME_MWMECHANICS_MOVEMENTSOLVER_H
#define GAME_MWMECHANICS_MOVEMENTSOLVER_H
#include <OgreVector3.h>
namespace MWWorld
{
class Ptr;
}
namespace OEngine
{
namespace Physic
{
class PhysicEngine;
}
}
namespace MWMechanics
{
class MovementSolver
{
public:
MovementSolver();
virtual ~MovementSolver();
Ogre::Vector3 move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time);
private:
bool stepMove(Ogre::Vector3& position, const Ogre::Vector3 &velocity, float remainingTime, float verticalRotation, const Ogre::Vector3 &halfExtents, bool isInterior);
void clipVelocity(const Ogre::Vector3& in, const Ogre::Vector3& normal, Ogre::Vector3& out, const float overbounce);
void projectVelocity(Ogre::Vector3& velocity, const Ogre::Vector3& direction);
float getSlope(const Ogre::Vector3 &normal);
OEngine::Physic::PhysicEngine *mEngine;
};
}
#endif /* GAME_MWMECHANICS_MOVEMENTSOLVER_H */

152
apps/openmw/mwworld/physicssystem.cpp
View file

@ -21,6 +21,153 @@ using namespace Ogre;
namespace MWWorld
{
static const float sMaxSlope = 45.0f;
class MovementSolver
{
private:
static bool stepMove(Ogre::Vector3& position, const Ogre::Vector3 &velocity, float remainingTime,
float verticalRotation, const Ogre::Vector3 &halfExtents, bool isInterior,
OEngine::Physic::PhysicEngine *engine)
{
traceResults trace; // no initialization needed
newtrace(&trace, position+Ogre::Vector3(0.0f,0.0f,STEPSIZE),
position+Ogre::Vector3(0.0f,0.0f,STEPSIZE)+velocity*remainingTime,
halfExtents, verticalRotation, isInterior, engine);
if(trace.fraction == 0.0f || (trace.fraction != 1.0f && getSlope(trace.planenormal) > sMaxSlope))
return false;
newtrace(&trace, trace.endpos, trace.endpos-Ogre::Vector3(0,0,STEPSIZE), halfExtents, verticalRotation, isInterior, engine);
if(getSlope(trace.planenormal) < sMaxSlope)
{
// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
position = trace.endpos;
return true;
}
return false;
}
static void clipVelocity(const Ogre::Vector3& in, const Ogre::Vector3& normal, Ogre::Vector3& out,
const float overbounce)
{
//Math stuff. Basically just project the velocity vector onto the plane represented by the normal.
//More specifically, it projects velocity onto the normal, takes that result, multiplies it by overbounce and then subtracts it from velocity.
float backoff;
backoff = in.dotProduct(normal);
if(backoff < 0.0f)
backoff *= overbounce;
else
backoff /= overbounce;
out = in - (normal*backoff);
}
static void projectVelocity(Ogre::Vector3& velocity, const Ogre::Vector3& direction)
{
Ogre::Vector3 normalizedDirection(direction);
normalizedDirection.normalise();
// no divide by normalizedDirection.length necessary because it's normalized
velocity = normalizedDirection * velocity.dotProduct(normalizedDirection);
}
static float getSlope(const Ogre::Vector3 &normal)
{
return normal.angleBetween(Ogre::Vector3(0.0f,0.0f,1.0f)).valueDegrees();
}
public:
static Ogre::Vector3 move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time,
OEngine::Physic::PhysicEngine *engine)
{
Ogre::Vector3 position(ptr.getRefData().getPosition().pos);
/* Anything to collide with? */
OEngine::Physic::PhysicActor *physicActor = engine->getCharacter(ptr.getRefData().getHandle());
if(!physicActor || !physicActor->getCollisionMode())
return position + movement;
traceResults trace; //no initialization needed
int iterations=0, maxIterations=50; //arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
float verticalVelocity = physicActor->getVerticalForce();
Ogre::Vector3 horizontalVelocity = movement/time;
Ogre::Vector3 velocity(horizontalVelocity.x, horizontalVelocity.y, verticalVelocity); // we need a copy of the velocity before we start clipping it for steps
Ogre::Vector3 clippedVelocity(horizontalVelocity.x, horizontalVelocity.y, verticalVelocity);
float remainingTime = time;
bool isInterior = !ptr.getCell()->isExterior();
float verticalRotation = physicActor->getRotation().getYaw().valueDegrees();
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();
Ogre::Vector3 lastNormal(0.0f);
Ogre::Vector3 currentNormal(0.0f);
Ogre::Vector3 up(0.0f, 0.0f, 1.0f);
Ogre::Vector3 newPosition = position;
newtrace(&trace, position, position+Ogre::Vector3(0,0,-10), halfExtents, verticalRotation, isInterior, engine);
if(trace.fraction < 1.0f)
{
if(getSlope(trace.planenormal) > sMaxSlope)
{
// if we're on a really steep slope, don't listen to user input
clippedVelocity.x = clippedVelocity.y = 0.0f;
}
else
{
// if we're within 10 units of the ground, force velocity to track the ground
clipVelocity(clippedVelocity, trace.planenormal, clippedVelocity, 1.0f);
}
}
do {
// trace to where character would go if there were no obstructions
newtrace(&trace, newPosition, newPosition+clippedVelocity*remainingTime, halfExtents, verticalRotation, isInterior, engine);
newPosition = trace.endpos;
currentNormal = trace.planenormal;
remainingTime = remainingTime * (1.0f-trace.fraction);
// check for obstructions
if(trace.fraction != 1.0f)
{
//std::cout<<"angle: "<<getSlope(trace.planenormal)<<"\n";
if(getSlope(currentNormal) > sMaxSlope || currentNormal == lastNormal)
{
if(stepMove(newPosition, velocity, remainingTime, verticalRotation, halfExtents, isInterior, engine))
std::cout<< "stepped" <<std::endl;
else
{
Ogre::Vector3 resultantDirection = currentNormal.crossProduct(up);
resultantDirection.normalise();
clippedVelocity = velocity;
projectVelocity(clippedVelocity, resultantDirection);
// just this isn't enough sometimes. It's the same problem that causes steps to be necessary on even uphill terrain.
clippedVelocity += currentNormal*clippedVelocity.length()/50.0f;
std::cout<< "clipped velocity: "<<clippedVelocity <<std::endl;
}
}
else
clipVelocity(clippedVelocity, currentNormal, clippedVelocity, 1.0f);
}
lastNormal = currentNormal;
iterations++;
} while(iterations < maxIterations && remainingTime != 0.0f);
verticalVelocity = clippedVelocity.z;
verticalVelocity -= time*400;
physicActor->setVerticalForce(verticalVelocity);
return newPosition;
}
};
PhysicsSystem::PhysicsSystem(OEngine::Render::OgreRenderer &_rend) :
mRender(_rend), mEngine(0), mFreeFly (true)
{
@ -185,6 +332,11 @@ namespace MWWorld
}
}
Ogre::Vector3 PhysicsSystem::move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time)
{
return MovementSolver::move(ptr, movement, time, mEngine);
}
void PhysicsSystem::addHeightField (float* heights,
int x, int y, float yoffset,

2
apps/openmw/mwworld/physicssystem.hpp
View file

@ -35,6 +35,8 @@ namespace MWWorld
bool toggleCollisionMode();
Ogre::Vector3 move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time);
std::pair<float, std::string> getFacedHandle (MWWorld::World& world, float queryDistance);
std::vector < std::pair <float, std::string> > getFacedHandles (float queryDistance);
std::vector < std::pair <float, std::string> > getFacedHandles (float mouseX, float mouseY, float queryDistance);

21
apps/openmw/mwworld/worldimp.cpp
View file

@ -836,6 +836,27 @@ namespace MWWorld
void World::doPhysics(const PtrMovementList &actors, float duration)
{
/* No duration? Shouldn't be any movement, then. */
if(duration <= 0.0f)
return;
PtrMovementList::const_iterator player(actors.end());
for(PtrMovementList::const_iterator iter(actors.begin());iter != actors.end();iter++)
{
if(iter->first.getRefData().getHandle() == "player")
{
/* Handle player last, in case a cell transition occurs */
player = iter;
continue;
}
Ogre::Vector3 vec = mPhysics->move(iter->first, iter->second, duration);
moveObjectImp(iter->first, vec.x, vec.y, vec.z);
}
if(player != actors.end())
{
Ogre::Vector3 vec = mPhysics->move(player->first, player->second, duration);
moveObjectImp(player->first, vec.x, vec.y, vec.z);
}
}
bool World::toggleCollisionMode()