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Use a better method to do actor physics traces

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actorid
Chris Robinson 12 years ago
parent d82f54c771
commit 65ce3c6ba5
4 changed files with 124 additions and 45 deletions
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35
apps/openmw/mwworld/physicssystem.cpp
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@ -41,24 +41,21 @@ namespace MWWorld
return normal.angleBetween(Ogre::Vector3(0.0f,0.0f,1.0f)).valueDegrees();
}
static bool stepMove(Ogre::Vector3& position, const Ogre::Quaternion& orient,
static bool stepMove(btCollisionObject *colobj, Ogre::Vector3 &position,
const Ogre::Vector3 &velocity, float &remainingTime,
const Ogre::Vector3 &halfExtents, bool isInterior,
OEngine::Physic::PhysicEngine *engine)
{
traceResults trace;
newtrace(&trace, orient, position, position+Ogre::Vector3(0.0f,0.0f,sStepSize),
halfExtents, isInterior, engine);
actortrace(&trace, colobj, position, position+Ogre::Vector3(0.0f,0.0f,sStepSize), engine);
if(trace.fraction == 0.0f)
return false;
newtrace(&trace, orient, trace.endpos, trace.endpos + velocity*remainingTime,
halfExtents, isInterior, engine);
actortrace(&trace, colobj, trace.endpos, trace.endpos + velocity*remainingTime, engine);
if(trace.fraction == 0.0f || (trace.fraction != 1.0f && getSlope(trace.planenormal) > sMaxSlope))
return false;
float movefrac = trace.fraction;
newtrace(&trace, orient, trace.endpos, trace.endpos-Ogre::Vector3(0.0f,0.0f,sStepSize), halfExtents, isInterior, engine);
actortrace(&trace, colobj, trace.endpos, trace.endpos-Ogre::Vector3(0.0f,0.0f,sStepSize), 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.
@ -100,7 +97,7 @@ namespace MWWorld
bool wasCollisionMode = physicActor->getCollisionMode();
physicActor->enableCollisions(false);
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();// + Vector3(1,1,1);
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();
halfExtents.z = 1; // we trace the feet only, so we use a very thin box
Ogre::Vector3 newPosition = position;
@ -133,15 +130,15 @@ namespace MWWorld
if(!physicActor || !physicActor->getCollisionMode())
{
// FIXME: This works, but it's inconcsistent with how the rotations are applied elsewhere. Why?
return position + (Ogre::Quaternion(Ogre::Radian( -refpos.rot[2]), Ogre::Vector3::UNIT_Z)*
Ogre::Quaternion(Ogre::Radian( -refpos.rot[1]), Ogre::Vector3::UNIT_Y)*
Ogre::Quaternion(Ogre::Radian( refpos.rot[0]), Ogre::Vector3::UNIT_X)) *
return position + (Ogre::Quaternion(Ogre::Radian(-refpos.rot[2]), Ogre::Vector3::UNIT_Z)*
Ogre::Quaternion(Ogre::Radian(-refpos.rot[1]), Ogre::Vector3::UNIT_Y)*
Ogre::Quaternion(Ogre::Radian( refpos.rot[0]), Ogre::Vector3::UNIT_X)) *
movement;
}
bool isInterior = !ptr.getCell()->isExterior();
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();// + Vector3(1,1,1);
physicActor->enableCollisions(false);
btCollisionObject *colobj = physicActor->getCollisionBody();
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();
position.z += halfExtents.z;
traceResults trace;
bool onground = false;
@ -158,7 +155,7 @@ namespace MWWorld
{
if(!(movement.z > 0.0f))
{
newtrace(&trace, orient, position, position-Ogre::Vector3(0,0,4), halfExtents, isInterior, engine);
actortrace(&trace, colobj, position, position-Ogre::Vector3(0,0,4), engine);
if(trace.fraction < 1.0f && getSlope(trace.planenormal) <= sMaxSlope)
onground = true;
}
@ -178,7 +175,7 @@ namespace MWWorld
for(int iterations = 0;iterations < sMaxIterations && remainingTime > 0.01f;++iterations)
{
// trace to where character would go if there were no obstructions
newtrace(&trace, orient, newPosition, newPosition+velocity*remainingTime, halfExtents, isInterior, engine);
actortrace(&trace, colobj, newPosition, newPosition+velocity*remainingTime, engine);
// check for obstructions
if(trace.fraction >= 1.0f)
@ -190,7 +187,7 @@ namespace MWWorld
//std::cout<<"angle: "<<getSlope(trace.planenormal)<<"\n";
// We hit something. Try to step up onto it.
if(stepMove(newPosition, orient, velocity, remainingTime, halfExtents, isInterior, engine))
if(stepMove(colobj, newPosition, velocity, remainingTime, engine))
onground = gravity;
else
{
@ -209,7 +206,7 @@ namespace MWWorld
if(onground)
{
newtrace(&trace, orient, newPosition, newPosition-Ogre::Vector3(0,0,sStepSize+4.0f), halfExtents, isInterior, engine);
actortrace(&trace, colobj, newPosition, newPosition-Ogre::Vector3(0,0,sStepSize+4.0f), engine);
if(trace.fraction < 1.0f && getSlope(trace.planenormal) <= sMaxSlope)
newPosition.z = trace.endpos.z + 2.0f;
else
@ -218,8 +215,8 @@ namespace MWWorld
physicActor->setOnGround(onground);
physicActor->setVerticalForce(!onground ? velocity.z - time*627.2f : 0.0f);
physicActor->enableCollisions(true);
newPosition.z -= halfExtents.z;
return newPosition;
}
};

48
libs/openengine/bullet/physic.hpp
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@ -66,6 +66,20 @@ namespace Physic
std::string mName;
};
/**
*This class is just an extension of normal btRigidBody in order to add extra info.
*When bullet give back a btRigidBody, you can just do a static_cast to RigidBody,
*so one never should use btRigidBody directly!
*/
class RigidBody: public btRigidBody
{
public:
RigidBody(btRigidBody::btRigidBodyConstructionInfo& CI,std::string name);
virtual ~RigidBody();
std::string mName;
bool mPlaceable;
};
/**
* A physic actor uses a rigid body based on box shapes.
* Pmove is used to move the physic actor around the dynamic world.
@ -129,47 +143,41 @@ namespace Physic
bool getOnGround() const;
btCollisionObject *getCollisionBody() const
{
return mBody;
}
private:
void disableCollisionBody();
void enableCollisionBody();
public:
//HACK: in Visual Studio 2010 and presumably above, this structures alignment
// must be 16, but the built in operator new & delete don't properly
// perform this alignment.
// must be 16, but the built in operator new & delete don't properly
// perform this alignment.
#if _MSC_VER >= 1600
void * operator new (size_t Size) { return _aligned_malloc (Size, 16); }
void operator delete (void * Data) { _aligned_free (Data); }
void * operator new (size_t Size) { return _aligned_malloc (Size, 16); }
void operator delete (void * Data) { _aligned_free (Data); }
#endif
private:
OEngine::Physic::RigidBody* mBody;
OEngine::Physic::RigidBody* mRaycastingBody;
Ogre::Vector3 mBoxScaledTranslation;
btQuaternion mBoxRotationInverse;
Ogre::Quaternion mBoxRotation;
btQuaternion mBoxRotationInverse;
float verticalForce;
bool onGround;
bool collisionMode;
std::string mMesh;
PhysicEngine* mEngine;
std::string mName;
PhysicEngine *mEngine;
};
/**
*This class is just an extension of normal btRigidBody in order to add extra info.
*When bullet give back a btRigidBody, you can just do a static_cast to RigidBody,
*so one never should use btRigidBody directly!
*/
class RigidBody: public btRigidBody
{
public:
RigidBody(btRigidBody::btRigidBodyConstructionInfo& CI,std::string name);
virtual ~RigidBody();
std::string mName;
bool mPlaceable;
};
struct HeightField
{

82
libs/openengine/bullet/trace.cpp
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@ -8,12 +8,6 @@
#include "physic.hpp"
enum traceWorldType
{
collisionWorldTrace = 1,
pickWorldTrace = 2,
bothWorldTrace = collisionWorldTrace | pickWorldTrace
};
void newtrace(traceResults *results, const Ogre::Quaternion& orient, const Ogre::Vector3& start, const Ogre::Vector3& end, const Ogre::Vector3& BBHalfExtents, bool isInterior, OEngine::Physic::PhysicEngine *enginePass) //Traceobj was a Aedra Object
{
@ -46,3 +40,79 @@ void newtrace(traceResults *results, const Ogre::Quaternion& orient, const Ogre:
results->fraction = 1.0f;
}
}
class ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
{
public:
ClosestNotMeConvexResultCallback(btCollisionObject *me, const btVector3 &up, btScalar minSlopeDot)
: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)),
mMe(me), mUp(up), mMinSlopeDot(minSlopeDot)
{
}
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
{
if(convexResult.m_hitCollisionObject == mMe)
return btScalar( 1 );
btVector3 hitNormalWorld;
if(normalInWorldSpace)
hitNormalWorld = convexResult.m_hitNormalLocal;
else
{
///need to transform normal into worldspace
hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
}
// NOTE : m_hitNormalLocal is not always vertical on the ground with a capsule or a box...
btScalar dotUp = mUp.dot(hitNormalWorld);
if(dotUp < mMinSlopeDot)
return btScalar(1);
return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
}
protected:
btCollisionObject *mMe;
const btVector3 mUp;
const btScalar mMinSlopeDot;
};
void actortrace(traceResults *results, btCollisionObject *actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end, OEngine::Physic::PhysicEngine *enginePass)
{
const btVector3 btstart(start.x, start.y, start.z);
const btVector3 btend(end.x, end.y, end.z);
const btTransform &trans = actor->getWorldTransform();
btTransform from(trans);
btTransform to(trans);
from.setOrigin(btstart);
to.setOrigin(btend);
ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
newTraceCallback.m_collisionFilterMask = OEngine::Physic::CollisionType_World |
OEngine::Physic::CollisionType_HeightMap |
OEngine::Physic::CollisionType_Actor;
btCollisionShape *shape = actor->getCollisionShape();
assert(shape->isConvex());
enginePass->dynamicsWorld->convexSweepTest(static_cast<btConvexShape*>(shape),
from, to, newTraceCallback);
// Copy the hit data over to our trace results struct:
if(newTraceCallback.hasHit())
{
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
results->fraction = newTraceCallback.m_closestHitFraction;
results->planenormal = Ogre::Vector3(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
results->endpos = (end-start)*results->fraction + start;
}
else
{
results->endpos = end;
results->planenormal = Ogre::Vector3(0.0f, 0.0f, 1.0f);
results->fraction = 1.0f;
}
}

4
libs/openengine/bullet/trace.h
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@ -13,6 +13,9 @@ namespace OEngine
}
class btCollisionObject;
struct traceResults
{
Ogre::Vector3 endpos;
@ -22,5 +25,6 @@ struct traceResults
};
void newtrace(traceResults *results, const Ogre::Quaternion& orient, const Ogre::Vector3& start, const Ogre::Vector3& end, const Ogre::Vector3& BBHalfExtents, bool isInterior, OEngine::Physic::PhysicEngine* enginePass);
void actortrace(traceResults *results, btCollisionObject *actor, const Ogre::Vector3& start, const Ogre::Vector3& end, OEngine::Physic::PhysicEngine *enginePass);
#endif

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