#include "physicssystem.hpp"
#include <stdexcept>
#include <OgreRoot.h>
#include <OgreRenderWindow.h>
#include <OgreSceneManager.h>
#include <OgreViewport.h>
#include <OgreCamera.h>
#include <OgreTextureManager.h>
#include <OgreSceneNode.h>
#include <openengine/bullet/trace.h>
#include <openengine/bullet/physic.hpp>
#include <openengine/bullet/BtOgreExtras.h>
#include <openengine/ogre/renderer.hpp>
#include <openengine/bullet/BulletShapeLoader.h>
#include <components/nifbullet/bulletnifloader.hpp>
#include <components/nifogre/skeleton.hpp>
#include <components/misc/resourcehelpers.hpp>
#include <components/esm/loadgmst.hpp>
#include "../mwbase/world.hpp" // FIXME
#include "../mwbase/environment.hpp"
#include "../mwmechanics/creaturestats.hpp"
#include "../mwmechanics/movement.hpp"
#include "../mwworld/esmstore.hpp"
#include "../mwworld/cellstore.hpp"
#include "../apps/openmw/mwrender/animation.hpp"
#include "../apps/openmw/mwbase/world.hpp"
#include "../apps/openmw/mwbase/environment.hpp"
#include "ptr.hpp"
#include "class.hpp"
using namespace Ogre;
namespace
{
void animateCollisionShapes (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>& map, btDynamicsWorld* dynamicsWorld)
{
for (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>::iterator it = map.begin();
it != map.end(); ++it)
{
MWWorld::Ptr ptr = MWBase::Environment::get().getWorld()->searchPtrViaHandle(it->first->mName);
if (ptr.isEmpty()) // Shouldn't happen
throw std::runtime_error("can't find Ptr");
MWRender::Animation* animation = MWBase::Environment::get().getWorld()->getAnimation(ptr);
if (!animation)
continue;
OEngine::Physic::AnimatedShapeInstance& instance = it->second;
std::map<int, int>& shapes = instance.mAnimatedShapes;
for (std::map<int, int>::iterator shapeIt = shapes.begin();
shapeIt != shapes.end(); ++shapeIt)
{
const std::string& mesh = animation->getObjectRootName();
int boneHandle = NifOgre::NIFSkeletonLoader::lookupOgreBoneHandle(mesh, shapeIt->first);
Ogre::Node* bone = animation->getNode(boneHandle);
if (bone == NULL)
continue;
btCompoundShape* compound = static_cast<btCompoundShape*>(instance.mCompound);
btTransform trans;
trans.setOrigin(BtOgre::Convert::toBullet(bone->_getDerivedPosition()) * compound->getLocalScaling());
trans.setRotation(BtOgre::Convert::toBullet(bone->_getDerivedOrientation()));
compound->getChildShape(shapeIt->second)->setLocalScaling(
compound->getLocalScaling() *
BtOgre::Convert::toBullet(bone->_getDerivedScale()));
compound->updateChildTransform(shapeIt->second, trans);
}
// needed because we used btDynamicsWorld::setForceUpdateAllAabbs(false)
dynamicsWorld->updateSingleAabb(it->first);
}
}
}
namespace MWWorld
{
static const float sMaxSlope = 49.0f;
static const float sStepSizeUp = 34.0f;
static const float sStepSizeDown = 62.0f;
// Arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
static const int sMaxIterations = 8;
class MovementSolver
{
private:
static float getSlope(const Ogre::Vector3 &normal)
{
return normal.angleBetween(Ogre::Vector3(0.0f,0.0f,1.0f)).valueDegrees();
}
static bool stepMove(btCollisionObject *colobj, Ogre::Vector3 &position,
const Ogre::Vector3 &toMove, float &remainingTime,
OEngine::Physic::PhysicEngine *engine)
{
/*
* Slide up an incline or set of stairs. Should be called only after a
* collision detection otherwise unnecessary tracing will be performed.
*
* NOTE: with a small change this method can be used to step over an obstacle
* of height sStepSize.
*
* If successful return 'true' and update 'position' to the new possible
* location and adjust 'remainingTime'.
*
* If not successful return 'false'. May fail for these reasons:
* - can't move directly up from current position
* - having moved up by between epsilon() and sStepSize, can't move forward
* - having moved forward by between epsilon() and toMove,
* = moved down between 0 and just under sStepSize but slope was too steep, or
* = moved the full sStepSize down (FIXME: this could be a bug)
*
*
*
* Starting position. Obstacle or stairs with height upto sStepSize in front.
*
* +--+ +--+ |XX
* | | -------> toMove | | +--+XX
* | | | | |XXXXX
* | | +--+ | | +--+XXXXX
* | | |XX| | | |XXXXXXXX
* +--+ +--+ +--+ +--------
* ==============================================
*/
/*
* Try moving up sStepSize using stepper.
* FIXME: does not work in case there is no front obstacle but there is one above
*
* +--+ +--+
* | | | |
* | | | | |XX
* | | | | +--+XX
* | | | | |XXXXX
* +--+ +--+ +--+ +--+XXXXX
* |XX| |XXXXXXXX
* +--+ +--------
* ==============================================
*/
OEngine::Physic::ActorTracer tracer, stepper;
stepper.doTrace(colobj, position, position+Ogre::Vector3(0.0f,0.0f,sStepSizeUp), engine);
if(stepper.mFraction < std::numeric_limits<float>::epsilon())
return false; // didn't even move the smallest representable amount
// (TODO: shouldn't this be larger? Why bother with such a small amount?)
/*
* Try moving from the elevated position using tracer.
*
* +--+ +--+
* | | |YY| FIXME: collision with object YY
* | | +--+
* | |
* <------------------->| |
* +--+ +--+
* |XX| the moved amount is toMove*tracer.mFraction
* +--+
* ==============================================
*/
tracer.doTrace(colobj, stepper.mEndPos, stepper.mEndPos + toMove, engine);
if(tracer.mFraction < std::numeric_limits<float>::epsilon())
return false; // didn't even move the smallest representable amount
/*
* Try moving back down sStepSizeDown using stepper.
* NOTE: if there is an obstacle below (e.g. stairs), we'll be "stepping up".
* Below diagram is the case where we "stepped over" an obstacle in front.
*
* +--+
* |YY|
* +--+ +--+
* | |
* | |
* +--+ | |
* |XX| | |
* +--+ +--+
* ==============================================
*/
stepper.doTrace(colobj, tracer.mEndPos, tracer.mEndPos-Ogre::Vector3(0.0f,0.0f,sStepSizeDown), engine);
if(stepper.mFraction < 1.0f && getSlope(stepper.mPlaneNormal) <= sMaxSlope)
{
// don't allow stepping up other actors
if (stepper.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup == OEngine::Physic::CollisionType_Actor)
return false;
// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
// TODO: stepper.mPlaneNormal does not appear to be reliable - needs more testing
// NOTE: caller's variables 'position' & 'remainingTime' are modified here
position = stepper.mEndPos;
remainingTime *= (1.0f-tracer.mFraction); // remaining time is proportional to remaining distance
return true;
}
// moved between 0 and just under sStepSize distance but slope was too great,
// or moved full sStepSize distance (FIXME: is this a bug?)
return false;
}
///Project a vector u on another vector v
static inline Ogre::Vector3 project(const Ogre::Vector3 u, const Ogre::Vector3 &v)
{
return v * u.dotProduct(v);
}
///Helper for computing the character sliding
static inline Ogre::Vector3 slide(Ogre::Vector3 direction, const Ogre::Vector3 &planeNormal)
{
return direction - project(direction, planeNormal);
}
public:
static Ogre::Vector3 traceDown(const MWWorld::Ptr &ptr, OEngine::Physic::PhysicEngine *engine, float maxHeight)
{
const ESM::Position &refpos = ptr.getRefData().getPosition();
Ogre::Vector3 position(refpos.pos);
OEngine::Physic::PhysicActor *physicActor = engine->getCharacter(ptr.getRefData().getHandle());
if (!physicActor)
return position;
OEngine::Physic::ActorTracer tracer;
tracer.findGround(physicActor, position, position-Ogre::Vector3(0,0,maxHeight), engine);
if(tracer.mFraction >= 1.0f)
{
physicActor->setOnGround(false);
return position;
}
else
{
// 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 = BtOgre::Convert::toBullet(position);
btVector3 to = from - btVector3(0,0,maxHeight);
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
resultCallback1.m_collisionFilterGroup = 0xff;
resultCallback1.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
engine->mDynamicsWorld->rayTest(from, to, resultCallback1);
if (resultCallback1.hasHit() &&
(BtOgre::Convert::toOgre(resultCallback1.m_hitPointWorld).distance(tracer.mEndPos) > 30
|| getSlope(tracer.mPlaneNormal) > sMaxSlope))
{
physicActor->setOnGround(getSlope(BtOgre::Convert::toOgre(resultCallback1.m_hitNormalWorld)) <= sMaxSlope);
return BtOgre::Convert::toOgre(resultCallback1.m_hitPointWorld) + Ogre::Vector3(0,0,1.f);
}
physicActor->setOnGround(getSlope(tracer.mPlaneNormal) <= sMaxSlope);
return tracer.mEndPos;
}
}
static Ogre::Vector3 move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time,
bool isFlying, float waterlevel, float slowFall, OEngine::Physic::PhysicEngine *engine
, std::map<std::string, std::string>& collisionTracker
, std::map<std::string, std::string>& standingCollisionTracker)
{
const ESM::Position &refpos = ptr.getRefData().getPosition();
Ogre::Vector3 position(refpos.pos);
// Early-out for totally static creatures
// (Not sure if gravity should still apply?)
if (!ptr.getClass().isMobile(ptr))
return position;
OEngine::Physic::PhysicActor *physicActor = engine->getCharacter(ptr.getRefData().getHandle());
if (!physicActor)
return position;
// Reset per-frame data
physicActor->setWalkingOnWater(false);
// Anything to collide with?
if(!physicActor->getCollisionMode())
{
return position + (Ogre::Quaternion(Ogre::Radian(refpos.rot[2]), Ogre::Vector3::NEGATIVE_UNIT_Z) *
Ogre::Quaternion(Ogre::Radian(refpos.rot[0]), Ogre::Vector3::NEGATIVE_UNIT_X))
* movement * time;
}
btCollisionObject *colobj = physicActor->getCollisionBody();
Ogre::Vector3 halfExtents = physicActor->getHalfExtents();
position.z += halfExtents.z;
static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
.find("fSwimHeightScale")->getFloat();
float swimlevel = waterlevel + halfExtents.z - (halfExtents.z * 2 * fSwimHeightScale);
OEngine::Physic::ActorTracer tracer;
Ogre::Vector3 inertia = physicActor->getInertialForce();
Ogre::Vector3 velocity;
if(position.z < swimlevel || isFlying)
{
velocity = (Ogre::Quaternion(Ogre::Radian(refpos.rot[2]), Ogre::Vector3::NEGATIVE_UNIT_Z)*
Ogre::Quaternion(Ogre::Radian(refpos.rot[0]), Ogre::Vector3::NEGATIVE_UNIT_X)) * movement;
}
else
{
velocity = Ogre::Quaternion(Ogre::Radian(refpos.rot[2]), Ogre::Vector3::NEGATIVE_UNIT_Z) * movement;
if (velocity.z > 0.f)
inertia = velocity;
if(!physicActor->getOnGround())
{
velocity = velocity + physicActor->getInertialForce();
}
}
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())
{
Ogre::Vector3 stormDirection = MWBase::Environment::get().getWorld()->getStormDirection();
Ogre::Degree angle = stormDirection.angleBetween(velocity);
static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
.find("fStromWalkMult")->getFloat();
velocity *= 1.f-(fStromWalkMult * (angle.valueDegrees()/180.f));
}
Ogre::Vector3 origVelocity = velocity;
Ogre::Vector3 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)
{
Ogre::Vector3 nextpos = newPosition + velocity * remainingTime;
// If not able to fly, don't allow to swim up into the air
if(newPosition.z < swimlevel &&
!isFlying && // can't fly
nextpos.z > swimlevel && // but about to go above water
newPosition.z <= swimlevel)
{
const Ogre::Vector3 down(0,0,-1);
Ogre::Real movelen = velocity.normalise();
Ogre::Vector3 reflectdir = velocity.reflect(down);
reflectdir.normalise();
velocity = slide(reflectdir, down)*movelen;
// NOTE: remainingTime is unchanged before the loop continues
continue; // velocity updated, calculate nextpos again
}
if(newPosition.squaredDistance(nextpos) > 0.0001)
{
// trace to where character would go if there were no obstructions
tracer.doTrace(colobj, newPosition, nextpos, engine);
// check for obstructions
if(tracer.mFraction >= 1.0f)
{
newPosition = tracer.mEndPos; // ok to move, so set newPosition
break;
}
else
{
const btCollisionObject* standingOn = tracer.mHitObject;
if (const OEngine::Physic::RigidBody* body = dynamic_cast<const OEngine::Physic::RigidBody*>(standingOn))
{
collisionTracker[ptr.getRefData().getHandle()] = body->mName;
}
}
}
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;
}
Ogre::Vector3 oldPosition = newPosition;
// We hit something. Try to step up onto it. (NOTE: stepMove does not allow stepping over)
// NOTE: stepMove modifies newPosition if successful
bool result = stepMove(colobj, newPosition, velocity*remainingTime, remainingTime, engine);
if (!result) // to make sure the maximum stepping distance isn't framerate-dependent or movement-speed dependent
result = stepMove(colobj, newPosition, velocity.normalisedCopy()*10.f, remainingTime, engine);
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
Ogre::Vector3 direction = velocity;
Ogre::Real movelen = direction.normalise();
Ogre::Vector3 reflectdir = velocity.reflect(tracer.mPlaneNormal);
reflectdir.normalise();
Ogre::Vector3 newVelocity = slide(reflectdir, tracer.mPlaneNormal)*movelen;
if ((newVelocity-velocity).squaredLength() < 0.01)
break;
if (velocity.dotProduct(origVelocity) <= 0.f)
break;
velocity = newVelocity;
// Do not allow sliding upward if there is gravity. Stepping will have taken
// care of that.
if(!(newPosition.z < swimlevel || isFlying))
velocity.z = std::min(velocity.z, 0.0f);
}
}
bool isOnGround = false;
if (!(inertia.z > 0.f) && !(newPosition.z < swimlevel))
{
Ogre::Vector3 from = newPosition;
Ogre::Vector3 to = newPosition - (physicActor->getOnGround() ?
Ogre::Vector3(0,0,sStepSizeDown+2.f) : Ogre::Vector3(0,0,2.f));
tracer.doTrace(colobj, from, to, engine);
if(tracer.mFraction < 1.0f && getSlope(tracer.mPlaneNormal) <= sMaxSlope
&& tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != OEngine::Physic::CollisionType_Actor)
{
const btCollisionObject* standingOn = tracer.mHitObject;
if (const OEngine::Physic::RigidBody* body = dynamic_cast<const OEngine::Physic::RigidBody*>(standingOn))
{
standingCollisionTracker[ptr.getRefData().getHandle()] = body->mName;
}
if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == OEngine::Physic::CollisionType_Water)
physicActor->setWalkingOnWater(true);
if (!isFlying)
newPosition.z = tracer.mEndPos.z + 1.0f;
isOnGround = true;
}
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 == OEngine::Physic::CollisionType_Actor)
{
if (Ogre::Vector3(velocity.x, velocity.y, 0).squaredLength() < 100.f*100.f)
{
btVector3 aabbMin, aabbMax;
tracer.mHitObject->getCollisionShape()->getAabb(tracer.mHitObject->getWorldTransform(), aabbMin, aabbMax);
btVector3 center = (aabbMin + aabbMax) / 2.f;
inertia = Ogre::Vector3(position.x - center.x(), position.y - center.y(), 0);
inertia.normalise();
inertia *= 100;
}
}
isOnGround = false;
}
}
if(isOnGround || newPosition.z < swimlevel || isFlying)
physicActor->setInertialForce(Ogre::Vector3(0.0f));
else
{
inertia.z += time * -627.2f;
if (inertia.z < 0)
inertia.z *= slowFall;
physicActor->setInertialForce(inertia);
}
physicActor->setOnGround(isOnGround);
newPosition.z -= halfExtents.z; // remove what was added at the beginning
return newPosition;
}
};
PhysicsSystem::PhysicsSystem(OEngine::Render::OgreRenderer &_rend) :
mRender(_rend), mEngine(0), mTimeAccum(0.0f), mWaterHeight(0), mWaterEnabled(false)
{
// Create physics. shapeLoader is deleted by the physic engine
NifBullet::ManualBulletShapeLoader* shapeLoader = new NifBullet::ManualBulletShapeLoader();
mEngine = new OEngine::Physic::PhysicEngine(shapeLoader);
}
PhysicsSystem::~PhysicsSystem()
{
if (mWaterCollisionObject.get())
mEngine->mDynamicsWorld->removeCollisionObject(mWaterCollisionObject.get());
delete mEngine;
delete OEngine::Physic::BulletShapeManager::getSingletonPtr();
}
OEngine::Physic::PhysicEngine* PhysicsSystem::getEngine()
{
return mEngine;
}
std::pair<float, std::string> PhysicsSystem::getFacedHandle(float queryDistance)
{
Ray ray = mRender.getCamera()->getCameraToViewportRay(0.5, 0.5);
Ogre::Vector3 origin_ = ray.getOrigin();
btVector3 origin(origin_.x, origin_.y, origin_.z);
Ogre::Vector3 dir_ = ray.getDirection().normalisedCopy();
btVector3 dir(dir_.x, dir_.y, dir_.z);
btVector3 dest = origin + dir * queryDistance;
std::pair <std::string, float> result = mEngine->rayTest(origin, dest);
result.second *= queryDistance;
return std::make_pair (result.second, result.first);
}
std::vector < std::pair <float, std::string> > PhysicsSystem::getFacedHandles (float queryDistance)
{
Ray ray = mRender.getCamera()->getCameraToViewportRay(0.5, 0.5);
Ogre::Vector3 origin_ = ray.getOrigin();
btVector3 origin(origin_.x, origin_.y, origin_.z);
Ogre::Vector3 dir_ = ray.getDirection().normalisedCopy();
btVector3 dir(dir_.x, dir_.y, dir_.z);
btVector3 dest = origin + dir * queryDistance;
std::vector < std::pair <float, std::string> > results;
/* auto */ results = mEngine->rayTest2(origin, dest);
std::vector < std::pair <float, std::string> >::iterator i;
for (/* auto */ i = results.begin (); i != results.end (); ++i)
i->first *= queryDistance;
return results;
}
std::vector < std::pair <float, std::string> > PhysicsSystem::getFacedHandles (float mouseX, float mouseY, float queryDistance)
{
Ray ray = mRender.getCamera()->getCameraToViewportRay(mouseX, mouseY);
Ogre::Vector3 from = ray.getOrigin();
Ogre::Vector3 to = ray.getPoint(queryDistance);
btVector3 _from, _to;
_from = btVector3(from.x, from.y, from.z);
_to = btVector3(to.x, to.y, to.z);
std::vector < std::pair <float, std::string> > results;
/* auto */ results = mEngine->rayTest2(_from,_to);
std::vector < std::pair <float, std::string> >::iterator i;
for (/* auto */ i = results.begin (); i != results.end (); ++i)
i->first *= queryDistance;
return results;
}
std::pair<std::string,Ogre::Vector3> PhysicsSystem::getHitContact(const std::string &name,
const Ogre::Vector3 &origin,
const Ogre::Quaternion &orient,
float queryDistance)
{
const MWWorld::Store<ESM::GameSetting> &store = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
btConeShape shape(Ogre::Degree(store.find("fCombatAngleXY")->getFloat()/2.0f).valueRadians(),
queryDistance);
shape.setLocalScaling(btVector3(1, 1, Ogre::Degree(store.find("fCombatAngleZ")->getFloat()/2.0f).valueRadians() /
shape.getRadius()));
// The shape origin is its center, so we have to move it forward by half the length. The
// real origin will be provided to getFilteredContact to find the closest.
Ogre::Vector3 center = origin + (orient * Ogre::Vector3(0.0f, queryDistance*0.5f, 0.0f));
btCollisionObject object;
object.setCollisionShape(&shape);
object.setWorldTransform(btTransform(btQuaternion(orient.x, orient.y, orient.z, orient.w),
btVector3(center.x, center.y, center.z)));
std::pair<const OEngine::Physic::RigidBody*,btVector3> result = mEngine->getFilteredContact(
name, btVector3(origin.x, origin.y, origin.z), &object);
if(!result.first)
return std::make_pair(std::string(), Ogre::Vector3(&result.second[0]));
return std::make_pair(result.first->mName, Ogre::Vector3(&result.second[0]));
}
bool PhysicsSystem::castRay(const Vector3& from, const Vector3& to, bool raycastingObjectOnly,bool ignoreHeightMap)
{
btVector3 _from, _to;
_from = btVector3(from.x, from.y, from.z);
_to = btVector3(to.x, to.y, to.z);
std::pair<std::string, float> result = mEngine->rayTest(_from, _to, raycastingObjectOnly,ignoreHeightMap);
return !(result.first == "");
}
std::pair<bool, Ogre::Vector3>
PhysicsSystem::castRay(const Ogre::Vector3 &orig, const Ogre::Vector3 &dir, float len)
{
Ogre::Ray ray = Ogre::Ray(orig, dir);
Ogre::Vector3 to = ray.getPoint(len);
btVector3 btFrom = btVector3(orig.x, orig.y, orig.z);
btVector3 btTo = btVector3(to.x, to.y, to.z);
std::pair<std::string, float> test = mEngine->rayTest(btFrom, btTo);
if (test.second == -1) {
return std::make_pair(false, Ogre::Vector3());
}
return std::make_pair(true, ray.getPoint(len * test.second));
}
std::pair<bool, Ogre::Vector3> PhysicsSystem::castRay(float mouseX, float mouseY, Ogre::Vector3* normal, std::string* hit)
{
Ogre::Ray ray = mRender.getCamera()->getCameraToViewportRay(
mouseX,
mouseY);
Ogre::Vector3 from = ray.getOrigin();
Ogre::Vector3 to = ray.getPoint(200); /// \todo make this distance (ray length) configurable
btVector3 _from, _to;
_from = btVector3(from.x, from.y, from.z);
_to = btVector3(to.x, to.y, to.z);
std::pair<std::string, float> result = mEngine->rayTest(_from, _to, true, false, normal);
if (result.first == "")
return std::make_pair(false, Ogre::Vector3());
else
{
if (hit != NULL)
*hit = result.first;
return std::make_pair(true, ray.getPoint(200*result.second)); /// \todo make this distance (ray length) configurable
}
}
std::vector<std::string> PhysicsSystem::getCollisions(const Ptr &ptr, int collisionGroup, int collisionMask)
{
return mEngine->getCollisions(ptr.getRefData().getBaseNode()->getName(), collisionGroup, collisionMask);
}
Ogre::Vector3 PhysicsSystem::traceDown(const MWWorld::Ptr &ptr, float maxHeight)
{
return MovementSolver::traceDown(ptr, mEngine, maxHeight);
}
void PhysicsSystem::addHeightField (const float* heights,
int x, int y, float yoffset,
float triSize, float sqrtVerts)
{
mEngine->addHeightField(heights, x, y, yoffset, triSize, sqrtVerts);
}
void PhysicsSystem::removeHeightField (int x, int y)
{
mEngine->removeHeightField(x, y);
}
void PhysicsSystem::addObject (const Ptr& ptr, const std::string& mesh, bool placeable)
{
Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
handleToMesh[node->getName()] = mesh;
mEngine->createAndAdjustRigidBody(
mesh, node->getName(), ptr.getCellRef().getScale(), node->getPosition(), node->getOrientation(), 0, 0, false, placeable);
mEngine->createAndAdjustRigidBody(
mesh, node->getName(), ptr.getCellRef().getScale(), node->getPosition(), node->getOrientation(), 0, 0, true, placeable);
}
void PhysicsSystem::addActor (const Ptr& ptr, const std::string& mesh)
{
Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
//TODO:optimize this. Searching the std::map isn't very efficient i think.
mEngine->addCharacter(node->getName(), mesh, node->getPosition(), node->getScale().x, node->getOrientation());
}
void PhysicsSystem::removeObject (const std::string& handle)
{
mEngine->removeCharacter(handle);
mEngine->removeRigidBody(handle);
mEngine->deleteRigidBody(handle);
}
void PhysicsSystem::moveObject (const Ptr& ptr)
{
Ogre::SceneNode *node = ptr.getRefData().getBaseNode();
const std::string &handle = node->getName();
const Ogre::Vector3 &position = node->getPosition();
if(OEngine::Physic::RigidBody *body = mEngine->getRigidBody(handle))
{
body->getWorldTransform().setOrigin(btVector3(position.x,position.y,position.z));
mEngine->mDynamicsWorld->updateSingleAabb(body);
}
if(OEngine::Physic::RigidBody *body = mEngine->getRigidBody(handle, true))
{
body->getWorldTransform().setOrigin(btVector3(position.x,position.y,position.z));
mEngine->mDynamicsWorld->updateSingleAabb(body);
}
// Actors update their AABBs every frame (DISABLE_DEACTIVATION), so no need to do it manually
if(OEngine::Physic::PhysicActor *physact = mEngine->getCharacter(handle))
physact->setPosition(position);
}
void PhysicsSystem::rotateObject (const Ptr& ptr)
{
Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
const std::string &handle = node->getName();
const Ogre::Quaternion &rotation = node->getOrientation();
// TODO: map to MWWorld::Ptr for faster access
if (OEngine::Physic::PhysicActor* act = mEngine->getCharacter(handle))
{
act->setRotation(rotation);
}
if (OEngine::Physic::RigidBody* body = mEngine->getRigidBody(handle))
{
if(dynamic_cast<btBoxShape*>(body->getCollisionShape()) == NULL)
body->getWorldTransform().setRotation(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w));
else
mEngine->boxAdjustExternal(handleToMesh[handle], body, node->getScale().x, node->getPosition(), rotation);
mEngine->mDynamicsWorld->updateSingleAabb(body);
}
if (OEngine::Physic::RigidBody* body = mEngine->getRigidBody(handle, true))
{
if(dynamic_cast<btBoxShape*>(body->getCollisionShape()) == NULL)
body->getWorldTransform().setRotation(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w));
else
mEngine->boxAdjustExternal(handleToMesh[handle], body, node->getScale().x, node->getPosition(), rotation);
mEngine->mDynamicsWorld->updateSingleAabb(body);
}
}
void PhysicsSystem::scaleObject (const Ptr& ptr)
{
Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
const std::string &handle = node->getName();
if(handleToMesh.find(handle) != handleToMesh.end())
{
std::string model = ptr.getClass().getModel(ptr);
model = Misc::ResourceHelpers::correctActorModelPath(model); // FIXME: scaling shouldn't require model
bool placeable = false;
if (OEngine::Physic::RigidBody* body = mEngine->getRigidBody(handle,true))
placeable = body->mPlaceable;
else if (OEngine::Physic::RigidBody* body = mEngine->getRigidBody(handle,false))
placeable = body->mPlaceable;
removeObject(handle);
addObject(ptr, model, placeable);
}
if (OEngine::Physic::PhysicActor* act = mEngine->getCharacter(handle))
{
float scale = ptr.getCellRef().getScale();
if (!ptr.getClass().isNpc())
// NOTE: Ignoring Npc::adjustScale (race height) on purpose. This is a bug in MW and must be replicated for compatibility reasons
ptr.getClass().adjustScale(ptr, scale);
act->setScale(scale);
}
}
bool PhysicsSystem::toggleCollisionMode()
{
for(std::map<std::string,OEngine::Physic::PhysicActor*>::iterator it = mEngine->mActorMap.begin(); it != mEngine->mActorMap.end();++it)
{
if (it->first=="player")
{
OEngine::Physic::PhysicActor* act = it->second;
bool cmode = act->getCollisionMode();
if(cmode)
{
act->enableCollisionMode(false);
return false;
}
else
{
act->enableCollisionMode(true);
return true;
}
}
}
throw std::logic_error ("can't find player");
}
bool PhysicsSystem::getObjectAABB(const MWWorld::Ptr &ptr, Ogre::Vector3 &min, Ogre::Vector3 &max)
{
std::string model = ptr.getClass().getModel(ptr);
model = Misc::ResourceHelpers::correctActorModelPath(model);
if (model.empty()) {
return false;
}
btVector3 btMin, btMax;
float scale = ptr.getCellRef().getScale();
mEngine->getObjectAABB(model, scale, btMin, btMax);
min.x = btMin.x();
min.y = btMin.y();
min.z = btMin.z();
max.x = btMax.x();
max.y = btMax.y();
max.z = btMax.z();
return true;
}
void PhysicsSystem::queueObjectMovement(const Ptr &ptr, const Ogre::Vector3 &movement)
{
PtrVelocityList::iterator iter = mMovementQueue.begin();
for(;iter != mMovementQueue.end();++iter)
{
if(iter->first == ptr)
{
iter->second = movement;
return;
}
}
mMovementQueue.push_back(std::make_pair(ptr, movement));
}
void PhysicsSystem::clearQueuedMovement()
{
mMovementQueue.clear();
mCollisions.clear();
mStandingCollisions.clear();
}
const PtrVelocityList& PhysicsSystem::applyQueuedMovement(float dt)
{
mMovementResults.clear();
mTimeAccum += dt;
if(mTimeAccum >= 1.0f/60.0f)
{
// Collision events should be available on every frame
mCollisions.clear();
mStandingCollisions.clear();
const MWBase::World *world = MWBase::Environment::get().getWorld();
PtrVelocityList::iterator iter = mMovementQueue.begin();
for(;iter != mMovementQueue.end();++iter)
{
float waterlevel = -std::numeric_limits<float>::max();
const MWWorld::CellStore *cell = iter->first.getCell();
if(cell->getCell()->hasWater())
waterlevel = cell->getWaterLevel();
float oldHeight = iter->first.getRefData().getPosition().pos[2];
const MWMechanics::MagicEffects& effects = iter->first.getClass().getCreatureStats(iter->first).getMagicEffects();
bool waterCollision = false;
if (effects.get(ESM::MagicEffect::WaterWalking).getMagnitude()
&& cell->getCell()->hasWater()
&& !world->isUnderwater(iter->first.getCell(),
Ogre::Vector3(iter->first.getRefData().getPosition().pos)))
waterCollision = true;
OEngine::Physic::PhysicActor *physicActor = mEngine->getCharacter(iter->first.getRefData().getHandle());
if (!physicActor) // actor was already removed from the scene
continue;
physicActor->setCanWaterWalk(waterCollision);
// Slow fall reduces fall speed by a factor of (effect magnitude / 200)
float slowFall = 1.f - std::max(0.f, std::min(1.f, effects.get(ESM::MagicEffect::SlowFall).getMagnitude() * 0.005f));
Ogre::Vector3 newpos = MovementSolver::move(iter->first, iter->second, mTimeAccum,
world->isFlying(iter->first),
waterlevel, slowFall, mEngine, mCollisions, mStandingCollisions);
float heightDiff = newpos.z - oldHeight;
if (heightDiff < 0)
iter->first.getClass().getCreatureStats(iter->first).addToFallHeight(-heightDiff);
mMovementResults.push_back(std::make_pair(iter->first, newpos));
}
mTimeAccum = 0.0f;
}
mMovementQueue.clear();
return mMovementResults;
}
void PhysicsSystem::stepSimulation(float dt)
{
animateCollisionShapes(mEngine->mAnimatedShapes, mEngine->mDynamicsWorld);
animateCollisionShapes(mEngine->mAnimatedRaycastingShapes, mEngine->mDynamicsWorld);
mEngine->stepSimulation(dt);
}
bool PhysicsSystem::isActorStandingOn(const Ptr &actor, const Ptr &object) const
{
const std::string& actorHandle = actor.getRefData().getHandle();
const std::string& objectHandle = object.getRefData().getHandle();
for (std::map<std::string, std::string>::const_iterator it = mStandingCollisions.begin();
it != mStandingCollisions.end(); ++it)
{
if (it->first == actorHandle && it->second == objectHandle)
return true;
}
return false;
}
void PhysicsSystem::getActorsStandingOn(const Ptr &object, std::vector<std::string> &out) const
{
const std::string& objectHandle = object.getRefData().getHandle();
for (std::map<std::string, std::string>::const_iterator it = mStandingCollisions.begin();
it != mStandingCollisions.end(); ++it)
{
if (it->second == objectHandle)
out.push_back(it->first);
}
}
bool PhysicsSystem::isActorCollidingWith(const Ptr &actor, const Ptr &object) const
{
const std::string& actorHandle = actor.getRefData().getHandle();
const std::string& objectHandle = object.getRefData().getHandle();
for (std::map<std::string, std::string>::const_iterator it = mCollisions.begin();
it != mCollisions.end(); ++it)
{
if (it->first == actorHandle && it->second == objectHandle)
return true;
}
return false;
}
void PhysicsSystem::getActorsCollidingWith(const Ptr &object, std::vector<std::string> &out) const
{
const std::string& objectHandle = object.getRefData().getHandle();
for (std::map<std::string, std::string>::const_iterator it = mCollisions.begin();
it != mCollisions.end(); ++it)
{
if (it->second == objectHandle)
out.push_back(it->first);
}
}
void PhysicsSystem::disableWater()
{
if (mWaterEnabled)
{
mWaterEnabled = false;
updateWater();
}
}
void PhysicsSystem::enableWater(float height)
{
if (!mWaterEnabled || mWaterHeight != height)
{
mWaterEnabled = true;
mWaterHeight = height;
updateWater();
}
}
void PhysicsSystem::setWaterHeight(float height)
{
if (mWaterHeight != height)
{
mWaterHeight = height;
updateWater();
}
}
void PhysicsSystem::updateWater()
{
if (mWaterCollisionObject.get())
{
mEngine->mDynamicsWorld->removeCollisionObject(mWaterCollisionObject.get());
}
if (!mWaterEnabled)
return;
mWaterCollisionObject.reset(new btCollisionObject());
mWaterCollisionShape.reset(new btStaticPlaneShape(btVector3(0,0,1), mWaterHeight));
mWaterCollisionObject->setCollisionShape(mWaterCollisionShape.get());
mEngine->mDynamicsWorld->addCollisionObject(mWaterCollisionObject.get(), OEngine::Physic::CollisionType_Water,
OEngine::Physic::CollisionType_Actor);
}
}