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1012 lines
43 KiB
C++
1012 lines
43 KiB
C++
#include "physicssystem.hpp"
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#include <stdexcept>
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#include <OgreRoot.h>
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#include <OgreRenderWindow.h>
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#include <OgreSceneManager.h>
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#include <OgreViewport.h>
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#include <OgreCamera.h>
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#include <OgreTextureManager.h>
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#include <OgreSceneNode.h>
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#include <openengine/bullet/trace.h>
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#include <openengine/bullet/physic.hpp>
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#include <openengine/bullet/BtOgreExtras.h>
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#include <openengine/ogre/renderer.hpp>
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#include <openengine/bullet/BulletShapeLoader.h>
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#include <components/nifbullet/bulletnifloader.hpp>
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#include <components/nifogre/skeleton.hpp>
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#include <components/misc/resourcehelpers.hpp>
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#include <components/esm/loadgmst.hpp>
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#include "../mwbase/world.hpp" // FIXME
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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 "../mwworld/esmstore.hpp"
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#include "../mwworld/cellstore.hpp"
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#include "../apps/openmw/mwrender/animation.hpp"
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#include "../apps/openmw/mwbase/world.hpp"
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#include "../apps/openmw/mwbase/environment.hpp"
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#include "ptr.hpp"
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#include "class.hpp"
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using namespace Ogre;
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namespace
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{
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void animateCollisionShapes (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>& map, btDynamicsWorld* dynamicsWorld)
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{
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for (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>::iterator it = map.begin();
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it != map.end(); ++it)
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{
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MWWorld::Ptr ptr = MWBase::Environment::get().getWorld()->searchPtrViaHandle(it->first->mName);
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if (ptr.isEmpty()) // Shouldn't happen
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throw std::runtime_error("can't find Ptr");
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MWRender::Animation* animation = MWBase::Environment::get().getWorld()->getAnimation(ptr);
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if (!animation)
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continue;
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OEngine::Physic::AnimatedShapeInstance& instance = it->second;
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std::map<int, int>& shapes = instance.mAnimatedShapes;
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for (std::map<int, int>::iterator shapeIt = shapes.begin();
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shapeIt != shapes.end(); ++shapeIt)
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{
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const std::string& mesh = animation->getObjectRootName();
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int boneHandle = NifOgre::NIFSkeletonLoader::lookupOgreBoneHandle(mesh, shapeIt->first);
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Ogre::Node* bone = animation->getNode(boneHandle);
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if (bone == NULL)
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continue;
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btCompoundShape* compound = static_cast<btCompoundShape*>(instance.mCompound);
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btTransform trans;
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trans.setOrigin(BtOgre::Convert::toBullet(bone->_getDerivedPosition()) * compound->getLocalScaling());
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trans.setRotation(BtOgre::Convert::toBullet(bone->_getDerivedOrientation()));
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compound->getChildShape(shapeIt->second)->setLocalScaling(
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compound->getLocalScaling() *
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BtOgre::Convert::toBullet(bone->_getDerivedScale()));
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compound->updateChildTransform(shapeIt->second, trans);
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}
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// needed because we used btDynamicsWorld::setForceUpdateAllAabbs(false)
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dynamicsWorld->updateSingleAabb(it->first);
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}
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}
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}
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namespace MWWorld
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{
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static const float sMaxSlope = 49.0f;
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static const float sStepSizeUp = 34.0f;
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static const float sStepSizeDown = 62.0f;
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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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class MovementSolver
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{
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private:
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static float getSlope(const Ogre::Vector3 &normal)
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{
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return normal.angleBetween(Ogre::Vector3(0.0f,0.0f,1.0f)).valueDegrees();
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}
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static bool stepMove(btCollisionObject *colobj, Ogre::Vector3 &position,
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const Ogre::Vector3 &toMove, float &remainingTime,
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OEngine::Physic::PhysicEngine *engine)
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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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OEngine::Physic::ActorTracer tracer, stepper;
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stepper.doTrace(colobj, position, position+Ogre::Vector3(0.0f,0.0f,sStepSizeUp), engine);
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if(stepper.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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* 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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tracer.doTrace(colobj, stepper.mEndPos, stepper.mEndPos + toMove, engine);
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if(tracer.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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stepper.doTrace(colobj, tracer.mEndPos, tracer.mEndPos-Ogre::Vector3(0.0f,0.0f,sStepSizeDown), engine);
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if(stepper.mFraction < 1.0f && getSlope(stepper.mPlaneNormal) <= sMaxSlope)
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{
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// don't allow stepping up other actors
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if (stepper.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup == OEngine::Physic::CollisionType_Actor)
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return false;
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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 = stepper.mEndPos;
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remainingTime *= (1.0f-tracer.mFraction); // remaining time is proportional to remaining distance
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return true;
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}
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// moved between 0 and just under sStepSize distance but slope was too great,
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// or moved full sStepSize distance (FIXME: is this a bug?)
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return false;
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}
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///Project a vector u on another vector v
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static inline Ogre::Vector3 project(const Ogre::Vector3 u, const Ogre::Vector3 &v)
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{
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return v * u.dotProduct(v);
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}
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///Helper for computing the character sliding
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static inline Ogre::Vector3 slide(Ogre::Vector3 direction, const Ogre::Vector3 &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 Ogre::Vector3 traceDown(const MWWorld::Ptr &ptr, OEngine::Physic::PhysicEngine *engine, float maxHeight)
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{
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const ESM::Position &refpos = ptr.getRefData().getPosition();
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Ogre::Vector3 position(refpos.pos);
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OEngine::Physic::PhysicActor *physicActor = engine->getCharacter(ptr.getRefData().getHandle());
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if (!physicActor)
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return position;
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OEngine::Physic::ActorTracer tracer;
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tracer.findGround(physicActor, position, position-Ogre::Vector3(0,0,maxHeight), engine);
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if(tracer.mFraction >= 1.0f)
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{
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physicActor->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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// 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 = BtOgre::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 = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
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engine->mDynamicsWorld->rayTest(from, to, resultCallback1);
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if (resultCallback1.hasHit() &&
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(BtOgre::Convert::toOgre(resultCallback1.m_hitPointWorld).distance(tracer.mEndPos) > 30
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|| getSlope(tracer.mPlaneNormal) > sMaxSlope))
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{
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physicActor->setOnGround(getSlope(BtOgre::Convert::toOgre(resultCallback1.m_hitNormalWorld)) <= sMaxSlope);
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return BtOgre::Convert::toOgre(resultCallback1.m_hitPointWorld) + Ogre::Vector3(0,0,1.f);
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}
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physicActor->setOnGround(getSlope(tracer.mPlaneNormal) <= sMaxSlope);
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return tracer.mEndPos;
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}
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}
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static Ogre::Vector3 move(const MWWorld::Ptr &ptr, const Ogre::Vector3 &movement, float time,
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bool isFlying, float waterlevel, float slowFall, OEngine::Physic::PhysicEngine *engine
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, std::map<std::string, std::string>& collisionTracker
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, std::map<std::string, std::string>& standingCollisionTracker)
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{
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const ESM::Position &refpos = ptr.getRefData().getPosition();
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Ogre::Vector3 position(refpos.pos);
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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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OEngine::Physic::PhysicActor *physicActor = engine->getCharacter(ptr.getRefData().getHandle());
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if (!physicActor)
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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 + (Ogre::Quaternion(Ogre::Radian(refpos.rot[2]), Ogre::Vector3::NEGATIVE_UNIT_Z) *
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Ogre::Quaternion(Ogre::Radian(refpos.rot[0]), Ogre::Vector3::NEGATIVE_UNIT_X))
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* movement * time;
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}
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btCollisionObject *colobj = physicActor->getCollisionBody();
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Ogre::Vector3 halfExtents = physicActor->getHalfExtents();
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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")->getFloat();
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float swimlevel = waterlevel + halfExtents.z - (halfExtents.z * 2 * fSwimHeightScale);
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OEngine::Physic::ActorTracer tracer;
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Ogre::Vector3 inertia = physicActor->getInertialForce();
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Ogre::Vector3 velocity;
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if(position.z < swimlevel || isFlying)
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{
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velocity = (Ogre::Quaternion(Ogre::Radian(refpos.rot[2]), Ogre::Vector3::NEGATIVE_UNIT_Z)*
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Ogre::Quaternion(Ogre::Radian(refpos.rot[0]), Ogre::Vector3::NEGATIVE_UNIT_X)) * movement;
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}
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else
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{
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velocity = Ogre::Quaternion(Ogre::Radian(refpos.rot[2]), Ogre::Vector3::NEGATIVE_UNIT_Z) * movement;
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if (velocity.z > 0.f)
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inertia = velocity;
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if(!physicActor->getOnGround())
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{
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velocity = velocity + physicActor->getInertialForce();
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}
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}
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ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
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// Now that we have the effective movement vector, apply wind forces to it
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if (MWBase::Environment::get().getWorld()->isInStorm())
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{
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Ogre::Vector3 stormDirection = MWBase::Environment::get().getWorld()->getStormDirection();
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Ogre::Degree angle = stormDirection.angleBetween(velocity);
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static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
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.find("fStromWalkMult")->getFloat();
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velocity *= 1.f-(fStromWalkMult * (angle.valueDegrees()/180.f));
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}
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Ogre::Vector3 origVelocity = velocity;
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Ogre::Vector3 newPosition = position;
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/*
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* A loop to find newPosition using tracer, if successful different from the starting position.
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* nextpos is the local variable used to find potential newPosition, using velocity and remainingTime
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* The initial velocity was set earlier (see above).
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*/
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float remainingTime = time;
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for(int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f; ++iterations)
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{
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Ogre::Vector3 nextpos = newPosition + velocity * remainingTime;
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// If not able to fly, don't allow to swim up into the air
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if(newPosition.z < swimlevel &&
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!isFlying && // can't fly
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nextpos.z > swimlevel && // but about to go above water
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newPosition.z <= swimlevel)
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{
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const Ogre::Vector3 down(0,0,-1);
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Ogre::Real movelen = velocity.normalise();
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Ogre::Vector3 reflectdir = velocity.reflect(down);
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reflectdir.normalise();
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velocity = slide(reflectdir, down)*movelen;
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// NOTE: remainingTime is unchanged before the loop continues
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continue; // velocity updated, calculate nextpos again
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}
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if(newPosition.squaredDistance(nextpos) > 0.0001)
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{
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// trace to where character would go if there were no obstructions
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tracer.doTrace(colobj, newPosition, nextpos, engine);
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// check for obstructions
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if(tracer.mFraction >= 1.0f)
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{
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newPosition = tracer.mEndPos; // ok to move, so set newPosition
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break;
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}
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else
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{
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const btCollisionObject* standingOn = tracer.mHitObject;
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if (const OEngine::Physic::RigidBody* body = dynamic_cast<const OEngine::Physic::RigidBody*>(standingOn))
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{
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collisionTracker[ptr.getRefData().getHandle()] = body->mName;
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}
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}
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}
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else
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{
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// The current position and next position are nearly the same, so just exit.
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// Note: Bullet can trigger an assert in debug modes if the positions
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// are the same, since that causes it to attempt to normalize a zero
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// length vector (which can also happen with nearly identical vectors, since
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// precision can be lost due to any math Bullet does internally). Since we
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// aren't performing any collision detection, we want to reject the next
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// position, so that we don't slowly move inside another object.
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break;
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}
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Ogre::Vector3 oldPosition = newPosition;
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// We hit something. Try to step up onto it. (NOTE: stepMove does not allow stepping over)
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// NOTE: stepMove modifies newPosition if successful
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bool result = stepMove(colobj, newPosition, velocity*remainingTime, remainingTime, engine);
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if (!result) // to make sure the maximum stepping distance isn't framerate-dependent or movement-speed dependent
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result = stepMove(colobj, newPosition, velocity.normalisedCopy()*10.f, remainingTime, engine);
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if(result)
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{
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// don't let pure water creatures move out of water after stepMove
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if (ptr.getClass().isPureWaterCreature(ptr)
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&& newPosition.z + halfExtents.z > waterlevel)
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newPosition = oldPosition;
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}
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else
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{
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// Can't move this way, try to find another spot along the plane
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Ogre::Vector3 direction = velocity;
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Ogre::Real movelen = direction.normalise();
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Ogre::Vector3 reflectdir = velocity.reflect(tracer.mPlaneNormal);
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reflectdir.normalise();
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Ogre::Vector3 newVelocity = slide(reflectdir, tracer.mPlaneNormal)*movelen;
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if ((newVelocity-velocity).squaredLength() < 0.01)
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break;
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if (velocity.dotProduct(origVelocity) <= 0.f)
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break;
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velocity = newVelocity;
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// Do not allow sliding upward if there is gravity. Stepping will have taken
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// care of that.
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if(!(newPosition.z < swimlevel || isFlying))
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velocity.z = std::min(velocity.z, 0.0f);
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}
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}
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bool isOnGround = false;
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if (!(inertia.z > 0.f) && !(newPosition.z < swimlevel))
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{
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Ogre::Vector3 from = newPosition;
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Ogre::Vector3 to = newPosition - (physicActor->getOnGround() ?
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Ogre::Vector3(0,0,sStepSizeDown+2.f) : Ogre::Vector3(0,0,2.f));
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tracer.doTrace(colobj, from, to, engine);
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if(tracer.mFraction < 1.0f && getSlope(tracer.mPlaneNormal) <= sMaxSlope
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&& tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != OEngine::Physic::CollisionType_Actor)
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{
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const btCollisionObject* standingOn = tracer.mHitObject;
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if (const OEngine::Physic::RigidBody* body = dynamic_cast<const OEngine::Physic::RigidBody*>(standingOn))
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{
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standingCollisionTracker[ptr.getRefData().getHandle()] = body->mName;
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}
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if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == OEngine::Physic::CollisionType_Water)
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physicActor->setWalkingOnWater(true);
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if (!isFlying)
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newPosition.z = tracer.mEndPos.z + 1.0f;
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|
|
|
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), mWaterEnabled(false), mWaterHeight(0)
|
|
{
|
|
// 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 (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);
|
|
}
|
|
}
|