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https://github.com/TES3MP/openmw-tes3mp.git
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b54e77a667
../apps/openmw/mwphysics/movementsolver.cpp: In static member function ‘static void MWPhysics::MovementSolver::move(MWPhysics::ActorFrameData&, float, const btCollisionWorld*, MWPhysics::WorldFrameData&)’:
../apps/openmw/mwphysics/movementsolver.cpp:98:52: error: ‘getPlayer’ is not a member of ‘MWMechanics’
98 | const bool isPlayer = (ptr == MWMechanics::getPlayer());
| ^~~~~~~~~
420 lines
18 KiB
C++
420 lines
18 KiB
C++
#include "movementsolver.hpp"
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#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
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#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
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#include <BulletCollision/CollisionShapes/btCollisionShape.h>
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#include <components/esm/loadgmst.hpp>
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#include <components/misc/convert.hpp>
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#include "../mwbase/world.hpp"
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#include "../mwbase/environment.hpp"
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#include "../mwworld/class.hpp"
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#include "../mwworld/esmstore.hpp"
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#include "../mwworld/refdata.hpp"
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#ifdef USE_OPENXR
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#include "../mwvr/vrsession.hpp"
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#include "../mwvr/vrcamera.hpp"
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#include "../mwvr/vrenvironment.hpp"
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#include "../mwrender/renderingmanager.hpp"
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#include "../mwworld/player.hpp"
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#endif
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#include "../mwmechanics/actorutil.hpp"
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#include "actor.hpp"
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#include "collisiontype.hpp"
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#include "constants.hpp"
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#include "physicssystem.hpp"
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#include "stepper.hpp"
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#include "trace.h"
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namespace MWPhysics
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{
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static bool isActor(const btCollisionObject *obj)
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{
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assert(obj);
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return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
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}
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template <class Vec3>
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static bool isWalkableSlope(const Vec3 &normal)
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{
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static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
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return (normal.z() > sMaxSlopeCos);
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}
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osg::Vec3f MovementSolver::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
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{
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osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
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ActorTracer tracer;
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tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
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if (tracer.mFraction >= 1.0f)
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{
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actor->setOnGround(false);
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return position;
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}
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actor->setOnGround(true);
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// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
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// Required for some broken door destinations in Morrowind.esm, where the spawn point
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// intersects with other geometry if the actor's base is taken into account
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btVector3 from = Misc::Convert::toBullet(position);
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btVector3 to = from - btVector3(0,0,maxHeight);
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btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
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resultCallback1.m_collisionFilterGroup = 0xff;
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resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
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collisionWorld->rayTest(from, to, resultCallback1);
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if (resultCallback1.hasHit() && ((Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) - tracer.mEndPos + offset).length2() > 35*35
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|| !isWalkableSlope(tracer.mPlaneNormal)))
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{
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actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
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return Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
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return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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void MovementSolver::move(ActorFrameData& actor, float time, const btCollisionWorld* collisionWorld,
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WorldFrameData& worldData)
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{
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auto* physicActor = actor.mActorRaw;
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auto ptr = actor.mPtr;
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ESM::Position refpos = actor.mRefpos;
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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;
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const bool isPlayer = (ptr == MWMechanics::getPlayer());
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auto* world = MWBase::Environment::get().getWorld();
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// In VR, player should move according to current direction of
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// a selected limb, rather than current orientation of camera.
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#ifdef USE_OPENXR
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// Regarding this and the duplicate movement solver later in this method:
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// As my two edits in this code are obviously hacks, I could use feedback on how i could implement
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// VR movement mechanics as not-a-hack. This hack, for instance, does not trigger movement animations
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// and will obviously be a poor fit for a future merge with tes3mp.
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// The exact mechanics are:
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// 1. When moving with the controller, the player moves in the direction he is currently pointing his left controller.
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// 2. The game should seek to eliminate all distance between the player character and the player's position within VR,
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// without teleporting the player or ignoring collisions.
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// I assume (1.) is easily solved, i just haven't taken the effort to study openmw's code enough.
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// But 2. is not so obvious. I guess it's doable if i compute the direction between current position and the player's
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// position in the VR stage, and just let it catch up at the character's own move speed, but it still needs to reach the position as exactly as possible.
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if (isPlayer)
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{
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auto* session = MWVR::Environment::get().getSession();
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if (session)
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{
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float pitch = 0.f;
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float yaw = 0.f;
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session->movementAngles(yaw, pitch);
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refpos.rot[0] += pitch;
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refpos.rot[2] += yaw;
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}
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}
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#endif
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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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actor.mPosition += (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
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osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
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) * actor.mMovement * time;
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return;
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}
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const btCollisionObject *colobj = physicActor->getCollisionObject();
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osg::Vec3f halfExtents = physicActor->getHalfExtents();
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// NOTE: here we don't account for the collision box translation (i.e. physicActor->getPosition() - refpos.pos).
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// That means the collision shape used for moving this actor is in a different spot than the collision shape
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// other actors are using to collide against this actor.
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// While this is strictly speaking wrong, it's needed for MW compatibility.
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actor.mPosition.z() += halfExtents.z();
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static const float fSwimHeightScale = world->getStore().get<ESM::GameSetting>().find("fSwimHeightScale")->mValue.getFloat();
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float swimlevel = actor.mWaterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
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ActorTracer tracer;
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osg::Vec3f inertia = physicActor->getInertialForce();
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osg::Vec3f velocity;
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if (actor.mPosition.z() < swimlevel || actor.mFlying)
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{
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velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) * osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * actor.mMovement;
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}
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else
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{
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velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * actor.mMovement;
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if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
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|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
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inertia = velocity;
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else if (!physicActor->getOnGround() || physicActor->getOnSlope())
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velocity = velocity + inertia;
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}
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// dead actors underwater will float to the surface, if the CharacterController tells us to do so
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if (actor.mMovement.z() > 0 && actor.mIsDead && actor.mPosition.z() < swimlevel)
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velocity = osg::Vec3f(0,0,1) * 25;
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if (actor.mWantJump)
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actor.mDidJump = true;
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// Now that we have the effective movement vector, apply wind forces to it
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if (worldData.mIsInStorm)
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{
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osg::Vec3f stormDirection = worldData.mStormDirection;
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float angleDegrees = osg::RadiansToDegrees(std::acos(stormDirection * velocity / (stormDirection.length() * velocity.length())));
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static const float fStromWalkMult = world->getStore().get<ESM::GameSetting>().find("fStromWalkMult")->mValue.getFloat();
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velocity *= 1.f-(fStromWalkMult * (angleDegrees/180.f));
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}
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Stepper stepper(collisionWorld, colobj);
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osg::Vec3f origVelocity = velocity;
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osg::Vec3f newPosition = actor.mPosition;
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#ifdef USE_OPENXR
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// Catch the player character up to the real world position of the player.
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// TODO: Hack.
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if (isPlayer && !world->getPlayer().isDisabled())
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{
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auto* inputManager = reinterpret_cast<MWVR::VRCamera*>(MWBase::Environment::get().getWorld()->getRenderingManager().getCamera());
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osg::Vec3 headOffset = inputManager->headOffset();
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osg::Vec3 trackingOffset = headOffset;
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// Player's tracking height should not affect character position
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trackingOffset.z() = 0;
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float remainingTime = time;
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float remainder = 1.f;
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for (int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f && remainder > 0.01; ++iterations)
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{
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osg::Vec3 toMove = trackingOffset * remainder;
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osg::Vec3 nextpos = newPosition + toMove;
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if ((newPosition - nextpos).length2() > 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, collisionWorld);
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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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remainder = 0.f;
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break;
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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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remainder = 0.f;
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break;
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}
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// We are touching something.
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if (tracer.mFraction < 1E-9f)
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{
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// Try to separate by backing off slighly to unstuck the solver
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osg::Vec3f backOff = (newPosition - tracer.mHitPoint) * 1E-2f;
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newPosition += backOff;
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}
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// We hit something. Check if we can step up.
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float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
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osg::Vec3f oldPosition = newPosition;
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bool result = false;
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if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
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{
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// Try to step up onto it.
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// NOTE: stepMove does not allow stepping over, modifies newPosition if successful
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result = stepper.step(newPosition, toMove, remainingTime);
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remainder = remainingTime / time;
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}
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}
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// Try not to lose any tracking
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osg::Vec3 moved = newPosition - actor.mPosition;
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headOffset.x() -= moved.x();
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headOffset.y() -= moved.y();
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inputManager->setHeadOffset(headOffset);
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}
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#endif
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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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osg::Vec3f 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(!actor.mFlying && nextpos.z() > swimlevel && newPosition.z() < swimlevel)
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{
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const osg::Vec3f down(0,0,-1);
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velocity = slide(velocity, down);
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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 - nextpos).length2() > 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, collisionWorld);
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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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}
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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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// We are touching something.
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if (tracer.mFraction < 1E-9f)
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{
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// Try to separate by backing off slighly to unstuck the solver
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osg::Vec3f backOff = (newPosition - tracer.mHitPoint) * 1E-2f;
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newPosition += backOff;
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}
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// We hit something. Check if we can step up.
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float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
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osg::Vec3f oldPosition = newPosition;
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bool result = false;
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if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
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{
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// Try to step up onto it.
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// NOTE: stepMove does not allow stepping over, modifies newPosition if successful
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result = stepper.step(newPosition, velocity*remainingTime, remainingTime);
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}
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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) && newPosition.z() + halfExtents.z() > actor.mWaterlevel)
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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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osg::Vec3f newVelocity = slide(velocity, tracer.mPlaneNormal);
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// Do not allow sliding upward if there is gravity.
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// Stepping will have taken care of that.
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if(!(newPosition.z() < swimlevel || actor.mFlying))
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newVelocity.z() = std::min(newVelocity.z(), 0.0f);
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if ((newVelocity-velocity).length2() < 0.01)
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break;
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if ((newVelocity * origVelocity) <= 0.f)
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break; // ^ dot product
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velocity = newVelocity;
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}
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}
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bool isOnGround = false;
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bool isOnSlope = false;
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if (!(inertia.z() > 0.f) && !(newPosition.z() < swimlevel))
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{
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osg::Vec3f from = newPosition;
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osg::Vec3f to = newPosition - (physicActor->getOnGround() ? osg::Vec3f(0,0,sStepSizeDown + 2*sGroundOffset) : osg::Vec3f(0,0,2*sGroundOffset));
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tracer.doTrace(colobj, from, to, collisionWorld);
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if(tracer.mFraction < 1.0f && !isActor(tracer.mHitObject))
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{
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const btCollisionObject* standingOn = tracer.mHitObject;
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PtrHolder* ptrHolder = static_cast<PtrHolder*>(standingOn->getUserPointer());
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if (ptrHolder)
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actor.mStandingOn = ptrHolder->getPtr();
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if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
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physicActor->setWalkingOnWater(true);
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if (!actor.mFlying)
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newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
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isOnGround = true;
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isOnSlope = !isWalkableSlope(tracer.mPlaneNormal);
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}
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else
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{
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// standing on actors is not allowed (see above).
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// in addition to that, apply a sliding effect away from the center of the actor,
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// so that we do not stay suspended in air indefinitely.
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if (tracer.mFraction < 1.0f && isActor(tracer.mHitObject))
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{
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if (osg::Vec3f(velocity.x(), velocity.y(), 0).length2() < 100.f*100.f)
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{
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btVector3 aabbMin, aabbMax;
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tracer.mHitObject->getCollisionShape()->getAabb(tracer.mHitObject->getWorldTransform(), aabbMin, aabbMax);
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btVector3 center = (aabbMin + aabbMax) / 2.f;
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inertia = osg::Vec3f(actor.mPosition.x() - center.x(), actor.mPosition.y() - center.y(), 0);
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inertia.normalize();
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inertia *= 100;
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}
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}
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isOnGround = false;
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}
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}
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if((isOnGround && !isOnSlope) || newPosition.z() < swimlevel || actor.mFlying)
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physicActor->setInertialForce(osg::Vec3f(0.f, 0.f, 0.f));
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else
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{
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inertia.z() -= time * Constants::GravityConst * Constants::UnitsPerMeter;
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if (inertia.z() < 0)
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inertia.z() *= actor.mSlowFall;
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if (actor.mSlowFall < 1.f) {
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inertia.x() *= actor.mSlowFall;
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inertia.y() *= actor.mSlowFall;
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}
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physicActor->setInertialForce(inertia);
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}
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physicActor->setOnGround(isOnGround);
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physicActor->setOnSlope(isOnSlope);
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newPosition.z() -= halfExtents.z(); // remove what was added at the beginning
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actor.mPosition = newPosition;
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}
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}
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