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Readded height fields

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pull/638/head
scrawl 10 years ago
parent c31b416ba1
commit 54c1f19c18
3 changed files with 137 additions and 31 deletions
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132
apps/openmw/mwphysics/physicssystem.cpp
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@ -4,6 +4,8 @@
#include <osg/Group>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <components/nifbullet/bulletnifloader.hpp>
#include <components/misc/resourcehelpers.hpp>
@ -187,7 +189,7 @@ namespace MWPhysics
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)
if (stepper.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup == 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
@ -246,7 +248,7 @@ namespace MWPhysics
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
resultCallback1.m_collisionFilterGroup = 0xff;
resultCallback1.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
engine->mDynamicsWorld->rayTest(from, to, resultCallback1);
if (resultCallback1.hasHit() &&
@ -437,14 +439,14 @@ namespace MWPhysics
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)
&& tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != 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)
if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
physicActor->setWalkingOnWater(true);
if (!isFlying)
@ -457,7 +459,7 @@ namespace MWPhysics
// 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 (tracer.mFraction < 1.0f && tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor)
{
if (Ogre::Vector3(velocity.x, velocity.y, 0).squaredLength() < 100.f*100.f)
{
@ -492,15 +494,94 @@ namespace MWPhysics
};
PhysicsSystem::PhysicsSystem(osg::ref_ptr<osg::Group> parentNode) :
mTimeAccum(0.0f), mWaterEnabled(false), mWaterHeight(0), mDebugDrawEnabled(false), mParentNode(parentNode)
// ---------------------------------------------------------------
class HeightField
{
public:
HeightField(float* heights, int x, int y, float triSize, float sqrtVerts)
{
// find the minimum and maximum heights (needed for bullet)
float minh = heights[0];
float maxh = heights[0];
for(int i = 1;i < sqrtVerts*sqrtVerts;++i)
{
float h = heights[i];
if(h > maxh) maxh = h;
if(h < minh) minh = h;
}
mShape = new btHeightfieldTerrainShape(
sqrtVerts, sqrtVerts, heights, 1,
minh, maxh, 2,
PHY_FLOAT, true
);
mShape->setUseDiamondSubdivision(true);
mShape->setLocalScaling(btVector3(triSize, triSize, 1));
btTransform transform(btQuaternion::getIdentity(),
btVector3((x+0.5f) * triSize * (sqrtVerts-1),
(y+0.5f) * triSize * (sqrtVerts-1),
(maxh+minh)*0.5f));
mCollisionObject = new btCollisionObject;
mCollisionObject->setCollisionShape(mShape);
mCollisionObject->setWorldTransform(transform);
}
~HeightField()
{
delete mCollisionObject;
delete mShape;
}
btCollisionObject* getCollisionObject()
{
return mCollisionObject;
}
private:
btHeightfieldTerrainShape* mShape;
btCollisionObject* mCollisionObject;
};
// ---------------------------------------------------------------
PhysicsSystem::PhysicsSystem(osg::ref_ptr<osg::Group> parentNode)
: mTimeAccum(0.0f)
, mWaterEnabled(false)
, mWaterHeight(0)
, mDebugDrawEnabled(false)
, mParentNode(parentNode)
{
mCollisionConfiguration = new btDefaultCollisionConfiguration();
mDispatcher = new btCollisionDispatcher(mCollisionConfiguration);
mSolver = new btSequentialImpulseConstraintSolver;
mBroadphase = new btDbvtBroadphase();
mDynamicsWorld = new btDiscreteDynamicsWorld(mDispatcher,mBroadphase,mSolver,mCollisionConfiguration);
// Don't update AABBs of all objects every frame. Most objects in MW are static, so we don't need this.
// Should a "static" object ever be moved, we have to update its AABB manually using DynamicsWorld::updateSingleAabb.
mDynamicsWorld->setForceUpdateAllAabbs(false);
mDynamicsWorld->setGravity(btVector3(0,0,-10));
}
PhysicsSystem::~PhysicsSystem()
{
//if (mWaterCollisionObject.get())
// mEngine->mDynamicsWorld->removeCollisionObject(mWaterCollisionObject.get());
if (mWaterCollisionObject.get())
mDynamicsWorld->removeCollisionObject(mWaterCollisionObject.get());
for (HeightFieldMap::iterator it = mHeightFields.begin(); it != mHeightFields.end(); ++it)
{
mDynamicsWorld->removeCollisionObject(it->second->getCollisionObject());
delete it->second;
}
delete mDynamicsWorld;
delete mSolver;
delete mCollisionConfiguration;
delete mDispatcher;
delete mBroadphase;
}
bool PhysicsSystem::toggleDebugRendering()
@ -509,9 +590,9 @@ namespace MWPhysics
if (mDebugDrawEnabled && !mDebugDrawer.get())
{
//mDebugDrawer.reset(new MWRender::DebugDrawer(mParentNode, mEngine->mDynamicsWorld));
//mEngine->mDynamicsWorld->setDebugDrawer(mDebugDrawer.get());
//mDebugDrawer->setDebugMode(mDebugDrawEnabled);
mDebugDrawer.reset(new MWRender::DebugDrawer(mParentNode, mDynamicsWorld));
mDynamicsWorld->setDebugDrawer(mDebugDrawer.get());
mDebugDrawer->setDebugMode(mDebugDrawEnabled);
}
else if (mDebugDrawer.get())
mDebugDrawer->setDebugMode(mDebugDrawEnabled);
@ -592,14 +673,24 @@ namespace MWPhysics
return Ogre::Vector3();//MovementSolver::traceDown(ptr, mEngine, maxHeight);
}
void PhysicsSystem::addHeightField (float* heights,
int x, int y, float yoffset,
float triSize, float sqrtVerts)
void PhysicsSystem::addHeightField (float* heights, int x, int y, float triSize, float sqrtVerts)
{
HeightField *heightfield = new HeightField(heights, x, y, triSize, sqrtVerts);
mHeightFields[std::make_pair(x,y)] = heightfield;
mDynamicsWorld->addCollisionObject(heightfield->getCollisionObject(), CollisionType_HeightMap,
CollisionType_Actor|CollisionType_Projectile);
}
void PhysicsSystem::removeHeightField (int x, int y)
{
HeightFieldMap::iterator heightfield = mHeightFields.find(std::make_pair(x,y));
if(heightfield != mHeightFields.end())
{
mDynamicsWorld->removeCollisionObject(heightfield->second->getCollisionObject());
delete heightfield->second;
mHeightFields.erase(heightfield);
}
}
void PhysicsSystem::addObject (const MWWorld::Ptr& ptr, const std::string& mesh, bool placeable)
@ -726,9 +817,10 @@ namespace MWPhysics
void PhysicsSystem::stepSimulation(float dt)
{
//animateCollisionShapes(mEngine->mAnimatedShapes, mEngine->mDynamicsWorld);
//animateCollisionShapes(mEngine->mAnimatedShapes, mDynamicsWorld);
//mEngine->stepSimulation(dt);
// We have nothing to simulate, but character controllers aren't working without this call. Might be related to updating AABBs.
mDynamicsWorld->stepSimulation(static_cast<btScalar>(dt), 1, 1 / 60.0f);
if (mDebugDrawer.get())
mDebugDrawer->step();
@ -818,7 +910,7 @@ namespace MWPhysics
{
if (mWaterCollisionObject.get())
{
//mEngine->mDynamicsWorld->removeCollisionObject(mWaterCollisionObject.get());
mDynamicsWorld->removeCollisionObject(mWaterCollisionObject.get());
}
if (!mWaterEnabled)
@ -827,7 +919,7 @@ namespace MWPhysics
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);
mDynamicsWorld->addCollisionObject(mWaterCollisionObject.get(), CollisionType_Water,
CollisionType_Actor);
}
}

26
apps/openmw/mwphysics/physicssystem.hpp
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@ -21,10 +21,23 @@ namespace MWRender
class DebugDrawer;
}
class btSequentialImpulseConstraintSolver;
class btDiscreteDynamicsWorld;
namespace MWPhysics
{
typedef std::vector<std::pair<MWWorld::Ptr,Ogre::Vector3> > PtrVelocityList;
enum CollisionType {
CollisionType_World = 1<<0,
CollisionType_Actor = 1<<1,
CollisionType_HeightMap = 1<<2,
CollisionType_Projectile = 1<<4,
CollisionType_Water = 1<<5
};
class HeightField;
class PhysicsSystem
{
public:
@ -39,9 +52,7 @@ namespace MWPhysics
void addActor (const MWWorld::Ptr& ptr, const std::string& mesh);
void addHeightField (float* heights,
int x, int y, float yoffset,
float triSize, float sqrtVerts);
void addHeightField (float* heights, int x, int y, float triSize, float sqrtVerts);
void removeHeightField (int x, int y);
@ -94,6 +105,15 @@ namespace MWPhysics
void updateWater();
btBroadphaseInterface* mBroadphase;
btDefaultCollisionConfiguration* mCollisionConfiguration;
btSequentialImpulseConstraintSolver* mSolver;
btCollisionDispatcher* mDispatcher;
btDiscreteDynamicsWorld* mDynamicsWorld;
typedef std::map<std::pair<int, int>, HeightField*> HeightFieldMap;
HeightFieldMap mHeightFields;
bool mDebugDrawEnabled;
std::map<std::string, std::string> handleToMesh;

10
apps/openmw/mwworld/scene.cpp
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@ -246,14 +246,8 @@ namespace MWWorld
const int flags = ESM::Land::DATA_VCLR|ESM::Land::DATA_VHGT|ESM::Land::DATA_VNML|ESM::Land::DATA_VTEX;
if (!land->isDataLoaded(flags))
land->loadData(flags);
mPhysics->addHeightField (
land->mLandData->mHeights,
cell->getCell()->getGridX(),
cell->getCell()->getGridY(),
0,
worldsize / (verts-1),
verts)
;
mPhysics->addHeightField (land->mLandData->mHeights, cell->getCell()->getGridX(), cell->getCell()->getGridY(),
worldsize / (verts-1), verts);
}
}

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