Merge remote-tracking branch 'gus/AIFix'

apps/openmw/mwbase/world.hpp

@@ -245,6 +245,9 @@ namespace MWBase
             virtual void doPhysics (const MWWorld::PtrMovementList &actors, float duration) = 0;
             ///< Run physics simulation and modify \a world accordingly.
 
+            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2) = 0;
+            ///< cast a Ray and return true if there is an object in the ray path.
+
             virtual bool toggleCollisionMode() = 0;
             ///< Toggle collision mode for player. If disabled player object should ignore
             /// collisions and gravity.

apps/openmw/mwmechanics/pathfinding.cpp

@@ -1,4 +1,8 @@
 #include "pathfinding.hpp"
+
+#include "../mwbase/world.hpp"
+#include "../mwbase/environment.hpp"
+
 #include <boost/graph/dijkstra_shortest_paths.hpp>
 #include <boost/graph/adjacency_list.hpp>
 #include "boost/tuple/tuple.hpp"
@@ -169,6 +173,11 @@ namespace MWMechanics
     void PathFinder::buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint,
         const ESM::Pathgrid* pathGrid,float xCell,float yCell)
     {
+        //first check if there is an obstacle
+        if(MWBase::Environment::get().getWorld()->castRay(startPoint.mX,startPoint.mY,startPoint.mZ,
+            endPoint.mX,endPoint.mY,endPoint.mZ) )
+        {
+            std::cout << "hit";
             int start = getClosestPoint(pathGrid,startPoint.mX - xCell,startPoint.mY - yCell,startPoint.mZ);
             int end = getClosestPoint(pathGrid,endPoint.mX - xCell,endPoint.mY - yCell,endPoint.mZ);
 
@@ -177,7 +186,7 @@ namespace MWMechanics
                 PathGridGraph graph = buildGraph(pathGrid,xCell,yCell);
                 mPath = findPath(start,end,graph);
             }
-
+        }
         mPath.push_back(endPoint);
         mIsPathConstructed = true;
     }

apps/openmw/mwworld/physicssystem.cpp

@@ -333,14 +333,13 @@ namespace MWWorld
         return result;
     }
 
-    bool PhysicsSystem::castRay(const Vector3& from, const Vector3& to)
+    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);
+        std::pair<std::string, float> result = mEngine->rayTest(_from, _to, raycastingObjectOnly,ignoreHeightMap);
-
         return !(result.first == "");
     }
 

apps/openmw/mwworld/physicssystem.hpp

@@ -62,8 +62,8 @@ namespace MWWorld
             btVector3 getRayPoint(float extent, float mouseX, float mouseY);
 
 
-            // cast ray, return true if it hit something
+            // cast ray, return true if it hit something. if raycasringObjectOnlt is set to false, it ignores NPCs and objects with no collisions.
-            bool castRay(const Ogre::Vector3& from, const Ogre::Vector3& to);
+            bool castRay(const Ogre::Vector3& from, const Ogre::Vector3& to, bool raycastingObjectOnly = true,bool ignoreHeightMap = false);
 
             std::pair<bool, Ogre::Vector3>
             castRay(const Ogre::Vector3 &orig, const Ogre::Vector3 &dir, float len);

apps/openmw/mwworld/worldimp.cpp

@@ -1042,6 +1042,13 @@ namespace MWWorld
         mPhysEngine->stepSimulation (duration);
     }
 
+    bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2)
+    {
+        Ogre::Vector3 a(x1,y1,z1);std::cout << x1 << " " << x2;
+        Ogre::Vector3 b(x2,y2,z2);
+        return mPhysics->castRay(a,b,false,true);
+    }
+
     void World::processDoors(float duration)
     {
         std::map<MWWorld::Ptr, int>::iterator it = mDoorStates.begin();

apps/openmw/mwworld/worldimp.hpp

@@ -279,6 +279,9 @@ namespace MWWorld
             virtual void doPhysics(const PtrMovementList &actors, float duration);
             ///< Run physics simulation and modify \a world accordingly.
 
+            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2);
+            ///< cast a Ray and return true if there is an object in the ray path.
+
             virtual bool toggleCollisionMode();
             ///< Toggle collision mode for player. If disabled player object should ignore
             /// collisions and gravity.

libs/openengine/bullet/physic.cpp

@@ -28,7 +28,7 @@ namespace Physic
         mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, true);
         Ogre::Quaternion inverse = mBoxRotation.Inverse();
         mBoxRotationInverse = btQuaternion(inverse.x, inverse.y, inverse.z,inverse.w);
-        mEngine->addRigidBody(mBody, false, mRaycastingBody);  //Add rigid body to dynamics world, but do not add to object map
+        mEngine->addRigidBody(mBody, false, mRaycastingBody,true);  //Add rigid body to dynamics world, but do not add to object map
     }
 
     PhysicActor::~PhysicActor()
@@ -109,7 +109,7 @@ namespace Physic
         //Create the newly scaled rigid body
         mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, pos, rot);
         mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, pos, rot, 0, 0, true);
-        mEngine->addRigidBody(mBody, false, mRaycastingBody);  //Add rigid body to dynamics world, but do not add to object map
+        mEngine->addRigidBody(mBody, false, mRaycastingBody,true);  //Add rigid body to dynamics world, but do not add to object map
     }
 
     Ogre::Vector3 PhysicActor::getHalfExtents() const
@@ -331,8 +331,8 @@ namespace Physic
 
         mHeightFieldMap [name] = hf;
 
-        dynamicsWorld->addRigidBody(body,CollisionType_World|CollisionType_Raycasting,
+        dynamicsWorld->addRigidBody(body,CollisionType_HeightMap|CollisionType_Raycasting,
-                                    CollisionType_World|CollisionType_ActorInternal|CollisionType_ActorExternal|CollisionType_Raycasting);
+                                    CollisionType_World|CollisionType_Actor|CollisionType_Raycasting);
     }
 
     void PhysicEngine::removeHeightField(int x, int y)
@@ -422,15 +422,17 @@ namespace Physic
 
     }
 
-    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody)
+    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody,bool actor)
     {
         if(!body && !raycastingBody)
             return; // nothing to do
 
         const std::string& name = (body ? body->mName : raycastingBody->mName);
 
-        if (body)
+        if (body){
-            dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_ActorInternal|CollisionType_ActorExternal);
+            if(actor) dynamicsWorld->addRigidBody(body,CollisionType_Actor,CollisionType_World|CollisionType_HeightMap);
+            else dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_Actor|CollisionType_HeightMap);
+        }
 
         if (raycastingBody)
             dynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting|CollisionType_World);
@@ -603,14 +605,17 @@ namespace Physic
     {
     }
 
-    std::pair<std::string,float> PhysicEngine::rayTest(btVector3& from,btVector3& to)
+    std::pair<std::string,float> PhysicEngine::rayTest(btVector3& from,btVector3& to,bool raycastingObjectOnly,bool ignoreHeightMap)
     {
         std::string name = "";
         float d = -1;
 
         float d1 = 10000.;
         btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
-        resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
+        if(raycastingObjectOnly) resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
+        else resultCallback1.m_collisionFilterMask = CollisionType_World;
+
+        if(!ignoreHeightMap) resultCallback1.m_collisionFilterMask = resultCallback1.m_collisionFilterMask|| CollisionType_HeightMap;
         dynamicsWorld->rayTest(from, to, resultCallback1);
         if (resultCallback1.hasHit())
         {
@@ -641,7 +646,7 @@ namespace Physic
     std::pair<bool, float> PhysicEngine::sphereCast (float radius, btVector3& from, btVector3& to)
     {
         OurClosestConvexResultCallback callback(from, to);
-        callback.m_collisionFilterMask = OEngine::Physic::CollisionType_World;
+        callback.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
 
         btSphereShape shape(radius);
         const btQuaternion btrot(0.0f, 0.0f, 0.0f);

libs/openengine/bullet/physic.hpp

@@ -46,8 +46,8 @@ namespace Physic
     enum CollisionType {
         CollisionType_Nothing = 0, //<Collide with nothing
         CollisionType_World = 1<<0, //<Collide with world objects
-        CollisionType_ActorInternal = 1<<1, //<Collide internal capsule Still Used?
+        CollisionType_Actor = 1<<1, //<Collide sith actors
-        CollisionType_ActorExternal = 1<<2, //<collide with external capsule Still used?
+        CollisionType_HeightMap = 1<<2, //<collide with heightmap
         CollisionType_Raycasting = 1<<3 //Still used?
     };
 
@@ -226,7 +226,7 @@ namespace Physic
         /**
          * Add a RigidBody to the simulation
          */
-        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL);
+        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL,bool actor = false);
 
         /**
          * Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.
@@ -293,7 +293,7 @@ namespace Physic
         /**
          * Return the closest object hit by a ray. If there are no objects, it will return ("",-1).
          */
-        std::pair<std::string,float> rayTest(btVector3& from,btVector3& to);
+        std::pair<std::string,float> rayTest(btVector3& from,btVector3& to,bool raycastingObjectOnly = true,bool ignoreHeightMap = false);
 
         /**
          * Return all objects hit by a ray.

libs/openengine/bullet/trace.cpp

@@ -27,7 +27,7 @@ void newtrace(traceResults *results, const Ogre::Quaternion& orient, const Ogre:
     const btTransform to(btorient, btend);
 
     btCollisionWorld::ClosestConvexResultCallback newTraceCallback(btstart, btend);
-    newTraceCallback.m_collisionFilterMask = OEngine::Physic::CollisionType_World;
+    newTraceCallback.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
 
     enginePass->dynamicsWorld->convexSweepTest(&newshape, from, to, newTraceCallback);