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Merge branch 'cleanup_physics_callbacks' into 'master'

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Cleanup physics callbacks

See merge request OpenMW/openmw!3831
pull/3234/head
psi29a 11 months ago
parent 8d0a670f94 506824cb9d
commit c889026b71
13 changed files with 108 additions and 192 deletions
Show Stats Download Patch File Download Diff File

2
apps/openmw/CMakeLists.txt
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@ -88,7 +88,7 @@ add_openmw_dir (mwworld
add_openmw_dir (mwphysics
physicssystem trace collisiontype actor convert object heightfield closestnotmerayresultcallback
contacttestresultcallback deepestnotmecontacttestresultcallback stepper movementsolver projectile
contacttestresultcallback stepper movementsolver projectile
actorconvexcallback raycasting mtphysics contacttestwrapper projectileconvexcallback
)

43
apps/openmw/mwphysics/actorconvexcallback.cpp
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@ -9,35 +9,28 @@
namespace MWPhysics
{
class ActorOverlapTester : public btCollisionWorld::ContactResultCallback
namespace
{
public:
bool overlapping = false;
btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0,
int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) override
struct ActorOverlapTester : public btCollisionWorld::ContactResultCallback
{
if (cp.getDistance() <= 0.0f)
overlapping = true;
return btScalar(1);
}
};
bool mOverlapping = false;
ActorConvexCallback::ActorConvexCallback(
const btCollisionObject* me, const btVector3& motion, btScalar minCollisionDot, const btCollisionWorld* world)
: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
, mMe(me)
, mMotion(motion)
, mMinCollisionDot(minCollisionDot)
, mWorld(world)
{
btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* /*colObj0Wrap*/,
int /*partId0*/, int /*index0*/, const btCollisionObjectWrapper* /*colObj1Wrap*/, int /*partId1*/,
int /*index1*/) override
{
if (cp.getDistance() <= 0.0f)
mOverlapping = true;
return 1;
}
};
}
btScalar ActorConvexCallback::addSingleResult(
btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace)
{
if (convexResult.m_hitCollisionObject == mMe)
return btScalar(1);
return 1;
// override data for actor-actor collisions
// vanilla Morrowind seems to make overlapping actors collide as though they are both cylinders with a diameter
@ -52,7 +45,7 @@ namespace MWPhysics
const_cast<btCollisionObject*>(mMe), const_cast<btCollisionObject*>(convexResult.m_hitCollisionObject),
isOverlapping);
if (isOverlapping.overlapping)
if (isOverlapping.mOverlapping)
{
auto originA = Misc::Convert::toOsg(mMe->getWorldTransform().getOrigin());
auto originB = Misc::Convert::toOsg(convexResult.m_hitCollisionObject->getWorldTransform().getOrigin());
@ -73,7 +66,7 @@ namespace MWPhysics
}
else
{
return btScalar(1);
return 1;
}
}
}
@ -82,10 +75,10 @@ namespace MWPhysics
{
auto* projectileHolder = static_cast<Projectile*>(convexResult.m_hitCollisionObject->getUserPointer());
if (!projectileHolder->isActive())
return btScalar(1);
return 1;
if (projectileHolder->isValidTarget(mMe))
projectileHolder->hit(mMe, convexResult.m_hitPointLocal, convexResult.m_hitNormalLocal);
return btScalar(1);
return 1;
}
btVector3 hitNormalWorld;
@ -101,7 +94,7 @@ namespace MWPhysics
// dot product of the motion vector against the collision contact normal
btScalar dotCollision = mMotion.dot(hitNormalWorld);
if (dotCollision <= mMinCollisionDot)
return btScalar(1);
return 1;
return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
}

11
apps/openmw/mwphysics/actorconvexcallback.hpp
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@ -10,8 +10,15 @@ namespace MWPhysics
class ActorConvexCallback : public btCollisionWorld::ClosestConvexResultCallback
{
public:
ActorConvexCallback(const btCollisionObject* me, const btVector3& motion, btScalar minCollisionDot,
const btCollisionWorld* world);
explicit ActorConvexCallback(const btCollisionObject* me, const btVector3& motion, btScalar minCollisionDot,
const btCollisionWorld* world)
: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
, mMe(me)
, mMotion(motion)
, mMinCollisionDot(minCollisionDot)
, mWorld(world)
{
}
btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool normalInWorldSpace) override;

9
apps/openmw/mwphysics/closestnotmerayresultcallback.cpp
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@ -1,7 +1,6 @@
#include "closestnotmerayresultcallback.hpp"
#include <algorithm>
#include <utility>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
@ -9,14 +8,6 @@
namespace MWPhysics
{
ClosestNotMeRayResultCallback::ClosestNotMeRayResultCallback(const btCollisionObject* me,
const std::vector<const btCollisionObject*>& targets, const btVector3& from, const btVector3& to)
: btCollisionWorld::ClosestRayResultCallback(from, to)
, mMe(me)
, mTargets(targets)
{
}
btScalar ClosestNotMeRayResultCallback::addSingleResult(
btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
{

13
apps/openmw/mwphysics/closestnotmerayresultcallback.hpp
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@ -1,7 +1,7 @@
#ifndef OPENMW_MWPHYSICS_CLOSESTNOTMERAYRESULTCALLBACK_H
#define OPENMW_MWPHYSICS_CLOSESTNOTMERAYRESULTCALLBACK_H
#include <vector>
#include <span>
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
@ -14,14 +14,19 @@ namespace MWPhysics
class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
{
public:
ClosestNotMeRayResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets,
const btVector3& from, const btVector3& to);
explicit ClosestNotMeRayResultCallback(const btCollisionObject* me, std::span<const btCollisionObject*> targets,
const btVector3& from, const btVector3& to)
: btCollisionWorld::ClosestRayResultCallback(from, to)
, mMe(me)
, mTargets(targets)
{
}
btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace) override;
private:
const btCollisionObject* mMe;
const std::vector<const btCollisionObject*> mTargets;
const std::span<const btCollisionObject*> mTargets;
};
}

7
apps/openmw/mwphysics/contacttestresultcallback.cpp
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@ -8,13 +8,8 @@
namespace MWPhysics
{
ContactTestResultCallback::ContactTestResultCallback(const btCollisionObject* testedAgainst)
: mTestedAgainst(testedAgainst)
{
}
btScalar ContactTestResultCallback::addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* col0Wrap,
int partId0, int index0, const btCollisionObjectWrapper* col1Wrap, int partId1, int index1)
int /*partId0*/, int /*index0*/, const btCollisionObjectWrapper* col1Wrap, int /*partId1*/, int /*index1*/)
{
const btCollisionObject* collisionObject = col0Wrap->m_collisionObject;
if (collisionObject == mTestedAgainst)

10
apps/openmw/mwphysics/contacttestresultcallback.hpp
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@ -14,15 +14,19 @@ namespace MWPhysics
{
class ContactTestResultCallback : public btCollisionWorld::ContactResultCallback
{
const btCollisionObject* mTestedAgainst;
public:
ContactTestResultCallback(const btCollisionObject* testedAgainst);
explicit ContactTestResultCallback(const btCollisionObject* testedAgainst)
: mTestedAgainst(testedAgainst)
{
}
btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* col0Wrap, int partId0, int index0,
const btCollisionObjectWrapper* col1Wrap, int partId1, int index1) override;
std::vector<ContactPoint> mResult;
private:
const btCollisionObject* mTestedAgainst;
};
}

47
apps/openmw/mwphysics/deepestnotmecontacttestresultcallback.cpp
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@ -1,47 +0,0 @@
#include "deepestnotmecontacttestresultcallback.hpp"
#include <algorithm>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include "collisiontype.hpp"
namespace MWPhysics
{
DeepestNotMeContactTestResultCallback::DeepestNotMeContactTestResultCallback(
const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3& origin)
: mMe(me)
, mTargets(targets)
, mOrigin(origin)
, mLeastDistSqr(std::numeric_limits<float>::max())
{
}
btScalar DeepestNotMeContactTestResultCallback::addSingleResult(btManifoldPoint& cp,
const btCollisionObjectWrapper* col0Wrap, int partId0, int index0, const btCollisionObjectWrapper* col1Wrap,
int partId1, int index1)
{
const btCollisionObject* collisionObject = col1Wrap->m_collisionObject;
if (collisionObject != mMe)
{
if (collisionObject->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor
&& !mTargets.empty())
{
if ((std::find(mTargets.begin(), mTargets.end(), collisionObject) == mTargets.end()))
return 0.f;
}
btScalar distsqr = mOrigin.distance2(cp.getPositionWorldOnA());
if (!mObject || distsqr < mLeastDistSqr)
{
mObject = collisionObject;
mLeastDistSqr = distsqr;
mContactPoint = cp.getPositionWorldOnA();
mContactNormal = cp.m_normalWorldOnB;
}
}
return 0.f;
}
}

34
apps/openmw/mwphysics/deepestnotmecontacttestresultcallback.hpp
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@ -1,34 +0,0 @@
#ifndef OPENMW_MWPHYSICS_DEEPESTNOTMECONTACTTESTRESULTCALLBACK_H
#define OPENMW_MWPHYSICS_DEEPESTNOTMECONTACTTESTRESULTCALLBACK_H
#include <vector>
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
class btCollisionObject;
namespace MWPhysics
{
class DeepestNotMeContactTestResultCallback : public btCollisionWorld::ContactResultCallback
{
const btCollisionObject* mMe;
const std::vector<const btCollisionObject*> mTargets;
// Store the real origin, since the shape's origin is its center
btVector3 mOrigin;
public:
const btCollisionObject* mObject{ nullptr };
btVector3 mContactPoint{ 0, 0, 0 };
btVector3 mContactNormal{ 0, 0, 0 };
btScalar mLeastDistSqr;
DeepestNotMeContactTestResultCallback(
const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3& origin);
btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* col0Wrap, int partId0, int index0,
const btCollisionObjectWrapper* col1Wrap, int partId1, int index1) override;
};
}
#endif

93
apps/openmw/mwphysics/movementsolver.cpp
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@ -32,53 +32,58 @@ namespace MWPhysics
return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
}
class ContactCollectionCallback : public btCollisionWorld::ContactResultCallback
namespace
{
public:
ContactCollectionCallback(const btCollisionObject* me, osg::Vec3f velocity)
: mMe(me)
class ContactCollectionCallback : public btCollisionWorld::ContactResultCallback
{
m_collisionFilterGroup = me->getBroadphaseHandle()->m_collisionFilterGroup;
m_collisionFilterMask = me->getBroadphaseHandle()->m_collisionFilterMask & ~CollisionType_Projectile;
mVelocity = Misc::Convert::toBullet(velocity);
}
btScalar addSingleResult(btManifoldPoint& contact, const btCollisionObjectWrapper* colObj0Wrap, int partId0,
int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) override
{
if (isActor(colObj0Wrap->getCollisionObject()) && isActor(colObj1Wrap->getCollisionObject()))
return 0.0;
// ignore overlap if we're moving in the same direction as it would push us out (don't change this to >=,
// that would break detection when not moving)
if (contact.m_normalWorldOnB.dot(mVelocity) > 0.0)
return 0.0;
auto delta = contact.m_normalWorldOnB * -contact.m_distance1;
mContactSum += delta;
mMaxX = std::max(std::abs(delta.x()), mMaxX);
mMaxY = std::max(std::abs(delta.y()), mMaxY);
mMaxZ = std::max(std::abs(delta.z()), mMaxZ);
if (contact.m_distance1 < mDistance)
public:
explicit ContactCollectionCallback(const btCollisionObject& me, const osg::Vec3f& velocity)
: mVelocity(Misc::Convert::toBullet(velocity))
{
mDistance = contact.m_distance1;
mNormal = contact.m_normalWorldOnB;
mDelta = delta;
return mDistance;
m_collisionFilterGroup = me.getBroadphaseHandle()->m_collisionFilterGroup;
m_collisionFilterMask = me.getBroadphaseHandle()->m_collisionFilterMask & ~CollisionType_Projectile;
}
else
btScalar addSingleResult(btManifoldPoint& contact, const btCollisionObjectWrapper* colObj0Wrap,
int /*partId0*/, int /*index0*/, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
int /*index1*/) override
{
return 0.0;
if (isActor(colObj0Wrap->getCollisionObject()) && isActor(colObj1Wrap->getCollisionObject()))
return 0.0;
// ignore overlap if we're moving in the same direction as it would push us out (don't change this to
// >=, that would break detection when not moving)
if (contact.m_normalWorldOnB.dot(mVelocity) > 0.0)
return 0.0;
auto delta = contact.m_normalWorldOnB * -contact.m_distance1;
mContactSum += delta;
mMaxX = std::max(std::abs(delta.x()), mMaxX);
mMaxY = std::max(std::abs(delta.y()), mMaxY);
mMaxZ = std::max(std::abs(delta.z()), mMaxZ);
if (contact.m_distance1 < mDistance)
{
mDistance = contact.m_distance1;
mNormal = contact.m_normalWorldOnB;
mDelta = delta;
return mDistance;
}
else
{
return 0.0;
}
}
}
btScalar mMaxX = 0.0;
btScalar mMaxY = 0.0;
btScalar mMaxZ = 0.0;
btVector3 mContactSum{ 0.0, 0.0, 0.0 };
btVector3 mNormal{ 0.0, 0.0, 0.0 }; // points towards "me"
btVector3 mDelta{ 0.0, 0.0, 0.0 }; // points towards "me"
btScalar mDistance = 0.0; // negative or zero
protected:
btVector3 mVelocity;
const btCollisionObject* mMe;
};
btScalar mMaxX = 0.0;
btScalar mMaxY = 0.0;
btScalar mMaxZ = 0.0;
btVector3 mContactSum{ 0.0, 0.0, 0.0 };
btVector3 mNormal{ 0.0, 0.0, 0.0 }; // points towards "me"
btVector3 mDelta{ 0.0, 0.0, 0.0 }; // points towards "me"
btScalar mDistance = 0.0; // negative or zero
protected:
btVector3 mVelocity;
};
}
osg::Vec3f MovementSolver::traceDown(const MWWorld::Ptr& ptr, const osg::Vec3f& position, Actor* actor,
btCollisionWorld* collisionWorld, float maxHeight)
@ -454,8 +459,10 @@ namespace MWPhysics
if (btFrom == btTo)
return;
assert(projectile.mProjectile != nullptr);
ProjectileConvexCallback resultCallback(
projectile.mCaster, projectile.mCollisionObject, btFrom, btTo, projectile.mProjectile);
projectile.mCaster, projectile.mCollisionObject, btFrom, btTo, *projectile.mProjectile);
resultCallback.m_collisionFilterMask = CollisionType_AnyPhysical;
resultCallback.m_collisionFilterGroup = CollisionType_Projectile;
@ -524,7 +531,7 @@ namespace MWPhysics
newTransform.setOrigin(Misc::Convert::toBullet(goodPosition));
actor.mCollisionObject->setWorldTransform(newTransform);
ContactCollectionCallback callback{ actor.mCollisionObject, velocity };
ContactCollectionCallback callback(*actor.mCollisionObject, velocity);
ContactTestWrapper::contactTest(
const_cast<btCollisionWorld*>(collisionWorld), actor.mCollisionObject, callback);
return callback;

1
apps/openmw/mwphysics/physicssystem.cpp
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@ -49,7 +49,6 @@
#include "closestnotmerayresultcallback.hpp"
#include "contacttestresultcallback.hpp"
#include "deepestnotmecontacttestresultcallback.hpp"
#include "hasspherecollisioncallback.hpp"
#include "heightfield.hpp"
#include "movementsolver.hpp"

18
apps/openmw/mwphysics/projectileconvexcallback.cpp
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@ -6,16 +6,6 @@
namespace MWPhysics
{
ProjectileConvexCallback::ProjectileConvexCallback(const btCollisionObject* caster, const btCollisionObject* me,
const btVector3& from, const btVector3& to, Projectile* proj)
: btCollisionWorld::ClosestConvexResultCallback(from, to)
, mCaster(caster)
, mMe(me)
, mProjectile(proj)
{
assert(mProjectile);
}
btScalar ProjectileConvexCallback::addSingleResult(
btCollisionWorld::LocalConvexResult& result, bool normalInWorldSpace)
{
@ -33,25 +23,25 @@ namespace MWPhysics
{
case CollisionType_Actor:
{
if (!mProjectile->isValidTarget(hitObject))
if (!mProjectile.isValidTarget(hitObject))
return 1.f;
break;
}
case CollisionType_Projectile:
{
auto* target = static_cast<Projectile*>(hitObject->getUserPointer());
if (!mProjectile->isValidTarget(target->getCasterCollisionObject()))
if (!mProjectile.isValidTarget(target->getCasterCollisionObject()))
return 1.f;
target->hit(mMe, m_hitPointWorld, m_hitNormalWorld);
break;
}
case CollisionType_Water:
{
mProjectile->setHitWater();
mProjectile.setHitWater();
break;
}
}
mProjectile->hit(hitObject, m_hitPointWorld, m_hitNormalWorld);
mProjectile.hit(hitObject, m_hitPointWorld, m_hitNormalWorld);
return result.m_hitFraction;
}

12
apps/openmw/mwphysics/projectileconvexcallback.hpp
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@ -12,15 +12,21 @@ namespace MWPhysics
class ProjectileConvexCallback : public btCollisionWorld::ClosestConvexResultCallback
{
public:
ProjectileConvexCallback(const btCollisionObject* caster, const btCollisionObject* me, const btVector3& from,
const btVector3& to, Projectile* proj);
explicit ProjectileConvexCallback(const btCollisionObject* caster, const btCollisionObject* me,
const btVector3& from, const btVector3& to, Projectile& projectile)
: btCollisionWorld::ClosestConvexResultCallback(from, to)
, mCaster(caster)
, mMe(me)
, mProjectile(projectile)
{
}
btScalar addSingleResult(btCollisionWorld::LocalConvexResult& result, bool normalInWorldSpace) override;
private:
const btCollisionObject* mCaster;
const btCollisionObject* mMe;
Projectile* mProjectile;
Projectile& mProjectile;
};
}

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