Merge branch 'collision_object' into 'master'

Move btCollisionObject creation for MWPhysics::Object into components

See merge request OpenMW/openmw!1281

apps/openmw/mwphysics/object.cpp

@@ -6,6 +6,7 @@
 #include <components/resource/bulletshape.hpp>
 #include <components/sceneutil/positionattitudetransform.hpp>
 #include <components/misc/convert.hpp>
+#include <components/bullethelpers/collisionobject.hpp>
 
 #include <BulletCollision/CollisionShapes/btCompoundShape.h>
 #include <BulletCollision/CollisionDispatch/btCollisionObject.h>
@@ -15,22 +16,18 @@
 namespace MWPhysics
 {
     Object::Object(const MWWorld::Ptr& ptr, osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance, osg::Quat rotation, int collisionType, PhysicsTaskScheduler* scheduler)
-        : mShapeInstance(shapeInstance)
+        : mShapeInstance(std::move(shapeInstance))
         , mSolid(true)
+        , mScale(ptr.getCellRef().getScale(), ptr.getCellRef().getScale(), ptr.getCellRef().getScale())
+        , mPosition(ptr.getRefData().getPosition().asVec3())
+        , mRotation(rotation)
         , mTaskScheduler(scheduler)
     {
         mPtr = ptr;
-
-        mCollisionObject = std::make_unique<btCollisionObject>();
-        mCollisionObject->setCollisionShape(shapeInstance->getCollisionShape());
-
+        mCollisionObject = BulletHelpers::makeCollisionObject(mShapeInstance->getCollisionShape(),
+            Misc::Convert::toBullet(mPosition), Misc::Convert::toBullet(rotation));
         mCollisionObject->setUserPointer(this);
-
-        setScale(ptr.getCellRef().getScale());
-        setRotation(rotation);
-        updatePosition();
-        commitPositionChange();
-
+        mShapeInstance->setLocalScaling(mScale);
         mTaskScheduler->addCollisionObject(mCollisionObject.get(), collisionType, CollisionType_Actor|CollisionType_HeightMap|CollisionType_Projectile);
     }
 

apps/openmw/mwworld/scene.cpp

@@ -65,23 +65,12 @@ namespace
                 * osg::Quat(zr, osg::Vec3(0, 0, -1));
     }
 
-    osg::Quat makeObjectOsgQuat(const ESM::Position& position)
-    {
-        const float xr = position.rot[0];
-        const float yr = position.rot[1];
-        const float zr = position.rot[2];
-
-        return osg::Quat(zr, osg::Vec3(0, 0, -1))
-            * osg::Quat(yr, osg::Vec3(0, -1, 0))
-            * osg::Quat(xr, osg::Vec3(-1, 0, 0));
-    }
-
     osg::Quat makeNodeRotation(const MWWorld::Ptr& ptr, RotationOrder order)
     {
         const auto pos = ptr.getRefData().getPosition();
 
         const auto rot = ptr.getClass().isActor() ? makeActorOsgQuat(pos)
-            : (order == RotationOrder::inverse ? makeInversedOrderObjectOsgQuat(pos) : makeObjectOsgQuat(pos));
+            : (order == RotationOrder::inverse ? makeInversedOrderObjectOsgQuat(pos) : Misc::Convert::makeOsgQuat(pos));
 
         return rot;
     }
@@ -155,7 +144,7 @@ namespace
 
                 const auto transform = object->getTransform();
                 const btTransform closedDoorTransform(
-                    Misc::Convert::toBullet(makeObjectOsgQuat(ptr.getCellRef().getPosition())),
+                    Misc::Convert::makeBulletQuaternion(ptr.getCellRef().getPosition()),
                     transform.getOrigin()
                 );
 

components/bullethelpers/collisionobject.hpp

@@ -0,0 +1,24 @@
+#ifndef OPENMW_COMPONENTS_BULLETHELPERS_COLLISIONOBJECT_H
+#define OPENMW_COMPONENTS_BULLETHELPERS_COLLISIONOBJECT_H
+
+#include <components/misc/convert.hpp>
+
+#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
+#include <LinearMath/btQuaternion.h>
+#include <LinearMath/btTransform.h>
+
+#include <memory>
+
+namespace BulletHelpers
+{
+    inline std::unique_ptr<btCollisionObject> makeCollisionObject(btCollisionShape* shape,
+        const btVector3& position, const btQuaternion& rotation)
+    {
+        std::unique_ptr<btCollisionObject> result = std::make_unique<btCollisionObject>();
+        result->setCollisionShape(shape);
+        result->setWorldTransform(btTransform(rotation, position));
+        return result;
+    }
+}
+
+#endif

components/misc/convert.hpp

@@ -1,6 +1,7 @@
 #ifndef OPENMW_COMPONENTS_MISC_CONVERT_H
 #define OPENMW_COMPONENTS_MISC_CONVERT_H
 
+#include <components/esm/defs.hpp>
 #include <components/esm/loadpgrd.hpp>
 
 #include <LinearMath/btTransform.h>
@@ -47,6 +48,30 @@ namespace Convert
     {
         return osg::Quat(quat.x(), quat.y(), quat.z(), quat.w());
     }
+
+    inline osg::Quat makeOsgQuat(const float (&rotation)[3])
+    {
+        return osg::Quat(rotation[2], osg::Vec3f(0, 0, -1))
+            * osg::Quat(rotation[1], osg::Vec3f(0, -1, 0))
+            * osg::Quat(rotation[0], osg::Vec3f(-1, 0, 0));
+    }
+
+    inline osg::Quat makeOsgQuat(const ESM::Position& position)
+    {
+        return makeOsgQuat(position.rot);
+    }
+
+    inline btQuaternion makeBulletQuaternion(const float (&rotation)[3])
+    {
+        return btQuaternion(btVector3(0, 0, -1), rotation[2])
+            * btQuaternion(btVector3(0, -1, 0), rotation[1])
+            * btQuaternion(btVector3(-1, 0, 0), rotation[0]);
+    }
+
+    inline btQuaternion makeBulletQuaternion(const ESM::Position& position)
+    {
+        return makeBulletQuaternion(position.rot);
+    }
 }
 }