Support btCompoundShape for RecastMesh

apps/openmw/mwworld/scene.cpp

@@ -3,6 +3,7 @@
 #include <limits>
 
 #include <BulletCollision/CollisionDispatch/btCollisionObject.h>
+#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
 
 #include <components/debug/debuglog.hpp>
 #include <components/loadinglistener/loadinglistener.hpp>
@@ -83,12 +84,9 @@ namespace
 
         if (const auto object = physics.getObject(ptr))
         {
-            if (const auto concaveShape = dynamic_cast<const btConcaveShape*>(object->getShapeInstance()->mCollisionShape))
-            {
-                const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
-                navigator->addObject(reinterpret_cast<std::size_t>(object), *concaveShape,
-                    object->getCollisionObject()->getWorldTransform());
-            }
+            const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
+            navigator->addObject(reinterpret_cast<std::size_t>(object), *object->getCollisionObject()->getCollisionShape(),
+                object->getCollisionObject()->getWorldTransform());
         }
         else if (const auto actor = physics.getActor(ptr))
         {

components/detournavigator/cachedrecastmeshmanager.cpp

@@ -5,7 +5,14 @@ namespace DetourNavigator
 {
     CachedRecastMeshManager::CachedRecastMeshManager(const Settings& settings)
         : mImpl(settings)
+    {}
+
+    bool CachedRecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
     {
+        if (!mImpl.addObject(id, shape, transform))
+            return false;
+        mCached.reset();
+        return true;
     }
 
     boost::optional<RecastMeshManager::Object> CachedRecastMeshManager::removeObject(std::size_t id)
@@ -21,5 +28,5 @@ namespace DetourNavigator
         if (!mCached)
             mCached = mImpl.getMesh();
         return mCached;
-}
+    }
 }

components/detournavigator/cachedrecastmeshmanager.hpp

@@ -12,14 +12,7 @@ namespace DetourNavigator
     public:
         CachedRecastMeshManager(const Settings& settings);
 
-        template <class T>
-        bool addObject(std::size_t id, const T& shape, const btTransform& transform)
-        {
-            if (!mImpl.addObject(id, shape, transform))
-                return false;
-            mCached.reset();
-            return true;
-        }
+        bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform);
 
         boost::optional<RecastMeshManager::Object> removeObject(std::size_t id);
 

components/detournavigator/navigator.cpp

@@ -25,6 +25,11 @@ namespace DetourNavigator
         mNavMeshManager.reset(agentHalfExtents);
     }
 
+    bool Navigator::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
+    {
+        return mNavMeshManager.addObject(id, shape, transform);
+    }
+
     bool Navigator::removeObject(std::size_t id)
     {
         return mNavMeshManager.removeObject(id);

components/detournavigator/navigator.hpp

@@ -17,11 +17,7 @@ namespace DetourNavigator
 
         void removeAgent(const osg::Vec3f& agentHalfExtents);
 
-        template <class T>
-        bool addObject(std::size_t id, const T& shape, const btTransform& transform)
-        {
-            return mNavMeshManager.addObject(id, shape, transform);
-        }
+        bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform);
 
         bool removeObject(std::size_t id);
 

components/detournavigator/navmeshmanager.cpp

@@ -19,6 +19,15 @@ namespace DetourNavigator
         , mAsyncNavMeshUpdater(settings)
     {}
 
+    bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
+    {
+        if (!mRecastMeshManager.addObject(id, shape, transform))
+            return false;
+        ++mRevision;
+        addChangedTiles(shape, transform);
+        return true;
+    }
+
     bool NavMeshManager::removeObject(std::size_t id)
     {
         const auto object = mRecastMeshManager.removeObject(id);

components/detournavigator/navmeshmanager.hpp

@@ -23,15 +23,7 @@ namespace DetourNavigator
     public:
         NavMeshManager(const Settings& settings);
 
-        template <class T>
-        bool addObject(std::size_t id, const T& shape, const btTransform& transform)
-        {
-            if (!mRecastMeshManager.addObject(id, shape, transform))
-                return false;
-            ++mRevision;
-            addChangedTiles(shape, transform);
-            return true;
-        }
+        bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform);
 
         bool removeObject(std::size_t id);
 

components/detournavigator/recastmeshbuilder.cpp

@@ -1,12 +1,15 @@
 #include "recastmeshbuilder.hpp"
 #include "chunkytrimesh.hpp"
+#include "debug.hpp"
 #include "settings.hpp"
 #include "settingsutils.hpp"
+#include "exceptions.hpp"
 
 #include <components/bullethelpers/processtrianglecallback.hpp>
 
-#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
+#include <BulletCollision/CollisionShapes/btCompoundShape.h>
 #include <BulletCollision/CollisionShapes/btConcaveShape.h>
+#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
 
 namespace
 {
@@ -22,7 +25,25 @@ namespace DetourNavigator
 
     RecastMeshBuilder::RecastMeshBuilder(const Settings& settings)
         : mSettings(settings)
+    {}
+
+    void RecastMeshBuilder::addObject(const btCollisionShape& shape, const btTransform& transform)
+    {
+        if (shape.isCompound())
+            return addObject(static_cast<const btCompoundShape&>(shape), transform);
+        else if (shape.getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
+            return addObject(static_cast<const btHeightfieldTerrainShape&>(shape), transform);
+        else if (shape.isConcave())
+            return addObject(static_cast<const btConcaveShape&>(shape), transform);
+        std::ostringstream message;
+        message << "Unsupported shape type: " << BroadphaseNativeTypes(shape.getShapeType());
+        throw InvalidArgument(message.str());
+    }
+
+    void RecastMeshBuilder::addObject(const btCompoundShape& shape, const btTransform& transform)
     {
+        for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
+            addObject(*shape.getChildShape(i), transform * shape.getChildTransform(i));
     }
 
     void RecastMeshBuilder::addObject(const btConcaveShape& shape, const btTransform& transform)

components/detournavigator/recastmeshbuilder.hpp

@@ -3,6 +3,8 @@
 
 #include "recastmesh.hpp"
 
+class btCollisionShape;
+class btCompoundShape;
 class btConcaveShape;
 class btHeightfieldTerrainShape;
 class btTransform;
@@ -16,6 +18,10 @@ namespace DetourNavigator
     public:
         RecastMeshBuilder(const Settings& settings);
 
+        void addObject(const btCollisionShape& shape, const btTransform& transform);
+
+        void addObject(const btCompoundShape& shape, const btTransform& transform);
+
         void addObject(const btConcaveShape& shape, const btTransform& transform);
 
         void addObject(const btHeightfieldTerrainShape& shape, const btTransform& transform);

components/detournavigator/recastmeshmanager.cpp

@@ -9,15 +9,7 @@ namespace DetourNavigator
         , mMeshBuilder(settings)
     {}
 
-    bool RecastMeshManager::addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform)
-    {
-        if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second)
-            return false;
-        mShouldRebuild = true;
-        return true;
-    }
-
-    bool RecastMeshManager::addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform)
+    bool RecastMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
     {
         if (!mObjects.insert(std::make_pair(id, Object {&shape, transform})).second)
             return false;

components/detournavigator/recastmeshmanager.hpp

@@ -24,9 +24,7 @@ namespace DetourNavigator
 
         RecastMeshManager(const Settings& settings);
 
-        bool addObject(std::size_t id, const btHeightfieldTerrainShape& shape, const btTransform& transform);
-
-        bool addObject(std::size_t id, const btConcaveShape& shape, const btTransform& transform);
+        bool addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform);
 
         boost::optional<Object> removeObject(std::size_t id);