Physics: Create actor shapes outside of BulletNifLoader

This will allow to create a specialised shape instead, such as a capsule, which tends to work better for character controllers.

apps/openmw/mwworld/physicssystem.cpp

@@ -175,7 +175,7 @@ namespace MWWorld
 
             const int maxHeight = 200.f;
             OEngine::Physic::ActorTracer tracer;
-            tracer.findGround(physicActor->getCollisionBody(), position, position-Ogre::Vector3(0,0,maxHeight), engine);
+            tracer.findGround(physicActor, position, position-Ogre::Vector3(0,0,maxHeight), engine);
             if(tracer.mFraction >= 1.0f)
             {
                 physicActor->setOnGround(false);
@@ -607,9 +607,10 @@ namespace MWWorld
         Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
         const std::string &handle = node->getName();
         const Ogre::Quaternion &rotation = node->getOrientation();
+
+        // TODO: map to MWWorld::Ptr for faster access
         if (OEngine::Physic::PhysicActor* act = mEngine->getCharacter(handle))
         {
-            //Needs to be changed
             act->setRotation(rotation);
         }
         if (OEngine::Physic::RigidBody* body = mEngine->getRigidBody(handle))
@@ -740,8 +741,9 @@ namespace MWWorld
                 btCollisionObject object;
                 object.setCollisionShape(&planeShape);
 
+                // TODO: this seems to have a slight performance impact
                 if (waterCollision)
-                    mEngine->dynamicsWorld->addCollisionObject(&object);
+                    mEngine->mDynamicsWorld->addCollisionObject(&object);
 
                 // 100 points of slowfall reduce gravity by 90% (this is just a guess)
                 float slowFall = 1-std::min(std::max(0.f, (effects.get(ESM::MagicEffect::SlowFall).mMagnitude / 100.f) * 0.9f), 0.9f);
@@ -751,7 +753,7 @@ namespace MWWorld
                                                             waterlevel, slowFall, mEngine);
 
                 if (waterCollision)
-                    mEngine->dynamicsWorld->removeCollisionObject(&object);
+                    mEngine->mDynamicsWorld->removeCollisionObject(&object);
 
                 float heightDiff = newpos.z - oldHeight;
 

apps/openmw/mwworld/worldimp.cpp

@@ -1847,7 +1847,7 @@ namespace MWWorld
             Ogre::Vector3 pos(ptr.getRefData().getPosition().pos);
             OEngine::Physic::ActorTracer tracer;
             // a small distance above collision object is considered "on ground"
-            tracer.findGround(physactor->getCollisionBody(),
+            tracer.findGround(physactor,
                               pos,
                               pos - Ogre::Vector3(0, 0, 1.5f), // trace a small amount down
                               mPhysEngine);

components/nifbullet/bulletnifloader.cpp

@@ -304,4 +304,53 @@ void ManualBulletShapeLoader::load(const std::string &name,const std::string &gr
     OEngine::Physic::BulletShapeManager::getSingleton().create(name,group,true,this);
 }
 
+bool findBoundingBox (const Nif::Node* node, Ogre::Vector3& halfExtents, Ogre::Vector3& translation, Ogre::Quaternion& orientation)
+{
+    if(node->hasBounds)
+    {
+        if (!(node->flags & Nif::NiNode::Flag_Hidden))
+        {
+            translation = node->boundPos;
+            orientation = node->boundRot;
+            halfExtents = node->boundXYZ;
+            return true;
+        }
+    }
+
+    const Nif::NiNode *ninode = dynamic_cast<const Nif::NiNode*>(node);
+    if(ninode)
+    {
+        const Nif::NodeList &list = ninode->children;
+        for(size_t i = 0;i < list.length();i++)
+        {
+            if(!list[i].empty())
+                if (findBoundingBox(list[i].getPtr(), halfExtents, translation, orientation))
+                    return true;
+        }
+    }
+    return false;
+}
+
+bool getBoundingBox(const std::string& nifFile, Ogre::Vector3& halfExtents, Ogre::Vector3& translation, Ogre::Quaternion& orientation)
+{
+    Nif::NIFFile::ptr pnif (Nif::NIFFile::create (nifFile));
+    Nif::NIFFile & nif = *pnif.get ();
+
+    if (nif.numRoots() < 1)
+    {
+        return false;
+    }
+
+    Nif::Record *r = nif.getRoot(0);
+    assert(r != NULL);
+
+    Nif::Node *node = dynamic_cast<Nif::Node*>(r);
+    if (node == NULL)
+    {
+        return false;
+    }
+
+    return findBoundingBox(node, halfExtents, translation, orientation);
+}
+
 } // namespace NifBullet

components/nifbullet/bulletnifloader.hpp

@@ -108,6 +108,11 @@ private:
     bool mHasShape;
 };
 
+
+bool getBoundingBox(const std::string& nifFile, Ogre::Vector3& halfExtents, Ogre::Vector3& translation, Ogre::Quaternion& orientation);
+
+bool findBoundingBox(const Nif::Node* node, Ogre::Vector3& halfExtents, Ogre::Vector3& translation, Ogre::Quaternion& orientation);
+
 }
 
 #endif

libs/openengine/bullet/physic.cpp

@@ -16,115 +16,93 @@ namespace Physic
 {
 
     PhysicActor::PhysicActor(const std::string &name, const std::string &mesh, PhysicEngine *engine, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation, float scale)
-      : mName(name), mEngine(engine), mMesh(mesh), mBoxScaledTranslation(0,0,0), mBoxRotationInverse(0,0,0,0)
+      : mName(name), mEngine(engine), mMesh(mesh)
-      , mBody(0), mRaycastingBody(0), mOnGround(false), mCollisionMode(true), mBoxRotation(0,0,0,0)
+      , mBody(0), mOnGround(false), mInternalCollisionMode(true)
-      , mCollisionBody(true)
+      , mExternalCollisionMode(true)
       , mForce(0.0f)
+      , mScale(scale)
     {
-        mBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation);
+        if (!NifBullet::getBoundingBox(mMesh, mHalfExtents, mMeshTranslation, mMeshOrientation))
-        mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, true);
+        {
-        Ogre::Quaternion inverse = mBoxRotation.Inverse();
+            mHalfExtents = Ogre::Vector3(0.f);
-        mBoxRotationInverse = Ogre::Quaternion(inverse.w, inverse.x, inverse.y,inverse.z);
+            mMeshTranslation = Ogre::Vector3(0.f);
-        mEngine->addRigidBody(mBody, false, mRaycastingBody,true);  //Add rigid body to dynamics world, but do not add to object map
+            mMeshOrientation = Ogre::Quaternion::IDENTITY;
+        }
+
+        mShape.reset(new btBoxShape(BtOgre::Convert::toBullet(mHalfExtents)));
+        mShape->setLocalScaling(btVector3(scale,scale,scale));
+
+        btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
+                (0,0, mShape.get());
+        mBody = new RigidBody(CI, name);
+        mBody->mPlaceable = false;
+
+        setPosition(position);
+        setRotation(rotation);
+
+        mEngine->mDynamicsWorld->addRigidBody(mBody, CollisionType_Actor,
+            CollisionType_Actor|CollisionType_World|CollisionType_HeightMap);
     }
 
     PhysicActor::~PhysicActor()
     {
         if(mBody)
         {
-            mEngine->dynamicsWorld->removeRigidBody(mBody);
+            mEngine->mDynamicsWorld->removeRigidBody(mBody);
             delete mBody;
-        }
+        }  
-        if(mRaycastingBody)
-        {
-            mEngine->dynamicsWorld->removeRigidBody(mRaycastingBody);
-            delete mRaycastingBody;
-        }
     }
 
     void PhysicActor::enableCollisionMode(bool collision)
     {
-        mCollisionMode = collision;
+        mInternalCollisionMode = collision;
     }
 
     void PhysicActor::enableCollisionBody(bool collision)
     {
         assert(mBody);
-        if(collision && !mCollisionBody) enableCollisionBody();
+        if(collision && !mExternalCollisionMode) enableCollisionBody();
-        if(!collision && mCollisionBody) disableCollisionBody();
+        if(!collision && mExternalCollisionMode) disableCollisionBody();
-        mCollisionBody = collision;
+        mExternalCollisionMode = collision;
     }
 
-    void PhysicActor::setPosition(const Ogre::Vector3 &pos)
+    const Ogre::Vector3& PhysicActor::getPosition() const
+    {
+        return mPosition;
+    }
+
+    void PhysicActor::setPosition(const Ogre::Vector3 &position)
     {
         assert(mBody);
-        if(pos != getPosition())
+
-        {
+        mPosition = position;
-            mEngine->adjustRigidBody(mBody, pos, getRotation(), mBoxScaledTranslation, mBoxRotation);
+
-            mEngine->adjustRigidBody(mRaycastingBody, pos, getRotation(), mBoxScaledTranslation, mBoxRotation);
+        btTransform tr = mBody->getWorldTransform();
-        }
+        Ogre::Quaternion meshrot = mMeshOrientation;
+        Ogre::Vector3 transrot = meshrot * (mMeshTranslation * mScale);
+        Ogre::Vector3 newPosition = transrot + position;
+
+        tr.setOrigin(BtOgre::Convert::toBullet(newPosition));
+        mBody->setWorldTransform(tr);
     }
 
-    void PhysicActor::setRotation(const Ogre::Quaternion &quat)
+    void PhysicActor::setRotation (const Ogre::Quaternion& rotation)
     {
-        assert(mBody);
+        btTransform tr = mBody->getWorldTransform();
-        if(!quat.equals(getRotation(), Ogre::Radian(0))){
+        tr.setRotation(BtOgre::Convert::toBullet(mMeshOrientation * rotation));
-            mEngine->adjustRigidBody(mBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
+        mBody->setWorldTransform(tr);
-            mEngine->adjustRigidBody(mRaycastingBody, getPosition(), quat, mBoxScaledTranslation, mBoxRotation);
-
-        }
     }
 
-
+    void PhysicActor::setScale(float scale)
-    Ogre::Vector3 PhysicActor::getPosition()
     {
-        assert(mBody);
+        mScale = scale;
-        btVector3 vec = mBody->getWorldTransform().getOrigin();
+        mShape->setLocalScaling(btVector3(scale,scale,scale));
-        Ogre::Quaternion rotation = Ogre::Quaternion(mBody->getWorldTransform().getRotation().getW(), mBody->getWorldTransform().getRotation().getX(),
+        setPosition(mPosition);
-            mBody->getWorldTransform().getRotation().getY(), mBody->getWorldTransform().getRotation().getZ());
-        Ogre::Vector3 transrot = rotation * mBoxScaledTranslation;
-        Ogre::Vector3 visualPosition = Ogre::Vector3(vec.getX(), vec.getY(), vec.getZ()) - transrot;
-        return visualPosition;
-    }
-
-    Ogre::Quaternion PhysicActor::getRotation()
-    {
-        assert(mBody);
-        btQuaternion quat = mBody->getWorldTransform().getRotation();
-        return Ogre::Quaternion(quat.getW(), quat.getX(), quat.getY(), quat.getZ()) * mBoxRotationInverse;
-    }
-
-    void PhysicActor::setScale(float scale){
-        //We only need to change the scaled box translation, box rotations remain the same.
-        assert(mBody);
-        mBoxScaledTranslation = mBoxScaledTranslation / mBody->getCollisionShape()->getLocalScaling().getX();
-        mBoxScaledTranslation *= scale;
-        Ogre::Vector3 pos = getPosition();
-        Ogre::Quaternion rot = getRotation();
-        if(mBody){
-            mEngine->dynamicsWorld->removeRigidBody(mBody);
-            mEngine->dynamicsWorld->removeRigidBody(mRaycastingBody);
-            delete mBody;
-            delete mRaycastingBody;
-        }
-        //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(mCollisionBody ? mBody : 0, false, mRaycastingBody,true);  //Add rigid body to dynamics world, but do not add to object map
     }
 
     Ogre::Vector3 PhysicActor::getHalfExtents() const
     {
-        if(mBody)
+        return mHalfExtents;
-        {
-            btBoxShape *box = static_cast<btBoxShape*>(mBody->getCollisionShape());
-            if(box != NULL)
-            {
-                btVector3 size = box->getHalfExtentsWithMargin();
-                return Ogre::Vector3(size.getX(), size.getY(), size.getZ());
-            }
-        }
-        return Ogre::Vector3(0.0f);
     }
 
     void PhysicActor::setInertialForce(const Ogre::Vector3 &force)
@@ -139,12 +117,16 @@ namespace Physic
 
     void PhysicActor::disableCollisionBody()
     {
-        mEngine->dynamicsWorld->removeRigidBody(mBody);
+        mEngine->mDynamicsWorld->removeRigidBody(mBody);
+        mEngine->mDynamicsWorld->addRigidBody(mBody, CollisionType_Actor,
+            CollisionType_Raycasting);
     }
 
     void PhysicActor::enableCollisionBody()
     {
-        mEngine->dynamicsWorld->addRigidBody(mBody,CollisionType_Actor,CollisionType_World|CollisionType_HeightMap);
+        mEngine->mDynamicsWorld->removeRigidBody(mBody);
+        mEngine->mDynamicsWorld->addRigidBody(mBody, CollisionType_Actor,
+            CollisionType_Actor|CollisionType_World|CollisionType_HeightMap);
     }
 
     ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -189,8 +171,8 @@ namespace Physic
         broadphase = new btDbvtBroadphase();
 
         // The world.
-        dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
+        mDynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
-        dynamicsWorld->setGravity(btVector3(0,0,-10));
+        mDynamicsWorld->setGravity(btVector3(0,0,-10));
 
         if(BulletShapeManager::getSingletonPtr() == NULL)
         {
@@ -208,10 +190,10 @@ namespace Physic
         if(!isDebugCreated)
         {
             Ogre::SceneNode* node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
-            mDebugDrawer = new BtOgre::DebugDrawer(node, dynamicsWorld);
+            mDebugDrawer = new BtOgre::DebugDrawer(node, mDynamicsWorld);
-            dynamicsWorld->setDebugDrawer(mDebugDrawer);
+            mDynamicsWorld->setDebugDrawer(mDebugDrawer);
             isDebugCreated = true;
-            dynamicsWorld->debugDrawWorld();
+            mDynamicsWorld->debugDrawWorld();
         }
     }
 
@@ -241,7 +223,7 @@ namespace Physic
         HeightFieldContainer::iterator hf_it = mHeightFieldMap.begin();
         for (; hf_it != mHeightFieldMap.end(); ++hf_it)
         {
-            dynamicsWorld->removeRigidBody(hf_it->second.mBody);
+            mDynamicsWorld->removeRigidBody(hf_it->second.mBody);
             delete hf_it->second.mShape;
             delete hf_it->second.mBody;
         }
@@ -251,7 +233,7 @@ namespace Physic
         {
             if (rb_it->second != NULL)
             {
-                dynamicsWorld->removeRigidBody(rb_it->second);
+                mDynamicsWorld->removeRigidBody(rb_it->second);
 
                 delete rb_it->second;
                 rb_it->second = NULL;
@@ -262,7 +244,7 @@ namespace Physic
         {
             if (rb_it->second != NULL)
             {
-                dynamicsWorld->removeRigidBody(rb_it->second);
+                mDynamicsWorld->removeRigidBody(rb_it->second);
 
                 delete rb_it->second;
                 rb_it->second = NULL;
@@ -281,7 +263,7 @@ namespace Physic
 
         delete mDebugDrawer;
 
-        delete dynamicsWorld;
+        delete mDynamicsWorld;
         delete solver;
         delete collisionConfiguration;
         delete dispatcher;
@@ -331,7 +313,7 @@ namespace Physic
 
         mHeightFieldMap [name] = hf;
 
-        dynamicsWorld->addRigidBody(body,CollisionType_HeightMap|CollisionType_Raycasting,
+        mDynamicsWorld->addRigidBody(body,CollisionType_HeightMap,
                                     CollisionType_World|CollisionType_Actor|CollisionType_Raycasting);
     }
 
@@ -343,7 +325,7 @@ namespace Physic
 
         HeightField hf = mHeightFieldMap [name];
 
-        dynamicsWorld->removeRigidBody(hf.mBody);
+        mDynamicsWorld->removeRigidBody(hf.mBody);
         delete hf.mShape;
         delete hf.mBody;
 
@@ -367,7 +349,6 @@ namespace Physic
     {
         std::string sid = (boost::format("%07.3f") % scale).str();
         std::string outputstring = mesh + sid;
-        //std::cout << "The string" << outputstring << "\n";
 
         //get the shape from the .nif
         mShapeLoader->load(outputstring,"General");
@@ -419,7 +400,7 @@ namespace Physic
 
     }
 
-    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody,bool actor)
+    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody)
     {
         if(!body && !raycastingBody)
             return; // nothing to do
@@ -427,12 +408,11 @@ namespace Physic
         const std::string& name = (body ? body->mName : raycastingBody->mName);
 
         if (body){
-            if(actor) dynamicsWorld->addRigidBody(body,CollisionType_Actor,CollisionType_World|CollisionType_HeightMap);
+            mDynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_Actor|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);
+            mDynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting);
 
         if(addToMap){
             removeRigidBody(name);
@@ -453,7 +433,7 @@ namespace Physic
             RigidBody* body = it->second;
             if(body != NULL)
             {
-                dynamicsWorld->removeRigidBody(body);
+                mDynamicsWorld->removeRigidBody(body);
             }
         }
         it = mRaycastingObjectMap.find(name);
@@ -462,7 +442,7 @@ namespace Physic
             RigidBody* body = it->second;
             if(body != NULL)
             {
-                dynamicsWorld->removeRigidBody(body);
+                mDynamicsWorld->removeRigidBody(body);
             }
         }
     }
@@ -605,7 +585,7 @@ namespace Physic
         if (!body) // fall back to raycasting body if there is no collision body
             body = getRigidBody(name, true);
         ContactTestResultCallback callback;
-        dynamicsWorld->contactTest(body, callback);
+        mDynamicsWorld->contactTest(body, callback);
         return callback.mResult;
     }
 
@@ -615,8 +595,9 @@ namespace Physic
                                                                            btCollisionObject *object)
     {
         DeepestNotMeContactTestResultCallback callback(filter, origin);
+        callback.m_collisionFilterGroup = 0xff;
         callback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap | CollisionType_Actor;
-        dynamicsWorld->contactTest(object, callback);
+        mDynamicsWorld->contactTest(object, callback);
         return std::make_pair(callback.mObject, callback.mContactPoint);
     }
 
@@ -624,7 +605,7 @@ namespace Physic
     void PhysicEngine::stepSimulation(double deltaT)
     {
         // This seems to be needed for character controller objects
-        dynamicsWorld->stepSimulation(deltaT,10, 1/60.0);
+        mDynamicsWorld->stepSimulation(deltaT,10, 1/60.0);
         if(isDebugCreated)
         {
             mDebugDrawer->step();
@@ -684,14 +665,15 @@ namespace Physic
         float d = -1;
 
         btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
+        resultCallback1.m_collisionFilterGroup = 0xff;
         if(raycastingObjectOnly)
-            resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
+            resultCallback1.m_collisionFilterMask = CollisionType_Raycasting|CollisionType_Actor;
         else
             resultCallback1.m_collisionFilterMask = CollisionType_World;
 
         if(!ignoreHeightMap)
             resultCallback1.m_collisionFilterMask = resultCallback1.m_collisionFilterMask | CollisionType_HeightMap;
-        dynamicsWorld->rayTest(from, to, resultCallback1);
+        mDynamicsWorld->rayTest(from, to, resultCallback1);
         if (resultCallback1.hasHit())
         {
             name = static_cast<const RigidBody&>(*resultCallback1.m_collisionObject).mName;
@@ -724,6 +706,7 @@ namespace Physic
     std::pair<bool, float> PhysicEngine::sphereCast (float radius, btVector3& from, btVector3& to)
     {
         OurClosestConvexResultCallback callback(from, to);
+        callback.m_collisionFilterGroup = 0xff;
         callback.m_collisionFilterMask = OEngine::Physic::CollisionType_World|OEngine::Physic::CollisionType_HeightMap;
 
         btSphereShape shape(radius);
@@ -732,7 +715,7 @@ namespace Physic
         btTransform from_ (btrot, from);
         btTransform to_ (btrot, to);
 
-        dynamicsWorld->convexSweepTest(&shape, from_, to_, callback);
+        mDynamicsWorld->convexSweepTest(&shape, from_, to_, callback);
 
         if (callback.hasHit())
             return std::make_pair(true, callback.m_closestHitFraction);
@@ -743,8 +726,9 @@ namespace Physic
     std::vector< std::pair<float, std::string> > PhysicEngine::rayTest2(btVector3& from, btVector3& to)
     {
         MyRayResultCallback resultCallback1;
-        resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
+        resultCallback1.m_collisionFilterGroup = 0xff;
-        dynamicsWorld->rayTest(from, to, resultCallback1);
+        resultCallback1.m_collisionFilterMask = CollisionType_Raycasting|CollisionType_Actor;
+        mDynamicsWorld->rayTest(from, to, resultCallback1);
         std::vector< std::pair<float, const btCollisionObject*> > results = resultCallback1.results;
 
         std::vector< std::pair<float, std::string> > results2;

libs/openengine/bullet/physic.hpp

@@ -76,6 +76,9 @@ namespace Physic
         RigidBody(btRigidBody::btRigidBodyConstructionInfo& CI,std::string name);
         virtual ~RigidBody();
         std::string mName;
+
+        // Hack: placeable objects (that can be picked up by the player) have different collision behaviour.
+        // This variable needs to be passed to BulletNifLoader.
         bool mPlaceable;
     };
 
@@ -92,13 +95,6 @@ namespace Physic
 
         void setPosition(const Ogre::Vector3 &pos);
 
-        /**
-         * This adjusts the rotation of a PhysicActor
-         * If we have any problems with this (getting stuck in pmove) we should change it 
-         * from setting the visual orientation to setting the orientation of the rigid body directly.
-         */
-        void setRotation(const Ogre::Quaternion &quat);
-
         /**
          * Sets the collisionMode for this actor. If disabled, the actor can fly and clip geometry.
          */
@@ -111,26 +107,18 @@ namespace Physic
 
         bool getCollisionMode() const
         {
-            return mCollisionMode;
+            return mInternalCollisionMode;
         }
 
-
-        /**
-         * This returns the visual position of the PhysicActor (used to position a scenenode).
-         * Note - this is different from the position of the contained mBody.
-         */
-        Ogre::Vector3 getPosition();
-
-        /**
-         * Returns the visual orientation of the PhysicActor
-         */
-        Ogre::Quaternion getRotation();
-
         /**
          * Sets the scale of the PhysicActor
          */
         void setScale(float scale);
 
+        void setRotation (const Ogre::Quaternion& rotation);
+
+        const Ogre::Vector3& getPosition() const;
+
         /**
          * Returns the half extents for this PhysiActor
          */
@@ -153,7 +141,7 @@ namespace Physic
 
         bool getOnGround() const
         {
-            return mCollisionMode && mOnGround;
+            return mInternalCollisionMode && mOnGround;
         }
 
         btCollisionObject *getCollisionBody() const
@@ -165,17 +153,21 @@ namespace Physic
         void disableCollisionBody();
         void enableCollisionBody();
 
-        OEngine::Physic::RigidBody* mBody;
+        boost::shared_ptr<btCollisionShape> mShape;
-        OEngine::Physic::RigidBody* mRaycastingBody;
 
-        Ogre::Vector3 mBoxScaledTranslation;
+        OEngine::Physic::RigidBody* mBody;
-        Ogre::Quaternion mBoxRotation;
+
-        Ogre::Quaternion mBoxRotationInverse;
+        Ogre::Quaternion mMeshOrientation;
+        Ogre::Vector3 mMeshTranslation;
+        Ogre::Vector3 mHalfExtents;
+
+        float mScale;
+        Ogre::Vector3 mPosition;
 
         Ogre::Vector3 mForce;
         bool mOnGround;
-        bool mCollisionMode;
+        bool mInternalCollisionMode;
-        bool mCollisionBody;
+        bool mExternalCollisionMode;
 
         std::string mMesh;
         std::string mName;
@@ -242,7 +234,7 @@ namespace Physic
         /**
          * Add a RigidBody to the simulation
          */
-        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL,bool actor = false);
+        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL);
 
         /**
          * Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.
@@ -335,7 +327,7 @@ namespace Physic
         btDefaultCollisionConfiguration* collisionConfiguration;
         btSequentialImpulseConstraintSolver* solver;
         btCollisionDispatcher* dispatcher;
-        btDiscreteDynamicsWorld* dynamicsWorld;
+        btDiscreteDynamicsWorld* mDynamicsWorld;
 
         //the NIF file loader.
         BulletShapeLoader* mShapeLoader;

libs/openengine/bullet/trace.cpp

@@ -65,12 +65,13 @@ void ActorTracer::doTrace(btCollisionObject *actor, const Ogre::Vector3 &start,
     to.setOrigin(btend);
 
     ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
+    newTraceCallback.m_collisionFilterGroup = CollisionType_Actor;
     newTraceCallback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap |
                                              CollisionType_Actor;
 
     btCollisionShape *shape = actor->getCollisionShape();
     assert(shape->isConvex());
-    enginePass->dynamicsWorld->convexSweepTest(static_cast<btConvexShape*>(shape),
+    enginePass->mDynamicsWorld->convexSweepTest(static_cast<btConvexShape*>(shape),
                                                from, to, newTraceCallback);
 
     // Copy the hit data over to our trace results struct:
@@ -89,27 +90,26 @@ void ActorTracer::doTrace(btCollisionObject *actor, const Ogre::Vector3 &start,
     }
 }
 
-void ActorTracer::findGround(btCollisionObject *actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end, const PhysicEngine *enginePass)
+void ActorTracer::findGround(const OEngine::Physic::PhysicActor* actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end, const PhysicEngine *enginePass)
 {
     const btVector3 btstart(start.x, start.y, start.z+1.0f);
     const btVector3 btend(end.x, end.y, end.z+1.0f);
 
-    const btTransform &trans = actor->getWorldTransform();
+    const btTransform &trans = actor->getCollisionBody()->getWorldTransform();
     btTransform from(trans.getBasis(), btstart);
     btTransform to(trans.getBasis(), btend);
 
-    ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
+    ClosestNotMeConvexResultCallback newTraceCallback(actor->getCollisionBody(), btstart-btend, btScalar(0.0));
+    newTraceCallback.m_collisionFilterGroup = CollisionType_Actor;
     newTraceCallback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap |
                                              CollisionType_Actor;
 
-    const btBoxShape *shape = dynamic_cast<btBoxShape*>(actor->getCollisionShape());
+    btVector3 halfExtents(actor->getHalfExtents().x, actor->getHalfExtents().y, actor->getHalfExtents().z);
-    assert(shape);
 
-    btVector3 halfExtents = shape->getHalfExtentsWithMargin();
     halfExtents[2] = 1.0f;
-    btBoxShape box(halfExtents);
+    btBoxShape base(halfExtents);
 
-    enginePass->dynamicsWorld->convexSweepTest(&box, from, to, newTraceCallback);
+    enginePass->mDynamicsWorld->convexSweepTest(&base, from, to, newTraceCallback);
     if(newTraceCallback.hasHit())
     {
         const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;

libs/openengine/bullet/trace.h

@@ -12,6 +12,7 @@ namespace OEngine
 namespace Physic
 {
     class PhysicEngine;
+    class PhysicActor;
 
     struct ActorTracer
     {
@@ -22,7 +23,7 @@ namespace Physic
 
         void doTrace(btCollisionObject *actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end,
                      const PhysicEngine *enginePass);
-        void findGround(btCollisionObject *actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end,
+        void findGround(const OEngine::Physic::PhysicActor* actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end,
                         const PhysicEngine *enginePass);
     };
 }