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510 lines
24 KiB
C++
510 lines
24 KiB
C++
#include "movementsolver.hpp"
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#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
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#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
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#include <BulletCollision/CollisionShapes/btCollisionShape.h>
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#include <components/esm/loadgmst.hpp>
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#include <components/misc/convert.hpp>
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#include "../mwbase/world.hpp"
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#include "../mwbase/environment.hpp"
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#include "../mwworld/class.hpp"
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#include "../mwworld/esmstore.hpp"
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#include "../mwworld/refdata.hpp"
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#include "actor.hpp"
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#include "collisiontype.hpp"
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#include "constants.hpp"
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#include "contacttestwrapper.h"
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#include "physicssystem.hpp"
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#include "stepper.hpp"
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#include "trace.h"
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#include <cmath>
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namespace MWPhysics
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{
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static bool isActor(const btCollisionObject *obj)
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{
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assert(obj);
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return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
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}
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class ContactCollectionCallback : public btCollisionWorld::ContactResultCallback
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{
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public:
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ContactCollectionCallback(const btCollisionObject * me, osg::Vec3f velocity) : mMe(me)
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{
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m_collisionFilterGroup = me->getBroadphaseHandle()->m_collisionFilterGroup;
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m_collisionFilterMask = me->getBroadphaseHandle()->m_collisionFilterMask;
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mVelocity = Misc::Convert::toBullet(velocity);
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}
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virtual btScalar addSingleResult(btManifoldPoint & contact, const btCollisionObjectWrapper * colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper * colObj1Wrap, int partId1, int index1)
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{
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if (isActor(colObj0Wrap->getCollisionObject()) && isActor(colObj1Wrap->getCollisionObject()))
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return 0.0;
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// 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)
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if (contact.m_normalWorldOnB.dot(mVelocity) > 0.0)
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return 0.0;
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auto delta = contact.m_normalWorldOnB * -contact.m_distance1;
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mContactSum += delta;
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mMaxX = std::max(std::abs(delta.x()), mMaxX);
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mMaxY = std::max(std::abs(delta.y()), mMaxY);
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mMaxZ = std::max(std::abs(delta.z()), mMaxZ);
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if (contact.m_distance1 < mDistance)
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{
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mDistance = contact.m_distance1;
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mNormal = contact.m_normalWorldOnB;
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mDelta = delta;
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return mDistance;
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}
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else
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{
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return 0.0;
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}
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}
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btScalar mMaxX = 0.0;
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btScalar mMaxY = 0.0;
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btScalar mMaxZ = 0.0;
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btVector3 mContactSum{0.0, 0.0, 0.0};
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btVector3 mNormal{0.0, 0.0, 0.0}; // points towards "me"
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btVector3 mDelta{0.0, 0.0, 0.0}; // points towards "me"
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btScalar mDistance = 0.0; // negative or zero
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protected:
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btVector3 mVelocity;
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const btCollisionObject * mMe;
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};
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osg::Vec3f MovementSolver::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
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{
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osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
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ActorTracer tracer;
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tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
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if (tracer.mFraction >= 1.0f)
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{
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actor->setOnGround(false);
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return position;
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}
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actor->setOnGround(true);
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// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
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// Required for some broken door destinations in Morrowind.esm, where the spawn point
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// intersects with other geometry if the actor's base is taken into account
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btVector3 from = Misc::Convert::toBullet(position);
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btVector3 to = from - btVector3(0,0,maxHeight);
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btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
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resultCallback1.m_collisionFilterGroup = 0xff;
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resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
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collisionWorld->rayTest(from, to, resultCallback1);
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if (resultCallback1.hasHit() && ((Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) - tracer.mEndPos + offset).length2() > 35*35
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|| !isWalkableSlope(tracer.mPlaneNormal)))
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{
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actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
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return Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
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return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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void MovementSolver::move(ActorFrameData& actor, float time, const btCollisionWorld* collisionWorld,
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WorldFrameData& worldData)
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{
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auto* physicActor = actor.mActorRaw;
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const ESM::Position& refpos = actor.mRefpos;
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// Early-out for totally static creatures
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// (Not sure if gravity should still apply?)
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{
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const auto ptr = physicActor->getPtr();
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if (!ptr.getClass().isMobile(ptr))
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return;
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}
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// Reset per-frame data
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physicActor->setWalkingOnWater(false);
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// Anything to collide with?
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if(!physicActor->getCollisionMode())
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{
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actor.mPosition += (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
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osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
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) * actor.mMovement * time;
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return;
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}
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const btCollisionObject *colobj = physicActor->getCollisionObject();
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// Adjust for collision mesh offset relative to actor's "location"
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// (doTrace doesn't take local/interior collision shape translation into account, so we have to do it on our own)
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// for compatibility with vanilla assets, we have to derive this from the vertical half extent instead of from internal hull translation
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// if not for this hack, the "correct" collision hull position would be physicActor->getScaledMeshTranslation()
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osg::Vec3f halfExtents = physicActor->getHalfExtents();
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actor.mPosition.z() += halfExtents.z(); // vanilla-accurate
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static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fSwimHeightScale")->mValue.getFloat();
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float swimlevel = actor.mWaterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
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ActorTracer tracer;
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osg::Vec3f inertia = physicActor->getInertialForce();
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osg::Vec3f velocity;
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if (actor.mPosition.z() < swimlevel || actor.mFlying)
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{
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velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) * osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * actor.mMovement;
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}
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else
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{
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velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * actor.mMovement;
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if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
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|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
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inertia = velocity;
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else if (!physicActor->getOnGround() || physicActor->getOnSlope())
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velocity = velocity + inertia;
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}
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// Dead and paralyzed actors underwater will float to the surface,
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// if the CharacterController tells us to do so
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if (actor.mMovement.z() > 0 && actor.mFloatToSurface && actor.mPosition.z() < swimlevel)
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velocity = osg::Vec3f(0,0,1) * 25;
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if (actor.mWantJump)
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actor.mDidJump = true;
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// Now that we have the effective movement vector, apply wind forces to it
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if (worldData.mIsInStorm)
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{
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osg::Vec3f stormDirection = worldData.mStormDirection;
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float angleDegrees = osg::RadiansToDegrees(std::acos(stormDirection * velocity / (stormDirection.length() * velocity.length())));
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static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fStromWalkMult")->mValue.getFloat();
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velocity *= 1.f-(fStromWalkMult * (angleDegrees/180.f));
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}
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Stepper stepper(collisionWorld, colobj);
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osg::Vec3f origVelocity = velocity;
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osg::Vec3f newPosition = actor.mPosition;
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/*
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* A loop to find newPosition using tracer, if successful different from the starting position.
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* nextpos is the local variable used to find potential newPosition, using velocity and remainingTime
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* The initial velocity was set earlier (see above).
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*/
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float remainingTime = time;
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bool seenGround = physicActor->getOnGround() && !physicActor->getOnSlope() && !actor.mFlying;
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int numTimesSlid = 0;
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osg::Vec3f lastSlideNormal(0,0,1);
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osg::Vec3f lastSlideNormalFallback(0,0,1);
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bool forceGroundTest = false;
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for (int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f; ++iterations)
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{
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osg::Vec3f nextpos = newPosition + velocity * remainingTime;
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// If not able to fly, don't allow to swim up into the air
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if(!actor.mFlying && nextpos.z() > swimlevel && newPosition.z() < swimlevel)
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{
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const osg::Vec3f down(0,0,-1);
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velocity = reject(velocity, down);
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// NOTE: remainingTime is unchanged before the loop continues
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continue; // velocity updated, calculate nextpos again
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}
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if((newPosition - nextpos).length2() > 0.0001)
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{
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// trace to where character would go if there were no obstructions
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tracer.doTrace(colobj, newPosition, nextpos, collisionWorld);
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// check for obstructions
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if(tracer.mFraction >= 1.0f)
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{
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newPosition = tracer.mEndPos; // ok to move, so set newPosition
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break;
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}
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}
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else
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{
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// The current position and next position are nearly the same, so just exit.
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// Note: Bullet can trigger an assert in debug modes if the positions
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// are the same, since that causes it to attempt to normalize a zero
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// length vector (which can also happen with nearly identical vectors, since
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// precision can be lost due to any math Bullet does internally). Since we
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// aren't performing any collision detection, we want to reject the next
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// position, so that we don't slowly move inside another object.
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break;
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}
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if (isWalkableSlope(tracer.mPlaneNormal) && !actor.mFlying && newPosition.z() >= swimlevel)
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seenGround = true;
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// We hit something. Check if we can step up.
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float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
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osg::Vec3f oldPosition = newPosition;
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bool usedStepLogic = false;
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if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
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{
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// Try to step up onto it.
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// NOTE: this modifies newPosition and velocity on its own if successful
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usedStepLogic = stepper.step(newPosition, velocity, remainingTime, seenGround, iterations == 0);
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}
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if (usedStepLogic)
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{
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// don't let pure water creatures move out of water after stepMove
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const auto ptr = physicActor->getPtr();
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if (ptr.getClass().isPureWaterCreature(ptr) && newPosition.z() + halfExtents.z() > actor.mWaterlevel)
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newPosition = oldPosition;
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else if(!actor.mFlying && actor.mPosition.z() >= swimlevel)
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forceGroundTest = true;
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}
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else
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{
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// Can't step up, so slide against what we ran into
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remainingTime *= (1.0f-tracer.mFraction);
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auto planeNormal = tracer.mPlaneNormal;
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// If we touched the ground this frame, and whatever we ran into is a wall of some sort,
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// pretend that its collision normal is pointing horizontally
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// (fixes snagging on slightly downward-facing walls, and crawling up the bases of very steep walls because of the collision margin)
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if (seenGround && !isWalkableSlope(planeNormal) && planeNormal.z() != 0)
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{
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planeNormal.z() = 0;
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planeNormal.normalize();
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}
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// Move up to what we ran into (with a bit of a collision margin)
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if ((newPosition-tracer.mEndPos).length2() > sCollisionMargin*sCollisionMargin)
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{
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auto direction = velocity;
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direction.normalize();
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newPosition = tracer.mEndPos;
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newPosition -= direction*sCollisionMargin;
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}
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osg::Vec3f newVelocity = (velocity * planeNormal <= 0.0) ? reject(velocity, planeNormal) : velocity;
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bool usedSeamLogic = false;
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// check for the current and previous collision planes forming an acute angle; slide along the seam if they do
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if(numTimesSlid > 0)
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{
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auto dotA = lastSlideNormal * planeNormal;
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auto dotB = lastSlideNormalFallback * planeNormal;
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if(numTimesSlid <= 1) // ignore fallback normal if this is only the first or second slide
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dotB = 1.0;
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if(dotA <= 0.0 || dotB <= 0.0)
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{
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osg::Vec3f bestNormal = lastSlideNormal;
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// use previous-to-previous collision plane if it's acute with current plane but actual previous plane isn't
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if(dotB < dotA)
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{
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bestNormal = lastSlideNormalFallback;
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lastSlideNormal = lastSlideNormalFallback;
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}
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auto constraintVector = bestNormal ^ planeNormal; // cross product
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if(constraintVector.length2() > 0) // only if it's not zero length
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{
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constraintVector.normalize();
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newVelocity = project(velocity, constraintVector);
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// version of surface rejection for acute crevices/seams
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auto averageNormal = bestNormal + planeNormal;
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averageNormal.normalize();
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tracer.doTrace(colobj, newPosition, newPosition + averageNormal*(sCollisionMargin*2.0), collisionWorld);
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newPosition = (newPosition + tracer.mEndPos)/2.0;
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usedSeamLogic = true;
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}
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}
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}
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// otherwise just keep the normal vector rejection
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// if this isn't the first iteration, or if the first iteration is also the last iteration,
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// move away from the collision plane slightly, if possible
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// this reduces getting stuck in some concave geometry, like the gaps above the railings in some ald'ruhn buildings
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// this is different from the normal collision margin, because the normal collision margin is along the movement path,
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// but this is along the collision normal
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if(!usedSeamLogic && (iterations > 0 || remainingTime < 0.01f))
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{
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tracer.doTrace(colobj, newPosition, newPosition + planeNormal*(sCollisionMargin*2.0), collisionWorld);
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newPosition = (newPosition + tracer.mEndPos)/2.0;
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}
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// Do not allow sliding up steep slopes if there is gravity.
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if (newPosition.z() >= swimlevel && !actor.mFlying && !isWalkableSlope(planeNormal))
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newVelocity.z() = std::min(newVelocity.z(), velocity.z());
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if (newVelocity * origVelocity <= 0.0f)
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break;
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numTimesSlid += 1;
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lastSlideNormalFallback = lastSlideNormal;
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lastSlideNormal = planeNormal;
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velocity = newVelocity;
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}
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}
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bool isOnGround = false;
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bool isOnSlope = false;
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if (forceGroundTest || (inertia.z() <= 0.f && newPosition.z() >= swimlevel))
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{
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osg::Vec3f from = newPosition;
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auto dropDistance = 2*sGroundOffset + (physicActor->getOnGround() ? sStepSizeDown : 0);
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osg::Vec3f to = newPosition - osg::Vec3f(0,0,dropDistance);
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tracer.doTrace(colobj, from, to, collisionWorld);
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if(tracer.mFraction < 1.0f)
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{
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if (!isActor(tracer.mHitObject))
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{
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isOnGround = true;
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isOnSlope = !isWalkableSlope(tracer.mPlaneNormal);
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const btCollisionObject* standingOn = tracer.mHitObject;
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PtrHolder* ptrHolder = static_cast<PtrHolder*>(standingOn->getUserPointer());
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if (ptrHolder)
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actor.mStandingOn = ptrHolder->getPtr();
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if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
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physicActor->setWalkingOnWater(true);
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if (!actor.mFlying && !isOnSlope)
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{
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if (tracer.mFraction*dropDistance > sGroundOffset)
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newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
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else
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{
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newPosition.z() = tracer.mEndPos.z();
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tracer.doTrace(colobj, newPosition, newPosition + osg::Vec3f(0, 0, 2*sGroundOffset), collisionWorld);
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newPosition = (newPosition+tracer.mEndPos)/2.0;
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}
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}
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}
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else
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{
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// Vanilla allows actors to float on top of other actors. Do not push them off.
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if (!actor.mFlying && isWalkableSlope(tracer.mPlaneNormal) && tracer.mEndPos.z()+sGroundOffset <= newPosition.z())
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newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
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isOnGround = false;
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}
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}
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}
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if((isOnGround && !isOnSlope) || newPosition.z() < swimlevel || actor.mFlying)
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physicActor->setInertialForce(osg::Vec3f(0.f, 0.f, 0.f));
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else
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{
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inertia.z() -= time * Constants::GravityConst * Constants::UnitsPerMeter;
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if (inertia.z() < 0)
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inertia.z() *= actor.mSlowFall;
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if (actor.mSlowFall < 1.f) {
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inertia.x() *= actor.mSlowFall;
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inertia.y() *= actor.mSlowFall;
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}
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physicActor->setInertialForce(inertia);
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}
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physicActor->setOnGround(isOnGround);
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physicActor->setOnSlope(isOnSlope);
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actor.mPosition = newPosition;
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// remove what was added earlier in compensating for doTrace not taking interior transformation into account
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actor.mPosition.z() -= halfExtents.z(); // vanilla-accurate
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}
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btVector3 addMarginToDelta(btVector3 delta)
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{
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if(delta.length2() == 0.0)
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return delta;
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return delta + delta.normalized() * sCollisionMargin;
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}
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void MovementSolver::unstuck(ActorFrameData& actor, const btCollisionWorld* collisionWorld)
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{
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const auto& ptr = actor.mActorRaw->getPtr();
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if (!ptr.getClass().isMobile(ptr))
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return;
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auto* physicActor = actor.mActorRaw;
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if(!physicActor->getCollisionMode()) // noclipping/tcl
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return;
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auto* collisionObject = physicActor->getCollisionObject();
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auto tempPosition = actor.mPosition;
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// use vanilla-accurate collision hull position hack (do same hitbox offset hack as movement solver)
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// if vanilla compatibility didn't matter, the "correct" collision hull position would be physicActor->getScaledMeshTranslation()
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const auto verticalHalfExtent = osg::Vec3f(0.0, 0.0, physicActor->getHalfExtents().z());
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// use a 3d approximation of the movement vector to better judge player intent
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const ESM::Position& refpos = ptr.getRefData().getPosition();
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auto velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) * osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * actor.mMovement;
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// try to pop outside of the world before doing anything else if we're inside of it
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if (!physicActor->getOnGround() || physicActor->getOnSlope())
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velocity += physicActor->getInertialForce();
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// because of the internal collision box offset hack, and the fact that we're moving the collision box manually,
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// we need to replicate part of the collision box's transform process from scratch
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osg::Vec3f refPosition = tempPosition + verticalHalfExtent;
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osg::Vec3f goodPosition = refPosition;
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const btTransform oldTransform = collisionObject->getWorldTransform();
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btTransform newTransform = oldTransform;
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auto gatherContacts = [&](btVector3 newOffset) -> ContactCollectionCallback
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{
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goodPosition = refPosition + Misc::Convert::toOsg(addMarginToDelta(newOffset));
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newTransform.setOrigin(Misc::Convert::toBullet(goodPosition));
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collisionObject->setWorldTransform(newTransform);
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ContactCollectionCallback callback{collisionObject, velocity};
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ContactTestWrapper::contactTest(const_cast<btCollisionWorld*>(collisionWorld), collisionObject, callback);
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return callback;
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};
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// check whether we're inside the world with our collision box with manually-derived offset
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auto contactCallback = gatherContacts({0.0, 0.0, 0.0});
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if(contactCallback.mDistance < -sAllowedPenetration)
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{
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// we are; try moving it out of the world
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auto positionDelta = contactCallback.mContactSum;
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// limit rejection delta to the largest known individual rejections
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if(std::abs(positionDelta.x()) > contactCallback.mMaxX)
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positionDelta *= contactCallback.mMaxX / std::abs(positionDelta.x());
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if(std::abs(positionDelta.y()) > contactCallback.mMaxY)
|
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positionDelta *= contactCallback.mMaxY / std::abs(positionDelta.y());
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if(std::abs(positionDelta.z()) > contactCallback.mMaxZ)
|
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positionDelta *= contactCallback.mMaxZ / std::abs(positionDelta.z());
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|
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auto contactCallback2 = gatherContacts(positionDelta);
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// successfully moved further out from contact (does not have to be in open space, just less inside of things)
|
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if(contactCallback2.mDistance > contactCallback.mDistance)
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tempPosition = goodPosition - verticalHalfExtent;
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// try again but only upwards (fixes some bad coc floors)
|
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else
|
|
{
|
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// upwards-only offset
|
|
auto contactCallback3 = gatherContacts({0.0, 0.0, std::abs(positionDelta.z())});
|
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// success
|
|
if(contactCallback3.mDistance > contactCallback.mDistance)
|
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tempPosition = goodPosition - verticalHalfExtent;
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else
|
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// try again but fixed distance up
|
|
{
|
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auto contactCallback4 = gatherContacts({0.0, 0.0, 10.0});
|
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// success
|
|
if(contactCallback4.mDistance > contactCallback.mDistance)
|
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tempPosition = goodPosition - verticalHalfExtent;
|
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}
|
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}
|
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}
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|
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collisionObject->setWorldTransform(oldTransform);
|
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actor.mPosition = tempPosition;
|
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}
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}
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