mirror of https://github.com/OpenMW/openmw.git
You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
1028 lines
40 KiB
C++
1028 lines
40 KiB
C++
#include "physicssystem.hpp"
|
|
|
|
#include <LinearMath/btIDebugDraw.h>
|
|
#include <LinearMath/btVector3.h>
|
|
#include <memory>
|
|
#include <osg/Group>
|
|
#include <osg/Stats>
|
|
#include <osg/Timer>
|
|
|
|
#include <BulletCollision/CollisionShapes/btConeShape.h>
|
|
#include <BulletCollision/CollisionShapes/btSphereShape.h>
|
|
#include <BulletCollision/CollisionShapes/btStaticPlaneShape.h>
|
|
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
|
|
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
|
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
|
#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
|
|
#include <BulletCollision/BroadphaseCollision/btDbvtBroadphase.h>
|
|
|
|
#include <LinearMath/btQuickprof.h>
|
|
|
|
#include <components/nifbullet/bulletnifloader.hpp>
|
|
#include <components/resource/resourcesystem.hpp>
|
|
#include <components/resource/bulletshapemanager.hpp>
|
|
#include <components/debug/debuglog.hpp>
|
|
#include <components/esm/loadgmst.hpp>
|
|
#include <components/sceneutil/positionattitudetransform.hpp>
|
|
#include <components/misc/convert.hpp>
|
|
|
|
#include <components/nifosg/particle.hpp> // FindRecIndexVisitor
|
|
|
|
#include "../mwbase/world.hpp"
|
|
#include "../mwbase/environment.hpp"
|
|
|
|
#include "../mwmechanics/creaturestats.hpp"
|
|
#include "../mwmechanics/actorutil.hpp"
|
|
#include "../mwmechanics/movement.hpp"
|
|
|
|
#include "../mwworld/esmstore.hpp"
|
|
#include "../mwworld/cellstore.hpp"
|
|
#include "../mwworld/player.hpp"
|
|
|
|
#include "../mwrender/bulletdebugdraw.hpp"
|
|
|
|
#include "../mwworld/class.hpp"
|
|
|
|
#include "collisiontype.hpp"
|
|
#include "actor.hpp"
|
|
|
|
#include "projectile.hpp"
|
|
#include "trace.h"
|
|
#include "object.hpp"
|
|
#include "heightfield.hpp"
|
|
#include "hasspherecollisioncallback.hpp"
|
|
#include "deepestnotmecontacttestresultcallback.hpp"
|
|
#include "closestnotmerayresultcallback.hpp"
|
|
#include "contacttestresultcallback.hpp"
|
|
#include "projectileconvexcallback.hpp"
|
|
#include "movementsolver.hpp"
|
|
#include "mtphysics.hpp"
|
|
|
|
namespace
|
|
{
|
|
bool canMoveToWaterSurface(const MWPhysics::Actor* physicActor, const float waterlevel, btCollisionWorld* world)
|
|
{
|
|
if (!physicActor)
|
|
return false;
|
|
const float halfZ = physicActor->getHalfExtents().z();
|
|
const osg::Vec3f actorPosition = physicActor->getPosition();
|
|
const osg::Vec3f startingPosition(actorPosition.x(), actorPosition.y(), actorPosition.z() + halfZ);
|
|
const osg::Vec3f destinationPosition(actorPosition.x(), actorPosition.y(), waterlevel + halfZ);
|
|
MWPhysics::ActorTracer tracer;
|
|
tracer.doTrace(physicActor->getCollisionObject(), startingPosition, destinationPosition, world);
|
|
return (tracer.mFraction >= 1.0f);
|
|
}
|
|
|
|
void handleJump(const MWWorld::Ptr &ptr)
|
|
{
|
|
if (!ptr.getClass().isActor())
|
|
return;
|
|
if (ptr.getClass().getMovementSettings(ptr).mPosition[2] == 0)
|
|
return;
|
|
const bool isPlayer = (ptr == MWMechanics::getPlayer());
|
|
// Advance acrobatics and set flag for GetPCJumping
|
|
if (isPlayer)
|
|
{
|
|
ptr.getClass().skillUsageSucceeded(ptr, ESM::Skill::Acrobatics, 0);
|
|
MWBase::Environment::get().getWorld()->getPlayer().setJumping(true);
|
|
}
|
|
|
|
// Decrease fatigue
|
|
if (!isPlayer || !MWBase::Environment::get().getWorld()->getGodModeState())
|
|
{
|
|
const MWWorld::Store<ESM::GameSetting> &gmst = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
|
|
const float fFatigueJumpBase = gmst.find("fFatigueJumpBase")->mValue.getFloat();
|
|
const float fFatigueJumpMult = gmst.find("fFatigueJumpMult")->mValue.getFloat();
|
|
const float normalizedEncumbrance = std::min(1.f, ptr.getClass().getNormalizedEncumbrance(ptr));
|
|
const float fatigueDecrease = fFatigueJumpBase + normalizedEncumbrance * fFatigueJumpMult;
|
|
MWMechanics::DynamicStat<float> fatigue = ptr.getClass().getCreatureStats(ptr).getFatigue();
|
|
fatigue.setCurrent(fatigue.getCurrent() - fatigueDecrease);
|
|
ptr.getClass().getCreatureStats(ptr).setFatigue(fatigue);
|
|
}
|
|
ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
|
|
}
|
|
|
|
}
|
|
|
|
namespace MWPhysics
|
|
{
|
|
PhysicsSystem::PhysicsSystem(Resource::ResourceSystem* resourceSystem, osg::ref_ptr<osg::Group> parentNode)
|
|
: mShapeManager(new Resource::BulletShapeManager(resourceSystem->getVFS(), resourceSystem->getSceneManager(), resourceSystem->getNifFileManager()))
|
|
, mResourceSystem(resourceSystem)
|
|
, mDebugDrawEnabled(false)
|
|
, mTimeAccum(0.0f)
|
|
, mProjectileId(0)
|
|
, mWaterHeight(0)
|
|
, mWaterEnabled(false)
|
|
, mParentNode(parentNode)
|
|
, mPhysicsDt(1.f / 60.f)
|
|
{
|
|
mResourceSystem->addResourceManager(mShapeManager.get());
|
|
|
|
mCollisionConfiguration = std::make_unique<btDefaultCollisionConfiguration>();
|
|
mDispatcher = std::make_unique<btCollisionDispatcher>(mCollisionConfiguration.get());
|
|
mBroadphase = std::make_unique<btDbvtBroadphase>();
|
|
|
|
mCollisionWorld = std::make_unique<btCollisionWorld>(mDispatcher.get(), mBroadphase.get(), mCollisionConfiguration.get());
|
|
|
|
// Don't update AABBs of all objects every frame. Most objects in MW are static, so we don't need this.
|
|
// Should a "static" object ever be moved, we have to update its AABB manually using DynamicsWorld::updateSingleAabb.
|
|
mCollisionWorld->setForceUpdateAllAabbs(false);
|
|
|
|
// Check if a user decided to override a physics system FPS
|
|
const char* env = getenv("OPENMW_PHYSICS_FPS");
|
|
if (env)
|
|
{
|
|
float physFramerate = std::atof(env);
|
|
if (physFramerate > 0)
|
|
{
|
|
mPhysicsDt = 1.f / physFramerate;
|
|
Log(Debug::Warning) << "Warning: using custom physics framerate (" << physFramerate << " FPS).";
|
|
}
|
|
}
|
|
|
|
mDebugDrawer = std::make_unique<MWRender::DebugDrawer>(mParentNode, mCollisionWorld.get(), mDebugDrawEnabled);
|
|
mTaskScheduler = std::make_unique<PhysicsTaskScheduler>(mPhysicsDt, mCollisionWorld.get(), mDebugDrawer.get());
|
|
}
|
|
|
|
PhysicsSystem::~PhysicsSystem()
|
|
{
|
|
mResourceSystem->removeResourceManager(mShapeManager.get());
|
|
|
|
if (mWaterCollisionObject)
|
|
mTaskScheduler->removeCollisionObject(mWaterCollisionObject.get());
|
|
|
|
mTaskScheduler->releaseSharedStates();
|
|
mHeightFields.clear();
|
|
mObjects.clear();
|
|
mActors.clear();
|
|
mProjectiles.clear();
|
|
}
|
|
|
|
Resource::BulletShapeManager *PhysicsSystem::getShapeManager()
|
|
{
|
|
return mShapeManager.get();
|
|
}
|
|
|
|
bool PhysicsSystem::toggleDebugRendering()
|
|
{
|
|
mDebugDrawEnabled = !mDebugDrawEnabled;
|
|
|
|
mCollisionWorld->setDebugDrawer(mDebugDrawEnabled ? mDebugDrawer.get() : nullptr);
|
|
mDebugDrawer->setDebugMode(mDebugDrawEnabled);
|
|
return mDebugDrawEnabled;
|
|
}
|
|
|
|
void PhysicsSystem::markAsNonSolid(const MWWorld::ConstPtr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr.mRef);
|
|
if (found == mObjects.end())
|
|
return;
|
|
|
|
found->second->setSolid(false);
|
|
}
|
|
|
|
bool PhysicsSystem::isOnSolidGround (const MWWorld::Ptr& actor) const
|
|
{
|
|
const Actor* physactor = getActor(actor);
|
|
if (!physactor || !physactor->getOnGround())
|
|
return false;
|
|
|
|
const auto obj = physactor->getStandingOnPtr();
|
|
if (obj.isEmpty())
|
|
return true; // assume standing on terrain (which is a non-object, so not collision tracked)
|
|
|
|
ObjectMap::const_iterator foundObj = mObjects.find(obj.mRef);
|
|
if (foundObj == mObjects.end())
|
|
return false;
|
|
|
|
if (!foundObj->second->isSolid())
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
std::pair<MWWorld::Ptr, osg::Vec3f> PhysicsSystem::getHitContact(const MWWorld::ConstPtr& actor,
|
|
const osg::Vec3f &origin,
|
|
const osg::Quat &orient,
|
|
float queryDistance, std::vector<MWWorld::Ptr>& targets)
|
|
{
|
|
// First of all, try to hit where you aim to
|
|
int hitmask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
|
|
RayCastingResult result = castRay(origin, origin + (orient * osg::Vec3f(0.0f, queryDistance, 0.0f)), actor, targets, hitmask, CollisionType_Actor);
|
|
|
|
if (result.mHit)
|
|
{
|
|
reportCollision(Misc::Convert::toBullet(result.mHitPos), Misc::Convert::toBullet(result.mHitNormal));
|
|
return std::make_pair(result.mHitObject, result.mHitPos);
|
|
}
|
|
|
|
// Use cone shape as fallback
|
|
const MWWorld::Store<ESM::GameSetting> &store = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
|
|
|
|
btConeShape shape (osg::DegreesToRadians(store.find("fCombatAngleXY")->mValue.getFloat()/2.0f), queryDistance);
|
|
shape.setLocalScaling(btVector3(1, 1, osg::DegreesToRadians(store.find("fCombatAngleZ")->mValue.getFloat()/2.0f) /
|
|
shape.getRadius()));
|
|
|
|
// The shape origin is its center, so we have to move it forward by half the length. The
|
|
// real origin will be provided to getFilteredContact to find the closest.
|
|
osg::Vec3f center = origin + (orient * osg::Vec3f(0.0f, queryDistance*0.5f, 0.0f));
|
|
|
|
btCollisionObject object;
|
|
object.setCollisionShape(&shape);
|
|
object.setWorldTransform(btTransform(Misc::Convert::toBullet(orient), Misc::Convert::toBullet(center)));
|
|
|
|
const btCollisionObject* me = nullptr;
|
|
std::vector<const btCollisionObject*> targetCollisionObjects;
|
|
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
me = physactor->getCollisionObject();
|
|
|
|
if (!targets.empty())
|
|
{
|
|
for (MWWorld::Ptr& target : targets)
|
|
{
|
|
const Actor* targetActor = getActor(target);
|
|
if (targetActor)
|
|
targetCollisionObjects.push_back(targetActor->getCollisionObject());
|
|
}
|
|
}
|
|
|
|
DeepestNotMeContactTestResultCallback resultCallback(me, targetCollisionObjects, Misc::Convert::toBullet(origin));
|
|
resultCallback.m_collisionFilterGroup = CollisionType_Actor;
|
|
resultCallback.m_collisionFilterMask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
|
|
mTaskScheduler->contactTest(&object, resultCallback);
|
|
|
|
if (resultCallback.mObject)
|
|
{
|
|
PtrHolder* holder = static_cast<PtrHolder*>(resultCallback.mObject->getUserPointer());
|
|
if (holder)
|
|
{
|
|
reportCollision(resultCallback.mContactPoint, resultCallback.mContactNormal);
|
|
return std::make_pair(holder->getPtr(), Misc::Convert::toOsg(resultCallback.mContactPoint));
|
|
}
|
|
}
|
|
return std::make_pair(MWWorld::Ptr(), osg::Vec3f());
|
|
}
|
|
|
|
float PhysicsSystem::getHitDistance(const osg::Vec3f &point, const MWWorld::ConstPtr &target) const
|
|
{
|
|
btCollisionObject* targetCollisionObj = nullptr;
|
|
const Actor* actor = getActor(target);
|
|
if (actor)
|
|
targetCollisionObj = actor->getCollisionObject();
|
|
if (!targetCollisionObj)
|
|
return 0.f;
|
|
|
|
btTransform rayFrom;
|
|
rayFrom.setIdentity();
|
|
rayFrom.setOrigin(Misc::Convert::toBullet(point));
|
|
|
|
auto hitpoint = mTaskScheduler->getHitPoint(rayFrom, targetCollisionObj);
|
|
if (hitpoint)
|
|
return (point - Misc::Convert::toOsg(*hitpoint)).length();
|
|
|
|
// didn't hit the target. this could happen if point is already inside the collision box
|
|
return 0.f;
|
|
}
|
|
|
|
RayCastingResult PhysicsSystem::castRay(const osg::Vec3f &from, const osg::Vec3f &to, const MWWorld::ConstPtr& ignore, const std::vector<MWWorld::Ptr>& targets, int mask, int group) const
|
|
{
|
|
if (from == to)
|
|
{
|
|
RayCastingResult result;
|
|
result.mHit = false;
|
|
return result;
|
|
}
|
|
btVector3 btFrom = Misc::Convert::toBullet(from);
|
|
btVector3 btTo = Misc::Convert::toBullet(to);
|
|
|
|
const btCollisionObject* me = nullptr;
|
|
std::vector<const btCollisionObject*> targetCollisionObjects;
|
|
|
|
if (!ignore.isEmpty())
|
|
{
|
|
const Actor* actor = getActor(ignore);
|
|
if (actor)
|
|
me = actor->getCollisionObject();
|
|
else
|
|
{
|
|
const Object* object = getObject(ignore);
|
|
if (object)
|
|
me = object->getCollisionObject();
|
|
}
|
|
}
|
|
|
|
if (!targets.empty())
|
|
{
|
|
for (const MWWorld::Ptr& target : targets)
|
|
{
|
|
const Actor* actor = getActor(target);
|
|
if (actor)
|
|
targetCollisionObjects.push_back(actor->getCollisionObject());
|
|
}
|
|
}
|
|
|
|
ClosestNotMeRayResultCallback resultCallback(me, targetCollisionObjects, btFrom, btTo);
|
|
resultCallback.m_collisionFilterGroup = group;
|
|
resultCallback.m_collisionFilterMask = mask;
|
|
|
|
mTaskScheduler->rayTest(btFrom, btTo, resultCallback);
|
|
|
|
RayCastingResult result;
|
|
result.mHit = resultCallback.hasHit();
|
|
if (resultCallback.hasHit())
|
|
{
|
|
result.mHitPos = Misc::Convert::toOsg(resultCallback.m_hitPointWorld);
|
|
result.mHitNormal = Misc::Convert::toOsg(resultCallback.m_hitNormalWorld);
|
|
if (PtrHolder* ptrHolder = static_cast<PtrHolder*>(resultCallback.m_collisionObject->getUserPointer()))
|
|
result.mHitObject = ptrHolder->getPtr();
|
|
}
|
|
return result;
|
|
}
|
|
|
|
RayCastingResult PhysicsSystem::castSphere(const osg::Vec3f &from, const osg::Vec3f &to, float radius, int mask, int group) const
|
|
{
|
|
btCollisionWorld::ClosestConvexResultCallback callback(Misc::Convert::toBullet(from), Misc::Convert::toBullet(to));
|
|
callback.m_collisionFilterGroup = group;
|
|
callback.m_collisionFilterMask = mask;
|
|
|
|
btSphereShape shape(radius);
|
|
const btQuaternion btrot = btQuaternion::getIdentity();
|
|
|
|
btTransform from_ (btrot, Misc::Convert::toBullet(from));
|
|
btTransform to_ (btrot, Misc::Convert::toBullet(to));
|
|
|
|
mTaskScheduler->convexSweepTest(&shape, from_, to_, callback);
|
|
|
|
RayCastingResult result;
|
|
result.mHit = callback.hasHit();
|
|
if (result.mHit)
|
|
{
|
|
result.mHitPos = Misc::Convert::toOsg(callback.m_hitPointWorld);
|
|
result.mHitNormal = Misc::Convert::toOsg(callback.m_hitNormalWorld);
|
|
if (auto* ptrHolder = static_cast<PtrHolder*>(callback.m_hitCollisionObject->getUserPointer()))
|
|
result.mHitObject = ptrHolder->getPtr();
|
|
}
|
|
return result;
|
|
}
|
|
|
|
bool PhysicsSystem::getLineOfSight(const MWWorld::ConstPtr &actor1, const MWWorld::ConstPtr &actor2) const
|
|
{
|
|
const auto it1 = mActors.find(actor1.mRef);
|
|
const auto it2 = mActors.find(actor2.mRef);
|
|
if (it1 == mActors.end() || it2 == mActors.end())
|
|
return false;
|
|
|
|
return mTaskScheduler->getLineOfSight(it1->second, it2->second);
|
|
}
|
|
|
|
bool PhysicsSystem::isOnGround(const MWWorld::Ptr &actor)
|
|
{
|
|
Actor* physactor = getActor(actor);
|
|
return physactor && physactor->getOnGround();
|
|
}
|
|
|
|
bool PhysicsSystem::canMoveToWaterSurface(const MWWorld::ConstPtr &actor, const float waterlevel)
|
|
{
|
|
return ::canMoveToWaterSurface(getActor(actor), waterlevel, mCollisionWorld.get());
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::getHalfExtents(const MWWorld::ConstPtr &actor) const
|
|
{
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
return physactor->getHalfExtents();
|
|
else
|
|
return osg::Vec3f();
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::getOriginalHalfExtents(const MWWorld::ConstPtr &actor) const
|
|
{
|
|
if (const Actor* physactor = getActor(actor))
|
|
return physactor->getOriginalHalfExtents();
|
|
else
|
|
return osg::Vec3f();
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::getRenderingHalfExtents(const MWWorld::ConstPtr &actor) const
|
|
{
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
return physactor->getRenderingHalfExtents();
|
|
else
|
|
return osg::Vec3f();
|
|
}
|
|
|
|
osg::BoundingBox PhysicsSystem::getBoundingBox(const MWWorld::ConstPtr &object) const
|
|
{
|
|
const Object * physobject = getObject(object);
|
|
if (!physobject) return osg::BoundingBox();
|
|
btVector3 min, max;
|
|
mTaskScheduler->getAabb(physobject->getCollisionObject(), min, max);
|
|
return osg::BoundingBox(Misc::Convert::toOsg(min), Misc::Convert::toOsg(max));
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::getCollisionObjectPosition(const MWWorld::ConstPtr &actor) const
|
|
{
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
return physactor->getCollisionObjectPosition();
|
|
else
|
|
return osg::Vec3f();
|
|
}
|
|
|
|
std::vector<ContactPoint> PhysicsSystem::getCollisionsPoints(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
|
|
{
|
|
btCollisionObject* me = nullptr;
|
|
|
|
auto found = mObjects.find(ptr.mRef);
|
|
if (found != mObjects.end())
|
|
me = found->second->getCollisionObject();
|
|
else
|
|
return {};
|
|
|
|
ContactTestResultCallback resultCallback (me);
|
|
resultCallback.m_collisionFilterGroup = collisionGroup;
|
|
resultCallback.m_collisionFilterMask = collisionMask;
|
|
mTaskScheduler->contactTest(me, resultCallback);
|
|
return resultCallback.mResult;
|
|
}
|
|
|
|
std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
|
|
{
|
|
std::vector<MWWorld::Ptr> actors;
|
|
for (auto& [actor, point, normal] : getCollisionsPoints(ptr, collisionGroup, collisionMask))
|
|
actors.emplace_back(actor);
|
|
return actors;
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, float maxHeight)
|
|
{
|
|
ActorMap::iterator found = mActors.find(ptr.mRef);
|
|
if (found == mActors.end())
|
|
return ptr.getRefData().getPosition().asVec3();
|
|
return MovementSolver::traceDown(ptr, position, found->second.get(), mCollisionWorld.get(), maxHeight);
|
|
}
|
|
|
|
void PhysicsSystem::addHeightField(const float* heights, int x, int y, int size, int verts, float minH, float maxH, const osg::Object* holdObject)
|
|
{
|
|
mHeightFields[std::make_pair(x,y)] = std::make_unique<HeightField>(heights, x, y, size, verts, minH, maxH, holdObject, mTaskScheduler.get());
|
|
}
|
|
|
|
void PhysicsSystem::removeHeightField (int x, int y)
|
|
{
|
|
HeightFieldMap::iterator heightfield = mHeightFields.find(std::make_pair(x,y));
|
|
if(heightfield != mHeightFields.end())
|
|
mHeightFields.erase(heightfield);
|
|
}
|
|
|
|
const HeightField* PhysicsSystem::getHeightField(int x, int y) const
|
|
{
|
|
const auto heightField = mHeightFields.find(std::make_pair(x, y));
|
|
if (heightField == mHeightFields.end())
|
|
return nullptr;
|
|
return heightField->second.get();
|
|
}
|
|
|
|
void PhysicsSystem::addObject (const MWWorld::Ptr& ptr, const std::string& mesh, osg::Quat rotation, int collisionType)
|
|
{
|
|
if (ptr.mRef->mData.mPhysicsPostponed)
|
|
return;
|
|
osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance = mShapeManager->getInstance(mesh);
|
|
if (!shapeInstance || !shapeInstance->getCollisionShape())
|
|
return;
|
|
|
|
assert(!getObject(ptr));
|
|
|
|
auto obj = std::make_shared<Object>(ptr, shapeInstance, rotation, collisionType, mTaskScheduler.get());
|
|
mObjects.emplace(ptr.mRef, obj);
|
|
|
|
if (obj->isAnimated())
|
|
mAnimatedObjects.insert(obj.get());
|
|
}
|
|
|
|
void PhysicsSystem::remove(const MWWorld::Ptr &ptr)
|
|
{
|
|
if (auto foundObject = mObjects.find(ptr.mRef); foundObject != mObjects.end())
|
|
{
|
|
mAnimatedObjects.erase(foundObject->second.get());
|
|
|
|
mObjects.erase(foundObject);
|
|
}
|
|
else if (auto foundActor = mActors.find(ptr.mRef); foundActor != mActors.end())
|
|
{
|
|
mActors.erase(foundActor);
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::removeProjectile(const int projectileId)
|
|
{
|
|
ProjectileMap::iterator foundProjectile = mProjectiles.find(projectileId);
|
|
if (foundProjectile != mProjectiles.end())
|
|
mProjectiles.erase(foundProjectile);
|
|
}
|
|
|
|
void PhysicsSystem::updatePtr(const MWWorld::Ptr &old, const MWWorld::Ptr &updated)
|
|
{
|
|
if (auto found = mObjects.find(old.mRef); found != mObjects.end())
|
|
found->second->updatePtr(updated);
|
|
else if (auto found = mActors.find(old.mRef); found != mActors.end())
|
|
found->second->updatePtr(updated);
|
|
|
|
for (auto& [_, actor] : mActors)
|
|
{
|
|
if (actor->getStandingOnPtr() == old)
|
|
actor->setStandingOnPtr(updated);
|
|
}
|
|
|
|
for (auto& [_, projectile] : mProjectiles)
|
|
{
|
|
if (projectile->getCaster() == old)
|
|
projectile->setCaster(updated);
|
|
}
|
|
|
|
}
|
|
|
|
Actor *PhysicsSystem::getActor(const MWWorld::Ptr &ptr)
|
|
{
|
|
ActorMap::iterator found = mActors.find(ptr.mRef);
|
|
if (found != mActors.end())
|
|
return found->second.get();
|
|
return nullptr;
|
|
}
|
|
|
|
const Actor *PhysicsSystem::getActor(const MWWorld::ConstPtr &ptr) const
|
|
{
|
|
ActorMap::const_iterator found = mActors.find(ptr.mRef);
|
|
if (found != mActors.end())
|
|
return found->second.get();
|
|
return nullptr;
|
|
}
|
|
|
|
const Object* PhysicsSystem::getObject(const MWWorld::ConstPtr &ptr) const
|
|
{
|
|
ObjectMap::const_iterator found = mObjects.find(ptr.mRef);
|
|
if (found != mObjects.end())
|
|
return found->second.get();
|
|
return nullptr;
|
|
}
|
|
|
|
Projectile* PhysicsSystem::getProjectile(int projectileId) const
|
|
{
|
|
ProjectileMap::const_iterator found = mProjectiles.find(projectileId);
|
|
if (found != mProjectiles.end())
|
|
return found->second.get();
|
|
return nullptr;
|
|
}
|
|
|
|
void PhysicsSystem::updateScale(const MWWorld::Ptr &ptr)
|
|
{
|
|
if (auto foundObject = mObjects.find(ptr.mRef); foundObject != mObjects.end())
|
|
{
|
|
float scale = ptr.getCellRef().getScale();
|
|
foundObject->second->setScale(scale);
|
|
mTaskScheduler->updateSingleAabb(foundObject->second);
|
|
}
|
|
else if (auto foundActor = mActors.find(ptr.mRef); foundActor != mActors.end())
|
|
{
|
|
foundActor->second->updateScale();
|
|
mTaskScheduler->updateSingleAabb(foundActor->second);
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updateProjectile(const int projectileId, const osg::Vec3f &position) const
|
|
{
|
|
const auto foundProjectile = mProjectiles.find(projectileId);
|
|
assert(foundProjectile != mProjectiles.end());
|
|
auto* projectile = foundProjectile->second.get();
|
|
|
|
btVector3 btFrom = Misc::Convert::toBullet(projectile->getPosition());
|
|
btVector3 btTo = Misc::Convert::toBullet(position);
|
|
|
|
if (btFrom == btTo)
|
|
return;
|
|
|
|
ProjectileConvexCallback resultCallback(projectile->getCasterCollisionObject(), projectile->getCollisionObject(), btFrom, btTo, projectile);
|
|
resultCallback.m_collisionFilterMask = 0xff;
|
|
resultCallback.m_collisionFilterGroup = CollisionType_Projectile;
|
|
|
|
const btQuaternion btrot = btQuaternion::getIdentity();
|
|
btTransform from_ (btrot, btFrom);
|
|
btTransform to_ (btrot, btTo);
|
|
|
|
mTaskScheduler->convexSweepTest(projectile->getConvexShape(), from_, to_, resultCallback);
|
|
|
|
const auto newpos = projectile->isActive() ? position : Misc::Convert::toOsg(projectile->getHitPosition());
|
|
projectile->setPosition(newpos);
|
|
mTaskScheduler->updateSingleAabb(foundProjectile->second);
|
|
}
|
|
|
|
void PhysicsSystem::updateRotation(const MWWorld::Ptr &ptr, osg::Quat rotate)
|
|
{
|
|
if (auto foundObject = mObjects.find(ptr.mRef); foundObject != mObjects.end())
|
|
{
|
|
foundObject->second->setRotation(rotate);
|
|
mTaskScheduler->updateSingleAabb(foundObject->second);
|
|
}
|
|
else if (auto foundActor = mActors.find(ptr.mRef); foundActor != mActors.end())
|
|
{
|
|
if (!foundActor->second->isRotationallyInvariant())
|
|
{
|
|
foundActor->second->setRotation(rotate);
|
|
mTaskScheduler->updateSingleAabb(foundActor->second);
|
|
}
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updatePosition(const MWWorld::Ptr &ptr)
|
|
{
|
|
if (auto foundObject = mObjects.find(ptr.mRef); foundObject != mObjects.end())
|
|
{
|
|
foundObject->second->updatePosition();
|
|
mTaskScheduler->updateSingleAabb(foundObject->second);
|
|
}
|
|
else if (auto foundActor = mActors.find(ptr.mRef); foundActor != mActors.end())
|
|
{
|
|
foundActor->second->updatePosition();
|
|
mTaskScheduler->updateSingleAabb(foundActor->second, true);
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::addActor (const MWWorld::Ptr& ptr, const std::string& mesh)
|
|
{
|
|
osg::ref_ptr<const Resource::BulletShape> shape = mShapeManager->getShape(mesh);
|
|
|
|
// Try to get shape from basic model as fallback for creatures
|
|
if (!ptr.getClass().isNpc() && shape && shape->mCollisionBox.extents.length2() == 0)
|
|
{
|
|
const std::string fallbackModel = ptr.getClass().getModel(ptr);
|
|
if (fallbackModel != mesh)
|
|
{
|
|
shape = mShapeManager->getShape(fallbackModel);
|
|
}
|
|
}
|
|
|
|
if (!shape)
|
|
return;
|
|
|
|
// check if Actor should spawn above water
|
|
const MWMechanics::MagicEffects& effects = ptr.getClass().getCreatureStats(ptr).getMagicEffects();
|
|
const bool canWaterWalk = effects.get(ESM::MagicEffect::WaterWalking).getMagnitude() > 0;
|
|
|
|
auto actor = std::make_shared<Actor>(ptr, shape, mTaskScheduler.get(), canWaterWalk);
|
|
|
|
mActors.emplace(ptr.mRef, std::move(actor));
|
|
}
|
|
|
|
int PhysicsSystem::addProjectile (const MWWorld::Ptr& caster, const osg::Vec3f& position, const std::string& mesh, bool computeRadius)
|
|
{
|
|
osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance = mShapeManager->getInstance(mesh);
|
|
assert(shapeInstance);
|
|
float radius = computeRadius ? shapeInstance->mCollisionBox.extents.length() / 2.f : 1.f;
|
|
|
|
mProjectileId++;
|
|
|
|
auto projectile = std::make_shared<Projectile>(caster, position, radius, mTaskScheduler.get(), this);
|
|
mProjectiles.emplace(mProjectileId, std::move(projectile));
|
|
|
|
return mProjectileId;
|
|
}
|
|
|
|
void PhysicsSystem::setCaster(int projectileId, const MWWorld::Ptr& caster)
|
|
{
|
|
const auto foundProjectile = mProjectiles.find(projectileId);
|
|
assert(foundProjectile != mProjectiles.end());
|
|
auto* projectile = foundProjectile->second.get();
|
|
|
|
projectile->setCaster(caster);
|
|
}
|
|
|
|
bool PhysicsSystem::toggleCollisionMode()
|
|
{
|
|
ActorMap::iterator found = mActors.find(MWMechanics::getPlayer().mRef);
|
|
if (found != mActors.end())
|
|
{
|
|
bool cmode = found->second->getCollisionMode();
|
|
cmode = !cmode;
|
|
found->second->enableCollisionMode(cmode);
|
|
// NB: Collision body isn't disabled for vanilla TCL compatibility
|
|
return cmode;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
void PhysicsSystem::queueObjectMovement(const MWWorld::Ptr &ptr, const osg::Vec3f &velocity)
|
|
{
|
|
ActorMap::iterator found = mActors.find(ptr.mRef);
|
|
if (found != mActors.end())
|
|
found->second->setVelocity(velocity);
|
|
}
|
|
|
|
void PhysicsSystem::clearQueuedMovement()
|
|
{
|
|
for (const auto& [_, actor] : mActors)
|
|
actor->setVelocity(osg::Vec3f());
|
|
}
|
|
|
|
std::pair<std::vector<std::shared_ptr<Actor>>, std::vector<ActorFrameData>> PhysicsSystem::prepareFrameData(bool willSimulate)
|
|
{
|
|
std::pair<std::vector<std::shared_ptr<Actor>>, std::vector<ActorFrameData>> framedata;
|
|
framedata.first.reserve(mActors.size());
|
|
framedata.second.reserve(mActors.size());
|
|
const MWBase::World *world = MWBase::Environment::get().getWorld();
|
|
for (const auto& [ref, physicActor] : mActors)
|
|
{
|
|
auto ptr = physicActor->getPtr();
|
|
if (!ptr.getClass().isMobile(ptr))
|
|
continue;
|
|
float waterlevel = -std::numeric_limits<float>::max();
|
|
const MWWorld::CellStore *cell = ptr.getCell();
|
|
if(cell->getCell()->hasWater())
|
|
waterlevel = cell->getWaterLevel();
|
|
|
|
const auto& stats = ptr.getClass().getCreatureStats(ptr);
|
|
const MWMechanics::MagicEffects& effects = stats.getMagicEffects();
|
|
|
|
bool waterCollision = false;
|
|
if (cell->getCell()->hasWater() && effects.get(ESM::MagicEffect::WaterWalking).getMagnitude())
|
|
{
|
|
if (physicActor->getCollisionMode() || !world->isUnderwater(ptr.getCell(), ptr.getRefData().getPosition().asVec3()))
|
|
waterCollision = true;
|
|
}
|
|
|
|
physicActor->setCanWaterWalk(waterCollision);
|
|
|
|
// Slow fall reduces fall speed by a factor of (effect magnitude / 200)
|
|
const float slowFall = 1.f - std::max(0.f, std::min(1.f, effects.get(ESM::MagicEffect::SlowFall).getMagnitude() * 0.005f));
|
|
const bool godmode = ptr == world->getPlayerConstPtr() && world->getGodModeState();
|
|
const bool inert = stats.isDead() || (!godmode && stats.getMagicEffects().get(ESM::MagicEffect::Paralyze).getModifier() > 0);
|
|
|
|
framedata.first.emplace_back(physicActor);
|
|
framedata.second.emplace_back(*physicActor, inert, waterCollision, slowFall, waterlevel);
|
|
|
|
// if the simulation will run, a jump request will be fulfilled. Update mechanics accordingly.
|
|
if (willSimulate)
|
|
handleJump(ptr);
|
|
}
|
|
return framedata;
|
|
}
|
|
|
|
void PhysicsSystem::stepSimulation(float dt, bool skipSimulation, osg::Timer_t frameStart, unsigned int frameNumber, osg::Stats& stats)
|
|
{
|
|
for (Object* animatedObject : mAnimatedObjects)
|
|
{
|
|
if (animatedObject->animateCollisionShapes())
|
|
{
|
|
auto obj = mObjects.find(animatedObject->getPtr().mRef);
|
|
assert(obj != mObjects.end());
|
|
mTaskScheduler->updateSingleAabb(obj->second);
|
|
}
|
|
}
|
|
|
|
#ifndef BT_NO_PROFILE
|
|
CProfileManager::Reset();
|
|
CProfileManager::Increment_Frame_Counter();
|
|
#endif
|
|
|
|
mTimeAccum += dt;
|
|
|
|
if (skipSimulation)
|
|
mTaskScheduler->resetSimulation(mActors);
|
|
else
|
|
{
|
|
auto [actors, framedata] = prepareFrameData(mTimeAccum >= mPhysicsDt);
|
|
// modifies mTimeAccum
|
|
mTaskScheduler->applyQueuedMovements(mTimeAccum, std::move(actors), std::move(framedata), frameStart, frameNumber, stats);
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::moveActors()
|
|
{
|
|
auto* player = getActor(MWMechanics::getPlayer());
|
|
auto* world = MWBase::Environment::get().getWorld();
|
|
|
|
// copy new ptr position in temporary vector. player is handled separately as its movement might change active cell.
|
|
std::vector<std::pair<MWWorld::Ptr, osg::Vec3f>> newPositions;
|
|
newPositions.reserve(mActors.size() - 1);
|
|
for (const auto& [ptr, physicActor] : mActors)
|
|
{
|
|
if (physicActor.get() == player)
|
|
continue;
|
|
newPositions.emplace_back(physicActor->getPtr(), physicActor->getSimulationPosition());
|
|
}
|
|
|
|
for (auto& [ptr, pos] : newPositions)
|
|
world->moveObject(ptr, pos, false, false);
|
|
|
|
world->moveObject(player->getPtr(), player->getSimulationPosition(), false, false);
|
|
}
|
|
|
|
void PhysicsSystem::updateAnimatedCollisionShape(const MWWorld::Ptr& object)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(object.mRef);
|
|
if (found != mObjects.end())
|
|
if (found->second->animateCollisionShapes())
|
|
mTaskScheduler->updateSingleAabb(found->second);
|
|
}
|
|
|
|
void PhysicsSystem::debugDraw()
|
|
{
|
|
if (mDebugDrawEnabled)
|
|
mTaskScheduler->debugDraw();
|
|
}
|
|
|
|
bool PhysicsSystem::isActorStandingOn(const MWWorld::Ptr &actor, const MWWorld::ConstPtr &object) const
|
|
{
|
|
const auto physActor = mActors.find(actor.mRef);
|
|
if (physActor != mActors.end())
|
|
return physActor->second->getStandingOnPtr() == object;
|
|
return false;
|
|
}
|
|
|
|
void PhysicsSystem::getActorsStandingOn(const MWWorld::ConstPtr &object, std::vector<MWWorld::Ptr> &out) const
|
|
{
|
|
for (const auto& [_, actor] : mActors)
|
|
{
|
|
if (actor->getStandingOnPtr() == object)
|
|
out.emplace_back(actor->getPtr());
|
|
}
|
|
}
|
|
|
|
bool PhysicsSystem::isActorCollidingWith(const MWWorld::Ptr &actor, const MWWorld::ConstPtr &object) const
|
|
{
|
|
std::vector<MWWorld::Ptr> collisions = getCollisions(object, CollisionType_World, CollisionType_Actor);
|
|
return (std::find(collisions.begin(), collisions.end(), actor) != collisions.end());
|
|
}
|
|
|
|
void PhysicsSystem::getActorsCollidingWith(const MWWorld::ConstPtr &object, std::vector<MWWorld::Ptr> &out) const
|
|
{
|
|
std::vector<MWWorld::Ptr> collisions = getCollisions(object, CollisionType_World, CollisionType_Actor);
|
|
out.insert(out.end(), collisions.begin(), collisions.end());
|
|
}
|
|
|
|
void PhysicsSystem::disableWater()
|
|
{
|
|
if (mWaterEnabled)
|
|
{
|
|
mWaterEnabled = false;
|
|
updateWater();
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::enableWater(float height)
|
|
{
|
|
if (!mWaterEnabled || mWaterHeight != height)
|
|
{
|
|
mWaterEnabled = true;
|
|
mWaterHeight = height;
|
|
updateWater();
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::setWaterHeight(float height)
|
|
{
|
|
if (mWaterHeight != height)
|
|
{
|
|
mWaterHeight = height;
|
|
updateWater();
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updateWater()
|
|
{
|
|
if (mWaterCollisionObject)
|
|
{
|
|
mTaskScheduler->removeCollisionObject(mWaterCollisionObject.get());
|
|
}
|
|
|
|
if (!mWaterEnabled)
|
|
{
|
|
mWaterCollisionObject.reset();
|
|
return;
|
|
}
|
|
|
|
mWaterCollisionObject.reset(new btCollisionObject());
|
|
mWaterCollisionShape.reset(new btStaticPlaneShape(btVector3(0,0,1), mWaterHeight));
|
|
mWaterCollisionObject->setCollisionShape(mWaterCollisionShape.get());
|
|
mTaskScheduler->addCollisionObject(mWaterCollisionObject.get(), CollisionType_Water,
|
|
CollisionType_Actor|CollisionType_Projectile);
|
|
}
|
|
|
|
bool PhysicsSystem::isAreaOccupiedByOtherActor(const osg::Vec3f& position, const float radius,
|
|
const MWWorld::ConstPtr& ignore, std::vector<MWWorld::Ptr>* occupyingActors) const
|
|
{
|
|
btCollisionObject* object = nullptr;
|
|
const auto it = mActors.find(ignore.mRef);
|
|
if (it != mActors.end())
|
|
object = it->second->getCollisionObject();
|
|
const auto bulletPosition = Misc::Convert::toBullet(position);
|
|
const auto aabbMin = bulletPosition - btVector3(radius, radius, radius);
|
|
const auto aabbMax = bulletPosition + btVector3(radius, radius, radius);
|
|
const int mask = MWPhysics::CollisionType_Actor;
|
|
const int group = 0xff;
|
|
if (occupyingActors == nullptr)
|
|
{
|
|
HasSphereCollisionCallback callback(bulletPosition, radius, object, mask, group,
|
|
static_cast<void (*)(const btCollisionObject*)>(nullptr));
|
|
mTaskScheduler->aabbTest(aabbMin, aabbMax, callback);
|
|
return callback.getResult();
|
|
}
|
|
const auto onCollision = [&] (const btCollisionObject* object)
|
|
{
|
|
if (PtrHolder* holder = static_cast<PtrHolder*>(object->getUserPointer()))
|
|
occupyingActors->push_back(holder->getPtr());
|
|
};
|
|
HasSphereCollisionCallback callback(bulletPosition, radius, object, mask, group, &onCollision);
|
|
mTaskScheduler->aabbTest(aabbMin, aabbMax, callback);
|
|
return callback.getResult();
|
|
}
|
|
|
|
void PhysicsSystem::reportStats(unsigned int frameNumber, osg::Stats& stats) const
|
|
{
|
|
stats.setAttribute(frameNumber, "Physics Actors", mActors.size());
|
|
stats.setAttribute(frameNumber, "Physics Objects", mObjects.size());
|
|
stats.setAttribute(frameNumber, "Physics Projectiles", mProjectiles.size());
|
|
stats.setAttribute(frameNumber, "Physics HeightFields", mHeightFields.size());
|
|
}
|
|
|
|
void PhysicsSystem::reportCollision(const btVector3& position, const btVector3& normal)
|
|
{
|
|
if (mDebugDrawEnabled)
|
|
mDebugDrawer->addCollision(position, normal);
|
|
}
|
|
|
|
ActorFrameData::ActorFrameData(Actor& actor, bool inert, bool waterCollision, float slowFall, float waterlevel)
|
|
: mPosition()
|
|
, mStandingOn(nullptr)
|
|
, mIsOnGround(actor.getOnGround())
|
|
, mIsOnSlope(actor.getOnSlope())
|
|
, mWalkingOnWater(false)
|
|
, mInert(inert)
|
|
, mCollisionObject(actor.getCollisionObject())
|
|
, mSwimLevel(waterlevel - (actor.getRenderingHalfExtents().z() * 2 * MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fSwimHeightScale")->mValue.getFloat()))
|
|
, mSlowFall(slowFall)
|
|
, mRotation()
|
|
, mMovement(actor.velocity())
|
|
, mWaterlevel(waterlevel)
|
|
, mHalfExtentsZ(actor.getHalfExtents().z())
|
|
, mOldHeight(0)
|
|
, mStuckFrames(0)
|
|
, mFlying(MWBase::Environment::get().getWorld()->isFlying(actor.getPtr()))
|
|
, mWasOnGround(actor.getOnGround())
|
|
, mIsAquatic(actor.getPtr().getClass().isPureWaterCreature(actor.getPtr()))
|
|
, mWaterCollision(waterCollision)
|
|
, mSkipCollisionDetection(actor.skipCollisions() || !actor.getCollisionMode())
|
|
{
|
|
}
|
|
|
|
void ActorFrameData::updatePosition(Actor& actor, btCollisionWorld* world)
|
|
{
|
|
actor.applyOffsetChange();
|
|
mPosition = actor.getPosition();
|
|
if (mWaterCollision && mPosition.z() < mWaterlevel && canMoveToWaterSurface(&actor, mWaterlevel, world))
|
|
{
|
|
mPosition.z() = mWaterlevel;
|
|
MWBase::Environment::get().getWorld()->moveObject(actor.getPtr(), mPosition, false);
|
|
}
|
|
mOldHeight = mPosition.z();
|
|
const auto rotation = actor.getPtr().getRefData().getPosition().asRotationVec3();
|
|
mRotation = osg::Vec2f(rotation.x(), rotation.z());
|
|
mInertia = actor.getInertialForce();
|
|
mStuckFrames = actor.getStuckFrames();
|
|
mLastStuckPosition = actor.getLastStuckPosition();
|
|
}
|
|
|
|
WorldFrameData::WorldFrameData()
|
|
: mIsInStorm(MWBase::Environment::get().getWorld()->isInStorm())
|
|
, mStormDirection(MWBase::Environment::get().getWorld()->getStormDirection())
|
|
{}
|
|
|
|
LOSRequest::LOSRequest(const std::weak_ptr<Actor>& a1, const std::weak_ptr<Actor>& a2)
|
|
: mResult(false), mStale(false), mAge(0)
|
|
{
|
|
// we use raw actor pointer pair to uniquely identify request
|
|
// sort the pointer value in ascending order to not duplicate equivalent requests, eg. getLOS(A, B) and getLOS(B, A)
|
|
auto* raw1 = a1.lock().get();
|
|
auto* raw2 = a2.lock().get();
|
|
assert(raw1 != raw2);
|
|
if (raw1 < raw2)
|
|
{
|
|
mActors = {a1, a2};
|
|
mRawActors = {raw1, raw2};
|
|
}
|
|
else
|
|
{
|
|
mActors = {a2, a1};
|
|
mRawActors = {raw2, raw1};
|
|
}
|
|
}
|
|
|
|
bool operator==(const LOSRequest& lhs, const LOSRequest& rhs) noexcept
|
|
{
|
|
return lhs.mRawActors == rhs.mRawActors;
|
|
}
|
|
}
|