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974 lines
36 KiB
C++
974 lines
36 KiB
C++
#include "physicssystem.hpp"
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#include <LinearMath/btIDebugDraw.h>
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#include <LinearMath/btVector3.h>
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#include <memory>
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#include <osg/Group>
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#include <osg/Stats>
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#include <osg/Timer>
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#include <BulletCollision/CollisionShapes/btConeShape.h>
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#include <BulletCollision/CollisionShapes/btSphereShape.h>
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#include <BulletCollision/CollisionShapes/btStaticPlaneShape.h>
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#include <BulletCollision/CollisionShapes/btCompoundShape.h>
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#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
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#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
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#include <BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h>
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#include <BulletCollision/BroadphaseCollision/btDbvtBroadphase.h>
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#include <LinearMath/btQuickprof.h>
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#include <components/nifbullet/bulletnifloader.hpp>
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#include <components/resource/resourcesystem.hpp>
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#include <components/resource/bulletshapemanager.hpp>
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#include <components/debug/debuglog.hpp>
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#include <components/esm/loadgmst.hpp>
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#include <components/misc/constants.hpp>
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#include <components/sceneutil/positionattitudetransform.hpp>
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#include <components/sceneutil/unrefqueue.hpp>
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#include <components/misc/convert.hpp>
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#include <components/nifosg/particle.hpp> // FindRecIndexVisitor
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#include "../mwbase/world.hpp"
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#include "../mwbase/environment.hpp"
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#include "../mwmechanics/creaturestats.hpp"
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#include "../mwmechanics/actorutil.hpp"
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#include "../mwmechanics/movement.hpp"
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#include "../mwworld/esmstore.hpp"
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#include "../mwworld/cellstore.hpp"
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#include "../mwrender/bulletdebugdraw.hpp"
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#include "../mwworld/class.hpp"
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#include "collisiontype.hpp"
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#include "actor.hpp"
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#include "projectile.hpp"
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#include "trace.h"
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#include "object.hpp"
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#include "heightfield.hpp"
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#include "hasspherecollisioncallback.hpp"
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#include "deepestnotmecontacttestresultcallback.hpp"
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#include "closestnotmerayresultcallback.hpp"
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#include "contacttestresultcallback.hpp"
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#include "constants.hpp"
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#include "movementsolver.hpp"
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#include "mtphysics.hpp"
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namespace MWPhysics
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{
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PhysicsSystem::PhysicsSystem(Resource::ResourceSystem* resourceSystem, osg::ref_ptr<osg::Group> parentNode)
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: mShapeManager(new Resource::BulletShapeManager(resourceSystem->getVFS(), resourceSystem->getSceneManager(), resourceSystem->getNifFileManager()))
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, mResourceSystem(resourceSystem)
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, mDebugDrawEnabled(false)
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, mTimeAccum(0.0f)
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, mProjectileId(0)
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, mWaterHeight(0)
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, mWaterEnabled(false)
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, mParentNode(parentNode)
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, mPhysicsDt(1.f / 60.f)
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{
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mResourceSystem->addResourceManager(mShapeManager.get());
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mCollisionConfiguration = std::make_unique<btDefaultCollisionConfiguration>();
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mDispatcher = std::make_unique<btCollisionDispatcher>(mCollisionConfiguration.get());
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mBroadphase = std::make_unique<btDbvtBroadphase>();
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mCollisionWorld = std::make_shared<btCollisionWorld>(mDispatcher.get(), mBroadphase.get(), mCollisionConfiguration.get());
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// Don't update AABBs of all objects every frame. Most objects in MW are static, so we don't need this.
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// Should a "static" object ever be moved, we have to update its AABB manually using DynamicsWorld::updateSingleAabb.
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mCollisionWorld->setForceUpdateAllAabbs(false);
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// Check if a user decided to override a physics system FPS
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const char* env = getenv("OPENMW_PHYSICS_FPS");
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if (env)
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{
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float physFramerate = std::atof(env);
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if (physFramerate > 0)
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{
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mPhysicsDt = 1.f / physFramerate;
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Log(Debug::Warning) << "Warning: using custom physics framerate (" << physFramerate << " FPS).";
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}
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}
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mTaskScheduler = std::make_unique<PhysicsTaskScheduler>(mPhysicsDt, mCollisionWorld);
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mDebugDrawer = std::make_unique<MWRender::DebugDrawer>(mParentNode, mCollisionWorld.get(), mDebugDrawEnabled);
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}
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PhysicsSystem::~PhysicsSystem()
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{
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mResourceSystem->removeResourceManager(mShapeManager.get());
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if (mWaterCollisionObject)
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mTaskScheduler->removeCollisionObject(mWaterCollisionObject.get());
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for (auto& heightField : mHeightFields)
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{
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mTaskScheduler->removeCollisionObject(heightField.second->getCollisionObject());
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delete heightField.second;
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}
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mObjects.clear();
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mActors.clear();
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mProjectiles.clear();
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}
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void PhysicsSystem::setUnrefQueue(SceneUtil::UnrefQueue *unrefQueue)
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{
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mUnrefQueue = unrefQueue;
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}
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Resource::BulletShapeManager *PhysicsSystem::getShapeManager()
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{
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return mShapeManager.get();
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}
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bool PhysicsSystem::toggleDebugRendering()
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{
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mDebugDrawEnabled = !mDebugDrawEnabled;
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mCollisionWorld->setDebugDrawer(mDebugDrawEnabled ? mDebugDrawer.get() : nullptr);
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mDebugDrawer->setDebugMode(mDebugDrawEnabled);
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return mDebugDrawEnabled;
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}
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void PhysicsSystem::markAsNonSolid(const MWWorld::ConstPtr &ptr)
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{
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ObjectMap::iterator found = mObjects.find(ptr);
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if (found == mObjects.end())
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return;
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found->second->setSolid(false);
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}
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bool PhysicsSystem::isOnSolidGround (const MWWorld::Ptr& actor) const
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{
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const Actor* physactor = getActor(actor);
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if (!physactor || !physactor->getOnGround())
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return false;
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const auto obj = physactor->getStandingOnPtr();
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if (obj.isEmpty())
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return true; // assume standing on terrain (which is a non-object, so not collision tracked)
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ObjectMap::const_iterator foundObj = mObjects.find(obj);
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if (foundObj == mObjects.end())
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return false;
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if (!foundObj->second->isSolid())
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return false;
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return true;
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}
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std::pair<MWWorld::Ptr, osg::Vec3f> PhysicsSystem::getHitContact(const MWWorld::ConstPtr& actor,
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const osg::Vec3f &origin,
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const osg::Quat &orient,
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float queryDistance, std::vector<MWWorld::Ptr>& targets)
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{
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// First of all, try to hit where you aim to
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int hitmask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
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RayCastingResult result = castRay(origin, origin + (orient * osg::Vec3f(0.0f, queryDistance, 0.0f)), actor, targets, hitmask, CollisionType_Actor);
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if (result.mHit)
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{
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reportCollision(Misc::Convert::toBullet(result.mHitPos), Misc::Convert::toBullet(result.mHitNormal));
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return std::make_pair(result.mHitObject, result.mHitPos);
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}
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// Use cone shape as fallback
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const MWWorld::Store<ESM::GameSetting> &store = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
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btConeShape shape (osg::DegreesToRadians(store.find("fCombatAngleXY")->mValue.getFloat()/2.0f), queryDistance);
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shape.setLocalScaling(btVector3(1, 1, osg::DegreesToRadians(store.find("fCombatAngleZ")->mValue.getFloat()/2.0f) /
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shape.getRadius()));
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// The shape origin is its center, so we have to move it forward by half the length. The
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// real origin will be provided to getFilteredContact to find the closest.
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osg::Vec3f center = origin + (orient * osg::Vec3f(0.0f, queryDistance*0.5f, 0.0f));
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btCollisionObject object;
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object.setCollisionShape(&shape);
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object.setWorldTransform(btTransform(Misc::Convert::toBullet(orient), Misc::Convert::toBullet(center)));
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const btCollisionObject* me = nullptr;
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std::vector<const btCollisionObject*> targetCollisionObjects;
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const Actor* physactor = getActor(actor);
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if (physactor)
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me = physactor->getCollisionObject();
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if (!targets.empty())
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{
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for (MWWorld::Ptr& target : targets)
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{
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const Actor* targetActor = getActor(target);
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if (targetActor)
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targetCollisionObjects.push_back(targetActor->getCollisionObject());
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}
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}
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DeepestNotMeContactTestResultCallback resultCallback(me, targetCollisionObjects, Misc::Convert::toBullet(origin));
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resultCallback.m_collisionFilterGroup = CollisionType_Actor;
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resultCallback.m_collisionFilterMask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
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mTaskScheduler->contactTest(&object, resultCallback);
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if (resultCallback.mObject)
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{
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PtrHolder* holder = static_cast<PtrHolder*>(resultCallback.mObject->getUserPointer());
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if (holder)
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{
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reportCollision(resultCallback.mContactPoint, resultCallback.mContactNormal);
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return std::make_pair(holder->getPtr(), Misc::Convert::toOsg(resultCallback.mContactPoint));
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}
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}
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return std::make_pair(MWWorld::Ptr(), osg::Vec3f());
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}
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float PhysicsSystem::getHitDistance(const osg::Vec3f &point, const MWWorld::ConstPtr &target) const
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{
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btCollisionObject* targetCollisionObj = nullptr;
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const Actor* actor = getActor(target);
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if (actor)
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targetCollisionObj = actor->getCollisionObject();
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if (!targetCollisionObj)
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return 0.f;
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btTransform rayFrom;
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rayFrom.setIdentity();
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rayFrom.setOrigin(Misc::Convert::toBullet(point));
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auto hitpoint = mTaskScheduler->getHitPoint(rayFrom, targetCollisionObj);
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if (hitpoint)
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return (point - Misc::Convert::toOsg(*hitpoint)).length();
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// didn't hit the target. this could happen if point is already inside the collision box
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return 0.f;
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}
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RayCastingResult PhysicsSystem::castRay(const osg::Vec3f &from, const osg::Vec3f &to, const MWWorld::ConstPtr& ignore, std::vector<MWWorld::Ptr> targets, int mask, int group, int projId) const
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{
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if (from == to)
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{
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RayCastingResult result;
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result.mHit = false;
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return result;
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}
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btVector3 btFrom = Misc::Convert::toBullet(from);
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btVector3 btTo = Misc::Convert::toBullet(to);
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const btCollisionObject* me = nullptr;
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std::vector<const btCollisionObject*> targetCollisionObjects;
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if (!ignore.isEmpty())
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{
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const Actor* actor = getActor(ignore);
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if (actor)
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me = actor->getCollisionObject();
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else
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{
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const Object* object = getObject(ignore);
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if (object)
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me = object->getCollisionObject();
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}
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}
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if (!targets.empty())
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{
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for (MWWorld::Ptr& target : targets)
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{
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const Actor* actor = getActor(target);
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if (actor)
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targetCollisionObjects.push_back(actor->getCollisionObject());
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}
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}
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ClosestNotMeRayResultCallback resultCallback(me, targetCollisionObjects, btFrom, btTo, getProjectile(projId));
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resultCallback.m_collisionFilterGroup = group;
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resultCallback.m_collisionFilterMask = mask;
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mTaskScheduler->rayTest(btFrom, btTo, resultCallback);
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RayCastingResult result;
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result.mHit = resultCallback.hasHit();
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if (resultCallback.hasHit())
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{
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result.mHitPos = Misc::Convert::toOsg(resultCallback.m_hitPointWorld);
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result.mHitNormal = Misc::Convert::toOsg(resultCallback.m_hitNormalWorld);
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if (PtrHolder* ptrHolder = static_cast<PtrHolder*>(resultCallback.m_collisionObject->getUserPointer()))
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result.mHitObject = ptrHolder->getPtr();
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}
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return result;
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}
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RayCastingResult PhysicsSystem::castSphere(const osg::Vec3f &from, const osg::Vec3f &to, float radius) const
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{
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btCollisionWorld::ClosestConvexResultCallback callback(Misc::Convert::toBullet(from), Misc::Convert::toBullet(to));
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callback.m_collisionFilterGroup = 0xff;
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callback.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap|CollisionType_Door;
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btSphereShape shape(radius);
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const btQuaternion btrot = btQuaternion::getIdentity();
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btTransform from_ (btrot, Misc::Convert::toBullet(from));
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btTransform to_ (btrot, Misc::Convert::toBullet(to));
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mTaskScheduler->convexSweepTest(&shape, from_, to_, callback);
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RayCastingResult result;
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result.mHit = callback.hasHit();
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if (result.mHit)
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{
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result.mHitPos = Misc::Convert::toOsg(callback.m_hitPointWorld);
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result.mHitNormal = Misc::Convert::toOsg(callback.m_hitNormalWorld);
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}
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return result;
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}
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bool PhysicsSystem::getLineOfSight(const MWWorld::ConstPtr &actor1, const MWWorld::ConstPtr &actor2) const
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{
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const auto getWeakPtr = [&](const MWWorld::ConstPtr &ptr) -> std::weak_ptr<Actor>
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{
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const auto found = mActors.find(ptr);
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if (found != mActors.end())
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return { found->second };
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return {};
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};
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return mTaskScheduler->getLineOfSight(getWeakPtr(actor1), getWeakPtr(actor2));
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}
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bool PhysicsSystem::isOnGround(const MWWorld::Ptr &actor)
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{
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Actor* physactor = getActor(actor);
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return physactor && physactor->getOnGround();
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}
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bool PhysicsSystem::canMoveToWaterSurface(const MWWorld::ConstPtr &actor, const float waterlevel)
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{
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const Actor* physicActor = getActor(actor);
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if (!physicActor)
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return false;
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const float halfZ = physicActor->getHalfExtents().z();
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const osg::Vec3f actorPosition = physicActor->getPosition();
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const osg::Vec3f startingPosition(actorPosition.x(), actorPosition.y(), actorPosition.z() + halfZ);
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const osg::Vec3f destinationPosition(actorPosition.x(), actorPosition.y(), waterlevel + halfZ);
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ActorTracer tracer;
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tracer.doTrace(physicActor->getCollisionObject(), startingPosition, destinationPosition, mCollisionWorld.get());
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return (tracer.mFraction >= 1.0f);
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}
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osg::Vec3f PhysicsSystem::getHalfExtents(const MWWorld::ConstPtr &actor) const
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{
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const Actor* physactor = getActor(actor);
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if (physactor)
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return physactor->getHalfExtents();
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else
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return osg::Vec3f();
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}
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osg::Vec3f PhysicsSystem::getOriginalHalfExtents(const MWWorld::ConstPtr &actor) const
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{
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if (const Actor* physactor = getActor(actor))
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return physactor->getOriginalHalfExtents();
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else
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return osg::Vec3f();
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}
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osg::Vec3f PhysicsSystem::getRenderingHalfExtents(const MWWorld::ConstPtr &actor) const
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{
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const Actor* physactor = getActor(actor);
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if (physactor)
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return physactor->getRenderingHalfExtents();
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else
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return osg::Vec3f();
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}
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osg::BoundingBox PhysicsSystem::getBoundingBox(const MWWorld::ConstPtr &object) const
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{
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const Object * physobject = getObject(object);
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if (!physobject) return osg::BoundingBox();
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btVector3 min, max;
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mTaskScheduler->getAabb(physobject->getCollisionObject(), min, max);
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return osg::BoundingBox(Misc::Convert::toOsg(min), Misc::Convert::toOsg(max));
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}
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osg::Vec3f PhysicsSystem::getCollisionObjectPosition(const MWWorld::ConstPtr &actor) const
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{
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const Actor* physactor = getActor(actor);
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if (physactor)
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return physactor->getCollisionObjectPosition();
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else
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return osg::Vec3f();
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}
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std::vector<ContactPoint> PhysicsSystem::getCollisionsPoints(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
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{
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btCollisionObject* me = nullptr;
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auto found = mObjects.find(ptr);
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if (found != mObjects.end())
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me = found->second->getCollisionObject();
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else
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return {};
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ContactTestResultCallback resultCallback (me);
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resultCallback.m_collisionFilterGroup = collisionGroup;
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resultCallback.m_collisionFilterMask = collisionMask;
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mTaskScheduler->contactTest(me, resultCallback);
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return resultCallback.mResult;
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}
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std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
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{
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std::vector<MWWorld::Ptr> actors;
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for (auto& [actor, point, normal] : getCollisionsPoints(ptr, collisionGroup, collisionMask))
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actors.emplace_back(actor);
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return actors;
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}
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osg::Vec3f PhysicsSystem::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, float maxHeight)
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{
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ActorMap::iterator found = mActors.find(ptr);
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if (found == mActors.end())
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return ptr.getRefData().getPosition().asVec3();
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return MovementSolver::traceDown(ptr, position, found->second.get(), mCollisionWorld.get(), maxHeight);
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}
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void PhysicsSystem::addHeightField (const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject)
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{
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HeightField *heightfield = new HeightField(heights, x, y, triSize, sqrtVerts, minH, maxH, holdObject);
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mHeightFields[std::make_pair(x,y)] = heightfield;
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mTaskScheduler->addCollisionObject(heightfield->getCollisionObject(), CollisionType_HeightMap,
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CollisionType_Actor|CollisionType_Projectile);
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}
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void PhysicsSystem::removeHeightField (int x, int y)
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{
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HeightFieldMap::iterator heightfield = mHeightFields.find(std::make_pair(x,y));
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if(heightfield != mHeightFields.end())
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{
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mTaskScheduler->removeCollisionObject(heightfield->second->getCollisionObject());
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delete heightfield->second;
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mHeightFields.erase(heightfield);
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}
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}
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const HeightField* PhysicsSystem::getHeightField(int x, int y) const
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{
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const auto heightField = mHeightFields.find(std::make_pair(x, y));
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if (heightField == mHeightFields.end())
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return nullptr;
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return heightField->second;
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}
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|
void PhysicsSystem::addObject (const MWWorld::Ptr& ptr, const std::string& mesh, int collisionType)
|
|
{
|
|
osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance = mShapeManager->getInstance(mesh);
|
|
if (!shapeInstance || !shapeInstance->getCollisionShape())
|
|
return;
|
|
|
|
auto obj = std::make_shared<Object>(ptr, shapeInstance, mTaskScheduler.get());
|
|
mObjects.emplace(ptr, obj);
|
|
|
|
if (obj->isAnimated())
|
|
mAnimatedObjects.insert(obj.get());
|
|
|
|
mTaskScheduler->addCollisionObject(obj->getCollisionObject(), collisionType,
|
|
CollisionType_Actor|CollisionType_HeightMap|CollisionType_Projectile);
|
|
}
|
|
|
|
void PhysicsSystem::remove(const MWWorld::Ptr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
{
|
|
if (mUnrefQueue.get())
|
|
mUnrefQueue->push(found->second->getShapeInstance());
|
|
|
|
mAnimatedObjects.erase(found->second.get());
|
|
|
|
mObjects.erase(found);
|
|
}
|
|
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (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)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(old);
|
|
if (found != mObjects.end())
|
|
{
|
|
auto obj = found->second;
|
|
obj->updatePtr(updated);
|
|
mObjects.erase(found);
|
|
mObjects.emplace(updated, std::move(obj));
|
|
}
|
|
|
|
ActorMap::iterator foundActor = mActors.find(old);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
auto actor = foundActor->second;
|
|
actor->updatePtr(updated);
|
|
mActors.erase(foundActor);
|
|
mActors.emplace(updated, std::move(actor));
|
|
}
|
|
|
|
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);
|
|
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);
|
|
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);
|
|
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)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
{
|
|
float scale = ptr.getCellRef().getScale();
|
|
found->second->setScale(scale);
|
|
mTaskScheduler->updateSingleAabb(found->second);
|
|
return;
|
|
}
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
foundActor->second->updateScale();
|
|
mTaskScheduler->updateSingleAabb(foundActor->second);
|
|
return;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updateProjectile(const int projectileId, const osg::Vec3f &position)
|
|
{
|
|
ProjectileMap::iterator foundProjectile = mProjectiles.find(projectileId);
|
|
if (foundProjectile != mProjectiles.end())
|
|
{
|
|
foundProjectile->second->setPosition(position);
|
|
mTaskScheduler->updateSingleAabb(foundProjectile->second);
|
|
return;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updateRotation(const MWWorld::Ptr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
{
|
|
found->second->setRotation(Misc::Convert::toBullet(ptr.getRefData().getBaseNode()->getAttitude()));
|
|
mTaskScheduler->updateSingleAabb(found->second);
|
|
return;
|
|
}
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
if (!foundActor->second->isRotationallyInvariant())
|
|
{
|
|
foundActor->second->updateRotation();
|
|
mTaskScheduler->updateSingleAabb(foundActor->second);
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updatePosition(const MWWorld::Ptr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
{
|
|
found->second->setOrigin(Misc::Convert::toBullet(ptr.getRefData().getPosition().asVec3()));
|
|
mTaskScheduler->updateSingleAabb(found->second);
|
|
return;
|
|
}
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
foundActor->second->updatePosition();
|
|
mTaskScheduler->updateSingleAabb(foundActor->second, true);
|
|
return;
|
|
}
|
|
}
|
|
|
|
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;
|
|
|
|
auto actor = std::make_shared<Actor>(ptr, shape, mTaskScheduler.get());
|
|
mActors.emplace(ptr, std::move(actor));
|
|
}
|
|
|
|
int PhysicsSystem::addProjectile (const MWWorld::Ptr& caster, const osg::Vec3f& position)
|
|
{
|
|
mProjectileId++;
|
|
auto projectile = std::make_shared<Projectile>(mProjectileId, caster, position, mTaskScheduler.get(), this);
|
|
mProjectiles.emplace(mProjectileId, std::move(projectile));
|
|
|
|
return mProjectileId;
|
|
}
|
|
|
|
bool PhysicsSystem::toggleCollisionMode()
|
|
{
|
|
ActorMap::iterator found = mActors.find(MWMechanics::getPlayer());
|
|
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)
|
|
{
|
|
for(auto& movementItem : mMovementQueue)
|
|
{
|
|
if (movementItem.first == ptr)
|
|
{
|
|
movementItem.second = velocity;
|
|
return;
|
|
}
|
|
}
|
|
|
|
mMovementQueue.emplace_back(ptr, velocity);
|
|
}
|
|
|
|
void PhysicsSystem::clearQueuedMovement()
|
|
{
|
|
mMovementQueue.clear();
|
|
}
|
|
|
|
const std::vector<MWWorld::Ptr>& PhysicsSystem::applyQueuedMovement(float dt, bool skipSimulation, osg::Timer_t frameStart, unsigned int frameNumber, osg::Stats& stats)
|
|
{
|
|
mTimeAccum += dt;
|
|
|
|
const int maxAllowedSteps = 20;
|
|
int numSteps = mTimeAccum / mPhysicsDt;
|
|
numSteps = std::min(numSteps, maxAllowedSteps);
|
|
|
|
mTimeAccum -= numSteps * mPhysicsDt;
|
|
|
|
if (skipSimulation)
|
|
return mTaskScheduler->resetSimulation(mActors);
|
|
|
|
return mTaskScheduler->moveActors(numSteps, mTimeAccum, prepareFrameData(numSteps), frameStart, frameNumber, stats);
|
|
}
|
|
|
|
std::vector<ActorFrameData> PhysicsSystem::prepareFrameData(int numSteps)
|
|
{
|
|
std::vector<ActorFrameData> actorsFrameData;
|
|
actorsFrameData.reserve(mMovementQueue.size());
|
|
const MWBase::World *world = MWBase::Environment::get().getWorld();
|
|
for (const auto& [character, movement] : mMovementQueue)
|
|
{
|
|
const auto foundActor = mActors.find(character);
|
|
if (foundActor == mActors.end()) // actor was already removed from the scene
|
|
continue;
|
|
|
|
auto physicActor = foundActor->second;
|
|
|
|
float waterlevel = -std::numeric_limits<float>::max();
|
|
const MWWorld::CellStore *cell = character.getCell();
|
|
if(cell->getCell()->hasWater())
|
|
waterlevel = cell->getWaterLevel();
|
|
|
|
const MWMechanics::MagicEffects& effects = character.getClass().getCreatureStats(character).getMagicEffects();
|
|
|
|
bool waterCollision = false;
|
|
bool moveToWaterSurface = false;
|
|
if (cell->getCell()->hasWater() && effects.get(ESM::MagicEffect::WaterWalking).getMagnitude())
|
|
{
|
|
if (!world->isUnderwater(character.getCell(), osg::Vec3f(character.getRefData().getPosition().asVec3())))
|
|
waterCollision = true;
|
|
else if (physicActor->getCollisionMode() && canMoveToWaterSurface(character, waterlevel))
|
|
{
|
|
moveToWaterSurface = true;
|
|
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));
|
|
|
|
// Ue current value only if we don't advance the simulation. Otherwise we might get a stale value.
|
|
MWWorld::Ptr standingOn;
|
|
if (numSteps == 0)
|
|
standingOn = physicActor->getStandingOnPtr();
|
|
|
|
actorsFrameData.emplace_back(std::move(physicActor), standingOn, moveToWaterSurface, movement, slowFall, waterlevel);
|
|
}
|
|
mMovementQueue.clear();
|
|
return actorsFrameData;
|
|
}
|
|
|
|
void PhysicsSystem::stepSimulation()
|
|
{
|
|
for (Object* animatedObject : mAnimatedObjects)
|
|
if (animatedObject->animateCollisionShapes())
|
|
{
|
|
auto obj = mObjects.find(animatedObject->getPtr());
|
|
assert(obj != mObjects.end());
|
|
mTaskScheduler->updateSingleAabb(obj->second);
|
|
}
|
|
|
|
#ifndef BT_NO_PROFILE
|
|
CProfileManager::Reset();
|
|
CProfileManager::Increment_Frame_Counter();
|
|
#endif
|
|
}
|
|
|
|
void PhysicsSystem::updateAnimatedCollisionShape(const MWWorld::Ptr& object)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(object);
|
|
if (found != mObjects.end())
|
|
if (found->second->animateCollisionShapes())
|
|
mTaskScheduler->updateSingleAabb(found->second);
|
|
}
|
|
|
|
void PhysicsSystem::debugDraw()
|
|
{
|
|
if (mDebugDrawEnabled)
|
|
mDebugDrawer->step();
|
|
}
|
|
|
|
bool PhysicsSystem::isActorStandingOn(const MWWorld::Ptr &actor, const MWWorld::ConstPtr &object) const
|
|
{
|
|
const auto physActor = mActors.find(actor);
|
|
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);
|
|
}
|
|
|
|
bool PhysicsSystem::isAreaOccupiedByOtherActor(const osg::Vec3f& position, const float radius, const MWWorld::ConstPtr& ignore) const
|
|
{
|
|
btCollisionObject* object = nullptr;
|
|
const auto it = mActors.find(ignore);
|
|
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;
|
|
HasSphereCollisionCallback callback(bulletPosition, radius, object, mask, group);
|
|
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 HeightFields", mHeightFields.size());
|
|
}
|
|
|
|
void PhysicsSystem::reportCollision(const btVector3& position, const btVector3& normal)
|
|
{
|
|
if (mDebugDrawEnabled)
|
|
mDebugDrawer->addCollision(position, normal);
|
|
}
|
|
|
|
ActorFrameData::ActorFrameData(const std::shared_ptr<Actor>& actor, const MWWorld::Ptr standingOn,
|
|
bool moveToWaterSurface, osg::Vec3f movement, float slowFall, float waterlevel)
|
|
: mActor(actor), mActorRaw(actor.get()), mStandingOn(standingOn),
|
|
mDidJump(false), mNeedLand(false), mMoveToWaterSurface(moveToWaterSurface),
|
|
mWaterlevel(waterlevel), mSlowFall(slowFall), mOldHeight(0), mFallHeight(0), mMovement(movement), mPosition(), mRefpos()
|
|
{
|
|
const MWBase::World *world = MWBase::Environment::get().getWorld();
|
|
const auto ptr = actor->getPtr();
|
|
mFlying = world->isFlying(ptr);
|
|
mSwimming = world->isSwimming(ptr);
|
|
mWantJump = ptr.getClass().getMovementSettings(ptr).mPosition[2] != 0;
|
|
auto& stats = ptr.getClass().getCreatureStats(ptr);
|
|
const bool godmode = ptr == world->getPlayerConstPtr() && world->getGodModeState();
|
|
mFloatToSurface = stats.isDead() || (!godmode && stats.isParalyzed());
|
|
mWasOnGround = actor->getOnGround();
|
|
}
|
|
|
|
void ActorFrameData::updatePosition()
|
|
{
|
|
mActorRaw->updateWorldPosition();
|
|
mPosition = mActorRaw->getPosition();
|
|
if (mMoveToWaterSurface)
|
|
{
|
|
mPosition.z() = mWaterlevel;
|
|
MWBase::Environment::get().getWorld()->moveObject(mActorRaw->getPtr(), mPosition.x(), mPosition.y(), mPosition.z());
|
|
}
|
|
mOldHeight = mPosition.z();
|
|
mRefpos = mActorRaw->getPtr().getRefData().getPosition();
|
|
}
|
|
|
|
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;
|
|
}
|
|
}
|