Use a proper cone shape with a contact test to check for melee hits

apps/openmw/mwworld/physicssystem.cpp

@@ -312,28 +312,31 @@ namespace MWWorld
     }
 
     std::pair<std::string,Ogre::Vector3> PhysicsSystem::getHitContact(const std::string &name,
-                                                                      const Ogre::Vector3 &origin_,
+                                                                      const Ogre::Vector3 &origin,
-                                                                      const Ogre::Quaternion &orient_,
+                                                                      const Ogre::Quaternion &orient,
                                                                       float queryDistance)
     {
-        btVector3 origin(origin_.x, origin_.y, origin_.z);
+        const MWWorld::Store<ESM::GameSetting> &store = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
 
-        std::pair<std::string,btVector3> result = mEngine->sphereTest(queryDistance,origin);
+        btConeShape shape(Ogre::Degree(store.find("fCombatAngleXY")->getFloat()/2.0f).valueRadians(),
-        if(result.first == "") return std::make_pair("",0);
+                          queryDistance);
-        btVector3 a = result.second - origin;
+        shape.setLocalScaling(btVector3(1, 1, Ogre::Degree(store.find("fCombatAngleZ")->getFloat()/2.0f).valueRadians() /
-        Ogre::Vector3 a_ = Ogre::Vector3(a.x(),a.y(),a.z());
+                                              shape.getRadius()));
-        a_ = orient_.Inverse()*a_;
-        Ogre::Vector2 a_xy = Ogre::Vector2(a_.x,a_.y);
-        Ogre::Vector2 a_yz = Ogre::Vector2(a_xy.length(),a_.z);
-        float axy = a_xy.angleBetween(Ogre::Vector2::UNIT_Y).valueDegrees();
-        float az = a_yz.angleBetween(Ogre::Vector2::UNIT_X).valueDegrees();
 
-        float fCombatAngleXY = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fCombatAngleXY")->getFloat();
+        // The shape origin is its center, so we have to move it forward by half the length. The
-        float fCombatAngleZ = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fCombatAngleZ")->getFloat();
+        // real origin will be provided to getFilteredContact to find the closest.
-        if(abs(axy) < fCombatAngleXY && abs(az) < fCombatAngleZ)
+        Ogre::Vector3 center = origin + (orient * Ogre::Vector3(0.0f, queryDistance*0.5f, 0.0f));
-            return std::make_pair (result.first,result.second.length());
+
-        else
+        btCollisionObject object;
-            return std::make_pair("",0);
+        object.setCollisionShape(&shape);
+        object.setWorldTransform(btTransform(btQuaternion(orient.x, orient.y, orient.z, orient.w),
+                                             btVector3(center.x, center.y, center.z)));
+
+        std::pair<const OEngine::Physic::RigidBody*,btVector3> result = mEngine->getFilteredContact(
+                name, btVector3(origin.x, origin.y, origin.z), &object);
+        if(!result.first)
+            return std::make_pair(std::string(), Ogre::Vector3(&result.second[0]));
+        return std::make_pair(result.first->mName, Ogre::Vector3(&result.second[0]));
     }
 
 

libs/openengine/bullet/physic.cpp

@@ -543,62 +543,64 @@ namespace Physic
 #endif
     };
 
-    struct AabbResultCallback : public btBroadphaseAabbCallback {
+    class DeepestNotMeContactTestResultCallback : public btCollisionWorld::ContactResultCallback
-        std::vector<RigidBody*> hits;
+    {
-        //AabbResultCallback(){}
+        const std::string &mFilter;
-        virtual bool process(const btBroadphaseProxy* proxy) {
+        // Store the real origin, since the shape's origin is its center
-            RigidBody* collisionObject = static_cast<RigidBody*>(proxy->m_clientObject);
+        btVector3 mOrigin;
-            if(proxy->m_collisionFilterGroup == CollisionType_Actor && (collisionObject->mName != "player"))
+
-                this->hits.push_back(collisionObject);
+    public:
-            return true;
+        const RigidBody *mObject;
+        btVector3 mContactPoint;
+        btScalar mLeastDistSqr;
+
+        DeepestNotMeContactTestResultCallback(const std::string &filter, const btVector3 &origin)
+          : mFilter(filter), mOrigin(origin), mObject(0), mContactPoint(0,0,0),
+            mLeastDistSqr(std::numeric_limits<float>::max())
+        { }
+
+#if defined(BT_COLLISION_OBJECT_WRAPPER_H)
+        virtual btScalar addSingleResult(btManifoldPoint& cp,
+                                         const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
+                                         const btCollisionObjectWrapper* col1Wrap,int partId1,int index1)
+        {
+            const RigidBody* body = dynamic_cast<const RigidBody*>(col1Wrap->m_collisionObject);
+            if(body && body->mName != mFilter)
+            {
+                btScalar distsqr = mOrigin.distance2(cp.getPositionWorldOnA());
+                if(!mObject || distsqr < mLeastDistSqr)
+                {
+                    mObject = body;
+                    mLeastDistSqr = distsqr;
+                    mContactPoint = cp.getPositionWorldOnA();
                 }
+            }
+
+            return 0.f;
+        }
+#else
+        virtual btScalar addSingleResult(btManifoldPoint& cp,
+                                         const btCollisionObject* col0, int partId0, int index0,
+                                         const btCollisionObject* col1, int partId1, int index1)
+        {
+            const RigidBody* body = dynamic_cast<const RigidBody*>(col1);
+            if(body && body->mName != mFilter)
+            {
+                btScalar distsqr = mOrigin.distance2(cp.getPositionWorldOnA());
+                if(!mObject || distsqr < mLeastDistSqr)
+                {
+                    mObject = body;
+                    mLeastDistSqr = distsqr;
+                    mContactPoint = cp.getPositionWorldOnA();
+                }
+            }
+
+            return 0.f;
+        }
+#endif
     };
 
 
-    std::pair<std::string,btVector3> PhysicEngine::sphereTest(float radius,btVector3& pos)
-    {
-        AabbResultCallback callback;
-        /*btDefaultMotionState* newMotionState =
-            new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),pos));
-        btCollisionShape * shape = new btSphereShape(radius);
-        btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
-                (0,newMotionState, shape);
-        RigidBody* body = new RigidBody(CI,"hitDetectionShpere__");
-        btTransform tr = body->getWorldTransform();
-        tr.setOrigin(pos);
-        body->setWorldTransform(tr);
-        dynamicsWorld->addRigidBody(body,CollisionType_Actor,CollisionType_World|CollisionType_World);
-        body->setWorldTransform(tr);*/
-
-        btVector3 aabbMin = pos - radius*btVector3(1.0f, 1.0f, 1.0f);
-        btVector3 aabbMax = pos + radius*btVector3(1.0f, 1.0f, 1.0f);
-
-        broadphase->aabbTest(aabbMin,aabbMax,callback);
-        for(int i=0;i<static_cast<int> (callback.hits.size()); ++i)
-        {
-            float d = (callback.hits[i]->getWorldTransform().getOrigin()-pos).length();
-            if(d<radius)
-            {
-                std::pair<std::string,float> rayResult = this->rayTest(pos,callback.hits[i]->getWorldTransform().getOrigin());
-                if(rayResult.second>d || rayResult.first == callback.hits[i]->mName)
-                    return std::make_pair(callback.hits[i]->mName,callback.hits[i]->getWorldTransform().getOrigin());
-            }
-        }
-        //ContactTestResultCallback callback;
-        //dynamicsWorld->contactTest(body, callback);
-        //dynamicsWorld->removeRigidBody(body);
-        //delete body;
-        //delete shape;
-        //if(callback.mResultName.empty()) return std::make_pair(std::string(""),btVector3(0,0,0));
-        /*for(int i=0;i<callback.mResultName.size();i++)
-        {
-            //TODO: raycasting
-            if(callback.mResultName[i] != "hitDetectionShpere__")
-                return std::pair<std::string,btVector3>(callback.mResultName[i],callback.mResultContact[i]);
-        */
-        return std::make_pair(std::string(""),btVector3(0,0,0));
-    }
-
     std::vector<std::string> PhysicEngine::getCollisions(const std::string& name)
     {
         RigidBody* body = getRigidBody(name);
@@ -607,6 +609,17 @@ namespace Physic
         return callback.mResult;
     }
 
+
+    std::pair<const RigidBody*,btVector3> PhysicEngine::getFilteredContact(const std::string &filter,
+                                                                           const btVector3 &origin,
+                                                                           btCollisionObject *object)
+    {
+        DeepestNotMeContactTestResultCallback callback(filter, origin);
+        dynamicsWorld->contactTest(object, callback);
+        return std::make_pair(callback.mObject, callback.mContactPoint);
+    }
+
+
     void PhysicEngine::stepSimulation(double deltaT)
     {
         // This seems to be needed for character controller objects

libs/openengine/bullet/physic.hpp

@@ -321,10 +321,14 @@ public:
         std::pair<bool, float> sphereCast (float radius, btVector3& from, btVector3& to);
         ///< @return (hit, relative distance)
 
-        std::pair<std::string,btVector3> sphereTest(float radius,btVector3& pos);
-
         std::vector<std::string> getCollisions(const std::string& name);
 
+        // Get the nearest object that's inside the given object, filtering out objects of the
+        // provided name
+        std::pair<const RigidBody*,btVector3> getFilteredContact(const std::string &filter,
+                                                                 const btVector3 &origin,
+                                                                 btCollisionObject *object);
+
         //event list of non player object
         std::list<PhysicEvent> NPEventList;