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1586 lines
63 KiB
C++
1586 lines
63 KiB
C++
#include "physicssystem.hpp"
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#include <iostream>
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#include <stdexcept>
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#include <osg/Group>
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#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
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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/esm/loadgmst.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/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/movement.hpp"
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#include "../mwmechanics/actorutil.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 "../mwbase/world.hpp"
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#include "../mwbase/environment.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 "convert.hpp"
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#include "trace.h"
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namespace MWPhysics
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{
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static const float sMaxSlope = 49.0f;
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static const float sStepSizeUp = 34.0f;
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static const float sStepSizeDown = 62.0f;
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static const float sMinStep = 10.f;
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static const float sGroundOffset = 1.0f;
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// Arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
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static const int sMaxIterations = 8;
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static bool isActor(const btCollisionObject *obj)
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{
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assert(obj);
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return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
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}
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template <class Vec3>
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static bool isWalkableSlope(const Vec3 &normal)
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{
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static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
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return (normal.z() > sMaxSlopeCos);
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}
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static bool canStepDown(const ActorTracer &stepper)
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{
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return stepper.mHitObject && isWalkableSlope(stepper.mPlaneNormal) && !isActor(stepper.mHitObject);
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}
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class Stepper
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{
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private:
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const btCollisionWorld *mColWorld;
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const btCollisionObject *mColObj;
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ActorTracer mTracer, mUpStepper, mDownStepper;
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bool mHaveMoved;
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public:
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Stepper(const btCollisionWorld *colWorld, const btCollisionObject *colObj)
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: mColWorld(colWorld)
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, mColObj(colObj)
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, mHaveMoved(true)
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{}
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bool step(osg::Vec3f &position, const osg::Vec3f &toMove, float &remainingTime)
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{
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/*
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* Slide up an incline or set of stairs. Should be called only after a
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* collision detection otherwise unnecessary tracing will be performed.
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*
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* NOTE: with a small change this method can be used to step over an obstacle
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* of height sStepSize.
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*
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* If successful return 'true' and update 'position' to the new possible
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* location and adjust 'remainingTime'.
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*
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* If not successful return 'false'. May fail for these reasons:
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* - can't move directly up from current position
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* - having moved up by between epsilon() and sStepSize, can't move forward
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* - having moved forward by between epsilon() and toMove,
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* = moved down between 0 and just under sStepSize but slope was too steep, or
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* = moved the full sStepSize down (FIXME: this could be a bug)
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*
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*
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*
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* Starting position. Obstacle or stairs with height upto sStepSize in front.
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*
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* +--+ +--+ |XX
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* | | -------> toMove | | +--+XX
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* | | | | |XXXXX
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* | | +--+ | | +--+XXXXX
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* | | |XX| | | |XXXXXXXX
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* +--+ +--+ +--+ +--------
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* ==============================================
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*/
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/*
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* Try moving up sStepSize using stepper.
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* FIXME: does not work in case there is no front obstacle but there is one above
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*
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* +--+ +--+
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* | | | |
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* | | | | |XX
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* | | | | +--+XX
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* | | | | |XXXXX
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* +--+ +--+ +--+ +--+XXXXX
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* |XX| |XXXXXXXX
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* +--+ +--------
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* ==============================================
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*/
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if (mHaveMoved)
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{
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mHaveMoved = false;
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mUpStepper.doTrace(mColObj, position, position+osg::Vec3f(0.0f,0.0f,sStepSizeUp), mColWorld);
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if(mUpStepper.mFraction < std::numeric_limits<float>::epsilon())
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return false; // didn't even move the smallest representable amount
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// (TODO: shouldn't this be larger? Why bother with such a small amount?)
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}
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/*
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* Try moving from the elevated position using tracer.
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*
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* +--+ +--+
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* | | |YY| FIXME: collision with object YY
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* | | +--+
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* | |
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* <------------------->| |
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* +--+ +--+
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* |XX| the moved amount is toMove*tracer.mFraction
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* +--+
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* ==============================================
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*/
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osg::Vec3f tracerPos = mUpStepper.mEndPos;
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mTracer.doTrace(mColObj, tracerPos, tracerPos + toMove, mColWorld);
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if(mTracer.mFraction < std::numeric_limits<float>::epsilon())
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return false; // didn't even move the smallest representable amount
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/*
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* Try moving back down sStepSizeDown using stepper.
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* NOTE: if there is an obstacle below (e.g. stairs), we'll be "stepping up".
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* Below diagram is the case where we "stepped over" an obstacle in front.
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*
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* +--+
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* |YY|
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* +--+ +--+
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* | |
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* | |
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* +--+ | |
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* |XX| | |
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* +--+ +--+
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* ==============================================
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*/
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mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
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if (!canStepDown(mDownStepper))
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{
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// Try again with increased step length
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if (mTracer.mFraction < 1.0f || toMove.length2() > sMinStep*sMinStep)
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return false;
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osg::Vec3f direction = toMove;
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direction.normalize();
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mTracer.doTrace(mColObj, tracerPos, tracerPos + direction*sMinStep, mColWorld);
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if (mTracer.mFraction < 0.001f)
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return false;
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mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
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if (!canStepDown(mDownStepper))
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return false;
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}
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if (mDownStepper.mFraction < 1.0f)
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{
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// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
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// TODO: stepper.mPlaneNormal does not appear to be reliable - needs more testing
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// NOTE: caller's variables 'position' & 'remainingTime' are modified here
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position = mDownStepper.mEndPos;
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remainingTime *= (1.0f-mTracer.mFraction); // remaining time is proportional to remaining distance
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mHaveMoved = true;
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return true;
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}
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return false;
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}
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};
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class MovementSolver
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{
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private:
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///Project a vector u on another vector v
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static inline osg::Vec3f project(const osg::Vec3f& u, const osg::Vec3f &v)
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{
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return v * (u * v);
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// ^ dot product
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}
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///Helper for computing the character sliding
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static inline osg::Vec3f slide(const osg::Vec3f& direction, const osg::Vec3f &planeNormal)
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{
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return direction - project(direction, planeNormal);
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}
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public:
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static osg::Vec3f traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
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{
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osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
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ActorTracer tracer;
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tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
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if(tracer.mFraction >= 1.0f)
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{
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actor->setOnGround(false);
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return position;
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}
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else
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{
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actor->setOnGround(true);
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// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
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// Required for some broken door destinations in Morrowind.esm, where the spawn point
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// intersects with other geometry if the actor's base is taken into account
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btVector3 from = toBullet(position);
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btVector3 to = from - btVector3(0,0,maxHeight);
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btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
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resultCallback1.m_collisionFilterGroup = 0xff;
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resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
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collisionWorld->rayTest(from, to, resultCallback1);
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if (resultCallback1.hasHit() &&
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( (toOsg(resultCallback1.m_hitPointWorld) - (tracer.mEndPos-offset)).length2() > 35*35
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|| !isWalkableSlope(tracer.mPlaneNormal)))
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{
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actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
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return toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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else
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{
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actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
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}
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return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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}
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static osg::Vec3f move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
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bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
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std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker)
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{
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const ESM::Position& refpos = ptr.getRefData().getPosition();
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// Early-out for totally static creatures
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// (Not sure if gravity should still apply?)
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if (!ptr.getClass().isMobile(ptr))
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return position;
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// Reset per-frame data
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physicActor->setWalkingOnWater(false);
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// Anything to collide with?
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if(!physicActor->getCollisionMode())
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{
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return position + (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
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osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
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) * movement * time;
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}
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const btCollisionObject *colobj = physicActor->getCollisionObject();
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osg::Vec3f halfExtents = physicActor->getHalfExtents();
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// NOTE: here we don't account for the collision box translation (i.e. physicActor->getPosition() - refpos.pos).
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// That means the collision shape used for moving this actor is in a different spot than the collision shape
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// other actors are using to collide against this actor.
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// While this is strictly speaking wrong, it's needed for MW compatibility.
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position.z() += halfExtents.z();
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static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
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.find("fSwimHeightScale")->getFloat();
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float swimlevel = waterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
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ActorTracer tracer;
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osg::Vec3f inertia = physicActor->getInertialForce();
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osg::Vec3f velocity;
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if(position.z() < swimlevel || isFlying)
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{
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velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
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osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
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}
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else
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{
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velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
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if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
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|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
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inertia = velocity;
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else if (!physicActor->getOnGround() || physicActor->getOnSlope())
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velocity = velocity + inertia;
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}
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// dead actors underwater will float to the surface, if the CharacterController tells us to do so
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if (movement.z() > 0 && ptr.getClass().getCreatureStats(ptr).isDead() && position.z() < swimlevel)
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velocity = osg::Vec3f(0,0,1) * 25;
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ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
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// Now that we have the effective movement vector, apply wind forces to it
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if (MWBase::Environment::get().getWorld()->isInStorm())
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{
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osg::Vec3f stormDirection = MWBase::Environment::get().getWorld()->getStormDirection();
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float angleDegrees = osg::RadiansToDegrees(std::acos(stormDirection * velocity / (stormDirection.length() * velocity.length())));
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static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
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.find("fStromWalkMult")->getFloat();
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velocity *= 1.f-(fStromWalkMult * (angleDegrees/180.f));
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}
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Stepper stepper(collisionWorld, colobj);
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osg::Vec3f origVelocity = velocity;
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osg::Vec3f newPosition = position;
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/*
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* A loop to find newPosition using tracer, if successful different from the starting position.
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* nextpos is the local variable used to find potential newPosition, using velocity and remainingTime
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* The initial velocity was set earlier (see above).
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*/
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float remainingTime = time;
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for(int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f; ++iterations)
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{
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osg::Vec3f nextpos = newPosition + velocity * remainingTime;
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// If not able to fly, don't allow to swim up into the air
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if(!isFlying && // can't fly
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nextpos.z() > swimlevel && // but about to go above water
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newPosition.z() < swimlevel)
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{
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const osg::Vec3f down(0,0,-1);
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velocity = slide(velocity, down);
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// NOTE: remainingTime is unchanged before the loop continues
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continue; // velocity updated, calculate nextpos again
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}
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if((newPosition - nextpos).length2() > 0.0001)
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{
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// trace to where character would go if there were no obstructions
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tracer.doTrace(colobj, newPosition, nextpos, collisionWorld);
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// check for obstructions
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if(tracer.mFraction >= 1.0f)
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{
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newPosition = tracer.mEndPos; // ok to move, so set newPosition
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break;
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}
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}
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else
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{
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// The current position and next position are nearly the same, so just exit.
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// Note: Bullet can trigger an assert in debug modes if the positions
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// are the same, since that causes it to attempt to normalize a zero
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// length vector (which can also happen with nearly identical vectors, since
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// precision can be lost due to any math Bullet does internally). Since we
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// aren't performing any collision detection, we want to reject the next
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// position, so that we don't slowly move inside another object.
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break;
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}
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// We are touching something.
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if (tracer.mFraction < 1E-9f)
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{
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// Try to separate by backing off slighly to unstuck the solver
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osg::Vec3f backOff = (newPosition - tracer.mHitPoint) * 1E-2f;
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newPosition += backOff;
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}
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// We hit something. Check if we can step up.
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float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
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osg::Vec3f oldPosition = newPosition;
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bool result = false;
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if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
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{
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// Try to step up onto it.
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// NOTE: stepMove does not allow stepping over, modifies newPosition if successful
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result = stepper.step(newPosition, velocity*remainingTime, remainingTime);
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}
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if (result)
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{
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// don't let pure water creatures move out of water after stepMove
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if (ptr.getClass().isPureWaterCreature(ptr)
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&& newPosition.z() + halfExtents.z() > waterlevel)
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newPosition = oldPosition;
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}
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else
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{
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// Can't move this way, try to find another spot along the plane
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osg::Vec3f newVelocity = slide(velocity, tracer.mPlaneNormal);
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// Do not allow sliding upward if there is gravity.
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// Stepping will have taken care of that.
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if(!(newPosition.z() < swimlevel || isFlying))
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newVelocity.z() = std::min(newVelocity.z(), 0.0f);
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if ((newVelocity-velocity).length2() < 0.01)
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break;
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if ((newVelocity * origVelocity) <= 0.f)
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break; // ^ dot product
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velocity = newVelocity;
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}
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}
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bool isOnGround = false;
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bool isOnSlope = false;
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if (!(inertia.z() > 0.f) && !(newPosition.z() < swimlevel))
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{
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osg::Vec3f from = newPosition;
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osg::Vec3f to = newPosition - (physicActor->getOnGround() ?
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osg::Vec3f(0,0,sStepSizeDown + 2*sGroundOffset) : osg::Vec3f(0,0,2*sGroundOffset));
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tracer.doTrace(colobj, from, to, collisionWorld);
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if(tracer.mFraction < 1.0f
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&& tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != CollisionType_Actor)
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{
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const btCollisionObject* standingOn = tracer.mHitObject;
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PtrHolder* ptrHolder = static_cast<PtrHolder*>(standingOn->getUserPointer());
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if (ptrHolder)
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standingCollisionTracker[ptr] = ptrHolder->getPtr();
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if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
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physicActor->setWalkingOnWater(true);
|
|
if (!isFlying)
|
|
newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
|
|
|
|
isOnGround = true;
|
|
|
|
isOnSlope = !isWalkableSlope(tracer.mPlaneNormal);
|
|
}
|
|
else
|
|
{
|
|
// standing on actors is not allowed (see above).
|
|
// in addition to that, apply a sliding effect away from the center of the actor,
|
|
// so that we do not stay suspended in air indefinitely.
|
|
if (tracer.mFraction < 1.0f && tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor)
|
|
{
|
|
if (osg::Vec3f(velocity.x(), velocity.y(), 0).length2() < 100.f*100.f)
|
|
{
|
|
btVector3 aabbMin, aabbMax;
|
|
tracer.mHitObject->getCollisionShape()->getAabb(tracer.mHitObject->getWorldTransform(), aabbMin, aabbMax);
|
|
btVector3 center = (aabbMin + aabbMax) / 2.f;
|
|
inertia = osg::Vec3f(position.x() - center.x(), position.y() - center.y(), 0);
|
|
inertia.normalize();
|
|
inertia *= 100;
|
|
}
|
|
}
|
|
|
|
isOnGround = false;
|
|
}
|
|
}
|
|
|
|
if((isOnGround && !isOnSlope) || newPosition.z() < swimlevel || isFlying)
|
|
physicActor->setInertialForce(osg::Vec3f(0.f, 0.f, 0.f));
|
|
else
|
|
{
|
|
inertia.z() += time * -627.2f;
|
|
if (inertia.z() < 0)
|
|
inertia.z() *= slowFall;
|
|
if (slowFall < 1.f) {
|
|
inertia.x() *= slowFall;
|
|
inertia.y() *= slowFall;
|
|
}
|
|
physicActor->setInertialForce(inertia);
|
|
}
|
|
physicActor->setOnGround(isOnGround);
|
|
physicActor->setOnSlope(isOnSlope);
|
|
|
|
newPosition.z() -= halfExtents.z(); // remove what was added at the beginning
|
|
return newPosition;
|
|
}
|
|
};
|
|
|
|
|
|
// ---------------------------------------------------------------
|
|
|
|
class HeightField
|
|
{
|
|
public:
|
|
HeightField(const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject)
|
|
{
|
|
mShape = new btHeightfieldTerrainShape(
|
|
sqrtVerts, sqrtVerts, heights, 1,
|
|
minH, maxH, 2,
|
|
PHY_FLOAT, false
|
|
);
|
|
mShape->setUseDiamondSubdivision(true);
|
|
mShape->setLocalScaling(btVector3(triSize, triSize, 1));
|
|
|
|
btTransform transform(btQuaternion::getIdentity(),
|
|
btVector3((x+0.5f) * triSize * (sqrtVerts-1),
|
|
(y+0.5f) * triSize * (sqrtVerts-1),
|
|
(maxH+minH)*0.5f));
|
|
|
|
mCollisionObject = new btCollisionObject;
|
|
mCollisionObject->setCollisionShape(mShape);
|
|
mCollisionObject->setWorldTransform(transform);
|
|
|
|
mHoldObject = holdObject;
|
|
}
|
|
~HeightField()
|
|
{
|
|
delete mCollisionObject;
|
|
delete mShape;
|
|
}
|
|
btCollisionObject* getCollisionObject()
|
|
{
|
|
return mCollisionObject;
|
|
}
|
|
|
|
private:
|
|
btHeightfieldTerrainShape* mShape;
|
|
btCollisionObject* mCollisionObject;
|
|
osg::ref_ptr<const osg::Object> mHoldObject;
|
|
|
|
void operator=(const HeightField&);
|
|
HeightField(const HeightField&);
|
|
};
|
|
|
|
// --------------------------------------------------------------
|
|
|
|
class Object : public PtrHolder
|
|
{
|
|
public:
|
|
Object(const MWWorld::Ptr& ptr, osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance)
|
|
: mShapeInstance(shapeInstance)
|
|
, mSolid(true)
|
|
{
|
|
mPtr = ptr;
|
|
|
|
mCollisionObject.reset(new btCollisionObject);
|
|
mCollisionObject->setCollisionShape(shapeInstance->getCollisionShape());
|
|
|
|
mCollisionObject->setUserPointer(static_cast<PtrHolder*>(this));
|
|
|
|
setScale(ptr.getCellRef().getScale());
|
|
setRotation(toBullet(ptr.getRefData().getBaseNode()->getAttitude()));
|
|
const float* pos = ptr.getRefData().getPosition().pos;
|
|
setOrigin(btVector3(pos[0], pos[1], pos[2]));
|
|
}
|
|
|
|
const Resource::BulletShapeInstance* getShapeInstance() const
|
|
{
|
|
return mShapeInstance.get();
|
|
}
|
|
|
|
void setScale(float scale)
|
|
{
|
|
mShapeInstance->getCollisionShape()->setLocalScaling(btVector3(scale,scale,scale));
|
|
}
|
|
|
|
void setRotation(const btQuaternion& quat)
|
|
{
|
|
mCollisionObject->getWorldTransform().setRotation(quat);
|
|
}
|
|
|
|
void setOrigin(const btVector3& vec)
|
|
{
|
|
mCollisionObject->getWorldTransform().setOrigin(vec);
|
|
}
|
|
|
|
btCollisionObject* getCollisionObject()
|
|
{
|
|
return mCollisionObject.get();
|
|
}
|
|
|
|
const btCollisionObject* getCollisionObject() const
|
|
{
|
|
return mCollisionObject.get();
|
|
}
|
|
|
|
/// Return solid flag. Not used by the object itself, true by default.
|
|
bool isSolid() const
|
|
{
|
|
return mSolid;
|
|
}
|
|
|
|
void setSolid(bool solid)
|
|
{
|
|
mSolid = solid;
|
|
}
|
|
|
|
bool isAnimated() const
|
|
{
|
|
return !mShapeInstance->mAnimatedShapes.empty();
|
|
}
|
|
|
|
void animateCollisionShapes(btCollisionWorld* collisionWorld)
|
|
{
|
|
if (mShapeInstance->mAnimatedShapes.empty())
|
|
return;
|
|
|
|
assert (mShapeInstance->getCollisionShape()->isCompound());
|
|
|
|
btCompoundShape* compound = static_cast<btCompoundShape*>(mShapeInstance->getCollisionShape());
|
|
for (std::map<int, int>::const_iterator it = mShapeInstance->mAnimatedShapes.begin(); it != mShapeInstance->mAnimatedShapes.end(); ++it)
|
|
{
|
|
int recIndex = it->first;
|
|
int shapeIndex = it->second;
|
|
|
|
std::map<int, osg::NodePath>::iterator nodePathFound = mRecIndexToNodePath.find(recIndex);
|
|
if (nodePathFound == mRecIndexToNodePath.end())
|
|
{
|
|
NifOsg::FindGroupByRecIndex visitor(recIndex);
|
|
mPtr.getRefData().getBaseNode()->accept(visitor);
|
|
if (!visitor.mFound)
|
|
{
|
|
std::cerr << "Error: animateCollisionShapes can't find node " << recIndex << " for " << mPtr.getCellRef().getRefId() << std::endl;
|
|
|
|
// Remove nonexistent nodes from animated shapes map and early out
|
|
mShapeInstance->mAnimatedShapes.erase(recIndex);
|
|
return;
|
|
}
|
|
osg::NodePath nodePath = visitor.mFoundPath;
|
|
nodePath.erase(nodePath.begin());
|
|
nodePathFound = mRecIndexToNodePath.insert(std::make_pair(recIndex, nodePath)).first;
|
|
}
|
|
|
|
osg::NodePath& nodePath = nodePathFound->second;
|
|
osg::Matrixf matrix = osg::computeLocalToWorld(nodePath);
|
|
osg::Vec3f scale = matrix.getScale();
|
|
matrix.orthoNormalize(matrix);
|
|
|
|
btTransform transform;
|
|
transform.setOrigin(toBullet(matrix.getTrans()) * compound->getLocalScaling());
|
|
for (int i=0; i<3; ++i)
|
|
for (int j=0; j<3; ++j)
|
|
transform.getBasis()[i][j] = matrix(j,i); // NB column/row major difference
|
|
|
|
if (compound->getLocalScaling() * toBullet(scale) != compound->getChildShape(shapeIndex)->getLocalScaling())
|
|
compound->getChildShape(shapeIndex)->setLocalScaling(compound->getLocalScaling() * toBullet(scale));
|
|
if (!(transform == compound->getChildTransform(shapeIndex)))
|
|
compound->updateChildTransform(shapeIndex, transform);
|
|
}
|
|
|
|
collisionWorld->updateSingleAabb(mCollisionObject.get());
|
|
}
|
|
|
|
private:
|
|
std::unique_ptr<btCollisionObject> mCollisionObject;
|
|
osg::ref_ptr<Resource::BulletShapeInstance> mShapeInstance;
|
|
std::map<int, osg::NodePath> mRecIndexToNodePath;
|
|
bool mSolid;
|
|
};
|
|
|
|
// ---------------------------------------------------------------
|
|
|
|
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)
|
|
, mWaterHeight(0)
|
|
, mWaterEnabled(false)
|
|
, mParentNode(parentNode)
|
|
, mPhysicsDt(1.f / 60.f)
|
|
{
|
|
mResourceSystem->addResourceManager(mShapeManager.get());
|
|
|
|
mCollisionConfiguration = new btDefaultCollisionConfiguration();
|
|
mDispatcher = new btCollisionDispatcher(mCollisionConfiguration);
|
|
mBroadphase = new btDbvtBroadphase();
|
|
|
|
mCollisionWorld = new btCollisionWorld(mDispatcher, mBroadphase, mCollisionConfiguration);
|
|
|
|
// 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;
|
|
std::cerr << "Warning: physics framerate was overridden (a new value is " << physFramerate << ")." << std::endl;
|
|
}
|
|
}
|
|
}
|
|
|
|
PhysicsSystem::~PhysicsSystem()
|
|
{
|
|
mResourceSystem->removeResourceManager(mShapeManager.get());
|
|
|
|
if (mWaterCollisionObject.get())
|
|
mCollisionWorld->removeCollisionObject(mWaterCollisionObject.get());
|
|
|
|
for (HeightFieldMap::iterator it = mHeightFields.begin(); it != mHeightFields.end(); ++it)
|
|
{
|
|
mCollisionWorld->removeCollisionObject(it->second->getCollisionObject());
|
|
delete it->second;
|
|
}
|
|
|
|
for (ObjectMap::iterator it = mObjects.begin(); it != mObjects.end(); ++it)
|
|
{
|
|
mCollisionWorld->removeCollisionObject(it->second->getCollisionObject());
|
|
delete it->second;
|
|
}
|
|
|
|
for (ActorMap::iterator it = mActors.begin(); it != mActors.end(); ++it)
|
|
{
|
|
delete it->second;
|
|
}
|
|
|
|
delete mCollisionWorld;
|
|
delete mCollisionConfiguration;
|
|
delete mDispatcher;
|
|
delete mBroadphase;
|
|
}
|
|
|
|
void PhysicsSystem::setUnrefQueue(SceneUtil::UnrefQueue *unrefQueue)
|
|
{
|
|
mUnrefQueue = unrefQueue;
|
|
}
|
|
|
|
Resource::BulletShapeManager *PhysicsSystem::getShapeManager()
|
|
{
|
|
return mShapeManager.get();
|
|
}
|
|
|
|
bool PhysicsSystem::toggleDebugRendering()
|
|
{
|
|
mDebugDrawEnabled = !mDebugDrawEnabled;
|
|
|
|
if (mDebugDrawEnabled && !mDebugDrawer.get())
|
|
{
|
|
mDebugDrawer.reset(new MWRender::DebugDrawer(mParentNode, mCollisionWorld));
|
|
mCollisionWorld->setDebugDrawer(mDebugDrawer.get());
|
|
mDebugDrawer->setDebugMode(mDebugDrawEnabled);
|
|
}
|
|
else if (mDebugDrawer.get())
|
|
mDebugDrawer->setDebugMode(mDebugDrawEnabled);
|
|
return mDebugDrawEnabled;
|
|
}
|
|
|
|
void PhysicsSystem::markAsNonSolid(const MWWorld::ConstPtr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
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;
|
|
|
|
CollisionMap::const_iterator found = mStandingCollisions.find(actor);
|
|
if (found == mStandingCollisions.end())
|
|
return true; // assume standing on terrain (which is a non-object, so not collision tracked)
|
|
|
|
ObjectMap::const_iterator foundObj = mObjects.find(found->second);
|
|
if (foundObj == mObjects.end())
|
|
return false;
|
|
|
|
if (!foundObj->second->isSolid())
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
Start of tes3mp addition
|
|
|
|
Make it possible to set the physics framerate from elsewhere
|
|
*/
|
|
void PhysicsSystem::setPhysicsFramerate(float physFramerate)
|
|
{
|
|
if (physFramerate > 0 && physFramerate < 100)
|
|
{
|
|
mPhysicsDt = 1.f / physFramerate;
|
|
std::cerr << "Warning: physics framerate was overridden (a new value is " << physFramerate << ")." << std::endl;
|
|
}
|
|
else
|
|
{
|
|
std::cerr << "Warning: attempted to override physics framerate with new value of " << physFramerate <<
|
|
", but it was outside accepted values." << std::endl;
|
|
}
|
|
}
|
|
/*
|
|
End of tes3mp addition
|
|
*/
|
|
|
|
class DeepestNotMeContactTestResultCallback : public btCollisionWorld::ContactResultCallback
|
|
{
|
|
const btCollisionObject* mMe;
|
|
const std::vector<const btCollisionObject*> mTargets;
|
|
|
|
// Store the real origin, since the shape's origin is its center
|
|
btVector3 mOrigin;
|
|
|
|
public:
|
|
const btCollisionObject *mObject;
|
|
btVector3 mContactPoint;
|
|
btScalar mLeastDistSqr;
|
|
|
|
DeepestNotMeContactTestResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3 &origin)
|
|
: mMe(me), mTargets(targets), mOrigin(origin), mObject(NULL), mContactPoint(0,0,0),
|
|
mLeastDistSqr(std::numeric_limits<float>::max())
|
|
{ }
|
|
|
|
virtual btScalar addSingleResult(btManifoldPoint& cp,
|
|
const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
|
|
const btCollisionObjectWrapper* col1Wrap,int partId1,int index1)
|
|
{
|
|
const btCollisionObject* collisionObject = col1Wrap->m_collisionObject;
|
|
if (collisionObject != mMe)
|
|
{
|
|
if (!mTargets.empty())
|
|
{
|
|
if ((std::find(mTargets.begin(), mTargets.end(), collisionObject) == mTargets.end()))
|
|
{
|
|
PtrHolder* holder = static_cast<PtrHolder*>(collisionObject->getUserPointer());
|
|
if (holder && !holder->getPtr().isEmpty() && holder->getPtr().getClass().isActor())
|
|
return 0.f;
|
|
}
|
|
}
|
|
|
|
btScalar distsqr = mOrigin.distance2(cp.getPositionWorldOnA());
|
|
if(!mObject || distsqr < mLeastDistSqr)
|
|
{
|
|
mObject = collisionObject;
|
|
mLeastDistSqr = distsqr;
|
|
mContactPoint = cp.getPositionWorldOnA();
|
|
}
|
|
}
|
|
|
|
return 0.f;
|
|
}
|
|
};
|
|
|
|
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;
|
|
RayResult result = castRay(origin, origin + (orient * osg::Vec3f(0.0f, queryDistance, 0.0f)), actor, targets, CollisionType_Actor, hitmask);
|
|
|
|
if (result.mHit)
|
|
{
|
|
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")->getFloat()/2.0f), queryDistance);
|
|
shape.setLocalScaling(btVector3(1, 1, osg::DegreesToRadians(store.find("fCombatAngleZ")->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(toBullet(orient), toBullet(center)));
|
|
|
|
const btCollisionObject* me = NULL;
|
|
std::vector<const btCollisionObject*> targetCollisionObjects;
|
|
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
me = physactor->getCollisionObject();
|
|
|
|
if (!targets.empty())
|
|
{
|
|
for (std::vector<MWWorld::Ptr>::const_iterator it = targets.begin(); it != targets.end(); ++it)
|
|
{
|
|
const Actor* physactor2 = getActor(*it);
|
|
if (physactor2)
|
|
targetCollisionObjects.push_back(physactor2->getCollisionObject());
|
|
}
|
|
}
|
|
|
|
DeepestNotMeContactTestResultCallback resultCallback(me, targetCollisionObjects, toBullet(origin));
|
|
resultCallback.m_collisionFilterGroup = CollisionType_Actor;
|
|
resultCallback.m_collisionFilterMask = CollisionType_World | CollisionType_Door | CollisionType_HeightMap | CollisionType_Actor;
|
|
mCollisionWorld->contactTest(&object, resultCallback);
|
|
|
|
if (resultCallback.mObject)
|
|
{
|
|
PtrHolder* holder = static_cast<PtrHolder*>(resultCallback.mObject->getUserPointer());
|
|
if (holder)
|
|
return std::make_pair(holder->getPtr(), 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 = NULL;
|
|
const Actor* actor = getActor(target);
|
|
if (actor)
|
|
targetCollisionObj = actor->getCollisionObject();
|
|
if (!targetCollisionObj)
|
|
return 0.f;
|
|
|
|
btTransform rayFrom;
|
|
rayFrom.setIdentity();
|
|
rayFrom.setOrigin(toBullet(point));
|
|
|
|
// target the collision object's world origin, this should be the center of the collision object
|
|
btTransform rayTo;
|
|
rayTo.setIdentity();
|
|
rayTo.setOrigin(targetCollisionObj->getWorldTransform().getOrigin());
|
|
|
|
btCollisionWorld::ClosestRayResultCallback cb(rayFrom.getOrigin(), rayTo.getOrigin());
|
|
|
|
btCollisionWorld::rayTestSingle(rayFrom, rayTo, targetCollisionObj, targetCollisionObj->getCollisionShape(), targetCollisionObj->getWorldTransform(), cb);
|
|
if (!cb.hasHit())
|
|
{
|
|
// didn't hit the target. this could happen if point is already inside the collision box
|
|
return 0.f;
|
|
}
|
|
else
|
|
return (point - toOsg(cb.m_hitPointWorld)).length();
|
|
}
|
|
|
|
class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
|
{
|
|
public:
|
|
ClosestNotMeRayResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3& from, const btVector3& to)
|
|
: btCollisionWorld::ClosestRayResultCallback(from, to)
|
|
, mMe(me), mTargets(targets)
|
|
{
|
|
}
|
|
|
|
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
|
|
{
|
|
if (rayResult.m_collisionObject == mMe)
|
|
return 1.f;
|
|
if (!mTargets.empty())
|
|
{
|
|
if ((std::find(mTargets.begin(), mTargets.end(), rayResult.m_collisionObject) == mTargets.end()))
|
|
{
|
|
PtrHolder* holder = static_cast<PtrHolder*>(rayResult.m_collisionObject->getUserPointer());
|
|
if (holder && !holder->getPtr().isEmpty() && holder->getPtr().getClass().isActor())
|
|
return 1.f;
|
|
}
|
|
}
|
|
return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
|
|
}
|
|
private:
|
|
const btCollisionObject* mMe;
|
|
const std::vector<const btCollisionObject*> mTargets;
|
|
};
|
|
|
|
PhysicsSystem::RayResult PhysicsSystem::castRay(const osg::Vec3f &from, const osg::Vec3f &to, const MWWorld::ConstPtr& ignore, std::vector<MWWorld::Ptr> targets, int mask, int group) const
|
|
{
|
|
btVector3 btFrom = toBullet(from);
|
|
btVector3 btTo = toBullet(to);
|
|
|
|
const btCollisionObject* me = NULL;
|
|
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 (std::vector<MWWorld::Ptr>::const_iterator it = targets.begin(); it != targets.end(); ++it)
|
|
{
|
|
const Actor* actor = getActor(*it);
|
|
if (actor)
|
|
targetCollisionObjects.push_back(actor->getCollisionObject());
|
|
}
|
|
}
|
|
|
|
ClosestNotMeRayResultCallback resultCallback(me, targetCollisionObjects, btFrom, btTo);
|
|
resultCallback.m_collisionFilterGroup = group;
|
|
resultCallback.m_collisionFilterMask = mask;
|
|
|
|
mCollisionWorld->rayTest(btFrom, btTo, resultCallback);
|
|
|
|
RayResult result;
|
|
result.mHit = resultCallback.hasHit();
|
|
if (resultCallback.hasHit())
|
|
{
|
|
result.mHitPos = toOsg(resultCallback.m_hitPointWorld);
|
|
result.mHitNormal = toOsg(resultCallback.m_hitNormalWorld);
|
|
if (PtrHolder* ptrHolder = static_cast<PtrHolder*>(resultCallback.m_collisionObject->getUserPointer()))
|
|
result.mHitObject = ptrHolder->getPtr();
|
|
}
|
|
return result;
|
|
}
|
|
|
|
PhysicsSystem::RayResult PhysicsSystem::castSphere(const osg::Vec3f &from, const osg::Vec3f &to, float radius)
|
|
{
|
|
btCollisionWorld::ClosestConvexResultCallback callback(toBullet(from), toBullet(to));
|
|
callback.m_collisionFilterGroup = 0xff;
|
|
callback.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap|CollisionType_Door;
|
|
|
|
btSphereShape shape(radius);
|
|
const btQuaternion btrot = btQuaternion::getIdentity();
|
|
|
|
btTransform from_ (btrot, toBullet(from));
|
|
btTransform to_ (btrot, toBullet(to));
|
|
|
|
mCollisionWorld->convexSweepTest(&shape, from_, to_, callback);
|
|
|
|
RayResult result;
|
|
result.mHit = callback.hasHit();
|
|
if (result.mHit)
|
|
{
|
|
result.mHitPos = toOsg(callback.m_hitPointWorld);
|
|
result.mHitNormal = toOsg(callback.m_hitNormalWorld);
|
|
}
|
|
return result;
|
|
}
|
|
|
|
bool PhysicsSystem::getLineOfSight(const MWWorld::ConstPtr &actor1, const MWWorld::ConstPtr &actor2) const
|
|
{
|
|
const Actor* physactor1 = getActor(actor1);
|
|
const Actor* physactor2 = getActor(actor2);
|
|
|
|
if (!physactor1 || !physactor2)
|
|
return false;
|
|
|
|
osg::Vec3f pos1 (physactor1->getCollisionObjectPosition() + osg::Vec3f(0,0,physactor1->getHalfExtents().z() * 0.9)); // eye level
|
|
osg::Vec3f pos2 (physactor2->getCollisionObjectPosition() + osg::Vec3f(0,0,physactor2->getHalfExtents().z() * 0.9));
|
|
|
|
RayResult result = castRay(pos1, pos2, MWWorld::ConstPtr(), std::vector<MWWorld::Ptr>(), CollisionType_World|CollisionType_HeightMap|CollisionType_Door);
|
|
|
|
return !result.mHit;
|
|
}
|
|
|
|
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)
|
|
{
|
|
const Actor* physicActor = getActor(actor);
|
|
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);
|
|
ActorTracer tracer;
|
|
tracer.doTrace(physicActor->getCollisionObject(), startingPosition, destinationPosition, mCollisionWorld);
|
|
return (tracer.mFraction >= 1.0f);
|
|
}
|
|
|
|
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::getRenderingHalfExtents(const MWWorld::ConstPtr &actor) const
|
|
{
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
return physactor->getRenderingHalfExtents();
|
|
else
|
|
return osg::Vec3f();
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::getCollisionObjectPosition(const MWWorld::ConstPtr &actor) const
|
|
{
|
|
const Actor* physactor = getActor(actor);
|
|
if (physactor)
|
|
return physactor->getCollisionObjectPosition();
|
|
else
|
|
return osg::Vec3f();
|
|
}
|
|
|
|
class ContactTestResultCallback : public btCollisionWorld::ContactResultCallback
|
|
{
|
|
public:
|
|
ContactTestResultCallback(const btCollisionObject* testedAgainst)
|
|
: mTestedAgainst(testedAgainst)
|
|
{
|
|
}
|
|
|
|
const btCollisionObject* mTestedAgainst;
|
|
|
|
std::vector<MWWorld::Ptr> mResult;
|
|
|
|
virtual btScalar addSingleResult(btManifoldPoint& cp,
|
|
const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
|
|
const btCollisionObjectWrapper* col1Wrap,int partId1,int index1)
|
|
{
|
|
const btCollisionObject* collisionObject = col0Wrap->m_collisionObject;
|
|
if (collisionObject == mTestedAgainst)
|
|
collisionObject = col1Wrap->m_collisionObject;
|
|
PtrHolder* holder = static_cast<PtrHolder*>(collisionObject->getUserPointer());
|
|
if (holder)
|
|
mResult.push_back(holder->getPtr());
|
|
return 0.f;
|
|
}
|
|
};
|
|
|
|
std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
|
|
{
|
|
btCollisionObject* me = NULL;
|
|
|
|
ObjectMap::const_iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
me = found->second->getCollisionObject();
|
|
else
|
|
return std::vector<MWWorld::Ptr>();
|
|
|
|
ContactTestResultCallback resultCallback (me);
|
|
resultCallback.m_collisionFilterGroup = collisionGroup;
|
|
resultCallback.m_collisionFilterMask = collisionMask;
|
|
mCollisionWorld->contactTest(me, resultCallback);
|
|
return resultCallback.mResult;
|
|
}
|
|
|
|
osg::Vec3f PhysicsSystem::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, float maxHeight)
|
|
{
|
|
ActorMap::iterator found = mActors.find(ptr);
|
|
if (found == mActors.end())
|
|
return ptr.getRefData().getPosition().asVec3();
|
|
else
|
|
return MovementSolver::traceDown(ptr, position, found->second, mCollisionWorld, maxHeight);
|
|
}
|
|
|
|
void PhysicsSystem::addHeightField (const float* heights, int x, int y, float triSize, float sqrtVerts, float minH, float maxH, const osg::Object* holdObject)
|
|
{
|
|
HeightField *heightfield = new HeightField(heights, x, y, triSize, sqrtVerts, minH, maxH, holdObject);
|
|
mHeightFields[std::make_pair(x,y)] = heightfield;
|
|
|
|
mCollisionWorld->addCollisionObject(heightfield->getCollisionObject(), CollisionType_HeightMap,
|
|
CollisionType_Actor|CollisionType_Projectile);
|
|
}
|
|
|
|
void PhysicsSystem::removeHeightField (int x, int y)
|
|
{
|
|
HeightFieldMap::iterator heightfield = mHeightFields.find(std::make_pair(x,y));
|
|
if(heightfield != mHeightFields.end())
|
|
{
|
|
mCollisionWorld->removeCollisionObject(heightfield->second->getCollisionObject());
|
|
delete heightfield->second;
|
|
mHeightFields.erase(heightfield);
|
|
}
|
|
}
|
|
|
|
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;
|
|
|
|
Object *obj = new Object(ptr, shapeInstance);
|
|
mObjects.insert(std::make_pair(ptr, obj));
|
|
|
|
if (obj->isAnimated())
|
|
mAnimatedObjects.insert(obj);
|
|
|
|
mCollisionWorld->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())
|
|
{
|
|
mCollisionWorld->removeCollisionObject(found->second->getCollisionObject());
|
|
|
|
if (mUnrefQueue.get())
|
|
mUnrefQueue->push(found->second->getShapeInstance());
|
|
|
|
mAnimatedObjects.erase(found->second);
|
|
|
|
delete found->second;
|
|
mObjects.erase(found);
|
|
}
|
|
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
delete foundActor->second;
|
|
mActors.erase(foundActor);
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updateCollisionMapPtr(CollisionMap& map, const MWWorld::Ptr &old, const MWWorld::Ptr &updated)
|
|
{
|
|
CollisionMap::iterator found = map.find(old);
|
|
if (found != map.end())
|
|
{
|
|
map[updated] = found->second;
|
|
map.erase(found);
|
|
}
|
|
|
|
for (CollisionMap::iterator it = map.begin(); it != map.end(); ++it)
|
|
{
|
|
if (it->second == old)
|
|
it->second = updated;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updatePtr(const MWWorld::Ptr &old, const MWWorld::Ptr &updated)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(old);
|
|
if (found != mObjects.end())
|
|
{
|
|
Object* obj = found->second;
|
|
obj->updatePtr(updated);
|
|
mObjects.erase(found);
|
|
mObjects.insert(std::make_pair(updated, obj));
|
|
}
|
|
|
|
ActorMap::iterator foundActor = mActors.find(old);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
Actor* actor = foundActor->second;
|
|
actor->updatePtr(updated);
|
|
mActors.erase(foundActor);
|
|
mActors.insert(std::make_pair(updated, actor));
|
|
}
|
|
|
|
updateCollisionMapPtr(mStandingCollisions, old, updated);
|
|
}
|
|
|
|
Actor *PhysicsSystem::getActor(const MWWorld::Ptr &ptr)
|
|
{
|
|
ActorMap::iterator found = mActors.find(ptr);
|
|
if (found != mActors.end())
|
|
return found->second;
|
|
return NULL;
|
|
}
|
|
|
|
const Actor *PhysicsSystem::getActor(const MWWorld::ConstPtr &ptr) const
|
|
{
|
|
ActorMap::const_iterator found = mActors.find(ptr);
|
|
if (found != mActors.end())
|
|
return found->second;
|
|
return NULL;
|
|
}
|
|
|
|
const Object* PhysicsSystem::getObject(const MWWorld::ConstPtr &ptr) const
|
|
{
|
|
ObjectMap::const_iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
return found->second;
|
|
return NULL;
|
|
}
|
|
|
|
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);
|
|
mCollisionWorld->updateSingleAabb(found->second->getCollisionObject());
|
|
return;
|
|
}
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
foundActor->second->updateScale();
|
|
mCollisionWorld->updateSingleAabb(foundActor->second->getCollisionObject());
|
|
return;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updateRotation(const MWWorld::Ptr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
{
|
|
found->second->setRotation(toBullet(ptr.getRefData().getBaseNode()->getAttitude()));
|
|
mCollisionWorld->updateSingleAabb(found->second->getCollisionObject());
|
|
return;
|
|
}
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
if (!foundActor->second->isRotationallyInvariant())
|
|
{
|
|
foundActor->second->updateRotation();
|
|
mCollisionWorld->updateSingleAabb(foundActor->second->getCollisionObject());
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::updatePosition(const MWWorld::Ptr &ptr)
|
|
{
|
|
ObjectMap::iterator found = mObjects.find(ptr);
|
|
if (found != mObjects.end())
|
|
{
|
|
found->second->setOrigin(toBullet(ptr.getRefData().getPosition().asVec3()));
|
|
mCollisionWorld->updateSingleAabb(found->second->getCollisionObject());
|
|
return;
|
|
}
|
|
ActorMap::iterator foundActor = mActors.find(ptr);
|
|
if (foundActor != mActors.end())
|
|
{
|
|
foundActor->second->updatePosition();
|
|
mCollisionWorld->updateSingleAabb(foundActor->second->getCollisionObject());
|
|
return;
|
|
}
|
|
}
|
|
|
|
void PhysicsSystem::addActor (const MWWorld::Ptr& ptr, const std::string& mesh) {
|
|
osg::ref_ptr<const Resource::BulletShape> shape = mShapeManager->getShape(mesh);
|
|
if (!shape)
|
|
return;
|
|
|
|
Actor* actor = new Actor(ptr, shape, mCollisionWorld);
|
|
mActors.insert(std::make_pair(ptr, actor));
|
|
}
|
|
|
|
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);
|
|
found->second->enableCollisionBody(cmode);
|
|
return cmode;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
void PhysicsSystem::queueObjectMovement(const MWWorld::Ptr &ptr, const osg::Vec3f &movement)
|
|
{
|
|
PtrVelocityList::iterator iter = mMovementQueue.begin();
|
|
for(;iter != mMovementQueue.end();++iter)
|
|
{
|
|
if(iter->first == ptr)
|
|
{
|
|
iter->second = movement;
|
|
return;
|
|
}
|
|
}
|
|
|
|
mMovementQueue.push_back(std::make_pair(ptr, movement));
|
|
}
|
|
|
|
void PhysicsSystem::clearQueuedMovement()
|
|
{
|
|
mMovementQueue.clear();
|
|
mStandingCollisions.clear();
|
|
}
|
|
|
|
const PtrVelocityList& PhysicsSystem::applyQueuedMovement(float dt)
|
|
{
|
|
mMovementResults.clear();
|
|
|
|
mTimeAccum += dt;
|
|
|
|
const int maxAllowedSteps = 20;
|
|
int numSteps = mTimeAccum / (mPhysicsDt);
|
|
numSteps = std::min(numSteps, maxAllowedSteps);
|
|
|
|
mTimeAccum -= numSteps * mPhysicsDt;
|
|
|
|
if (numSteps)
|
|
{
|
|
// Collision events should be available on every frame
|
|
mStandingCollisions.clear();
|
|
}
|
|
|
|
const MWBase::World *world = MWBase::Environment::get().getWorld();
|
|
PtrVelocityList::iterator iter = mMovementQueue.begin();
|
|
for(;iter != mMovementQueue.end();++iter)
|
|
{
|
|
ActorMap::iterator foundActor = mActors.find(iter->first);
|
|
if (foundActor == mActors.end()) // actor was already removed from the scene
|
|
continue;
|
|
Actor* physicActor = foundActor->second;
|
|
|
|
float waterlevel = -std::numeric_limits<float>::max();
|
|
const MWWorld::CellStore *cell = iter->first.getCell();
|
|
if(cell->getCell()->hasWater())
|
|
waterlevel = cell->getWaterLevel();
|
|
|
|
const MWMechanics::MagicEffects& effects = iter->first.getClass().getCreatureStats(iter->first).getMagicEffects();
|
|
|
|
bool waterCollision = false;
|
|
if (cell->getCell()->hasWater() && effects.get(ESM::MagicEffect::WaterWalking).getMagnitude())
|
|
{
|
|
if (!world->isUnderwater(iter->first.getCell(), osg::Vec3f(iter->first.getRefData().getPosition().asVec3())))
|
|
waterCollision = true;
|
|
else if (physicActor->getCollisionMode() && canMoveToWaterSurface(iter->first, waterlevel))
|
|
{
|
|
const osg::Vec3f actorPosition = physicActor->getPosition();
|
|
physicActor->setPosition(osg::Vec3f(actorPosition.x(), actorPosition.y(), waterlevel));
|
|
waterCollision = true;
|
|
}
|
|
}
|
|
physicActor->setCanWaterWalk(waterCollision);
|
|
|
|
// Slow fall reduces fall speed by a factor of (effect magnitude / 200)
|
|
float slowFall = 1.f - std::max(0.f, std::min(1.f, effects.get(ESM::MagicEffect::SlowFall).getMagnitude() * 0.005f));
|
|
|
|
bool flying = world->isFlying(iter->first);
|
|
|
|
bool wasOnGround = physicActor->getOnGround();
|
|
osg::Vec3f position = physicActor->getPosition();
|
|
float oldHeight = position.z();
|
|
bool positionChanged = false;
|
|
for (int i=0; i<numSteps; ++i)
|
|
{
|
|
position = MovementSolver::move(position, physicActor->getPtr(), physicActor, iter->second, mPhysicsDt,
|
|
flying, waterlevel, slowFall, mCollisionWorld, mStandingCollisions);
|
|
if (position != physicActor->getPosition())
|
|
positionChanged = true;
|
|
physicActor->setPosition(position); // always set even if unchanged to make sure interpolation is correct
|
|
}
|
|
if (positionChanged)
|
|
mCollisionWorld->updateSingleAabb(physicActor->getCollisionObject());
|
|
|
|
float interpolationFactor = mTimeAccum / mPhysicsDt;
|
|
osg::Vec3f interpolated = position * interpolationFactor + physicActor->getPreviousPosition() * (1.f - interpolationFactor);
|
|
|
|
float heightDiff = position.z() - oldHeight;
|
|
|
|
MWMechanics::CreatureStats& stats = iter->first.getClass().getCreatureStats(iter->first);
|
|
if ((wasOnGround && physicActor->getOnGround()) || flying || world->isSwimming(iter->first) || slowFall < 1)
|
|
stats.land();
|
|
else if (heightDiff < 0)
|
|
stats.addToFallHeight(-heightDiff);
|
|
|
|
mMovementResults.push_back(std::make_pair(iter->first, interpolated));
|
|
}
|
|
|
|
mMovementQueue.clear();
|
|
|
|
return mMovementResults;
|
|
}
|
|
|
|
void PhysicsSystem::stepSimulation(float dt)
|
|
{
|
|
for (std::set<Object*>::iterator it = mAnimatedObjects.begin(); it != mAnimatedObjects.end(); ++it)
|
|
(*it)->animateCollisionShapes(mCollisionWorld);
|
|
|
|
#ifndef BT_NO_PROFILE
|
|
CProfileManager::Reset();
|
|
CProfileManager::Increment_Frame_Counter();
|
|
#endif
|
|
}
|
|
|
|
void PhysicsSystem::debugDraw()
|
|
{
|
|
if (mDebugDrawer.get())
|
|
mDebugDrawer->step();
|
|
}
|
|
|
|
bool PhysicsSystem::isActorStandingOn(const MWWorld::Ptr &actor, const MWWorld::ConstPtr &object) const
|
|
{
|
|
for (CollisionMap::const_iterator it = mStandingCollisions.begin(); it != mStandingCollisions.end(); ++it)
|
|
{
|
|
if (it->first == actor && it->second == object)
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void PhysicsSystem::getActorsStandingOn(const MWWorld::ConstPtr &object, std::vector<MWWorld::Ptr> &out) const
|
|
{
|
|
for (CollisionMap::const_iterator it = mStandingCollisions.begin(); it != mStandingCollisions.end(); ++it)
|
|
{
|
|
if (it->second == object)
|
|
out.push_back(it->first);
|
|
}
|
|
}
|
|
|
|
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.get())
|
|
{
|
|
mCollisionWorld->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());
|
|
mCollisionWorld->addCollisionObject(mWaterCollisionObject.get(), CollisionType_Water,
|
|
CollisionType_Actor);
|
|
}
|
|
}
|