mirror of
https://gitlab.com/OpenMW/openmw.git
synced 2025-02-24 09:39:51 +00:00
Merge pull request #2748 from Capostrophic/physicssystem
mwphysics refactoring (task #5338)
This commit is contained in:
Bret Curtis
GitHub
commit
2a31382e20
@ -70,7 +70,9 @@ add_openmw_dir (mwworld
|
||||
)
|
||||
|
||||
add_openmw_dir (mwphysics
|
||||
physicssystem trace collisiontype actor convert object heightfield
|
||||
physicssystem trace collisiontype actor convert object heightfield closestnotmerayresultcallback
|
||||
contacttestresultcallback deepestnotmecontacttestresultcallback stepper movementsolver
|
||||
closestnotmeconvexresultcallback
|
||||
)
|
||||
|
||||
add_openmw_dir (mwclass
|
||||
|
||||
34
apps/openmw/mwphysics/closestnotmeconvexresultcallback.cpp
Normal file
34
apps/openmw/mwphysics/closestnotmeconvexresultcallback.cpp
Normal file
@ -0,0 +1,34 @@
|
||||
#include "closestnotmeconvexresultcallback.hpp"
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
ClosestNotMeConvexResultCallback::ClosestNotMeConvexResultCallback(const btCollisionObject *me, const btVector3 &motion, btScalar minCollisionDot)
|
||||
: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)),
|
||||
mMe(me), mMotion(motion), mMinCollisionDot(minCollisionDot)
|
||||
{
|
||||
}
|
||||
|
||||
btScalar ClosestNotMeConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
|
||||
{
|
||||
if (convexResult.m_hitCollisionObject == mMe)
|
||||
return btScalar(1);
|
||||
|
||||
btVector3 hitNormalWorld;
|
||||
if (normalInWorldSpace)
|
||||
hitNormalWorld = convexResult.m_hitNormalLocal;
|
||||
else
|
||||
{
|
||||
///need to transform normal into worldspace
|
||||
hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
|
||||
}
|
||||
|
||||
// dot product of the motion vector against the collision contact normal
|
||||
btScalar dotCollision = mMotion.dot(hitNormalWorld);
|
||||
if (dotCollision <= mMinCollisionDot)
|
||||
return btScalar(1);
|
||||
|
||||
return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
|
||||
}
|
||||
}
|
||||
24
apps/openmw/mwphysics/closestnotmeconvexresultcallback.hpp
Normal file
24
apps/openmw/mwphysics/closestnotmeconvexresultcallback.hpp
Normal file
@ -0,0 +1,24 @@
|
||||
#ifndef OPENMW_MWPHYSICS_CLOSESTNOTMECONVEXRESULTCALLBACK_H
|
||||
#define OPENMW_MWPHYSICS_CLOSESTNOTMECONVEXRESULTCALLBACK_H
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
|
||||
class btCollisionObject;
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
class ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
|
||||
{
|
||||
public:
|
||||
ClosestNotMeConvexResultCallback(const btCollisionObject *me, const btVector3 &motion, btScalar minCollisionDot);
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace);
|
||||
|
||||
protected:
|
||||
const btCollisionObject *mMe;
|
||||
const btVector3 mMotion;
|
||||
const btScalar mMinCollisionDot;
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
34
apps/openmw/mwphysics/closestnotmerayresultcallback.cpp
Normal file
34
apps/openmw/mwphysics/closestnotmerayresultcallback.cpp
Normal file
@ -0,0 +1,34 @@
|
||||
#include "closestnotmerayresultcallback.hpp"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
|
||||
#include "../mwworld/class.hpp"
|
||||
|
||||
#include "ptrholder.hpp"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
ClosestNotMeRayResultCallback::ClosestNotMeRayResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3& from, const btVector3& to)
|
||||
: btCollisionWorld::ClosestRayResultCallback(from, to)
|
||||
, mMe(me), mTargets(targets)
|
||||
{
|
||||
}
|
||||
|
||||
btScalar ClosestNotMeRayResultCallback::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);
|
||||
}
|
||||
}
|
||||
24
apps/openmw/mwphysics/closestnotmerayresultcallback.hpp
Normal file
24
apps/openmw/mwphysics/closestnotmerayresultcallback.hpp
Normal file
@ -0,0 +1,24 @@
|
||||
#ifndef OPENMW_MWPHYSICS_CLOSESTNOTMERAYRESULTCALLBACK_H
|
||||
#define OPENMW_MWPHYSICS_CLOSESTNOTMERAYRESULTCALLBACK_H
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
|
||||
class btCollisionObject;
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
class ClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
public:
|
||||
ClosestNotMeRayResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3& from, const btVector3& to);
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace);
|
||||
private:
|
||||
const btCollisionObject* mMe;
|
||||
const std::vector<const btCollisionObject*> mTargets;
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
16
apps/openmw/mwphysics/constants.hpp
Normal file
16
apps/openmw/mwphysics/constants.hpp
Normal file
@ -0,0 +1,16 @@
|
||||
#ifndef OPENMW_MWPHYSICS_CONSTANTS_H
|
||||
#define OPENMW_MWPHYSICS_CONSTANTS_H
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
static const float sStepSizeUp = 34.0f;
|
||||
static const float sStepSizeDown = 62.0f;
|
||||
static const float sMinStep = 10.f;
|
||||
static const float sGroundOffset = 1.0f;
|
||||
static const float sMaxSlope = 49.0f;
|
||||
|
||||
// Arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
|
||||
static const int sMaxIterations = 8;
|
||||
}
|
||||
|
||||
#endif
|
||||
27
apps/openmw/mwphysics/contacttestresultcallback.cpp
Normal file
27
apps/openmw/mwphysics/contacttestresultcallback.cpp
Normal file
@ -0,0 +1,27 @@
|
||||
#include "contacttestresultcallback.hpp"
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
|
||||
#include "ptrholder.hpp"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
ContactTestResultCallback::ContactTestResultCallback(const btCollisionObject* testedAgainst)
|
||||
: mTestedAgainst(testedAgainst)
|
||||
{
|
||||
}
|
||||
|
||||
btScalar ContactTestResultCallback::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;
|
||||
}
|
||||
|
||||
}
|
||||
30
apps/openmw/mwphysics/contacttestresultcallback.hpp
Normal file
30
apps/openmw/mwphysics/contacttestresultcallback.hpp
Normal file
@ -0,0 +1,30 @@
|
||||
#ifndef OPENMW_MWPHYSICS_CONTACTTESTRESULTCALLBACK_H
|
||||
#define OPENMW_MWPHYSICS_CONTACTTESTRESULTCALLBACK_H
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
|
||||
#include "../mwworld/ptr.hpp"
|
||||
|
||||
class btCollisionObject;
|
||||
struct btCollisionObjectWrapper;
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
class ContactTestResultCallback : public btCollisionWorld::ContactResultCallback
|
||||
{
|
||||
const btCollisionObject* mTestedAgainst;
|
||||
|
||||
public:
|
||||
ContactTestResultCallback(const btCollisionObject* testedAgainst);
|
||||
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp,
|
||||
const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
|
||||
const btCollisionObjectWrapper* col1Wrap,int partId1,int index1);
|
||||
|
||||
std::vector<MWWorld::Ptr> mResult;
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,47 @@
|
||||
#include "deepestnotmecontacttestresultcallback.hpp"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
|
||||
#include "../mwworld/class.hpp"
|
||||
|
||||
#include "ptrholder.hpp"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
|
||||
DeepestNotMeContactTestResultCallback::DeepestNotMeContactTestResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3 &origin)
|
||||
: mMe(me), mTargets(targets), mOrigin(origin), mLeastDistSqr(std::numeric_limits<float>::max())
|
||||
{
|
||||
}
|
||||
|
||||
btScalar DeepestNotMeContactTestResultCallback::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;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,33 @@
|
||||
#ifndef OPENMW_MWPHYSICS_DEEPESTNOTMECONTACTTESTRESULTCALLBACK_H
|
||||
#define OPENMW_MWPHYSICS_DEEPESTNOTMECONTACTTESTRESULTCALLBACK_H
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
|
||||
class btCollisionObject;
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
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{nullptr};
|
||||
btVector3 mContactPoint{0,0,0};
|
||||
btScalar mLeastDistSqr;
|
||||
|
||||
DeepestNotMeContactTestResultCallback(const btCollisionObject* me, const std::vector<const btCollisionObject*>& targets, const btVector3 &origin);
|
||||
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp,
|
||||
const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
|
||||
const btCollisionObjectWrapper* col1Wrap,int partId1,int index1);
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
324
apps/openmw/mwphysics/movementsolver.cpp
Normal file
324
apps/openmw/mwphysics/movementsolver.cpp
Normal file
@ -0,0 +1,324 @@
|
||||
#include "movementsolver.hpp"
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
|
||||
|
||||
#include <components/esm/loadgmst.hpp>
|
||||
#include <components/misc/convert.hpp>
|
||||
|
||||
#include "../mwbase/world.hpp"
|
||||
#include "../mwbase/environment.hpp"
|
||||
|
||||
#include "../mwmechanics/actorutil.hpp"
|
||||
#include "../mwmechanics/creaturestats.hpp"
|
||||
#include "../mwmechanics/movement.hpp"
|
||||
|
||||
#include "../mwworld/class.hpp"
|
||||
#include "../mwworld/esmstore.hpp"
|
||||
#include "../mwworld/player.hpp"
|
||||
#include "../mwworld/refdata.hpp"
|
||||
|
||||
#include "actor.hpp"
|
||||
#include "collisiontype.hpp"
|
||||
#include "constants.hpp"
|
||||
#include "stepper.hpp"
|
||||
#include "trace.h"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
static bool isActor(const btCollisionObject *obj)
|
||||
{
|
||||
assert(obj);
|
||||
return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
|
||||
}
|
||||
|
||||
template <class Vec3>
|
||||
static bool isWalkableSlope(const Vec3 &normal)
|
||||
{
|
||||
static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
|
||||
return (normal.z() > sMaxSlopeCos);
|
||||
}
|
||||
|
||||
osg::Vec3f MovementSolver::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
|
||||
{
|
||||
osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
|
||||
|
||||
ActorTracer tracer;
|
||||
tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
|
||||
if (tracer.mFraction >= 1.0f)
|
||||
{
|
||||
actor->setOnGround(false);
|
||||
return position;
|
||||
}
|
||||
|
||||
actor->setOnGround(true);
|
||||
|
||||
// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
|
||||
// Required for some broken door destinations in Morrowind.esm, where the spawn point
|
||||
// intersects with other geometry if the actor's base is taken into account
|
||||
btVector3 from = Misc::Convert::toBullet(position);
|
||||
btVector3 to = from - btVector3(0,0,maxHeight);
|
||||
|
||||
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
|
||||
resultCallback1.m_collisionFilterGroup = 0xff;
|
||||
resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
|
||||
|
||||
collisionWorld->rayTest(from, to, resultCallback1);
|
||||
|
||||
if (resultCallback1.hasHit() && ((Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) - tracer.mEndPos + offset).length2() > 35*35
|
||||
|| !isWalkableSlope(tracer.mPlaneNormal)))
|
||||
{
|
||||
actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
|
||||
return Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
|
||||
}
|
||||
|
||||
actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
|
||||
|
||||
return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
|
||||
}
|
||||
|
||||
osg::Vec3f MovementSolver::move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
|
||||
bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
|
||||
std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker)
|
||||
{
|
||||
const ESM::Position& refpos = ptr.getRefData().getPosition();
|
||||
// Early-out for totally static creatures
|
||||
// (Not sure if gravity should still apply?)
|
||||
if (!ptr.getClass().isMobile(ptr))
|
||||
return position;
|
||||
|
||||
// Reset per-frame data
|
||||
physicActor->setWalkingOnWater(false);
|
||||
// Anything to collide with?
|
||||
if(!physicActor->getCollisionMode())
|
||||
{
|
||||
return position + (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
|
||||
osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
|
||||
) * movement * time;
|
||||
}
|
||||
|
||||
const btCollisionObject *colobj = physicActor->getCollisionObject();
|
||||
osg::Vec3f halfExtents = physicActor->getHalfExtents();
|
||||
|
||||
// NOTE: here we don't account for the collision box translation (i.e. physicActor->getPosition() - refpos.pos).
|
||||
// That means the collision shape used for moving this actor is in a different spot than the collision shape
|
||||
// other actors are using to collide against this actor.
|
||||
// While this is strictly speaking wrong, it's needed for MW compatibility.
|
||||
position.z() += halfExtents.z();
|
||||
|
||||
static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fSwimHeightScale")->mValue.getFloat();
|
||||
float swimlevel = waterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
|
||||
|
||||
ActorTracer tracer;
|
||||
|
||||
osg::Vec3f inertia = physicActor->getInertialForce();
|
||||
osg::Vec3f velocity;
|
||||
|
||||
if (position.z() < swimlevel || isFlying)
|
||||
{
|
||||
velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) * osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
|
||||
|
||||
if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
|
||||
|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
|
||||
inertia = velocity;
|
||||
else if (!physicActor->getOnGround() || physicActor->getOnSlope())
|
||||
velocity = velocity + inertia;
|
||||
}
|
||||
|
||||
// dead actors underwater will float to the surface, if the CharacterController tells us to do so
|
||||
if (movement.z() > 0 && ptr.getClass().getCreatureStats(ptr).isDead() && position.z() < swimlevel)
|
||||
velocity = osg::Vec3f(0,0,1) * 25;
|
||||
|
||||
if (ptr.getClass().getMovementSettings(ptr).mPosition[2])
|
||||
{
|
||||
const bool isPlayer = (ptr == MWMechanics::getPlayer());
|
||||
// Advance acrobatics and set flag for GetPCJumping
|
||||
if (isPlayer)
|
||||
{
|
||||
ptr.getClass().skillUsageSucceeded(ptr, ESM::Skill::Acrobatics, 0);
|
||||
MWBase::Environment::get().getWorld()->getPlayer().setJumping(true);
|
||||
}
|
||||
|
||||
// Decrease fatigue
|
||||
if (!isPlayer || !MWBase::Environment::get().getWorld()->getGodModeState())
|
||||
{
|
||||
const MWWorld::Store<ESM::GameSetting> &gmst = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
|
||||
const float fFatigueJumpBase = gmst.find("fFatigueJumpBase")->mValue.getFloat();
|
||||
const float fFatigueJumpMult = gmst.find("fFatigueJumpMult")->mValue.getFloat();
|
||||
const float normalizedEncumbrance = std::min(1.f, ptr.getClass().getNormalizedEncumbrance(ptr));
|
||||
const float fatigueDecrease = fFatigueJumpBase + normalizedEncumbrance * fFatigueJumpMult;
|
||||
MWMechanics::DynamicStat<float> fatigue = ptr.getClass().getCreatureStats(ptr).getFatigue();
|
||||
fatigue.setCurrent(fatigue.getCurrent() - fatigueDecrease);
|
||||
ptr.getClass().getCreatureStats(ptr).setFatigue(fatigue);
|
||||
}
|
||||
ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
|
||||
}
|
||||
|
||||
// Now that we have the effective movement vector, apply wind forces to it
|
||||
if (MWBase::Environment::get().getWorld()->isInStorm())
|
||||
{
|
||||
osg::Vec3f stormDirection = MWBase::Environment::get().getWorld()->getStormDirection();
|
||||
float angleDegrees = osg::RadiansToDegrees(std::acos(stormDirection * velocity / (stormDirection.length() * velocity.length())));
|
||||
static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fStromWalkMult")->mValue.getFloat();
|
||||
velocity *= 1.f-(fStromWalkMult * (angleDegrees/180.f));
|
||||
}
|
||||
|
||||
Stepper stepper(collisionWorld, colobj);
|
||||
osg::Vec3f origVelocity = velocity;
|
||||
osg::Vec3f newPosition = position;
|
||||
/*
|
||||
* A loop to find newPosition using tracer, if successful different from the starting position.
|
||||
* nextpos is the local variable used to find potential newPosition, using velocity and remainingTime
|
||||
* The initial velocity was set earlier (see above).
|
||||
*/
|
||||
float remainingTime = time;
|
||||
for (int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f; ++iterations)
|
||||
{
|
||||
osg::Vec3f nextpos = newPosition + velocity * remainingTime;
|
||||
|
||||
// If not able to fly, don't allow to swim up into the air
|
||||
if(!isFlying && nextpos.z() > swimlevel && newPosition.z() < swimlevel)
|
||||
{
|
||||
const osg::Vec3f down(0,0,-1);
|
||||
velocity = slide(velocity, down);
|
||||
// NOTE: remainingTime is unchanged before the loop continues
|
||||
continue; // velocity updated, calculate nextpos again
|
||||
}
|
||||
|
||||
if((newPosition - nextpos).length2() > 0.0001)
|
||||
{
|
||||
// trace to where character would go if there were no obstructions
|
||||
tracer.doTrace(colobj, newPosition, nextpos, collisionWorld);
|
||||
|
||||
// check for obstructions
|
||||
if(tracer.mFraction >= 1.0f)
|
||||
{
|
||||
newPosition = tracer.mEndPos; // ok to move, so set newPosition
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// The current position and next position are nearly the same, so just exit.
|
||||
// Note: Bullet can trigger an assert in debug modes if the positions
|
||||
// are the same, since that causes it to attempt to normalize a zero
|
||||
// length vector (which can also happen with nearly identical vectors, since
|
||||
// precision can be lost due to any math Bullet does internally). Since we
|
||||
// aren't performing any collision detection, we want to reject the next
|
||||
// position, so that we don't slowly move inside another object.
|
||||
break;
|
||||
}
|
||||
|
||||
// We are touching something.
|
||||
if (tracer.mFraction < 1E-9f)
|
||||
{
|
||||
// Try to separate by backing off slighly to unstuck the solver
|
||||
osg::Vec3f backOff = (newPosition - tracer.mHitPoint) * 1E-2f;
|
||||
newPosition += backOff;
|
||||
}
|
||||
|
||||
// We hit something. Check if we can step up.
|
||||
float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
|
||||
osg::Vec3f oldPosition = newPosition;
|
||||
bool result = false;
|
||||
if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
|
||||
{
|
||||
// Try to step up onto it.
|
||||
// NOTE: stepMove does not allow stepping over, modifies newPosition if successful
|
||||
result = stepper.step(newPosition, velocity*remainingTime, remainingTime);
|
||||
}
|
||||
if (result)
|
||||
{
|
||||
// don't let pure water creatures move out of water after stepMove
|
||||
if (ptr.getClass().isPureWaterCreature(ptr) && newPosition.z() + halfExtents.z() > waterlevel)
|
||||
newPosition = oldPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Can't move this way, try to find another spot along the plane
|
||||
osg::Vec3f newVelocity = slide(velocity, tracer.mPlaneNormal);
|
||||
|
||||
// Do not allow sliding upward if there is gravity.
|
||||
// Stepping will have taken care of that.
|
||||
if(!(newPosition.z() < swimlevel || isFlying))
|
||||
newVelocity.z() = std::min(newVelocity.z(), 0.0f);
|
||||
|
||||
if ((newVelocity-velocity).length2() < 0.01)
|
||||
break;
|
||||
if ((newVelocity * origVelocity) <= 0.f)
|
||||
break; // ^ dot product
|
||||
|
||||
velocity = newVelocity;
|
||||
}
|
||||
}
|
||||
|
||||
bool isOnGround = false;
|
||||
bool isOnSlope = false;
|
||||
if (!(inertia.z() > 0.f) && !(newPosition.z() < swimlevel))
|
||||
{
|
||||
osg::Vec3f from = newPosition;
|
||||
osg::Vec3f to = newPosition - (physicActor->getOnGround() ? osg::Vec3f(0,0,sStepSizeDown + 2*sGroundOffset) : osg::Vec3f(0,0,2*sGroundOffset));
|
||||
tracer.doTrace(colobj, from, to, collisionWorld);
|
||||
if(tracer.mFraction < 1.0f && !isActor(tracer.mHitObject))
|
||||
{
|
||||
const btCollisionObject* standingOn = tracer.mHitObject;
|
||||
PtrHolder* ptrHolder = static_cast<PtrHolder*>(standingOn->getUserPointer());
|
||||
if (ptrHolder)
|
||||
standingCollisionTracker[ptr] = ptrHolder->getPtr();
|
||||
|
||||
if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
|
||||
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 && isActor(tracer.mHitObject))
|
||||
{
|
||||
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 * Constants::GravityConst * Constants::UnitsPerMeter;
|
||||
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;
|
||||
}
|
||||
}
|
||||
40
apps/openmw/mwphysics/movementsolver.hpp
Normal file
40
apps/openmw/mwphysics/movementsolver.hpp
Normal file
@ -0,0 +1,40 @@
|
||||
#ifndef OPENMW_MWPHYSICS_MOVEMENTSOLVER_H
|
||||
#define OPENMW_MWPHYSICS_MOVEMENTSOLVER_H
|
||||
|
||||
#include <map>
|
||||
|
||||
#include <osg/Vec3f>
|
||||
|
||||
#include "../mwworld/ptr.hpp"
|
||||
|
||||
class btCollisionWorld;
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
class Actor;
|
||||
|
||||
class MovementSolver
|
||||
{
|
||||
private:
|
||||
///Project a vector u on another vector v
|
||||
static inline osg::Vec3f project(const osg::Vec3f& u, const osg::Vec3f &v)
|
||||
{
|
||||
return v * (u * v);
|
||||
// ^ dot product
|
||||
}
|
||||
|
||||
///Helper for computing the character sliding
|
||||
static inline osg::Vec3f slide(const osg::Vec3f& direction, const osg::Vec3f &planeNormal)
|
||||
{
|
||||
return direction - project(direction, planeNormal);
|
||||
}
|
||||
|
||||
public:
|
||||
static osg::Vec3f traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight);
|
||||
static osg::Vec3f move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
|
||||
bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
|
||||
std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker);
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -29,12 +29,10 @@
|
||||
#include "../mwbase/environment.hpp"
|
||||
|
||||
#include "../mwmechanics/creaturestats.hpp"
|
||||
#include "../mwmechanics/movement.hpp"
|
||||
#include "../mwmechanics/actorutil.hpp"
|
||||
|
||||
#include "../mwworld/esmstore.hpp"
|
||||
#include "../mwworld/cellstore.hpp"
|
||||
#include "../mwworld/player.hpp"
|
||||
|
||||
#include "../mwrender/bulletdebugdraw.hpp"
|
||||
|
||||
@ -46,487 +44,14 @@
|
||||
#include "object.hpp"
|
||||
#include "heightfield.hpp"
|
||||
#include "hasspherecollisioncallback.hpp"
|
||||
#include "deepestnotmecontacttestresultcallback.hpp"
|
||||
#include "closestnotmerayresultcallback.hpp"
|
||||
#include "contacttestresultcallback.hpp"
|
||||
#include "constants.hpp"
|
||||
#include "movementsolver.hpp"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
|
||||
static const float sStepSizeDown = 62.0f;
|
||||
static const float sMinStep = 10.f;
|
||||
static const float sGroundOffset = 1.0f;
|
||||
|
||||
// Arbitrary number. To prevent infinite loops. They shouldn't happen but it's good to be prepared.
|
||||
static const int sMaxIterations = 8;
|
||||
|
||||
static bool isActor(const btCollisionObject *obj)
|
||||
{
|
||||
assert(obj);
|
||||
return obj->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Actor;
|
||||
}
|
||||
|
||||
template <class Vec3>
|
||||
static bool isWalkableSlope(const Vec3 &normal)
|
||||
{
|
||||
static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
|
||||
return (normal.z() > sMaxSlopeCos);
|
||||
}
|
||||
|
||||
static bool canStepDown(const ActorTracer &stepper)
|
||||
{
|
||||
return stepper.mHitObject && isWalkableSlope(stepper.mPlaneNormal) && !isActor(stepper.mHitObject);
|
||||
}
|
||||
|
||||
class Stepper
|
||||
{
|
||||
private:
|
||||
const btCollisionWorld *mColWorld;
|
||||
const btCollisionObject *mColObj;
|
||||
|
||||
ActorTracer mTracer, mUpStepper, mDownStepper;
|
||||
bool mHaveMoved;
|
||||
|
||||
public:
|
||||
Stepper(const btCollisionWorld *colWorld, const btCollisionObject *colObj)
|
||||
: mColWorld(colWorld)
|
||||
, mColObj(colObj)
|
||||
, mHaveMoved(true)
|
||||
{}
|
||||
|
||||
bool step(osg::Vec3f &position, const osg::Vec3f &toMove, float &remainingTime)
|
||||
{
|
||||
/*
|
||||
* Slide up an incline or set of stairs. Should be called only after a
|
||||
* collision detection otherwise unnecessary tracing will be performed.
|
||||
*
|
||||
* NOTE: with a small change this method can be used to step over an obstacle
|
||||
* of height sStepSize.
|
||||
*
|
||||
* If successful return 'true' and update 'position' to the new possible
|
||||
* location and adjust 'remainingTime'.
|
||||
*
|
||||
* If not successful return 'false'. May fail for these reasons:
|
||||
* - can't move directly up from current position
|
||||
* - having moved up by between epsilon() and sStepSize, can't move forward
|
||||
* - having moved forward by between epsilon() and toMove,
|
||||
* = moved down between 0 and just under sStepSize but slope was too steep, or
|
||||
* = moved the full sStepSize down (FIXME: this could be a bug)
|
||||
*
|
||||
*
|
||||
*
|
||||
* Starting position. Obstacle or stairs with height upto sStepSize in front.
|
||||
*
|
||||
* +--+ +--+ |XX
|
||||
* | | -------> toMove | | +--+XX
|
||||
* | | | | |XXXXX
|
||||
* | | +--+ | | +--+XXXXX
|
||||
* | | |XX| | | |XXXXXXXX
|
||||
* +--+ +--+ +--+ +--------
|
||||
* ==============================================
|
||||
*/
|
||||
|
||||
/*
|
||||
* Try moving up sStepSize using stepper.
|
||||
* FIXME: does not work in case there is no front obstacle but there is one above
|
||||
*
|
||||
* +--+ +--+
|
||||
* | | | |
|
||||
* | | | | |XX
|
||||
* | | | | +--+XX
|
||||
* | | | | |XXXXX
|
||||
* +--+ +--+ +--+ +--+XXXXX
|
||||
* |XX| |XXXXXXXX
|
||||
* +--+ +--------
|
||||
* ==============================================
|
||||
*/
|
||||
if (mHaveMoved)
|
||||
{
|
||||
mHaveMoved = false;
|
||||
mUpStepper.doTrace(mColObj, position, position+osg::Vec3f(0.0f,0.0f,sStepSizeUp), mColWorld);
|
||||
if(mUpStepper.mFraction < std::numeric_limits<float>::epsilon())
|
||||
return false; // didn't even move the smallest representable amount
|
||||
// (TODO: shouldn't this be larger? Why bother with such a small amount?)
|
||||
}
|
||||
|
||||
/*
|
||||
* Try moving from the elevated position using tracer.
|
||||
*
|
||||
* +--+ +--+
|
||||
* | | |YY| FIXME: collision with object YY
|
||||
* | | +--+
|
||||
* | |
|
||||
* <------------------->| |
|
||||
* +--+ +--+
|
||||
* |XX| the moved amount is toMove*tracer.mFraction
|
||||
* +--+
|
||||
* ==============================================
|
||||
*/
|
||||
osg::Vec3f tracerPos = mUpStepper.mEndPos;
|
||||
mTracer.doTrace(mColObj, tracerPos, tracerPos + toMove, mColWorld);
|
||||
if(mTracer.mFraction < std::numeric_limits<float>::epsilon())
|
||||
return false; // didn't even move the smallest representable amount
|
||||
|
||||
/*
|
||||
* Try moving back down sStepSizeDown using stepper.
|
||||
* NOTE: if there is an obstacle below (e.g. stairs), we'll be "stepping up".
|
||||
* Below diagram is the case where we "stepped over" an obstacle in front.
|
||||
*
|
||||
* +--+
|
||||
* |YY|
|
||||
* +--+ +--+
|
||||
* | |
|
||||
* | |
|
||||
* +--+ | |
|
||||
* |XX| | |
|
||||
* +--+ +--+
|
||||
* ==============================================
|
||||
*/
|
||||
mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
|
||||
if (!canStepDown(mDownStepper))
|
||||
{
|
||||
// Try again with increased step length
|
||||
if (mTracer.mFraction < 1.0f || toMove.length2() > sMinStep*sMinStep)
|
||||
return false;
|
||||
|
||||
osg::Vec3f direction = toMove;
|
||||
direction.normalize();
|
||||
mTracer.doTrace(mColObj, tracerPos, tracerPos + direction*sMinStep, mColWorld);
|
||||
if (mTracer.mFraction < 0.001f)
|
||||
return false;
|
||||
|
||||
mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
|
||||
if (!canStepDown(mDownStepper))
|
||||
return false;
|
||||
}
|
||||
if (mDownStepper.mFraction < 1.0f)
|
||||
{
|
||||
// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
|
||||
// TODO: stepper.mPlaneNormal does not appear to be reliable - needs more testing
|
||||
// NOTE: caller's variables 'position' & 'remainingTime' are modified here
|
||||
position = mDownStepper.mEndPos;
|
||||
remainingTime *= (1.0f-mTracer.mFraction); // remaining time is proportional to remaining distance
|
||||
mHaveMoved = true;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
};
|
||||
|
||||
class MovementSolver
|
||||
{
|
||||
private:
|
||||
///Project a vector u on another vector v
|
||||
static inline osg::Vec3f project(const osg::Vec3f& u, const osg::Vec3f &v)
|
||||
{
|
||||
return v * (u * v);
|
||||
// ^ dot product
|
||||
}
|
||||
|
||||
///Helper for computing the character sliding
|
||||
static inline osg::Vec3f slide(const osg::Vec3f& direction, const osg::Vec3f &planeNormal)
|
||||
{
|
||||
return direction - project(direction, planeNormal);
|
||||
}
|
||||
|
||||
public:
|
||||
static osg::Vec3f traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, Actor* actor, btCollisionWorld* collisionWorld, float maxHeight)
|
||||
{
|
||||
osg::Vec3f offset = actor->getCollisionObjectPosition() - ptr.getRefData().getPosition().asVec3();
|
||||
|
||||
ActorTracer tracer;
|
||||
tracer.findGround(actor, position + offset, position + offset - osg::Vec3f(0,0,maxHeight), collisionWorld);
|
||||
if(tracer.mFraction >= 1.0f)
|
||||
{
|
||||
actor->setOnGround(false);
|
||||
return position;
|
||||
}
|
||||
else
|
||||
{
|
||||
actor->setOnGround(true);
|
||||
|
||||
// Check if we actually found a valid spawn point (use an infinitely thin ray this time).
|
||||
// Required for some broken door destinations in Morrowind.esm, where the spawn point
|
||||
// intersects with other geometry if the actor's base is taken into account
|
||||
btVector3 from = Misc::Convert::toBullet(position);
|
||||
btVector3 to = from - btVector3(0,0,maxHeight);
|
||||
|
||||
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
|
||||
resultCallback1.m_collisionFilterGroup = 0xff;
|
||||
resultCallback1.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap;
|
||||
|
||||
collisionWorld->rayTest(from, to, resultCallback1);
|
||||
|
||||
if (resultCallback1.hasHit() &&
|
||||
( (Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) - (tracer.mEndPos-offset)).length2() > 35*35
|
||||
|| !isWalkableSlope(tracer.mPlaneNormal)))
|
||||
{
|
||||
actor->setOnSlope(!isWalkableSlope(resultCallback1.m_hitNormalWorld));
|
||||
return Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
|
||||
}
|
||||
else
|
||||
{
|
||||
actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
|
||||
}
|
||||
|
||||
return tracer.mEndPos-offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
|
||||
}
|
||||
}
|
||||
|
||||
static osg::Vec3f move(osg::Vec3f position, const MWWorld::Ptr &ptr, Actor* physicActor, const osg::Vec3f &movement, float time,
|
||||
bool isFlying, float waterlevel, float slowFall, const btCollisionWorld* collisionWorld,
|
||||
std::map<MWWorld::Ptr, MWWorld::Ptr>& standingCollisionTracker)
|
||||
{
|
||||
const ESM::Position& refpos = ptr.getRefData().getPosition();
|
||||
// Early-out for totally static creatures
|
||||
// (Not sure if gravity should still apply?)
|
||||
if (!ptr.getClass().isMobile(ptr))
|
||||
return position;
|
||||
|
||||
// Reset per-frame data
|
||||
physicActor->setWalkingOnWater(false);
|
||||
// Anything to collide with?
|
||||
if(!physicActor->getCollisionMode())
|
||||
{
|
||||
return position + (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
|
||||
osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))
|
||||
) * movement * time;
|
||||
}
|
||||
|
||||
const btCollisionObject *colobj = physicActor->getCollisionObject();
|
||||
osg::Vec3f halfExtents = physicActor->getHalfExtents();
|
||||
|
||||
// NOTE: here we don't account for the collision box translation (i.e. physicActor->getPosition() - refpos.pos).
|
||||
// That means the collision shape used for moving this actor is in a different spot than the collision shape
|
||||
// other actors are using to collide against this actor.
|
||||
// While this is strictly speaking wrong, it's needed for MW compatibility.
|
||||
position.z() += halfExtents.z();
|
||||
|
||||
static const float fSwimHeightScale = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
|
||||
.find("fSwimHeightScale")->mValue.getFloat();
|
||||
float swimlevel = waterlevel + halfExtents.z() - (physicActor->getRenderingHalfExtents().z() * 2 * fSwimHeightScale);
|
||||
|
||||
ActorTracer tracer;
|
||||
|
||||
osg::Vec3f inertia = physicActor->getInertialForce();
|
||||
osg::Vec3f velocity;
|
||||
|
||||
if(position.z() < swimlevel || isFlying)
|
||||
{
|
||||
velocity = (osg::Quat(refpos.rot[0], osg::Vec3f(-1, 0, 0)) *
|
||||
osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
|
||||
}
|
||||
else
|
||||
{
|
||||
velocity = (osg::Quat(refpos.rot[2], osg::Vec3f(0, 0, -1))) * movement;
|
||||
|
||||
if ((velocity.z() > 0.f && physicActor->getOnGround() && !physicActor->getOnSlope())
|
||||
|| (velocity.z() > 0.f && velocity.z() + inertia.z() <= -velocity.z() && physicActor->getOnSlope()))
|
||||
inertia = velocity;
|
||||
else if (!physicActor->getOnGround() || physicActor->getOnSlope())
|
||||
velocity = velocity + inertia;
|
||||
}
|
||||
|
||||
// dead actors underwater will float to the surface, if the CharacterController tells us to do so
|
||||
if (movement.z() > 0 && ptr.getClass().getCreatureStats(ptr).isDead() && position.z() < swimlevel)
|
||||
velocity = osg::Vec3f(0,0,1) * 25;
|
||||
|
||||
if (ptr.getClass().getMovementSettings(ptr).mPosition[2])
|
||||
{
|
||||
const bool isPlayer = (ptr == MWMechanics::getPlayer());
|
||||
// Advance acrobatics and set flag for GetPCJumping
|
||||
if (isPlayer)
|
||||
{
|
||||
ptr.getClass().skillUsageSucceeded(ptr, ESM::Skill::Acrobatics, 0);
|
||||
MWBase::Environment::get().getWorld()->getPlayer().setJumping(true);
|
||||
}
|
||||
|
||||
// Decrease fatigue
|
||||
if (!isPlayer || !MWBase::Environment::get().getWorld()->getGodModeState())
|
||||
{
|
||||
const MWWorld::Store<ESM::GameSetting> &gmst = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
|
||||
const float fFatigueJumpBase = gmst.find("fFatigueJumpBase")->mValue.getFloat();
|
||||
const float fFatigueJumpMult = gmst.find("fFatigueJumpMult")->mValue.getFloat();
|
||||
const float normalizedEncumbrance = std::min(1.f, ptr.getClass().getNormalizedEncumbrance(ptr));
|
||||
const float fatigueDecrease = fFatigueJumpBase + normalizedEncumbrance * fFatigueJumpMult;
|
||||
MWMechanics::DynamicStat<float> fatigue = ptr.getClass().getCreatureStats(ptr).getFatigue();
|
||||
fatigue.setCurrent(fatigue.getCurrent() - fatigueDecrease);
|
||||
ptr.getClass().getCreatureStats(ptr).setFatigue(fatigue);
|
||||
}
|
||||
ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
|
||||
}
|
||||
|
||||
// Now that we have the effective movement vector, apply wind forces to it
|
||||
if (MWBase::Environment::get().getWorld()->isInStorm())
|
||||
{
|
||||
osg::Vec3f stormDirection = MWBase::Environment::get().getWorld()->getStormDirection();
|
||||
float angleDegrees = osg::RadiansToDegrees(std::acos(stormDirection * velocity / (stormDirection.length() * velocity.length())));
|
||||
static const float fStromWalkMult = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>()
|
||||
.find("fStromWalkMult")->mValue.getFloat();
|
||||
velocity *= 1.f-(fStromWalkMult * (angleDegrees/180.f));
|
||||
}
|
||||
|
||||
Stepper stepper(collisionWorld, colobj);
|
||||
osg::Vec3f origVelocity = velocity;
|
||||
osg::Vec3f newPosition = position;
|
||||
/*
|
||||
* A loop to find newPosition using tracer, if successful different from the starting position.
|
||||
* nextpos is the local variable used to find potential newPosition, using velocity and remainingTime
|
||||
* The initial velocity was set earlier (see above).
|
||||
*/
|
||||
float remainingTime = time;
|
||||
for(int iterations = 0; iterations < sMaxIterations && remainingTime > 0.01f; ++iterations)
|
||||
{
|
||||
osg::Vec3f nextpos = newPosition + velocity * remainingTime;
|
||||
|
||||
// If not able to fly, don't allow to swim up into the air
|
||||
if(!isFlying && // can't fly
|
||||
nextpos.z() > swimlevel && // but about to go above water
|
||||
newPosition.z() < swimlevel)
|
||||
{
|
||||
const osg::Vec3f down(0,0,-1);
|
||||
velocity = slide(velocity, down);
|
||||
// NOTE: remainingTime is unchanged before the loop continues
|
||||
continue; // velocity updated, calculate nextpos again
|
||||
}
|
||||
|
||||
if((newPosition - nextpos).length2() > 0.0001)
|
||||
{
|
||||
// trace to where character would go if there were no obstructions
|
||||
tracer.doTrace(colobj, newPosition, nextpos, collisionWorld);
|
||||
|
||||
// check for obstructions
|
||||
if(tracer.mFraction >= 1.0f)
|
||||
{
|
||||
newPosition = tracer.mEndPos; // ok to move, so set newPosition
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// The current position and next position are nearly the same, so just exit.
|
||||
// Note: Bullet can trigger an assert in debug modes if the positions
|
||||
// are the same, since that causes it to attempt to normalize a zero
|
||||
// length vector (which can also happen with nearly identical vectors, since
|
||||
// precision can be lost due to any math Bullet does internally). Since we
|
||||
// aren't performing any collision detection, we want to reject the next
|
||||
// position, so that we don't slowly move inside another object.
|
||||
break;
|
||||
}
|
||||
|
||||
// We are touching something.
|
||||
if (tracer.mFraction < 1E-9f)
|
||||
{
|
||||
// Try to separate by backing off slighly to unstuck the solver
|
||||
osg::Vec3f backOff = (newPosition - tracer.mHitPoint) * 1E-2f;
|
||||
newPosition += backOff;
|
||||
}
|
||||
|
||||
// We hit something. Check if we can step up.
|
||||
float hitHeight = tracer.mHitPoint.z() - tracer.mEndPos.z() + halfExtents.z();
|
||||
osg::Vec3f oldPosition = newPosition;
|
||||
bool result = false;
|
||||
if (hitHeight < sStepSizeUp && !isActor(tracer.mHitObject))
|
||||
{
|
||||
// Try to step up onto it.
|
||||
// NOTE: stepMove does not allow stepping over, modifies newPosition if successful
|
||||
result = stepper.step(newPosition, velocity*remainingTime, remainingTime);
|
||||
}
|
||||
if (result)
|
||||
{
|
||||
// don't let pure water creatures move out of water after stepMove
|
||||
if (ptr.getClass().isPureWaterCreature(ptr)
|
||||
&& newPosition.z() + halfExtents.z() > waterlevel)
|
||||
newPosition = oldPosition;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Can't move this way, try to find another spot along the plane
|
||||
osg::Vec3f newVelocity = slide(velocity, tracer.mPlaneNormal);
|
||||
|
||||
// Do not allow sliding upward if there is gravity.
|
||||
// Stepping will have taken care of that.
|
||||
if(!(newPosition.z() < swimlevel || isFlying))
|
||||
newVelocity.z() = std::min(newVelocity.z(), 0.0f);
|
||||
|
||||
if ((newVelocity-velocity).length2() < 0.01)
|
||||
break;
|
||||
if ((newVelocity * origVelocity) <= 0.f)
|
||||
break; // ^ dot product
|
||||
|
||||
velocity = newVelocity;
|
||||
}
|
||||
}
|
||||
|
||||
bool isOnGround = false;
|
||||
bool isOnSlope = false;
|
||||
if (!(inertia.z() > 0.f) && !(newPosition.z() < swimlevel))
|
||||
{
|
||||
osg::Vec3f from = newPosition;
|
||||
osg::Vec3f to = newPosition - (physicActor->getOnGround() ?
|
||||
osg::Vec3f(0,0,sStepSizeDown + 2*sGroundOffset) : osg::Vec3f(0,0,2*sGroundOffset));
|
||||
tracer.doTrace(colobj, from, to, collisionWorld);
|
||||
if(tracer.mFraction < 1.0f
|
||||
&& tracer.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != CollisionType_Actor)
|
||||
{
|
||||
const btCollisionObject* standingOn = tracer.mHitObject;
|
||||
PtrHolder* ptrHolder = static_cast<PtrHolder*>(standingOn->getUserPointer());
|
||||
if (ptrHolder)
|
||||
standingCollisionTracker[ptr] = ptrHolder->getPtr();
|
||||
|
||||
if (standingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
|
||||
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 * Constants::GravityConst * Constants::UnitsPerMeter;
|
||||
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;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
// ---------------------------------------------------------------
|
||||
|
||||
|
||||
PhysicsSystem::PhysicsSystem(Resource::ResourceSystem* resourceSystem, osg::ref_ptr<osg::Group> parentNode)
|
||||
: mShapeManager(new Resource::BulletShapeManager(resourceSystem->getVFS(), resourceSystem->getSceneManager(), resourceSystem->getNifFileManager()))
|
||||
, mResourceSystem(resourceSystem)
|
||||
@ -646,54 +171,6 @@ namespace MWPhysics
|
||||
return true;
|
||||
}
|
||||
|
||||
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(nullptr), 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,
|
||||
@ -784,35 +261,6 @@ namespace MWPhysics
|
||||
return (point - Misc::Convert::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 = Misc::Convert::toBullet(from);
|
||||
@ -957,32 +405,6 @@ namespace MWPhysics
|
||||
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 = nullptr;
|
||||
|
||||
@ -50,9 +50,6 @@ namespace MWPhysics
|
||||
class Object;
|
||||
class Actor;
|
||||
|
||||
static const float sMaxSlope = 49.0f;
|
||||
static const float sStepSizeUp = 34.0f;
|
||||
|
||||
class PhysicsSystem
|
||||
{
|
||||
public:
|
||||
|
||||
148
apps/openmw/mwphysics/stepper.cpp
Normal file
148
apps/openmw/mwphysics/stepper.cpp
Normal file
@ -0,0 +1,148 @@
|
||||
#include "stepper.hpp"
|
||||
|
||||
#include <limits>
|
||||
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
|
||||
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
|
||||
|
||||
#include "collisiontype.hpp"
|
||||
#include "constants.hpp"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
static bool canStepDown(const ActorTracer &stepper)
|
||||
{
|
||||
if (!stepper.mHitObject)
|
||||
return false;
|
||||
static const float sMaxSlopeCos = std::cos(osg::DegreesToRadians(sMaxSlope));
|
||||
if (stepper.mPlaneNormal.z() <= sMaxSlopeCos)
|
||||
return false;
|
||||
|
||||
return stepper.mHitObject->getBroadphaseHandle()->m_collisionFilterGroup != CollisionType_Actor;
|
||||
}
|
||||
|
||||
Stepper::Stepper(const btCollisionWorld *colWorld, const btCollisionObject *colObj)
|
||||
: mColWorld(colWorld)
|
||||
, mColObj(colObj)
|
||||
, mHaveMoved(true)
|
||||
{
|
||||
}
|
||||
|
||||
bool Stepper::step(osg::Vec3f &position, const osg::Vec3f &toMove, float &remainingTime)
|
||||
{
|
||||
/*
|
||||
* Slide up an incline or set of stairs. Should be called only after a
|
||||
* collision detection otherwise unnecessary tracing will be performed.
|
||||
*
|
||||
* NOTE: with a small change this method can be used to step over an obstacle
|
||||
* of height sStepSize.
|
||||
*
|
||||
* If successful return 'true' and update 'position' to the new possible
|
||||
* location and adjust 'remainingTime'.
|
||||
*
|
||||
* If not successful return 'false'. May fail for these reasons:
|
||||
* - can't move directly up from current position
|
||||
* - having moved up by between epsilon() and sStepSize, can't move forward
|
||||
* - having moved forward by between epsilon() and toMove,
|
||||
* = moved down between 0 and just under sStepSize but slope was too steep, or
|
||||
* = moved the full sStepSize down (FIXME: this could be a bug)
|
||||
*
|
||||
* Starting position. Obstacle or stairs with height upto sStepSize in front.
|
||||
*
|
||||
* +--+ +--+ |XX
|
||||
* | | -------> toMove | | +--+XX
|
||||
* | | | | |XXXXX
|
||||
* | | +--+ | | +--+XXXXX
|
||||
* | | |XX| | | |XXXXXXXX
|
||||
* +--+ +--+ +--+ +--------
|
||||
* ==============================================
|
||||
*/
|
||||
|
||||
/*
|
||||
* Try moving up sStepSize using stepper.
|
||||
* FIXME: does not work in case there is no front obstacle but there is one above
|
||||
*
|
||||
* +--+ +--+
|
||||
* | | | |
|
||||
* | | | | |XX
|
||||
* | | | | +--+XX
|
||||
* | | | | |XXXXX
|
||||
* +--+ +--+ +--+ +--+XXXXX
|
||||
* |XX| |XXXXXXXX
|
||||
* +--+ +--------
|
||||
* ==============================================
|
||||
*/
|
||||
if (mHaveMoved)
|
||||
{
|
||||
mHaveMoved = false;
|
||||
|
||||
mUpStepper.doTrace(mColObj, position, position+osg::Vec3f(0.0f,0.0f,sStepSizeUp), mColWorld);
|
||||
if (mUpStepper.mFraction < std::numeric_limits<float>::epsilon())
|
||||
return false; // didn't even move the smallest representable amount
|
||||
// (TODO: shouldn't this be larger? Why bother with such a small amount?)
|
||||
}
|
||||
|
||||
/*
|
||||
* Try moving from the elevated position using tracer.
|
||||
*
|
||||
* +--+ +--+
|
||||
* | | |YY| FIXME: collision with object YY
|
||||
* | | +--+
|
||||
* | |
|
||||
* <------------------->| |
|
||||
* +--+ +--+
|
||||
* |XX| the moved amount is toMove*tracer.mFraction
|
||||
* +--+
|
||||
* ==============================================
|
||||
*/
|
||||
osg::Vec3f tracerPos = mUpStepper.mEndPos;
|
||||
mTracer.doTrace(mColObj, tracerPos, tracerPos + toMove, mColWorld);
|
||||
if (mTracer.mFraction < std::numeric_limits<float>::epsilon())
|
||||
return false; // didn't even move the smallest representable amount
|
||||
|
||||
/*
|
||||
* Try moving back down sStepSizeDown using stepper.
|
||||
* NOTE: if there is an obstacle below (e.g. stairs), we'll be "stepping up".
|
||||
* Below diagram is the case where we "stepped over" an obstacle in front.
|
||||
*
|
||||
* +--+
|
||||
* |YY|
|
||||
* +--+ +--+
|
||||
* | |
|
||||
* | |
|
||||
* +--+ | |
|
||||
* |XX| | |
|
||||
* +--+ +--+
|
||||
* ==============================================
|
||||
*/
|
||||
mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
|
||||
if (!canStepDown(mDownStepper))
|
||||
{
|
||||
// Try again with increased step length
|
||||
if (mTracer.mFraction < 1.0f || toMove.length2() > sMinStep*sMinStep)
|
||||
return false;
|
||||
|
||||
osg::Vec3f direction = toMove;
|
||||
direction.normalize();
|
||||
mTracer.doTrace(mColObj, tracerPos, tracerPos + direction*sMinStep, mColWorld);
|
||||
if (mTracer.mFraction < 0.001f)
|
||||
return false;
|
||||
|
||||
mDownStepper.doTrace(mColObj, mTracer.mEndPos, mTracer.mEndPos-osg::Vec3f(0.0f,0.0f,sStepSizeDown), mColWorld);
|
||||
if (!canStepDown(mDownStepper))
|
||||
return false;
|
||||
}
|
||||
|
||||
if (mDownStepper.mFraction < 1.0f)
|
||||
{
|
||||
// only step down onto semi-horizontal surfaces. don't step down onto the side of a house or a wall.
|
||||
// TODO: stepper.mPlaneNormal does not appear to be reliable - needs more testing
|
||||
// NOTE: caller's variables 'position' & 'remainingTime' are modified here
|
||||
position = mDownStepper.mEndPos;
|
||||
remainingTime *= (1.0f-mTracer.mFraction); // remaining time is proportional to remaining distance
|
||||
mHaveMoved = true;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
32
apps/openmw/mwphysics/stepper.hpp
Normal file
32
apps/openmw/mwphysics/stepper.hpp
Normal file
@ -0,0 +1,32 @@
|
||||
#ifndef OPENMW_MWPHYSICS_STEPPER_H
|
||||
#define OPENMW_MWPHYSICS_STEPPER_H
|
||||
|
||||
#include "trace.h"
|
||||
|
||||
class btCollisionObject;
|
||||
class btCollisionWorld;
|
||||
|
||||
namespace osg
|
||||
{
|
||||
class Vec3f;
|
||||
}
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
class Stepper
|
||||
{
|
||||
private:
|
||||
const btCollisionWorld *mColWorld;
|
||||
const btCollisionObject *mColObj;
|
||||
|
||||
ActorTracer mTracer, mUpStepper, mDownStepper;
|
||||
bool mHaveMoved;
|
||||
|
||||
public:
|
||||
Stepper(const btCollisionWorld *colWorld, const btCollisionObject *colObj);
|
||||
|
||||
bool step(osg::Vec3f &position, const osg::Vec3f &toMove, float &remainingTime);
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -7,47 +7,11 @@
|
||||
|
||||
#include "collisiontype.hpp"
|
||||
#include "actor.hpp"
|
||||
#include "closestnotmeconvexresultcallback.hpp"
|
||||
|
||||
namespace MWPhysics
|
||||
{
|
||||
|
||||
class ClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
|
||||
{
|
||||
public:
|
||||
ClosestNotMeConvexResultCallback(const btCollisionObject *me, const btVector3 &up, btScalar minSlopeDot)
|
||||
: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)),
|
||||
mMe(me), mUp(up), mMinSlopeDot(minSlopeDot)
|
||||
{
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
|
||||
{
|
||||
if(convexResult.m_hitCollisionObject == mMe)
|
||||
return btScalar( 1 );
|
||||
|
||||
btVector3 hitNormalWorld;
|
||||
if(normalInWorldSpace)
|
||||
hitNormalWorld = convexResult.m_hitNormalLocal;
|
||||
else
|
||||
{
|
||||
///need to transform normal into worldspace
|
||||
hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
|
||||
}
|
||||
|
||||
btScalar dotUp = mUp.dot(hitNormalWorld);
|
||||
if(dotUp < mMinSlopeDot)
|
||||
return btScalar(1);
|
||||
|
||||
return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
|
||||
}
|
||||
|
||||
protected:
|
||||
const btCollisionObject *mMe;
|
||||
const btVector3 mUp;
|
||||
const btScalar mMinSlopeDot;
|
||||
};
|
||||
|
||||
|
||||
void ActorTracer::doTrace(const btCollisionObject *actor, const osg::Vec3f& start, const osg::Vec3f& end, const btCollisionWorld* world)
|
||||
{
|
||||
const btVector3 btstart = Misc::Convert::toBullet(start);
|
||||
@ -59,22 +23,21 @@ void ActorTracer::doTrace(const btCollisionObject *actor, const osg::Vec3f& star
|
||||
from.setOrigin(btstart);
|
||||
to.setOrigin(btend);
|
||||
|
||||
ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
|
||||
const btVector3 motion = btstart-btend;
|
||||
ClosestNotMeConvexResultCallback newTraceCallback(actor, motion, btScalar(0.0));
|
||||
// Inherit the actor's collision group and mask
|
||||
newTraceCallback.m_collisionFilterGroup = actor->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
newTraceCallback.m_collisionFilterMask = actor->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
|
||||
const btCollisionShape *shape = actor->getCollisionShape();
|
||||
assert(shape->isConvex());
|
||||
world->convexSweepTest(static_cast<const btConvexShape*>(shape),
|
||||
from, to, newTraceCallback);
|
||||
world->convexSweepTest(static_cast<const btConvexShape*>(shape), from, to, newTraceCallback);
|
||||
|
||||
// Copy the hit data over to our trace results struct:
|
||||
if(newTraceCallback.hasHit())
|
||||
{
|
||||
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
|
||||
mFraction = newTraceCallback.m_closestHitFraction;
|
||||
mPlaneNormal = osg::Vec3f(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
|
||||
mPlaneNormal = Misc::Convert::toOsg(newTraceCallback.m_hitNormalWorld);
|
||||
mEndPos = (end-start)*mFraction + start;
|
||||
mHitPoint = Misc::Convert::toOsg(newTraceCallback.m_hitPointWorld);
|
||||
mHitObject = newTraceCallback.m_hitCollisionObject;
|
||||
@ -91,14 +54,15 @@ void ActorTracer::doTrace(const btCollisionObject *actor, const osg::Vec3f& star
|
||||
|
||||
void ActorTracer::findGround(const Actor* actor, const osg::Vec3f& start, const osg::Vec3f& end, const btCollisionWorld* world)
|
||||
{
|
||||
const btVector3 btstart(start.x(), start.y(), start.z());
|
||||
const btVector3 btend(end.x(), end.y(), end.z());
|
||||
const btVector3 btstart = Misc::Convert::toBullet(start);
|
||||
const btVector3 btend = Misc::Convert::toBullet(end);
|
||||
|
||||
const btTransform &trans = actor->getCollisionObject()->getWorldTransform();
|
||||
btTransform from(trans.getBasis(), btstart);
|
||||
btTransform to(trans.getBasis(), btend);
|
||||
|
||||
ClosestNotMeConvexResultCallback newTraceCallback(actor->getCollisionObject(), btstart-btend, btScalar(0.0));
|
||||
const btVector3 motion = btstart-btend;
|
||||
ClosestNotMeConvexResultCallback newTraceCallback(actor->getCollisionObject(), motion, btScalar(0.0));
|
||||
// Inherit the actor's collision group and mask
|
||||
newTraceCallback.m_collisionFilterGroup = actor->getCollisionObject()->getBroadphaseHandle()->m_collisionFilterGroup;
|
||||
newTraceCallback.m_collisionFilterMask = actor->getCollisionObject()->getBroadphaseHandle()->m_collisionFilterMask;
|
||||
@ -107,9 +71,8 @@ void ActorTracer::findGround(const Actor* actor, const osg::Vec3f& start, const
|
||||
world->convexSweepTest(actor->getConvexShape(), from, to, newTraceCallback);
|
||||
if(newTraceCallback.hasHit())
|
||||
{
|
||||
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
|
||||
mFraction = newTraceCallback.m_closestHitFraction;
|
||||
mPlaneNormal = osg::Vec3f(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
|
||||
mPlaneNormal = Misc::Convert::toOsg(newTraceCallback.m_hitNormalWorld);
|
||||
mEndPos = (end-start)*mFraction + start;
|
||||
}
|
||||
else
|
||||
|
||||
@ -56,6 +56,7 @@
|
||||
#include "../mwphysics/actor.hpp"
|
||||
#include "../mwphysics/collisiontype.hpp"
|
||||
#include "../mwphysics/object.hpp"
|
||||
#include "../mwphysics/constants.hpp"
|
||||
|
||||
#include "player.hpp"
|
||||
#include "manualref.hpp"
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user