OpenMW/apps/openmw/mwphysics/object.cpp

#include "object.hpp"
#include "mtphysics.hpp"

#include <components/bullethelpers/collisionobject.hpp>
#include <components/debug/debuglog.hpp>
#include <components/misc/convert.hpp>
#include <components/nifosg/particle.hpp>
#include <components/resource/bulletshape.hpp>
#include <components/sceneutil/positionattitudetransform.hpp>

#include <BulletCollision/CollisionShapes/btCompoundShape.h>

#include <LinearMath/btTransform.h>

namespace MWPhysics
{
    Object::Object(const MWWorld::Ptr& ptr, osg::ref_ptr<Resource::BulletShapeInstance> shapeInstance,
        osg::Quat rotation, int collisionType, PhysicsTaskScheduler* scheduler)
        : PtrHolder(ptr, osg::Vec3f())
        , mShapeInstance(std::move(shapeInstance))
        , mSolid(true)
        , mScale(ptr.getCellRef().getScale(), ptr.getCellRef().getScale(), ptr.getCellRef().getScale())
        , mPosition(ptr.getRefData().getPosition().asVec3())
        , mRotation(rotation)
        , mTaskScheduler(scheduler)
    {
        mCollisionObject = BulletHelpers::makeCollisionObject(mShapeInstance->mCollisionShape.get(),
            Misc::Convert::toBullet(mPosition), Misc::Convert::toBullet(rotation));
        mCollisionObject->setUserPointer(this);
        mShapeInstance->setLocalScaling(mScale);
        mTaskScheduler->addCollisionObject(mCollisionObject.get(), collisionType,
            CollisionType_Actor | CollisionType_HeightMap | CollisionType_Projectile);
    }

    Object::~Object()
    {
        mTaskScheduler->removeCollisionObject(mCollisionObject.get());
    }

    const Resource::BulletShapeInstance* Object::getShapeInstance() const
    {
        return mShapeInstance.get();
    }

    void Object::setScale(float scale)
    {
        std::unique_lock<std::mutex> lock(mPositionMutex);
        mScale = { scale, scale, scale };
        mScaleUpdatePending = true;
    }

    void Object::setRotation(osg::Quat quat)
    {
        std::unique_lock<std::mutex> lock(mPositionMutex);
        mRotation = quat;
        mTransformUpdatePending = true;
    }

    void Object::updatePosition()
    {
        std::unique_lock<std::mutex> lock(mPositionMutex);
        mPosition = mPtr.getRefData().getPosition().asVec3();
        mTransformUpdatePending = true;
    }

    void Object::commitPositionChange()
    {
        std::unique_lock<std::mutex> lock(mPositionMutex);
        if (mScaleUpdatePending)
        {
            mShapeInstance->setLocalScaling(mScale);
            mScaleUpdatePending = false;
        }
        if (mTransformUpdatePending)
        {
            btTransform trans;
            trans.setOrigin(Misc::Convert::toBullet(mPosition));
            trans.setRotation(Misc::Convert::toBullet(mRotation));
            mCollisionObject->setWorldTransform(trans);
            mTransformUpdatePending = false;
        }
    }

    btTransform Object::getTransform() const
    {
        std::unique_lock<std::mutex> lock(mPositionMutex);
        btTransform trans;
        trans.setOrigin(Misc::Convert::toBullet(mPosition));
        trans.setRotation(Misc::Convert::toBullet(mRotation));
        return trans;
    }

    bool Object::isSolid() const
    {
        return mSolid;
    }

    void Object::setSolid(bool solid)
    {
        mSolid = solid;
    }

    bool Object::isAnimated() const
    {
        return mShapeInstance->isAnimated();
    }

    bool Object::animateCollisionShapes()
    {
        if (mShapeInstance->mAnimatedShapes.empty())
            return false;

        assert(mShapeInstance->mCollisionShape->isCompound());

        btCompoundShape* compound = static_cast<btCompoundShape*>(mShapeInstance->mCollisionShape.get());
        bool result = false;
        for (const auto& [recIndex, shapeIndex] : mShapeInstance->mAnimatedShapes)
        {
            auto nodePathFound = mRecIndexToNodePath.find(recIndex);
            if (nodePathFound == mRecIndexToNodePath.end())
            {
                NifOsg::FindGroupByRecIndex visitor(recIndex);
                mPtr.getRefData().getBaseNode()->accept(visitor);
                if (!visitor.mFound)
                {
                    Log(Debug::Warning) << "Warning: animateCollisionShapes can't find node " << recIndex << " for "
                                        << mPtr.getCellRef().getRefId();

                    // Remove nonexistent nodes from animated shapes map and early out
                    mShapeInstance->mAnimatedShapes.erase(recIndex);
                    return false;
                }
                osg::NodePath nodePath = visitor.mFoundPath;
                nodePath.erase(nodePath.begin());
                nodePathFound = mRecIndexToNodePath.emplace(recIndex, nodePath).first;
            }

            osg::NodePath& nodePath = nodePathFound->second;
            osg::Matrixf matrix = osg::computeLocalToWorld(nodePath);
            matrix.orthoNormalize(matrix);

            btTransform transform;
            transform.setOrigin(Misc::Convert::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

            // Note: we can not apply scaling here for now since we treat scaled shapes
            // as new shapes (btScaledBvhTriangleMeshShape) with 1.0 scale for now
            if (!(transform == compound->getChildTransform(shapeIndex)))
            {
                compound->updateChildTransform(shapeIndex, transform);
                result = true;
            }
        }
        return result;
    }
}