OpenMW/libs/openengine/bullet/trace.cpp

#include "trace.h"



#include <map>







void newtrace(traceResults* const results, const Ogre::Vector3& start, const Ogre::Vector3& end, const Ogre::Vector3& BBHalfExtents, const float rotation, bool isInterior, OEngine::Physic::PhysicEngine* enginePass)  //Traceobj was a Aedra Object
{

	//if (!traceobj)
	//	return;

	//if (!traceobj->incellptr)
	//	return;

	const Ogre::Vector3 rayDir = end - start;

	// Nudge starting point backwards
	//const Position3D nudgestart = start + (rayDir * -0.1f); // by 10% (isn't that too much?)
	//const Position3D nudgestart = start;

	NewPhysTraceResults out;
	//std::cout << "Starting trace\n";
	//Ogre::Vector3 startReplace = Ogre::Vector3(650,950, 45);
	//Ogre::Vector3 endReplace = startReplace;
	//endReplace.z -= .25;
	
	const bool hasHit = NewPhysicsTrace<collisionWorldTrace>(&out, start, end, BBHalfExtents, Ogre::Vector3(0.0f, 0.0, rotation), isInterior, enginePass);
	
	if (out.fraction < 0.001f)
		results->startsolid = true;
	else
		results->startsolid = false;
	

	//results->allsolid = out.startSolid;

	// If outside and underground, we're solid
	/*if (isInterior)
	{
		const Ogre::Vector3 height = GetGroundPosition(start, CellCoords(traceCell->data->gridX, traceCell->data->gridY) );
		if (start.yPos - height.yPos < (-2.0f * BBHalfExtents.yPos) )
		{
			results->allsolid = true;
		}
		else
			results->allsolid = false;
	}*/

	// If inside and out of the tree, we're solid
	//else
	//{
		results->allsolid = out.startSolid;
		//std::cout << "allsolid" << results->allsolid << "\n";
	//}

	if (!hasHit)
	{
		results->endpos = end;
		results->planenormal = Ogre::Vector3(0.0f, 0.0f, 1.0f);
		results->entityNum = ENTITYNUM_NONE;
		results->fraction = 1.0f;
	}
	else
	{
		results->fraction = out.fraction;
		results->planenormal = out.hitNormal;
		results->endpos = rayDir * results->fraction + start;
		results->entityNum = ENTITYNUM_WORLD;
		/*bprintf("Start: (%f, %f, %f) End: (%f, %f, %f) TraceDir: (%f, %f, %f) HitNormal: (%f, %f, %f) Fraction: %f Hitpos: (%f, %f, %f) CompensatedHitpos: (%f, %f, %f)\n", 
			start.xPos, start.yPos, start.zPos,
			end.xPos, end.yPos, end.zPos,
			rayDir.xPos, rayDir.yPos, rayDir.zPos,
			results->planenormal.xPos, results->planenormal.yPos, results->planenormal.zPos, results->fraction,
			out.endPos.xPos, out.endPos.yPos, out.endPos.zPos,
			results->endpos.xPos, results->endpos.yPos, results->endpos.zPos);*/
	}
}



template <const traceWorldType traceType>
const bool NewPhysicsTrace(NewPhysTraceResults* const out, const Ogre::Vector3& start, const Ogre::Vector3& end, 
	const Ogre::Vector3& BBHalfExtents, const Ogre::Vector3& rotation, bool isInterior, OEngine::Physic::PhysicEngine* enginePass)
{
	//if (!traceobj->incellptr)
	//	return false;
	//if(enginePass->dynamicsWorld->getCollisionObjectArray().at(60)->getCollisionShape()->isConvex())
	//	std::cout << "It's convex\n";
	


	const btVector3 btstart(start.x, start.y, start.z);
	const btVector3 btend(end.x, end.y, end.z);
	const btQuaternion btrot(rotation.y, rotation.x, rotation.z);   //y, x, z

	const btBoxShape newshape(btVector3(BBHalfExtents.x, BBHalfExtents.y, BBHalfExtents.z));
	const btTransform from(btrot, btstart);
	const btTransform to(btrot, btend);	
	float x = from.getOrigin().getX();
	float y = from.getOrigin().getY();
	float z = from.getOrigin().getZ();
	float x2 = to.getOrigin().getX();
	float y2 = to.getOrigin().getY();
	float z2 = to.getOrigin().getZ();
	
	//std::cout << "BtFrom: " << x << "," << y << "," << z << "\n";
	//std::cout << "BtTo: " << x2 << "," << y2 << "," << z2 << "\n";
	//std::cout << "BtTo: " << to.getOrigin().getX() << "," << to.getOrigin().getY() << "," << to.getOrigin().getZ() << "\n";


	btCollisionWorld::ClosestConvexResultCallback
		newTraceCallback(btstart, btend);

	newTraceCallback.m_collisionFilterMask = (traceType == collisionWorldTrace) ? Only_Collision : Only_Pickup;
	
	
	enginePass->dynamicsWorld->convexSweepTest(&newshape, from, to, newTraceCallback);
	//newTraceCallback.
	
	
	//std::cout << "NUM: " << enginePass->dynamicsWorld->getNumCollisionObjects() << "\n";

	// Copy the hit data over to our trace results struct:
	out->fraction = newTraceCallback.m_closestHitFraction;

	Ogre::Vector3& outhitnormal = out->hitNormal;
	const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;

	outhitnormal.x = tracehitnormal.x();
	outhitnormal.y = tracehitnormal.y();
	outhitnormal.z = tracehitnormal.z();

	Ogre::Vector3& outhitpos = out->endPos;
	const btVector3& tracehitpos = newTraceCallback.m_hitPointWorld;

	outhitpos.x = tracehitpos.x();
	outhitpos.y = tracehitpos.y();
	outhitpos.z= tracehitpos.z();

	// StartSolid test:
	{
		out->startSolid = false;
		//btCollisionObject collision;
		//collision.setCollisionShape(const_cast<btBoxShape* const>(&newshape) );

		//CustomContactCallback crb;

		//world.world->contactTest(&collision, crb);
		//out->startSolid = crb.hit;

		// If outside and underground, we're solid
		if (!isInterior)   //Check if we are interior
		{
		}

		// If inside and out of the tree, we're solid
		else
		{
			btVector3 aabbMin, aabbMax;
			enginePass->broadphase->getBroadphaseAabb(aabbMin, aabbMax);
			//std::cout << "AABBMIN" << aabbMin.getX() <<"," <<aabbMin.getY() << "," << aabbMin.getZ()  << "\n";
			//std::cout << "AABBMAX" << aabbMax.getX() <<"," <<aabbMax.getY() << "," << aabbMax.getZ()  << "\n";
			//std::cout << "AABBMAX" << aabbMax << "\n";
			if (!TestPointAgainstAabb2(aabbMin, aabbMax, *(const btVector3* const)&(start) ) )
			{
				//We're solid
				out->startSolid = true;
			}
		}
	}

	const bool hasHit = newTraceCallback.hasHit();

	

	
	return hasHit;
}