OpenMW/apps/openmw/mwphysics/actor.cpp

#include "actor.hpp"

#include <BulletCollision/CollisionShapes/btCylinderShape.h>
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>

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

#include "../mwworld/class.hpp"

#include "collisiontype.hpp"
#include "mtphysics.hpp"
#include "trace.h"

#include <cmath>

namespace MWPhysics
{


Actor::Actor(const MWWorld::Ptr& ptr, const Resource::BulletShape* shape, PhysicsTaskScheduler* scheduler,
    bool canWaterWalk, DetourNavigator::CollisionShapeType collisionShapeType)
  : mStandingOnPtr(nullptr), mCanWaterWalk(canWaterWalk), mWalkingOnWater(false)
  , mMeshTranslation(shape->mCollisionBox.mCenter), mOriginalHalfExtents(shape->mCollisionBox.mExtents)
  , mStuckFrames(0), mLastStuckPosition{0, 0, 0}
  , mForce(0.f, 0.f, 0.f), mOnGround(true), mOnSlope(false)
  , mInternalCollisionMode(true)
  , mExternalCollisionMode(true)
  , mActive(false)
  , mTaskScheduler(scheduler)
{
    mPtr = ptr;

    // We can not create actor without collisions - he will fall through the ground.
    // In this case we should autogenerate collision box based on mesh shape
    // (NPCs have bodyparts and use a different approach)
    if (!ptr.getClass().isNpc() && mOriginalHalfExtents.length2() == 0.f)
    {
        if (shape->mCollisionShape)
        {
            btTransform transform;
            transform.setIdentity();
            btVector3 min;
            btVector3 max;

            shape->mCollisionShape->getAabb(transform, min, max);
            mOriginalHalfExtents.x() = (max[0] - min[0])/2.f;
            mOriginalHalfExtents.y() = (max[1] - min[1])/2.f;
            mOriginalHalfExtents.z() = (max[2] - min[2])/2.f;

            mMeshTranslation = osg::Vec3f(0.f, 0.f, mOriginalHalfExtents.z());
        }

        if (mOriginalHalfExtents.length2() == 0.f)
            Log(Debug::Error) << "Error: Failed to calculate bounding box for actor \"" << ptr.getCellRef().getRefId() << "\".";
    }

    const btVector3 halfExtents = Misc::Convert::toBullet(mOriginalHalfExtents);
    if ((mMeshTranslation.x() == 0.0 && mMeshTranslation.y() == 0.0)
            && std::fabs(mOriginalHalfExtents.x() - mOriginalHalfExtents.y()) < 2.2)
    {
        switch (collisionShapeType)
        {
            case DetourNavigator::CollisionShapeType::Aabb:
                mShape = std::make_unique<btBoxShape>(halfExtents);
                mRotationallyInvariant = true;
                break;
            case DetourNavigator::CollisionShapeType::RotatingBox:
                mShape = std::make_unique<btBoxShape>(halfExtents);
                mRotationallyInvariant = false;
                break;
            case DetourNavigator::CollisionShapeType::Cylinder:
                mShape = std::make_unique<btCylinderShapeZ>(halfExtents);
                mRotationallyInvariant = true;
                break;
        }
        mCollisionShapeType = collisionShapeType;
    }
    else
    {
        mShape = std::make_unique<btBoxShape>(halfExtents);
        mRotationallyInvariant = false;
        mCollisionShapeType = DetourNavigator::CollisionShapeType::RotatingBox;
    }

    mConvexShape = static_cast<btConvexShape*>(mShape.get());
    mConvexShape->setMargin(0.001); // make sure bullet isn't using the huge default convex shape margin of 0.04

    mCollisionObject = std::make_unique<btCollisionObject>();
    mCollisionObject->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
    mCollisionObject->setActivationState(DISABLE_DEACTIVATION);
    mCollisionObject->setCollisionShape(mShape.get());
    mCollisionObject->setUserPointer(this);

    updateScale();

    if(!mRotationallyInvariant)
        setRotation(mPtr.getRefData().getBaseNode()->getAttitude());

    updatePosition();
    addCollisionMask(getCollisionMask());
    updateCollisionObjectPosition();
}

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

void Actor::enableCollisionMode(bool collision)
{
    mInternalCollisionMode = collision;
}

void Actor::enableCollisionBody(bool collision)
{
    if (mExternalCollisionMode != collision)
    {
        mExternalCollisionMode = collision;
        updateCollisionMask();
    }
}

void Actor::addCollisionMask(int collisionMask)
{
    mTaskScheduler->addCollisionObject(mCollisionObject.get(), CollisionType_Actor, collisionMask);
}

void Actor::updateCollisionMask()
{
    mTaskScheduler->setCollisionFilterMask(mCollisionObject.get(), getCollisionMask());
}

int Actor::getCollisionMask() const
{
    int collisionMask = CollisionType_World | CollisionType_HeightMap;
    if (mExternalCollisionMode)
        collisionMask |= CollisionType_Actor | CollisionType_Projectile | CollisionType_Door;
    if (mCanWaterWalk)
        collisionMask |= CollisionType_Water;
    return collisionMask;
}

void Actor::updatePosition()
{
    std::scoped_lock lock(mPositionMutex);
    const auto worldPosition = mPtr.getRefData().getPosition().asVec3();
    mPreviousPosition = worldPosition;
    mPosition = worldPosition;
    mSimulationPosition = worldPosition;
    mPositionOffset = osg::Vec3f();
    mStandingOnPtr = nullptr;
    mSkipSimulation = true;
}

void Actor::setSimulationPosition(const osg::Vec3f& position)
{
    if (!std::exchange(mSkipSimulation, false))
        mSimulationPosition = position;
}

osg::Vec3f Actor::getScaledMeshTranslation() const
{
    return mRotation * osg::componentMultiply(mMeshTranslation, mScale);
}

void Actor::updateCollisionObjectPosition()
{
    std::scoped_lock lock(mPositionMutex);
    mShape->setLocalScaling(Misc::Convert::toBullet(mScale));
    osg::Vec3f newPosition = getScaledMeshTranslation() + mPosition;

    auto& trans = mCollisionObject->getWorldTransform();
    trans.setOrigin(Misc::Convert::toBullet(newPosition));
    trans.setRotation(Misc::Convert::toBullet(mRotation));
    mCollisionObject->setWorldTransform(trans);

    mWorldPositionChanged = false;
}

osg::Vec3f Actor::getCollisionObjectPosition() const
{
    std::scoped_lock lock(mPositionMutex);
    return getScaledMeshTranslation() + mPosition;
}

bool Actor::setPosition(const osg::Vec3f& position)
{
    std::scoped_lock lock(mPositionMutex);
    applyOffsetChange();
    bool hasChanged = (mPosition.operator!=(position) && !mSkipSimulation) || mWorldPositionChanged;
    if (!mSkipSimulation)
    {
        mPreviousPosition = mPosition;
        mPosition = position;
    }
    return hasChanged;
}

void Actor::adjustPosition(const osg::Vec3f& offset)
{
    std::scoped_lock lock(mPositionMutex);
    mPositionOffset += offset;
}

void Actor::applyOffsetChange()
{
    if (mPositionOffset.length() == 0)
        return;
    mPosition += mPositionOffset;
    mPreviousPosition += mPositionOffset;
    mSimulationPosition += mPositionOffset;
    mPositionOffset = osg::Vec3f();
    mWorldPositionChanged = true;
}

void Actor::setRotation(osg::Quat quat)
{
    std::scoped_lock lock(mPositionMutex);
    mRotation = quat;
}

bool Actor::isRotationallyInvariant() const
{
    return mRotationallyInvariant;
}

void Actor::updateScale()
{
    std::scoped_lock lock(mPositionMutex);
    float scale = mPtr.getCellRef().getScale();
    osg::Vec3f scaleVec(scale,scale,scale);

    mPtr.getClass().adjustScale(mPtr, scaleVec, false);
    mScale = scaleVec;
    mHalfExtents = osg::componentMultiply(mOriginalHalfExtents, scaleVec);

    scaleVec = osg::Vec3f(scale,scale,scale);
    mPtr.getClass().adjustScale(mPtr, scaleVec, true);
    mRenderingHalfExtents = osg::componentMultiply(mOriginalHalfExtents, scaleVec);
}

osg::Vec3f Actor::getHalfExtents() const
{
    return mHalfExtents;
}

osg::Vec3f Actor::getOriginalHalfExtents() const
{
    return mOriginalHalfExtents;
}

osg::Vec3f Actor::getRenderingHalfExtents() const
{
    return mRenderingHalfExtents;
}

void Actor::setInertialForce(const osg::Vec3f &force)
{
    mForce = force;
}

void Actor::setOnGround(bool grounded)
{
    mOnGround = grounded;
}

void Actor::setOnSlope(bool slope)
{
    mOnSlope = slope;
}

bool Actor::isWalkingOnWater() const
{
    return mWalkingOnWater;
}

void Actor::setWalkingOnWater(bool walkingOnWater)
{
    mWalkingOnWater = walkingOnWater;
}

void Actor::setCanWaterWalk(bool waterWalk)
{
    if (waterWalk != mCanWaterWalk)
    {
        mCanWaterWalk = waterWalk;
        updateCollisionMask();
    }
}

MWWorld::Ptr Actor::getStandingOnPtr() const
{
    std::scoped_lock lock(mPositionMutex);
    return mStandingOnPtr;
}

void Actor::setStandingOnPtr(const MWWorld::Ptr& ptr)
{
    std::scoped_lock lock(mPositionMutex);
    mStandingOnPtr = ptr;
}

bool Actor::canMoveToWaterSurface(float waterlevel, const btCollisionWorld* world) const
{
    const float halfZ = getHalfExtents().z();
    const osg::Vec3f actorPosition = getPosition();
    const osg::Vec3f startingPosition(actorPosition.x(), actorPosition.y(), actorPosition.z() + halfZ);
    const osg::Vec3f destinationPosition(actorPosition.x(), actorPosition.y(), waterlevel + halfZ);
    MWPhysics::ActorTracer tracer;
    tracer.doTrace(getCollisionObject(), startingPosition, destinationPosition, world);
    return (tracer.mFraction >= 1.0f);
}

}