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https://gitlab.com/OpenMW/openmw.git
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584 lines
27 KiB
C++
584 lines
27 KiB
C++
#include "movementsolver.hpp"
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#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
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#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
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#include <BulletCollision/CollisionShapes/btConvexShape.h>
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#include <components/esm3/loadgmst.hpp>
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#include <components/misc/convert.hpp>
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#include "../mwbase/environment.hpp"
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#include "../mwworld/esmstore.hpp"
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#include "actor.hpp"
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#include "collisiontype.hpp"
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#include "constants.hpp"
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#include "contacttestwrapper.h"
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#include "object.hpp"
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#include "physicssystem.hpp"
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#include "projectile.hpp"
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#include "projectileconvexcallback.hpp"
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#include "stepper.hpp"
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#include "trace.h"
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#include <cmath>
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namespace MWPhysics
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{
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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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namespace
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{
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class ContactCollectionCallback : public btCollisionWorld::ContactResultCallback
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{
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public:
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explicit ContactCollectionCallback(const btCollisionObject& me, const osg::Vec3f& velocity)
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: mVelocity(Misc::Convert::toBullet(velocity))
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{
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m_collisionFilterGroup = me.getBroadphaseHandle()->m_collisionFilterGroup;
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m_collisionFilterMask = me.getBroadphaseHandle()->m_collisionFilterMask & ~CollisionType_Projectile;
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}
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btScalar addSingleResult(btManifoldPoint& contact, const btCollisionObjectWrapper* colObj0Wrap,
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int /*partId0*/, int /*index0*/, const btCollisionObjectWrapper* colObj1Wrap, int /*partId1*/,
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int /*index1*/) override
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{
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if (isActor(colObj0Wrap->getCollisionObject()) && isActor(colObj1Wrap->getCollisionObject()))
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return 0.0;
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// ignore overlap if we're moving in the same direction as it would push us out (don't change this to
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// >=, that would break detection when not moving)
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if (contact.m_normalWorldOnB.dot(mVelocity) > 0.0)
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return 0.0;
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auto delta = contact.m_normalWorldOnB * -contact.m_distance1;
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mContactSum += delta;
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mMaxX = std::max(std::abs(delta.x()), mMaxX);
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mMaxY = std::max(std::abs(delta.y()), mMaxY);
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mMaxZ = std::max(std::abs(delta.z()), mMaxZ);
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if (contact.m_distance1 < mDistance)
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{
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mDistance = contact.m_distance1;
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mNormal = contact.m_normalWorldOnB;
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mDelta = delta;
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return mDistance;
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}
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else
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{
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return 0.0;
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}
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}
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btScalar mMaxX = 0.0;
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btScalar mMaxY = 0.0;
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btScalar mMaxZ = 0.0;
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btVector3 mContactSum{ 0.0, 0.0, 0.0 };
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btVector3 mNormal{ 0.0, 0.0, 0.0 }; // points towards "me"
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btVector3 mDelta{ 0.0, 0.0, 0.0 }; // points towards "me"
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btScalar mDistance = 0.0; // negative or zero
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protected:
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btVector3 mVelocity;
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};
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}
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osg::Vec3f MovementSolver::traceDown(const MWWorld::Ptr& ptr, const osg::Vec3f& position, Actor* actor,
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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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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 = Misc::Convert::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 = CollisionType_AnyPhysical;
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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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&& ((Misc::Convert::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 Misc::Convert::toOsg(resultCallback1.m_hitPointWorld) + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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actor->setOnSlope(!isWalkableSlope(tracer.mPlaneNormal));
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return tracer.mEndPos - offset + osg::Vec3f(0.f, 0.f, sGroundOffset);
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}
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void MovementSolver::move(
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ActorFrameData& actor, float time, const btCollisionWorld* collisionWorld, const WorldFrameData& worldData)
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{
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// Reset per-frame data
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actor.mWalkingOnWater = false;
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// Anything to collide with?
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if (actor.mSkipCollisionDetection)
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{
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actor.mPosition += (osg::Quat(actor.mRotation.x(), osg::Vec3f(-1, 0, 0))
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* osg::Quat(actor.mRotation.y(), osg::Vec3f(0, 0, -1)))
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* actor.mMovement * time;
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return;
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}
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// Adjust for collision mesh offset relative to actor's "location"
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// (doTrace doesn't take local/interior collision shape translation into account, so we have to do it on our
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// own) for compatibility with vanilla assets, we have to derive this from the vertical half extent instead of
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// from internal hull translation if not for this hack, the "correct" collision hull position would be
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// physicActor->getScaledMeshTranslation()
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actor.mPosition.z() += actor.mHalfExtentsZ; // vanilla-accurate
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float swimlevel = actor.mSwimLevel + actor.mHalfExtentsZ;
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ActorTracer tracer;
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osg::Vec3f velocity;
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// Dead and paralyzed actors underwater will float to the surface,
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// if the CharacterController tells us to do so
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if (actor.mMovement.z() > 0 && actor.mInert && actor.mPosition.z() < swimlevel)
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{
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velocity = osg::Vec3f(0, 0, 1) * 25;
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}
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else if (actor.mPosition.z() < swimlevel || actor.mFlying)
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{
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velocity = (osg::Quat(actor.mRotation.x(), osg::Vec3f(-1, 0, 0))
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* osg::Quat(actor.mRotation.y(), osg::Vec3f(0, 0, -1)))
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* actor.mMovement;
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}
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else
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{
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velocity = (osg::Quat(actor.mRotation.y(), osg::Vec3f(0, 0, -1))) * actor.mMovement;
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if ((velocity.z() > 0.f && actor.mIsOnGround && !actor.mIsOnSlope)
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|| (velocity.z() > 0.f && velocity.z() + actor.mInertia.z() <= -velocity.z() && actor.mIsOnSlope))
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actor.mInertia = velocity;
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else if (!actor.mIsOnGround || actor.mIsOnSlope)
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velocity = velocity + actor.mInertia;
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}
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// Now that we have the effective movement vector, apply wind forces to it
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if (worldData.mIsInStorm && velocity.length() > 0)
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{
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const MWWorld::ESMStore& store = *MWBase::Environment::get().getESMStore();
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const float fStromWalkMult = store.get<ESM::GameSetting>().find("fStromWalkMult")->mValue.getFloat();
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const float angleCos = worldData.mStormDirection * velocity / velocity.length();
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velocity *= 1.f + fStromWalkMult * angleCos;
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}
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Stepper stepper(collisionWorld, actor.mCollisionObject);
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osg::Vec3f origVelocity = velocity;
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osg::Vec3f newPosition = actor.mPosition;
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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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int numTimesSlid = 0;
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osg::Vec3f lastSlideNormal(0, 0, 1);
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osg::Vec3f lastSlideNormalFallback(0, 0, 1);
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bool forceGroundTest = false;
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for (int iterations = 0; iterations < sMaxIterations && remainingTime > 0.0001f; ++iterations)
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{
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osg::Vec3f nextpos = newPosition + velocity * remainingTime;
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bool underwater = newPosition.z() < swimlevel;
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// If not able to fly, don't allow to swim up into the air
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if (!actor.mFlying && nextpos.z() > swimlevel && underwater)
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{
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const osg::Vec3f down(0, 0, -1);
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velocity = reject(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(actor.mCollisionObject, newPosition, nextpos, collisionWorld, actor.mIsOnGround);
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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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bool seenGround = !actor.mFlying && !underwater
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&& ((actor.mIsOnGround && !actor.mIsOnSlope) || isWalkableSlope(tracer.mPlaneNormal));
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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() + actor.mHalfExtentsZ;
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osg::Vec3f oldPosition = newPosition;
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bool usedStepLogic = false;
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if (!isActor(tracer.mHitObject))
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{
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if (hitHeight < Constants::sStepSizeUp)
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{
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// Try to step up onto it.
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// NOTE: this modifies newPosition and velocity on its own if successful
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usedStepLogic = stepper.step(newPosition, velocity, remainingTime, seenGround, iterations == 0);
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}
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auto* ptrHolder = static_cast<PtrHolder*>(tracer.mHitObject->getUserPointer());
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if (Object* hitObject = dynamic_cast<Object*>(ptrHolder))
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{
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hitObject->addCollision(
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actor.mIsPlayer ? ScriptedCollisionType_Player : ScriptedCollisionType_Actor);
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}
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}
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if (usedStepLogic)
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{
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if (actor.mIsAquatic && newPosition.z() + actor.mHalfExtentsZ > actor.mWaterlevel)
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newPosition = oldPosition;
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else if (!actor.mFlying && actor.mPosition.z() >= swimlevel)
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forceGroundTest = true;
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}
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else
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{
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// Can't step up, so slide against what we ran into
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remainingTime *= (1.0f - tracer.mFraction);
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auto planeNormal = tracer.mPlaneNormal;
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// need to know the unadjusted normal to handle certain types of seams properly
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const auto origPlaneNormal = planeNormal;
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// If we touched the ground this frame, and whatever we ran into is a wall of some sort,
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// pretend that its collision normal is pointing horizontally
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// (fixes snagging on slightly downward-facing walls, and crawling up the bases of very steep walls
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// because of the collision margin)
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if (seenGround && !isWalkableSlope(planeNormal) && planeNormal.z() != 0)
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{
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planeNormal.z() = 0;
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planeNormal.normalize();
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}
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// Move up to what we ran into (with a bit of a collision margin)
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if ((newPosition - tracer.mEndPos).length2() > sCollisionMargin * sCollisionMargin)
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{
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auto direction = velocity;
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direction.normalize();
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newPosition = tracer.mEndPos;
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newPosition -= direction * sCollisionMargin;
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}
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osg::Vec3f newVelocity = (velocity * planeNormal <= 0.0) ? reject(velocity, planeNormal) : velocity;
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bool usedSeamLogic = false;
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// check for the current and previous collision planes forming an acute angle; slide along the seam if
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// they do for this, we want to use the original plane normal, or else certain types of geometry will
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// snag
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if (numTimesSlid > 0)
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{
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auto dotA = lastSlideNormal * origPlaneNormal;
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auto dotB = lastSlideNormalFallback * origPlaneNormal;
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if (numTimesSlid <= 1) // ignore fallback normal if this is only the first or second slide
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dotB = 1.0;
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if (dotA <= 0.0 || dotB <= 0.0)
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{
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osg::Vec3f bestNormal = lastSlideNormal;
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// use previous-to-previous collision plane if it's acute with current plane but actual previous
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// plane isn't
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if (dotB < dotA)
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{
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bestNormal = lastSlideNormalFallback;
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lastSlideNormal = lastSlideNormalFallback;
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}
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auto constraintVector = bestNormal ^ origPlaneNormal; // cross product
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if (constraintVector.length2() > 0) // only if it's not zero length
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{
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constraintVector.normalize();
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newVelocity = project(velocity, constraintVector);
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// version of surface rejection for acute crevices/seams
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auto averageNormal = bestNormal + origPlaneNormal;
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averageNormal.normalize();
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tracer.doTrace(actor.mCollisionObject, newPosition,
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newPosition + averageNormal * (sCollisionMargin * 2.0), collisionWorld);
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newPosition = (newPosition + tracer.mEndPos) / 2.0;
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usedSeamLogic = true;
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}
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}
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}
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// otherwise just keep the normal vector rejection
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// move away from the collision plane slightly, if possible
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// this reduces getting stuck in some concave geometry, like the gaps above the railings in some
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// ald'ruhn buildings this is different from the normal collision margin, because the normal collision
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// margin is along the movement path, but this is along the collision normal
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if (!usedSeamLogic)
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{
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tracer.doTrace(actor.mCollisionObject, newPosition,
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newPosition + planeNormal * (sCollisionMargin * 2.0), collisionWorld);
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newPosition = (newPosition + tracer.mEndPos) / 2.0;
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}
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// short circuit if we went backwards, but only if it was mostly horizontal and we're on the ground
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if (seenGround && newVelocity * origVelocity <= 0.0f)
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{
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auto perpendicular = newVelocity ^ origVelocity;
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if (perpendicular.length2() > 0.0f)
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{
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perpendicular.normalize();
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if (std::abs(perpendicular.z()) > 0.7071f)
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break;
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}
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}
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// Do not allow sliding up steep slopes if there is gravity.
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// The purpose of this is to prevent air control from letting you slide up tall, unwalkable slopes.
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// For that purpose, it is not necessary to do it when trying to slide along acute seams/crevices (i.e.
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// usedSeamLogic) and doing so would actually break air control in some situations where vanilla allows
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// air control. Vanilla actually allows you to slide up slopes as long as you're in the "walking"
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// animation, which can be true even in the air, so allowing this for seams isn't a compatibility break.
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if (newPosition.z() >= swimlevel && !actor.mFlying && !isWalkableSlope(planeNormal) && !usedSeamLogic)
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newVelocity.z() = std::min(newVelocity.z(), velocity.z());
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numTimesSlid += 1;
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lastSlideNormalFallback = lastSlideNormal;
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lastSlideNormal = origPlaneNormal;
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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 (forceGroundTest || (actor.mInertia.z() <= 0.f && newPosition.z() >= swimlevel))
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{
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osg::Vec3f from = newPosition;
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auto dropDistance = 2 * sGroundOffset + (actor.mIsOnGround ? sStepSizeDown : 0);
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osg::Vec3f to = newPosition - osg::Vec3f(0, 0, dropDistance);
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tracer.doTrace(actor.mCollisionObject, from, to, collisionWorld, actor.mIsOnGround);
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if (tracer.mFraction < 1.0f)
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{
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if (!isActor(tracer.mHitObject))
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{
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isOnGround = true;
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isOnSlope = !isWalkableSlope(tracer.mPlaneNormal);
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actor.mStandingOn = tracer.mHitObject;
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if (actor.mStandingOn->getBroadphaseHandle()->m_collisionFilterGroup == CollisionType_Water)
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actor.mWalkingOnWater = true;
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if (!actor.mFlying && !isOnSlope)
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{
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if (tracer.mFraction * dropDistance > sGroundOffset)
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newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
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else
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{
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newPosition.z() = tracer.mEndPos.z();
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tracer.doTrace(actor.mCollisionObject, newPosition,
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newPosition + osg::Vec3f(0, 0, 2 * sGroundOffset), collisionWorld);
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newPosition = (newPosition + tracer.mEndPos) / 2.0;
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}
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}
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}
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else
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{
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// Vanilla allows actors to float on top of other actors. Do not push them off.
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if (!actor.mFlying && isWalkableSlope(tracer.mPlaneNormal)
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&& tracer.mEndPos.z() + sGroundOffset <= newPosition.z())
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newPosition.z() = tracer.mEndPos.z() + sGroundOffset;
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isOnGround = false;
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}
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}
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// forcibly treat stuck actors as if they're on flat ground because buggy collisions when inside of things
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// can/will break ground detection
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if (actor.mStuckFrames > 0)
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{
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isOnGround = true;
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isOnSlope = false;
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}
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}
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if ((isOnGround && !isOnSlope) || newPosition.z() < swimlevel || actor.mFlying)
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actor.mInertia = osg::Vec3f(0.f, 0.f, 0.f);
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else
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{
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actor.mInertia.z() -= time * Constants::GravityConst * Constants::UnitsPerMeter;
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if (actor.mInertia.z() < 0)
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actor.mInertia.z() *= actor.mSlowFall;
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if (actor.mSlowFall < 1.f)
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{
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actor.mInertia.x() *= actor.mSlowFall;
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actor.mInertia.y() *= actor.mSlowFall;
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}
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}
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actor.mIsOnGround = isOnGround;
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actor.mIsOnSlope = isOnSlope;
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actor.mPosition = newPosition;
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// remove what was added earlier in compensating for doTrace not taking interior transformation into account
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actor.mPosition.z() -= actor.mHalfExtentsZ; // vanilla-accurate
|
|
}
|
|
|
|
void MovementSolver::move(ProjectileFrameData& projectile, float time, const btCollisionWorld* collisionWorld)
|
|
{
|
|
btVector3 btFrom = Misc::Convert::toBullet(projectile.mPosition);
|
|
btVector3 btTo = Misc::Convert::toBullet(projectile.mPosition + projectile.mMovement * time);
|
|
|
|
if (btFrom == btTo)
|
|
return;
|
|
|
|
assert(projectile.mProjectile != nullptr);
|
|
|
|
ProjectileConvexCallback resultCallback(
|
|
projectile.mCaster, projectile.mCollisionObject, btFrom, btTo, *projectile.mProjectile);
|
|
resultCallback.m_collisionFilterMask = CollisionType_AnyPhysical;
|
|
resultCallback.m_collisionFilterGroup = CollisionType_Projectile;
|
|
|
|
const btQuaternion btrot = btQuaternion::getIdentity();
|
|
btTransform from_(btrot, btFrom);
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|
btTransform to_(btrot, btTo);
|
|
|
|
const btCollisionShape* shape = projectile.mCollisionObject->getCollisionShape();
|
|
assert(shape->isConvex());
|
|
collisionWorld->convexSweepTest(static_cast<const btConvexShape*>(shape), from_, to_, resultCallback);
|
|
|
|
projectile.mPosition
|
|
= Misc::Convert::toOsg(projectile.mProjectile->isActive() ? btTo : resultCallback.m_hitPointWorld);
|
|
}
|
|
|
|
btVector3 addMarginToDelta(btVector3 delta)
|
|
{
|
|
if (delta.length2() == 0.0)
|
|
return delta;
|
|
return delta + delta.normalized() * sCollisionMargin;
|
|
}
|
|
|
|
void MovementSolver::unstuck(ActorFrameData& actor, const btCollisionWorld* collisionWorld)
|
|
{
|
|
if (actor.mSkipCollisionDetection) // noclipping/tcl
|
|
return;
|
|
|
|
if (actor.mMovement.length2() == 0) // no AI nor player attempted to move, current position is assumed correct
|
|
return;
|
|
|
|
auto tempPosition = actor.mPosition;
|
|
|
|
if (actor.mStuckFrames >= 10)
|
|
{
|
|
if ((actor.mLastStuckPosition - actor.mPosition).length2() < 100)
|
|
return;
|
|
else
|
|
{
|
|
actor.mStuckFrames = 0;
|
|
actor.mLastStuckPosition = { 0, 0, 0 };
|
|
}
|
|
}
|
|
|
|
// use vanilla-accurate collision hull position hack (do same hitbox offset hack as movement solver)
|
|
// if vanilla compatibility didn't matter, the "correct" collision hull position would be
|
|
// physicActor->getScaledMeshTranslation()
|
|
const auto verticalHalfExtent = osg::Vec3f(0.0, 0.0, actor.mHalfExtentsZ);
|
|
|
|
// use a 3d approximation of the movement vector to better judge player intent
|
|
auto velocity = (osg::Quat(actor.mRotation.x(), osg::Vec3f(-1, 0, 0))
|
|
* osg::Quat(actor.mRotation.y(), osg::Vec3f(0, 0, -1)))
|
|
* actor.mMovement;
|
|
// try to pop outside of the world before doing anything else if we're inside of it
|
|
if (!actor.mIsOnGround || actor.mIsOnSlope)
|
|
velocity += actor.mInertia;
|
|
|
|
// because of the internal collision box offset hack, and the fact that we're moving the collision box manually,
|
|
// we need to replicate part of the collision box's transform process from scratch
|
|
osg::Vec3f refPosition = tempPosition + verticalHalfExtent;
|
|
osg::Vec3f goodPosition = refPosition;
|
|
const btTransform oldTransform = actor.mCollisionObject->getWorldTransform();
|
|
btTransform newTransform = oldTransform;
|
|
|
|
auto gatherContacts = [&](btVector3 newOffset) -> ContactCollectionCallback {
|
|
goodPosition = refPosition + Misc::Convert::toOsg(addMarginToDelta(newOffset));
|
|
newTransform.setOrigin(Misc::Convert::toBullet(goodPosition));
|
|
actor.mCollisionObject->setWorldTransform(newTransform);
|
|
|
|
ContactCollectionCallback callback(*actor.mCollisionObject, velocity);
|
|
ContactTestWrapper::contactTest(
|
|
const_cast<btCollisionWorld*>(collisionWorld), actor.mCollisionObject, callback);
|
|
return callback;
|
|
};
|
|
|
|
// check whether we're inside the world with our collision box with manually-derived offset
|
|
auto contactCallback = gatherContacts({ 0.0, 0.0, 0.0 });
|
|
if (contactCallback.mDistance < -sAllowedPenetration)
|
|
{
|
|
++actor.mStuckFrames;
|
|
actor.mLastStuckPosition = actor.mPosition;
|
|
// we are; try moving it out of the world
|
|
auto positionDelta = contactCallback.mContactSum;
|
|
// limit rejection delta to the largest known individual rejections
|
|
if (std::abs(positionDelta.x()) > contactCallback.mMaxX)
|
|
positionDelta *= contactCallback.mMaxX / std::abs(positionDelta.x());
|
|
if (std::abs(positionDelta.y()) > contactCallback.mMaxY)
|
|
positionDelta *= contactCallback.mMaxY / std::abs(positionDelta.y());
|
|
if (std::abs(positionDelta.z()) > contactCallback.mMaxZ)
|
|
positionDelta *= contactCallback.mMaxZ / std::abs(positionDelta.z());
|
|
|
|
auto contactCallback2 = gatherContacts(positionDelta);
|
|
// successfully moved further out from contact (does not have to be in open space, just less inside of
|
|
// things)
|
|
if (contactCallback2.mDistance > contactCallback.mDistance)
|
|
tempPosition = goodPosition - verticalHalfExtent;
|
|
// try again but only upwards (fixes some bad coc floors)
|
|
else
|
|
{
|
|
// upwards-only offset
|
|
auto contactCallback3 = gatherContacts({ 0.0, 0.0, std::abs(positionDelta.z()) });
|
|
// success
|
|
if (contactCallback3.mDistance > contactCallback.mDistance)
|
|
tempPosition = goodPosition - verticalHalfExtent;
|
|
else
|
|
// try again but fixed distance up
|
|
{
|
|
auto contactCallback4 = gatherContacts({ 0.0, 0.0, 10.0 });
|
|
// success
|
|
if (contactCallback4.mDistance > contactCallback.mDistance)
|
|
tempPosition = goodPosition - verticalHalfExtent;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
actor.mStuckFrames = 0;
|
|
actor.mLastStuckPosition = { 0, 0, 0 };
|
|
}
|
|
|
|
actor.mCollisionObject->setWorldTransform(oldTransform);
|
|
actor.mPosition = tempPosition;
|
|
}
|
|
}
|