mirror of
https://github.com/worldforge/cyphesis
synced 2026-08-13 12:26:04 -04:00
Initial work on planting entities.
This commit is contained in:
Erik Ogenvik
parent
b06ba3da1c
commit
166a5aaba3
4 changed files with 344 additions and 13 deletions
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@ -39,6 +39,7 @@
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#include "common/TypeNode.h"
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#include "common/Update.h"
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#include "common/BaseWorld.h"
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#include "EntityProperty.h"
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#include <Mercator/Terrain.h>
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#include <Mercator/Segment.h>
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@ -59,6 +60,7 @@
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#include <unordered_set>
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#include <chrono>
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#include <boost/optional.hpp>
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#include <limits>
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static const bool debug_flag = false;
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@ -255,8 +257,6 @@ PhysicalDomain::PhysicalDomain(LocatedEntity& entity) :
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auto propellingEntries = static_cast<std::map<int, PropelEntry>*>(world->getWorldUserInfo());
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for (auto& entry : *propellingEntries) {
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// const btVector3& velocity = entry.second.bulletEntry->collisionObject->getLinearVelocity();
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// entry.second.bulletEntry->collisionObject->setLinearVelocity(btVector3(entry.second.velocity.x(), velocity.y()+ (world->getGravity().y() * timeStep), entry.second.velocity.z()));
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float verticalVelocity = entry.second.rigidBody->getLinearVelocity().y();
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@ -754,11 +754,9 @@ void PhysicalDomain::addEntity(LocatedEntity& entity)
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mass = .0f;
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}
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calculatePositionForEntity(mode, entity, entity.m_location.m_pos);
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btQuaternion orientation = entity.m_location.m_orientation.isValid() ? Convert::toBullet(entity.m_location.m_orientation) : btQuaternion::getIdentity();
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btVector3 pos = entity.m_location.m_pos.isValid() ? Convert::toBullet(entity.m_location.m_pos) : btVector3(0, 0, 0);
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short collisionMask;
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short collisionGroup;
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@ -782,8 +780,13 @@ void PhysicalDomain::addEntity(LocatedEntity& entity)
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entry->centerOfMassOffset = btVector3(0, 0, 0);
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}
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entry->collisionObject->setCollisionShape(entry->collisionShape);
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entry->collisionObject->setWorldTransform(btTransform(orientation, pos) * btTransform(btQuaternion::getIdentity(), entry->centerOfMassOffset).inverse());
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entry->collisionObject->setCollisionFlags(entry->collisionObject->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
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calculatePositionForEntity(mode, entry, entity.m_location.m_pos);
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entry->collisionObject->setWorldTransform(btTransform(orientation, Convert::toBullet(entity.m_location.m_pos))
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* btTransform(btQuaternion::getIdentity(), entry->centerOfMassOffset).inverse());
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m_dynamicsWorld->addCollisionObject(entry->collisionObject, collisionGroup, collisionMask);
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m_waterBodies.emplace_back(ghostObject);
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ghostObject->activate();
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@ -825,8 +828,11 @@ void PhysicalDomain::addEntity(LocatedEntity& entity)
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btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
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entry->collisionObject = rigidBody;
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calculatePositionForEntity(mode, entry, entity.m_location.m_pos);
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entry->motionState = new PhysicalMotionState(*entry, *rigidBody, *this,
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btTransform(orientation, pos),
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btTransform(orientation, Convert::toBullet(entity.m_location.m_pos)),
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btTransform(btQuaternion::getIdentity(), entry->centerOfMassOffset));
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rigidBody->setMotionState(entry->motionState);
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rigidBody->setAngularFactor(angularFactor);
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@ -884,10 +890,10 @@ void PhysicalDomain::addEntity(LocatedEntity& entity)
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btCollisionObject* visObject = new btCollisionObject();
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visObject->setCollisionShape(visSphere);
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visObject->setWorldTransform(btTransform(btQuaternion::getIdentity(), pos / VISIBILITY_SCALING_FACTOR));
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visObject->setUserPointer(entry);
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entry->visibilitySphere = visObject;
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if (entity.m_location.m_pos.isValid()) {
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visObject->setWorldTransform(btTransform(btQuaternion::getIdentity(), Convert::toBullet(entity.m_location.m_pos) / VISIBILITY_SCALING_FACTOR));
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m_visibilityWorld->addCollisionObject(visObject, VISIBILITY_MASK_OBSERVER, VISIBILITY_MASK_OBSERVABLE);
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}
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}
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@ -895,11 +901,11 @@ void PhysicalDomain::addEntity(LocatedEntity& entity)
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btSphereShape* viewSphere = new btSphereShape(0.5f / VISIBILITY_SCALING_FACTOR);
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btCollisionObject* visObject = new btCollisionObject();
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visObject->setCollisionShape(viewSphere);
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visObject->setWorldTransform(btTransform(btQuaternion::getIdentity(), pos / VISIBILITY_SCALING_FACTOR));
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visObject->setUserPointer(entry);
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entry->viewSphere = visObject;
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mContainingEntityEntry.observingThis.insert(entry);
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if (entity.m_location.m_pos.isValid()) {
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visObject->setWorldTransform(btTransform(btQuaternion::getIdentity(), Convert::toBullet(entity.m_location.m_pos) / VISIBILITY_SCALING_FACTOR));
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m_visibilityWorld->addCollisionObject(visObject, VISIBILITY_MASK_OBSERVABLE, VISIBILITY_MASK_OBSERVER);
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}
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}
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@ -1372,7 +1378,8 @@ void PhysicalDomain::entityPropertyApplied(const std::string& name, PropertyBase
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for (auto& entry : m_terrainSegments) {
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entry.second.rigidBody->setFriction(static_cast<btScalar>(frictionProp->data()));
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}
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} else if (name == "friction_roll") {
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} else if (name == "frid .."
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"ction_roll") {
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auto frictionRollingProp = dynamic_cast<Property<double>*>(&prop);
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for (auto& entry : m_terrainSegments) {
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entry.second.rigidBody->setRollingFriction(static_cast<btScalar>(frictionRollingProp->data()));
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@ -1394,14 +1401,195 @@ void PhysicalDomain::entityPropertyApplied(const std::string& name, PropertyBase
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}
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}
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void PhysicalDomain::calculatePositionForEntity(ModeProperty::Mode mode, LocatedEntity& entity, WFMath::Point<3>& pos)
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void PhysicalDomain::calculatePositionForEntity(ModeProperty::Mode mode, PhysicalDomain::BulletEntry* entry, WFMath::Point<3>& pos)
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{
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struct PlantedOnCallback : public btCollisionWorld::ContactResultCallback
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{
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btVector3 highestPoint;
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bool hadHit = false;
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const btCollisionObject* highestObject = nullptr;
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explicit PlantedOnCallback(btVector3 highestPoint)
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: btCollisionWorld::ContactResultCallback(), highestPoint(highestPoint)
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{
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}
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bool needsCollision(btBroadphaseProxy* proxy0) const override
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{
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return true;
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}
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btScalar addSingleResult(btManifoldPoint& cp,
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const btCollisionObjectWrapper* colObj0, int partId0, int index0,
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const btCollisionObjectWrapper* colObj1, int partId1, int index1) override
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{
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//B will be the existing planted object, A will be the object being planted.
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btVector3 point = cp.getPositionWorldOnB();
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if (point.y() > highestPoint.y()) {
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highestPoint = point;
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highestObject = colObj1->m_collisionObject;
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hadHit = true;
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}
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//Returned result is ignored.
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return 0;
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}
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};
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auto& entity = *entry->entity;
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if (mode == ModeProperty::Mode::Planted || mode == ModeProperty::Mode::Free || mode == ModeProperty::Mode::Submerged) {
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float h = pos.y();
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getTerrainHeight(pos.x(), pos.z(), h);
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if (mode == ModeProperty::Mode::Planted) {
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pos.y() = h;
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bool plantedOn = false;
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if (entry->collisionObject) {
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auto plantedOnProp = entity.getPropertyClass<EntityProperty>("planted_on");
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if (plantedOnProp) {
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const auto& plantedOnEntityRef = plantedOnProp->data();
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if (plantedOnEntityRef && plantedOnEntityRef->getIntId() != m_entity.getIntId()) {
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auto I = m_entries.find(plantedOnEntityRef->getIntId());
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if (I != m_entries.end()) {
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BulletEntry* plantedOnBulletEntry = I->second;
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btVector3 aabbMin, aabbMax;
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entry->collisionObject->getCollisionShape()->getAabb(entry->collisionObject->getWorldTransform(), aabbMin, aabbMax);
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float height = aabbMax.y() - aabbMin.y();
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float yPos = pos.y();
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btQuaternion orientation = entity.m_location.m_orientation.isValid() ? Convert::toBullet(entity.m_location.m_orientation) : btQuaternion::getIdentity();
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btTransform transform(orientation, Convert::toBullet(entry->entity->m_location.pos()));
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transform *= btTransform(btQuaternion::getIdentity(), entry->centerOfMassOffset).inverse();
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//auto originalTransform = entry->collisionObject->getWorldTransform();
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entry->collisionObject->setWorldTransform(transform);
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while (yPos > h) {
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PlantedOnCallback callback(btVector3(pos.x(), h, pos.z()));
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//Test if the shape collides, otherwise move it downwards until it reaches the ground.
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entry->collisionObject->getWorldTransform().getOrigin().setY(yPos);
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m_dynamicsWorld->contactPairTest(entry->collisionObject, plantedOnBulletEntry->collisionObject, callback);
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if (callback.hadHit) {
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pos.y() = std::max(callback.highestPoint.y(), h);
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plantedOn = true;
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break;
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}
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yPos -= height;
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}
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// btTransform from(btQuaternion::getIdentity(), Convert::toBullet(entity.m_location.m_pos));
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// btTransform to(from);
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// to.getOrigin().setY(h);
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// btCollisionWorld::ClosestRayResultCallback callback(from.getOrigin(), to.getOrigin());
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// rayTestSingle(from, to, plantedOnBulletEntry->collisionObject,
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// plantedOnBulletEntry->collisionShape,
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// plantedOnBulletEntry->collisionObject->getWorldTransform(),
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// callback);
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//
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// if (callback.hasHit()) {
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// pos.y() = std::max(callback.m_hitPointWorld.y(), h);
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// plantedOn = true;
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// }
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// BulletEntry* plantedOnBulletEntry = I->second;
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//
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//
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// auto size = entity.m_location.bBox().highCorner() - entity.m_location.bBox().lowCorner();
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// auto offset = entity.m_location.bBox().getCenter();
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//
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// auto halfSize = size / 2.0;
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//
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// float testHeight = pos.y() + entity.m_location.bBox().highCorner().y() - h;
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//
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//
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//
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// btCylinderShape testShape(btVector3(halfSize.x(), testHeight / 2, halfSize.z()));
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// testShape.setMargin(0);
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// btCollisionObject testCollisionObject{};
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// testCollisionObject.setCollisionShape(&testShape);
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//// testCollisionObject.setWorldTransform(btTransform(Convert::toBullet(entity.m_location.orientation())), )
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// testCollisionObject.setWorldTransform(btTransform(btQuaternion::getIdentity(), btVector3(pos.x() + offset.x(), h + (testHeight / 2), pos.z() + offset.z())) );
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//
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// PlantedOnCallback callback{};
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// m_dynamicsWorld->contactPairTest(&testCollisionObject, plantedOnBulletEntry->collisionObject, callback);
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//
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// if (callback.hadHit) {
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// pos.y() = std::max(callback.highestPoint.y(), h);
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// plantedOn = true;
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// }
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//
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//// btTransform from(btQuaternion::getIdentity(), Convert::toBullet(entity.m_location.m_pos));
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//// btTransform to(from);
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//// to.getOrigin().setY(h);
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//
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//// btCollisionWorld::ClosestRayResultCallback callback(from.getOrigin(), to.getOrigin());
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//// rayTestSingle(from, to, plantedOnBulletEntry->collisionObject,
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//// plantedOnBulletEntry->collisionShape,
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//// plantedOnBulletEntry->collisionObject->getWorldTransform(),
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//// callback);
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////
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//// if (callback.hasHit()) {
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//// pos.y() = std::max(callback.m_hitPointWorld.y(), h);
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//// plantedOn = true;
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//// }
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}
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}
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} else {
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//Look for closest thing it can be planted on.
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btVector3 aabbMin, aabbMax;
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entry->collisionObject->getCollisionShape()->getAabb(entry->collisionObject->getWorldTransform(), aabbMin, aabbMax);
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float height = aabbMax.y() - aabbMin.y();
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float yPos = pos.y();
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btQuaternion orientation = entity.m_location.m_orientation.isValid() ? Convert::toBullet(entity.m_location.m_orientation) : btQuaternion::getIdentity();
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btTransform transform(orientation, Convert::toBullet(entry->entity->m_location.pos()));
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transform *= btTransform(btQuaternion::getIdentity(), entry->centerOfMassOffset).inverse();
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entry->collisionObject->setWorldTransform(transform);
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while (yPos > h) {
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PlantedOnCallback callback(btVector3(pos.x(), h, pos.z()));
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//Test if the shape collides, otherwise move it downwards until it reaches the ground.
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entry->collisionObject->getWorldTransform().getOrigin().setY(yPos);
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m_dynamicsWorld->contactTest(entry->collisionObject, callback);
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if (callback.hadHit) {
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auto plantedOnEntry = static_cast<BulletEntry*>(callback.highestObject->getUserPointer());
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if (plantedOnEntry) {
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pos.y() = std::max(callback.highestPoint.y(), h);
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plantedOn = true;
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auto newPlantedOnProp = entry->entity->requirePropertyClass<EntityProperty>("planted_on");
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newPlantedOnProp->data() = EntityRef(plantedOnEntry->entity);
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break;
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}
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}
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yPos -= height;
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}
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}
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}
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if (!plantedOn) {
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pos.y() = h;
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}
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auto plantedOffsetProp = entity.getPropertyType<double>("planted-offset");
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if (plantedOffsetProp) {
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@ -1450,7 +1638,7 @@ void PhysicalDomain::applyNewPositionForEntity(BulletEntry* entry, const WFMath:
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WFMath::Point<3> newPos = pos;
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calculatePositionForEntity(mode, entity, newPos);
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calculatePositionForEntity(mode, entry, newPos);
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entity.m_location.m_pos = newPos;
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@ -2117,3 +2305,4 @@ void PhysicalDomain::transformRestingEntities(PhysicalDomain::BulletEntry* entry
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}
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}
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@ -278,7 +278,7 @@ class PhysicalDomain : public Domain
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void applyVelocity(BulletEntry& entry, const WFMath::Vector<3>& velocity);
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void calculatePositionForEntity(ModeProperty::Mode mode, LocatedEntity& entity, WFMath::Point<3>& pos);
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void calculatePositionForEntity(ModeProperty::Mode mode, BulletEntry* entry, WFMath::Point<3>& pos);
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/**
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* Called each tick to process any bodies that are moving in water.
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@ -296,6 +296,7 @@ class PhysicalDomain : public Domain
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* @param transformedEntities
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*/
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void transformRestingEntities(BulletEntry* entry, const WFMath::Vector<3>& posTransform, std::set<LocatedEntity*>& transformedEntities);
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};
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#endif /* PHYSICALDOMAIN_H_ */
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@ -172,6 +172,8 @@ CorePropertyManager::CorePropertyManager()
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installProperty<AngularFactorProperty>();
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installProperty<GeometryProperty>();
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installProperty<EntityProperty>("planted_on", "string");
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/**
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* Vertical offset to use when entity is planted, and adjusted to the height of the terrain.
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*/
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@ -54,6 +54,7 @@
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#include <chrono>
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#include <rulesets/TerrainModProperty.h>
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#include <rulesets/EntityProperty.h>
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using Atlas::Message::Element;
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using Atlas::Message::ListType;
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@ -97,6 +98,8 @@ class PhysicalDomainIntegrationTest : public Cyphesis::TestBase
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void test_convert();
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void test_plantedOn();
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void test_terrainMods();
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void test_lake_rotated();
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@ -138,6 +141,7 @@ long PhysicalDomainIntegrationTest::m_id_counter = 0L;
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PhysicalDomainIntegrationTest::PhysicalDomainIntegrationTest()
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{
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ADD_TEST(PhysicalDomainIntegrationTest::test_plantedOn);
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ADD_TEST(PhysicalDomainIntegrationTest::test_terrainMods);
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ADD_TEST(PhysicalDomainIntegrationTest::test_lake_rotated);
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ADD_TEST(PhysicalDomainIntegrationTest::test_lake);
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@ -171,6 +175,141 @@ void PhysicalDomainIntegrationTest::teardown()
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{
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}
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#define ASSERT_FUZZY_EQUAL_FN(_lval, _rval, _epsilon, _fn) {\
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if (this->assertFuzzyEqual(#_lval, _lval, #_rval, _rval, #_epsilon, _epsilon, __PRETTY_FUNCTION__,\
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__FILE__, __LINE__) != 0) {_fn(); return;}\
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}
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void PhysicalDomainIntegrationTest::test_plantedOn()
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{
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class TestPhysicalDomain : public PhysicalDomain
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{
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public:
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explicit TestPhysicalDomain(LocatedEntity& entity) : PhysicalDomain(entity)
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{
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}
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btDiscreteDynamicsWorld* test_getBulletWorld()
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{
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return m_dynamicsWorld;
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}
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btRigidBody* test_getRigidBody(long id)
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{
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return btRigidBody::upcast(m_entries.find(id)->second->collisionObject);
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}
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};
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std::vector<std::string> shapes{"box", "cylinder-x", "cylinder-y", "cylinder-z", "capsule-x", "capsule-y", "capsule-z"};
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for (auto plantedShape : shapes) {
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for (auto plantedOnTopShape : shapes) {
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GeometryProperty* plantedGeometryProperty = new GeometryProperty();
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plantedGeometryProperty->set(MapType{{"type", plantedShape}});
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auto id = newId();
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Entity* rootEntity = new Entity(std::to_string(id), id);
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TerrainProperty* terrainProperty = new TerrainProperty();
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Mercator::Terrain& terrain = terrainProperty->getData();
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terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
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terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
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terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
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terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
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rootEntity->setProperty("terrain", terrainProperty);
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rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
|
||||
rootEntity->m_location.setBBox({{-64, -64, -64},
|
||||
{64, 64, 64}});
|
||||
TestPhysicalDomain* domain = new TestPhysicalDomain(*rootEntity);
|
||||
|
||||
ModeProperty* modeProperty = new ModeProperty();
|
||||
modeProperty->set("planted");
|
||||
|
||||
|
||||
id = newId();
|
||||
Entity* planted1 = new Entity(std::to_string(id), id);
|
||||
planted1->m_location.m_pos = WFMath::Point<3>(0, 10, 0);
|
||||
planted1->m_location.setBBox({{-1, -1, -1},
|
||||
{1, 1, 1}});
|
||||
planted1->setProperty(ModeProperty::property_name, modeProperty);
|
||||
planted1->setProperty(GeometryProperty::property_name, plantedGeometryProperty);
|
||||
|
||||
domain->addEntity(*planted1);
|
||||
|
||||
OpVector res;
|
||||
domain->tick(0, res);
|
||||
|
||||
ASSERT_FUZZY_EQUAL(10, planted1->m_location.m_pos.y(), 0.1);
|
||||
{
|
||||
auto* planted1RigidBody = domain->test_getRigidBody(planted1->getIntId());
|
||||
btVector3 aabbMin, aabbMax;
|
||||
planted1RigidBody->getAabb(aabbMin, aabbMax);
|
||||
ASSERT_FUZZY_EQUAL_FN(aabbMin.y(), 9, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
|
||||
ASSERT_FUZZY_EQUAL_FN(aabbMax.y(), 11, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
|
||||
|
||||
}
|
||||
|
||||
id = newId();
|
||||
Entity* planted2 = new Entity(std::to_string(id), id);
|
||||
planted2->m_location.m_pos = WFMath::Point<3>(0, 15, 0);
|
||||
planted2->m_location.setBBox({{-1, -1, -1},
|
||||
{1, 1, 1}});
|
||||
planted2->setProperty(ModeProperty::property_name, modeProperty);
|
||||
planted2->setProperty(GeometryProperty::property_name, plantedGeometryProperty);
|
||||
|
||||
domain->addEntity(*planted2);
|
||||
|
||||
domain->tick(0, res);
|
||||
|
||||
ASSERT_TRUE(planted2->getPropertyClass<EntityProperty>("planted_on")->data());
|
||||
ASSERT_EQUAL(planted1->getIntId(), planted2->getPropertyClass<EntityProperty>("planted_on")->data()->getIntId());
|
||||
ASSERT_FUZZY_EQUAL(11, planted2->m_location.m_pos.y(), 0.1);
|
||||
{
|
||||
auto* planted2RigidBody = domain->test_getRigidBody(planted2->getIntId());
|
||||
btVector3 aabbMin, aabbMax;
|
||||
planted2RigidBody->getAabb(aabbMin, aabbMax);
|
||||
ASSERT_FUZZY_EQUAL_FN(aabbMin.y(), 10, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
|
||||
ASSERT_FUZZY_EQUAL_FN(aabbMax.y(), 12, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
id = newId();
|
||||
Entity* plantedOn = new Entity(std::to_string(id), id);
|
||||
plantedOn->m_location.m_pos = {0, 15, 0};
|
||||
plantedOn->setProperty(ModeProperty::property_name, modeProperty);
|
||||
plantedOn->m_location.setBBox({{-1, 0, -1},
|
||||
{1, 1, 1}});
|
||||
EntityProperty* plantedOnProperty = new EntityProperty();
|
||||
plantedOnProperty->data() = EntityRef(planted1);
|
||||
plantedOn->setProperty("planted_on", plantedOnProperty);
|
||||
|
||||
GeometryProperty* geometryProperty = new GeometryProperty();
|
||||
geometryProperty->set(MapType{{"type", plantedOnTopShape}});
|
||||
plantedOn->setProperty(GeometryProperty::property_name, geometryProperty);
|
||||
|
||||
domain->addEntity(*plantedOn);
|
||||
|
||||
|
||||
ASSERT_TRUE(plantedOn->getPropertyClass<EntityProperty>("planted_on")->data());
|
||||
ASSERT_EQUAL(planted1->getIntId(), plantedOn->getPropertyClass<EntityProperty>("planted_on")->data()->getIntId());
|
||||
ASSERT_FUZZY_EQUAL_FN(plantedOn->m_location.m_pos.y(), 11, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1' on top of '%2'.", plantedOnTopShape, plantedShape)); });
|
||||
{
|
||||
auto* plantedOnRigidBody = domain->test_getRigidBody(plantedOn->getIntId());
|
||||
btVector3 aabbMin, aabbMax;
|
||||
plantedOnRigidBody->getAabb(aabbMin, aabbMax);
|
||||
ASSERT_FUZZY_EQUAL_FN(aabbMin.y(), 11, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1' on top of '%2'.", plantedOnTopShape, plantedShape)); });
|
||||
ASSERT_FUZZY_EQUAL_FN(aabbMax.y(), 12, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1' on top of '%2'.", plantedOnTopShape, plantedShape)); });
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void PhysicalDomainIntegrationTest::test_terrainMods()
|
||||
{
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue