source-engine/game/server/physics_npc_solver.cpp

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2020-04-22 16:56:21 +00:00
//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
//=============================================================================//
#include "cbase.h"
#include "physics_saverestore.h"
#include "vphysics/friction.h"
#include "ai_basenpc.h"
#include "movevars_shared.h"
// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"
class CPhysicsNPCSolver : public CLogicalEntity, public IMotionEvent
{
DECLARE_CLASS( CPhysicsNPCSolver, CLogicalEntity );
public:
CPhysicsNPCSolver();
~CPhysicsNPCSolver();
DECLARE_DATADESC();
void Init( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject, bool disableCollisions, float separationTime );
static CPhysicsNPCSolver *Create( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject, bool disableCollisions, float separationTime );
// CBaseEntity
virtual void Spawn();
virtual void UpdateOnRemove();
virtual void Think();
virtual void OnRestore()
{
BaseClass::OnRestore();
if ( m_allowIntersection )
{
PhysDisableEntityCollisions( m_hNPC, m_hEntity );
}
}
// IMotionEvent
virtual simresult_e Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular );
public:
CPhysicsNPCSolver *m_pNext;
private:
// locals
void ResetCancelTime();
void BecomePenetrationSolver();
bool IsIntersecting();
bool IsContactOnNPCHead( IPhysicsFrictionSnapshot *pSnapshot, IPhysicsObject *pPhysics, CAI_BaseNPC *pNPC );
bool CheckTouching();
friend bool NPCPhysics_SolverExists( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject );
CHandle<CAI_BaseNPC> m_hNPC;
EHANDLE m_hEntity;
IPhysicsMotionController *m_pController;
float m_separationDuration;
float m_cancelTime;
bool m_allowIntersection;
};
LINK_ENTITY_TO_CLASS( physics_npc_solver, CPhysicsNPCSolver );
BEGIN_DATADESC( CPhysicsNPCSolver )
DEFINE_FIELD( m_hNPC, FIELD_EHANDLE ),
DEFINE_FIELD( m_hEntity, FIELD_EHANDLE ),
DEFINE_FIELD( m_separationDuration, FIELD_FLOAT ),
DEFINE_FIELD( m_cancelTime, FIELD_TIME ),
DEFINE_FIELD( m_allowIntersection, FIELD_BOOLEAN ),
DEFINE_PHYSPTR( m_pController ),
//DEFINE_FIELD( m_pNext, FIELD_CLASSPTR ),
END_DATADESC()
CEntityClassList<CPhysicsNPCSolver> g_SolverList;
template <> CPhysicsNPCSolver *CEntityClassList<CPhysicsNPCSolver>::m_pClassList = NULL;
bool NPCPhysics_SolverExists( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject )
{
CPhysicsNPCSolver *pSolver = g_SolverList.m_pClassList;
while ( pSolver )
{
if ( pSolver->m_hEntity == pPhysicsObject && pSolver->m_hNPC == pNPC )
return true;
pSolver = pSolver->m_pNext;
}
return false;
}
CPhysicsNPCSolver *CPhysicsNPCSolver::Create( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject, bool disableCollisions, float separationTime )
{
CPhysicsNPCSolver *pSolver = (CPhysicsNPCSolver *)CBaseEntity::CreateNoSpawn( "physics_npc_solver", vec3_origin, vec3_angle, NULL );
pSolver->Init( pNPC, pPhysicsObject, disableCollisions, separationTime );
pSolver->Spawn();
//NDebugOverlay::EntityBounds(pNPC, 255, 255, 0, 64, 0.5f );
return pSolver;
}
CPhysicsNPCSolver::CPhysicsNPCSolver()
{
g_SolverList.Insert( this );
}
CPhysicsNPCSolver::~CPhysicsNPCSolver()
{
g_SolverList.Remove( this );
}
void CPhysicsNPCSolver::Init( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject, bool disableCollisions, float separationTime )
{
m_hNPC = pNPC;
m_hEntity = pPhysicsObject;
m_pController = NULL;
m_separationDuration = separationTime;
m_allowIntersection = disableCollisions;
}
void CPhysicsNPCSolver::ResetCancelTime()
{
m_cancelTime = gpGlobals->curtime + m_separationDuration;
SetNextThink( m_cancelTime );
}
void CPhysicsNPCSolver::BecomePenetrationSolver()
{
CBaseEntity *pEntity = m_hEntity.Get();
if ( pEntity )
{
m_allowIntersection = true;
IPhysicsObject *pList[VPHYSICS_MAX_OBJECT_LIST_COUNT];
int listCount = pEntity->VPhysicsGetObjectList( pList, ARRAYSIZE(pList) );
PhysDisableEntityCollisions( m_hNPC, pEntity );
m_pController = physenv->CreateMotionController( this );
for ( int i = 0; i < listCount; i++ )
{
m_pController->AttachObject( pList[i], false );
pList[i]->Wake();
}
m_pController->SetPriority( IPhysicsMotionController::HIGH_PRIORITY );
}
}
void CPhysicsNPCSolver::Spawn()
{
if ( m_allowIntersection )
{
BecomePenetrationSolver();
}
else
{
m_hEntity->SetNavIgnore();
}
ResetCancelTime();
}
void CPhysicsNPCSolver::UpdateOnRemove()
{
if ( m_allowIntersection )
{
physenv->DestroyMotionController( m_pController );
m_pController = NULL;
PhysEnableEntityCollisions( m_hNPC, m_hEntity );
}
else
{
if ( m_hEntity.Get() )
{
m_hEntity->ClearNavIgnore();
}
}
//NDebugOverlay::EntityBounds(m_hNPC, 0, 255, 0, 64, 0.5f );
BaseClass::UpdateOnRemove();
}
bool CPhysicsNPCSolver::IsIntersecting()
{
CAI_BaseNPC *pNPC = m_hNPC.Get();
CBaseEntity *pPhysics = m_hEntity.Get();
if ( pNPC && pPhysics )
{
Ray_t ray;
// bloated bounds to force slight separation
Vector mins = pNPC->WorldAlignMins() - Vector(1,1,1);
Vector maxs = pNPC->WorldAlignMaxs() + Vector(1,1,1);
ray.Init( pNPC->GetAbsOrigin(), pNPC->GetAbsOrigin(), mins, maxs );
trace_t tr;
enginetrace->ClipRayToEntity( ray, pNPC->PhysicsSolidMaskForEntity(), pPhysics, &tr );
if ( tr.startsolid )
return true;
}
return false;
}
bool CPhysicsNPCSolver::IsContactOnNPCHead( IPhysicsFrictionSnapshot *pSnapshot, IPhysicsObject *pPhysics, CAI_BaseNPC *pNPC )
{
float heightCheck = pNPC->GetAbsOrigin().z + pNPC->GetHullMaxs().z;
Vector vel, point;
pPhysics->GetVelocity( &vel, NULL );
pSnapshot->GetContactPoint( point );
// don't care if the object is already moving away
if ( vel.LengthSqr() < 10.0f*10.0f )
{
float topdist = fabs(point.z-heightCheck);
if ( topdist < 2.0f )
{
return true;
}
}
return false;
}
bool CPhysicsNPCSolver::CheckTouching()
{
CAI_BaseNPC *pNPC = m_hNPC.Get();
if ( !pNPC )
return false;
CBaseEntity *pPhysicsEnt = m_hEntity.Get();
if ( !pPhysicsEnt )
return false;
IPhysicsObject *pPhysics = pPhysicsEnt->VPhysicsGetObject();
IPhysicsObject *pNPCPhysics = pNPC->VPhysicsGetObject();
if ( !pNPCPhysics || !pPhysics )
return false;
IPhysicsFrictionSnapshot *pSnapshot = pPhysics->CreateFrictionSnapshot();
bool found = false;
bool penetrate = false;
while ( pSnapshot->IsValid() )
{
IPhysicsObject *pOther = pSnapshot->GetObject(1);
if ( pOther == pNPCPhysics )
{
found = true;
if ( IsContactOnNPCHead(pSnapshot, pPhysics, pNPC ) )
{
penetrate = true;
pSnapshot->MarkContactForDelete();
}
break;
}
pSnapshot->NextFrictionData();
}
pSnapshot->DeleteAllMarkedContacts( true );
pPhysics->DestroyFrictionSnapshot( pSnapshot );
// if the object is penetrating something, check to see if it's intersecting this NPC
// if so, go ahead and switch over to penetration solver mode
if ( !penetrate && (pPhysics->GetGameFlags() & FVPHYSICS_PENETRATING) )
{
penetrate = IsIntersecting();
}
if ( penetrate )
{
pPhysicsEnt->ClearNavIgnore();
BecomePenetrationSolver();
}
return found;
}
void CPhysicsNPCSolver::Think()
{
bool finished = m_allowIntersection ? !IsIntersecting() : !CheckTouching();
if ( finished )
{
UTIL_Remove(this);
return;
}
if ( m_allowIntersection )
{
IPhysicsObject *pObject = m_hEntity->VPhysicsGetObject();
if ( !pObject )
{
UTIL_Remove(this);
return;
}
pObject->Wake();
}
ResetCancelTime();
}
IMotionEvent::simresult_e CPhysicsNPCSolver::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject,
float deltaTime, Vector &linear, AngularImpulse &angular )
{
if ( IsIntersecting() )
{
const float PUSH_SPEED = 150.0f;
if ( pObject->GetGameFlags() & FVPHYSICS_PLAYER_HELD )
{
CBasePlayer *pPlayer = UTIL_GetLocalPlayer();
if ( pPlayer )
{
pPlayer->ForceDropOfCarriedPhysObjects( m_hEntity );
}
}
ResetCancelTime();
angular.Init();
linear.Init();
// Don't push on vehicles because they won't move
if ( pObject->GetGameFlags() & FVPHYSICS_MULTIOBJECT_ENTITY )
{
if ( m_hEntity->GetServerVehicle() )
return SIM_NOTHING;
}
Vector origin, vel;
pObject->GetPosition( &origin, NULL );
pObject->GetVelocity( &vel, NULL );
Vector dir = origin - m_hNPC->GetAbsOrigin();
dir.z = dir.z > 0 ? 0.1f : -0.1f;
VectorNormalize(dir);
AngularImpulse angVel;
angVel.Init();
// NOTE: Iterate this object's contact points
// if it can't move in this direction, try sliding along the plane/crease
Vector pushImpulse;
PhysComputeSlideDirection( pObject, dir * PUSH_SPEED, angVel, &pushImpulse, NULL, 0 );
dir = pushImpulse;
VectorNormalize(dir);
if ( DotProduct( vel, dir ) < PUSH_SPEED * 0.5f )
{
linear = pushImpulse;
if ( pObject->GetContactPoint(NULL,NULL) )
{
linear.z += GetCurrentGravity();
}
}
return SIM_GLOBAL_ACCELERATION;
}
return SIM_NOTHING;
}
CBaseEntity *NPCPhysics_CreateSolver( CAI_BaseNPC *pNPC, CBaseEntity *pPhysicsObject, bool disableCollisions, float separationDuration )
{
if ( disableCollisions )
{
if ( PhysEntityCollisionsAreDisabled( pNPC, pPhysicsObject ) )
return NULL;
}
else
{
if ( pPhysicsObject->IsNavIgnored() )
return NULL;
}
return CPhysicsNPCSolver::Create( pNPC, pPhysicsObject, disableCollisions, separationDuration );
}
class CPhysicsEntitySolver : public CLogicalEntity//, public IMotionEvent
{
DECLARE_CLASS( CPhysicsEntitySolver, CLogicalEntity );
public:
DECLARE_DATADESC();
void Init( CBaseEntity *pMovingEntity, CBaseEntity *pPhysicsBlocker, float separationTime );
static CPhysicsEntitySolver *Create( CBaseEntity *pMovingEntity, CBaseEntity *pPhysicsBlocker, float separationTime );
// CBaseEntity
virtual void Spawn();
virtual void UpdateOnRemove();
virtual void Think();
// IMotionEvent
//virtual simresult_e Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular );
private:
// locals
void ResetCancelTime();
void BecomePenetrationSolver();
//bool IsIntersecting();
//bool IsTouching();
EHANDLE m_hMovingEntity;
EHANDLE m_hPhysicsBlocker;
//IPhysicsMotionController *m_pController;
float m_separationDuration;
float m_cancelTime;
int m_savedCollisionGroup;
};
LINK_ENTITY_TO_CLASS( physics_entity_solver, CPhysicsEntitySolver );
BEGIN_DATADESC( CPhysicsEntitySolver )
DEFINE_FIELD( m_hMovingEntity, FIELD_EHANDLE ),
DEFINE_FIELD( m_hPhysicsBlocker, FIELD_EHANDLE ),
DEFINE_FIELD( m_separationDuration, FIELD_FLOAT ),
DEFINE_FIELD( m_cancelTime, FIELD_TIME ),
DEFINE_FIELD( m_savedCollisionGroup, FIELD_INTEGER ),
//DEFINE_PHYSPTR( m_pController ),
END_DATADESC()
CPhysicsEntitySolver *CPhysicsEntitySolver::Create( CBaseEntity *pMovingEntity, CBaseEntity *pPhysicsBlocker, float separationTime )
{
CPhysicsEntitySolver *pSolver = (CPhysicsEntitySolver *)CBaseEntity::CreateNoSpawn( "physics_entity_solver", vec3_origin, vec3_angle, NULL );
pSolver->Init( pMovingEntity, pPhysicsBlocker, separationTime );
pSolver->Spawn();
//NDebugOverlay::EntityBounds(pNPC, 255, 255, 0, 64, 0.5f );
return pSolver;
}
void CPhysicsEntitySolver::Init( CBaseEntity *pMovingEntity, CBaseEntity *pPhysicsBlocker, float separationTime )
{
m_hMovingEntity = pMovingEntity;
m_hPhysicsBlocker = pPhysicsBlocker;
//m_pController = NULL;
m_separationDuration = separationTime;
}
void CPhysicsEntitySolver::Spawn()
{
SetNextThink( gpGlobals->curtime + m_separationDuration );
PhysDisableEntityCollisions( m_hMovingEntity, m_hPhysicsBlocker );
m_savedCollisionGroup = m_hPhysicsBlocker->GetCollisionGroup();
m_hPhysicsBlocker->SetCollisionGroup( COLLISION_GROUP_DEBRIS );
if ( m_hPhysicsBlocker->VPhysicsGetObject() )
{
m_hPhysicsBlocker->VPhysicsGetObject()->RecheckContactPoints();
}
}
void CPhysicsEntitySolver::Think()
{
UTIL_Remove(this);
}
void CPhysicsEntitySolver::UpdateOnRemove()
{
//physenv->DestroyMotionController( m_pController );
//m_pController = NULL;
CBaseEntity *pEntity = m_hMovingEntity.Get();
CBaseEntity *pPhysics = m_hPhysicsBlocker.Get();
if ( pEntity && pPhysics )
{
PhysEnableEntityCollisions( pEntity, pPhysics );
}
if ( pPhysics )
{
pPhysics->SetCollisionGroup( m_savedCollisionGroup );
}
BaseClass::UpdateOnRemove();
}
CBaseEntity *EntityPhysics_CreateSolver( CBaseEntity *pMovingEntity, CBaseEntity *pPhysicsObject, bool disableCollisions, float separationDuration )
{
if ( PhysEntityCollisionsAreDisabled( pMovingEntity, pPhysicsObject ) )
return NULL;
return CPhysicsEntitySolver::Create( pMovingEntity, pPhysicsObject, separationDuration );
}