fix physics sleeping, and start adding btKinematicCharacterController to Humanoid

Dependencies/Luau

@@ -1 +1 @@
-Subproject commit 218159140c7d79ae745e646da721d12331f536f5
+Subproject commit e25de95445f2d635a125ab463426bb7fda017093

Projects/Engine/Header/App/Humanoid/Humanoid.hpp

@@ -2,6 +2,10 @@
 
 #include <App/V8/Tree/Instance.hpp>
 #include <App/V8/DataModel/PartInstance.hpp>
+#include <App/V8/World/ComPlicitNgine.hpp>
+#include "BulletDynamics/Character/btKinematicCharacterController.h"
+#include "LinearMath/btVector3.h"
+#include "btBulletDynamicsCommon.h"
 
 namespace RNR
 {
@@ -33,5 +37,7 @@ namespace RNR
             float m_health;
             float m_maxHealth;
             float m_walkRotationalVelocity;
+            btKinematicCharacterController* m_characterController;
+            btPairCachingGhostObject* m_playerGhostObject; 
     };
 }

Projects/Engine/Header/App/V8/Tree/PVInstance.hpp

@@ -18,6 +18,7 @@ namespace RNR
         Ogre::Vector3 relativePositionTo(PVInstance* point);
         virtual std::string getClassName() { return "PVInstance"; }
 
+        Ogre::Vector3 getRelativePosition(PVInstance* other) { return other->getPosition() - getPosition(); }
         Ogre::Vector3 getPosition() { return m_cframe.getPosition(); }
         Ogre::Matrix3 getRotation() { return m_cframe.getRotation(); }
     };

Projects/Engine/Header/App/V8/World/ComPlicitNgine.hpp

@@ -20,6 +20,9 @@ namespace RNR
         World* m_world;
         std::map<PartInstance*, btRigidBody*> m_physicsParts;
 
+        int m_sleepingObjects;
+        int m_activeObjects;
+
         void thread();
     public:
         ComPlicitNgine(World* world);
@@ -35,6 +38,10 @@ namespace RNR
         btRigidBody* getBody(PartInstance* part) { return m_physicsParts[part]; };
 
         void registerPhysicsPart(PartInstance* partRegistered);
+        void updatePhysicsPart(PartInstance* partUpdate);
         void deletePhysicsPart(PartInstance* partDelete);
+
+        int getSleepingObjects() { return m_sleepingObjects; }
+        int getActiveObjects() { return m_activeObjects; }
     };
 }

Projects/Engine/Header/App/V8/World/World.hpp

@@ -76,6 +76,6 @@ namespace RNR
             Ogre::SceneManager* getOgreSceneManager() { return m_ogreSceneManager; }
             bool getPhysicsShouldBeRunningPleaseStopIfItIsStillRunning() { return m_runPhysics; }
 
-            Lock physicsIterateLock;
+            Lock dynamicWorldLock;
     };
 }

Projects/Engine/Source/App/GUI/TopMenuBar.cpp

@@ -125,6 +125,7 @@ namespace RNR
     {
         Workspace* workspace = m_world->getWorkspace();
         btDiscreteDynamicsWorld* dynamicsWorld = m_world->getDynamicsWorld();
+        ComPlicitNgine* ngine = m_world->getComPlicitNgine();
 
         char debugtext[512];
         char render_debugtext[255];
@@ -137,11 +138,11 @@ namespace RNR
                 snprintf(render_debugtext, 255, "using BATCH_STATIC_GEOMETRY\nGeom Regions: %i", workspace->m_geom->getRegions().size());
                 break;
         }
-        snprintf(debugtext, 512, "Render\nLast DT = %f\n%s\n\nPhysics\nDT = %f\n%i objects, %i constraints\nRunService: running = %s, paused = %s",
+        snprintf(debugtext, 512, "Render\nLast DT = %f\n%s\n\nPhysics\nDT = %f\n%i objects (%i active, %i sleeping), %i constraints\nRunService: running = %s, paused = %s",
                  m_world->getLastDelta(),
                  render_debugtext,
                  m_world->getLastPhysicsDelta(),
-                 dynamicsWorld->getNumCollisionObjects(), dynamicsWorld->getNumConstraints(),
+                 dynamicsWorld->getNumCollisionObjects(), ngine->getActiveObjects(), ngine->getSleepingObjects(), dynamicsWorld->getNumConstraints(),
                  m_world->getRunService()->getRunning() ? "true" : "false",
                  m_world->getRunService()->getPaused() ? "true" : "false");
         m_debugText->setCaption(debugtext);

Projects/Engine/Source/App/Humanoid/Humanoid.cpp

@@ -2,6 +2,9 @@
 #include <App/V8/World/World.hpp>
 #include <App/V8/World/Weld.hpp>
 #include <App/InputManager.hpp>
+#include "btBulletCollisionCommon.h"
+#include "BulletCollision/CollisionDispatch/btGhostObject.h"
+#include <Helpers/Bullet.hpp>
 
 namespace RNR
 {
@@ -11,6 +14,15 @@ namespace RNR
 
         m_maxHealth = 100.f;
         m_health = 100.f;
+        
+        btBoxShape* playerShape = new btBoxShape(btVector3(1,2,0.5));
+        m_playerGhostObject = new btPairCachingGhostObject();
+        world->getDynamicsWorld()->getPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
+
+        m_playerGhostObject->setCollisionShape(playerShape);
+        m_playerGhostObject->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
+
+        m_characterController = new btKinematicCharacterController(m_playerGhostObject, playerShape, 0.5, btVector3(0.0, 1.0, 0.0));
     }
 
     Humanoid::~Humanoid()
@@ -32,6 +44,18 @@ namespace RNR
             headWeld->create();
             headWeld->setParent(getTorso());
         }
+
+        if(getTorso())
+        {
+            btTransform ghostTransform;
+            ghostTransform.setIdentity();
+            ghostTransform.setOrigin(Bullet::v3ToBullet(getTorso()->getPosition()));
+            ghostTransform.setRotation(Bullet::qtToBullet(getTorso()->getRotation()));
+            m_playerGhostObject->setWorldTransform(ghostTransform);
+
+            world->getDynamicsWorld()->addCollisionObject(m_playerGhostObject, btBroadphaseProxy::CharacterFilter, btBroadphaseProxy::StaticFilter|btBroadphaseProxy::DefaultFilter);
+            world->getDynamicsWorld()->addAction(m_characterController);
+        }
     }
 
     void Humanoid::checkForJointDeath()
@@ -120,9 +144,11 @@ namespace RNR
             if(inputManager->isKeyDown('W'))
                 forward = 16;
 
-            Ogre::Vector3 move = Ogre::Vector3(0, 0, -forward);
+            Ogre::Vector3 move = Ogre::Vector3(0, 0, forward);
             move = direction * move;
-            move *= world->getLastDelta();
+            move *= world->getComPlicitNgine()->getLastPhysicsDelta();
+
+            m_characterController->playerStep(world->getDynamicsWorld(), forward);
 
             bool move_valid = true;
 
@@ -136,13 +162,14 @@ namespace RNR
                 PartInstance* bp = dynamic_cast<PartInstance*>(child);
                 if(bp)
                 {
-                    Ogre::Vector3 bp_p = bp->getPosition();
+                    Ogre::Vector3 bp_p = bp->getRelativePosition(getTorso());
-                    bp_p += move;
+
-                    bp->getCFrame().setPosition(bp_p);
+                    bp->getCFrame().setPosition(bp_p + Bullet::v3ToOgre(m_characterController->getGhostObject()->getWorldTransform().getOrigin()));
                     Ogre::Matrix3 new_rotation_matrix;
                     new_direction.ToRotationMatrix(new_rotation_matrix);
                     bp->getCFrame().setRotation(new_rotation_matrix);
                     bp->updateMatrix();
+                    world->getComPlicitNgine()->updatePhysicsPart(bp);
                     world->getWorkspace()->setDirty();
                 }
             }

Projects/Engine/Source/App/V8/World/ComPlicitNgine.cpp

@@ -16,6 +16,9 @@ namespace RNR
             
             m_lastPhysicsDelta = delta;
             m_physicsTime = time;
+
+            if(m_lastPhysicsDelta == 0)
+                std::this_thread::sleep_for(std::chrono::milliseconds(1));
             
             m_world->preStep();
             m_world->step(delta);
@@ -43,20 +46,25 @@ namespace RNR
         for(int j = m_dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
         {
             btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[j];
-            if(!obj->isActive())
+            if(obj->getActivationState() != ACTIVE_TAG)
                 continue;
             PartInstance* part = (PartInstance*)obj->getUserPointer();
-            part->updateMatrix();
+            if(part)
+            {
+                part->updateMatrix();
+            }
         }   
     }
 
     void ComPlicitNgine::updateTree()
     {
+        m_activeObjects = 0;
+        m_sleepingObjects = 0;
         for(int j = m_dynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--)
         {
             btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[j];
-            if(!obj->isActive())
+            if(obj->getActivationState() != ACTIVE_TAG) { m_sleepingObjects++; continue; }
-                continue;
+            m_activeObjects++;
             btRigidBody* body = btRigidBody::upcast(obj);
             btTransform trans;
             if(body && body->getMotionState())
@@ -68,11 +76,14 @@ namespace RNR
                 trans = obj->getWorldTransform();
             }
             PartInstance* part = (PartInstance*)obj->getUserPointer();
-            part->getCFrame().setPosition(Bullet::v3ToOgre(trans.getOrigin()));
+            if(part)
-            Ogre::Matrix3 partRot;
+            {
-            Ogre::Quaternion transOgre = Bullet::qtToOgre(trans.getRotation());
+                part->getCFrame().setPosition(Bullet::v3ToOgre(trans.getOrigin()));
-            transOgre.ToRotationMatrix(partRot);
+                Ogre::Matrix3 partRot;
-            part->getCFrame().setRotation(partRot);
+                Ogre::Quaternion transOgre = Bullet::qtToOgre(trans.getRotation());
+                transOgre.ToRotationMatrix(partRot);
+                part->getCFrame().setRotation(partRot);
+            }
         }
     }
 
@@ -99,13 +110,25 @@ namespace RNR
         btRigidBody* body = new btRigidBody(rbInfo);
         body->setUserPointer(partRegistered);
 
-        m_world->physicsIterateLock.lock();
+        m_world->dynamicWorldLock.lock();
         m_dynamicsWorld->addRigidBody(body);        
-        m_world->physicsIterateLock.unlock();
+        m_world->dynamicWorldLock.unlock();
 
         m_physicsParts[partRegistered] = body;
     }
 
+    void ComPlicitNgine::updatePhysicsPart(PartInstance* partUpdate)
+    {
+        btRigidBody* toUpdate = m_physicsParts[partUpdate];
+        if(toUpdate)
+        {
+            btTransform& bodytf = toUpdate->getWorldTransform();
+            bodytf.setIdentity();
+            bodytf.setOrigin(Bullet::v3ToBullet(partUpdate->getPosition()));
+            bodytf.setRotation(Bullet::qtToBullet(partUpdate->getRotation()));
+        }
+    }
+
     void ComPlicitNgine::deletePhysicsPart(PartInstance* partDelete)
     {
         btRigidBody* toDelete = m_physicsParts[partDelete];

Projects/Engine/Source/App/V8/World/Weld.cpp

@@ -25,9 +25,17 @@ namespace RNR
     void Weld::create()
     {
         if(!m_aBody || !m_bBody)
+        {
+            printf("Weld::create: invalid body\n");
             return;
+        }
         
-        m_constraint = new btFixedConstraint(*m_aBody, *m_bBody, m_aBody->getWorldTransform(), m_bBody->getWorldTransform());
+		btTransform frameInA, frameInB;
+		frameInA = btTransform::getIdentity();
+		frameInB = btTransform::getIdentity();
+
+        m_constraint = new btFixedConstraint(*m_aBody, *m_bBody, frameInA, frameInB);
+        printf("Weld::create: welded\n");
     }
 
     void Weld::destroy()

Projects/Engine/Source/App/V8/World/World.cpp

@@ -53,6 +53,14 @@ namespace RNR
         Camera* start_cam = new Camera();
         start_cam->setParent(m_workspace);
         m_workspace->setCurrentCamera(start_cam);
+
+        PartInstance* baseplate = new PartInstance();
+        baseplate->setName("Baseplate");
+        baseplate->getCFrame().setPosition(Ogre::Vector3(0, -64, 0));
+        baseplate->setSize(Ogre::Vector3(512, 1, 512));
+        baseplate->setBrickColor(2);
+        baseplate->setAnchored(true);
+        baseplate->setParent(m_workspace);
     }
 
     World::~World()
@@ -166,7 +174,9 @@ namespace RNR
         if(m_runService && m_runService->getRunning() && !m_runService->getPaused())
         {
             m_runService->step(timestep);
-            m_dynamicsWorld->stepSimulation(timestep, 1);
+            dynamicWorldLock.lock();
+            m_dynamicsWorld->stepSimulation(std::max(timestep, 0.000001f), 1);
+            dynamicWorldLock.unlock();
             m_ngine->updateTree();
         }
         return 0.0;

Projects/Engine/Source/Network/Player.cpp

@@ -49,6 +49,7 @@ namespace RNR
         torso->getCFrame().setPosition(Ogre::Vector3(0, 0, 0));
         torso->updateMatrix();
         torso->setParent(m_character);
+        torso->setAnchored(true);
         
         Humanoid* character_humanoid = new Humanoid();
         character_humanoid->setParent(m_character);