Improve vehicle door dynamics

+ Vehicle doors should move in the right direction now
+ Fix debugging draw class for bullet

rwengine/include/objects/VehicleObject.hpp

@@ -40,6 +40,8 @@ public:
 		btHingeConstraint* constraint;
 		bool holdAngle;
 		float targetAngle;
+		float openAngle;
+		float closedAngle;
 	};
 	
 	std::map<std::string, Part> dynamicParts;

rwengine/include/render/DebugDraw.hpp

@@ -1,11 +1,8 @@
 #pragma once
 
 #include <LinearMath/btIDebugDraw.h>
-
-#define GLEW_STATIC
-#include <GL/glew.h>
-#include <vector>
-#include <glm/glm.hpp>
+#include <render/GameRenderer.hpp>
+#include "Model.hpp"
 
 class DebugDraw : public btIDebugDraw
 {
@@ -21,21 +18,21 @@ public:
 	void setDebugMode(int debugMode);
 	int getDebugMode() const;
 
-    void drawAllLines();
+    void flush(GameRenderer* renderer);
 
-	void setShaderProgram(GLuint shaderProgram) {
+	void setShaderProgram(Renderer::ShaderProgram* shaderProgram) {
 		this->shaderProgram = shaderProgram;
 	}
 
 protected:
 	int debugMode;
 
-    std::vector<glm::vec3> lines;
-    size_t maxlines;
+	std::vector<Model::GeometryVertex> lines;
+	size_t maxlines;
+	GeometryBuffer* lineBuff;
+	DrawBuffer* dbuff;
 
-    btVector3 color;
+	Renderer::ShaderProgram* shaderProgram;
 
-	GLuint shaderProgram;
-
-	GLuint vbo, vao, texture;
+	GLuint texture;
 };

rwengine/src/ai/CharacterController.cpp

@@ -1,8 +1,11 @@
 #include <ai/CharacterController.hpp>
 #include <objects/CharacterObject.hpp>
 #include <objects/VehicleObject.hpp>
+
+#include <render/Model.hpp>
 #include <engine/Animator.hpp>
 #include <items/WeaponItem.hpp>
+#include <boost/concept_check.hpp>
 
 bool CharacterController::updateActivity()
 {
@@ -69,6 +72,22 @@ void CharacterController::update(float dt)
 		if( _currentActivity == nullptr ) {
 			/// @todo play _low variant if car has low flag.
 			character->playAnimation(character->animations.car_sit, true);
+			
+			// If character is idle in vehicle, close door.
+			if( glm::length( d ) <= 0.1f )
+			{
+				auto entryDoor = character->getCurrentVehicle()->getSeatEntryDoor(character->getCurrentSeat());
+				
+				if( entryDoor && entryDoor->constraint )
+				{
+					character->getCurrentVehicle()->setPartTarget(entryDoor, true, entryDoor->closedAngle);
+				}
+			}
+			else
+			{
+				auto entryDoor = character->getCurrentVehicle()->getSeatEntryDoor(character->getCurrentSeat());
+				entryDoor->holdAngle = false;
+			}
 		}
 	}
 	else {
@@ -242,7 +261,7 @@ bool Activities::EnterVehicle::update(CharacterObject *character, CharacterContr
 			}
 			else if( entryDoor && character->animator->getAnimationTime() >= 0.5f )
 			{
-				vehicle->setPartTarget(entryDoor, true, 1.f);
+				vehicle->setPartTarget(entryDoor, true, entryDoor->openAngle);
 			}
 			else {
 				//character->setPosition(vehicle->getSeatEntryPosition(seat));
@@ -251,11 +270,6 @@ bool Activities::EnterVehicle::update(CharacterObject *character, CharacterContr
 		}
 		else if( character->animator->getAnimation() == anm_enter ) {
 			if( character->animator->isCompleted() ) {
-				if( entryDoor )
-				{
-					vehicle->setPartTarget(entryDoor, true, 0.f);
-				}
-			
 				// VehicleGetIn is over, finish activity
 				return true;
 			}
@@ -275,7 +289,7 @@ bool Activities::EnterVehicle::update(CharacterObject *character, CharacterContr
 			character->rotation = vehicle->getRotation();
 			
 			// Determine if the door open animation should be skipped.
-			if( entryDoor == nullptr || (entryDoor->constraint != nullptr && entryDoor->constraint->getHingeAngle() >= 0.6f ) )
+			if( entryDoor == nullptr || (entryDoor->constraint != nullptr && glm::abs(entryDoor->constraint->getHingeAngle()) >= 0.6f ) )
 			{
 				character->playAnimation(anm_enter, false);
 				character->enterVehicle(vehicle, seat);
@@ -329,7 +343,7 @@ bool Activities::ExitVehicle::update(CharacterObject *character, CharacterContro
 		auto door = vehicle->getSeatEntryDoor(character->getCurrentSeat());
 		if( door )
 		{
-			vehicle->setPartTarget(door, true, 1.f);
+			vehicle->setPartTarget(door, true, door->openAngle);
 		}
 	}
 

rwengine/src/loaders/TextureLoader.cpp

@@ -159,7 +159,7 @@ GLuint createTexture(RW::BSTextureNative& texNative, RW::BinaryStreamSection& ro
 		break;
 	}
 
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, texFilter);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, texFilter);
 
 	GLenum texwrap = GL_REPEAT;

rwengine/src/objects/VehicleObject.cpp

@@ -8,7 +8,7 @@
 #include <render/Model.hpp>
 #include <engine/Animator.hpp>
 
-#define PART_CLOSE_VELOCITY 0.5f
+#define PART_CLOSE_VELOCITY 0.25f
 
 VehicleObject::VehicleObject(GameWorld* engine, const glm::vec3& pos, const glm::quat& rot, ModelHandle* model, VehicleDataHandle data, VehicleInfoHandle info, const glm::u8vec3& prim, const glm::u8vec3& sec)
 	: GameObject(engine, pos, rot, model),
@@ -297,25 +297,30 @@ void VehicleObject::tickPhysics(float dt)
 			if(it.second.body == nullptr) continue;
 			auto inv = glm::inverse(getRotation());
 			auto rot = it.second.body->getWorldTransform().getRotation();
+			auto pos = it.second.body->getWorldTransform().getOrigin();
 			auto r2 = inv * glm::quat(rot.w(), rot.x(), rot.y(), rot.z());
+			//auto p2 = inv * (glm::vec3(pos.x(), pos.y(), pos.z()) - getPosition());
 			
 			auto& prev = skeleton->getData(it.second.dummy->getIndex()).a;
 			auto next = prev;
 			next.rotation = r2;
+			//next.translation = p2;
 			skeleton->setData(it.second.dummy->getIndex(), { next, prev, true } );
 			
 			if( it.second.holdAngle )
 			{
 				it.second.constraint->setMotorTarget(it.second.targetAngle, 0.1f);
 			}
+			it.second.constraint->enableMotor( it.second.holdAngle );
 			
 			// If the part is moving quite fast and near the limit, lock it.
 			/// @TODO not all parts rotate in the z axis.
 			if(it.second.body->getAngularVelocity().getZ() >= PART_CLOSE_VELOCITY)
 			{
-				auto d = it.second.constraint->getHingeAngle() - it.second.constraint->getLowerLimit();
-				if( std::abs(d) < 0.01f )
+				auto d = it.second.constraint->getHingeAngle() - it.second.closedAngle;
+				if( std::abs(d) < 0.05f )
 				{
+					it.second.holdAngle = false;
 					setPartLocked(&(it.second), true);
 				}
 			}
@@ -602,19 +607,28 @@ void VehicleObject::createObjectHinge(btTransform& local, Part *part)
 	
 	auto& geom = model->model->geometries[okframe->getGeometries()[0]];
 	auto gbounds = geom->geometryBounds;
-
+	
 	if( fn.find("door") != fn.npos ) {
 		hingeAxis = {0.f, 0.f, 1.f};
-		hingePosition = {0.f, 0.2f, 0.f};
-		boxSize = {0.1f, 0.4f, gbounds.radius/2.f};
-		boxOffset = {0.f,-0.2f, gbounds.center.z/2.f};
-		if( sign > 0.f ) {
-			hingeMin = -glm::quarter_pi<float>() * 1.5f;
-			hingeMax = 0.f;
-		}
-		else {
+		//hingePosition = {0.f, 0.2f, 0.f};
+		boxSize = {0.15f, 0.5f, 0.6f};
+		//boxOffset = {0.f,-0.2f, gbounds.center.z/2.f};
+		auto tf = gbounds.center;
+		boxOffset = btVector3(tf.x, tf.y, tf.z);
+		hingePosition = -boxOffset;
+		
+		if( sign < 0.f ) {
 			hingeMax = glm::quarter_pi<float>() * 1.5f;
 			hingeMin = 0.f;
+			part->openAngle = hingeMax;
+			part->closedAngle = hingeMin;
+		}
+		else
+		{
+			hingeMin = glm::quarter_pi<float>() * -1.5f;
+			hingeMax = 0.f;
+			part->openAngle = hingeMin;
+			part->closedAngle = hingeMax;
 		}
 	}
 	else if( fn.find("bonnet") != fn.npos ) {
@@ -637,14 +651,11 @@ void VehicleObject::createObjectHinge(btTransform& local, Part *part)
 	auto o = glm::toQuat(part->dummy->getDefaultRotation());
 	tr.setOrigin(btVector3(p.x, p.y, p.z));
 	tr.setRotation(btQuaternion(o.x, o.y, o.z, o.w));
-
 	dms->setWorldTransform(local * tr);
 
-	btCompoundShape* cs = new btCompoundShape;
-	btCollisionShape* bshape = new btBoxShape( boxSize );
+	btCollisionShape* cs = new btBoxShape( boxSize );
 	btTransform t; t.setIdentity();
 	t.setOrigin(boxOffset);
-	cs->addChildShape(t, bshape);
 
 	btVector3 inertia;
 	cs->calculateLocalInertia(10.f, inertia);
@@ -659,9 +670,10 @@ void VehicleObject::createObjectHinge(btTransform& local, Part *part)
 				tr.getOrigin(), hingePosition,
 				hingeAxis, hingeAxis);
 	hinge->setLimit(hingeMin, hingeMax);
-
-	//engine->dynamicsWorld->addRigidBody(subObject);
-	//engine->dynamicsWorld->addConstraint(hinge, true);
+	hinge->setBreakingImpulseThreshold(250.f);
+	
+	engine->dynamicsWorld->addRigidBody(subObject);
+	engine->dynamicsWorld->addConstraint(hinge, true);
 	
 	part->body = subObject;
 	part->constraint = hinge;

rwengine/src/render/DebugDraw.cpp

@@ -10,25 +10,48 @@
 #include <iostream>
 
 DebugDraw::DebugDraw()
+: shaderProgram(nullptr)
 {
-	glGenBuffers(1, &vbo);
-	glGenVertexArrays(1, &vao);
+	lineBuff = new GeometryBuffer;
+	dbuff = new DrawBuffer;
+	dbuff->setFaceType(GL_LINES);
+	
     glGenTextures(1, &texture);
+	
+	glActiveTexture(GL_TEXTURE0);
+	glBindTexture(GL_TEXTURE_2D, texture);
+	int img = 0xFFFFFFFF;
+	glTexImage2D(
+		GL_TEXTURE_2D, 0, GL_RGBA, 1, 1,
+		0, GL_RGBA, GL_UNSIGNED_BYTE, &img
+	);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+	
     maxlines = 0;
 }
 
 DebugDraw::~DebugDraw()
 {
-	glDeleteBuffers(1, &vbo);
-	glDeleteVertexArrays(1, &vbo);
-	glDeleteTextures(1, &texture);
+	delete dbuff;
+	delete lineBuff;
 }
 
 void DebugDraw::drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)
 {
-    lines.push_back(glm::vec3(from.getX(), from.getY(), from.getZ()));
-    lines.push_back(glm::vec3(to.getX(), to.getY(), to.getZ()));
-    this->color = color;
+	btVector3 c = color * 255;
+	lines.push_back({
+		glm::vec3(from.getX(), from.getY(), from.getZ()),
+		glm::vec3(0.f),
+		glm::vec2(0.f),
+		glm::u8vec4(c.getX(), c.getY(), c.getZ(), 255)
+	});
+	lines.push_back({
+		glm::vec3(to.getX(), to.getY(), to.getZ()),
+		glm::vec3(0.f),
+		glm::vec2(0.f),
+		glm::u8vec4(c.getX(), c.getY(), c.getZ(), 255)
+	});
 }
 
 void DebugDraw::drawTriangle(const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &color, btScalar alpha)
@@ -72,48 +95,35 @@ void DebugDraw::drawContactPoint(const btVector3 &pointOnB, const btVector3 &nor
 
 }
 
-void DebugDraw::drawAllLines()
+void DebugDraw::flush(GameRenderer* renderer)
 {
-    if(lines.size() == 0) {
-        return;
-    }
+	if(lines.size() == 0) {
+		return;
+	}
+	
+	renderer->getRenderer()->useProgram(shaderProgram);
+	
+	lineBuff->uploadVertices(lines);
+	dbuff->addGeometry(lineBuff);
 
-    glActiveTexture(GL_TEXTURE0);
-    glBindTexture(GL_TEXTURE_2D, texture);
-    glActiveTexture(GL_TEXTURE0);
-    glBindTexture(GL_TEXTURE_2D, texture);
-    float img[] = {color.getX(), color.getY(), color.getZ()};
-    glTexImage2D(
-        GL_TEXTURE_2D, 0, GL_RGB, 1, 1,
-        0, GL_RGB, GL_FLOAT, img
-    );
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	Renderer::DrawParameters dp;
+	dp.texture = texture;
+	dp.ambient = 1.f;
+	dp.colour = glm::u8vec4(255, 255, 255, 255);
+	dp.start = 0;
+	dp.count = lines.size();
+	dp.diffuse = 1.f;
+	
+	renderer->getRenderer()->drawArrays(glm::mat4(1.f), dbuff, dp);
+	
+	renderer->getRenderer()->invalidate();
+	
+	glUseProgram(0);
+	glBindBuffer(GL_ARRAY_BUFFER, 0);
+	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+	glBindVertexArray( 0 );
 
-    GLint posAttrib = glGetAttribLocation(shaderProgram, "position");
-    GLint uniModel = glGetUniformLocation(shaderProgram, "model");
-
-    glBindVertexArray(vao);
-    glBindBuffer(GL_ARRAY_BUFFER, vbo);
-    if( lines.size() > maxlines ) {
-        glBufferData(GL_ARRAY_BUFFER, sizeof(glm::vec3) * lines.size(), &lines[0].x, GL_STREAM_DRAW);
-    }
-    else {
-        glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(glm::vec3) * lines.size(), &lines[0].x);
-    }
-    maxlines = std::max(maxlines, lines.size());
-
-    glEnableVertexAttribArray(posAttrib);
-    glVertexAttribPointer(posAttrib, 3, GL_FLOAT, GL_FALSE, 0, 0);
-
-    glm::mat4 model;
-    glUniformMatrix4fv(uniModel, 1, GL_FALSE, glm::value_ptr(model));
-
-    glDrawArrays(GL_LINES, 0, lines.size());
-
-    lines.clear();
+	lines.clear();
 }
 
 void DebugDraw::reportErrorWarning(const char *warningString)

rwengine/src/render/OpenGLRenderer.cpp

@@ -212,7 +212,6 @@ void OpenGLRenderer::draw(const glm::mat4& model, DrawBuffer* draw, const Render
 
 void OpenGLRenderer::drawArrays(const glm::mat4& model, DrawBuffer* draw, const Renderer::DrawParameters& p)
 {
-
 	useDrawBuffer(draw);
 	useTexture(p.texture);
 

rwgame/RWGame.cpp

@@ -5,10 +5,15 @@
 #include <engine/GameObject.hpp>
 #include <engine/GameState.hpp>
 #include <render/GameRenderer.hpp>
+#include <render/DebugDraw.hpp>
 #include <script/ScriptMachine.hpp>
 
 #include <data/CutsceneData.hpp>
 #include <ai/PlayerController.hpp>
+#include <objects/CharacterObject.hpp>
+#include <objects/VehicleObject.hpp>
+
+DebugDraw* debug;
 
 RWGame::RWGame(const std::string& gamepath)
 	: engine(nullptr), inFocus(true),
@@ -38,6 +43,9 @@ RWGame::RWGame(const std::string& gamepath)
 
 	/// @TODO expand this here.
 	engine->load();
+	debug = new DebugDraw;
+	debug->setDebugMode(btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits);
+	engine->dynamicsWorld->setDebugDrawer(debug);
 
 	engine->gameData.loadDynamicObjects(gamepath + "/data/object.dat");
 
@@ -212,7 +220,25 @@ void RWGame::render(float alpha)
 	glClear(GL_DEPTH_BUFFER_BIT|GL_COLOR_BUFFER_BIT);
 
 	engine->renderer.renderWorld(viewCam, alpha);
-
+	
+	debug->setShaderProgram(engine->renderer.worldProg);
+	if( engine->state.player )
+	{
+		if( engine->state.player->getCharacter()->getCurrentVehicle() )
+		{
+			auto v = engine->state.player->getCharacter()->getCurrentVehicle();
+			for( auto& p : v->dynamicParts )
+			{
+				if( p.second.body )
+				{
+					engine->dynamicsWorld->debugDrawObject(p.second.body->getWorldTransform(), p.second.body->getCollisionShape(), btVector3(1.f, 0.f, 0.f));
+					engine->dynamicsWorld->debugDrawConstraint(p.second.constraint);
+				}
+			}
+		}
+	}
+	debug->flush(&engine->renderer);
+	
 	window.resetGLStates();
 
 	std::stringstream ss;