set svn:eol-style
Jeff Ames
parent
4f05347246
commit
21c35d5703
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@ -1,477 +1,477 @@
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using System;
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using System.Collections.Generic;
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using Axiom.Math;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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public class OdeCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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private d.Vector3 _zeroPosition;
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private bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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private PhysicsVector _velocity;
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private PhysicsVector _target_velocity;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity;
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private static float PID_D = 3020.0f;
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private static float PID_P = 7000.0f;
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.5f;
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public float CAPSULE_LENGTH = 0.79f;
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private bool flying = false;
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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private bool m_wascolliding = false;
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private bool m_wascollidingGround = false;
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private bool m_alwaysRun = false;
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private bool m_hackSentFall = false;
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private bool m_hackSentFly = false;
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private string m_name = "";
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private bool[] m_colliderarr = new bool[11];
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private bool[] m_colliderGroundarr = new bool[11];
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private bool jumping = false;
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//private float gravityAccel;
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public IntPtr Body;
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private OdeScene _parent_scene;
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public IntPtr Shell;
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public d.Mass ShellMass;
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public bool collidelock = false;
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public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
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{
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_velocity = new PhysicsVector();
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_target_velocity = new PhysicsVector();
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_position = pos;
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_acceleration = new PhysicsVector();
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_parent_scene = parent_scene;
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for (int i = 0; i < 11; i++)
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{
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m_colliderarr[i] = false;
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}
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lock (OdeScene.OdeLock)
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{
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Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
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Body = d.BodyCreate(parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
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d.GeomSetBody(Shell, Body);
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}
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m_name = avName;
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parent_scene.geom_name_map[Shell] = avName;
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parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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}
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public override int PhysicsActorType
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{
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get { return (int)ActorTypes.Agent; }
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set { return; }
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}
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public override bool SetAlwaysRun
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{
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get { return m_alwaysRun; }
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set { m_alwaysRun = value; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool Flying
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{
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get { return flying; }
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set { flying = value; }
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}
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public override bool IsColliding
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{
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get { return m_iscolliding; }
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set
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{
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderarr[i] = m_colliderarr[i + 1];
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}
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}
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m_colliderarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2 * truecount)
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{
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m_iscolliding = false;
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}
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else
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{
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m_iscolliding = true;
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}
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if (m_wascolliding != m_iscolliding)
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{
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base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascolliding = m_iscolliding;
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}
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}
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public override bool CollidingGround
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{
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get { return m_iscollidingGround; }
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set
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{
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderGroundarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
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}
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}
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m_colliderGroundarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderGroundarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2 * truecount)
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{
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m_iscollidingGround = false;
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}
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else
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{
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m_iscollidingGround = true;
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}
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if (m_wascollidingGround != m_iscollidingGround)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascollidingGround = m_iscollidingGround;
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}
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}
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public override bool CollidingObj
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{
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get { return false; }
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set { return; }
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set
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{
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lock (OdeScene.OdeLock)
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{
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d.BodySetPosition(Body, value.X, value.Y, value.Z);
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_position = value;
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}
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}
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
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set
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{
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lock (OdeScene.OdeLock)
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{
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PhysicsVector SetSize = value;
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float prevCapsule = CAPSULE_LENGTH;
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float capsuleradius = CAPSULE_RADIUS;
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capsuleradius = 0.2f;
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CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
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d.BodyDestroy(Body);
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d.GeomDestroy(Shell);
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//OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
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Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
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d.GeomSetBody(Shell, Body);
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}
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_parent_scene.geom_name_map[Shell] = m_name;
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_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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}
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}
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public override PrimitiveBaseShape Shape
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{
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set
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{
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return;
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}
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set { _target_velocity = value; }
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}
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public override bool Kinematic
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{
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get { return false; }
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set { }
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}
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public override Quaternion Orientation
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{
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get { return Quaternion.Identity; }
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set { }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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_acceleration = accel;
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}
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public override void AddForce(PhysicsVector force)
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{
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_target_velocity.X += force.X;
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_target_velocity.Y += force.Y;
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_target_velocity.Z += force.Z;
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//m_lastUpdateSent = false;
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}
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public void doForce(PhysicsVector force)
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{
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if (!collidelock)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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// ok -- let's stand up straight!
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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//m_lastUpdateSent = false;
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}
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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public void Move(float timeStep)
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{
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// no lock; for now it's only called from within Simulate()
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PhysicsVector vec = new PhysicsVector();
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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float movementdivisor = 1f;
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if (!m_alwaysRun)
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{
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movementdivisor = 1.3f;
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}
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else
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{
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movementdivisor = 0.8f;
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}
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// if velocity is zero, use position control; otherwise, velocity control
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if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
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{
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// keep track of where we stopped. No more slippin' & slidin'
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if (!_zeroFlag)
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{
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_zeroFlag = true;
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_zeroPosition = d.BodyGetPosition(Body);
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}
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
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vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
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if (flying)
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{
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vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
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}
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}
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else
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{
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_zeroFlag = false;
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if (m_iscolliding || flying)
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{
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vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
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vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
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}
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if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
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if (_target_velocity.X > 0)
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{
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vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
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}
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if (_target_velocity.Y > 0)
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{
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vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
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}
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}
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else if (!m_iscolliding && !flying)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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if (_target_velocity.X > 0)
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{
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vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
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}
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if (_target_velocity.Y > 0)
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{
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vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
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}
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}
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if (flying)
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{
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vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
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}
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}
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if (flying)
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{
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vec.Z += 10.0f;
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}
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doForce(vec);
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}
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public void UpdatePositionAndVelocity()
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{
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// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
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d.Vector3 vec = d.BodyGetPosition(Body);
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// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
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if (vec.X < 0.0f) vec.X = 0.0f;
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if (vec.Y < 0.0f) vec.Y = 0.0f;
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if (vec.X > 255.95f) vec.X = 255.95f;
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if (vec.Y > 255.95f) vec.Y = 255.95f;
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_position.X = vec.X;
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_position.Y = vec.Y;
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_position.Z = vec.Z;
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if (_zeroFlag)
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{
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_velocity.X = 0.0f;
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_velocity.Y = 0.0f;
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_velocity.Z = 0.0f;
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if (!m_lastUpdateSent)
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{
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m_lastUpdateSent = true;
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base.RequestPhysicsterseUpdate();
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string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
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int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
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if (primScenAvatarIn == "0")
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{
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OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
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}
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else
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{
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OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
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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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m_lastUpdateSent = false;
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vec = d.BodyGetLinearVel(Body);
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_velocity.X = (vec.X);
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_velocity.Y = (vec.Y);
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_velocity.Z = (vec.Z);
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if (_velocity.Z < -6 && !m_hackSentFall)
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{
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m_hackSentFall = true;
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base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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else if (flying && !m_hackSentFly)
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{
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//m_hackSentFly = true;
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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else
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{
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m_hackSentFly = false;
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m_hackSentFall = false;
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}
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}
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}
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public void Destroy()
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{
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lock (OdeScene.OdeLock)
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{
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d.GeomDestroy(Shell);
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_parent_scene.geom_name_map.Remove(Shell);
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d.BodyDestroy(Body);
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}
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}
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}
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}
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using System;
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using System.Collections.Generic;
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using Axiom.Math;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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public class OdeCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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private d.Vector3 _zeroPosition;
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private bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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private PhysicsVector _velocity;
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private PhysicsVector _target_velocity;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity;
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private static float PID_D = 3020.0f;
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private static float PID_P = 7000.0f;
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.5f;
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public float CAPSULE_LENGTH = 0.79f;
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private bool flying = false;
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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private bool m_wascolliding = false;
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private bool m_wascollidingGround = false;
|
||||
private bool m_alwaysRun = false;
|
||||
private bool m_hackSentFall = false;
|
||||
private bool m_hackSentFly = false;
|
||||
private string m_name = "";
|
||||
|
||||
private bool[] m_colliderarr = new bool[11];
|
||||
private bool[] m_colliderGroundarr = new bool[11];
|
||||
|
||||
|
||||
private bool jumping = false;
|
||||
//private float gravityAccel;
|
||||
public IntPtr Body;
|
||||
private OdeScene _parent_scene;
|
||||
public IntPtr Shell;
|
||||
public d.Mass ShellMass;
|
||||
public bool collidelock = false;
|
||||
|
||||
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
|
||||
{
|
||||
_velocity = new PhysicsVector();
|
||||
_target_velocity = new PhysicsVector();
|
||||
_position = pos;
|
||||
_acceleration = new PhysicsVector();
|
||||
_parent_scene = parent_scene;
|
||||
|
||||
for (int i = 0; i < 11; i++)
|
||||
{
|
||||
m_colliderarr[i] = false;
|
||||
}
|
||||
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
|
||||
Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
|
||||
Body = d.BodyCreate(parent_scene.world);
|
||||
d.BodySetMass(Body, ref ShellMass);
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
d.GeomSetBody(Shell, Body);
|
||||
}
|
||||
m_name = avName;
|
||||
parent_scene.geom_name_map[Shell] = avName;
|
||||
parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
|
||||
}
|
||||
public override int PhysicsActorType
|
||||
{
|
||||
get { return (int)ActorTypes.Agent; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool SetAlwaysRun
|
||||
{
|
||||
get { return m_alwaysRun; }
|
||||
set { m_alwaysRun = value; }
|
||||
}
|
||||
public override bool IsPhysical
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool ThrottleUpdates
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool Flying
|
||||
{
|
||||
get { return flying; }
|
||||
set { flying = value; }
|
||||
}
|
||||
public override bool IsColliding
|
||||
{
|
||||
|
||||
get { return m_iscolliding; }
|
||||
set
|
||||
{
|
||||
int i;
|
||||
int truecount = 0;
|
||||
int falsecount = 0;
|
||||
|
||||
if (m_colliderarr.Length >= 10)
|
||||
{
|
||||
for (i = 0; i < 10; i++)
|
||||
{
|
||||
m_colliderarr[i] = m_colliderarr[i + 1];
|
||||
}
|
||||
}
|
||||
m_colliderarr[10] = value;
|
||||
|
||||
for (i = 0; i < 11; i++)
|
||||
{
|
||||
if (m_colliderarr[i])
|
||||
{
|
||||
truecount++;
|
||||
}
|
||||
else
|
||||
{
|
||||
falsecount++;
|
||||
}
|
||||
}
|
||||
|
||||
// Equal truecounts and false counts means we're colliding with something.
|
||||
|
||||
if (falsecount > 1.2 * truecount)
|
||||
{
|
||||
m_iscolliding = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_iscolliding = true;
|
||||
}
|
||||
if (m_wascolliding != m_iscolliding)
|
||||
{
|
||||
base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
m_wascolliding = m_iscolliding;
|
||||
}
|
||||
}
|
||||
public override bool CollidingGround
|
||||
{
|
||||
get { return m_iscollidingGround; }
|
||||
set
|
||||
{
|
||||
int i;
|
||||
int truecount = 0;
|
||||
int falsecount = 0;
|
||||
|
||||
if (m_colliderGroundarr.Length >= 10)
|
||||
{
|
||||
for (i = 0; i < 10; i++)
|
||||
{
|
||||
m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
|
||||
}
|
||||
}
|
||||
m_colliderGroundarr[10] = value;
|
||||
|
||||
for (i = 0; i < 11; i++)
|
||||
{
|
||||
if (m_colliderGroundarr[i])
|
||||
{
|
||||
truecount++;
|
||||
}
|
||||
else
|
||||
{
|
||||
falsecount++;
|
||||
}
|
||||
}
|
||||
|
||||
// Equal truecounts and false counts means we're colliding with something.
|
||||
|
||||
if (falsecount > 1.2 * truecount)
|
||||
{
|
||||
m_iscollidingGround = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_iscollidingGround = true;
|
||||
}
|
||||
if (m_wascollidingGround != m_iscollidingGround)
|
||||
{
|
||||
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
m_wascollidingGround = m_iscollidingGround;
|
||||
}
|
||||
}
|
||||
public override bool CollidingObj
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Position
|
||||
{
|
||||
get { return _position; }
|
||||
set
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
d.BodySetPosition(Body, value.X, value.Y, value.Z);
|
||||
_position = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
public override PhysicsVector RotationalVelocity
|
||||
{
|
||||
get { return m_rotationalVelocity; }
|
||||
set { m_rotationalVelocity = value; }
|
||||
}
|
||||
public override PhysicsVector Size
|
||||
{
|
||||
get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
|
||||
set
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
PhysicsVector SetSize = value;
|
||||
float prevCapsule = CAPSULE_LENGTH;
|
||||
float capsuleradius = CAPSULE_RADIUS;
|
||||
capsuleradius = 0.2f;
|
||||
|
||||
CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
|
||||
d.BodyDestroy(Body);
|
||||
d.GeomDestroy(Shell);
|
||||
//OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
|
||||
Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
|
||||
d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
d.BodySetMass(Body, ref ShellMass);
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
|
||||
d.GeomSetBody(Shell, Body);
|
||||
}
|
||||
_parent_scene.geom_name_map[Shell] = m_name;
|
||||
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
|
||||
}
|
||||
}
|
||||
|
||||
public override PrimitiveBaseShape Shape
|
||||
{
|
||||
set
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
set { _target_velocity = value; }
|
||||
}
|
||||
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return false; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Quaternion Orientation
|
||||
{
|
||||
get { return Quaternion.Identity; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override PhysicsVector Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
public void SetAcceleration(PhysicsVector accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
}
|
||||
|
||||
public override void AddForce(PhysicsVector force)
|
||||
{
|
||||
|
||||
_target_velocity.X += force.X;
|
||||
_target_velocity.Y += force.Y;
|
||||
_target_velocity.Z += force.Z;
|
||||
|
||||
//m_lastUpdateSent = false;
|
||||
}
|
||||
public void doForce(PhysicsVector force)
|
||||
{
|
||||
if (!collidelock)
|
||||
{
|
||||
d.BodyAddForce(Body, force.X, force.Y, force.Z);
|
||||
|
||||
// ok -- let's stand up straight!
|
||||
d.Vector3 feet;
|
||||
d.Vector3 head;
|
||||
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
|
||||
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
|
||||
float posture = head.Z - feet.Z;
|
||||
|
||||
// restoring force proportional to lack of posture:
|
||||
float servo = (2.5f - posture) * POSTURE_SERVO;
|
||||
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
|
||||
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
|
||||
//m_lastUpdateSent = false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
public override void SetMomentum(PhysicsVector momentum)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public void Move(float timeStep)
|
||||
{
|
||||
// no lock; for now it's only called from within Simulate()
|
||||
PhysicsVector vec = new PhysicsVector();
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
float movementdivisor = 1f;
|
||||
|
||||
if (!m_alwaysRun)
|
||||
{
|
||||
movementdivisor = 1.3f;
|
||||
}
|
||||
else
|
||||
{
|
||||
movementdivisor = 0.8f;
|
||||
|
||||
}
|
||||
|
||||
// if velocity is zero, use position control; otherwise, velocity control
|
||||
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
|
||||
{
|
||||
// keep track of where we stopped. No more slippin' & slidin'
|
||||
if (!_zeroFlag)
|
||||
{
|
||||
_zeroFlag = true;
|
||||
_zeroPosition = d.BodyGetPosition(Body);
|
||||
}
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
|
||||
vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
|
||||
if (flying)
|
||||
{
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
_zeroFlag = false;
|
||||
if (m_iscolliding || flying)
|
||||
{
|
||||
|
||||
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
|
||||
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
|
||||
}
|
||||
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
|
||||
{
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
||||
if (_target_velocity.X > 0)
|
||||
{
|
||||
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
||||
}
|
||||
if (_target_velocity.Y > 0)
|
||||
{
|
||||
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
||||
}
|
||||
}
|
||||
else if (!m_iscolliding && !flying)
|
||||
{
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
if (_target_velocity.X > 0)
|
||||
{
|
||||
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
||||
}
|
||||
if (_target_velocity.Y > 0)
|
||||
{
|
||||
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (flying)
|
||||
{
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
|
||||
}
|
||||
}
|
||||
if (flying)
|
||||
{
|
||||
vec.Z += 10.0f;
|
||||
}
|
||||
|
||||
|
||||
doForce(vec);
|
||||
}
|
||||
|
||||
public void UpdatePositionAndVelocity()
|
||||
{
|
||||
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
||||
d.Vector3 vec = d.BodyGetPosition(Body);
|
||||
|
||||
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
||||
if (vec.X < 0.0f) vec.X = 0.0f;
|
||||
if (vec.Y < 0.0f) vec.Y = 0.0f;
|
||||
if (vec.X > 255.95f) vec.X = 255.95f;
|
||||
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
||||
|
||||
_position.X = vec.X;
|
||||
_position.Y = vec.Y;
|
||||
_position.Z = vec.Z;
|
||||
|
||||
if (_zeroFlag)
|
||||
{
|
||||
_velocity.X = 0.0f;
|
||||
_velocity.Y = 0.0f;
|
||||
_velocity.Z = 0.0f;
|
||||
if (!m_lastUpdateSent)
|
||||
{
|
||||
m_lastUpdateSent = true;
|
||||
base.RequestPhysicsterseUpdate();
|
||||
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
||||
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
||||
if (primScenAvatarIn == "0")
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
}
|
||||
else
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
m_lastUpdateSent = false;
|
||||
vec = d.BodyGetLinearVel(Body);
|
||||
_velocity.X = (vec.X);
|
||||
_velocity.Y = (vec.Y);
|
||||
|
||||
_velocity.Z = (vec.Z);
|
||||
if (_velocity.Z < -6 && !m_hackSentFall)
|
||||
{
|
||||
m_hackSentFall = true;
|
||||
base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
else if (flying && !m_hackSentFly)
|
||||
{
|
||||
//m_hackSentFly = true;
|
||||
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
else
|
||||
{
|
||||
m_hackSentFly = false;
|
||||
m_hackSentFall = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Destroy()
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
d.GeomDestroy(Shell);
|
||||
_parent_scene.geom_name_map.Remove(Shell);
|
||||
d.BodyDestroy(Body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue