let tau do something in avatar MoveToTarget
UbitUmarov
parent
ec6f87d3ef
commit
ce0aa53cc4
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@ -101,7 +101,8 @@ namespace OpenSim.Region.Framework.Scenes
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public bool IsGod { get; set; }
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private PresenceType m_presenceType;
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public PresenceType PresenceType {
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public PresenceType PresenceType
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{
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get {return m_presenceType;}
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private set
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{
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@ -368,8 +369,28 @@ namespace OpenSim.Region.Framework.Scenes
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private Quaternion m_headrotation = Quaternion.Identity;
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//PauPaw:Proper PID Controler for autopilot************
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public bool MovingToTarget { get; private set; }
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public Vector3 MoveToPositionTarget { get; private set; }
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private bool m_movingToTarget;
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public bool MovingToTarget
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{
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get {return m_movingToTarget;}
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private set {m_movingToTarget = value; }
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}
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private Vector3 m_moveToPositionTarget;
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public Vector3 MoveToPositionTarget
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{
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get {return m_moveToPositionTarget;}
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private set {m_moveToPositionTarget = value; }
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}
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private float m_moveToSpeed;
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public float MoveToSpeed
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{
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get {return m_moveToSpeed;}
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private set {m_moveToSpeed = value; }
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}
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private double m_delayedStop = -1.0;
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/// <summary>
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@ -1160,7 +1181,7 @@ namespace OpenSim.Region.Framework.Scenes
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ControllingClient.OnStopAnim += HandleStopAnim;
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ControllingClient.OnChangeAnim += avnHandleChangeAnim;
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ControllingClient.OnForceReleaseControls += HandleForceReleaseControls;
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ControllingClient.OnAutoPilotGo += MoveToTarget;
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ControllingClient.OnAutoPilotGo += MoveToTargetHandle;
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ControllingClient.OnUpdateThrottles += RaiseUpdateThrottles;
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// ControllingClient.OnAgentFOV += HandleAgentFOV;
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@ -1180,7 +1201,7 @@ namespace OpenSim.Region.Framework.Scenes
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ControllingClient.OnStopAnim -= HandleStopAnim;
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ControllingClient.OnChangeAnim -= avnHandleChangeAnim;
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ControllingClient.OnForceReleaseControls -= HandleForceReleaseControls;
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ControllingClient.OnAutoPilotGo -= MoveToTarget;
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ControllingClient.OnAutoPilotGo -= MoveToTargetHandle;
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ControllingClient.OnUpdateThrottles -= RaiseUpdateThrottles;
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// ControllingClient.OnAgentFOV += HandleAgentFOV;
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}
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@ -2587,11 +2608,12 @@ namespace OpenSim.Region.Framework.Scenes
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}
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bool update_movementflag = false;
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bool mvToTarget = MovingToTarget;
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bool mvToTarget = m_movingToTarget;
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if (agentData.UseClientAgentPosition)
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{
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MovingToTarget = (agentData.ClientAgentPosition - AbsolutePosition).LengthSquared() > 0.04f;
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MoveToPositionTarget = agentData.ClientAgentPosition;
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m_movingToTarget = (agentData.ClientAgentPosition - AbsolutePosition).LengthSquared() > 0.04f;
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m_moveToPositionTarget = agentData.ClientAgentPosition;
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m_moveToSpeed = -1f;
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}
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int i = 0;
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@ -2686,7 +2708,7 @@ namespace OpenSim.Region.Framework.Scenes
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update_movementflag = true;
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}
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if (MovingToTarget)
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if (m_movingToTarget)
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{
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// If the user has pressed a key then we want to cancel any move to target.
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if (DCFlagKeyPressed)
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@ -2787,7 +2809,7 @@ namespace OpenSim.Region.Framework.Scenes
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}
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else
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{
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if(MovingToTarget ||
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if(m_movingToTarget ||
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(Animator.currentControlState != ScenePresenceAnimator.motionControlStates.flying &&
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Animator.currentControlState != ScenePresenceAnimator.motionControlStates.onsurface)
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)
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@ -2878,7 +2900,7 @@ namespace OpenSim.Region.Framework.Scenes
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bool updated = false;
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Vector3 LocalVectorToTarget3D = MoveToPositionTarget - AbsolutePosition;
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Vector3 LocalVectorToTarget3D = m_moveToPositionTarget - AbsolutePosition;
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// m_log.DebugFormat(
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// "[SCENE PRESENCE]: bAllowUpdateMoveToPosition {0}, m_moveToPositionInProgress {1}, m_autopilotMoving {2}",
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@ -2891,9 +2913,8 @@ namespace OpenSim.Region.Framework.Scenes
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}
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else
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{
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Vector3 hdist = LocalVectorToTarget3D;
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hdist.Z = 0;
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distanceToTarget = hdist.Length();
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distanceToTarget = (float)Math.Sqrt(LocalVectorToTarget3D.X * LocalVectorToTarget3D.X +
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LocalVectorToTarget3D.Y * LocalVectorToTarget3D.Y);
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}
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// m_log.DebugFormat(
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@ -2905,128 +2926,126 @@ namespace OpenSim.Region.Framework.Scenes
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{
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// We are close enough to the target
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Velocity = Vector3.Zero;
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AbsolutePosition = MoveToPositionTarget;
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AbsolutePosition = m_moveToPositionTarget;
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if (Flying)
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{
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if (LandAtTarget)
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Flying = false;
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if (LandAtTarget)
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Flying = false;
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// A horrible hack to stop the avatar dead in its tracks rather than having them overshoot
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// the target if flying.
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// We really need to be more subtle (slow the avatar as it approaches the target) or at
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// least be able to set collision status once, rather than 5 times to give it enough
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// weighting so that that PhysicsActor thinks it really is colliding.
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for (int i = 0; i < 5; i++)
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IsColliding = true;
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for (int i = 0; i < 5; i++)
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IsColliding = true;
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}
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ResetMoveToTarget();
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return false;
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}
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else
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if(m_moveToSpeed > 0 && distanceToTarget <= m_moveToSpeed * Scene.FrameTime)
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m_moveToSpeed = distanceToTarget / Scene.FrameTime;
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try
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{
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try
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// move avatar in 3D towards target, in avatar coordinate frame.
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// This movement vector gets added to the velocity through AddNewMovement().
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// Theoretically we might need a more complex PID approach here if other
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// unknown forces are acting on the avatar and we need to adaptively respond
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// to such forces, but the following simple approach seems to works fine.
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float angle = 0.5f * (float)Math.Atan2(LocalVectorToTarget3D.Y, LocalVectorToTarget3D.X);
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Quaternion rot = new Quaternion(0,0, (float)Math.Sin(angle),(float)Math.Cos(angle));
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Rotation = rot;
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LocalVectorToTarget3D = LocalVectorToTarget3D * Quaternion.Inverse(rot); // change to avatar coords
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LocalVectorToTarget3D.Normalize();
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// update avatar movement flags. the avatar coordinate system is as follows:
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//
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// +X (forward)
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//
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// ^
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// |
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// |
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// |
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// |
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// (left) +Y <--------o--------> -Y
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// avatar
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// |
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// |
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// |
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// |
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// v
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// -X
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//
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// based on the above avatar coordinate system, classify the movement into
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// one of left/right/back/forward.
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const uint noMovFlagsMask = (uint)(~(Dir_ControlFlags.DIR_CONTROL_FLAG_BACK |
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Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD | Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT |
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Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT | Dir_ControlFlags.DIR_CONTROL_FLAG_UP |
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Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN));
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MovementFlag &= noMovFlagsMask;
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uint tmpAgentControlFlags = (uint)m_AgentControlFlags;
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tmpAgentControlFlags &= noMovFlagsMask;
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if (LocalVectorToTarget3D.X < 0) //MoveBack
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{
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// move avatar in 3D at one meter/second towards target, in avatar coordinate frame.
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// This movement vector gets added to the velocity through AddNewMovement().
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// Theoretically we might need a more complex PID approach here if other
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// unknown forces are acting on the avatar and we need to adaptively respond
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// to such forces, but the following simple approach seems to works fine.
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LocalVectorToTarget3D = LocalVectorToTarget3D * Quaternion.Inverse(Rotation); // change to avatar coords
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LocalVectorToTarget3D.Normalize();
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// update avatar movement flags. the avatar coordinate system is as follows:
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//
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// +X (forward)
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//
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// ^
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// |
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// |
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// |
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// |
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// (left) +Y <--------o--------> -Y
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// avatar
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// |
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// |
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// |
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// |
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// v
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// -X
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//
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// based on the above avatar coordinate system, classify the movement into
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// one of left/right/back/forward.
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const uint noMovFlagsMask = (uint)(~(Dir_ControlFlags.DIR_CONTROL_FLAG_BACK |
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Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD | Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT |
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Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT | Dir_ControlFlags.DIR_CONTROL_FLAG_UP |
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Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN));
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MovementFlag &= noMovFlagsMask;
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uint tmpAgentControlFlags = (uint)m_AgentControlFlags;
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tmpAgentControlFlags &= noMovFlagsMask;
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if (LocalVectorToTarget3D.X < 0) //MoveBack
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
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updated = true;
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}
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else if (LocalVectorToTarget3D.X > 0) //Move Forward
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
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updated = true;
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}
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if (LocalVectorToTarget3D.Y > 0) //MoveLeft
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
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updated = true;
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}
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else if (LocalVectorToTarget3D.Y < 0) //MoveRight
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
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updated = true;
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}
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if (LocalVectorToTarget3D.Z > 0) //Up
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{
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// Don't set these flags for up or down - doing so will make the avatar crouch or
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// keep trying to jump even if walking along level ground
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//MovementFlag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_UP;
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//AgentControlFlags
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//AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_UP;
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updated = true;
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}
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else if (LocalVectorToTarget3D.Z < 0) //Down
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{
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//MovementFlag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN;
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//AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN;
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updated = true;
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}
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
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updated = true;
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}
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else if (LocalVectorToTarget3D.X > 0) //Move Forward
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
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updated = true;
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}
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if (LocalVectorToTarget3D.Y > 0) //MoveLeft
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
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updated = true;
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}
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else if (LocalVectorToTarget3D.Y < 0) //MoveRight
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{
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MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
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tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
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updated = true;
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}
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if (LocalVectorToTarget3D.Z > 0) //Up
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updated = true;
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else if (LocalVectorToTarget3D.Z < 0) //Down
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updated = true;
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// m_log.DebugFormat(
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// "[SCENE PRESENCE]: HandleMoveToTargetUpdate adding {0} to move vector {1} for {2}",
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// LocalVectorToTarget3D, agent_control_v3, Name);
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m_AgentControlFlags = (AgentManager.ControlFlags) tmpAgentControlFlags;
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m_AgentControlFlags = (AgentManager.ControlFlags) tmpAgentControlFlags;
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if(updated)
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agent_control_v3 += LocalVectorToTarget3D;
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}
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catch (Exception e)
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{
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//Avoid system crash, can be slower but...
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m_log.DebugFormat("Crash! {0}", e.ToString());
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}
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}
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catch (Exception e)
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{
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//Avoid system crash, can be slower but...
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m_log.DebugFormat("Crash! {0}", e.ToString());
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}
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return updated;
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// AddNewMovement(agent_control_v3);
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}
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public void MoveToTargetHandle(Vector3 pos, bool noFly, bool landAtTarget)
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{
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MoveToTarget(pos, noFly, landAtTarget);
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}
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/// <summary>
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/// Move to the given target over time.
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/// </summary>
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@ -3039,8 +3058,8 @@ namespace OpenSim.Region.Framework.Scenes
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/// <param name="landAtTarget">
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/// If true and the avatar starts flying during the move then land at the target.
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/// </param>
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public void MoveToTarget(Vector3 pos, bool noFly, bool landAtTarget)
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{
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public void MoveToTarget(Vector3 pos, bool noFly, bool landAtTarget, float tau = -1f)
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{
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m_delayedStop = -1;
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if (SitGround)
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@ -3073,30 +3092,36 @@ namespace OpenSim.Region.Framework.Scenes
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// "[SCENE PRESENCE]: Avatar {0} set move to target {1} (terrain height {2}) in {3}",
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// Name, pos, terrainHeight, m_scene.RegionInfo.RegionName);
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terrainHeight += Appearance.AvatarHeight; // so 1.5 * AvatarHeight above ground at target
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bool shouldfly = Flying;
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if (noFly)
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shouldfly = false;
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else if (pos.Z > terrainHeight || Flying)
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shouldfly = true;
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LandAtTarget = landAtTarget;
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MovingToTarget = true;
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MoveToPositionTarget = pos;
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Flying = shouldfly;
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// Rotate presence around the z-axis to point in same direction as movement.
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// Ignore z component of vector
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Vector3 localVectorToTarget3D = pos - AbsolutePosition;
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// m_log.DebugFormat("[SCENE PRESENCE]: Local vector to target is {0},[1}", localVectorToTarget3D.X,localVectorToTarget3D.Y);
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m_movingToTarget = true;
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LandAtTarget = landAtTarget;
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m_moveToPositionTarget = pos;
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if(tau > 0)
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{
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if(tau < Scene.FrameTime)
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tau = Scene.FrameTime;
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m_moveToSpeed = localVectorToTarget3D.Length() / tau;
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if(m_moveToSpeed < 0.5f) //to tune
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m_moveToSpeed = 0.5f;
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else if(m_moveToSpeed > 50f)
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m_moveToSpeed = 50f;
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// Calculate the yaw.
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Vector3 angle = new Vector3(0, 0, (float)(Math.Atan2(localVectorToTarget3D.Y, localVectorToTarget3D.X)));
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SetAlwaysRun = false;
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}
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else
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m_moveToSpeed = 4.096f * m_speedModifier;
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// m_log.DebugFormat("[SCENE PRESENCE]: Angle is {0}", angle);
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Rotation = Quaternion.CreateFromEulers(angle);
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// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, Rotation);
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Flying = shouldfly;
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Vector3 control = Vector3.Zero;
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if(HandleMoveToTargetUpdate(1f, ref control))
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@ -3110,7 +3135,8 @@ namespace OpenSim.Region.Framework.Scenes
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{
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// m_log.DebugFormat("[SCENE PRESENCE]: Resetting move to target for {0}", Name);
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MovingToTarget = false;
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m_movingToTarget = false;
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m_moveToSpeed = -1f;
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// MoveToPositionTarget = Vector3.Zero;
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// lock(m_forceToApplyLock)
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// m_forceToApplyValid = false; // cancel possible last action
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@ -3294,7 +3320,7 @@ namespace OpenSim.Region.Framework.Scenes
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RemoveFromPhysicalScene();
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}
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if (MovingToTarget)
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if (m_movingToTarget)
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ResetMoveToTarget();
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Velocity = Vector3.Zero;
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@ -3436,7 +3462,7 @@ namespace OpenSim.Region.Framework.Scenes
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RemoveFromPhysicalScene();
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if (MovingToTarget)
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if (m_movingToTarget)
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ResetMoveToTarget();
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Velocity = Vector3.Zero;
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@ -3716,8 +3742,12 @@ namespace OpenSim.Region.Framework.Scenes
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if ((vec.Z == 0f) && !Flying)
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direc.Z = 0f; // Prevent camera WASD up.
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bool notmvtrgt = !m_movingToTarget || m_moveToSpeed <= 0;
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// odd rescalings
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direc *= 0.032f * 128f * SpeedModifier * thisAddSpeedModifier;
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if(notmvtrgt)
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direc *= 4.096f * SpeedModifier * thisAddSpeedModifier;
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else
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direc *= m_moveToSpeed;
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// m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name);
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@ -3735,12 +3765,12 @@ namespace OpenSim.Region.Framework.Scenes
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// landing situation, prevent avatar moving or it may fail to land
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// animator will handle this condition and do the land
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direc = Vector3.Zero;
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else
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else if(notmvtrgt)
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direc *= 4.0f;
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}
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else if (IsColliding)
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{
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if (direc.Z > 2.0f) // reinforce jumps
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if (direc.Z > 2.0f && notmvtrgt) // reinforce jumps
|
||||
{
|
||||
direc.Z *= 2.6f;
|
||||
}
|
||||
|
|
@ -3780,7 +3810,7 @@ namespace OpenSim.Region.Framework.Scenes
|
|||
if (IsInTransit || IsLoggingIn)
|
||||
return;
|
||||
|
||||
if(MovingToTarget)
|
||||
if(m_movingToTarget)
|
||||
{
|
||||
m_delayedStop = -1;
|
||||
Vector3 control = Vector3.Zero;
|
||||
|
|
|
|||
Loading…
Reference in New Issue