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let tau do something in avatar MoveToTarget

0.9.0.1-postfixes
UbitUmarov 2018-01-04 23:59:47 +00:00
parent ec6f87d3ef
commit ce0aa53cc4
1 changed files with 162 additions and 132 deletions
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294
OpenSim/Region/Framework/Scenes/ScenePresence.cs
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@ -101,7 +101,8 @@ namespace OpenSim.Region.Framework.Scenes
public bool IsGod { get; set; } public bool IsGod { get; set; }
private PresenceType m_presenceType; private PresenceType m_presenceType;
public PresenceType PresenceType { public PresenceType PresenceType
{
get {return m_presenceType;} get {return m_presenceType;}
private set private set
{ {
@ -368,8 +369,28 @@ namespace OpenSim.Region.Framework.Scenes
private Quaternion m_headrotation = Quaternion.Identity; private Quaternion m_headrotation = Quaternion.Identity;
//PauPaw:Proper PID Controler for autopilot************ //PauPaw:Proper PID Controler for autopilot************
public bool MovingToTarget { get; private set; }
public Vector3 MoveToPositionTarget { get; private set; } private bool m_movingToTarget;
public bool MovingToTarget
{
get {return m_movingToTarget;}
private set {m_movingToTarget = value; }
}
private Vector3 m_moveToPositionTarget;
public Vector3 MoveToPositionTarget
{
get {return m_moveToPositionTarget;}
private set {m_moveToPositionTarget = value; }
}
private float m_moveToSpeed;
public float MoveToSpeed
{
get {return m_moveToSpeed;}
private set {m_moveToSpeed = value; }
}
private double m_delayedStop = -1.0; private double m_delayedStop = -1.0;
/// <summary> /// <summary>
@ -1160,7 +1181,7 @@ namespace OpenSim.Region.Framework.Scenes
ControllingClient.OnStopAnim += HandleStopAnim; ControllingClient.OnStopAnim += HandleStopAnim;
ControllingClient.OnChangeAnim += avnHandleChangeAnim; ControllingClient.OnChangeAnim += avnHandleChangeAnim;
ControllingClient.OnForceReleaseControls += HandleForceReleaseControls; ControllingClient.OnForceReleaseControls += HandleForceReleaseControls;
ControllingClient.OnAutoPilotGo += MoveToTarget; ControllingClient.OnAutoPilotGo += MoveToTargetHandle;
ControllingClient.OnUpdateThrottles += RaiseUpdateThrottles; ControllingClient.OnUpdateThrottles += RaiseUpdateThrottles;
// ControllingClient.OnAgentFOV += HandleAgentFOV; // ControllingClient.OnAgentFOV += HandleAgentFOV;
@ -1180,7 +1201,7 @@ namespace OpenSim.Region.Framework.Scenes
ControllingClient.OnStopAnim -= HandleStopAnim; ControllingClient.OnStopAnim -= HandleStopAnim;
ControllingClient.OnChangeAnim -= avnHandleChangeAnim; ControllingClient.OnChangeAnim -= avnHandleChangeAnim;
ControllingClient.OnForceReleaseControls -= HandleForceReleaseControls; ControllingClient.OnForceReleaseControls -= HandleForceReleaseControls;
ControllingClient.OnAutoPilotGo -= MoveToTarget; ControllingClient.OnAutoPilotGo -= MoveToTargetHandle;
ControllingClient.OnUpdateThrottles -= RaiseUpdateThrottles; ControllingClient.OnUpdateThrottles -= RaiseUpdateThrottles;
// ControllingClient.OnAgentFOV += HandleAgentFOV; // ControllingClient.OnAgentFOV += HandleAgentFOV;
} }
@ -2587,11 +2608,12 @@ namespace OpenSim.Region.Framework.Scenes
} }
bool update_movementflag = false; bool update_movementflag = false;
bool mvToTarget = MovingToTarget; bool mvToTarget = m_movingToTarget;
if (agentData.UseClientAgentPosition) if (agentData.UseClientAgentPosition)
{ {
MovingToTarget = (agentData.ClientAgentPosition - AbsolutePosition).LengthSquared() > 0.04f; m_movingToTarget = (agentData.ClientAgentPosition - AbsolutePosition).LengthSquared() > 0.04f;
MoveToPositionTarget = agentData.ClientAgentPosition; m_moveToPositionTarget = agentData.ClientAgentPosition;
m_moveToSpeed = -1f;
} }
int i = 0; int i = 0;
@ -2686,7 +2708,7 @@ namespace OpenSim.Region.Framework.Scenes
update_movementflag = true; update_movementflag = true;
} }
if (MovingToTarget) if (m_movingToTarget)
{ {
// If the user has pressed a key then we want to cancel any move to target. // If the user has pressed a key then we want to cancel any move to target.
if (DCFlagKeyPressed) if (DCFlagKeyPressed)
@ -2787,7 +2809,7 @@ namespace OpenSim.Region.Framework.Scenes
} }
else else
{ {
if(MovingToTarget || if(m_movingToTarget ||
(Animator.currentControlState != ScenePresenceAnimator.motionControlStates.flying && (Animator.currentControlState != ScenePresenceAnimator.motionControlStates.flying &&
Animator.currentControlState != ScenePresenceAnimator.motionControlStates.onsurface) Animator.currentControlState != ScenePresenceAnimator.motionControlStates.onsurface)
) )
@ -2878,7 +2900,7 @@ namespace OpenSim.Region.Framework.Scenes
bool updated = false; bool updated = false;
Vector3 LocalVectorToTarget3D = MoveToPositionTarget - AbsolutePosition; Vector3 LocalVectorToTarget3D = m_moveToPositionTarget - AbsolutePosition;
// m_log.DebugFormat( // m_log.DebugFormat(
// "[SCENE PRESENCE]: bAllowUpdateMoveToPosition {0}, m_moveToPositionInProgress {1}, m_autopilotMoving {2}", // "[SCENE PRESENCE]: bAllowUpdateMoveToPosition {0}, m_moveToPositionInProgress {1}, m_autopilotMoving {2}",
@ -2891,9 +2913,8 @@ namespace OpenSim.Region.Framework.Scenes
} }
else else
{ {
Vector3 hdist = LocalVectorToTarget3D; distanceToTarget = (float)Math.Sqrt(LocalVectorToTarget3D.X * LocalVectorToTarget3D.X +
hdist.Z = 0; LocalVectorToTarget3D.Y * LocalVectorToTarget3D.Y);
distanceToTarget = hdist.Length();
} }
// m_log.DebugFormat( // m_log.DebugFormat(
@ -2905,128 +2926,126 @@ namespace OpenSim.Region.Framework.Scenes
{ {
// We are close enough to the target // We are close enough to the target
Velocity = Vector3.Zero; Velocity = Vector3.Zero;
AbsolutePosition = MoveToPositionTarget; AbsolutePosition = m_moveToPositionTarget;
if (Flying) if (Flying)
{ {
if (LandAtTarget) if (LandAtTarget)
Flying = false; Flying = false;
// A horrible hack to stop the avatar dead in its tracks rather than having them overshoot // A horrible hack to stop the avatar dead in its tracks rather than having them overshoot
// the target if flying. // the target if flying.
// We really need to be more subtle (slow the avatar as it approaches the target) or at // We really need to be more subtle (slow the avatar as it approaches the target) or at
// least be able to set collision status once, rather than 5 times to give it enough // least be able to set collision status once, rather than 5 times to give it enough
// weighting so that that PhysicsActor thinks it really is colliding. // weighting so that that PhysicsActor thinks it really is colliding.
for (int i = 0; i < 5; i++) for (int i = 0; i < 5; i++)
IsColliding = true; IsColliding = true;
} }
ResetMoveToTarget(); ResetMoveToTarget();
return false; return false;
} }
else
if(m_moveToSpeed > 0 && distanceToTarget <= m_moveToSpeed * Scene.FrameTime)
m_moveToSpeed = distanceToTarget / Scene.FrameTime;
try
{ {
try // move avatar in 3D towards target, in avatar coordinate frame.
// This movement vector gets added to the velocity through AddNewMovement().
// Theoretically we might need a more complex PID approach here if other
// unknown forces are acting on the avatar and we need to adaptively respond
// to such forces, but the following simple approach seems to works fine.
float angle = 0.5f * (float)Math.Atan2(LocalVectorToTarget3D.Y, LocalVectorToTarget3D.X);
Quaternion rot = new Quaternion(0,0, (float)Math.Sin(angle),(float)Math.Cos(angle));
Rotation = rot;
LocalVectorToTarget3D = LocalVectorToTarget3D * Quaternion.Inverse(rot); // change to avatar coords
LocalVectorToTarget3D.Normalize();
// update avatar movement flags. the avatar coordinate system is as follows:
//
// +X (forward)
//
// ^
// |
// |
// |
// |
// (left) +Y <--------o--------> -Y
// avatar
// |
// |
// |
// |
// v
// -X
//
// based on the above avatar coordinate system, classify the movement into
// one of left/right/back/forward.
const uint noMovFlagsMask = (uint)(~(Dir_ControlFlags.DIR_CONTROL_FLAG_BACK |
Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD | Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT |
Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT | Dir_ControlFlags.DIR_CONTROL_FLAG_UP |
Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN));
MovementFlag &= noMovFlagsMask;
uint tmpAgentControlFlags = (uint)m_AgentControlFlags;
tmpAgentControlFlags &= noMovFlagsMask;
if (LocalVectorToTarget3D.X < 0) //MoveBack
{ {
// move avatar in 3D at one meter/second towards target, in avatar coordinate frame. MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
// This movement vector gets added to the velocity through AddNewMovement(). tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
// Theoretically we might need a more complex PID approach here if other updated = true;
// unknown forces are acting on the avatar and we need to adaptively respond }
// to such forces, but the following simple approach seems to works fine. else if (LocalVectorToTarget3D.X > 0) //Move Forward
{
LocalVectorToTarget3D = LocalVectorToTarget3D * Quaternion.Inverse(Rotation); // change to avatar coords MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
LocalVectorToTarget3D.Normalize(); updated = true;
}
// update avatar movement flags. the avatar coordinate system is as follows:
//
// +X (forward)
//
// ^
// |
// |
// |
// |
// (left) +Y <--------o--------> -Y
// avatar
// |
// |
// |
// |
// v
// -X
//
// based on the above avatar coordinate system, classify the movement into
// one of left/right/back/forward.
const uint noMovFlagsMask = (uint)(~(Dir_ControlFlags.DIR_CONTROL_FLAG_BACK |
Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD | Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT |
Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT | Dir_ControlFlags.DIR_CONTROL_FLAG_UP |
Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN));
MovementFlag &= noMovFlagsMask;
uint tmpAgentControlFlags = (uint)m_AgentControlFlags;
tmpAgentControlFlags &= noMovFlagsMask;
if (LocalVectorToTarget3D.X < 0) //MoveBack
{
MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
updated = true;
}
else if (LocalVectorToTarget3D.X > 0) //Move Forward
{
MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
updated = true;
}
if (LocalVectorToTarget3D.Y > 0) //MoveLeft
{
MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
updated = true;
}
else if (LocalVectorToTarget3D.Y < 0) //MoveRight
{
MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
updated = true;
}
if (LocalVectorToTarget3D.Z > 0) //Up
{
// Don't set these flags for up or down - doing so will make the avatar crouch or
// keep trying to jump even if walking along level ground
//MovementFlag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_UP;
//AgentControlFlags
//AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_UP;
updated = true;
}
else if (LocalVectorToTarget3D.Z < 0) //Down
{
//MovementFlag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN;
//AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_DOWN;
updated = true;
}
if (LocalVectorToTarget3D.Y > 0) //MoveLeft
{
MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
updated = true;
}
else if (LocalVectorToTarget3D.Y < 0) //MoveRight
{
MovementFlag |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
tmpAgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
updated = true;
}
if (LocalVectorToTarget3D.Z > 0) //Up
updated = true;
else if (LocalVectorToTarget3D.Z < 0) //Down
updated = true;
// m_log.DebugFormat( // m_log.DebugFormat(
// "[SCENE PRESENCE]: HandleMoveToTargetUpdate adding {0} to move vector {1} for {2}", // "[SCENE PRESENCE]: HandleMoveToTargetUpdate adding {0} to move vector {1} for {2}",
// LocalVectorToTarget3D, agent_control_v3, Name); // LocalVectorToTarget3D, agent_control_v3, Name);
m_AgentControlFlags = (AgentManager.ControlFlags) tmpAgentControlFlags; m_AgentControlFlags = (AgentManager.ControlFlags) tmpAgentControlFlags;
if(updated)
agent_control_v3 += LocalVectorToTarget3D; agent_control_v3 += LocalVectorToTarget3D;
} }
catch (Exception e) catch (Exception e)
{ {
//Avoid system crash, can be slower but... //Avoid system crash, can be slower but...
m_log.DebugFormat("Crash! {0}", e.ToString()); m_log.DebugFormat("Crash! {0}", e.ToString());
}
} }
return updated; return updated;
// AddNewMovement(agent_control_v3); // AddNewMovement(agent_control_v3);
} }
public void MoveToTargetHandle(Vector3 pos, bool noFly, bool landAtTarget)
{
MoveToTarget(pos, noFly, landAtTarget);
}
/// <summary> /// <summary>
/// Move to the given target over time. /// Move to the given target over time.
/// </summary> /// </summary>
@ -3039,8 +3058,8 @@ namespace OpenSim.Region.Framework.Scenes
/// <param name="landAtTarget"> /// <param name="landAtTarget">
/// If true and the avatar starts flying during the move then land at the target. /// If true and the avatar starts flying during the move then land at the target.
/// </param> /// </param>
public void MoveToTarget(Vector3 pos, bool noFly, bool landAtTarget) public void MoveToTarget(Vector3 pos, bool noFly, bool landAtTarget, float tau = -1f)
{ {
m_delayedStop = -1; m_delayedStop = -1;
if (SitGround) if (SitGround)
@ -3073,30 +3092,36 @@ namespace OpenSim.Region.Framework.Scenes
// "[SCENE PRESENCE]: Avatar {0} set move to target {1} (terrain height {2}) in {3}", // "[SCENE PRESENCE]: Avatar {0} set move to target {1} (terrain height {2}) in {3}",
// Name, pos, terrainHeight, m_scene.RegionInfo.RegionName); // Name, pos, terrainHeight, m_scene.RegionInfo.RegionName);
terrainHeight += Appearance.AvatarHeight; // so 1.5 * AvatarHeight above ground at target
bool shouldfly = Flying; bool shouldfly = Flying;
if (noFly) if (noFly)
shouldfly = false; shouldfly = false;
else if (pos.Z > terrainHeight || Flying) else if (pos.Z > terrainHeight || Flying)
shouldfly = true; shouldfly = true;
LandAtTarget = landAtTarget;
MovingToTarget = true;
MoveToPositionTarget = pos;
Flying = shouldfly;
// Rotate presence around the z-axis to point in same direction as movement.
// Ignore z component of vector
Vector3 localVectorToTarget3D = pos - AbsolutePosition; Vector3 localVectorToTarget3D = pos - AbsolutePosition;
// m_log.DebugFormat("[SCENE PRESENCE]: Local vector to target is {0},[1}", localVectorToTarget3D.X,localVectorToTarget3D.Y); // m_log.DebugFormat("[SCENE PRESENCE]: Local vector to target is {0},[1}", localVectorToTarget3D.X,localVectorToTarget3D.Y);
m_movingToTarget = true;
LandAtTarget = landAtTarget;
m_moveToPositionTarget = pos;
if(tau > 0)
{
if(tau < Scene.FrameTime)
tau = Scene.FrameTime;
m_moveToSpeed = localVectorToTarget3D.Length() / tau;
if(m_moveToSpeed < 0.5f) //to tune
m_moveToSpeed = 0.5f;
else if(m_moveToSpeed > 50f)
m_moveToSpeed = 50f;
// Calculate the yaw. SetAlwaysRun = false;
Vector3 angle = new Vector3(0, 0, (float)(Math.Atan2(localVectorToTarget3D.Y, localVectorToTarget3D.X))); }
else
m_moveToSpeed = 4.096f * m_speedModifier;
// m_log.DebugFormat("[SCENE PRESENCE]: Angle is {0}", angle); Flying = shouldfly;
Rotation = Quaternion.CreateFromEulers(angle);
// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, Rotation);
Vector3 control = Vector3.Zero; Vector3 control = Vector3.Zero;
if(HandleMoveToTargetUpdate(1f, ref control)) if(HandleMoveToTargetUpdate(1f, ref control))
@ -3110,7 +3135,8 @@ namespace OpenSim.Region.Framework.Scenes
{ {
// m_log.DebugFormat("[SCENE PRESENCE]: Resetting move to target for {0}", Name); // m_log.DebugFormat("[SCENE PRESENCE]: Resetting move to target for {0}", Name);
MovingToTarget = false; m_movingToTarget = false;
m_moveToSpeed = -1f;
// MoveToPositionTarget = Vector3.Zero; // MoveToPositionTarget = Vector3.Zero;
// lock(m_forceToApplyLock) // lock(m_forceToApplyLock)
// m_forceToApplyValid = false; // cancel possible last action // m_forceToApplyValid = false; // cancel possible last action
@ -3294,7 +3320,7 @@ namespace OpenSim.Region.Framework.Scenes
RemoveFromPhysicalScene(); RemoveFromPhysicalScene();
} }
if (MovingToTarget) if (m_movingToTarget)
ResetMoveToTarget(); ResetMoveToTarget();
Velocity = Vector3.Zero; Velocity = Vector3.Zero;
@ -3436,7 +3462,7 @@ namespace OpenSim.Region.Framework.Scenes
RemoveFromPhysicalScene(); RemoveFromPhysicalScene();
if (MovingToTarget) if (m_movingToTarget)
ResetMoveToTarget(); ResetMoveToTarget();
Velocity = Vector3.Zero; Velocity = Vector3.Zero;
@ -3716,8 +3742,12 @@ namespace OpenSim.Region.Framework.Scenes
if ((vec.Z == 0f) && !Flying) if ((vec.Z == 0f) && !Flying)
direc.Z = 0f; // Prevent camera WASD up. direc.Z = 0f; // Prevent camera WASD up.
bool notmvtrgt = !m_movingToTarget || m_moveToSpeed <= 0;
// odd rescalings // odd rescalings
direc *= 0.032f * 128f * SpeedModifier * thisAddSpeedModifier; if(notmvtrgt)
direc *= 4.096f * SpeedModifier * thisAddSpeedModifier;
else
direc *= m_moveToSpeed;
// m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name); // m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name);
@ -3735,12 +3765,12 @@ namespace OpenSim.Region.Framework.Scenes
// landing situation, prevent avatar moving or it may fail to land // landing situation, prevent avatar moving or it may fail to land
// animator will handle this condition and do the land // animator will handle this condition and do the land
direc = Vector3.Zero; direc = Vector3.Zero;
else else if(notmvtrgt)
direc *= 4.0f; direc *= 4.0f;
} }
else if (IsColliding) else if (IsColliding)
{ {
if (direc.Z > 2.0f) // reinforce jumps if (direc.Z > 2.0f && notmvtrgt) // reinforce jumps
{ {
direc.Z *= 2.6f; direc.Z *= 2.6f;
} }
@ -3780,7 +3810,7 @@ namespace OpenSim.Region.Framework.Scenes
if (IsInTransit || IsLoggingIn) if (IsInTransit || IsLoggingIn)
return; return;
if(MovingToTarget) if(m_movingToTarget)
{ {
m_delayedStop = -1; m_delayedStop = -1;
Vector3 control = Vector3.Zero; Vector3 control = Vector3.Zero;