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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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134
OpenSim/Region/Framework/Scenes/ScenePresence.cs
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@ -101,7 +101,8 @@ namespace OpenSim.Region.Framework.Scenes
public bool IsGod { get; set; }
private PresenceType m_presenceType;
public PresenceType PresenceType {
public PresenceType PresenceType
{
get {return m_presenceType;}
private set
{
@ -368,8 +369,28 @@ namespace OpenSim.Region.Framework.Scenes
private Quaternion m_headrotation = Quaternion.Identity;
//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;
/// <summary>
@ -1160,7 +1181,7 @@ namespace OpenSim.Region.Framework.Scenes
ControllingClient.OnStopAnim += HandleStopAnim;
ControllingClient.OnChangeAnim += avnHandleChangeAnim;
ControllingClient.OnForceReleaseControls += HandleForceReleaseControls;
ControllingClient.OnAutoPilotGo += MoveToTarget;
ControllingClient.OnAutoPilotGo += MoveToTargetHandle;
ControllingClient.OnUpdateThrottles += RaiseUpdateThrottles;
// ControllingClient.OnAgentFOV += HandleAgentFOV;
@ -1180,7 +1201,7 @@ namespace OpenSim.Region.Framework.Scenes
ControllingClient.OnStopAnim -= HandleStopAnim;
ControllingClient.OnChangeAnim -= avnHandleChangeAnim;
ControllingClient.OnForceReleaseControls -= HandleForceReleaseControls;
ControllingClient.OnAutoPilotGo -= MoveToTarget;
ControllingClient.OnAutoPilotGo -= MoveToTargetHandle;
ControllingClient.OnUpdateThrottles -= RaiseUpdateThrottles;
// ControllingClient.OnAgentFOV += HandleAgentFOV;
}
@ -2587,11 +2608,12 @@ namespace OpenSim.Region.Framework.Scenes
}
bool update_movementflag = false;
bool mvToTarget = MovingToTarget;
bool mvToTarget = m_movingToTarget;
if (agentData.UseClientAgentPosition)
{
MovingToTarget = (agentData.ClientAgentPosition - AbsolutePosition).LengthSquared() > 0.04f;
MoveToPositionTarget = agentData.ClientAgentPosition;
m_movingToTarget = (agentData.ClientAgentPosition - AbsolutePosition).LengthSquared() > 0.04f;
m_moveToPositionTarget = agentData.ClientAgentPosition;
m_moveToSpeed = -1f;
}
int i = 0;
@ -2686,7 +2708,7 @@ namespace OpenSim.Region.Framework.Scenes
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 (DCFlagKeyPressed)
@ -2787,7 +2809,7 @@ namespace OpenSim.Region.Framework.Scenes
}
else
{
if(MovingToTarget ||
if(m_movingToTarget ||
(Animator.currentControlState != ScenePresenceAnimator.motionControlStates.flying &&
Animator.currentControlState != ScenePresenceAnimator.motionControlStates.onsurface)
)
@ -2878,7 +2900,7 @@ namespace OpenSim.Region.Framework.Scenes
bool updated = false;
Vector3 LocalVectorToTarget3D = MoveToPositionTarget - AbsolutePosition;
Vector3 LocalVectorToTarget3D = m_moveToPositionTarget - AbsolutePosition;
// m_log.DebugFormat(
// "[SCENE PRESENCE]: bAllowUpdateMoveToPosition {0}, m_moveToPositionInProgress {1}, m_autopilotMoving {2}",
@ -2891,9 +2913,8 @@ namespace OpenSim.Region.Framework.Scenes
}
else
{
Vector3 hdist = LocalVectorToTarget3D;
hdist.Z = 0;
distanceToTarget = hdist.Length();
distanceToTarget = (float)Math.Sqrt(LocalVectorToTarget3D.X * LocalVectorToTarget3D.X +
LocalVectorToTarget3D.Y * LocalVectorToTarget3D.Y);
}
// m_log.DebugFormat(
@ -2905,7 +2926,7 @@ namespace OpenSim.Region.Framework.Scenes
{
// We are close enough to the target
Velocity = Vector3.Zero;
AbsolutePosition = MoveToPositionTarget;
AbsolutePosition = m_moveToPositionTarget;
if (Flying)
{
if (LandAtTarget)
@ -2922,18 +2943,22 @@ namespace OpenSim.Region.Framework.Scenes
ResetMoveToTarget();
return false;
}
else
{
if(m_moveToSpeed > 0 && distanceToTarget <= m_moveToSpeed * Scene.FrameTime)
m_moveToSpeed = distanceToTarget / Scene.FrameTime;
try
{
// move avatar in 3D at one meter/second towards target, in avatar coordinate frame.
// 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.
LocalVectorToTarget3D = LocalVectorToTarget3D * Quaternion.Inverse(Rotation); // change to avatar coords
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:
@ -2994,26 +3019,17 @@ namespace OpenSim.Region.Framework.Scenes
}
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;
}
// m_log.DebugFormat(
// "[SCENE PRESENCE]: HandleMoveToTargetUpdate adding {0} to move vector {1} for {2}",
// LocalVectorToTarget3D, agent_control_v3, Name);
m_AgentControlFlags = (AgentManager.ControlFlags) tmpAgentControlFlags;
if(updated)
agent_control_v3 += LocalVectorToTarget3D;
}
catch (Exception e)
@ -3021,12 +3037,15 @@ namespace OpenSim.Region.Framework.Scenes
//Avoid system crash, can be slower but...
m_log.DebugFormat("Crash! {0}", e.ToString());
}
}
return updated;
// AddNewMovement(agent_control_v3);
}
public void MoveToTargetHandle(Vector3 pos, bool noFly, bool landAtTarget)
{
MoveToTarget(pos, noFly, landAtTarget);
}
/// <summary>
/// Move to the given target over time.
/// </summary>
@ -3039,7 +3058,7 @@ namespace OpenSim.Region.Framework.Scenes
/// <param name="landAtTarget">
/// If true and the avatar starts flying during the move then land at the target.
/// </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;
@ -3073,30 +3092,36 @@ namespace OpenSim.Region.Framework.Scenes
// "[SCENE PRESENCE]: Avatar {0} set move to target {1} (terrain height {2}) in {3}",
// Name, pos, terrainHeight, m_scene.RegionInfo.RegionName);
terrainHeight += Appearance.AvatarHeight; // so 1.5 * AvatarHeight above ground at target
bool shouldfly = Flying;
if (noFly)
shouldfly = false;
else if (pos.Z > terrainHeight || Flying)
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;
// m_log.DebugFormat("[SCENE PRESENCE]: Local vector to target is {0},[1}", localVectorToTarget3D.X,localVectorToTarget3D.Y);
// Calculate the yaw.
Vector3 angle = new Vector3(0, 0, (float)(Math.Atan2(localVectorToTarget3D.Y, localVectorToTarget3D.X)));
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;
// m_log.DebugFormat("[SCENE PRESENCE]: Angle is {0}", angle);
SetAlwaysRun = false;
}
else
m_moveToSpeed = 4.096f * m_speedModifier;
Rotation = Quaternion.CreateFromEulers(angle);
// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, Rotation);
Flying = shouldfly;
Vector3 control = Vector3.Zero;
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);
MovingToTarget = false;
m_movingToTarget = false;
m_moveToSpeed = -1f;
// MoveToPositionTarget = Vector3.Zero;
// lock(m_forceToApplyLock)
// m_forceToApplyValid = false; // cancel possible last action
@ -3294,7 +3320,7 @@ namespace OpenSim.Region.Framework.Scenes
RemoveFromPhysicalScene();
}
if (MovingToTarget)
if (m_movingToTarget)
ResetMoveToTarget();
Velocity = Vector3.Zero;
@ -3436,7 +3462,7 @@ namespace OpenSim.Region.Framework.Scenes
RemoveFromPhysicalScene();
if (MovingToTarget)
if (m_movingToTarget)
ResetMoveToTarget();
Velocity = Vector3.Zero;
@ -3716,8 +3742,12 @@ namespace OpenSim.Region.Framework.Scenes
if ((vec.Z == 0f) && !Flying)
direc.Z = 0f; // Prevent camera WASD up.
bool notmvtrgt = !m_movingToTarget || m_moveToSpeed <= 0;
// 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);
@ -3735,12 +3765,12 @@ namespace OpenSim.Region.Framework.Scenes
// landing situation, prevent avatar moving or it may fail to land
// animator will handle this condition and do the land
direc = Vector3.Zero;
else
else if(notmvtrgt)
direc *= 4.0f;
}
else if (IsColliding)
{
if (direc.Z > 2.0f) // reinforce jumps
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;