Dynamics Integration Part 1
Kitto Flora
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87590491b5
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f6f6ef1532
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@ -747,7 +747,16 @@ namespace OpenSim.Region.Framework.Scenes
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/// <summary></summary>
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/// <summary></summary>
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public Vector3 Acceleration
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public Vector3 Acceleration
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{
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{
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get { return m_acceleration; }
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get
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{
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PhysicsActor actor = PhysActor;
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if (actor != null)
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{
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m_acceleration = actor.Acceleration;
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}
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return m_acceleration;
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}
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set { m_acceleration = value; }
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set { m_acceleration = value; }
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}
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}
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@ -1,817 +0,0 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
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* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
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* ODEPrim.cs contains methods dealing with Prim editing, Prim
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* characteristics and Kinetic motion.
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* ODEDynamics.cs contains methods dealing with Prim Physical motion
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* (dynamics) and the associated settings. Old Linear and angular
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* motors for dynamic motion have been replace with MoveLinear()
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* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
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* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
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* switch between 'VEHICLE' parameter use and general dynamics
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* settings use.
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*
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*/
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/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
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* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
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* ODEPrim.cs contains methods dealing with Prim editing, Prim
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* characteristics and Kinetic motion.
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* ODEDynamics.cs contains methods dealing with Prim Physical motion
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* (dynamics) and the associated settings. Old Linear and angular
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* motors for dynamic motion have been replace with MoveLinear()
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* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
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* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
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* switch between 'VEHICLE' parameter use and general dynamics
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* settings use.
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using log4net;
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using OpenMetaverse;
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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 ODEDynamics
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{
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public Vehicle Type
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{
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get { return m_type; }
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}
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public IntPtr Body
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{
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get { return m_body; }
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}
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private int frcount = 0; // Used to limit dynamics debug output to
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// every 100th frame
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// private OdeScene m_parentScene = null;
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private IntPtr m_body = IntPtr.Zero;
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// private IntPtr m_jointGroup = IntPtr.Zero;
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// private IntPtr m_aMotor = IntPtr.Zero;
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// Vehicle properties
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private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
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// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
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private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
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// HOVER_TERRAIN_ONLY
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// HOVER_GLOBAL_HEIGHT
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// NO_DEFLECTION_UP
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// HOVER_WATER_ONLY
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// HOVER_UP_ONLY
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// LIMIT_MOTOR_UP
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// LIMIT_ROLL_ONLY
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// Linear properties
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private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity
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//requested by LSL
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private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL
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private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL
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private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL
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private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor
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private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity
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private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity
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//Angular properties
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private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
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private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
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private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
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private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
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// private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
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private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
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private Vector3 m_angularLock = Vector3.One;
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//Deflection properties
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// private float m_angularDeflectionEfficiency = 0;
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// private float m_angularDeflectionTimescale = 0;
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// private float m_linearDeflectionEfficiency = 0;
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// private float m_linearDeflectionTimescale = 0;
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//Banking properties
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// private float m_bankingEfficiency = 0;
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// private float m_bankingMix = 0;
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// private float m_bankingTimescale = 0;
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//Hover and Buoyancy properties
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private float m_VhoverHeight = 0f;
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// private float m_VhoverEfficiency = 0f;
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private float m_VhoverTimescale = 0f;
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private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
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private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle.
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// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
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// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
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// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
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//Attractor properties
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private float m_verticalAttractionEfficiency = 1.0f; // damped
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private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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{
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switch (pParam)
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{
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case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_angularDeflectionEfficiency = pValue;
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break;
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case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_angularDeflectionTimescale = pValue;
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break;
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case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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m_angularMotorDecayTimescale = pValue;
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break;
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case Vehicle.ANGULAR_MOTOR_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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m_angularMotorTimescale = pValue;
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break;
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case Vehicle.BANKING_EFFICIENCY:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_bankingEfficiency = pValue;
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break;
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case Vehicle.BANKING_MIX:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_bankingMix = pValue;
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break;
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case Vehicle.BANKING_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_bankingTimescale = pValue;
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break;
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case Vehicle.BUOYANCY:
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if (pValue < -1f) pValue = -1f;
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if (pValue > 1f) pValue = 1f;
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m_VehicleBuoyancy = pValue;
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break;
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// case Vehicle.HOVER_EFFICIENCY:
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// if (pValue < 0f) pValue = 0f;
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// if (pValue > 1f) pValue = 1f;
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// m_VhoverEfficiency = pValue;
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// break;
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case Vehicle.HOVER_HEIGHT:
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m_VhoverHeight = pValue;
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break;
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case Vehicle.HOVER_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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m_VhoverTimescale = pValue;
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break;
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case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_linearDeflectionEfficiency = pValue;
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break;
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case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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// m_linearDeflectionTimescale = pValue;
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break;
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case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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m_linearMotorDecayTimescale = pValue;
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break;
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case Vehicle.LINEAR_MOTOR_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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m_linearMotorTimescale = pValue;
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break;
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case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
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if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
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if (pValue > 1.0f) pValue = 1.0f;
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m_verticalAttractionEfficiency = pValue;
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break;
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case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
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if (pValue < 0.01f) pValue = 0.01f;
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m_verticalAttractionTimescale = pValue;
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break;
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// These are vector properties but the engine lets you use a single float value to
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// set all of the components to the same value
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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if (pValue > 30f) pValue = 30f;
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if (pValue < 0.1f) pValue = 0.1f;
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m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
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UpdateAngDecay();
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
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UpdateLinDecay();
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break;
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case Vehicle.LINEAR_MOTOR_OFFSET:
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// m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
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break;
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}
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}//end ProcessFloatVehicleParam
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internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
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{
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switch (pParam)
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{
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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if (pValue.X > 30f) pValue.X = 30f;
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if (pValue.X < 0.1f) pValue.X = 0.1f;
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if (pValue.Y > 30f) pValue.Y = 30f;
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if (pValue.Y < 0.1f) pValue.Y = 0.1f;
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if (pValue.Z > 30f) pValue.Z = 30f;
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if (pValue.Z < 0.1f) pValue.Z = 0.1f;
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m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
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// Limit requested angular speed to 2 rps= 4 pi rads/sec
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if(m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
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if(m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
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if(m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
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if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
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if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
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if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
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UpdateAngDecay();
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
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UpdateLinDecay();
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break;
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case Vehicle.LINEAR_MOTOR_OFFSET:
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// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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}
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}//end ProcessVectorVehicleParam
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internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
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{
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switch (pParam)
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{
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case Vehicle.REFERENCE_FRAME:
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// m_referenceFrame = pValue;
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break;
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}
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}//end ProcessRotationVehicleParam
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internal void SetAngularLock(Vector3 pValue)
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{
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m_angularLock = pValue;
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}
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internal void ProcessFlagsVehicleSet(int flags)
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{
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m_flags |= (VehicleFlag)flags;
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}
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internal void ProcessFlagsVehicleRemove(int flags)
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{
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m_flags &= ~((VehicleFlag)flags);
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}
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internal void ProcessTypeChange(Vehicle pType)
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{
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// Set Defaults For Type
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m_type = pType;
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switch (pType)
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{
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case Vehicle.TYPE_SLED:
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m_linearFrictionTimescale = new Vector3(30, 1, 1000);
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m_angularFrictionTimescale = new Vector3(30, 30, 30);
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// m_lLinMotorVel = Vector3.Zero;
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m_linearMotorTimescale = 1000;
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m_linearMotorDecayTimescale = 120;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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|
||||||
m_angularMotorTimescale = 1000;
|
|
||||||
m_angularMotorDecayTimescale = 120;
|
|
||||||
m_VhoverHeight = 0;
|
|
||||||
// m_VhoverEfficiency = 1;
|
|
||||||
m_VhoverTimescale = 10;
|
|
||||||
m_VehicleBuoyancy = 0;
|
|
||||||
// m_linearDeflectionEfficiency = 1;
|
|
||||||
// m_linearDeflectionTimescale = 1;
|
|
||||||
// m_angularDeflectionEfficiency = 1;
|
|
||||||
// m_angularDeflectionTimescale = 1000;
|
|
||||||
// m_bankingEfficiency = 0;
|
|
||||||
// m_bankingMix = 1;
|
|
||||||
// m_bankingTimescale = 10;
|
|
||||||
// m_referenceFrame = Quaternion.Identity;
|
|
||||||
m_flags &=
|
|
||||||
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
|
|
||||||
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
|
|
||||||
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
|
|
||||||
break;
|
|
||||||
case Vehicle.TYPE_CAR:
|
|
||||||
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
|
|
||||||
m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
|
|
||||||
// m_lLinMotorVel = Vector3.Zero;
|
|
||||||
m_linearMotorTimescale = 1;
|
|
||||||
m_linearMotorDecayTimescale = 60;
|
|
||||||
m_angularMotorDirection = Vector3.Zero;
|
|
||||||
m_angularMotorDVel = Vector3.Zero;
|
|
||||||
m_angularMotorTimescale = 1;
|
|
||||||
m_angularMotorDecayTimescale = 0.8f;
|
|
||||||
m_VhoverHeight = 0;
|
|
||||||
// m_VhoverEfficiency = 0;
|
|
||||||
m_VhoverTimescale = 1000;
|
|
||||||
m_VehicleBuoyancy = 0;
|
|
||||||
// // m_linearDeflectionEfficiency = 1;
|
|
||||||
// // m_linearDeflectionTimescale = 2;
|
|
||||||
// // m_angularDeflectionEfficiency = 0;
|
|
||||||
// m_angularDeflectionTimescale = 10;
|
|
||||||
m_verticalAttractionEfficiency = 1f;
|
|
||||||
m_verticalAttractionTimescale = 10f;
|
|
||||||
// m_bankingEfficiency = -0.2f;
|
|
||||||
// m_bankingMix = 1;
|
|
||||||
// m_bankingTimescale = 1;
|
|
||||||
// m_referenceFrame = Quaternion.Identity;
|
|
||||||
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
|
|
||||||
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
|
|
||||||
VehicleFlag.LIMIT_MOTOR_UP);
|
|
||||||
break;
|
|
||||||
case Vehicle.TYPE_BOAT:
|
|
||||||
m_linearFrictionTimescale = new Vector3(10, 3, 2);
|
|
||||||
m_angularFrictionTimescale = new Vector3(10,10,10);
|
|
||||||
// m_lLinMotorVel = Vector3.Zero;
|
|
||||||
m_linearMotorTimescale = 5;
|
|
||||||
m_linearMotorDecayTimescale = 60;
|
|
||||||
m_angularMotorDirection = Vector3.Zero;
|
|
||||||
m_angularMotorDVel = Vector3.Zero;
|
|
||||||
m_angularMotorTimescale = 4;
|
|
||||||
m_angularMotorDecayTimescale = 4;
|
|
||||||
m_VhoverHeight = 0;
|
|
||||||
// m_VhoverEfficiency = 0.5f;
|
|
||||||
m_VhoverTimescale = 2;
|
|
||||||
m_VehicleBuoyancy = 1;
|
|
||||||
// m_linearDeflectionEfficiency = 0.5f;
|
|
||||||
// m_linearDeflectionTimescale = 3;
|
|
||||||
// m_angularDeflectionEfficiency = 0.5f;
|
|
||||||
// m_angularDeflectionTimescale = 5;
|
|
||||||
m_verticalAttractionEfficiency = 0.5f;
|
|
||||||
m_verticalAttractionTimescale = 5f;
|
|
||||||
// m_bankingEfficiency = -0.3f;
|
|
||||||
// m_bankingMix = 0.8f;
|
|
||||||
// m_bankingTimescale = 1;
|
|
||||||
// m_referenceFrame = Quaternion.Identity;
|
|
||||||
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
|
|
||||||
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
|
|
||||||
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
|
|
||||||
VehicleFlag.LIMIT_MOTOR_UP);
|
|
||||||
break;
|
|
||||||
case Vehicle.TYPE_AIRPLANE:
|
|
||||||
m_linearFrictionTimescale = new Vector3(200, 10, 5);
|
|
||||||
m_angularFrictionTimescale = new Vector3(20, 20, 20);
|
|
||||||
// m_lLinMotorVel = Vector3.Zero;
|
|
||||||
m_linearMotorTimescale = 2;
|
|
||||||
m_linearMotorDecayTimescale = 60;
|
|
||||||
m_angularMotorDirection = Vector3.Zero;
|
|
||||||
m_angularMotorDVel = Vector3.Zero;
|
|
||||||
m_angularMotorTimescale = 4;
|
|
||||||
m_angularMotorDecayTimescale = 4;
|
|
||||||
m_VhoverHeight = 0;
|
|
||||||
// m_VhoverEfficiency = 0.5f;
|
|
||||||
m_VhoverTimescale = 1000;
|
|
||||||
m_VehicleBuoyancy = 0;
|
|
||||||
// m_linearDeflectionEfficiency = 0.5f;
|
|
||||||
// m_linearDeflectionTimescale = 3;
|
|
||||||
// m_angularDeflectionEfficiency = 1;
|
|
||||||
// m_angularDeflectionTimescale = 2;
|
|
||||||
m_verticalAttractionEfficiency = 0.9f;
|
|
||||||
m_verticalAttractionTimescale = 2f;
|
|
||||||
// m_bankingEfficiency = 1;
|
|
||||||
// m_bankingMix = 0.7f;
|
|
||||||
// m_bankingTimescale = 2;
|
|
||||||
// m_referenceFrame = Quaternion.Identity;
|
|
||||||
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
|
|
||||||
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
|
|
||||||
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
|
|
||||||
break;
|
|
||||||
case Vehicle.TYPE_BALLOON:
|
|
||||||
m_linearFrictionTimescale = new Vector3(5, 5, 5);
|
|
||||||
m_angularFrictionTimescale = new Vector3(10, 10, 10);
|
|
||||||
m_linearMotorTimescale = 5;
|
|
||||||
m_linearMotorDecayTimescale = 60;
|
|
||||||
m_angularMotorDirection = Vector3.Zero;
|
|
||||||
m_angularMotorDVel = Vector3.Zero;
|
|
||||||
m_angularMotorTimescale = 6;
|
|
||||||
m_angularMotorDecayTimescale = 10;
|
|
||||||
m_VhoverHeight = 5;
|
|
||||||
// m_VhoverEfficiency = 0.8f;
|
|
||||||
m_VhoverTimescale = 10;
|
|
||||||
m_VehicleBuoyancy = 1;
|
|
||||||
// m_linearDeflectionEfficiency = 0;
|
|
||||||
// m_linearDeflectionTimescale = 5;
|
|
||||||
// m_angularDeflectionEfficiency = 0;
|
|
||||||
// m_angularDeflectionTimescale = 5;
|
|
||||||
m_verticalAttractionEfficiency = 1f;
|
|
||||||
m_verticalAttractionTimescale = 100f;
|
|
||||||
// m_bankingEfficiency = 0;
|
|
||||||
// m_bankingMix = 0.7f;
|
|
||||||
// m_bankingTimescale = 5;
|
|
||||||
// m_referenceFrame = Quaternion.Identity;
|
|
||||||
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
|
|
||||||
VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
|
|
||||||
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
|
|
||||||
break;
|
|
||||||
|
|
||||||
}
|
|
||||||
}//end SetDefaultsForType
|
|
||||||
|
|
||||||
internal void Enable(IntPtr pBody, OdeScene pParentScene)
|
|
||||||
{
|
|
||||||
if (m_type == Vehicle.TYPE_NONE)
|
|
||||||
return;
|
|
||||||
|
|
||||||
m_body = pBody;
|
|
||||||
}
|
|
||||||
|
|
||||||
internal void Step(float pTimestep, OdeScene pParentScene)
|
|
||||||
{
|
|
||||||
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
|
|
||||||
return;
|
|
||||||
frcount++; // used to limit debug comment output
|
|
||||||
if (frcount > 24)
|
|
||||||
frcount = 0;
|
|
||||||
|
|
||||||
MoveLinear(pTimestep, pParentScene);
|
|
||||||
MoveAngular(pTimestep);
|
|
||||||
}// end Step
|
|
||||||
|
|
||||||
internal void Halt()
|
|
||||||
{ // Kill all motions, when non-physical
|
|
||||||
m_linearMotorDirection = Vector3.Zero;
|
|
||||||
m_lLinMotorDVel = Vector3.Zero;
|
|
||||||
m_lLinObjectVel = Vector3.Zero;
|
|
||||||
m_wLinObjectVel = Vector3.Zero;
|
|
||||||
m_angularMotorDirection = Vector3.Zero;
|
|
||||||
m_lastAngularVelocity = Vector3.Zero;
|
|
||||||
m_angularMotorDVel = Vector3.Zero;
|
|
||||||
}
|
|
||||||
|
|
||||||
private void UpdateLinDecay()
|
|
||||||
{
|
|
||||||
if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X;
|
|
||||||
if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
|
|
||||||
if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
|
|
||||||
} // else let the motor decay on its own
|
|
||||||
|
|
||||||
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
|
|
||||||
{
|
|
||||||
Vector3 acceleration = new Vector3(0f, 0f, 0f);
|
|
||||||
|
|
||||||
d.Quaternion rot = d.BodyGetQuaternion(Body);
|
|
||||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
|
|
||||||
Quaternion irotq = Quaternion.Inverse(rotq);
|
|
||||||
d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
|
|
||||||
Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
|
|
||||||
acceleration = vel_now - m_wLinObjectVel;
|
|
||||||
m_lLinObjectVel = vel_now * irotq;
|
|
||||||
|
|
||||||
if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
|
|
||||||
{
|
|
||||||
if ( Vector3.Mag(m_lLinMotorDVel) < 1.0f)
|
|
||||||
{
|
|
||||||
float decayfactor = m_linearMotorDecayTimescale/pTimestep;
|
|
||||||
Vector3 decayAmount = (m_lLinMotorDVel/decayfactor);
|
|
||||||
m_lLinMotorDVel -= decayAmount;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
|
|
||||||
Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * pTimestep;
|
|
||||||
m_lLinMotorDVel -= decel;
|
|
||||||
}
|
|
||||||
if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
|
|
||||||
{
|
|
||||||
m_lLinMotorDVel = Vector3.Zero;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
|
|
||||||
if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
|
|
||||||
if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
|
|
||||||
{
|
|
||||||
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
|
|
||||||
if (m_linearMotorTimescale < 300.0f)
|
|
||||||
{
|
|
||||||
Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
|
|
||||||
float linfactor = m_linearMotorTimescale/pTimestep;
|
|
||||||
Vector3 attackAmount = (attack_error/linfactor) * 1.3f;
|
|
||||||
m_lLinObjectVel += attackAmount;
|
|
||||||
}
|
|
||||||
if (m_linearFrictionTimescale.X < 300.0f)
|
|
||||||
{
|
|
||||||
float fricfactor = m_linearFrictionTimescale.X / pTimestep;
|
|
||||||
float fricX = m_lLinObjectVel.X / fricfactor;
|
|
||||||
m_lLinObjectVel.X -= fricX;
|
|
||||||
}
|
|
||||||
if (m_linearFrictionTimescale.Y < 300.0f)
|
|
||||||
{
|
|
||||||
float fricfactor = m_linearFrictionTimescale.Y / pTimestep;
|
|
||||||
float fricY = m_lLinObjectVel.Y / fricfactor;
|
|
||||||
m_lLinObjectVel.Y -= fricY;
|
|
||||||
}
|
|
||||||
if (m_linearFrictionTimescale.Z < 300.0f)
|
|
||||||
{
|
|
||||||
float fricfactor = m_linearFrictionTimescale.Z / pTimestep;
|
|
||||||
//if(frcount == 0) Console.WriteLine("Zfric={0}", fricfactor);
|
|
||||||
float fricZ = m_lLinObjectVel.Z / fricfactor;
|
|
||||||
m_lLinObjectVel.Z -= fricZ;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
m_wLinObjectVel = m_lLinObjectVel * rotq;
|
|
||||||
// Add Gravity and Buoyancy
|
|
||||||
Vector3 grav = Vector3.Zero;
|
|
||||||
if(m_VehicleBuoyancy < 1.0f)
|
|
||||||
{
|
|
||||||
// There is some gravity, make a gravity force vector
|
|
||||||
// that is applied after object velocity.
|
|
||||||
d.Mass objMass;
|
|
||||||
d.BodyGetMass(Body, out objMass);
|
|
||||||
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
|
|
||||||
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
|
|
||||||
} // else its 1.0, no gravity.
|
|
||||||
|
|
||||||
// Check if hovering
|
|
||||||
if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
|
|
||||||
{
|
|
||||||
// We should hover, get the target height
|
|
||||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
|
||||||
if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
|
|
||||||
{
|
|
||||||
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
|
|
||||||
}
|
|
||||||
else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
|
|
||||||
{
|
|
||||||
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
|
|
||||||
}
|
|
||||||
else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
|
|
||||||
{
|
|
||||||
m_VhoverTargetHeight = m_VhoverHeight;
|
|
||||||
}
|
|
||||||
|
|
||||||
if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
|
|
||||||
{
|
|
||||||
// If body is aready heigher, use its height as target height
|
|
||||||
if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
|
|
||||||
}
|
|
||||||
|
|
||||||
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
|
|
||||||
// m_VhoverTimescale = 0f; // time to acheive height
|
|
||||||
// pTimestep is time since last frame,in secs
|
|
||||||
float herr0 = pos.Z - m_VhoverTargetHeight;
|
|
||||||
// Replace Vertical speed with correction figure if significant
|
|
||||||
if(Math.Abs(herr0) > 0.01f )
|
|
||||||
{
|
|
||||||
d.Mass objMass;
|
|
||||||
d.BodyGetMass(Body, out objMass);
|
|
||||||
m_wLinObjectVel.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
|
|
||||||
//KF: m_VhoverEfficiency is not yet implemented
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
m_wLinObjectVel.Z = 0f;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{ // not hovering, Gravity rules
|
|
||||||
m_wLinObjectVel.Z = vel_now.Z;
|
|
||||||
//if(frcount == 0) Console.WriteLine(" Z {0} a.Z {1}", m_wLinObjectVel.Z, acceleration.Z);
|
|
||||||
}
|
|
||||||
// Apply velocity
|
|
||||||
d.BodySetLinearVel(Body, m_wLinObjectVel.X, m_wLinObjectVel.Y, m_wLinObjectVel.Z);
|
|
||||||
// apply gravity force
|
|
||||||
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
|
|
||||||
//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
|
|
||||||
} // end MoveLinear()
|
|
||||||
|
|
||||||
private void UpdateAngDecay()
|
|
||||||
{
|
|
||||||
if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X;
|
|
||||||
if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y;
|
|
||||||
if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z;
|
|
||||||
} // else let the motor decay on its own
|
|
||||||
|
|
||||||
private void MoveAngular(float pTimestep)
|
|
||||||
{
|
|
||||||
/*
|
|
||||||
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
|
|
||||||
|
|
||||||
private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
|
|
||||||
private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
|
|
||||||
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
|
|
||||||
|
|
||||||
private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
|
|
||||||
private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
|
|
||||||
*/
|
|
||||||
//if(frcount == 0) Console.WriteLine("MoveAngular ");
|
|
||||||
|
|
||||||
// Get what the body is doing, this includes 'external' influences
|
|
||||||
d.Quaternion rot = d.BodyGetQuaternion(Body);
|
|
||||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
|
|
||||||
Quaternion irotq = Quaternion.Inverse(rotq);
|
|
||||||
d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
|
|
||||||
Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
|
|
||||||
angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation
|
|
||||||
|
|
||||||
//if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
|
|
||||||
// Vector3 FrAaccel = m_lastAngularVelocity - angObjectVel;
|
|
||||||
// Vector3 initavel = angObjectVel;
|
|
||||||
// Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
|
|
||||||
float atk_decayfactor = 23.0f / (m_angularMotorTimescale * pTimestep);
|
|
||||||
m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
|
|
||||||
// Decay Angular Motor 2.
|
|
||||||
if (m_angularMotorDecayTimescale < 300.0f)
|
|
||||||
{
|
|
||||||
//####
|
|
||||||
if ( Vector3.Mag(m_angularMotorDVel) < 1.0f)
|
|
||||||
{
|
|
||||||
float decayfactor = (m_angularMotorDecayTimescale)/pTimestep;
|
|
||||||
Vector3 decayAmount = (m_angularMotorDVel/decayfactor);
|
|
||||||
m_angularMotorDVel -= decayAmount;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * pTimestep / m_angularMotorDecayTimescale;
|
|
||||||
m_angularMotorDVel -= decel;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
|
|
||||||
{
|
|
||||||
m_angularMotorDVel = Vector3.Zero;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
|
|
||||||
if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
|
|
||||||
if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
|
|
||||||
}
|
|
||||||
} // end decay angular motor
|
|
||||||
//if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
|
|
||||||
|
|
||||||
//if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
|
|
||||||
// Vertical attractor section
|
|
||||||
Vector3 vertattr = Vector3.Zero;
|
|
||||||
|
|
||||||
if(m_verticalAttractionTimescale < 300)
|
|
||||||
{
|
|
||||||
float VAservo = 1.0f / (m_verticalAttractionTimescale * pTimestep);
|
|
||||||
// get present body rotation
|
|
||||||
// d.Quaternion rot = d.BodyGetQuaternion(Body);
|
|
||||||
// Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
|
|
||||||
// make a vector pointing up
|
|
||||||
Vector3 verterr = Vector3.Zero;
|
|
||||||
verterr.Z = 1.0f;
|
|
||||||
// rotate it to Body Angle
|
|
||||||
verterr = verterr * rotq;
|
|
||||||
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
|
|
||||||
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
|
|
||||||
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
|
|
||||||
|
|
||||||
if (verterr.Z < 0.0f)
|
|
||||||
{ // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
|
|
||||||
// vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
|
|
||||||
//Console.WriteLine("InvertFlip");
|
|
||||||
verterr.X = 2.0f - verterr.X;
|
|
||||||
verterr.Y = 2.0f - verterr.Y;
|
|
||||||
}
|
|
||||||
verterr *= 0.5f;
|
|
||||||
// verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
|
|
||||||
|
|
||||||
if ((!angObjectVel.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
|
|
||||||
{
|
|
||||||
//if(frcount == 0)
|
|
||||||
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
|
|
||||||
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
|
|
||||||
vertattr.X = verterr.Y;
|
|
||||||
vertattr.Y = - verterr.X;
|
|
||||||
vertattr.Z = 0f;
|
|
||||||
//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
|
|
||||||
|
|
||||||
// scaling appears better usingsquare-law
|
|
||||||
float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
|
|
||||||
float bounce = 1.0f - damped;
|
|
||||||
// 0 = crit damp, 1 = bouncy
|
|
||||||
float oavz = angObjectVel.Z; // retain z velocity
|
|
||||||
angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce; // The time-scaled correction, which sums, therefore is bouncy
|
|
||||||
angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped); // damped, good @ < 90.
|
|
||||||
angObjectVel.Z = oavz;
|
|
||||||
//if(frcount == 0) Console.WriteLine("VA+");
|
|
||||||
//Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// else error is very small
|
|
||||||
angObjectVel.X = 0f;
|
|
||||||
angObjectVel.Y = 0f;
|
|
||||||
//if(frcount == 0) Console.WriteLine("VA0");
|
|
||||||
}
|
|
||||||
} // else vertical attractor is off
|
|
||||||
//if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
|
|
||||||
|
|
||||||
if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
|
|
||||||
{ // if motor or object have motion
|
|
||||||
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
|
|
||||||
|
|
||||||
if (m_angularMotorTimescale < 300.0f)
|
|
||||||
{
|
|
||||||
Vector3 attack_error = m_angularMotorDVel - angObjectVel;
|
|
||||||
float angfactor = m_angularMotorTimescale/pTimestep;
|
|
||||||
Vector3 attackAmount = (attack_error/angfactor);
|
|
||||||
angObjectVel += attackAmount;
|
|
||||||
//if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
|
|
||||||
//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
|
|
||||||
}
|
|
||||||
|
|
||||||
angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / pTimestep);
|
|
||||||
angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / pTimestep);
|
|
||||||
angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / pTimestep);
|
|
||||||
} // else no signif. motion
|
|
||||||
|
|
||||||
//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
|
|
||||||
// Bank section tba
|
|
||||||
// Deflection section tba
|
|
||||||
//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
|
|
||||||
|
|
||||||
m_lastAngularVelocity = angObjectVel;
|
|
||||||
/*
|
|
||||||
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
|
|
||||||
{
|
|
||||||
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
//if(frcount == 0) Console.WriteLine("angularLock {0}", m_angularLock);
|
|
||||||
|
|
||||||
if (!m_angularLock.ApproxEquals(Vector3.One, 0.003f))
|
|
||||||
{
|
|
||||||
if (m_angularLock.X == 0)
|
|
||||||
m_lastAngularVelocity.X = 0f;
|
|
||||||
if (m_angularLock.Y == 0)
|
|
||||||
m_lastAngularVelocity.Y = 0f;
|
|
||||||
if (m_angularLock.Z == 0)
|
|
||||||
m_lastAngularVelocity.Z = 0f;
|
|
||||||
}
|
|
||||||
// Apply to the body
|
|
||||||
// Vector3 aInc = m_lastAngularVelocity - initavel;
|
|
||||||
//if(frcount == 0) Console.WriteLine("Inc {0}", aInc);
|
|
||||||
m_lastAngularVelocity = m_lastAngularVelocity * rotq; // ================ Converts to WORLD rotation
|
|
||||||
|
|
||||||
d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
|
|
||||||
//if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
|
|
||||||
|
|
||||||
} //end MoveAngular
|
|
||||||
}
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue