595 lines
21 KiB
C#
595 lines
21 KiB
C#
/*
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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 OpenSim 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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*/
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using System;
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using System.Collections.Generic;
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using Axiom.Math;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Framework.Console;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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public class OdeCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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private d.Vector3 _zeroPosition;
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private d.Matrix3 m_StandUpRotation;
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private bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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private PhysicsVector _velocity;
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private PhysicsVector _target_velocity;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity;
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private float m_density = 50f;
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private bool m_pidControllerActive = true;
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private static float PID_D = 3020.0f;
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private static float PID_P = 7000.0f;
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.5f;
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public float CAPSULE_LENGTH = 0.79f;
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private bool flying = false;
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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private bool m_wascolliding = false;
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private bool m_wascollidingGround = false;
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private bool m_iscollidingObj = false;
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private bool m_wascollidingObj = false;
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private bool m_alwaysRun = false;
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private bool m_hackSentFall = false;
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private bool m_hackSentFly = false;
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private string m_name = "";
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private bool[] m_colliderarr = new bool[11];
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private bool[] m_colliderGroundarr = new bool[11];
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private bool jumping = false;
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//private float gravityAccel;
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public IntPtr Body;
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private OdeScene _parent_scene;
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public IntPtr Shell;
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public IntPtr Amotor;
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public d.Mass ShellMass;
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public bool collidelock = false;
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public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
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{
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_velocity = new PhysicsVector();
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_target_velocity = new PhysicsVector();
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_position = pos;
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_acceleration = new PhysicsVector();
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_parent_scene = parent_scene;
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m_StandUpRotation = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f);
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for (int i = 0; i < 11; i++)
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{
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m_colliderarr[i] = false;
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}
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lock (OdeScene.OdeLock)
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{
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int dAMotorEuler = 1;
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Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
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d.GeomSetBody(Shell, Body);
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d.BodySetRotation(Body, ref m_StandUpRotation);
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Amotor = d.JointCreateAMotor(parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, dAMotorEuler);
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d.JointSetAMotorNumAxes(Amotor, 3);
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d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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d.JointSetAMotorAngle(Amotor, 0, 0);
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d.JointSetAMotorAngle(Amotor, 1, 0);
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d.JointSetAMotorAngle(Amotor, 2, 0);
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d.JointSetAMotorParam(Amotor, 0, -0);
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d.JointSetAMotorParam(Amotor, 0x200, -0);
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d.JointSetAMotorParam(Amotor, 0x100, -0);
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d.JointSetAMotorParam(Amotor, 0, 0);
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d.JointSetAMotorParam(Amotor, 3, 0);
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d.JointSetAMotorParam(Amotor, 2, 0);
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}
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m_name = avName;
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parent_scene.geom_name_map[Shell] = avName;
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parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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}
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public override int PhysicsActorType
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{
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get { return (int)ActorTypes.Agent; }
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set { return; }
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}
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public override bool SetAlwaysRun
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{
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get { return m_alwaysRun; }
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set { m_alwaysRun = value; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool Flying
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{
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get { return flying; }
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set { flying = value; }
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}
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public override bool IsColliding
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{
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get { return m_iscolliding; }
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set
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{
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderarr[i] = m_colliderarr[i + 1];
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}
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}
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m_colliderarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2 * truecount)
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{
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m_iscolliding = false;
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}
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else
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{
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m_iscolliding = true;
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}
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if (m_wascolliding != m_iscolliding)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascolliding = m_iscolliding;
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}
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}
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public override bool CollidingGround
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{
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get { return m_iscollidingGround; }
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set
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{
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderGroundarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
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}
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}
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m_colliderGroundarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderGroundarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2 * truecount)
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{
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m_iscollidingGround = false;
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}
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else
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{
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m_iscollidingGround = true;
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}
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if (m_wascollidingGround != m_iscollidingGround)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascollidingGround = m_iscollidingGround;
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}
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}
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public override bool CollidingObj
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{
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get { return m_iscollidingObj; }
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set {
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m_iscollidingObj = value;
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if (value)
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m_pidControllerActive = false;
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else
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m_pidControllerActive = true;
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}
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set
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{
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lock (OdeScene.OdeLock)
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{
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d.BodySetPosition(Body, value.X, value.Y, value.Z);
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_position = value;
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}
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}
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
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set
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{
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m_pidControllerActive = true;
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lock (OdeScene.OdeLock)
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{
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PhysicsVector SetSize = value;
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float prevCapsule = CAPSULE_LENGTH;
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float capsuleradius = CAPSULE_RADIUS;
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capsuleradius = 0.2f;
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CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
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d.BodyDestroy(Body);
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d.GeomDestroy(Shell);
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//MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
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Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
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d.GeomSetBody(Shell, Body);
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}
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_parent_scene.geom_name_map[Shell] = m_name;
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_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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}
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}
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public override float Mass
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{
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get {
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float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
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return m_density * AVvolume;
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}
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}
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public override PhysicsVector Force
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{
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get { return new PhysicsVector(_target_velocity.X,_target_velocity.Y,_target_velocity.Z); }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set
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{
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return;
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}
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set {
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m_pidControllerActive = true;
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_target_velocity = value; }
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}
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public override bool Kinematic
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{
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get { return false; }
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set { }
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}
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public override Quaternion Orientation
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{
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get { return Quaternion.Identity; }
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set { }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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m_pidControllerActive = true;
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_acceleration = accel;
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}
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public override void AddForce(PhysicsVector force)
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{
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m_pidControllerActive = true;
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_target_velocity.X += force.X;
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_target_velocity.Y += force.Y;
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_target_velocity.Z += force.Z;
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//m_lastUpdateSent = false;
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}
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public void doForce(PhysicsVector force)
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{
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if (!collidelock)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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// ok -- let's stand up straight!
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//d.Matrix3 StandUpRotationalMatrix = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f);
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//d.BodySetRotation(Body, ref StandUpRotationalMatrix);
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d.BodySetRotation(Body, ref m_StandUpRotation);
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// The above matrix was generated with the amazing standup routine below by danX0r *cheer*
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//d.Vector3 feet;
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//d.Vector3 head;
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//d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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//d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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//float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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//float servo = (2.5f - posture) * POSTURE_SERVO;
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//d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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//d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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//m_lastUpdateSent = false;
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}
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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public void Move(float timeStep)
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{
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// no lock; for now it's only called from within Simulate()
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if (m_pidControllerActive == false)
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{
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_zeroPosition = d.BodyGetPosition(Body);
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}
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//PidStatus = true;
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PhysicsVector vec = new PhysicsVector();
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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float movementdivisor = 1f;
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if (!m_alwaysRun)
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{
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movementdivisor = 1.3f;
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}
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else
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{
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movementdivisor = 0.8f;
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}
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// if velocity is zero, use position control; otherwise, velocity control
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if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
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{
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// keep track of where we stopped. No more slippin' & slidin'
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if (!_zeroFlag)
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{
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_zeroFlag = true;
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_zeroPosition = d.BodyGetPosition(Body);
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}
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if (m_pidControllerActive)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
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vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
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if (flying)
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{
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vec.Z = (_target_velocity.Z - vel.Z) * (PID_D + 5100) + (_zeroPosition.Z - pos.Z) * PID_P;
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}
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}
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//PidStatus = true;
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}
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else
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{
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m_pidControllerActive = true;
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_zeroFlag = false;
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if (m_iscolliding || flying)
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{
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vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
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vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
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}
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if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
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if (_target_velocity.X > 0)
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{
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vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
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}
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if (_target_velocity.Y > 0)
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{
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vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
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}
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}
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else if (!m_iscolliding && !flying)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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if (_target_velocity.X > 0)
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{
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vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
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}
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if (_target_velocity.Y > 0)
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{
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vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
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}
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}
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if (flying)
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{
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vec.Z = (_target_velocity.Z - vel.Z) * (PID_D + 5100);
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}
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}
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if (flying)
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{
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vec.Z += 10.0f;
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}
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doForce(vec);
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}
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public void UpdatePositionAndVelocity()
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{
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// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
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d.Vector3 vec = d.BodyGetPosition(Body);
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// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
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if (vec.X < 0.0f) vec.X = 0.0f;
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if (vec.Y < 0.0f) vec.Y = 0.0f;
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if (vec.X > 255.95f) vec.X = 255.95f;
|
|
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
|
|
|
_position.X = vec.X;
|
|
_position.Y = vec.Y;
|
|
_position.Z = vec.Z;
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
_velocity.X = 0.0f;
|
|
_velocity.Y = 0.0f;
|
|
_velocity.Z = 0.0f;
|
|
if (!m_lastUpdateSent)
|
|
{
|
|
m_lastUpdateSent = true;
|
|
base.RequestPhysicsterseUpdate();
|
|
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
|
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
|
//if (primScenAvatarIn == "0")
|
|
//{
|
|
//MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
|
//}
|
|
//else
|
|
//{
|
|
// MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
|
//}
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_lastUpdateSent = false;
|
|
vec = d.BodyGetLinearVel(Body);
|
|
_velocity.X = (vec.X);
|
|
_velocity.Y = (vec.Y);
|
|
|
|
_velocity.Z = (vec.Z);
|
|
if (_velocity.Z < -6 && !m_hackSentFall)
|
|
{
|
|
m_hackSentFall = true;
|
|
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
|
m_pidControllerActive = false;
|
|
}
|
|
else if (flying && !m_hackSentFly)
|
|
{
|
|
//m_hackSentFly = true;
|
|
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
|
}
|
|
else
|
|
{
|
|
m_hackSentFly = false;
|
|
m_hackSentFall = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
public void Destroy()
|
|
{
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.JointDestroy(Amotor);
|
|
d.GeomDestroy(Shell);
|
|
_parent_scene.geom_name_map.Remove(Shell);
|
|
d.BodyDestroy(Body);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|