352 lines
16 KiB
C#
Executable File
352 lines
16 KiB
C#
Executable File
/*
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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 copyrightD
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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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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OpenSim.Region.Physics.Manager;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorAvatarMove : BSActor
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{
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BSVMotor m_velocityMotor;
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// Set to true if we think we're going up stairs.
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// This state is remembered because collisions will turn on and off as we go up stairs.
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int m_walkingUpStairs;
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float m_lastStepUp;
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public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
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: base(physicsScene, pObj, actorName)
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{
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m_velocityMotor = null;
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m_walkingUpStairs = 0;
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m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
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}
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// BSActor.isActive
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public override bool isActive
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{
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get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
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}
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// Release any connections and resources used by the actor.
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// BSActor.Dispose()
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public override void Dispose()
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{
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Enabled = false;
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}
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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// Called at taint-time.
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// BSActor.Refresh()
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public override void Refresh()
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{
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m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID);
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// If the object is physically active, add the hoverer prestep action
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if (isActive)
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{
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ActivateAvatarMove();
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}
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else
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{
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DeactivateAvatarMove();
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}
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}
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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// Called at taint-time.
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// BSActor.RemoveDependencies()
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public override void RemoveDependencies()
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{
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// Nothing to do for the hoverer since it is all software at pre-step action time.
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}
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// Usually called when target velocity changes to set the current velocity and the target
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// into the movement motor.
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public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime)
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{
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m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate()
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{
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if (m_velocityMotor != null)
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{
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m_velocityMotor.Reset();
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m_velocityMotor.SetTarget(targ);
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m_velocityMotor.SetCurrent(vel);
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m_velocityMotor.Enabled = true;
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}
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});
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}
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// If a hover motor has not been created, create one and start the hovering.
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private void ActivateAvatarMove()
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{
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if (m_velocityMotor == null)
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{
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// Infinite decay and timescale values so motor only changes current to target values.
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m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
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0.2f, // time scale
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BSMotor.Infinite, // decay time scale
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1f // efficiency
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);
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// _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
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SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
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m_physicsScene.BeforeStep += Mover;
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m_walkingUpStairs = 0;
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}
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}
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private void DeactivateAvatarMove()
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{
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if (m_velocityMotor != null)
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{
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m_physicsScene.BeforeStep -= Mover;
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m_velocityMotor = null;
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}
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}
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// Called just before the simulation step. Update the vertical position for hoverness.
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private void Mover(float timeStep)
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{
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// Don't do movement while the object is selected.
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if (!isActive)
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return;
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// TODO: Decide if the step parameters should be changed depending on the avatar's
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// state (flying, colliding, ...). There is code in ODE to do this.
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// COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
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// specified for the avatar is the one that should be used. For falling, if the avatar
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// is not flying and is not colliding then it is presumed to be falling and the Z
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// component is not fooled with (thus allowing gravity to do its thing).
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// When the avatar is standing, though, the user has specified a velocity of zero and
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// the avatar should be standing. But if the avatar is pushed by something in the world
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// (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
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// move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
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// errors can creap in and the avatar will slowly float off in some direction.
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// So, the problem is that, when an avatar is standing, we cannot tell creaping error
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// from real pushing.
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// The code below uses whether the collider is static or moving to decide whether to zero motion.
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m_velocityMotor.Step(timeStep);
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m_controllingPrim.IsStationary = false;
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// If we're not supposed to be moving, make sure things are zero.
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if (m_velocityMotor.ErrorIsZero() && m_velocityMotor.TargetValue == OMV.Vector3.Zero)
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{
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// The avatar shouldn't be moving
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m_velocityMotor.Zero();
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if (m_controllingPrim.IsColliding)
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{
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// If we are colliding with a stationary object, presume we're standing and don't move around
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if (!m_controllingPrim.ColliderIsMoving)
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{
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m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID);
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m_controllingPrim.IsStationary = true;
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m_controllingPrim.ZeroMotion(true /* inTaintTime */);
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}
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// Standing has more friction on the ground
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if (m_controllingPrim.Friction != BSParam.AvatarStandingFriction)
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{
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m_controllingPrim.Friction = BSParam.AvatarStandingFriction;
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m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
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}
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}
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else
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{
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if (m_controllingPrim.Flying)
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{
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// Flying and not collising and velocity nearly zero.
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m_controllingPrim.ZeroMotion(true /* inTaintTime */);
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}
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}
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m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}",
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m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding);
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}
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else
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{
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// Supposed to be moving.
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OMV.Vector3 stepVelocity = m_velocityMotor.CurrentValue;
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if (m_controllingPrim.Friction != BSParam.AvatarFriction)
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{
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// Probably starting up walking. Set friction to moving friction.
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m_controllingPrim.Friction = BSParam.AvatarFriction;
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m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
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}
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// If falling, we keep the world's downward vector no matter what the other axis specify.
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// The check for RawVelocity.Z < 0 makes jumping work (temporary upward force).
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if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
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{
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if (m_controllingPrim.RawVelocity.Z < 0)
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stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
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// DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
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}
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// 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
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OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass;
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// Add special movement force to allow avatars to walk up stepped surfaces.
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moveForce += WalkUpStairs();
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m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
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m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce);
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m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce);
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}
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}
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// Decide if the character is colliding with a low object and compute a force to pop the
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// avatar up so it can walk up and over the low objects.
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private OMV.Vector3 WalkUpStairs()
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{
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OMV.Vector3 ret = OMV.Vector3.Zero;
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m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4},avHeight={5}",
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m_controllingPrim.LocalID, m_controllingPrim.IsColliding, m_controllingPrim.Flying,
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m_controllingPrim.TargetVelocitySpeed, m_controllingPrim.CollisionsLastTick.Count, m_controllingPrim.Size.Z);
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// This test is done if moving forward, not flying and is colliding with something.
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// Check for stairs climbing if colliding, not flying and moving forward
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if ( m_controllingPrim.IsColliding
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&& !m_controllingPrim.Flying
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&& m_controllingPrim.TargetVelocitySpeed > 0.1f )
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{
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// The range near the character's feet where we will consider stairs
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// float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f;
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// Note: there is a problem with the computation of the capsule height. Thus RawPosition is off
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// from the height. Revisit size and this computation when height is scaled properly.
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float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - 0.05f;
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float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
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// Look for a collision point that is near the character's feet and is oriented the same as the charactor is.
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// Find the highest 'good' collision.
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OMV.Vector3 highestTouchPosition = OMV.Vector3.Zero;
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foreach (KeyValuePair<uint, ContactPoint> kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList)
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{
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// Don't care about collisions with the terrain
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if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID)
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{
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OMV.Vector3 touchPosition = kvp.Value.Position;
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m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
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m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
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if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
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{
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// This contact is within the 'near the feet' range.
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// The normal should be our contact point to the object so it is pointing away
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// thus the difference between our facing orientation and the normal should be small.
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OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation;
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OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
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float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
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if (diff < BSParam.AvatarStepApproachFactor)
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{
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if (highestTouchPosition.Z < touchPosition.Z)
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highestTouchPosition = touchPosition;
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}
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}
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}
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}
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m_walkingUpStairs = 0;
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// If there is a good step sensing, move the avatar over the step.
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if (highestTouchPosition != OMV.Vector3.Zero)
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{
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// Remember that we are going up stairs. This is needed because collisions
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// will stop when we move up so this smoothes out that effect.
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m_walkingUpStairs = BSParam.AvatarStepSmoothingSteps;
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m_lastStepUp = highestTouchPosition.Z - nearFeetHeightMin;
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ret = ComputeStairCorrection(m_lastStepUp);
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m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},ret={3}",
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m_controllingPrim.LocalID, highestTouchPosition, nearFeetHeightMin, ret);
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}
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}
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else
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{
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// If we used to be going up stairs but are not now, smooth the case where collision goes away while
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// we are bouncing up the stairs.
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if (m_walkingUpStairs > 0)
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{
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m_walkingUpStairs--;
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ret = ComputeStairCorrection(m_lastStepUp);
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}
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}
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return ret;
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}
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private OMV.Vector3 ComputeStairCorrection(float stepUp)
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{
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OMV.Vector3 ret = OMV.Vector3.Zero;
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OMV.Vector3 displacement = OMV.Vector3.Zero;
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if (stepUp > 0f)
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{
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// Found the stairs contact point. Push up a little to raise the character.
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if (BSParam.AvatarStepForceFactor > 0f)
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{
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float upForce = stepUp * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor;
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ret = new OMV.Vector3(0f, 0f, upForce);
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}
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// Also move the avatar up for the new height
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if (BSParam.AvatarStepUpCorrectionFactor > 0f)
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{
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// Move the avatar up related to the height of the collision
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displacement = new OMV.Vector3(0f, 0f, stepUp * BSParam.AvatarStepUpCorrectionFactor);
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m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
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}
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else
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{
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if (BSParam.AvatarStepUpCorrectionFactor < 0f)
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{
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// Move the avatar up about the specified step height
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displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight);
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m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
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}
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}
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m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,disp={1},force={2}",
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m_controllingPrim.LocalID, displacement, ret);
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}
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return ret;
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}
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}
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}
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