1929 lines
61 KiB
C#
1929 lines
61 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 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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// Revision by Ubit 2011/12
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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 OpenMetaverse;
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using OdeAPI;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using log4net;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
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/// </summary>
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public enum dParam : int
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{
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LowStop = 0,
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HiStop = 1,
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Vel = 2,
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FMax = 3,
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FudgeFactor = 4,
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Bounce = 5,
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CFM = 6,
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StopERP = 7,
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StopCFM = 8,
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LoStop2 = 256,
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HiStop2 = 257,
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Vel2 = 258,
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FMax2 = 259,
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StopERP2 = 7 + 256,
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StopCFM2 = 8 + 256,
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LoStop3 = 512,
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HiStop3 = 513,
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Vel3 = 514,
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FMax3 = 515,
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StopERP3 = 7 + 512,
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StopCFM3 = 8 + 512
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}
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public class OdeCharacter : PhysicsActor
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private Vector3 _position;
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private Vector3 _zeroPosition;
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private Vector3 _velocity;
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private Vector3 _target_velocity;
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private Vector3 _acceleration;
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private Vector3 m_rotationalVelocity;
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private Vector3 m_size;
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private Quaternion m_orientation;
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private Quaternion m_orientation2D;
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private float m_mass = 80f;
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public float m_density = 60f;
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private bool m_pidControllerActive = true;
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const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80))
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const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80))
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public float PID_D;
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public float PID_P;
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private float timeStep;
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private float invtimeStep;
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private float m_feetOffset = 0;
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private float feetOff = 0;
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private float feetSZ = 0.5f;
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const float feetScale = 0.8f;
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private float boneOff = 0;
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private float m_lastVelocitySqr = 0;
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public float walkDivisor = 1.3f;
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public float runDivisor = 0.8f;
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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_iscollidingObj = false;
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private bool m_alwaysRun = false;
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private bool _zeroFlag = false;
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private int m_requestedUpdateFrequency = 0;
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private uint m_localID = 0;
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public bool m_returnCollisions = false;
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// taints and their non-tainted counterparts
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public bool m_isPhysical = false; // the current physical status
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public float MinimumGroundFlightOffset = 3f;
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private float m_buoyancy = 0f;
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private bool m_freemove = false;
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// private CollisionLocker ode;
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// private string m_name = String.Empty;
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// other filter control
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int m_colliderfilter = 0;
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int m_colliderGroundfilter = 0;
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int m_colliderObjectfilter = 0;
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bool m_collisionException = false;
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// Default we're a Character
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private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
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// Default, Collide with Other Geometries, spaces, bodies and characters.
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private CollisionCategories m_collisionFlags = (CollisionCategories.Character
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| CollisionCategories.Geom
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| CollisionCategories.VolumeDtc
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);
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// we do land collisions not ode | CollisionCategories.Land);
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public IntPtr Body = IntPtr.Zero;
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private OdeScene _parent_scene;
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private IntPtr topbox = IntPtr.Zero;
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private IntPtr midbox = IntPtr.Zero;
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private IntPtr feetbox = IntPtr.Zero;
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private IntPtr bbox = IntPtr.Zero;
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public IntPtr collider = IntPtr.Zero;
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public IntPtr Amotor = IntPtr.Zero;
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public d.Mass ShellMass;
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public int m_eventsubscription = 0;
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private int m_cureventsubscription = 0;
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private CollisionEventUpdate CollisionEventsThisFrame = null;
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private bool SentEmptyCollisionsEvent;
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// unique UUID of this character object
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public UUID m_uuid;
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public bool bad = false;
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float mu;
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public OdeCharacter(uint localID, String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
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{
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m_uuid = UUID.Random();
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m_localID = localID;
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timeStep = parent_scene.ODE_STEPSIZE;
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invtimeStep = 1 / timeStep;
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if (pos.IsFinite())
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{
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if (pos.Z > 99999f)
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{
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pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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if (pos.Z < -100f) // shouldn't this be 0 ?
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{
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pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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_position = pos;
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}
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else
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{
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_position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
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m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
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}
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_parent_scene = parent_scene;
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m_size.X = pSize.X;
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m_size.Y = pSize.Y;
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m_size.Z = pSize.Z;
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if(m_size.X <0.01f)
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m_size.X = 0.01f;
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if(m_size.Y <0.01f)
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m_size.Y = 0.01f;
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if(m_size.Z <0.01f)
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m_size.Z = 0.01f;
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m_feetOffset = pfeetOffset;
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m_orientation = Quaternion.Identity;
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m_orientation2D = Quaternion.Identity;
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m_density = density;
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// force lower density for testing
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m_density = 3.0f;
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m_density *= 1.4f; // scale to have mass similar to capsule
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mu = parent_scene.AvatarFriction;
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walkDivisor = walk_divisor;
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runDivisor = rundivisor;
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m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
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PID_D = basePID_D * m_mass * invtimeStep;
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PID_P = basePID_P * m_mass * invtimeStep;
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m_isPhysical = false; // current status: no ODE information exists
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Name = avName;
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AddChange(changes.Add, null);
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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 void getContactData(ref ContactData cdata)
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{
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cdata.mu = mu;
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cdata.bounce = 0;
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cdata.softcolide = false;
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}
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public override bool Building { get; set; }
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/// <summary>
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/// If this is set, the avatar will move faster
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/// </summary>
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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 uint LocalID
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{
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get { return m_localID; }
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set { m_localID = value; }
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}
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public override PhysicsActor ParentActor
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{
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get { return (PhysicsActor)this; }
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}
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public override bool Grabbed
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{
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set { return; }
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}
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public override bool Selected
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{
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set { return; }
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}
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public override float Buoyancy
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{
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get { return m_buoyancy; }
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set { m_buoyancy = value; }
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}
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public override bool FloatOnWater
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{
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set { return; }
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}
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public override bool IsPhysical
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{
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get { return m_isPhysical; }
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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
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{
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flying = value;
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// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
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}
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}
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/// <summary>
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/// Returns if the avatar is colliding in general.
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/// This includes the ground and objects and avatar.
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/// </summary>
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public override bool IsColliding
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{
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get { return (m_iscolliding || m_iscollidingGround); }
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set
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{
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if (value)
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{
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m_colliderfilter += 2;
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if (m_colliderfilter > 2)
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m_colliderfilter = 2;
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}
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else
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{
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m_colliderfilter--;
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if (m_colliderfilter < 0)
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m_colliderfilter = 0;
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}
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if (m_colliderfilter == 0)
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m_iscolliding = false;
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else
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{
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m_pidControllerActive = true;
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m_iscolliding = true;
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}
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}
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}
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/// <summary>
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/// Returns if an avatar is colliding with the ground
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/// </summary>
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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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/* we now control this
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if (value)
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{
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m_colliderGroundfilter += 2;
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if (m_colliderGroundfilter > 2)
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m_colliderGroundfilter = 2;
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}
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else
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{
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m_colliderGroundfilter--;
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if (m_colliderGroundfilter < 0)
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m_colliderGroundfilter = 0;
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}
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if (m_colliderGroundfilter == 0)
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m_iscollidingGround = false;
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else
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m_iscollidingGround = true;
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*/
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}
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}
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/// <summary>
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/// Returns if the avatar is colliding with an object
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/// </summary>
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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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{
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// Ubit filter this also
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if (value)
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{
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m_colliderObjectfilter += 2;
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if (m_colliderObjectfilter > 2)
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m_colliderObjectfilter = 2;
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}
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else
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{
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m_colliderObjectfilter--;
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if (m_colliderObjectfilter < 0)
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m_colliderObjectfilter = 0;
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}
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if (m_colliderObjectfilter == 0)
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m_iscollidingObj = false;
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else
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m_iscollidingObj = true;
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// m_iscollidingObj = value;
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if (m_iscollidingObj)
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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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/// <summary>
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/// turn the PID controller on or off.
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/// The PID Controller will turn on all by itself in many situations
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/// </summary>
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/// <param name="status"></param>
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public void SetPidStatus(bool status)
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{
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m_pidControllerActive = status;
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}
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public override bool Stopped
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{
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get { return _zeroFlag; }
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}
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/// <summary>
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/// This 'puts' an avatar somewhere in the physics space.
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/// Not really a good choice unless you 'know' it's a good
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/// spot otherwise you're likely to orbit the avatar.
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/// </summary>
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public override Vector3 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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if (value.IsFinite())
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{
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if (value.Z > 9999999f)
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{
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value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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if (value.Z < -100f)
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{
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value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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AddChange(changes.Position, value);
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
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}
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}
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}
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public override Vector3 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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/// <summary>
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/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
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/// and use it to offset landings properly
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/// </summary>
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public override Vector3 Size
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{
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get
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{
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return m_size;
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}
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set
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{
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if (value.IsFinite())
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{
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if(value.X <0.01f)
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value.X = 0.01f;
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if(value.Y <0.01f)
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value.Y = 0.01f;
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if(value.Z <0.01f)
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value.Z = 0.01f;
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AddChange(changes.Size, value);
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
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}
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}
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}
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public override void setAvatarSize(Vector3 size, float feetOffset)
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{
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if (size.IsFinite())
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{
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if (size.X < 0.01f)
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size.X = 0.01f;
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if (size.Y < 0.01f)
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size.Y = 0.01f;
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if (size.Z < 0.01f)
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size.Z = 0.01f;
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strAvatarSize st = new strAvatarSize();
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st.size = size;
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st.offset = feetOffset;
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AddChange(changes.AvatarSize, st);
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN AvatarSize from Scene on a Character");
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}
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}
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/// <summary>
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/// This creates the Avatar's physical Surrogate at the position supplied
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/// </summary>
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/// <param name="npositionX"></param>
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/// <param name="npositionY"></param>
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/// <param name="npositionZ"></param>
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//
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/// <summary>
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/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
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/// This may be used in calculations in the scene/scenepresence
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/// </summary>
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public override float Mass
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{
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get
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{
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return m_mass;
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}
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}
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public override void link(PhysicsActor obj)
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{
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}
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public override void delink()
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{
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}
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public override void LockAngularMotion(Vector3 axis)
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{
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}
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public override Vector3 Force
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{
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get { return _target_velocity; }
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set { return; }
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}
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public override int VehicleType
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{
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get { return 0; }
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set { return; }
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}
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public override void VehicleFloatParam(int param, float value)
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{
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}
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public override void VehicleVectorParam(int param, Vector3 value)
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{
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}
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public override void VehicleRotationParam(int param, Quaternion rotation)
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{
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}
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public override void VehicleFlags(int param, bool remove)
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{
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}
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public override void SetVolumeDetect(int param)
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{
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}
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public override Vector3 CenterOfMass
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{
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get
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{
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Vector3 pos = _position;
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return pos;
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}
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}
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public override Vector3 GeometricCenter
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{
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get
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|
{
|
|
Vector3 pos = _position;
|
|
return pos;
|
|
}
|
|
}
|
|
|
|
public override PrimitiveBaseShape Shape
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
public override Vector3 Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
if (value.IsFinite())
|
|
{
|
|
AddChange(changes.Velocity, value);
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
|
|
}
|
|
}
|
|
}
|
|
|
|
public override Vector3 Torque
|
|
{
|
|
get { return Vector3.Zero; }
|
|
set { return; }
|
|
}
|
|
|
|
public override float CollisionScore
|
|
{
|
|
get { return 0f; }
|
|
set { }
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get { return m_orientation; }
|
|
set
|
|
{
|
|
// fakeori = value;
|
|
// givefakeori++;
|
|
value.Normalize();
|
|
AddChange(changes.Orientation, value);
|
|
}
|
|
}
|
|
|
|
public override Vector3 Acceleration
|
|
{
|
|
get { return _acceleration; }
|
|
set { }
|
|
}
|
|
|
|
public void SetAcceleration(Vector3 accel)
|
|
{
|
|
m_pidControllerActive = true;
|
|
_acceleration = accel;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds the force supplied to the Target Velocity
|
|
/// The PID controller takes this target velocity and tries to make it a reality
|
|
/// </summary>
|
|
/// <param name="force"></param>
|
|
public override void AddForce(Vector3 force, bool pushforce)
|
|
{
|
|
if (force.IsFinite())
|
|
{
|
|
if (pushforce)
|
|
{
|
|
AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f));
|
|
}
|
|
else
|
|
{
|
|
AddChange(changes.Velocity, force);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
|
|
}
|
|
//m_lastUpdateSent = false;
|
|
}
|
|
|
|
public override void AddAngularForce(Vector3 force, bool pushforce)
|
|
{
|
|
|
|
}
|
|
|
|
public override void SetMomentum(Vector3 momentum)
|
|
{
|
|
if (momentum.IsFinite())
|
|
AddChange(changes.Momentum, momentum);
|
|
}
|
|
|
|
private void ajustCollider()
|
|
{
|
|
float vq = _velocity.LengthSquared();
|
|
if (m_lastVelocitySqr != vq)
|
|
{
|
|
m_lastVelocitySqr = vq;
|
|
if (vq > 100.0f)
|
|
{
|
|
Vector3 off = _velocity;
|
|
float t = 0.5f * timeStep;
|
|
off = off * t;
|
|
d.GeomSetOffsetPosition(bbox, off.X, off.Y, off.Z);
|
|
off.X = 2.0f * (m_size.X + Math.Abs(off.X));
|
|
off.Y = 2.0f * (m_size.Y + Math.Abs(off.Y));
|
|
off.Z = m_size.Z + 2.0f * Math.Abs(off.Z);
|
|
d.GeomBoxSetLengths(bbox, off.X, off.Y, off.Z);
|
|
|
|
d.GeomSetCategoryBits(bbox, (uint)m_collisionCategories);
|
|
d.GeomSetCollideBits(bbox, (uint)m_collisionFlags);
|
|
d.GeomSetCategoryBits(topbox, 0);
|
|
d.GeomSetCollideBits(topbox, 0);
|
|
d.GeomSetCategoryBits(midbox, 0);
|
|
d.GeomSetCollideBits(midbox, 0);
|
|
d.GeomSetCategoryBits(feetbox, 0);
|
|
d.GeomSetCollideBits(feetbox, 0);
|
|
}
|
|
else
|
|
{
|
|
d.GeomSetCategoryBits(bbox, 0);
|
|
d.GeomSetCollideBits(bbox, 0);
|
|
d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories);
|
|
d.GeomSetCollideBits(topbox, (uint)m_collisionFlags);
|
|
d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories);
|
|
d.GeomSetCollideBits(midbox, (uint)m_collisionFlags);
|
|
d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
|
|
d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
|
|
}
|
|
}
|
|
}
|
|
|
|
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
|
|
{
|
|
// sizes one day should came from visual parameters
|
|
float sx = m_size.X;
|
|
float sy = m_size.Y;
|
|
float sz = m_size.Z;
|
|
|
|
float topsx = sx * 0.9f;
|
|
float midsx = sx;
|
|
float feetsx = sx * feetScale;
|
|
float bonesx = sx * 0.2f;
|
|
|
|
float topsy = sy * 0.4f;
|
|
float midsy = sy;
|
|
float feetsy = sy * feetScale * 0.8f;
|
|
float bonesy = feetsy * 0.2f;
|
|
|
|
float topsz = sz * 0.15f;
|
|
float feetsz = sz * 0.45f;
|
|
if (feetsz > 0.6f)
|
|
feetsz = 0.6f;
|
|
|
|
float midsz = sz - topsz - feetsz;
|
|
float bonesz = sz;
|
|
|
|
float bot = -sz * 0.5f + m_feetOffset;
|
|
|
|
boneOff = bot + 0.3f;
|
|
|
|
float feetz = bot + feetsz * 0.5f;
|
|
bot += feetsz;
|
|
|
|
feetOff = bot;
|
|
feetSZ = feetsz;
|
|
|
|
float midz = bot + midsz * 0.5f;
|
|
bot += midsz;
|
|
float topz = bot + topsz * 0.5f;
|
|
|
|
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace);
|
|
|
|
collider = d.HashSpaceCreate(_parent_scene.CharsSpace);
|
|
d.HashSpaceSetLevels(collider, -4, 3);
|
|
d.SpaceSetSublevel(collider, 3);
|
|
d.SpaceSetCleanup(collider, false);
|
|
d.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
|
|
d.GeomSetCollideBits(collider, (uint)m_collisionFlags);
|
|
|
|
feetbox = d.CreateBox(collider, feetsx, feetsy, feetsz);
|
|
midbox = d.CreateBox(collider, midsx, midsy, midsz);
|
|
topbox = d.CreateBox(collider, topsx, topsy, topsz);
|
|
bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z);
|
|
|
|
m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass
|
|
|
|
d.MassSetBoxTotal(out ShellMass, m_mass, m_size.X, m_size.Y, m_size.Z);
|
|
|
|
PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE;
|
|
PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE;
|
|
|
|
Body = d.BodyCreate(_parent_scene.world);
|
|
|
|
_zeroFlag = false;
|
|
m_collisionException = false;
|
|
m_pidControllerActive = true;
|
|
m_freemove = false;
|
|
|
|
_velocity = Vector3.Zero;
|
|
m_lastVelocitySqr = 0;
|
|
|
|
d.BodySetAutoDisableFlag(Body, false);
|
|
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
|
|
|
|
_position.X = npositionX;
|
|
_position.Y = npositionY;
|
|
_position.Z = npositionZ;
|
|
|
|
d.BodySetMass(Body, ref ShellMass);
|
|
d.GeomSetBody(feetbox, Body);
|
|
d.GeomSetBody(midbox, Body);
|
|
d.GeomSetBody(topbox, Body);
|
|
d.GeomSetBody(bbox, Body);
|
|
|
|
d.GeomSetOffsetPosition(feetbox, 0, 0, feetz);
|
|
d.GeomSetOffsetPosition(midbox, 0, 0, midz);
|
|
d.GeomSetOffsetPosition(topbox, 0, 0, topz);
|
|
|
|
ajustCollider();
|
|
|
|
|
|
// The purpose of the AMotor here is to keep the avatar's physical
|
|
// surrogate from rotating while moving
|
|
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
|
d.JointAttach(Amotor, Body, IntPtr.Zero);
|
|
|
|
d.JointSetAMotorMode(Amotor, 0);
|
|
d.JointSetAMotorNumAxes(Amotor, 3);
|
|
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
|
|
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
|
|
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
|
|
|
|
d.JointSetAMotorAngle(Amotor, 0, 0);
|
|
d.JointSetAMotorAngle(Amotor, 1, 0);
|
|
d.JointSetAMotorAngle(Amotor, 2, 0);
|
|
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
|
|
|
|
// These lowstops and high stops are effectively (no wiggle room)
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
|
|
|
|
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
|
|
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
|
|
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
|
|
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Destroys the avatar body and geom
|
|
|
|
private void AvatarGeomAndBodyDestroy()
|
|
{
|
|
// Kill the Amotor
|
|
if (Amotor != IntPtr.Zero)
|
|
{
|
|
d.JointDestroy(Amotor);
|
|
Amotor = IntPtr.Zero;
|
|
}
|
|
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
//kill the body
|
|
d.BodyDestroy(Body);
|
|
Body = IntPtr.Zero;
|
|
}
|
|
|
|
//kill the Geoms
|
|
if (topbox != IntPtr.Zero)
|
|
{
|
|
_parent_scene.actor_name_map.Remove(topbox);
|
|
_parent_scene.waitForSpaceUnlock(collider);
|
|
d.GeomDestroy(topbox);
|
|
topbox = IntPtr.Zero;
|
|
}
|
|
if (midbox != IntPtr.Zero)
|
|
{
|
|
_parent_scene.actor_name_map.Remove(midbox);
|
|
_parent_scene.waitForSpaceUnlock(collider);
|
|
d.GeomDestroy(midbox);
|
|
midbox = IntPtr.Zero;
|
|
}
|
|
if (feetbox != IntPtr.Zero)
|
|
{
|
|
_parent_scene.actor_name_map.Remove(feetbox);
|
|
_parent_scene.waitForSpaceUnlock(collider);
|
|
d.GeomDestroy(feetbox);
|
|
feetbox = IntPtr.Zero;
|
|
}
|
|
|
|
if (bbox != IntPtr.Zero)
|
|
{
|
|
_parent_scene.actor_name_map.Remove(bbox);
|
|
_parent_scene.waitForSpaceUnlock(collider);
|
|
d.GeomDestroy(bbox);
|
|
bbox = IntPtr.Zero;
|
|
}
|
|
|
|
if (collider != IntPtr.Zero)
|
|
{
|
|
d.SpaceDestroy(collider);
|
|
collider = IntPtr.Zero;
|
|
}
|
|
|
|
}
|
|
|
|
//in place 2D rotation around Z assuming rot is normalised and is a rotation around Z
|
|
public void RotateXYonZ(ref float x, ref float y, ref Quaternion rot)
|
|
{
|
|
float sin = 2.0f * rot.Z * rot.W;
|
|
float cos = rot.W * rot.W - rot.Z * rot.Z;
|
|
float tx = x;
|
|
|
|
x = tx * cos - y * sin;
|
|
y = tx * sin + y * cos;
|
|
}
|
|
public void RotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
|
|
{
|
|
float tx = x;
|
|
x = tx * cos - y * sin;
|
|
y = tx * sin + y * cos;
|
|
}
|
|
public void invRotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
|
|
{
|
|
float tx = x;
|
|
x = tx * cos + y * sin;
|
|
y = -tx * sin + y * cos;
|
|
}
|
|
|
|
public void invRotateXYonZ(ref float x, ref float y, ref Quaternion rot)
|
|
{
|
|
float sin = - 2.0f * rot.Z * rot.W;
|
|
float cos = rot.W * rot.W - rot.Z * rot.Z;
|
|
float tx = x;
|
|
|
|
x = tx * cos - y * sin;
|
|
y = tx * sin + y * cos;
|
|
}
|
|
|
|
|
|
public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
|
|
{
|
|
feetcollision = false;
|
|
if (m_collisionException)
|
|
return false;
|
|
|
|
Vector3 offset;
|
|
|
|
if (me == bbox) // if moving fast
|
|
{
|
|
// force a full inelastic collision
|
|
m_collisionException = true;
|
|
|
|
offset = m_size * m_orientation2D;
|
|
|
|
offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth;
|
|
offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth;
|
|
offset.Z = (float)Math.Abs(offset.Z) * 0.5f + contact.depth;
|
|
|
|
if (reverse)
|
|
{
|
|
offset.X *= -contact.normal.X;
|
|
offset.Y *= -contact.normal.Y;
|
|
offset.Z *= -contact.normal.Z;
|
|
}
|
|
else
|
|
{
|
|
offset.X *= contact.normal.X;
|
|
offset.Y *= contact.normal.Y;
|
|
offset.Z *= contact.normal.Z;
|
|
}
|
|
|
|
offset.X += contact.pos.X;
|
|
offset.Y += contact.pos.Y;
|
|
offset.Z += contact.pos.Z;
|
|
|
|
_position = offset;
|
|
return false;
|
|
}
|
|
|
|
offset.X = contact.pos.X - _position.X;
|
|
offset.Y = contact.pos.Y - _position.Y;
|
|
|
|
if (me == topbox)
|
|
{
|
|
offset.Z = contact.pos.Z - _position.Z;
|
|
|
|
offset.Normalize();
|
|
|
|
if (reverse)
|
|
{
|
|
contact.normal.X = offset.X;
|
|
contact.normal.Y = offset.Y;
|
|
contact.normal.Z = offset.Z;
|
|
}
|
|
else
|
|
{
|
|
contact.normal.X = -offset.X;
|
|
contact.normal.Y = -offset.Y;
|
|
contact.normal.Z = -offset.Z;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
if (me == midbox)
|
|
{
|
|
if (Math.Abs(contact.normal.Z) > 0.95f)
|
|
offset.Z = contact.pos.Z - _position.Z;
|
|
else
|
|
offset.Z = contact.normal.Z;
|
|
|
|
offset.Normalize();
|
|
|
|
if (reverse)
|
|
{
|
|
contact.normal.X = offset.X;
|
|
contact.normal.Y = offset.Y;
|
|
contact.normal.Z = offset.Z;
|
|
}
|
|
else
|
|
{
|
|
contact.normal.X = -offset.X;
|
|
contact.normal.Y = -offset.Y;
|
|
contact.normal.Z = -offset.Z;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
else if (me == feetbox)
|
|
{
|
|
float h = contact.pos.Z - _position.Z;
|
|
|
|
if (Math.Abs(contact.normal.Z) > 0.95f)
|
|
{
|
|
if (contact.normal.Z > 0)
|
|
contact.normal.Z = 1.0f;
|
|
else
|
|
contact.normal.Z = -1.0f;
|
|
contact.normal.X = 0.0f;
|
|
contact.normal.Y = 0.0f;
|
|
feetcollision = true;
|
|
if (h < boneOff)
|
|
IsColliding = true;
|
|
return true;
|
|
}
|
|
|
|
offset.Z = h - feetOff; // distance from top of feetbox
|
|
|
|
if (offset.Z > 0)
|
|
return false;
|
|
|
|
if (offset.Z > -0.01)
|
|
{
|
|
offset.X = 0;
|
|
offset.Y = 0;
|
|
offset.Z = -1.0f;
|
|
}
|
|
else
|
|
{
|
|
offset.Normalize();
|
|
}
|
|
|
|
if (reverse)
|
|
{
|
|
contact.normal.X = offset.X;
|
|
contact.normal.Y = offset.Y;
|
|
contact.normal.Z = offset.Z;
|
|
}
|
|
else
|
|
{
|
|
contact.normal.X = -offset.X;
|
|
contact.normal.Y = -offset.Y;
|
|
contact.normal.Z = -offset.Z;
|
|
}
|
|
feetcollision = true;
|
|
if (h < boneOff)
|
|
IsColliding = true;
|
|
}
|
|
else
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Called from Simulate
|
|
/// This is the avatar's movement control + PID Controller
|
|
/// </summary>
|
|
/// <param name="timeStep"></param>
|
|
public void Move(List<OdeCharacter> defects)
|
|
{
|
|
if (Body == IntPtr.Zero)
|
|
return;
|
|
|
|
if (m_collisionException)
|
|
{
|
|
d.BodySetPosition(Body,_position.X, _position.Y, _position.Z);
|
|
d.BodySetLinearVel(Body, 0, 0, 0);
|
|
|
|
float v = _velocity.Length();
|
|
if (v != 0)
|
|
{
|
|
v = 5.0f / v;
|
|
_velocity = _velocity * v;
|
|
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
|
|
}
|
|
ajustCollider();
|
|
m_collisionException = false;
|
|
return;
|
|
}
|
|
|
|
d.Vector3 dtmp = d.BodyGetPosition(Body);
|
|
Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
|
|
|
|
// the Amotor still lets avatar rotation to drift during colisions
|
|
// so force it back to identity
|
|
|
|
d.Quaternion qtmp;
|
|
qtmp.W = m_orientation2D.W;
|
|
qtmp.X = m_orientation2D.X;
|
|
qtmp.Y = m_orientation2D.Y;
|
|
qtmp.Z = m_orientation2D.Z;
|
|
d.BodySetQuaternion(Body, ref qtmp);
|
|
|
|
if (m_pidControllerActive == false)
|
|
{
|
|
_zeroPosition = localpos;
|
|
}
|
|
|
|
if (!localpos.IsFinite())
|
|
{
|
|
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
|
|
defects.Add(this);
|
|
// _parent_scene.RemoveCharacter(this);
|
|
|
|
// destroy avatar capsule and related ODE data
|
|
AvatarGeomAndBodyDestroy();
|
|
return;
|
|
}
|
|
|
|
// check outbounds forcing to be in world
|
|
bool fixbody = false;
|
|
if (localpos.X < 0.0f)
|
|
{
|
|
fixbody = true;
|
|
localpos.X = 0.1f;
|
|
}
|
|
else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
|
|
{
|
|
fixbody = true;
|
|
localpos.X = _parent_scene.WorldExtents.X - 0.1f;
|
|
}
|
|
if (localpos.Y < 0.0f)
|
|
{
|
|
fixbody = true;
|
|
localpos.Y = 0.1f;
|
|
}
|
|
else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
|
|
{
|
|
fixbody = true;
|
|
localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
|
|
}
|
|
if (fixbody)
|
|
{
|
|
m_freemove = false;
|
|
d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
|
|
}
|
|
|
|
float breakfactor;
|
|
|
|
Vector3 vec = Vector3.Zero;
|
|
dtmp = d.BodyGetLinearVel(Body);
|
|
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
|
|
float velLengthSquared = vel.LengthSquared();
|
|
|
|
float movementdivisor = 1f;
|
|
//Ubit change divisions into multiplications below
|
|
if (!m_alwaysRun)
|
|
movementdivisor = 1 / walkDivisor;
|
|
else
|
|
movementdivisor = 1 / runDivisor;
|
|
|
|
//******************************************
|
|
// colide with land
|
|
|
|
d.AABB aabb;
|
|
d.GeomGetAABB(feetbox, out aabb);
|
|
float chrminZ = aabb.MinZ; ; // move up a bit
|
|
Vector3 posch = localpos;
|
|
|
|
float ftmp;
|
|
|
|
if (flying)
|
|
{
|
|
ftmp = timeStep;
|
|
posch.X += vel.X * ftmp;
|
|
posch.Y += vel.Y * ftmp;
|
|
}
|
|
|
|
float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
|
|
if (chrminZ < terrainheight)
|
|
{
|
|
float depth = terrainheight - chrminZ;
|
|
if (!flying)
|
|
{
|
|
vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
|
|
}
|
|
else
|
|
vec.Z = depth * PID_P * 50;
|
|
|
|
if (depth < 0.1f)
|
|
{
|
|
m_colliderGroundfilter++;
|
|
if (m_colliderGroundfilter > 2)
|
|
{
|
|
m_iscolliding = true;
|
|
m_colliderfilter = 2;
|
|
|
|
if (m_colliderGroundfilter > 10)
|
|
{
|
|
m_colliderGroundfilter = 10;
|
|
m_freemove = false;
|
|
}
|
|
|
|
m_iscollidingGround = true;
|
|
|
|
ContactPoint contact = new ContactPoint();
|
|
contact.PenetrationDepth = depth;
|
|
contact.Position.X = localpos.X;
|
|
contact.Position.Y = localpos.Y;
|
|
contact.Position.Z = terrainheight;
|
|
contact.SurfaceNormal.X = 0.0f;
|
|
contact.SurfaceNormal.Y = 0.0f;
|
|
contact.SurfaceNormal.Z = -1f;
|
|
contact.RelativeSpeed = -vel.Z;
|
|
contact.CharacterFeet = true;
|
|
AddCollisionEvent(0, contact);
|
|
|
|
vec.Z *= 0.5f;
|
|
}
|
|
}
|
|
|
|
else
|
|
{
|
|
m_colliderGroundfilter = 0;
|
|
m_iscollidingGround = false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_colliderGroundfilter = 0;
|
|
m_iscollidingGround = false;
|
|
}
|
|
|
|
|
|
//******************************************
|
|
|
|
bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
|
|
|
|
// if (!tviszero || m_iscolliding || velLengthSquared <0.01)
|
|
if (!tviszero)
|
|
m_freemove = false;
|
|
|
|
if (!m_freemove)
|
|
{
|
|
|
|
// if velocity is zero, use position control; otherwise, velocity control
|
|
if (tviszero && m_iscolliding)
|
|
{
|
|
// keep track of where we stopped. No more slippin' & slidin'
|
|
if (!_zeroFlag)
|
|
{
|
|
_zeroFlag = true;
|
|
_zeroPosition = localpos;
|
|
}
|
|
if (m_pidControllerActive)
|
|
{
|
|
// We only want to deactivate the PID Controller if we think we want to have our surrogate
|
|
// react to the physics scene by moving it's position.
|
|
// Avatar to Avatar collisions
|
|
// Prim to avatar collisions
|
|
|
|
vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
|
|
vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
|
|
if (flying)
|
|
{
|
|
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
|
|
}
|
|
}
|
|
//PidStatus = true;
|
|
}
|
|
else
|
|
{
|
|
m_pidControllerActive = true;
|
|
_zeroFlag = false;
|
|
|
|
if (m_iscolliding)
|
|
{
|
|
if (!flying)
|
|
{
|
|
if (_target_velocity.Z > 0.0f)
|
|
{
|
|
// We're colliding with something and we're not flying but we're moving
|
|
// This means we're walking or running. JUMPING
|
|
vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
|
|
}
|
|
// We're standing on something
|
|
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
|
|
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
|
|
}
|
|
else
|
|
{
|
|
// We're flying and colliding with something
|
|
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
|
|
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
|
|
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
|
|
}
|
|
}
|
|
else // ie not colliding
|
|
{
|
|
if (flying) //(!m_iscolliding && flying)
|
|
{
|
|
// we're in mid air suspended
|
|
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
|
|
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
|
|
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
|
|
}
|
|
|
|
else
|
|
{
|
|
// we're not colliding and we're not flying so that means we're falling!
|
|
// m_iscolliding includes collisions with the ground.
|
|
|
|
// d.Vector3 pos = d.BodyGetPosition(Body);
|
|
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
|
|
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (velLengthSquared > 2500.0f) // 50m/s apply breaks
|
|
{
|
|
breakfactor = 0.16f * m_mass;
|
|
vec.X -= breakfactor * vel.X;
|
|
vec.Y -= breakfactor * vel.Y;
|
|
vec.Z -= breakfactor * vel.Z;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
breakfactor = m_mass;
|
|
vec.X -= breakfactor * vel.X;
|
|
vec.Y -= breakfactor * vel.Y;
|
|
if (flying)
|
|
vec.Z -= breakfactor * vel.Z;
|
|
else
|
|
vec.Z -= .5f* m_mass * vel.Z;
|
|
}
|
|
|
|
if (flying)
|
|
{
|
|
vec.Z -= _parent_scene.gravityz * m_mass;
|
|
|
|
//Added for auto fly height. Kitto Flora
|
|
float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
|
|
|
|
if (localpos.Z < target_altitude)
|
|
{
|
|
vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
|
|
}
|
|
// end add Kitto Flora
|
|
}
|
|
|
|
if (vec.IsFinite())
|
|
{
|
|
if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
|
|
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
|
|
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
|
|
defects.Add(this);
|
|
// _parent_scene.RemoveCharacter(this);
|
|
// destroy avatar capsule and related ODE data
|
|
AvatarGeomAndBodyDestroy();
|
|
return;
|
|
}
|
|
|
|
// update our local ideia of position velocity and aceleration
|
|
// _position = localpos;
|
|
_position = localpos;
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
_velocity = Vector3.Zero;
|
|
_acceleration = Vector3.Zero;
|
|
m_rotationalVelocity = Vector3.Zero;
|
|
}
|
|
else
|
|
{
|
|
Vector3 a =_velocity; // previus velocity
|
|
SetSmooth(ref _velocity, ref vel, 2);
|
|
a = (_velocity - a) * invtimeStep;
|
|
SetSmooth(ref _acceleration, ref a, 2);
|
|
|
|
dtmp = d.BodyGetAngularVel(Body);
|
|
m_rotationalVelocity.X = 0f;
|
|
m_rotationalVelocity.Y = 0f;
|
|
m_rotationalVelocity.Z = dtmp.Z;
|
|
Math.Round(m_rotationalVelocity.Z,3);
|
|
}
|
|
ajustCollider();
|
|
}
|
|
|
|
public void round(ref Vector3 v, int digits)
|
|
{
|
|
v.X = (float)Math.Round(v.X, digits);
|
|
v.Y = (float)Math.Round(v.Y, digits);
|
|
v.Z = (float)Math.Round(v.Z, digits);
|
|
}
|
|
|
|
public void SetSmooth(ref Vector3 dst, ref Vector3 value)
|
|
{
|
|
dst.X = 0.1f * dst.X + 0.9f * value.X;
|
|
dst.Y = 0.1f * dst.Y + 0.9f * value.Y;
|
|
dst.Z = 0.1f * dst.Z + 0.9f * value.Z;
|
|
}
|
|
|
|
public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits)
|
|
{
|
|
dst.X = 0.4f * dst.X + 0.6f * value.X;
|
|
dst.X = (float)Math.Round(dst.X, rounddigits);
|
|
|
|
dst.Y = 0.4f * dst.Y + 0.6f * value.Y;
|
|
dst.Y = (float)Math.Round(dst.Y, rounddigits);
|
|
|
|
dst.Z = 0.4f * dst.Z + 0.6f * value.Z;
|
|
dst.Z = (float)Math.Round(dst.Z, rounddigits);
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Updates the reported position and velocity.
|
|
/// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
|
|
/// also outbounds checking
|
|
/// copy and outbounds now done in move(..) at ode rate
|
|
///
|
|
/// </summary>
|
|
public void UpdatePositionAndVelocity()
|
|
{
|
|
return;
|
|
|
|
// if (Body == IntPtr.Zero)
|
|
// return;
|
|
|
|
}
|
|
|
|
/// <summary>
|
|
/// Cleanup the things we use in the scene.
|
|
/// </summary>
|
|
public void Destroy()
|
|
{
|
|
AddChange(changes.Remove, null);
|
|
}
|
|
|
|
public override void CrossingFailure()
|
|
{
|
|
}
|
|
|
|
public override Vector3 PIDTarget { set { return; } }
|
|
public override bool PIDActive { set { return; } }
|
|
public override float PIDTau { set { return; } }
|
|
|
|
public override float PIDHoverHeight { set { return; } }
|
|
public override bool PIDHoverActive { set { return; } }
|
|
public override PIDHoverType PIDHoverType { set { return; } }
|
|
public override float PIDHoverTau { set { return; } }
|
|
|
|
public override Quaternion APIDTarget { set { return; } }
|
|
|
|
public override bool APIDActive { set { return; } }
|
|
|
|
public override float APIDStrength { set { return; } }
|
|
|
|
public override float APIDDamping { set { return; } }
|
|
|
|
|
|
public override void SubscribeEvents(int ms)
|
|
{
|
|
m_eventsubscription = ms;
|
|
m_cureventsubscription = 0;
|
|
if (CollisionEventsThisFrame == null)
|
|
CollisionEventsThisFrame = new CollisionEventUpdate();
|
|
SentEmptyCollisionsEvent = false;
|
|
}
|
|
|
|
public override void UnSubscribeEvents()
|
|
{
|
|
if (CollisionEventsThisFrame != null)
|
|
{
|
|
CollisionEventsThisFrame.Clear();
|
|
CollisionEventsThisFrame = null;
|
|
}
|
|
m_eventsubscription = 0;
|
|
}
|
|
|
|
public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
|
|
{
|
|
if (CollisionEventsThisFrame == null)
|
|
CollisionEventsThisFrame = new CollisionEventUpdate();
|
|
CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
|
|
_parent_scene.AddCollisionEventReporting(this);
|
|
}
|
|
|
|
public void SendCollisions()
|
|
{
|
|
if (CollisionEventsThisFrame == null)
|
|
return;
|
|
|
|
if (m_cureventsubscription < m_eventsubscription)
|
|
return;
|
|
|
|
m_cureventsubscription = 0;
|
|
|
|
int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
|
|
|
|
if (!SentEmptyCollisionsEvent || ncolisions > 0)
|
|
{
|
|
base.SendCollisionUpdate(CollisionEventsThisFrame);
|
|
|
|
if (ncolisions == 0)
|
|
{
|
|
SentEmptyCollisionsEvent = true;
|
|
_parent_scene.RemoveCollisionEventReporting(this);
|
|
}
|
|
else
|
|
{
|
|
SentEmptyCollisionsEvent = false;
|
|
CollisionEventsThisFrame.Clear();
|
|
}
|
|
}
|
|
}
|
|
|
|
internal void AddCollisionFrameTime(int t)
|
|
{
|
|
// protect it from overflow crashing
|
|
if (m_cureventsubscription < 50000)
|
|
m_cureventsubscription += t;
|
|
}
|
|
|
|
public override bool SubscribedEvents()
|
|
{
|
|
if (m_eventsubscription > 0)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
private void changePhysicsStatus(bool NewStatus)
|
|
{
|
|
if (NewStatus != m_isPhysical)
|
|
{
|
|
if (NewStatus)
|
|
{
|
|
AvatarGeomAndBodyDestroy();
|
|
|
|
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
|
|
|
|
_parent_scene.actor_name_map[collider] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
|
|
_parent_scene.AddCharacter(this);
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.RemoveCollisionEventReporting(this);
|
|
_parent_scene.RemoveCharacter(this);
|
|
// destroy avatar capsule and related ODE data
|
|
AvatarGeomAndBodyDestroy();
|
|
}
|
|
m_freemove = false;
|
|
m_isPhysical = NewStatus;
|
|
}
|
|
}
|
|
|
|
private void changeAdd()
|
|
{
|
|
changePhysicsStatus(true);
|
|
}
|
|
|
|
private void changeRemove()
|
|
{
|
|
changePhysicsStatus(false);
|
|
}
|
|
|
|
private void changeShape(PrimitiveBaseShape arg)
|
|
{
|
|
}
|
|
|
|
private void changeAvatarSize(strAvatarSize st)
|
|
{
|
|
m_feetOffset = st.offset;
|
|
changeSize(st.size);
|
|
}
|
|
|
|
private void changeSize(Vector3 pSize)
|
|
{
|
|
if (pSize.IsFinite())
|
|
{
|
|
// for now only look to Z changes since viewers also don't change X and Y
|
|
if (pSize.Z != m_size.Z)
|
|
{
|
|
AvatarGeomAndBodyDestroy();
|
|
|
|
|
|
float oldsz = m_size.Z;
|
|
m_size = pSize;
|
|
|
|
|
|
AvatarGeomAndBodyCreation(_position.X, _position.Y,
|
|
_position.Z + (m_size.Z - oldsz) * 0.5f);
|
|
|
|
Velocity = Vector3.Zero;
|
|
|
|
|
|
_parent_scene.actor_name_map[collider] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
|
|
_parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
|
|
}
|
|
m_freemove = false;
|
|
m_collisionException = false;
|
|
m_pidControllerActive = true;
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
|
|
}
|
|
}
|
|
|
|
private void changePosition( Vector3 newPos)
|
|
{
|
|
if (Body != IntPtr.Zero)
|
|
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
|
|
_position = newPos;
|
|
m_freemove = false;
|
|
m_pidControllerActive = true;
|
|
}
|
|
|
|
private void changeOrientation(Quaternion newOri)
|
|
{
|
|
if (m_orientation != newOri)
|
|
{
|
|
m_orientation = newOri; // keep a copy for core use
|
|
// but only use rotations around Z
|
|
|
|
m_orientation2D.W = newOri.W;
|
|
m_orientation2D.Z = newOri.Z;
|
|
|
|
float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z;
|
|
if (t > 0)
|
|
{
|
|
t = 1.0f / (float)Math.Sqrt(t);
|
|
m_orientation2D.W *= t;
|
|
m_orientation2D.Z *= t;
|
|
}
|
|
else
|
|
{
|
|
m_orientation2D.W = 1.0f;
|
|
m_orientation2D.Z = 0f;
|
|
}
|
|
m_orientation2D.Y = 0f;
|
|
m_orientation2D.X = 0f;
|
|
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.X = m_orientation2D.X;
|
|
myrot.Y = m_orientation2D.Y;
|
|
myrot.Z = m_orientation2D.Z;
|
|
myrot.W = m_orientation2D.W;
|
|
d.BodySetQuaternion(Body, ref myrot);
|
|
}
|
|
}
|
|
|
|
private void changeVelocity(Vector3 newVel)
|
|
{
|
|
m_pidControllerActive = true;
|
|
m_freemove = false;
|
|
_target_velocity = newVel;
|
|
}
|
|
|
|
private void changeSetTorque(Vector3 newTorque)
|
|
{
|
|
}
|
|
|
|
private void changeAddForce(Vector3 newForce)
|
|
{
|
|
}
|
|
|
|
private void changeAddAngularForce(Vector3 arg)
|
|
{
|
|
}
|
|
|
|
private void changeAngularLock(Vector3 arg)
|
|
{
|
|
}
|
|
|
|
private void changeFloatOnWater(bool arg)
|
|
{
|
|
}
|
|
|
|
private void changeVolumedetetion(bool arg)
|
|
{
|
|
}
|
|
|
|
private void changeSelectedStatus(bool arg)
|
|
{
|
|
}
|
|
|
|
private void changeDisable(bool arg)
|
|
{
|
|
}
|
|
|
|
private void changeBuilding(bool arg)
|
|
{
|
|
}
|
|
|
|
private void setFreeMove()
|
|
{
|
|
m_pidControllerActive = true;
|
|
_zeroFlag = false;
|
|
_target_velocity = Vector3.Zero;
|
|
m_freemove = true;
|
|
m_colliderfilter = -2;
|
|
m_colliderObjectfilter = -2;
|
|
m_colliderGroundfilter = -2;
|
|
|
|
m_iscolliding = false;
|
|
m_iscollidingGround = false;
|
|
m_iscollidingObj = false;
|
|
|
|
CollisionEventsThisFrame.Clear();
|
|
}
|
|
|
|
private void changeForce(Vector3 newForce)
|
|
{
|
|
setFreeMove();
|
|
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
|
|
d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
|
|
}
|
|
}
|
|
|
|
// for now momentum is actually velocity
|
|
private void changeMomentum(Vector3 newmomentum)
|
|
{
|
|
_velocity = newmomentum;
|
|
setFreeMove();
|
|
|
|
if (Body != IntPtr.Zero)
|
|
d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
|
|
ajustCollider();
|
|
}
|
|
|
|
private void donullchange()
|
|
{
|
|
}
|
|
|
|
public bool DoAChange(changes what, object arg)
|
|
{
|
|
if (collider == IntPtr.Zero && what != changes.Add && what != changes.Remove)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
// nasty switch
|
|
switch (what)
|
|
{
|
|
case changes.Add:
|
|
changeAdd();
|
|
break;
|
|
case changes.Remove:
|
|
changeRemove();
|
|
break;
|
|
|
|
case changes.Position:
|
|
changePosition((Vector3)arg);
|
|
break;
|
|
|
|
case changes.Orientation:
|
|
changeOrientation((Quaternion)arg);
|
|
break;
|
|
|
|
case changes.PosOffset:
|
|
donullchange();
|
|
break;
|
|
|
|
case changes.OriOffset:
|
|
donullchange();
|
|
break;
|
|
|
|
case changes.Velocity:
|
|
changeVelocity((Vector3)arg);
|
|
break;
|
|
|
|
// case changes.Acceleration:
|
|
// changeacceleration((Vector3)arg);
|
|
// break;
|
|
// case changes.AngVelocity:
|
|
// changeangvelocity((Vector3)arg);
|
|
// break;
|
|
|
|
case changes.Force:
|
|
changeForce((Vector3)arg);
|
|
break;
|
|
|
|
case changes.Torque:
|
|
changeSetTorque((Vector3)arg);
|
|
break;
|
|
|
|
case changes.AddForce:
|
|
changeAddForce((Vector3)arg);
|
|
break;
|
|
|
|
case changes.AddAngForce:
|
|
changeAddAngularForce((Vector3)arg);
|
|
break;
|
|
|
|
case changes.AngLock:
|
|
changeAngularLock((Vector3)arg);
|
|
break;
|
|
|
|
case changes.Size:
|
|
changeSize((Vector3)arg);
|
|
break;
|
|
|
|
case changes.AvatarSize:
|
|
changeAvatarSize((strAvatarSize)arg);
|
|
break;
|
|
|
|
case changes.Momentum:
|
|
changeMomentum((Vector3)arg);
|
|
break;
|
|
/* not in use for now
|
|
case changes.Shape:
|
|
changeShape((PrimitiveBaseShape)arg);
|
|
break;
|
|
|
|
case changes.CollidesWater:
|
|
changeFloatOnWater((bool)arg);
|
|
break;
|
|
|
|
case changes.VolumeDtc:
|
|
changeVolumedetetion((bool)arg);
|
|
break;
|
|
|
|
case changes.Physical:
|
|
changePhysicsStatus((bool)arg);
|
|
break;
|
|
|
|
case changes.Selected:
|
|
changeSelectedStatus((bool)arg);
|
|
break;
|
|
|
|
case changes.disabled:
|
|
changeDisable((bool)arg);
|
|
break;
|
|
|
|
case changes.building:
|
|
changeBuilding((bool)arg);
|
|
break;
|
|
*/
|
|
case changes.Null:
|
|
donullchange();
|
|
break;
|
|
|
|
default:
|
|
donullchange();
|
|
break;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
public void AddChange(changes what, object arg)
|
|
{
|
|
_parent_scene.AddChange((PhysicsActor)this, what, arg);
|
|
}
|
|
|
|
private struct strAvatarSize
|
|
{
|
|
public Vector3 size;
|
|
public float offset;
|
|
}
|
|
|
|
}
|
|
}
|