1001 lines
46 KiB
C#
1001 lines
46 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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/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
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* call the BulletSim system.
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*/
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/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
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* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
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* ODEPrim.cs contains methods dealing with Prim editing, Prim
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* characteristics and Kinetic motion.
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* ODEDynamics.cs contains methods dealing with Prim Physical motion
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* (dynamics) and the associated settings. Old Linear and angular
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* motors for dynamic motion have been replace with MoveLinear()
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* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
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* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
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* switch between 'VEHICLE' parameter use and general dynamics
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* settings use.
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using log4net;
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using OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSDynamics
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{
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private BSScene PhysicsScene { get; set; }
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// the prim this dynamic controller belongs to
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private BSPrim Prim { get; set; }
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// Vehicle properties
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public Vehicle Type { get; set; }
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// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
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private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
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// HOVER_TERRAIN_ONLY
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// HOVER_GLOBAL_HEIGHT
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// NO_DEFLECTION_UP
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// HOVER_WATER_ONLY
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// HOVER_UP_ONLY
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// LIMIT_MOTOR_UP
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// LIMIT_ROLL_ONLY
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private Vector3 m_BlockingEndPoint = Vector3.Zero;
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private Quaternion m_RollreferenceFrame = Quaternion.Identity;
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private Quaternion m_referenceFrame = Quaternion.Identity;
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// Linear properties
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private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
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private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center
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private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
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private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body
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private Vector3 m_linearFrictionTimescale = Vector3.Zero;
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private float m_linearMotorDecayTimescale = 0;
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private float m_linearMotorTimescale = 0;
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private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
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private Vector3 m_lastPositionVector = Vector3.Zero;
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// private bool m_LinearMotorSetLastFrame = false;
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// private Vector3 m_linearMotorOffset = Vector3.Zero;
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//Angular properties
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private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
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private int m_angularMotorApply = 0; // application frame counter
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private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
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private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
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private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
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private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
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private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
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//Deflection properties
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private float m_angularDeflectionEfficiency = 0;
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private float m_angularDeflectionTimescale = 0;
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private float m_linearDeflectionEfficiency = 0;
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private float m_linearDeflectionTimescale = 0;
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//Banking properties
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private float m_bankingEfficiency = 0;
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private float m_bankingMix = 0;
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private float m_bankingTimescale = 0;
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//Hover and Buoyancy properties
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private float m_VhoverHeight = 0f;
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private float m_VhoverEfficiency = 0f;
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private float m_VhoverTimescale = 0f;
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private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
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private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
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// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
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// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
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// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
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//Attractor properties
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private float m_verticalAttractionEfficiency = 1.0f; // damped
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private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
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public BSDynamics(BSScene myScene, BSPrim myPrim)
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{
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PhysicsScene = myScene;
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Prim = myPrim;
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Type = Vehicle.TYPE_NONE;
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}
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// Return 'true' if this vehicle is doing vehicle things
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public bool IsActive
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{
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get { return Type != Vehicle.TYPE_NONE; }
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}
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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{
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VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
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m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
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m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
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m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.ANGULAR_MOTOR_TIMESCALE:
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m_angularMotorTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.BANKING_EFFICIENCY:
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m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f));
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break;
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case Vehicle.BANKING_MIX:
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m_bankingMix = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.BANKING_TIMESCALE:
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m_bankingTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.BUOYANCY:
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m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
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break;
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case Vehicle.HOVER_EFFICIENCY:
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m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
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break;
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case Vehicle.HOVER_HEIGHT:
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m_VhoverHeight = pValue;
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break;
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case Vehicle.HOVER_TIMESCALE:
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m_VhoverTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
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m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
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m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
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m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.LINEAR_MOTOR_TIMESCALE:
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m_linearMotorTimescale = Math.Max(pValue, 0.01f);
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break;
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case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
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m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
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break;
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case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
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m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
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break;
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// These are vector properties but the engine lets you use a single float value to
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// set all of the components to the same value
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
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m_angularMotorApply = 100;
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
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m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.LINEAR_MOTOR_OFFSET:
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m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
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break;
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}
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}//end ProcessFloatVehicleParam
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internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
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{
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VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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// Limit requested angular speed to 2 rps= 4 pi rads/sec
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pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f));
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pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
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pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
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m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
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m_angularMotorApply = 100;
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
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m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.LINEAR_MOTOR_OFFSET:
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m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.BLOCK_EXIT:
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m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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}
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}//end ProcessVectorVehicleParam
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internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
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{
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VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.REFERENCE_FRAME:
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m_referenceFrame = pValue;
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break;
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case Vehicle.ROLL_FRAME:
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m_RollreferenceFrame = pValue;
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break;
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}
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}//end ProcessRotationVehicleParam
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internal void ProcessVehicleFlags(int pParam, bool remove)
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{
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VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
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VehicleFlag parm = (VehicleFlag)pParam;
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if (pParam == -1)
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m_flags = (VehicleFlag)0;
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else
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{
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if (remove)
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m_flags &= ~parm;
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else
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m_flags |= parm;
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}
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}
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internal void ProcessTypeChange(Vehicle pType)
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{
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VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
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// Set Defaults For Type
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Type = pType;
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switch (pType)
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{
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case Vehicle.TYPE_NONE:
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m_linearMotorDirection = Vector3.Zero;
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m_linearMotorTimescale = 0;
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m_linearMotorDecayTimescale = 0;
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m_linearFrictionTimescale = new Vector3(0, 0, 0);
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDecayTimescale = 0;
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m_angularMotorTimescale = 0;
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m_angularFrictionTimescale = new Vector3(0, 0, 0);
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0;
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m_VhoverTimescale = 0;
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m_VehicleBuoyancy = 0;
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m_linearDeflectionEfficiency = 1;
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m_linearDeflectionTimescale = 1;
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m_angularDeflectionEfficiency = 0;
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m_angularDeflectionTimescale = 1000;
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m_verticalAttractionEfficiency = 0;
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m_verticalAttractionTimescale = 0;
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m_bankingEfficiency = 0;
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m_bankingTimescale = 1000;
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m_bankingMix = 1;
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m_referenceFrame = Quaternion.Identity;
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m_flags = (VehicleFlag)0;
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break;
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case Vehicle.TYPE_SLED:
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m_linearMotorDirection = Vector3.Zero;
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m_linearMotorTimescale = 1000;
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m_linearMotorDecayTimescale = 120;
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m_linearFrictionTimescale = new Vector3(30, 1, 1000);
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorTimescale = 1000;
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m_angularMotorDecayTimescale = 120;
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m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 10; // TODO: this looks wrong!!
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m_VhoverTimescale = 10;
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m_VehicleBuoyancy = 0;
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m_linearDeflectionEfficiency = 1;
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m_linearDeflectionTimescale = 1;
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m_angularDeflectionEfficiency = 1;
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m_angularDeflectionTimescale = 1000;
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m_verticalAttractionEfficiency = 0;
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m_verticalAttractionTimescale = 0;
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m_bankingEfficiency = 0;
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m_bankingTimescale = 10;
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m_bankingMix = 1;
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m_referenceFrame = Quaternion.Identity;
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
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m_flags &=
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~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
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VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
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break;
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case Vehicle.TYPE_CAR:
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m_linearMotorDirection = Vector3.Zero;
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m_linearMotorTimescale = 1;
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m_linearMotorDecayTimescale = 60;
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m_linearFrictionTimescale = new Vector3(100, 2, 1000);
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorTimescale = 1;
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m_angularMotorDecayTimescale = 0.8f;
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m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0;
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m_VhoverTimescale = 1000;
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m_VehicleBuoyancy = 0;
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m_linearDeflectionEfficiency = 1;
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m_linearDeflectionTimescale = 2;
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m_angularDeflectionEfficiency = 0;
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m_angularDeflectionTimescale = 10;
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m_verticalAttractionEfficiency = 1f;
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m_verticalAttractionTimescale = 10f;
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m_bankingEfficiency = -0.2f;
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m_bankingMix = 1;
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m_bankingTimescale = 1;
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m_referenceFrame = Quaternion.Identity;
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m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
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| VehicleFlag.HOVER_TERRAIN_ONLY
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| VehicleFlag.HOVER_GLOBAL_HEIGHT);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP
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| VehicleFlag.LIMIT_ROLL_ONLY
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| VehicleFlag.LIMIT_MOTOR_UP
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| VehicleFlag.HOVER_UP_ONLY);
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break;
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case Vehicle.TYPE_BOAT:
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m_linearMotorDirection = Vector3.Zero;
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m_linearMotorTimescale = 5;
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m_linearMotorDecayTimescale = 60;
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m_linearFrictionTimescale = new Vector3(10, 3, 2);
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorTimescale = 4;
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m_angularMotorDecayTimescale = 4;
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m_angularFrictionTimescale = new Vector3(10,10,10);
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0.5f;
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m_VhoverTimescale = 2;
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m_VehicleBuoyancy = 1;
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m_linearDeflectionEfficiency = 0.5f;
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m_linearDeflectionTimescale = 3;
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m_angularDeflectionEfficiency = 0.5f;
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m_angularDeflectionTimescale = 5;
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m_verticalAttractionEfficiency = 0.5f;
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m_verticalAttractionTimescale = 5f;
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m_bankingEfficiency = -0.3f;
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m_bankingMix = 0.8f;
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m_bankingTimescale = 1;
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m_referenceFrame = Quaternion.Identity;
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m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
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| VehicleFlag.HOVER_GLOBAL_HEIGHT
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| VehicleFlag.LIMIT_ROLL_ONLY
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| VehicleFlag.HOVER_UP_ONLY);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP
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| VehicleFlag.LIMIT_MOTOR_UP
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| VehicleFlag.HOVER_WATER_ONLY);
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break;
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case Vehicle.TYPE_AIRPLANE:
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m_linearMotorDirection = Vector3.Zero;
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m_linearMotorTimescale = 2;
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m_linearMotorDecayTimescale = 60;
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m_linearFrictionTimescale = new Vector3(200, 10, 5);
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorTimescale = 4;
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m_angularMotorDecayTimescale = 4;
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m_angularFrictionTimescale = new Vector3(20, 20, 20);
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0.5f;
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m_VhoverTimescale = 1000;
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m_VehicleBuoyancy = 0;
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m_linearDeflectionEfficiency = 0.5f;
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m_linearDeflectionTimescale = 3;
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|
|
m_angularDeflectionEfficiency = 1;
|
|
m_angularDeflectionTimescale = 2;
|
|
|
|
m_verticalAttractionEfficiency = 0.9f;
|
|
m_verticalAttractionTimescale = 2f;
|
|
|
|
m_bankingEfficiency = 1;
|
|
m_bankingMix = 0.7f;
|
|
m_bankingTimescale = 2;
|
|
|
|
m_referenceFrame = Quaternion.Identity;
|
|
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
|
|
| VehicleFlag.HOVER_TERRAIN_ONLY
|
|
| VehicleFlag.HOVER_GLOBAL_HEIGHT
|
|
| VehicleFlag.HOVER_UP_ONLY
|
|
| VehicleFlag.NO_DEFLECTION_UP
|
|
| VehicleFlag.LIMIT_MOTOR_UP);
|
|
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
|
|
break;
|
|
case Vehicle.TYPE_BALLOON:
|
|
m_linearMotorDirection = Vector3.Zero;
|
|
m_linearMotorTimescale = 5;
|
|
m_linearFrictionTimescale = new Vector3(5, 5, 5);
|
|
m_linearMotorDecayTimescale = 60;
|
|
|
|
m_angularMotorDirection = Vector3.Zero;
|
|
m_angularMotorTimescale = 6;
|
|
m_angularFrictionTimescale = new Vector3(10, 10, 10);
|
|
m_angularMotorDecayTimescale = 10;
|
|
|
|
m_VhoverHeight = 5;
|
|
m_VhoverEfficiency = 0.8f;
|
|
m_VhoverTimescale = 10;
|
|
m_VehicleBuoyancy = 1;
|
|
|
|
m_linearDeflectionEfficiency = 0;
|
|
m_linearDeflectionTimescale = 5;
|
|
|
|
m_angularDeflectionEfficiency = 0;
|
|
m_angularDeflectionTimescale = 5;
|
|
|
|
m_verticalAttractionEfficiency = 1f;
|
|
m_verticalAttractionTimescale = 100f;
|
|
|
|
m_bankingEfficiency = 0;
|
|
m_bankingMix = 0.7f;
|
|
m_bankingTimescale = 5;
|
|
m_referenceFrame = Quaternion.Identity;
|
|
|
|
m_referenceFrame = Quaternion.Identity;
|
|
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
|
|
| VehicleFlag.HOVER_TERRAIN_ONLY
|
|
| VehicleFlag.HOVER_UP_ONLY
|
|
| VehicleFlag.NO_DEFLECTION_UP
|
|
| VehicleFlag.LIMIT_MOTOR_UP);
|
|
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
|
|
| VehicleFlag.HOVER_GLOBAL_HEIGHT);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Some of the properties of this prim may have changed.
|
|
// Do any updating needed for a vehicle
|
|
public void Refresh()
|
|
{
|
|
/*
|
|
* Doesnt work unless BSDynamics senses and corrects for all collisions
|
|
if (IsActive)
|
|
BulletSimAPI.AddToCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT);
|
|
else
|
|
BulletSimAPI.RemoveFromCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT);
|
|
*/
|
|
/*
|
|
* Doesn't work because with zero inertia, Bullet will not apply any forces to the object.
|
|
if (IsActive)
|
|
{
|
|
BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, Vector3.Zero);
|
|
BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
|
|
}
|
|
*/
|
|
}
|
|
|
|
// One step of the vehicle properties for the next 'pTimestep' seconds.
|
|
internal void Step(float pTimestep)
|
|
{
|
|
if (!IsActive) return;
|
|
|
|
MoveLinear(pTimestep);
|
|
MoveAngular(pTimestep);
|
|
LimitRotation(pTimestep);
|
|
|
|
/* Experimental
|
|
// Wonder if Bullet could handle collision penetration while this applies the forces.
|
|
// Apply the computed forces on the vehicle
|
|
Prim.ForcePosition += Prim.ForceVelocity * Prim.MassRaw * pTimestep;
|
|
|
|
if (Prim.ForceRotationalVelocity != Vector3.Zero)
|
|
{
|
|
Quaternion newOrientation = Prim.ForceOrientation;
|
|
newOrientation.Normalize();
|
|
Quaternion appliedRotation = new Quaternion((Prim.ForceRotationalVelocity * pTimestep), 0f);
|
|
newOrientation += (appliedRotation * newOrientation) * 0.5f;
|
|
newOrientation.Normalize();
|
|
Prim.ForceOrientation = newOrientation;
|
|
}
|
|
*/
|
|
|
|
// remember the position so next step we can limit absolute movement effects
|
|
m_lastPositionVector = Prim.ForcePosition;
|
|
|
|
VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
|
|
Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
|
|
}// end Step
|
|
|
|
// Apply the effect of the linear motor.
|
|
// Also does hover and float.
|
|
private void MoveLinear(float pTimestep)
|
|
{
|
|
// m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates
|
|
// m_lastLinearVelocityVector is the current speed we are moving in that direction
|
|
if (m_linearMotorDirection.LengthSquared() > 0.001f)
|
|
{
|
|
Vector3 origDir = m_linearMotorDirection;
|
|
Vector3 origVel = m_lastLinearVelocityVector;
|
|
|
|
// add drive to body
|
|
Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep);
|
|
// lastLinearVelocityVector is the current body velocity vector
|
|
m_lastLinearVelocityVector += addAmount;
|
|
|
|
float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep));
|
|
m_linearMotorDirection *= keepfraction;
|
|
|
|
VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}",
|
|
Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
|
|
|
|
// convert requested object velocity to object relative vector
|
|
m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation;
|
|
}
|
|
else
|
|
{
|
|
// if what remains of direction is very small, zero it.
|
|
m_linearMotorDirection = Vector3.Zero;
|
|
m_lastLinearVelocityVector = Vector3.Zero;
|
|
m_newVelocity = Vector3.Zero;
|
|
|
|
VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
|
|
}
|
|
|
|
// m_newVelocity is velocity computed from linear motor
|
|
|
|
// Add the various forces into m_dir which will be our new direction vector (velocity)
|
|
|
|
// add Gravity and Buoyancy
|
|
// There is some gravity, make a gravity force vector that is applied after object velocity.
|
|
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
|
|
// Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy));
|
|
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
|
|
|
|
/*
|
|
* RA: Not sure why one would do this
|
|
// Preserve the current Z velocity
|
|
Vector3 vel_now = m_prim.Velocity;
|
|
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
|
|
*/
|
|
|
|
Vector3 pos = Prim.ForcePosition;
|
|
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
|
|
|
|
// If below the terrain, move us above the ground a little.
|
|
float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
|
|
// Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
|
|
// Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
|
|
// Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
|
|
// if (rotatedSize.Z < terrainHeight)
|
|
if (pos.Z < terrainHeight)
|
|
{
|
|
pos.Z = terrainHeight + 2;
|
|
Prim.ForcePosition = pos;
|
|
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
|
|
}
|
|
|
|
// Check if hovering
|
|
// m_VhoverEfficiency: 0=bouncy, 1=totally damped
|
|
// m_VhoverTimescale: time to achieve height
|
|
if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
|
|
{
|
|
// We should hover, get the target height
|
|
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
|
|
{
|
|
m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
|
|
}
|
|
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
|
|
{
|
|
m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
|
|
}
|
|
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
|
|
{
|
|
m_VhoverTargetHeight = m_VhoverHeight;
|
|
}
|
|
|
|
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
|
|
{
|
|
// If body is aready heigher, use its height as target height
|
|
if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
|
|
}
|
|
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
|
|
{
|
|
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
|
|
{
|
|
Prim.ForcePosition = pos;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
float horizontalError = pos.Z - m_VhoverTargetHeight;
|
|
// RA: where does the 50 come from>
|
|
float horizontalCorrectionVelocity = ((horizontalError * 50.0f) / (m_VhoverTimescale / pTimestep));
|
|
// Replace Vertical speed with correction figure if significant
|
|
if (Math.Abs(horizontalError) > 0.01f)
|
|
{
|
|
m_newVelocity.Z += horizontalCorrectionVelocity;
|
|
//KF: m_VhoverEfficiency is not yet implemented
|
|
}
|
|
else if (horizontalError < -0.01)
|
|
{
|
|
m_newVelocity.Z -= horizontalCorrectionVelocity;
|
|
}
|
|
else
|
|
{
|
|
m_newVelocity.Z = 0f;
|
|
}
|
|
}
|
|
|
|
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
|
|
}
|
|
|
|
Vector3 posChange = pos - m_lastPositionVector;
|
|
if (m_BlockingEndPoint != Vector3.Zero)
|
|
{
|
|
bool changed = false;
|
|
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
|
|
{
|
|
pos.X -= posChange.X + 1;
|
|
changed = true;
|
|
}
|
|
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
|
|
{
|
|
pos.Y -= posChange.Y + 1;
|
|
changed = true;
|
|
}
|
|
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
|
|
{
|
|
pos.Z -= posChange.Z + 1;
|
|
changed = true;
|
|
}
|
|
if (pos.X <= 0)
|
|
{
|
|
pos.X += posChange.X + 1;
|
|
changed = true;
|
|
}
|
|
if (pos.Y <= 0)
|
|
{
|
|
pos.Y += posChange.Y + 1;
|
|
changed = true;
|
|
}
|
|
if (changed)
|
|
{
|
|
Prim.ForcePosition = pos;
|
|
VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
|
|
Prim.LocalID, m_BlockingEndPoint, posChange, pos);
|
|
}
|
|
}
|
|
|
|
// Limit absolute vertical change
|
|
float Zchange = Math.Abs(posChange.Z);
|
|
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
|
|
{
|
|
if (Zchange > .3)
|
|
grav.Z = (float)(grav.Z * 3);
|
|
if (Zchange > .15)
|
|
grav.Z = (float)(grav.Z * 2);
|
|
if (Zchange > .75)
|
|
grav.Z = (float)(grav.Z * 1.5);
|
|
if (Zchange > .05)
|
|
grav.Z = (float)(grav.Z * 1.25);
|
|
if (Zchange > .025)
|
|
grav.Z = (float)(grav.Z * 1.125);
|
|
float postemp = (pos.Z - terrainHeight);
|
|
if (postemp > 2.5f)
|
|
grav.Z = (float)(grav.Z * 1.037125);
|
|
VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav);
|
|
}
|
|
|
|
// If not changing some axis, reduce out velocity
|
|
if ((m_flags & (VehicleFlag.NO_X)) != 0)
|
|
m_newVelocity.X = 0;
|
|
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
|
|
m_newVelocity.Y = 0;
|
|
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
|
|
m_newVelocity.Z = 0;
|
|
|
|
// Apply friction
|
|
Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
|
|
m_lastLinearVelocityVector *= keepFraction;
|
|
|
|
// Apply velocity
|
|
// Prim.ForceVelocity = m_newVelocity;
|
|
Prim.AddForce(m_newVelocity, false);
|
|
|
|
VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
|
|
Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
|
|
|
|
} // end MoveLinear()
|
|
|
|
// Apply the effect of the angular motor.
|
|
private void MoveAngular(float pTimestep)
|
|
{
|
|
// m_angularMotorDirection // angular velocity requested by LSL motor
|
|
// m_angularMotorApply // application frame counter
|
|
// m_angularMotorVelocity // current angular motor velocity (ramps up and down)
|
|
// m_angularMotorTimescale // motor angular velocity ramp up rate
|
|
// m_angularMotorDecayTimescale // motor angular velocity decay rate
|
|
// m_angularFrictionTimescale // body angular velocity decay rate
|
|
// m_lastAngularVelocity // what was last applied to body
|
|
|
|
// Get what the body is doing, this includes 'external' influences
|
|
Vector3 angularVelocity = Prim.ForceRotationalVelocity;
|
|
|
|
if (m_angularMotorApply > 0)
|
|
{
|
|
// Rather than snapping the angular motor velocity from the old value to
|
|
// a newly set velocity, this routine steps the value from the previous
|
|
// value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
|
|
// There are m_angularMotorApply steps.
|
|
Vector3 origVel = m_angularMotorVelocity;
|
|
Vector3 origDir = m_angularMotorDirection;
|
|
|
|
// ramp up to new value
|
|
// new velocity += error / ( time to get there / step interval)
|
|
// requested speed - last motor speed
|
|
m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep);
|
|
|
|
VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}",
|
|
Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
|
|
|
|
m_angularMotorApply--;
|
|
}
|
|
else
|
|
{
|
|
// No motor recently applied, keep the body velocity
|
|
// and decay the velocity
|
|
if (m_angularMotorVelocity.LengthSquared() < 0.0001)
|
|
m_angularMotorVelocity = Vector3.Zero;
|
|
else
|
|
m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
|
|
} // end motor section
|
|
|
|
#region Vertical attactor
|
|
|
|
Vector3 vertattr = Vector3.Zero;
|
|
Vector3 deflection = Vector3.Zero;
|
|
Vector3 banking = Vector3.Zero;
|
|
|
|
if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
|
|
{
|
|
float VAservo = 0.2f;
|
|
if (Prim.Linkset.LinksetIsColliding)
|
|
VAservo = 0.05f / (m_verticalAttractionTimescale / pTimestep);
|
|
|
|
VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
|
|
|
|
// get present body rotation
|
|
Quaternion rotq = Prim.ForceOrientation;
|
|
// vector pointing up
|
|
Vector3 verticalError = Vector3.UnitZ;
|
|
|
|
// rotate it to Body Angle
|
|
verticalError = verticalError * rotq;
|
|
// verticalError.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
|
|
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
|
|
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
|
|
|
|
// Error is 0 (no error) to +/- 2 (max error)
|
|
if (verticalError.Z < 0.0f)
|
|
{
|
|
verticalError.X = 2.0f - verticalError.X;
|
|
verticalError.Y = 2.0f - verticalError.Y;
|
|
}
|
|
// scale it by VAservo
|
|
verticalError = verticalError * VAservo;
|
|
|
|
// As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y then .X increases, so
|
|
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
|
|
vertattr.X = verticalError.Y;
|
|
vertattr.Y = - verticalError.X;
|
|
vertattr.Z = 0f;
|
|
|
|
// scaling appears better usingsquare-law
|
|
float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
|
|
vertattr.X += bounce * angularVelocity.X;
|
|
vertattr.Y += bounce * angularVelocity.Y;
|
|
|
|
VDetailLog("{0},MoveAngular,verticalAttraction,verticalError={1},bounce={2},vertattr={3}",
|
|
Prim.LocalID, verticalError, bounce, vertattr);
|
|
|
|
}
|
|
#endregion // Vertical attactor
|
|
|
|
#region Deflection
|
|
|
|
//Forward is the prefered direction, but if the reference frame has changed, we need to take this into account as well
|
|
Vector3 PreferredAxisOfMotion =
|
|
new Vector3((10*(m_angularDeflectionEfficiency/m_angularDeflectionTimescale)), 0, 0);
|
|
PreferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
|
|
|
|
//Multiply it so that it scales linearly
|
|
//deflection = PreferredAxisOfMotion;
|
|
|
|
//deflection = ((PreferredAxisOfMotion * m_angularDeflectionEfficiency) / (m_angularDeflectionTimescale / pTimestep));
|
|
|
|
#endregion
|
|
|
|
#region Banking
|
|
|
|
if (m_bankingEfficiency != 0)
|
|
{
|
|
Vector3 dir = Vector3.One * Prim.ForceOrientation;
|
|
float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1);
|
|
//Changes which way it banks in and out of turns
|
|
|
|
//Use the square of the efficiency, as it looks much more how SL banking works
|
|
float effSquared = (m_bankingEfficiency*m_bankingEfficiency);
|
|
if (m_bankingEfficiency < 0)
|
|
effSquared *= -1; //Keep the negative!
|
|
|
|
float mix = Math.Abs(m_bankingMix);
|
|
if (m_angularMotorVelocity.X == 0)
|
|
{
|
|
/*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
|
|
{
|
|
Vector3 axisAngle;
|
|
float angle;
|
|
parent.Orientation.GetAxisAngle(out axisAngle, out angle);
|
|
Vector3 rotatedVel = parent.Velocity * parent.Orientation;
|
|
if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
|
|
m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
|
|
else
|
|
m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
|
|
}*/
|
|
}
|
|
else
|
|
banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4;
|
|
if (!Prim.Linkset.LinksetIsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
|
|
//If they are colliding, we probably shouldn't shove the prim around... probably
|
|
{
|
|
float angVelZ = m_angularMotorVelocity.X*-1;
|
|
/*if(angVelZ > mix)
|
|
angVelZ = mix;
|
|
else if(angVelZ < -mix)
|
|
angVelZ = -mix;*/
|
|
//This controls how fast and how far the banking occurs
|
|
Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0);
|
|
if (bankingRot.X > 3)
|
|
bankingRot.X = 3;
|
|
else if (bankingRot.X < -3)
|
|
bankingRot.X = -3;
|
|
bankingRot *= Prim.ForceOrientation;
|
|
banking += bankingRot;
|
|
}
|
|
m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
|
|
}
|
|
|
|
#endregion
|
|
|
|
m_lastVertAttractor = vertattr;
|
|
|
|
// Bank section tba
|
|
|
|
// Deflection section tba
|
|
|
|
// Sum velocities
|
|
m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
|
|
|
|
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
|
|
{
|
|
m_lastAngularVelocity.X = 0;
|
|
m_lastAngularVelocity.Y = 0;
|
|
VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
|
|
}
|
|
|
|
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
|
|
{
|
|
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
|
|
VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
|
|
}
|
|
|
|
// apply friction
|
|
Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
|
|
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
|
|
|
|
// Apply to the body
|
|
// Prim.ForceRotationalVelocity = m_lastAngularVelocity;
|
|
Prim.AddAngularForce(m_lastAngularVelocity, false);
|
|
|
|
VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
|
|
} //end MoveAngular
|
|
|
|
internal void LimitRotation(float timestep)
|
|
{
|
|
Quaternion rotq = Prim.ForceOrientation;
|
|
Quaternion m_rot = rotq;
|
|
if (m_RollreferenceFrame != Quaternion.Identity)
|
|
{
|
|
if (rotq.X >= m_RollreferenceFrame.X)
|
|
{
|
|
m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
|
|
}
|
|
if (rotq.Y >= m_RollreferenceFrame.Y)
|
|
{
|
|
m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
|
|
}
|
|
if (rotq.X <= -m_RollreferenceFrame.X)
|
|
{
|
|
m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
|
|
}
|
|
if (rotq.Y <= -m_RollreferenceFrame.Y)
|
|
{
|
|
m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
|
|
}
|
|
}
|
|
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
|
|
{
|
|
m_rot.X = 0;
|
|
m_rot.Y = 0;
|
|
}
|
|
if (rotq != m_rot)
|
|
{
|
|
Prim.ForceOrientation = m_rot;
|
|
VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
|
|
}
|
|
|
|
}
|
|
|
|
// Invoke the detailed logger and output something if it's enabled.
|
|
private void VDetailLog(string msg, params Object[] args)
|
|
{
|
|
if (Prim.PhysicsScene.VehicleLoggingEnabled)
|
|
Prim.PhysicsScene.DetailLog(msg, args);
|
|
}
|
|
}
|
|
}
|