857 lines
35 KiB
C#
857 lines
35 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 copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using log4net;
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using OMV = OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.PhysicsModules.SharedBase;
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namespace OpenSim.Region.PhysicsModule.BulletS
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{
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public sealed class BSCharacter : BSPhysObject
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private static readonly string LogHeader = "[BULLETS CHAR]";
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// private bool _stopped;
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private bool _grabbed;
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private bool _selected;
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private float _mass;
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private float _avatarVolume;
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private float _collisionScore;
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private OMV.Vector3 _acceleration;
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private int _physicsActorType;
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private bool _isPhysical;
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private bool _flying;
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private bool _setAlwaysRun;
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private bool _throttleUpdates;
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private bool _floatOnWater;
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private bool _kinematic;
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private float _buoyancy;
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private OMV.Vector3 _size;
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private float _footOffset;
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private BSActorAvatarMove m_moveActor;
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private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
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private OMV.Vector3 _PIDTarget;
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private float _PIDTau;
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// public override OMV.Vector3 RawVelocity
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// { get { return base.RawVelocity; }
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// set {
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// if (value != base.RawVelocity)
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// Util.PrintCallStack();
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// Console.WriteLine("Set rawvel to {0}", value);
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// base.RawVelocity = value; }
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// }
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// Avatars are always complete (in the physics engine sense)
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public override bool IsIncomplete { get { return false; } }
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public BSCharacter(
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uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, float footOffset, bool isFlying)
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: base(parent_scene, localID, avName, "BSCharacter")
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{
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_physicsActorType = (int)ActorTypes.Agent;
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RawPosition = pos;
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_flying = isFlying;
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RawOrientation = OMV.Quaternion.Identity;
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RawVelocity = vel;
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_buoyancy = ComputeBuoyancyFromFlying(isFlying);
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Friction = BSParam.AvatarStandingFriction;
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Density = BSParam.AvatarDensity;
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_isPhysical = true;
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// Adjustments for zero X and Y made in Size()
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// This also computes avatar scale, volume, and mass
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SetAvatarSize(size, footOffset, true /* initializing */);
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DetailLog(
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"{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
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LocalID, Size, Scale, Density, _avatarVolume, RawMass, pos, vel);
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// do actual creation in taint time
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PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
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{
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DetailLog("{0},BSCharacter.create,taint", LocalID);
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// New body and shape into PhysBody and PhysShape
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PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
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// The avatar's movement is controlled by this motor that speeds up and slows down
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// the avatar seeking to reach the motor's target speed.
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// This motor runs as a prestep action for the avatar so it will keep the avatar
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// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
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m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
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PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
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SetPhysicalProperties();
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IsInitialized = true;
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});
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return;
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}
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// called when this character is being destroyed and the resources should be released
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public override void Destroy()
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{
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IsInitialized = false;
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base.Destroy();
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DetailLog("{0},BSCharacter.Destroy", LocalID);
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PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate()
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{
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PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
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PhysBody.Clear();
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PhysShape.Dereference(PhysScene);
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PhysShape = new BSShapeNull();
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});
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}
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private void SetPhysicalProperties()
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{
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PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
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ForcePosition = RawPosition;
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// Set the velocity
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if (m_moveActor != null)
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m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
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ForceVelocity = RawVelocity;
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TargetVelocity = RawVelocity;
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// This will enable or disable the flying buoyancy of the avatar.
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// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
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Flying = _flying;
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PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
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PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin);
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PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
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PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
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if (BSParam.CcdMotionThreshold > 0f)
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{
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PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
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PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
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}
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UpdatePhysicalMassProperties(RawMass, false);
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// Make so capsule does not fall over
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PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
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// The avatar mover sets some parameters.
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PhysicalActors.Refresh();
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PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
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PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
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// PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
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PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
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PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
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// Do this after the object has been added to the world
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if (BSParam.AvatarToAvatarCollisionsByDefault)
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PhysBody.collisionType = CollisionType.Avatar;
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else
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PhysBody.collisionType = CollisionType.PhantomToOthersAvatar;
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PhysBody.ApplyCollisionMask(PhysScene);
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}
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public override void RequestPhysicsterseUpdate()
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{
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base.RequestPhysicsterseUpdate();
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}
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// No one calls this method so I don't know what it could possibly mean
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public override bool Stopped { get { return false; } }
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public override OMV.Vector3 Size {
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get
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{
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return _size;
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}
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set {
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setAvatarSize(value, _footOffset);
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}
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}
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// OpenSim 0.9 introduces a common avatar size computation
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public override void setAvatarSize(OMV.Vector3 size, float feetOffset)
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{
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SetAvatarSize(size, feetOffset, false /* initializing */);
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}
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// Internal version that, if initializing, doesn't do all the updating of the physics engine
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public void SetAvatarSize(OMV.Vector3 size, float feetOffset, bool initializing)
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{
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OMV.Vector3 newSize = size;
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if (newSize.IsFinite())
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{
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
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// replace with the default values.
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if (newSize.X == 0f) newSize.X = BSParam.AvatarCapsuleDepth;
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if (newSize.Y == 0f) newSize.Y = BSParam.AvatarCapsuleWidth;
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if (newSize.X < 0.01f) newSize.X = 0.01f;
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if (newSize.Y < 0.01f) newSize.Y = 0.01f;
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if (newSize.Z < 0.01f) newSize.Z = BSParam.AvatarCapsuleHeight;
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}
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else
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{
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newSize = new OMV.Vector3(BSParam.AvatarCapsuleDepth, BSParam.AvatarCapsuleWidth, BSParam.AvatarCapsuleHeight);
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}
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// This is how much the avatar size is changing. Positive means getting bigger.
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// The avatar altitude must be adjusted for this change.
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float heightChange = newSize.Z - Size.Z;
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_size = newSize;
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Scale = ComputeAvatarScale(Size);
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ComputeAvatarVolumeAndMass();
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DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
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LocalID, _size, Scale, Density, _avatarVolume, RawMass);
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PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
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{
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if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
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{
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PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
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UpdatePhysicalMassProperties(RawMass, true);
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// Adjust the avatar's position to account for the increase/decrease in size
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ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
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// Make sure this change appears as a property update event
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PhysScene.PE.PushUpdate(PhysBody);
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}
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});
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}
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public override PrimitiveBaseShape Shape
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{
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set { BaseShape = value; }
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}
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public override bool Grabbed {
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set { _grabbed = value; }
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}
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public override bool Selected {
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set { _selected = value; }
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}
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public override bool IsSelected
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{
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get { return _selected; }
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}
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public override void CrossingFailure() { return; }
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public override void link(PhysicsActor obj) { return; }
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public override void delink() { return; }
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// Set motion values to zero.
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// Do it to the properties so the values get set in the physics engine.
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// Push the setting of the values to the viewer.
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// Called at taint time!
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public override void ZeroMotion(bool inTaintTime)
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{
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RawVelocity = OMV.Vector3.Zero;
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_acceleration = OMV.Vector3.Zero;
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RawRotationalVelocity = OMV.Vector3.Zero;
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// Zero some other properties directly into the physics engine
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PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
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{
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if (PhysBody.HasPhysicalBody)
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PhysScene.PE.ClearAllForces(PhysBody);
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});
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}
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public override void ZeroAngularMotion(bool inTaintTime)
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{
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RawRotationalVelocity = OMV.Vector3.Zero;
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PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
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{
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if (PhysBody.HasPhysicalBody)
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{
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PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
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PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
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// The next also get rid of applied linear force but the linear velocity is untouched.
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PhysScene.PE.ClearForces(PhysBody);
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}
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});
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}
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public override void LockAngularMotion(byte axislocks) { return; }
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public override OMV.Vector3 Position {
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get {
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// Don't refetch the position because this function is called a zillion times
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// RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
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return RawPosition;
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}
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set {
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RawPosition = value;
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PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate()
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{
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DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
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PositionSanityCheck();
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ForcePosition = RawPosition;
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});
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}
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}
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public override OMV.Vector3 ForcePosition {
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get {
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RawPosition = PhysScene.PE.GetPosition(PhysBody);
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return RawPosition;
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}
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set {
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RawPosition = value;
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if (PhysBody.HasPhysicalBody)
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{
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PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
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}
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}
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}
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// Check that the current position is sane and, if not, modify the position to make it so.
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// Check for being below terrain or on water.
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// Returns 'true' of the position was made sane by some action.
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private bool PositionSanityCheck()
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{
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bool ret = false;
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// TODO: check for out of bounds
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if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
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{
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// The character is out of the known/simulated area.
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// Force the avatar position to be within known. ScenePresence will use the position
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// plus the velocity to decide if the avatar is moving out of the region.
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RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition);
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DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition);
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return true;
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}
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// If below the ground, move the avatar up
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float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
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if (Position.Z < terrainHeight)
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{
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DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
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RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters);
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ret = true;
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}
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if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
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{
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float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
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if (Position.Z < waterHeight)
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{
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RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight);
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ret = true;
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}
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}
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return ret;
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}
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// A version of the sanity check that also makes sure a new position value is
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// pushed back to the physics engine. This routine would be used by anyone
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// who is not already pushing the value.
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private bool PositionSanityCheck(bool inTaintTime)
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{
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bool ret = false;
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if (PositionSanityCheck())
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{
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// The new position value must be pushed into the physics engine but we can't
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// just assign to "Position" because of potential call loops.
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PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate()
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{
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DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
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ForcePosition = RawPosition;
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});
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ret = true;
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}
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return ret;
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}
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public override float Mass { get { return _mass; } }
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// used when we only want this prim's mass and not the linkset thing
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public override float RawMass {
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get {return _mass; }
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}
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public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
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{
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OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
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PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia);
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}
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public override OMV.Vector3 Force {
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get { return RawForce; }
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set {
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RawForce = value;
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// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
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PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate()
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{
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DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
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if (PhysBody.HasPhysicalBody)
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PhysScene.PE.SetObjectForce(PhysBody, RawForce);
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});
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}
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}
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// Avatars don't do vehicles
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public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
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public override void VehicleFloatParam(int param, float value) { }
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public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
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public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
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public override void VehicleFlags(int param, bool remove) { }
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// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
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public override void SetVolumeDetect(int param) { return; }
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public override bool IsVolumeDetect { get { return false; } }
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public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
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public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
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// PhysicsActor.TargetVelocity
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// Sets the target in the motor. This starts the changing of the avatar's velocity.
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public override OMV.Vector3 TargetVelocity
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{
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get
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{
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return base.m_targetVelocity;
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}
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set
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{
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DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
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base.m_targetVelocity = value;
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OMV.Vector3 targetVel = value;
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if (_setAlwaysRun && !_flying)
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targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
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if (m_moveActor != null)
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m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
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}
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}
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// Directly setting velocity means this is what the user really wants now.
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public override OMV.Vector3 Velocity {
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get { return RawVelocity; }
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set {
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if (m_moveActor != null)
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{
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// m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
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m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */);
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}
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base.Velocity = value;
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}
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}
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// SetMomentum just sets the velocity without a target. We need to stop the movement actor if a character.
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public override void SetMomentum(OMV.Vector3 momentum)
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{
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if (m_moveActor != null)
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{
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// m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
|
|
m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */);
|
|
}
|
|
base.SetMomentum(momentum);
|
|
}
|
|
|
|
public override OMV.Vector3 ForceVelocity {
|
|
get { return RawVelocity; }
|
|
set {
|
|
DetailLog("{0},BSCharacter.ForceVelocity.set={1}", LocalID, value);
|
|
|
|
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
|
|
PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
|
|
PhysScene.PE.Activate(PhysBody, true);
|
|
}
|
|
}
|
|
|
|
public override OMV.Vector3 Torque {
|
|
get { return RawTorque; }
|
|
set { RawTorque = value;
|
|
}
|
|
}
|
|
|
|
public override float CollisionScore {
|
|
get { return _collisionScore; }
|
|
set { _collisionScore = value;
|
|
}
|
|
}
|
|
public override OMV.Vector3 Acceleration {
|
|
get { return _acceleration; }
|
|
set { _acceleration = value; }
|
|
}
|
|
public override OMV.Quaternion Orientation {
|
|
get { return RawOrientation; }
|
|
set {
|
|
// Orientation is set zillions of times when an avatar is walking. It's like
|
|
// the viewer doesn't trust us.
|
|
if (RawOrientation != value)
|
|
{
|
|
RawOrientation = value;
|
|
PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate()
|
|
{
|
|
// Bullet assumes we know what we are doing when forcing orientation
|
|
// so it lets us go against all the rules and just compensates for them later.
|
|
// This forces rotation to be only around the Z axis and doesn't change any of the other axis.
|
|
// This keeps us from flipping the capsule over which the veiwer does not understand.
|
|
float oRoll, oPitch, oYaw;
|
|
RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw);
|
|
OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw);
|
|
// DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}",
|
|
// LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation,
|
|
// trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation);
|
|
ForceOrientation = trimmedOrientation;
|
|
});
|
|
}
|
|
}
|
|
}
|
|
// Go directly to Bullet to get/set the value.
|
|
public override OMV.Quaternion ForceOrientation
|
|
{
|
|
get
|
|
{
|
|
RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
|
|
return RawOrientation;
|
|
}
|
|
set
|
|
{
|
|
RawOrientation = value;
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
// RawPosition = PhysicsScene.PE.GetPosition(BSBody);
|
|
PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
|
|
}
|
|
}
|
|
}
|
|
public override int PhysicsActorType {
|
|
get { return _physicsActorType; }
|
|
set { _physicsActorType = value;
|
|
}
|
|
}
|
|
public override bool IsPhysical {
|
|
get { return _isPhysical; }
|
|
set { _isPhysical = value;
|
|
}
|
|
}
|
|
public override bool IsSolid {
|
|
get { return true; }
|
|
}
|
|
public override bool IsStatic {
|
|
get { return false; }
|
|
}
|
|
public override bool IsPhysicallyActive {
|
|
get { return true; }
|
|
}
|
|
public override bool Flying {
|
|
get { return _flying; }
|
|
set {
|
|
_flying = value;
|
|
|
|
// simulate flying by changing the effect of gravity
|
|
Buoyancy = ComputeBuoyancyFromFlying(_flying);
|
|
}
|
|
}
|
|
// Flying is implimented by changing the avatar's buoyancy.
|
|
// Would this be done better with a vehicle type?
|
|
private float ComputeBuoyancyFromFlying(bool ifFlying) {
|
|
return ifFlying ? 1f : 0f;
|
|
}
|
|
public override bool
|
|
SetAlwaysRun {
|
|
get { return _setAlwaysRun; }
|
|
set { _setAlwaysRun = value; }
|
|
}
|
|
public override bool ThrottleUpdates {
|
|
get { return _throttleUpdates; }
|
|
set { _throttleUpdates = value; }
|
|
}
|
|
public override bool FloatOnWater {
|
|
set {
|
|
_floatOnWater = value;
|
|
PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate()
|
|
{
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
if (_floatOnWater)
|
|
CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
|
|
else
|
|
CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
|
|
}
|
|
});
|
|
}
|
|
}
|
|
public override bool Kinematic {
|
|
get { return _kinematic; }
|
|
set { _kinematic = value; }
|
|
}
|
|
// neg=fall quickly, 0=1g, 1=0g, pos=float up
|
|
public override float Buoyancy {
|
|
get { return _buoyancy; }
|
|
set { _buoyancy = value;
|
|
PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate()
|
|
{
|
|
DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
|
|
ForceBuoyancy = _buoyancy;
|
|
});
|
|
}
|
|
}
|
|
public override float ForceBuoyancy {
|
|
get { return _buoyancy; }
|
|
set {
|
|
_buoyancy = value;
|
|
DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
|
|
// Buoyancy is faked by changing the gravity applied to the object
|
|
float grav = BSParam.Gravity * (1f - _buoyancy);
|
|
Gravity = new OMV.Vector3(0f, 0f, grav);
|
|
if (PhysBody.HasPhysicalBody)
|
|
PhysScene.PE.SetGravity(PhysBody, Gravity);
|
|
}
|
|
}
|
|
|
|
// Used for MoveTo
|
|
public override OMV.Vector3 PIDTarget {
|
|
set { _PIDTarget = value; }
|
|
}
|
|
|
|
public override bool PIDActive { get; set; }
|
|
|
|
public override float PIDTau {
|
|
set { _PIDTau = value; }
|
|
}
|
|
|
|
public override void AddForce(OMV.Vector3 force, bool pushforce)
|
|
{
|
|
// Since this force is being applied in only one step, make this a force per second.
|
|
OMV.Vector3 addForce = force;
|
|
|
|
// The interaction of this force with the simulator rate and collision occurance is tricky.
|
|
// ODE multiplies the force by 100
|
|
// ubODE multiplies the force by 5.3
|
|
// BulletSim, after much in-world testing, thinks it gets a similar effect by multiplying mass*0.315f
|
|
// This number could be a feature of friction or timing, but it seems to move avatars the same as ubODE
|
|
addForce *= Mass * BSParam.AvatarAddForcePushFactor;
|
|
|
|
DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass);
|
|
AddForce(false, addForce);
|
|
}
|
|
|
|
public override void AddForce(bool inTaintTime, OMV.Vector3 force) {
|
|
if (force.IsFinite())
|
|
{
|
|
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
|
|
// DetailLog("{0},BSCharacter.addForce,call,force={1},push={2},inTaint={3}", LocalID, addForce, pushforce, inTaintTime);
|
|
|
|
PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
|
|
{
|
|
// Bullet adds this central force to the total force for this tick
|
|
// DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
// Bullet adds this central force to the total force for this tick.
|
|
// Deep down in Bullet:
|
|
// linearVelocity += totalForce / mass * timeStep;
|
|
PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
|
|
PhysScene.PE.Activate(PhysBody, true);
|
|
}
|
|
if (m_moveActor != null)
|
|
{
|
|
m_moveActor.SuppressStationayCheckUntilLowVelocity();
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
|
|
return;
|
|
}
|
|
}
|
|
|
|
public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) {
|
|
}
|
|
|
|
// The avatar's physical shape (whether capsule or cube) is unit sized. BulletSim sets
|
|
// the scale of that unit shape to create the avatars full size.
|
|
private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
|
|
{
|
|
OMV.Vector3 newScale = size;
|
|
|
|
if (BSParam.AvatarUseBefore09SizeComputation)
|
|
{
|
|
|
|
// Bullet's capsule total height is the "passed height + radius * 2";
|
|
// The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
|
|
// The number we pass in for 'scaling' is the multiplier to get that base
|
|
// shape to be the size desired.
|
|
// So, when creating the scale for the avatar height, we take the passed height
|
|
// (size.Z) and remove the caps.
|
|
// An oddity of the Bullet capsule implementation is that it presumes the Y
|
|
// dimension is the radius of the capsule. Even though some of the code allows
|
|
// for a asymmetrical capsule, other parts of the code presume it is cylindrical.
|
|
|
|
// Scale is multiplier of radius with one of "0.5"
|
|
|
|
float heightAdjust = BSParam.AvatarHeightMidFudge;
|
|
if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
|
|
{
|
|
const float AVATAR_LOW = 1.1f;
|
|
const float AVATAR_MID = 1.775f; // 1.87f
|
|
const float AVATAR_HI = 2.45f;
|
|
// An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
|
|
float midHeightOffset = size.Z - AVATAR_MID;
|
|
if (midHeightOffset < 0f)
|
|
{
|
|
// Small avatar. Add the adjustment based on the distance from midheight
|
|
heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
|
|
}
|
|
else
|
|
{
|
|
// Large avatar. Add the adjustment based on the distance from midheight
|
|
heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
|
|
}
|
|
}
|
|
if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
|
|
{
|
|
newScale.X = size.X / 2f;
|
|
newScale.Y = size.Y / 2f;
|
|
// The total scale height is the central cylindar plus the caps on the two ends.
|
|
newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
|
|
}
|
|
else
|
|
{
|
|
newScale.Z = size.Z + heightAdjust;
|
|
}
|
|
// m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
|
|
|
|
// If smaller than the endcaps, just fake like we're almost that small
|
|
if (newScale.Z < 0)
|
|
newScale.Z = 0.1f;
|
|
|
|
DetailLog("{0},BSCharacter.ComputeAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
|
|
LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
|
|
}
|
|
else
|
|
{
|
|
newScale.Z = size.Z + _footOffset;
|
|
DetailLog("{0},BSCharacter.ComputeAvatarScale,using newScale={1}, footOffset={2}", LocalID, newScale, _footOffset);
|
|
}
|
|
|
|
return newScale;
|
|
}
|
|
|
|
// set _avatarVolume and _mass based on capsule size, _density and Scale
|
|
private void ComputeAvatarVolumeAndMass()
|
|
{
|
|
if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
|
|
{
|
|
_avatarVolume = (float)(
|
|
Math.PI
|
|
* Size.X / 2f
|
|
* Size.Y / 2f // the area of capsule cylinder
|
|
* Size.Z // times height of capsule cylinder
|
|
+ 1.33333333f
|
|
* Math.PI
|
|
* Size.X / 2f
|
|
* Math.Min(Size.X, Size.Y) / 2
|
|
* Size.Y / 2f // plus the volume of the capsule end caps
|
|
);
|
|
}
|
|
else
|
|
{
|
|
_avatarVolume = Size.X * Size.Y * Size.Z;
|
|
}
|
|
_mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
|
|
}
|
|
|
|
// The physics engine says that properties have updated. Update same and inform
|
|
// the world that things have changed.
|
|
public override void UpdateProperties(EntityProperties entprop)
|
|
{
|
|
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
|
|
TriggerPreUpdatePropertyAction(ref entprop);
|
|
|
|
RawPosition = entprop.Position;
|
|
RawOrientation = entprop.Rotation;
|
|
|
|
// Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
|
|
// and will send agent updates to the clients if velocity changes by more than
|
|
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
|
|
// extra updates.
|
|
//
|
|
// XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to
|
|
// avatar movement rather than removes it. The larger the threshold, the bigger the jitter.
|
|
// This is most noticeable in level flight and can be seen with
|
|
// the "show updates" option in a viewer. With an update threshold, the RawVelocity cycles between a lower
|
|
// bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
|
|
// and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients(). The cause of this cycle (feedback?)
|
|
// has not yet been identified.
|
|
//
|
|
// If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
|
|
// updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
|
|
// if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
|
|
RawVelocity = entprop.Velocity;
|
|
|
|
_acceleration = entprop.Acceleration;
|
|
RawRotationalVelocity = entprop.RotationalVelocity;
|
|
|
|
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
|
|
if (PositionSanityCheck(true))
|
|
{
|
|
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
|
|
entprop.Position = RawPosition;
|
|
}
|
|
|
|
// remember the current and last set values
|
|
LastEntityProperties = CurrentEntityProperties;
|
|
CurrentEntityProperties = entprop;
|
|
|
|
// Tell the linkset about value changes
|
|
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
|
|
|
|
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
|
|
// PhysScene.PostUpdate(this);
|
|
|
|
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
|
|
LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, RawRotationalVelocity);
|
|
}
|
|
}
|
|
}
|