1468 lines
54 KiB
C#
1468 lines
54 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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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using OpenMetaverse;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using log4net;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
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/// </summary>
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public enum dParam : int
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{
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LowStop = 0,
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HiStop = 1,
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Vel = 2,
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FMax = 3,
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FudgeFactor = 4,
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Bounce = 5,
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CFM = 6,
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StopERP = 7,
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StopCFM = 8,
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LoStop2 = 256,
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HiStop2 = 257,
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Vel2 = 258,
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FMax2 = 259,
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StopERP2 = 7 + 256,
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StopCFM2 = 8 + 256,
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LoStop3 = 512,
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HiStop3 = 513,
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Vel3 = 514,
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FMax3 = 515,
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StopERP3 = 7 + 512,
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StopCFM3 = 8 + 512
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}
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public class OdeCharacter : PhysicsActor
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private Vector3 _position;
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private d.Vector3 _zeroPosition;
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// private d.Matrix3 m_StandUpRotation;
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private bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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private Vector3 _velocity;
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private Vector3 _target_velocity;
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private Vector3 _acceleration;
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private Vector3 m_rotationalVelocity;
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private float m_mass = 80f;
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public float m_density = 60f;
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private bool m_pidControllerActive = true;
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public float PID_D = 800.0f;
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public float PID_P = 900.0f;
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//private static float POSTURE_SERVO = 10000.0f;
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public float CAPSULE_RADIUS = 0.37f;
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public float CAPSULE_LENGTH = 2.140599f;
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public float m_tensor = 3800000f;
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public float heightFudgeFactor = 0.52f;
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public float walkDivisor = 1.3f;
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public float runDivisor = 0.8f;
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private bool flying = false;
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private bool jumping = false; // add for jumping
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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private bool m_wascolliding = false;
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private bool m_wascollidingGround = false;
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private bool m_iscollidingObj = false;
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private bool m_alwaysRun = false;
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private bool m_hackSentFall = false;
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private bool m_hackSentFly = false;
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private int m_requestedUpdateFrequency = 0;
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private Vector3 m_taintPosition = Vector3.Zero;
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public uint m_localID = 0;
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public bool m_returnCollisions = false;
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// taints and their non-tainted counterparts
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public bool m_isPhysical = false; // the current physical status
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public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
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public float MinimumGroundFlightOffset = 3f;
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private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
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private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
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private float m_buoyancy = 0f;
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// private CollisionLocker ode;
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private string m_name = String.Empty;
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private bool[] m_colliderarr = new bool[11];
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private bool[] m_colliderGroundarr = new bool[11];
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// Default we're a Character
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private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
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// Default, Collide with Other Geometries, spaces, bodies and characters.
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private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
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| CollisionCategories.Space
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| CollisionCategories.Body
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| CollisionCategories.Character
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| CollisionCategories.Land);
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public IntPtr Body = IntPtr.Zero;
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private OdeScene _parent_scene;
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public IntPtr Shell = IntPtr.Zero;
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public IntPtr Amotor = IntPtr.Zero;
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public d.Mass ShellMass;
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public bool collidelock = false;
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public int m_eventsubscription = 0;
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private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
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private Vector3 m_taintMomentum = Vector3.Zero;
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private bool m_haveTaintMomentum = false;
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// unique UUID of this character object
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public UUID m_uuid;
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public bool bad = false;
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private Object m_syncRoot = new Object();
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public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
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{
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m_uuid = UUID.Random();
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if (pos.IsFinite())
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{
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if (pos.Z > 9999999f)
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{
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pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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if (pos.Z < -90000f)
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{
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pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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_position = pos;
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m_taintPosition.X = pos.X;
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m_taintPosition.Y = pos.Y;
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m_taintPosition.Z = pos.Z;
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}
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else
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{
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_position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
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m_taintPosition.X = _position.X;
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m_taintPosition.Y = _position.Y;
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m_taintPosition.Z = _position.Z;
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m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
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}
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_parent_scene = parent_scene;
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PID_D = pid_d;
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PID_P = pid_p;
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CAPSULE_RADIUS = capsule_radius;
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m_tensor = tensor;
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m_density = density;
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heightFudgeFactor = height_fudge_factor;
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walkDivisor = walk_divisor;
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runDivisor = rundivisor;
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// m_StandUpRotation =
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// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
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// 0.5f);
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for (int i = 0; i < 11; i++)
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{
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m_colliderarr[i] = false;
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}
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CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
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//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
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m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
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m_isPhysical = false; // current status: no ODE information exists
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m_tainted_isPhysical = true; // new tainted status: need to create ODE information
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_parent_scene.AddPhysicsActorTaint(this);
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m_name = avName;
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}
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Agent; }
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set { return; }
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}
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/// <summary>
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/// If this is set, the avatar will move faster
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/// </summary>
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public override bool SetAlwaysRun
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{
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get { return m_alwaysRun; }
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set { m_alwaysRun = value; }
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}
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public override uint LocalID
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{
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set { m_localID = value; }
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}
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public override bool Grabbed
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{
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set { return; }
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}
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public override bool Selected
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{
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// set { return; }
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set { jumping = value; } // add for jumping flag
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}
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public override float Buoyancy
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{
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get { return m_buoyancy; }
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set { m_buoyancy = value; }
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}
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public override bool FloatOnWater
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{
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set { return; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool Flying
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{
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get { return flying; }
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set { flying = value; }
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}
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/// <summary>
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/// Returns if the avatar is colliding in general.
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/// This includes the ground and objects and avatar.
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/// </summary>
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public override bool IsColliding
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{
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//#@ get { return m_iscolliding; }
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get { //##
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//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
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return m_iscolliding; } //##
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set
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{
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderarr[i] = m_colliderarr[i + 1];
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}
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}
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m_colliderarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2*truecount)
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{
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m_iscolliding = false;
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}
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else
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{
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m_iscolliding = true;
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}
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// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
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if (m_wascolliding != m_iscolliding)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascolliding = m_iscolliding;
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}
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}
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/// <summary>
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/// Returns if an avatar is colliding with the ground
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/// </summary>
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public override bool CollidingGround
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{
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get { return m_iscollidingGround; }
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set
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{
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// Collisions against the ground are not really reliable
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// So, to get a consistant value we have to average the current result over time
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// Currently we use 1 second = 10 calls to this.
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderGroundarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
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}
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}
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m_colliderGroundarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderGroundarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2*truecount)
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{
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m_iscollidingGround = false;
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}
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else
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{
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m_iscollidingGround = true;
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}
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if (m_wascollidingGround != m_iscollidingGround)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascollidingGround = m_iscollidingGround;
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}
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}
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/// <summary>
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/// Returns if the avatar is colliding with an object
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/// </summary>
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public override bool CollidingObj
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{
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get { return m_iscollidingObj; }
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set
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{
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m_iscollidingObj = value;
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if (value)
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m_pidControllerActive = false;
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else
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m_pidControllerActive = true;
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}
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}
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/// <summary>
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/// turn the PID controller on or off.
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/// The PID Controller will turn on all by itself in many situations
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/// </summary>
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/// <param name="status"></param>
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public void SetPidStatus(bool status)
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{
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m_pidControllerActive = status;
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}
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public override bool Stopped
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{
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get { return _zeroFlag; }
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}
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/// <summary>
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/// This 'puts' an avatar somewhere in the physics space.
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/// Not really a good choice unless you 'know' it's a good
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/// spot otherwise you're likely to orbit the avatar.
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/// </summary>
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public override Vector3 Position
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{
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get { return _position; }
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set
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{
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if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
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{
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if (value.IsFinite())
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{
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if (value.Z > 9999999f)
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{
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value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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if (value.Z < -90000f)
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{
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value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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_position.X = value.X;
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_position.Y = value.Y;
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_position.Z = value.Z;
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m_taintPosition.X = value.X;
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m_taintPosition.Y = value.Y;
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m_taintPosition.Z = value.Z;
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_parent_scene.AddPhysicsActorTaint(this);
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
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}
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}
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}
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}
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public override Vector3 RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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/// <summary>
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/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
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/// and use it to offset landings properly
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/// </summary>
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public override Vector3 Size
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{
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get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
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set
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{
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if (value.IsFinite())
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{
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m_pidControllerActive = true;
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Vector3 SetSize = value;
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m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
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//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
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Velocity = Vector3.Zero;
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m_taintPosition = _position; // update the stale taint position
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_parent_scene.AddPhysicsActorTaint(this);
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
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}
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}
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}
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private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
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{
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movementVector.Z = 0f;
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float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
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if (magnitude < 0.1f) return;
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// normalize the velocity vector
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float invMagnitude = 1.0f / magnitude;
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movementVector.X *= invMagnitude;
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movementVector.Y *= invMagnitude;
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// if we change the capsule heading too often, the capsule can fall down
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// therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
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// meaning only 4 possible capsule tilt orientations
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if (movementVector.X > 0)
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{
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// east
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if (movementVector.Y > 0)
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{
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// northeast
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movementVector.X = (float)Math.Sqrt(2.0);
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movementVector.Y = (float)Math.Sqrt(2.0);
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}
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else
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{
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// southeast
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movementVector.X = (float)Math.Sqrt(2.0);
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movementVector.Y = -(float)Math.Sqrt(2.0);
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}
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}
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else
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{
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// west
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if (movementVector.Y > 0)
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{
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// northwest
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movementVector.X = -(float)Math.Sqrt(2.0);
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movementVector.Y = (float)Math.Sqrt(2.0);
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}
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else
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{
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// southwest
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movementVector.X = -(float)Math.Sqrt(2.0);
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movementVector.Y = -(float)Math.Sqrt(2.0);
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}
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}
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// movementVector.Z is zero
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// calculate tilt components based on desired amount of tilt and current (snapped) heading.
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// the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
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float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
|
|
float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
|
|
|
|
//m_log.Debug("[PHYSICS] changing avatar tilt");
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
|
}
|
|
|
|
/// <summary>
|
|
/// This creates the Avatar's physical Surrogate at the position supplied
|
|
/// </summary>
|
|
/// <param name="npositionX"></param>
|
|
/// <param name="npositionY"></param>
|
|
/// <param name="npositionZ"></param>
|
|
|
|
// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
|
|
// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
|
|
// place that is safe to call this routine AvatarGeomAndBodyCreation.
|
|
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
|
|
{
|
|
//CAPSULE_LENGTH = -5;
|
|
//CAPSULE_RADIUS = -5;
|
|
int dAMotorEuler = 1;
|
|
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
|
|
if (CAPSULE_LENGTH <= 0)
|
|
{
|
|
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
|
|
CAPSULE_LENGTH = 0.01f;
|
|
|
|
}
|
|
|
|
if (CAPSULE_RADIUS <= 0)
|
|
{
|
|
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
|
|
CAPSULE_RADIUS = 0.01f;
|
|
|
|
}
|
|
|
|
if(Shell != IntPtr.Zero)
|
|
{
|
|
try
|
|
{
|
|
d.GeomDestroy(Shell);
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Error("[PHYSICS]: PrimGeom dead");
|
|
}
|
|
// Remove any old entries
|
|
//string tShell;
|
|
//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
|
|
//Console.WriteLine("**** Remove {0}", tShell);
|
|
if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
|
|
if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
|
|
}
|
|
|
|
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
|
_parent_scene.geom_name_map[Shell] = m_name;
|
|
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
|
|
//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1} height={3} rad={4}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name, CAPSULE_LENGTH, CAPSULE_RADIUS);
|
|
|
|
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
|
|
|
|
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
|
Body = d.BodyCreate(_parent_scene.world);
|
|
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
|
|
|
|
_position.X = npositionX;
|
|
_position.Y = npositionY;
|
|
_position.Z = npositionZ;
|
|
|
|
|
|
m_taintPosition.X = npositionX;
|
|
m_taintPosition.Y = npositionY;
|
|
m_taintPosition.Z = npositionZ;
|
|
|
|
d.BodySetMass(Body, ref ShellMass);
|
|
d.Matrix3 m_caprot;
|
|
// 90 Stand up on the cap of the capped cyllinder
|
|
if (_parent_scene.IsAvCapsuleTilted)
|
|
{
|
|
d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
|
|
}
|
|
else
|
|
{
|
|
d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
|
|
}
|
|
|
|
|
|
d.GeomSetRotation(Shell, ref m_caprot);
|
|
d.BodySetRotation(Body, ref m_caprot);
|
|
|
|
d.GeomSetBody(Shell, Body);
|
|
|
|
|
|
// The purpose of the AMotor here is to keep the avatar's physical
|
|
// surrogate from rotating while moving
|
|
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
|
d.JointAttach(Amotor, Body, IntPtr.Zero);
|
|
d.JointSetAMotorMode(Amotor, dAMotorEuler);
|
|
d.JointSetAMotorNumAxes(Amotor, 3);
|
|
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
|
|
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
|
|
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
|
|
d.JointSetAMotorAngle(Amotor, 0, 0);
|
|
d.JointSetAMotorAngle(Amotor, 1, 0);
|
|
d.JointSetAMotorAngle(Amotor, 2, 0);
|
|
|
|
// These lowstops and high stops are effectively (no wiggle room)
|
|
if (_parent_scene.IsAvCapsuleTilted)
|
|
{
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
|
|
}
|
|
else
|
|
{
|
|
#region Documentation of capsule motor LowStop and HighStop parameters
|
|
// Intentionally introduce some tilt into the capsule by setting
|
|
// the motor stops to small epsilon values. This small tilt prevents
|
|
// the capsule from falling into the terrain; a straight-up capsule
|
|
// (with -0..0 motor stops) falls into the terrain for reasons yet
|
|
// to be comprehended in their entirety.
|
|
#endregion
|
|
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
|
|
}
|
|
|
|
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
|
|
// capped cyllinder will fall over
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
|
|
|
|
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
|
|
//d.QfromR(
|
|
//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
|
|
//
|
|
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
|
|
//standupStraight();
|
|
}
|
|
|
|
//
|
|
/// <summary>
|
|
/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
|
|
/// This may be used in calculations in the scene/scenepresence
|
|
/// </summary>
|
|
public override float Mass
|
|
{
|
|
get
|
|
{
|
|
float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
|
|
return m_density*AVvolume;
|
|
}
|
|
}
|
|
public override void link(PhysicsActor obj)
|
|
{
|
|
|
|
}
|
|
|
|
public override void delink()
|
|
{
|
|
|
|
}
|
|
|
|
public override void LockAngularMotion(Vector3 axis)
|
|
{
|
|
|
|
}
|
|
|
|
// This code is very useful. Written by DanX0r. We're just not using it right now.
|
|
// Commented out to prevent a warning.
|
|
//
|
|
// private void standupStraight()
|
|
// {
|
|
// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
|
|
// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
|
|
// // change appearance and when you enter the simulator
|
|
// // After this routine is done, the amotor stabilizes much quicker
|
|
// d.Vector3 feet;
|
|
// d.Vector3 head;
|
|
// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
|
|
// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
|
|
// float posture = head.Z - feet.Z;
|
|
|
|
// // restoring force proportional to lack of posture:
|
|
// float servo = (2.5f - posture) * POSTURE_SERVO;
|
|
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
|
|
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
|
|
// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
|
|
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
|
|
// }
|
|
|
|
public override Vector3 Force
|
|
{
|
|
get { return _target_velocity; }
|
|
set { return; }
|
|
}
|
|
|
|
public override int VehicleType
|
|
{
|
|
get { return 0; }
|
|
set { return; }
|
|
}
|
|
|
|
public override void VehicleFloatParam(int param, float value)
|
|
{
|
|
|
|
}
|
|
|
|
public override void VehicleVectorParam(int param, Vector3 value)
|
|
{
|
|
|
|
}
|
|
|
|
public override void VehicleRotationParam(int param, Quaternion rotation)
|
|
{
|
|
|
|
}
|
|
|
|
public override void VehicleFlags(int flags, bool remove)
|
|
{
|
|
}
|
|
|
|
public override void SetVolumeDetect(int param)
|
|
{
|
|
|
|
}
|
|
|
|
public override Vector3 CenterOfMass
|
|
{
|
|
get { return Vector3.Zero; }
|
|
}
|
|
|
|
public override Vector3 GeometricCenter
|
|
{
|
|
get { return Vector3.Zero; }
|
|
}
|
|
|
|
public override PrimitiveBaseShape Shape
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
public override Vector3 Velocity
|
|
{
|
|
get {
|
|
// There's a problem with Vector3.Zero! Don't Use it Here!
|
|
if (_zeroFlag)
|
|
return Vector3.Zero;
|
|
m_lastUpdateSent = false;
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
if (value.IsFinite())
|
|
{
|
|
_target_velocity = value;
|
|
m_pidControllerActive = true;
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
|
|
}
|
|
}
|
|
}
|
|
|
|
public override Vector3 Torque
|
|
{
|
|
get { return Vector3.Zero; }
|
|
set { return; }
|
|
}
|
|
|
|
public override float CollisionScore
|
|
{
|
|
get { return 0f; }
|
|
set { }
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get { return Quaternion.Identity; }
|
|
set {
|
|
//Matrix3 or = Orientation.ToRotationMatrix();
|
|
//d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
|
|
//d.BodySetRotation(Body, ref ord);
|
|
}
|
|
}
|
|
|
|
public override Vector3 Acceleration
|
|
{
|
|
get { return _acceleration; }
|
|
set { _acceleration = value; }
|
|
}
|
|
|
|
public void SetAcceleration(Vector3 accel)
|
|
{
|
|
m_pidControllerActive = true;
|
|
_acceleration = accel;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds the force supplied to the Target Velocity
|
|
/// The PID controller takes this target velocity and tries to make it a reality
|
|
/// </summary>
|
|
/// <param name="force"></param>
|
|
public override void AddForce(Vector3 force, bool pushforce)
|
|
{
|
|
if (force.IsFinite())
|
|
{
|
|
if (pushforce)
|
|
{
|
|
m_pidControllerActive = false;
|
|
force *= 100f;
|
|
//Console.WriteLine("DF 1"); // ##
|
|
if (!force.ApproxEquals(Vector3.Zero, 0.01f))
|
|
doForce(force);
|
|
// If uncommented, things get pushed off world
|
|
//
|
|
// m_log.Debug("Push!");
|
|
// _target_velocity.X += force.X;
|
|
// _target_velocity.Y += force.Y;
|
|
// _target_velocity.Z += force.Z;
|
|
}
|
|
else
|
|
{
|
|
m_pidControllerActive = true;
|
|
_target_velocity.X += force.X;
|
|
_target_velocity.Y += force.Y;
|
|
_target_velocity.Z += force.Z;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
|
|
}
|
|
//m_lastUpdateSent = false;
|
|
}
|
|
|
|
public override void AddAngularForce(Vector3 force, bool pushforce)
|
|
{
|
|
|
|
}
|
|
|
|
/// <summary>
|
|
/// After all of the forces add up with 'add force' we apply them with doForce
|
|
/// </summary>
|
|
/// <param name="force"></param>
|
|
public void doForce(Vector3 force)
|
|
{
|
|
if (!collidelock)
|
|
{
|
|
d.BodyAddForce(Body, force.X, force.Y, force.Z);
|
|
//d.BodySetRotation(Body, ref m_StandUpRotation);
|
|
//standupStraight();
|
|
d.Vector3 vel = d.BodyGetLinearVel(Body); //##
|
|
//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
|
|
}
|
|
}
|
|
|
|
public override void SetMomentum(Vector3 momentum)
|
|
{
|
|
if (momentum.IsFinite())
|
|
{
|
|
m_taintMomentum = momentum;
|
|
m_haveTaintMomentum = true;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
}
|
|
else
|
|
m_log.Warn("[PHYSICS] !isFinite momentum");
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Called from Simulate
|
|
/// This is the avatar's movement control + PID Controller
|
|
/// </summary>
|
|
/// <param name="timeStep"></param>
|
|
public void Move(float timeStep, List<OdeCharacter> defects)
|
|
{
|
|
// no lock; for now it's only called from within Simulate()
|
|
|
|
// If the PID Controller isn't active then we set our force
|
|
// calculating base velocity to the current position
|
|
|
|
if (Body == IntPtr.Zero)
|
|
return;
|
|
|
|
if (m_pidControllerActive == false)
|
|
{
|
|
_zeroPosition = d.BodyGetPosition(Body);
|
|
}
|
|
//PidStatus = true;
|
|
|
|
d.Vector3 localpos = d.BodyGetPosition(Body);
|
|
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
|
|
|
|
if (!localPos.IsFinite())
|
|
{
|
|
|
|
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
|
|
defects.Add(this);
|
|
// _parent_scene.RemoveCharacter(this);
|
|
|
|
// destroy avatar capsule and related ODE data
|
|
if (Amotor != IntPtr.Zero)
|
|
{
|
|
// Kill the Amotor
|
|
d.JointDestroy(Amotor);
|
|
Amotor = IntPtr.Zero;
|
|
}
|
|
|
|
//kill the Geometry
|
|
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
|
|
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
//kill the body
|
|
d.BodyDestroy(Body);
|
|
|
|
Body = IntPtr.Zero;
|
|
}
|
|
|
|
if(Shell != IntPtr.Zero)
|
|
{
|
|
try
|
|
{
|
|
d.GeomDestroy(Shell);
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Error("[PHYSICS]: PrimGeom dead");
|
|
}
|
|
// Remove any old entries
|
|
//string tShell;
|
|
//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
|
|
//Console.WriteLine("**** Remove {0}", tShell);
|
|
|
|
if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
|
|
if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
|
|
Shell = IntPtr.Zero;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
Vector3 vec = Vector3.Zero;
|
|
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
|
|
|
float movementdivisor = 1f;
|
|
|
|
if (!m_alwaysRun)
|
|
{
|
|
movementdivisor = walkDivisor;
|
|
}
|
|
else
|
|
{
|
|
movementdivisor = runDivisor;
|
|
}
|
|
|
|
// if velocity is zero, use position control; otherwise, velocity control
|
|
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
|
|
{
|
|
// keep track of where we stopped. No more slippin' & slidin'
|
|
if (!_zeroFlag)
|
|
{
|
|
_zeroFlag = true;
|
|
_zeroPosition = d.BodyGetPosition(Body);
|
|
}
|
|
if (m_pidControllerActive)
|
|
{
|
|
// We only want to deactivate the PID Controller if we think we want to have our surrogate
|
|
// react to the physics scene by moving it's position.
|
|
// Avatar to Avatar collisions
|
|
// Prim to avatar collisions
|
|
|
|
d.Vector3 pos = d.BodyGetPosition(Body);
|
|
float errX = _zeroPosition.X - pos.X;
|
|
float errY = _zeroPosition.Y - pos.Y;
|
|
if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
|
|
{
|
|
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
|
|
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
|
|
}
|
|
else
|
|
{ // close, jump to lateral destination
|
|
d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
|
|
}
|
|
// if (flying)
|
|
if (flying || jumping) // add for jumping
|
|
{
|
|
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
|
|
}
|
|
}
|
|
//PidStatus = true;
|
|
}
|
|
else
|
|
{
|
|
m_pidControllerActive = true;
|
|
_zeroFlag = false;
|
|
if (m_iscolliding && !flying)
|
|
{
|
|
// We're standing on something
|
|
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
|
|
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
|
|
}
|
|
else if (m_iscolliding && flying)
|
|
{
|
|
// We're flying and colliding with something
|
|
vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
|
|
vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
|
|
}
|
|
else if (!m_iscolliding && flying)
|
|
{
|
|
// we're in mid air suspended
|
|
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
|
|
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
|
|
}
|
|
|
|
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
|
|
{
|
|
// We're colliding with something and we're not flying but we're moving
|
|
// This means we're walking or running.
|
|
d.Vector3 pos = d.BodyGetPosition(Body);
|
|
vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
|
|
if (_target_velocity.X > 0)
|
|
{
|
|
vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
|
|
}
|
|
if (_target_velocity.Y > 0)
|
|
{
|
|
vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
|
|
}
|
|
}
|
|
else if (!m_iscolliding && !flying)
|
|
{
|
|
// we're not colliding and we're not flying so that means we're falling!
|
|
// m_iscolliding includes collisions with the ground.
|
|
|
|
// d.Vector3 pos = d.BodyGetPosition(Body);
|
|
if (Math.Abs(_target_velocity.X) > 0)
|
|
{
|
|
vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
|
|
}
|
|
if (Math.Abs(_target_velocity.Y) > 0)
|
|
{
|
|
vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
|
|
}
|
|
}
|
|
|
|
if (flying)
|
|
{
|
|
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
|
|
}
|
|
}
|
|
if (flying)
|
|
{
|
|
vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
|
|
|
|
//Added for auto fly height. Kitto Flora
|
|
//d.Vector3 pos = d.BodyGetPosition(Body);
|
|
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
|
|
|
|
if (_position.Z < target_altitude)
|
|
{
|
|
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
|
|
}
|
|
// end add Kitto Flora
|
|
}
|
|
|
|
if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50ms apply breaks
|
|
{
|
|
float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall
|
|
vec.X -= breakfactor * vel.X;
|
|
vec.Y -= breakfactor * vel.Y;
|
|
vec.Z -= breakfactor * vel.Z;
|
|
}
|
|
|
|
if (vec.IsFinite())
|
|
{
|
|
if (vec.LengthSquared() > 0.0004f) // 0.01 allows 0.002 !!
|
|
{
|
|
//Console.WriteLine("DF 2"); // ##
|
|
|
|
doForce(vec);
|
|
if (!_zeroFlag)
|
|
{
|
|
// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
|
|
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
|
|
defects.Add(this);
|
|
// _parent_scene.RemoveCharacter(this);
|
|
// destroy avatar capsule and related ODE data
|
|
if (Amotor != IntPtr.Zero)
|
|
{
|
|
// Kill the Amotor
|
|
d.JointDestroy(Amotor);
|
|
Amotor = IntPtr.Zero;
|
|
}
|
|
//kill the Geometry
|
|
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
|
|
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
//kill the body
|
|
d.BodyDestroy(Body);
|
|
|
|
Body = IntPtr.Zero;
|
|
}
|
|
|
|
if(Shell != IntPtr.Zero)
|
|
{
|
|
try
|
|
{
|
|
d.GeomDestroy(Shell);
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Error("[PHYSICS]: PrimGeom dead");
|
|
}
|
|
// Remove any old entries
|
|
//string tShell;
|
|
//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
|
|
//Console.WriteLine("**** Remove {0}", tShell);
|
|
|
|
if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
|
|
if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
|
|
Shell = IntPtr.Zero;
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
|
|
/// </summary>
|
|
public void UpdatePositionAndVelocity()
|
|
{
|
|
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
|
d.Vector3 vec;
|
|
try
|
|
{
|
|
vec = d.BodyGetPosition(Body);
|
|
}
|
|
catch (NullReferenceException)
|
|
{
|
|
bad = true;
|
|
_parent_scene.BadCharacter(this);
|
|
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
|
|
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
|
|
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
|
|
}
|
|
|
|
|
|
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
|
if (vec.X < 0.0f) vec.X = 0.0f;
|
|
if (vec.Y < 0.0f) vec.Y = 0.0f;
|
|
if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
|
|
if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
|
|
|
|
_position.X = vec.X;
|
|
_position.Y = vec.Y;
|
|
_position.Z = vec.Z;
|
|
|
|
// Did we move last? = zeroflag
|
|
// This helps keep us from sliding all over
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
_velocity.X = 0.0f;
|
|
_velocity.Y = 0.0f;
|
|
_velocity.Z = 0.0f;
|
|
|
|
// Did we send out the 'stopped' message?
|
|
if (!m_lastUpdateSent)
|
|
{
|
|
m_lastUpdateSent = true;
|
|
//base.RequestPhysicsterseUpdate();
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_lastUpdateSent = false;
|
|
try
|
|
{
|
|
vec = d.BodyGetLinearVel(Body);
|
|
}
|
|
catch (NullReferenceException)
|
|
{
|
|
vec.X = _velocity.X;
|
|
vec.Y = _velocity.Y;
|
|
vec.Z = _velocity.Z;
|
|
}
|
|
_velocity.X = (vec.X);
|
|
_velocity.Y = (vec.Y);
|
|
|
|
_velocity.Z = (vec.Z);
|
|
|
|
if (_velocity.Z < -6 && !m_hackSentFall)
|
|
{
|
|
m_hackSentFall = true;
|
|
m_pidControllerActive = false;
|
|
}
|
|
else if (flying && !m_hackSentFly)
|
|
{
|
|
//m_hackSentFly = true;
|
|
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
|
}
|
|
else
|
|
{
|
|
m_hackSentFly = false;
|
|
m_hackSentFall = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Cleanup the things we use in the scene.
|
|
/// </summary>
|
|
public void Destroy()
|
|
{
|
|
m_tainted_isPhysical = false;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
}
|
|
|
|
public override void CrossingFailure()
|
|
{
|
|
}
|
|
|
|
public override Vector3 PIDTarget { set { return; } }
|
|
public override bool PIDActive { get { return m_pidControllerActive; } set { return; } }
|
|
public override float PIDTau { set { return; } }
|
|
|
|
public override float PIDHoverHeight { set { return; } }
|
|
public override bool PIDHoverActive { set { return; } }
|
|
public override PIDHoverType PIDHoverType { set { return; } }
|
|
public override float PIDHoverTau { set { return; } }
|
|
|
|
public override Quaternion APIDTarget{ set { return; } }
|
|
|
|
public override bool APIDActive{ set { return; } }
|
|
|
|
public override float APIDStrength{ set { return; } }
|
|
|
|
public override float APIDDamping{ set { return; } }
|
|
|
|
|
|
public override void SubscribeEvents(int ms)
|
|
{
|
|
m_requestedUpdateFrequency = ms;
|
|
m_eventsubscription = ms;
|
|
_parent_scene.addCollisionEventReporting(this);
|
|
}
|
|
public override void UnSubscribeEvents()
|
|
{
|
|
_parent_scene.remCollisionEventReporting(this);
|
|
m_requestedUpdateFrequency = 0;
|
|
m_eventsubscription = 0;
|
|
}
|
|
public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
|
|
{
|
|
if (m_eventsubscription > 0)
|
|
{
|
|
CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
|
|
}
|
|
}
|
|
|
|
public void SendCollisions()
|
|
{
|
|
if (m_eventsubscription > m_requestedUpdateFrequency)
|
|
{
|
|
if (CollisionEventsThisFrame != null)
|
|
{
|
|
base.SendCollisionUpdate(CollisionEventsThisFrame);
|
|
}
|
|
CollisionEventsThisFrame = new CollisionEventUpdate();
|
|
m_eventsubscription = 0;
|
|
}
|
|
}
|
|
public override bool SubscribedEvents()
|
|
{
|
|
if (m_eventsubscription > 0)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
public void ProcessTaints(float timestep)
|
|
{
|
|
lock (m_syncRoot)
|
|
{
|
|
if (m_tainted_isPhysical != m_isPhysical)
|
|
{
|
|
if (m_tainted_isPhysical)
|
|
{
|
|
// Create avatar capsule and related ODE data
|
|
if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
|
|
{
|
|
m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
|
|
+ (Shell!=IntPtr.Zero ? "Shell ":"")
|
|
+ (Body!=IntPtr.Zero ? "Body ":"")
|
|
+ (Amotor!=IntPtr.Zero ? "Amotor ":""));
|
|
}
|
|
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
|
|
_parent_scene.AddCharacter(this);
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.RemoveCharacter(this);
|
|
// destroy avatar capsule and related ODE data
|
|
if (Amotor != IntPtr.Zero)
|
|
{
|
|
// Kill the Amotor
|
|
d.JointDestroy(Amotor);
|
|
Amotor = IntPtr.Zero;
|
|
}
|
|
//kill the Geometry
|
|
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
|
|
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
//kill the body
|
|
d.BodyDestroy(Body);
|
|
Body = IntPtr.Zero;
|
|
}
|
|
|
|
if(Shell != IntPtr.Zero)
|
|
{
|
|
try
|
|
{
|
|
d.GeomDestroy(Shell);
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
m_log.ErrorFormat("[PHYSICS]: Failed to destroy character shell {0}",e.Message);
|
|
}
|
|
// Remove any old entries
|
|
//string tShell;
|
|
//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
|
|
//Console.WriteLine("**** Remove {0}", tShell);
|
|
|
|
if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
|
|
if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
|
|
Shell = IntPtr.Zero;
|
|
}
|
|
}
|
|
|
|
m_isPhysical = m_tainted_isPhysical;
|
|
}
|
|
|
|
if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
|
|
{
|
|
if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
|
|
{
|
|
|
|
m_pidControllerActive = true;
|
|
// no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
|
|
d.JointDestroy(Amotor);
|
|
float prevCapsule = CAPSULE_LENGTH;
|
|
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
|
|
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
|
|
d.BodyDestroy(Body);
|
|
AvatarGeomAndBodyCreation(_position.X, _position.Y,
|
|
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
|
|
Velocity = Vector3.Zero;
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
|
|
+ (Shell==IntPtr.Zero ? "Shell ":"")
|
|
+ (Body==IntPtr.Zero ? "Body ":"")
|
|
+ (Amotor==IntPtr.Zero ? "Amotor ":""));
|
|
}
|
|
}
|
|
|
|
if (!m_taintPosition.ApproxEquals(_position, 0.05f))
|
|
{
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
|
|
|
|
}
|
|
_position.X = m_taintPosition.X;
|
|
_position.Y = m_taintPosition.Y;
|
|
_position.Z = m_taintPosition.Z;
|
|
}
|
|
|
|
if (m_haveTaintMomentum)
|
|
{
|
|
m_haveTaintMomentum = false;
|
|
_velocity = m_taintMomentum;
|
|
_target_velocity = m_taintMomentum;
|
|
m_pidControllerActive = true;
|
|
if (Body != IntPtr.Zero)
|
|
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
|
|
}
|
|
}
|
|
}
|
|
|
|
internal void AddCollisionFrameTime(int p)
|
|
{
|
|
// protect it from overflow crashing
|
|
if (m_eventsubscription + p >= int.MaxValue)
|
|
m_eventsubscription = 0;
|
|
m_eventsubscription += p;
|
|
}
|
|
}
|
|
}
|