mirror of
https://github.com/opensim/opensim.git
synced 2026-08-10 11:33:28 +08:00
Remove tabs, indent code properly
Signed-off-by: UbitUmarov <ajlduarte@sapo.pt>
This commit is contained in:
Vincent Sylvester
committed by
UbitUmarov
UbitUmarov
parent
e1ce7408da
commit
13dbbc2683
@@ -36,185 +36,185 @@ using OMV = OpenMetaverse;
|
||||
|
||||
namespace OpenSim.Region.PhysicsModule.BulletS
|
||||
{
|
||||
public class BSActorMoveToTarget : BSActor
|
||||
{
|
||||
private BSVMotor m_targetMotor;
|
||||
|
||||
public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
|
||||
: base(physicsScene, pObj, actorName)
|
||||
public class BSActorMoveToTarget : BSActor
|
||||
{
|
||||
m_targetMotor = null;
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
|
||||
}
|
||||
private BSVMotor m_targetMotor;
|
||||
|
||||
// BSActor.isActive
|
||||
public override bool isActive
|
||||
{
|
||||
// MoveToTarget only works on physical prims
|
||||
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
|
||||
}
|
||||
public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
|
||||
: base(physicsScene, pObj, actorName)
|
||||
{
|
||||
m_targetMotor = null;
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
|
||||
}
|
||||
|
||||
// Release any connections and resources used by the actor.
|
||||
// BSActor.Dispose()
|
||||
public override void Dispose()
|
||||
{
|
||||
Enabled = false;
|
||||
DeactivateMoveToTarget();
|
||||
}
|
||||
// BSActor.isActive
|
||||
public override bool isActive
|
||||
{
|
||||
// MoveToTarget only works on physical prims
|
||||
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
|
||||
}
|
||||
|
||||
// Called when physical parameters (properties set in Bullet) need to be re-applied.
|
||||
// Called at taint-time.
|
||||
// BSActor.Refresh()
|
||||
public override void Refresh()
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
|
||||
m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
|
||||
m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
|
||||
|
||||
// If not active any more...
|
||||
if (!m_controllingPrim.MoveToTargetActive)
|
||||
// Release any connections and resources used by the actor.
|
||||
// BSActor.Dispose()
|
||||
public override void Dispose()
|
||||
{
|
||||
Enabled = false;
|
||||
}
|
||||
|
||||
if (isActive)
|
||||
{
|
||||
ActivateMoveToTarget();
|
||||
}
|
||||
else
|
||||
{
|
||||
DeactivateMoveToTarget();
|
||||
}
|
||||
}
|
||||
|
||||
// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
|
||||
// Register a prestep action to restore physical requirements before the next simulation step.
|
||||
// Called at taint-time.
|
||||
// BSActor.RemoveDependencies()
|
||||
public override void RemoveDependencies()
|
||||
{
|
||||
// Nothing to do for the moveToTarget since it is all software at pre-step action time.
|
||||
}
|
||||
|
||||
// If a hover motor has not been created, create one and start the hovering.
|
||||
private void ActivateMoveToTarget()
|
||||
{
|
||||
if (m_targetMotor == null)
|
||||
// Called when physical parameters (properties set in Bullet) need to be re-applied.
|
||||
// Called at taint-time.
|
||||
// BSActor.Refresh()
|
||||
public override void Refresh()
|
||||
{
|
||||
// We're taking over after this.
|
||||
m_controllingPrim.ZeroMotion(true);
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
|
||||
m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
|
||||
m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
|
||||
|
||||
/* Someday use the PID controller
|
||||
m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
|
||||
m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
|
||||
m_targetMotor.Efficiency = 1f;
|
||||
*/
|
||||
m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
|
||||
m_controllingPrim.MoveToTargetTau, // timeScale
|
||||
BSMotor.Infinite, // decay time scale
|
||||
1f // efficiency
|
||||
);
|
||||
m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
|
||||
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
|
||||
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
|
||||
// If not active any more...
|
||||
if (!m_controllingPrim.MoveToTargetActive)
|
||||
{
|
||||
Enabled = false;
|
||||
}
|
||||
|
||||
// m_physicsScene.BeforeStep += Mover;
|
||||
m_physicsScene.BeforeStep += Mover2;
|
||||
if (isActive)
|
||||
{
|
||||
ActivateMoveToTarget();
|
||||
}
|
||||
else
|
||||
{
|
||||
DeactivateMoveToTarget();
|
||||
}
|
||||
}
|
||||
else
|
||||
|
||||
// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
|
||||
// Register a prestep action to restore physical requirements before the next simulation step.
|
||||
// Called at taint-time.
|
||||
// BSActor.RemoveDependencies()
|
||||
public override void RemoveDependencies()
|
||||
{
|
||||
// If already allocated, make sure the target and other paramters are current
|
||||
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
|
||||
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
|
||||
// Nothing to do for the moveToTarget since it is all software at pre-step action time.
|
||||
}
|
||||
}
|
||||
|
||||
private void DeactivateMoveToTarget()
|
||||
{
|
||||
if (m_targetMotor != null)
|
||||
// If a hover motor has not been created, create one and start the hovering.
|
||||
private void ActivateMoveToTarget()
|
||||
{
|
||||
// m_physicsScene.BeforeStep -= Mover;
|
||||
m_physicsScene.BeforeStep -= Mover2;
|
||||
m_targetMotor = null;
|
||||
if (m_targetMotor == null)
|
||||
{
|
||||
// We're taking over after this.
|
||||
m_controllingPrim.ZeroMotion(true);
|
||||
|
||||
/* Someday use the PID controller
|
||||
m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
|
||||
m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
|
||||
m_targetMotor.Efficiency = 1f;
|
||||
*/
|
||||
m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
|
||||
m_controllingPrim.MoveToTargetTau, // timeScale
|
||||
BSMotor.Infinite, // decay time scale
|
||||
1f // efficiency
|
||||
);
|
||||
m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
|
||||
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
|
||||
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
|
||||
|
||||
// m_physicsScene.BeforeStep += Mover;
|
||||
m_physicsScene.BeforeStep += Mover2;
|
||||
}
|
||||
else
|
||||
{
|
||||
// If already allocated, make sure the target and other paramters are current
|
||||
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
|
||||
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Origional mover that set the objects position to move to the target.
|
||||
// The problem was that gravity would keep trying to push the object down so
|
||||
// the overall downward velocity would increase to infinity.
|
||||
// Called just before the simulation step.
|
||||
private void Mover(float timeStep)
|
||||
{
|
||||
// Don't do hovering while the object is selected.
|
||||
if (!isActive)
|
||||
return;
|
||||
|
||||
OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
|
||||
|
||||
// 'movePosition' is where we'd like the prim to be at this moment.
|
||||
OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
|
||||
|
||||
// If we are very close to our target, turn off the movement motor.
|
||||
if (m_targetMotor.ErrorIsZero())
|
||||
private void DeactivateMoveToTarget()
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
|
||||
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
|
||||
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
|
||||
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
|
||||
// Setting the position does not cause the physics engine to generate a property update. Force it.
|
||||
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
|
||||
if (m_targetMotor != null)
|
||||
{
|
||||
// m_physicsScene.BeforeStep -= Mover;
|
||||
m_physicsScene.BeforeStep -= Mover2;
|
||||
m_targetMotor = null;
|
||||
}
|
||||
}
|
||||
else
|
||||
|
||||
// Origional mover that set the objects position to move to the target.
|
||||
// The problem was that gravity would keep trying to push the object down so
|
||||
// the overall downward velocity would increase to infinity.
|
||||
// Called just before the simulation step.
|
||||
private void Mover(float timeStep)
|
||||
{
|
||||
m_controllingPrim.ForcePosition = movePosition;
|
||||
// Setting the position does not cause the physics engine to generate a property update. Force it.
|
||||
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
|
||||
// Don't do hovering while the object is selected.
|
||||
if (!isActive)
|
||||
return;
|
||||
|
||||
OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
|
||||
|
||||
// 'movePosition' is where we'd like the prim to be at this moment.
|
||||
OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
|
||||
|
||||
// If we are very close to our target, turn off the movement motor.
|
||||
if (m_targetMotor.ErrorIsZero())
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
|
||||
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
|
||||
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
|
||||
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
|
||||
// Setting the position does not cause the physics engine to generate a property update. Force it.
|
||||
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_controllingPrim.ForcePosition = movePosition;
|
||||
// Setting the position does not cause the physics engine to generate a property update. Force it.
|
||||
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
|
||||
}
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
|
||||
m_controllingPrim.LocalID, origPosition, movePosition);
|
||||
}
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
|
||||
m_controllingPrim.LocalID, origPosition, movePosition);
|
||||
}
|
||||
|
||||
// Version of mover that applies forces to move the physical object to the target.
|
||||
// Also overcomes gravity so the object doesn't just drop to the ground.
|
||||
// Called just before the simulation step.
|
||||
private void Mover2(float timeStep)
|
||||
{
|
||||
// Don't do hovering while the object is selected.
|
||||
if (!isActive)
|
||||
return;
|
||||
|
||||
OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
|
||||
OMV.Vector3 addedForce = OMV.Vector3.Zero;
|
||||
|
||||
// CorrectionVector is the movement vector required this step
|
||||
OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
|
||||
|
||||
// If we are very close to our target, turn off the movement motor.
|
||||
if (m_targetMotor.ErrorIsZero())
|
||||
// Version of mover that applies forces to move the physical object to the target.
|
||||
// Also overcomes gravity so the object doesn't just drop to the ground.
|
||||
// Called just before the simulation step.
|
||||
private void Mover2(float timeStep)
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
|
||||
m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
|
||||
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
|
||||
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
|
||||
// Setting the position does not cause the physics engine to generate a property update. Force it.
|
||||
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
|
||||
}
|
||||
else
|
||||
{
|
||||
// First force to move us there -- the motor return a timestep scaled value.
|
||||
addedForce = correctionVector / timeStep;
|
||||
// Remove the existing velocity (only the moveToTarget force counts)
|
||||
addedForce -= m_controllingPrim.RawVelocity;
|
||||
// Overcome gravity.
|
||||
addedForce -= m_controllingPrim.Gravity;
|
||||
// Don't do hovering while the object is selected.
|
||||
if (!isActive)
|
||||
return;
|
||||
|
||||
// Add enough force to overcome the mass of the object
|
||||
addedForce *= m_controllingPrim.Mass;
|
||||
OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
|
||||
OMV.Vector3 addedForce = OMV.Vector3.Zero;
|
||||
|
||||
m_controllingPrim.AddForce(true /* inTaintTime */, addedForce);
|
||||
// CorrectionVector is the movement vector required this step
|
||||
OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
|
||||
|
||||
// If we are very close to our target, turn off the movement motor.
|
||||
if (m_targetMotor.ErrorIsZero())
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
|
||||
m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
|
||||
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
|
||||
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
|
||||
// Setting the position does not cause the physics engine to generate a property update. Force it.
|
||||
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
|
||||
}
|
||||
else
|
||||
{
|
||||
// First force to move us there -- the motor return a timestep scaled value.
|
||||
addedForce = correctionVector / timeStep;
|
||||
// Remove the existing velocity (only the moveToTarget force counts)
|
||||
addedForce -= m_controllingPrim.RawVelocity;
|
||||
// Overcome gravity.
|
||||
addedForce -= m_controllingPrim.Gravity;
|
||||
|
||||
// Add enough force to overcome the mass of the object
|
||||
addedForce *= m_controllingPrim.Mass;
|
||||
|
||||
m_controllingPrim.AddForce(true /* inTaintTime */, addedForce);
|
||||
}
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
|
||||
m_controllingPrim.LocalID, origPosition, addedForce);
|
||||
}
|
||||
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
|
||||
m_controllingPrim.LocalID, origPosition, addedForce);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user