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Major renaming of Physics dlls / folders. No functional changes, just renames.
This commit is contained in:
Diva Canto
220
OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
Executable file
220
OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
Executable file
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/*
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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.Linq;
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using System.Text;
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using OpenSim.Region.Physics.Manager;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorMoveToTarget : BSActor
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{
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private BSVMotor m_targetMotor;
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public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
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: base(physicsScene, pObj, actorName)
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{
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m_targetMotor = null;
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m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
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}
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// BSActor.isActive
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public override bool isActive
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{
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// MoveToTarget only works on physical prims
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get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
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}
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// Release any connections and resources used by the actor.
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// BSActor.Dispose()
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public override void Dispose()
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{
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Enabled = false;
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DeactivateMoveToTarget();
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}
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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// Called at taint-time.
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// BSActor.Refresh()
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public override void Refresh()
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{
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m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
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m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
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m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
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// If not active any more...
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if (!m_controllingPrim.MoveToTargetActive)
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{
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Enabled = false;
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}
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if (isActive)
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{
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ActivateMoveToTarget();
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}
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else
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{
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DeactivateMoveToTarget();
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}
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}
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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// Called at taint-time.
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// BSActor.RemoveDependencies()
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public override void RemoveDependencies()
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{
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// Nothing to do for the moveToTarget since it is all software at pre-step action time.
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}
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// If a hover motor has not been created, create one and start the hovering.
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private void ActivateMoveToTarget()
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{
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if (m_targetMotor == null)
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{
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// We're taking over after this.
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m_controllingPrim.ZeroMotion(true);
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/* Someday use the PID controller
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m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
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m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
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m_targetMotor.Efficiency = 1f;
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*/
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m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
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m_controllingPrim.MoveToTargetTau, // timeScale
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BSMotor.Infinite, // decay time scale
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1f // efficiency
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);
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m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
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m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
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m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
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// m_physicsScene.BeforeStep += Mover;
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m_physicsScene.BeforeStep += Mover2;
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}
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else
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{
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// If already allocated, make sure the target and other paramters are current
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m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
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m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
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}
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}
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private void DeactivateMoveToTarget()
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{
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if (m_targetMotor != null)
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{
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// m_physicsScene.BeforeStep -= Mover;
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m_physicsScene.BeforeStep -= Mover2;
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m_targetMotor = null;
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}
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}
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// Origional mover that set the objects position to move to the target.
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// The problem was that gravity would keep trying to push the object down so
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// the overall downward velocity would increase to infinity.
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// Called just before the simulation step.
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private void Mover(float timeStep)
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{
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// Don't do hovering while the object is selected.
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if (!isActive)
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return;
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OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
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// 'movePosition' is where we'd like the prim to be at this moment.
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OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
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// If we are very close to our target, turn off the movement motor.
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if (m_targetMotor.ErrorIsZero())
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{
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m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
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m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
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m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
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m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
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// Setting the position does not cause the physics engine to generate a property update. Force it.
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m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
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}
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else
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{
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m_controllingPrim.ForcePosition = movePosition;
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// Setting the position does not cause the physics engine to generate a property update. Force it.
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m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
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}
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m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
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m_controllingPrim.LocalID, origPosition, movePosition);
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}
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// Version of mover that applies forces to move the physical object to the target.
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// Also overcomes gravity so the object doesn't just drop to the ground.
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// Called just before the simulation step.
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private void Mover2(float timeStep)
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{
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// Don't do hovering while the object is selected.
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if (!isActive)
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return;
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OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
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OMV.Vector3 addedForce = OMV.Vector3.Zero;
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// CorrectionVector is the movement vector required this step
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OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
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// If we are very close to our target, turn off the movement motor.
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if (m_targetMotor.ErrorIsZero())
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{
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m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
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m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
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m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
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m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
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// Setting the position does not cause the physics engine to generate a property update. Force it.
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m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
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}
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else
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{
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// First force to move us there -- the motor return a timestep scaled value.
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addedForce = correctionVector / timeStep;
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// Remove the existing velocity (only the moveToTarget force counts)
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addedForce -= m_controllingPrim.RawVelocity;
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// Overcome gravity.
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addedForce -= m_controllingPrim.Gravity;
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// Add enough force to overcome the mass of the object
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addedForce *= m_controllingPrim.Mass;
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m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
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}
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m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
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m_controllingPrim.LocalID, origPosition, addedForce);
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}
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}
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}
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