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Major renaming of Physics dlls / folders. No functional changes, just renames.

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Diva Canto
2015-08-30 20:06:53 -07:00
parent 5648eb7bd1
commit 1d6b33bc2d
108 changed files with 34 additions and 34 deletions
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58
OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System.Reflection;
using System.Runtime.InteropServices;
// Information about this assembly is defined by the following
// attributes.
//
// change them to the information which is associated with the assembly
// you compile.
[assembly : AssemblyTitle("OdePlugin")]
[assembly : AssemblyDescription("")]
[assembly : AssemblyConfiguration("")]
[assembly : AssemblyCompany("http://opensimulator.org")]
[assembly : AssemblyProduct("OdePlugin")]
[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers")]
[assembly : AssemblyTrademark("")]
[assembly : AssemblyCulture("")]
// This sets the default COM visibility of types in the assembly to invisible.
// If you need to expose a type to COM, use [ComVisible(true)] on that type.
[assembly : ComVisible(false)]
// The assembly version has following format :
//
// Major.Minor.Build.Revision
//
// You can specify all values by your own or you can build default build and revision
// numbers with the '*' character (the default):
[assembly : AssemblyVersion("0.8.2.*")]

1409
OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs Normal file
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OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments Normal file
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/*
* Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
* ODEPrim.cs contains methods dealing with Prim editing, Prim
* characteristics and Kinetic motion.
* ODEDynamics.cs contains methods dealing with Prim Physical motion
* (dynamics) and the associated settings. Old Linear and angular
* motors for dynamic motion have been replace with MoveLinear()
* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
* switch between 'VEHICLE' parameter use and general dynamics
* settings use.
*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using log4net;
using OpenMetaverse;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
public class ODEDynamics
{
public Vehicle Type
{
get { return m_type; }
}
public IntPtr Body
{
get { return m_body; }
}
private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame
// private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero;
private IntPtr m_jointGroup = IntPtr.Zero;
private IntPtr m_aMotor = IntPtr.Zero;
// Vehicle properties
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
// HOVER_TERRAIN_ONLY
// HOVER_GLOBAL_HEIGHT
// NO_DEFLECTION_UP
// HOVER_WATER_ONLY
// HOVER_UP_ONLY
// LIMIT_MOTOR_UP
// LIMIT_ROLL_ONLY
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
// private bool m_LinearMotorSetLastFrame = false;
// private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties
private Vector3 m_angularMotorDirection = Vector3.Zero;
private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero;
private Vector3 m_angularFrictionTimescale = Vector3.Zero;
private float m_angularMotorDecayTimescale = 0;
private float m_angularMotorTimescale = 0;
private Vector3 m_lastAngularVelocityVector = Vector3.Zero;
//Deflection properties
// private float m_angularDeflectionEfficiency = 0;
// private float m_angularDeflectionTimescale = 0;
// private float m_linearDeflectionEfficiency = 0;
// private float m_linearDeflectionTimescale = 0;
//Banking properties
// private float m_bankingEfficiency = 0;
// private float m_bankingMix = 0;
// private float m_bankingTimescale = 0;
//Hover and Buoyancy properties
private float m_VhoverHeight = 0f;
private float m_VhoverEfficiency = 0f;
private float m_VhoverTimescale = 0f;
private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
//Attractor properties
private float m_verticalAttractionEfficiency = 0;
private float m_verticalAttractionTimescale = 0;
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
switch (pParam)
{
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_angularDeflectionEfficiency = pValue;
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_angularDeflectionTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_angularMotorDecayTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_angularMotorTimescale = pValue;
break;
case Vehicle.BANKING_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingEfficiency = pValue;
break;
case Vehicle.BANKING_MIX:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingMix = pValue;
break;
case Vehicle.BANKING_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingTimescale = pValue;
break;
case Vehicle.BUOYANCY:
if (pValue < -1f) pValue = -1f;
if (pValue > 1f) pValue = 1f;
m_VehicleBuoyancy = pValue;
break;
case Vehicle.HOVER_EFFICIENCY:
if (pValue < 0f) pValue = 0f;
if (pValue > 1f) pValue = 1f;
m_VhoverEfficiency = pValue;
break;
case Vehicle.HOVER_HEIGHT:
m_VhoverHeight = pValue;
break;
case Vehicle.HOVER_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_VhoverTimescale = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_linearDeflectionEfficiency = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_linearDeflectionTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_linearMotorDecayTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_linearMotorTimescale = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
if (pValue < 0.0f) pValue = 0.0f;
if (pValue > 1.0f) pValue = 1.0f;
m_verticalAttractionEfficiency = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_verticalAttractionTimescale = pValue;
break;
// These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
break;
}
}//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
{
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
}
}//end ProcessVectorVehicleParam
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{
switch (pParam)
{
case Vehicle.REFERENCE_FRAME:
// m_referenceFrame = pValue;
break;
}
}//end ProcessRotationVehicleParam
internal void ProcessTypeChange(Vehicle pType)
{
Console.WriteLine("ProcessTypeChange to " + pType);
// Set Defaults For Type
m_type = pType;
switch (pType)
{
case Vehicle.TYPE_SLED:
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 120;
m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 0;
// m_linearDeflectionEfficiency = 1;
// m_linearDeflectionTimescale = 1;
// m_angularDeflectionEfficiency = 1;
// m_angularDeflectionTimescale = 1000;
// m_bankingEfficiency = 0;
// m_bankingMix = 1;
// m_bankingTimescale = 10;
// m_referenceFrame = Quaternion.Identity;
m_flags &=
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1;
m_angularMotorDecayTimescale = 0.8f;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
// // m_linearDeflectionEfficiency = 1;
// // m_linearDeflectionTimescale = 2;
// // m_angularDeflectionEfficiency = 0;
// m_angularDeflectionTimescale = 10;
m_verticalAttractionEfficiency = 1;
m_verticalAttractionTimescale = 10;
// m_bankingEfficiency = -0.2f;
// m_bankingMix = 1;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10,10,10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2;
m_VehicleBuoyancy = 1;
// m_linearDeflectionEfficiency = 0.5f;
// m_linearDeflectionTimescale = 3;
// m_angularDeflectionEfficiency = 0.5f;
// m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0.5f;
m_verticalAttractionTimescale = 5;
// m_bankingEfficiency = -0.3f;
// m_bankingMix = 0.8f;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
// m_linearDeflectionEfficiency = 0.5f;
// m_linearDeflectionTimescale = 3;
// m_angularDeflectionEfficiency = 1;
// m_angularDeflectionTimescale = 2;
m_verticalAttractionEfficiency = 0.9f;
m_verticalAttractionTimescale = 2;
// m_bankingEfficiency = 1;
// m_bankingMix = 0.7f;
// m_bankingTimescale = 2;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break;
case Vehicle.TYPE_BALLOON:
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 6;
m_angularMotorDecayTimescale = 10;
m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1;
// m_linearDeflectionEfficiency = 0;
// m_linearDeflectionTimescale = 5;
// m_angularDeflectionEfficiency = 0;
// m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 1;
m_verticalAttractionTimescale = 1000;
// m_bankingEfficiency = 0;
// m_bankingMix = 0.7f;
// m_bankingTimescale = 5;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
}//end SetDefaultsForType
internal void Enable(IntPtr pBody, OdeScene pParentScene)
{
//Console.WriteLine("Enable m_type=" + m_type + " m_VehicleBuoyancy=" + m_VehicleBuoyancy);
if (m_type == Vehicle.TYPE_NONE)
return;
m_body = pBody;
//KF: This used to set up the linear and angular joints
}
internal void Step(float pTimestep, OdeScene pParentScene)
{
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
frcount++; // used to limit debug comment output
if (frcount > 100)
frcount = 0;
MoveLinear(pTimestep, pParentScene);
MoveAngular(pTimestep);
}// end Step
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
if(m_VehicleBuoyancy < 1.0f)
{
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
} // else its 1.0, no gravity.
// Check if hovering
if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
d.Vector3 pos = d.BodyGetPosition(Body);
if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
{
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
}
else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
{
// If body is aready heigher, use its height as target height
if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
}
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
float herr0 = pos.Z - m_VhoverTargetHeight;
//if(frcount == 0) Console.WriteLine("herr0=" + herr0);
// Replace Vertical speed with correction figure if significant
if(Math.Abs(herr0) > 0.01f )
{
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
// m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
//if(frcount == 0) Console.WriteLine("Move " + Body + ":"+ m_dir.X + " " + m_dir.Y + " " + m_dir.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
//if(frcount == 0) Console.WriteLine("Force " + Body + ":" + grav.X + " " + grav.Y + " " + grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
private void MoveAngular(float pTimestep)
{
// m_angularMotorDirection is the latest value from the script, and is decayed here
// m_angularMotorDirectionLASTSET is the latest value from the script
// m_lastAngularVelocityVector is what is being applied to the Body, varied up and down here
if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
// ramp up to new value
Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep);
m_lastAngularVelocityVector += (addAmount * 10f);
//if(frcount == 0) Console.WriteLine("add: " + addAmount);
// limit applied value to what was set by script
// This will work temporarily, but we really need to compare speed on an axis
if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X))
m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X;
if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y))
m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z))
m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z;
// decay the requested value
Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_angularMotorDirection -= m_angularMotorDirection * decayfraction;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
// KF: m_lastAngularVelocityVector is rotational speed in rad/sec ?
// Vertical attractor section
// d.Mass objMass;
// d.BodyGetMass(Body, out objMass);
// float servo = 100f * objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
float servo = 0.1f * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
// get present body rotation
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f;
// rotate it to Body Angle
verterr = verterr * rotq;
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
if (verterr.Z < 0.0f)
{
verterr.X = 2.0f - verterr.X;
verterr.Y = 2.0f - verterr.Y;
}
// Error is 0 (no error) to +/- 2 (max error)
// scale it by servo
verterr = verterr * servo;
// rotate to object frame
// verterr = verterr * rotq;
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
m_lastAngularVelocityVector.X += verterr.Y;
m_lastAngularVelocityVector.Y -= verterr.X;
/*
if(frcount == 0)
{
// Console.WriteLine("AngleMotor " + m_lastAngularVelocityVector);
Console.WriteLine(String.Format("VA Body:{0} servo:{1} err:<{2},{3},{4}> VAE:{5}",
Body, servo, verterr.X, verterr.Y, verterr.Z, m_verticalAttractionEfficiency));
}
*/
d.BodySetAngularVel (Body, m_lastAngularVelocityVector.X, m_lastAngularVelocityVector.Y, m_lastAngularVelocityVector.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount;
} //end MoveAngular
}
}

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OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
* ODEPrim.cs contains methods dealing with Prim editing, Prim
* characteristics and Kinetic motion.
* ODEDynamics.cs contains methods dealing with Prim Physical motion
* (dynamics) and the associated settings. Old Linear and angular
* motors for dynamic motion have been replace with MoveLinear()
* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
* switch between 'VEHICLE' parameter use and general dynamics
* settings use.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using log4net;
using OpenMetaverse;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
public class ODEDynamics
{
public Vehicle Type
{
get { return m_type; }
}
public IntPtr Body
{
get { return m_body; }
}
private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame
// private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero;
// private IntPtr m_jointGroup = IntPtr.Zero;
// private IntPtr m_aMotor = IntPtr.Zero;
// Vehicle properties
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
// HOVER_TERRAIN_ONLY
// HOVER_GLOBAL_HEIGHT
// NO_DEFLECTION_UP
// HOVER_WATER_ONLY
// HOVER_UP_ONLY
// LIMIT_MOTOR_UP
// LIMIT_ROLL_ONLY
private VehicleFlag m_Hoverflags = (VehicleFlag)0;
private Vector3 m_BlockingEndPoint = Vector3.Zero;
private Quaternion m_RollreferenceFrame = Quaternion.Identity;
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
private d.Vector3 m_lastPositionVector = new d.Vector3();
// private bool m_LinearMotorSetLastFrame = false;
// private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
private int m_angularMotorApply = 0; // application frame counter
private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
// private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
//Deflection properties
// private float m_angularDeflectionEfficiency = 0;
// private float m_angularDeflectionTimescale = 0;
// private float m_linearDeflectionEfficiency = 0;
// private float m_linearDeflectionTimescale = 0;
//Banking properties
// private float m_bankingEfficiency = 0;
// private float m_bankingMix = 0;
// private float m_bankingTimescale = 0;
//Hover and Buoyancy properties
private float m_VhoverHeight = 0f;
// private float m_VhoverEfficiency = 0f;
private float m_VhoverTimescale = 0f;
private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
//Attractor properties
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
switch (pParam)
{
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_angularDeflectionEfficiency = pValue;
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_angularDeflectionTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_angularMotorDecayTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_angularMotorTimescale = pValue;
break;
case Vehicle.BANKING_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingEfficiency = pValue;
break;
case Vehicle.BANKING_MIX:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingMix = pValue;
break;
case Vehicle.BANKING_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_bankingTimescale = pValue;
break;
case Vehicle.BUOYANCY:
if (pValue < -1f) pValue = -1f;
if (pValue > 1f) pValue = 1f;
m_VehicleBuoyancy = pValue;
break;
// case Vehicle.HOVER_EFFICIENCY:
// if (pValue < 0f) pValue = 0f;
// if (pValue > 1f) pValue = 1f;
// m_VhoverEfficiency = pValue;
// break;
case Vehicle.HOVER_HEIGHT:
m_VhoverHeight = pValue;
break;
case Vehicle.HOVER_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_VhoverTimescale = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f;
// m_linearDeflectionEfficiency = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
// m_linearDeflectionTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_linearMotorDecayTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_linearMotorTimescale = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
if (pValue > 1.0f) pValue = 1.0f;
m_verticalAttractionEfficiency = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f;
m_verticalAttractionTimescale = pValue;
break;
// These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
m_angularMotorApply = 10;
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
break;
}
}//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
// Limit requested angular speed to 2 rps= 4 pi rads/sec
if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
m_angularMotorApply = 10;
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.BLOCK_EXIT:
m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
}
}//end ProcessVectorVehicleParam
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{
switch (pParam)
{
case Vehicle.REFERENCE_FRAME:
// m_referenceFrame = pValue;
break;
case Vehicle.ROLL_FRAME:
m_RollreferenceFrame = pValue;
break;
}
}//end ProcessRotationVehicleParam
internal void ProcessVehicleFlags(int pParam, bool remove)
{
if (remove)
{
if (pParam == -1)
{
m_flags = (VehicleFlag)0;
m_Hoverflags = (VehicleFlag)0;
return;
}
if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
{
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
}
if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
{
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
}
if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
{
if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
}
if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
{
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
}
if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
{
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
}
if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
{
if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
}
if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
{
if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
}
if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
{
if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
}
if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
{
if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
}
if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
{
if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
}
if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
{
if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.NO_X);
}
if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
{
if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.NO_Y);
}
if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
{
if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.NO_Z);
}
if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
{
if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
}
if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
{
if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.NO_DEFLECTION);
}
if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
{
if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
m_flags &= ~(VehicleFlag.LOCK_ROTATION);
}
}
else
{
if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
{
m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
}
if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
{
m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
}
if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
{
m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
}
if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
{
m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
}
if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
{
m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
}
if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
{
m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
}
if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
{
m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
}
if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
{
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
}
if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
{
m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
}
if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
{
m_flags |= (VehicleFlag.NO_X);
}
if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
{
m_flags |= (VehicleFlag.NO_Y);
}
if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
{
m_flags |= (VehicleFlag.NO_Z);
}
if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
{
m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
}
if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
{
m_flags |= (VehicleFlag.NO_DEFLECTION);
}
if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
{
m_flags |= (VehicleFlag.LOCK_ROTATION);
}
}
}//end ProcessVehicleFlags
internal void ProcessTypeChange(Vehicle pType)
{
// Set Defaults For Type
m_type = pType;
switch (pType)
{
case Vehicle.TYPE_NONE:
m_linearFrictionTimescale = new Vector3(0, 0, 0);
m_angularFrictionTimescale = new Vector3(0, 0, 0);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 0;
m_linearMotorDecayTimescale = 0;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 0;
m_angularMotorDecayTimescale = 0;
m_VhoverHeight = 0;
m_VhoverTimescale = 0;
m_VehicleBuoyancy = 0;
m_flags = (VehicleFlag)0;
break;
case Vehicle.TYPE_SLED:
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 120;
m_VhoverHeight = 0;
// m_VhoverEfficiency = 1;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 0;
// m_linearDeflectionEfficiency = 1;
// m_linearDeflectionTimescale = 1;
// m_angularDeflectionEfficiency = 1;
// m_angularDeflectionTimescale = 1000;
// m_bankingEfficiency = 0;
// m_bankingMix = 1;
// m_bankingTimescale = 10;
// m_referenceFrame = Quaternion.Identity;
m_Hoverflags &=
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1;
m_angularMotorDecayTimescale = 0.8f;
m_VhoverHeight = 0;
// m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
// // m_linearDeflectionEfficiency = 1;
// // m_linearDeflectionTimescale = 2;
// // m_angularDeflectionEfficiency = 0;
// m_angularDeflectionTimescale = 10;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 10f;
// m_bankingEfficiency = -0.2f;
// m_bankingMix = 1;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.LIMIT_MOTOR_UP);
m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
break;
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10,10,10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_VhoverHeight = 0;
// m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2;
m_VehicleBuoyancy = 1;
// m_linearDeflectionEfficiency = 0.5f;
// m_linearDeflectionTimescale = 3;
// m_angularDeflectionEfficiency = 0.5f;
// m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0.5f;
m_verticalAttractionTimescale = 5f;
// m_bankingEfficiency = -0.3f;
// m_bankingMix = 0.8f;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_MOTOR_UP);
m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
break;
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_VhoverHeight = 0;
// m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
// m_linearDeflectionEfficiency = 0.5f;
// m_linearDeflectionTimescale = 3;
// m_angularDeflectionEfficiency = 1;
// m_angularDeflectionTimescale = 2;
m_verticalAttractionEfficiency = 0.9f;
m_verticalAttractionTimescale = 2f;
// m_bankingEfficiency = 1;
// m_bankingMix = 0.7f;
// m_bankingTimescale = 2;
// m_referenceFrame = Quaternion.Identity;
m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break;
case Vehicle.TYPE_BALLOON:
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 6;
m_angularMotorDecayTimescale = 10;
m_VhoverHeight = 5;
// m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1;
// m_linearDeflectionEfficiency = 0;
// m_linearDeflectionTimescale = 5;
// m_angularDeflectionEfficiency = 0;
// m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 100f;
// m_bankingEfficiency = 0;
// m_bankingMix = 0.7f;
// m_bankingTimescale = 5;
// m_referenceFrame = Quaternion.Identity;
m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_UP_ONLY);
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
}//end SetDefaultsForType
internal void Enable(IntPtr pBody, OdeScene pParentScene)
{
if (m_type == Vehicle.TYPE_NONE)
return;
m_body = pBody;
}
internal void Step(float pTimestep, OdeScene pParentScene)
{
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
frcount++; // used to limit debug comment output
if (frcount > 100)
frcount = 0;
MoveLinear(pTimestep, pParentScene);
MoveAngular(pTimestep);
LimitRotation(pTimestep);
}// end Step
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
d.Vector3 pos = d.BodyGetPosition(Body);
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
Vector3 posChange = new Vector3();
posChange.X = pos.X - m_lastPositionVector.X;
posChange.Y = pos.Y - m_lastPositionVector.Y;
posChange.Z = pos.Z - m_lastPositionVector.Z;
double Zchange = Math.Abs(posChange.Z);
if (m_BlockingEndPoint != Vector3.Zero)
{
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{
pos.X -= posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{
pos.Y -= posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{
pos.Z -= posChange.Z + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.X <= 0)
{
pos.X += posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y <= 0)
{
pos.Y += posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
}
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
{
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
// Check if hovering
if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
}
if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
}
}
else
{
float herr0 = pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs(herr0) > 0.01f)
{
m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
}
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
//Start Experimental Values
if (Zchange > .3)
{
grav.Z = (float)(grav.Z * 3);
}
if (Zchange > .15)
{
grav.Z = (float)(grav.Z * 2);
}
if (Zchange > .75)
{
grav.Z = (float)(grav.Z * 1.5);
}
if (Zchange > .05)
{
grav.Z = (float)(grav.Z * 1.25);
}
if (Zchange > .025)
{
grav.Z = (float)(grav.Z * 1.125);
}
float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float postemp = (pos.Z - terraintemp);
if (postemp > 2.5f)
{
grav.Z = (float)(grav.Z * 1.037125);
}
//End Experimental Values
}
if ((m_flags & (VehicleFlag.NO_X)) != 0)
{
m_dir.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{
m_dir.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{
m_dir.Z = 0;
}
m_lastPositionVector = d.BodyGetPosition(Body);
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
private void MoveAngular(float pTimestep)
{
/*
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
private int m_angularMotorApply = 0; // application frame counter
private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down)
private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
*/
// Get what the body is doing, this includes 'external' influences
d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
// Vector3 angularVelocity = Vector3.Zero;
if (m_angularMotorApply > 0)
{
// ramp up to new value
// current velocity += error / (time to get there / step interval)
// requested speed - last motor speed
m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived.
}
else
{
// no motor recently applied, keep the body velocity
/* m_angularMotorVelocity.X = angularVelocity.X;
m_angularMotorVelocity.Y = angularVelocity.Y;
m_angularMotorVelocity.Z = angularVelocity.Z; */
// and decay the velocity
m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
} // end motor section
// Vertical attractor section
Vector3 vertattr = Vector3.Zero;
if (m_verticalAttractionTimescale < 300)
{
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
// get present body rotation
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f;
// rotate it to Body Angle
verterr = verterr * rotq;
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
if (verterr.Z < 0.0f)
{
verterr.X = 2.0f - verterr.X;
verterr.Y = 2.0f - verterr.Y;
}
// Error is 0 (no error) to +/- 2 (max error)
// scale it by VAservo
verterr = verterr * VAservo;
//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
vertattr.X = verterr.Y;
vertattr.Y = - verterr.X;
vertattr.Z = 0f;
// scaling appears better usingsquare-law
float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
vertattr.X += bounce * angularVelocity.X;
vertattr.Y += bounce * angularVelocity.Y;
} // else vertical attractor is off
// m_lastVertAttractor = vertattr;
// Bank section tba
// Deflection section tba
// Sum velocities
m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0;
}
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
}
else
{
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
}
// apply friction
Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
} //end MoveAngular
internal void LimitRotation(float timestep)
{
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
d.Quaternion m_rot = new d.Quaternion();
bool changed = false;
m_rot.X = rotq.X;
m_rot.Y = rotq.Y;
m_rot.Z = rotq.Z;
m_rot.W = rotq.W;
if (m_RollreferenceFrame != Quaternion.Identity)
{
if (rotq.X >= m_RollreferenceFrame.X)
{
m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
}
if (rotq.Y >= m_RollreferenceFrame.Y)
{
m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
}
if (rotq.X <= -m_RollreferenceFrame.X)
{
m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
}
if (rotq.Y <= -m_RollreferenceFrame.Y)
{
m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
}
changed = true;
}
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
m_rot.X = 0;
m_rot.Y = 0;
changed = true;
}
if (changed)
d.BodySetQuaternion(Body, ref m_rot);
}
}
}

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OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs Normal file
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OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using OpenMetaverse;
using OpenSim.Region.Physics.Manager;
using Ode.NET;
using log4net;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// Processes raycast requests as ODE is in a state to be able to do them.
/// This ensures that it's thread safe and there will be no conflicts.
/// Requests get returned by a different thread then they were requested by.
/// </summary>
public class ODERayCastRequestManager
{
/// <summary>
/// Pending raycast requests
/// </summary>
protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
/// <summary>
/// Pending ray requests
/// </summary>
protected List<ODERayRequest> m_PendingRayRequests = new List<ODERayRequest>();
/// <summary>
/// Scene that created this object.
/// </summary>
private OdeScene m_scene;
/// <summary>
/// ODE contact array to be filled by the collision testing
/// </summary>
d.ContactGeom[] contacts = new d.ContactGeom[5];
/// <summary>
/// ODE near callback delegate
/// </summary>
private d.NearCallback nearCallback;
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private List<ContactResult> m_contactResults = new List<ContactResult>();
public ODERayCastRequestManager(OdeScene pScene)
{
m_scene = pScene;
nearCallback = near;
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
lock (m_PendingRequests)
{
ODERayCastRequest req = new ODERayCastRequest();
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
m_PendingRequests.Add(req);
}
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="count"></param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
lock (m_PendingRequests)
{
ODERayRequest req = new ODERayRequest();
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRayRequests.Add(req);
}
}
/// <summary>
/// Process all queued raycast requests
/// </summary>
/// <returns>Time in MS the raycasts took to process.</returns>
public int ProcessQueuedRequests()
{
int time = System.Environment.TickCount;
lock (m_PendingRequests)
{
if (m_PendingRequests.Count > 0)
{
ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
for (int i = 0; i < reqs.Length; i++)
{
if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
RayCast(reqs[i]); // if there isn't anyone to send results
}
m_PendingRequests.Clear();
}
}
lock (m_PendingRayRequests)
{
if (m_PendingRayRequests.Count > 0)
{
ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
for (int i = 0; i < reqs.Length; i++)
{
if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
RayCast(reqs[i]); // if there isn't anyone to send results
}
m_PendingRayRequests.Clear();
}
}
lock (m_contactResults)
m_contactResults.Clear();
return System.Environment.TickCount - time;
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayCastRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
float distance = 999999999999f;
Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (ContactResult cResult in m_contactResults)
{
if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
{
closestcontact = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
}
m_contactResults.Clear();
}
// Return results
if (req.callbackMethod != null)
req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
// Return results
if (req.callbackMethod != null)
req.callbackMethod(m_contactResults);
}
}
// This is the standard Near. Uses space AABBs to speed up detection.
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
//Don't test against heightfield Geom, or you'll be sorry!
/*
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Stacktrace:
at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
fffff>
at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
0x00114>
at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
Native stacktrace:
mono [0x80d2a42]
[0xb7f5840c]
/lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
/usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
/usr/lib/libstdc++.so.6 [0xb45fa865]
/usr/lib/libstdc++.so.6 [0xb45fa8a2]
/usr/lib/libstdc++.so.6 [0xb45fa9da]
/usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
/usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
libode.so(dCollide+0x102) [0xb46571b2]
[0x95cfdec9]
[0x8ea07fe1]
[0xab260146]
libode.so [0xb465a5c4]
libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
libode.so(dSpaceCollide2+0x177) [0xb465ac67]
[0x95cf978e]
[0x8ea07945]
[0x95cf2bbc]
[0xab2787e7]
[0xab419fb3]
[0xab416657]
[0xab415bda]
[0xb609b08e]
mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
mono [0x81a2f0f]
mono [0x81d28b6]
mono [0x81ea2c6]
/lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
/lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
*/
// Exclude heightfield geom
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
return;
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
// Separating static prim geometry spaces.
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide test a space");
return;
}
//Colliding a space or a geom with a space or a geom. so drill down
//Collide all geoms in each space..
//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
return;
}
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
int count = 0;
try
{
if (g1 == g2)
return; // Can't collide with yourself
lock (contacts)
{
count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
}
}
catch (SEHException)
{
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
return;
}
PhysicsActor p1 = null;
PhysicsActor p2 = null;
if (g1 != IntPtr.Zero)
m_scene.actor_name_map.TryGetValue(g1, out p1);
if (g2 != IntPtr.Zero)
m_scene.actor_name_map.TryGetValue(g1, out p2);
// Loop over contacts, build results.
for (int i = 0; i < count; i++)
{
if (p1 != null)
{
if (p1 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = p1.LocalID;
collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
collisionresult.Depth = contacts[i].depth;
collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
contacts[i].normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
if (p2 != null)
{
if (p2 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = p2.LocalID;
collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
collisionresult.Depth = contacts[i].depth;
collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
contacts[i].normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
}
/// <summary>
/// Dereference the creator scene so that it can be garbage collected if needed.
/// </summary>
internal void Dispose()
{
m_scene = null;
}
}
public struct ODERayCastRequest
{
public Vector3 Origin;
public Vector3 Normal;
public float length;
public RaycastCallback callbackMethod;
}
public struct ODERayRequest
{
public Vector3 Origin;
public Vector3 Normal;
public int Count;
public float length;
public RayCallback callbackMethod;
}
}

48
OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using OpenMetaverse;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.OdePlugin;
namespace OpenSim.Region.Physics.OdePlugin
{
class OdePhysicsJoint : PhysicsJoint
{
public override bool IsInPhysicsEngine
{
get
{
return (jointID != IntPtr.Zero);
}
}
public IntPtr jointID;
}
}

90
OpenSim/Region/PhysicsModules/Ode/OdePlugin.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Threading;
using System.IO;
using System.Diagnostics;
using log4net;
using Nini.Config;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// ODE plugin
/// </summary>
public class OdePlugin : IPhysicsPlugin
{
// private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private OdeScene m_scene;
public bool Init()
{
return true;
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (m_scene == null)
{
// We do this so that OpenSimulator on Windows loads the correct native ODE library depending on whether
// it's running as a 32-bit process or a 64-bit one. By invoking LoadLibary here, later DLLImports
// will find it already loaded later on.
//
// This isn't necessary for other platforms (e.g. Mac OSX and Linux) since the DLL used can be
// controlled in Ode.NET.dll.config
if (Util.IsWindows())
Util.LoadArchSpecificWindowsDll("ode.dll");
// Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
// http://opensimulator.org/mantis/view.php?id=2750).
d.InitODE();
m_scene = new OdeScene(GetName(), sceneIdentifier);
}
return m_scene;
}
public string GetName()
{
return ("OpenDynamicsEngine");
}
public void Dispose()
{
}
}
}

4319
OpenSim/Region/PhysicsModules/Ode/OdeScene.cs Normal file
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128
OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs Normal file
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using Nini.Config;
using NUnit.Framework;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.OdePlugin;
using OpenSim.Tests.Common;
using log4net;
using System.Reflection;
namespace OpenSim.Region.Physics.OdePlugin.Tests
{
[TestFixture]
public class ODETestClass : OpenSimTestCase
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private OpenSim.Region.Physics.OdePlugin.OdePlugin cbt;
private PhysicsScene ps;
private IMeshingPlugin imp;
[SetUp]
public void Initialize()
{
IConfigSource TopConfig = new IniConfigSource();
IConfig config = TopConfig.AddConfig("Startup");
config.Set("DecodedSculptMapPath","j2kDecodeCache");
// Loading ODEPlugin
cbt = new OdePlugin();
// Loading Zero Mesher
imp = new ZeroMesherPlugin();
// Getting Physics Scene
ps = cbt.GetScene("test");
// Initializing Physics Scene.
ps.Initialise(imp.GetMesher(TopConfig),null);
float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
{
_heightmap[i] = 21f;
}
ps.SetTerrain(_heightmap);
}
[TearDown]
public void Terminate()
{
ps.DeleteTerrain();
ps.Dispose();
}
[Test]
public void CreateAndDropPhysicalCube()
{
PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
Quaternion rot = Quaternion.Identity;
PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true, 0);
OdePrim oprim = (OdePrim)prim;
OdeScene pscene = (OdeScene) ps;
Assert.That(oprim.m_taintadd);
prim.LocalID = 5;
for (int i = 0; i < 58; i++)
{
ps.Simulate(0.133f);
Assert.That(oprim.prim_geom != (IntPtr)0);
Assert.That(oprim.m_targetSpace != (IntPtr)0);
//Assert.That(oprim.m_targetSpace == pscene.space);
m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);
Assert.That(!oprim.m_taintadd);
m_log.Info("Prim Position (" + oprim.LocalID + "): " + prim.Position);
// Make sure we're above the ground
//Assert.That(prim.Position.Z > 20f);
//m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);
// Make sure we've got a Body
Assert.That(oprim.Body != (IntPtr)0);
//m_log.Info(
}
// Make sure we're not somewhere above the ground
Assert.That(prim.Position.Z < 21.5f);
ps.RemovePrim(prim);
Assert.That(oprim.m_taintremove);
ps.Simulate(0.133f);
Assert.That(oprim.Body == (IntPtr)0);
}
}
}

98
OpenSim/Region/PhysicsModules/Ode/drawstuff.cs Normal file
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/*
* Copyright ODE
* Ode.NET - .NET bindings for ODE
* Jason Perkins (starkos@industriousone.com)
* Licensed under the New BSD
* Part of the OpenDynamicsEngine
Open Dynamics Engine
Copyright (c) 2001-2007, Russell L. Smith.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
Neither the names of ODE's copyright owner nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
*/
using System;
using System.Runtime.InteropServices;
using Ode.NET;
namespace Drawstuff.NET
{
#if dDOUBLE
using dReal = System.Double;
#else
using dReal = System.Single;
#endif
public static class ds
{
public const int VERSION = 2;
public enum Texture
{
None,
Wood
}
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void CallbackFunction(int arg);
[StructLayout(LayoutKind.Sequential)]
public struct Functions
{
public int version;
public CallbackFunction start;
public CallbackFunction step;
public CallbackFunction command;
public CallbackFunction stop;
public string path_to_textures;
}
[DllImport("drawstuff", EntryPoint = "dsDrawBox")]
public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
[DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
[DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
[DllImport("drawstuff", EntryPoint = "dsSetColor")]
public static extern void SetColor(float red, float green, float blue);
[DllImport("drawstuff", EntryPoint = "dsSetTexture")]
public static extern void SetTexture(Texture texture);
[DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
[DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
}
}