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Experimental change of PhysicsVector to Vector3. Untested

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This commit is contained in:
John Hurliman
2009-10-25 23:16:12 -07:00
parent b6651ce790
commit d199767e69
32 changed files with 867 additions and 879 deletions
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96
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
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@@ -60,15 +60,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private btQuaternion m_bodyOrientation;
private btDefaultMotionState m_bodyMotionState;
private btGeneric6DofConstraint m_aMotor;
// private PhysicsVector m_movementComparision;
private PhysicsVector m_position;
private PhysicsVector m_zeroPosition;
// private Vector3 m_movementComparision;
private Vector3 m_position;
private Vector3 m_zeroPosition;
private bool m_zeroFlag = false;
private bool m_lastUpdateSent = false;
private PhysicsVector m_velocity;
private PhysicsVector m_target_velocity;
private PhysicsVector m_acceleration;
private PhysicsVector m_rotationalVelocity;
private Vector3 m_velocity;
private Vector3 m_target_velocity;
private Vector3 m_acceleration;
private Vector3 m_rotationalVelocity;
private bool m_pidControllerActive = true;
public float PID_D = 80.0f;
public float PID_P = 90.0f;
@@ -96,8 +96,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
private bool m_taintRemove = false;
// private bool m_taintedPosition = false;
// private PhysicsVector m_taintedPosition_value;
private PhysicsVector m_taintedForce;
// private Vector3 m_taintedPosition_value;
private Vector3 m_taintedForce;
private float m_buoyancy = 0f;
@@ -115,14 +115,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public int m_eventsubscription = 0;
// private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
m_taintedForce = new PhysicsVector();
m_velocity = new PhysicsVector();
m_target_velocity = new PhysicsVector();
m_position = pos;
m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless
m_acceleration = new PhysicsVector();
m_zeroPosition = pos;
m_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
@@ -161,9 +157,6 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempTrans1 = new btTransform(tempQuat1, tempVector1);
// m_movementComparision = new PhysicsVector(0, 0, 0);
m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
}
/// <summary>
@@ -254,18 +247,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
get { return m_zeroFlag; }
}
public override PhysicsVector Size
public override Vector3 Size
{
get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
set
{
m_pidControllerActive = true;
PhysicsVector SetSize = value;
Vector3 SetSize = value;
m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
Velocity = new PhysicsVector(0f, 0f, 0f);
Velocity = Vector3.Zero;
m_parent_scene.AddPhysicsActorTaint(this);
}
@@ -317,12 +310,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
public override void LockAngularMotion(PhysicsVector axis)
public override void LockAngularMotion(Vector3 axis)
{
}
public override PhysicsVector Position
public override Vector3 Position
{
get { return m_position; }
set
@@ -342,9 +335,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
public override PhysicsVector Force
public override Vector3 Force
{
get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); }
get { return m_target_velocity; }
set { return; }
}
@@ -359,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
public override void VehicleVectorParam(int param, PhysicsVector value)
public override void VehicleVectorParam(int param, Vector3 value)
{
}
@@ -374,23 +367,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
public override PhysicsVector GeometricCenter
public override Vector3 GeometricCenter
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PhysicsVector CenterOfMass
public override Vector3 CenterOfMass
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PhysicsVector Velocity
public override Vector3 Velocity
{
get
{
// There's a problem with PhysicsVector.Zero! Don't Use it Here!
if (m_zeroFlag)
return new PhysicsVector(0f, 0f, 0f);
return Vector3.Zero;
m_lastUpdateSent = false;
return m_velocity;
}
@@ -401,9 +393,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
public override PhysicsVector Torque
public override Vector3 Torque
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
set { return; }
}
@@ -413,7 +405,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
set { }
}
public override PhysicsVector Acceleration
public override Vector3 Acceleration
{
get { return m_acceleration; }
}
@@ -586,7 +578,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
set { return; }
}
public override PhysicsVector RotationalVelocity
public override Vector3 RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
@@ -604,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
set { m_buoyancy = value; }
}
public override PhysicsVector PIDTarget { set { return; } }
public override Vector3 PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
@@ -634,7 +626,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
/// </summary>
/// <param name="force"></param>
/// <param name="pushforce">Is this a push by a script?</param>
public override void AddForce(PhysicsVector force, bool pushforce)
public override void AddForce(Vector3 force, bool pushforce)
{
if (pushforce)
{
@@ -656,7 +648,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//m_lastUpdateSent = false;
}
public void doForce(PhysicsVector force, bool now)
public void doForce(Vector3 force, bool now)
{
tempVector3.setValue(force.X, force.Y, force.Z);
@@ -671,7 +663,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
public void doImpulse(PhysicsVector force, bool now)
public void doImpulse(Vector3 force, bool now)
{
tempVector3.setValue(force.X, force.Y, force.Z);
@@ -686,12 +678,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
public override void SetMomentum(PhysicsVector momentum)
public override void SetMomentum(Vector3 momentum)
{
}
@@ -808,7 +800,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
Velocity = new PhysicsVector(0f, 0f, 0f);
Velocity = Vector3.Zero;
}
else
@@ -852,9 +844,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
//PidStatus = true;
PhysicsVector vec = new PhysicsVector();
Vector3 vec = Vector3.Zero;
PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
float movementdivisor = 1f;
@@ -885,7 +877,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// Avatar to Avatar collisions
// Prim to avatar collisions
PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
if (m_flying)
@@ -927,7 +919,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
if (m_target_velocity.X > 0)
{
@@ -1016,7 +1008,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempVector2 = Body.getInterpolationLinearVelocity();
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ());
Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < -10.0f) vec.X = 0.0f;
@@ -1048,7 +1040,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
else
{
m_lastUpdateSent = false;
vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
m_velocity.X = (vec.X);
m_velocity.Y = (vec.Y);