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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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113
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
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@@ -68,15 +68,15 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private PhysicsVector _position;
private Vector3 _position;
private d.Vector3 _zeroPosition;
// private d.Matrix3 m_StandUpRotation;
private bool _zeroFlag = false;
private bool m_lastUpdateSent = false;
private PhysicsVector _velocity;
private PhysicsVector _target_velocity;
private PhysicsVector _acceleration;
private PhysicsVector m_rotationalVelocity;
private Vector3 _velocity;
private Vector3 _target_velocity;
private Vector3 _acceleration;
private Vector3 m_rotationalVelocity;
private float m_mass = 80f;
public float m_density = 60f;
private bool m_pidControllerActive = true;
@@ -99,7 +99,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_hackSentFall = false;
private bool m_hackSentFly = false;
private int m_requestedUpdateFrequency = 0;
private PhysicsVector m_taintPosition = new PhysicsVector(0, 0, 0);
private Vector3 m_taintPosition = Vector3.Zero;
public uint m_localID = 0;
public bool m_returnCollisions = false;
// taints and their non-tainted counterparts
@@ -143,22 +143,17 @@ namespace OpenSim.Region.Physics.OdePlugin
public UUID m_uuid;
public bool bad = false;
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, 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 OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
// ode = dode;
_velocity = new PhysicsVector();
_target_velocity = new PhysicsVector();
if (PhysicsVector.isFinite(pos))
if (pos.IsFinite())
{
if (pos.Z > 9999999)
if (pos.Z > 9999999f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000)
if (pos.Z < -90000f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
@@ -169,15 +164,13 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
_position = new PhysicsVector(((int)_parent_scene.WorldExtents.X * 0.5f), ((int)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
_position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition.X = _position.X;
m_taintPosition.Y = _position.Y;
m_taintPosition.Z = _position.Z;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
_acceleration = new PhysicsVector();
_parent_scene = parent_scene;
PID_D = pid_d;
@@ -189,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
@@ -205,7 +197,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
m_name = avName;
@@ -412,20 +403,20 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Not really a good choice unless you 'know' it's a good
/// spot otherwise you're likely to orbit the avatar.
/// </summary>
public override PhysicsVector Position
public override Vector3 Position
{
get { return _position; }
set
{
if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
if (value.Z > 9999999)
if (value.Z > 9999999f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (value.Z < -90000)
if (value.Z < -90000f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
@@ -447,7 +438,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector RotationalVelocity
public override Vector3 RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
@@ -457,20 +448,20 @@ namespace OpenSim.Region.Physics.OdePlugin
/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
/// and use it to offset landings properly
/// </summary>
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
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
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;
_parent_scene.AddPhysicsActorTaint(this);
}
@@ -481,7 +472,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
{
movementVector.Z = 0f;
float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
@@ -643,7 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// (with -0..0 motor stops) falls into the terrain for reasons yet
// to be comprehended in their entirety.
#endregion
AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
@@ -688,7 +679,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override void LockAngularMotion(PhysicsVector axis)
public override void LockAngularMotion(Vector3 axis)
{
}
@@ -716,9 +707,9 @@ namespace OpenSim.Region.Physics.OdePlugin
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
// }
public override PhysicsVector Force
public override Vector3 Force
{
get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
get { return _target_velocity; }
set { return; }
}
@@ -733,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override void VehicleVectorParam(int param, PhysicsVector value)
public override void VehicleVectorParam(int param, Vector3 value)
{
}
@@ -748,14 +739,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override PhysicsVector CenterOfMass
public override Vector3 CenterOfMass
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PhysicsVector GeometricCenter
public override Vector3 GeometricCenter
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
@@ -763,18 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
set { return; }
}
public override PhysicsVector Velocity
public override Vector3 Velocity
{
get {
// There's a problem with PhysicsVector.Zero! Don't Use it Here!
// There's a problem with Vector3.Zero! Don't Use it Here!
if (_zeroFlag)
return new PhysicsVector(0f, 0f, 0f);
return Vector3.Zero;
m_lastUpdateSent = false;
return _velocity;
}
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_pidControllerActive = true;
_target_velocity = value;
@@ -786,9 +777,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector Torque
public override Vector3 Torque
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
set { return; }
}
@@ -814,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector Acceleration
public override Vector3 Acceleration
{
get { return _acceleration; }
}
public void SetAcceleration(PhysicsVector accel)
public void SetAcceleration(Vector3 accel)
{
m_pidControllerActive = true;
_acceleration = accel;
@@ -830,9 +821,9 @@ namespace OpenSim.Region.Physics.OdePlugin
/// The PID controller takes this target velocity and tries to make it a reality
/// </summary>
/// <param name="force"></param>
public override void AddForce(PhysicsVector force, bool pushforce)
public override void AddForce(Vector3 force, bool pushforce)
{
if (PhysicsVector.isFinite(force))
if (force.IsFinite())
{
if (pushforce)
{
@@ -861,7 +852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_lastUpdateSent = false;
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
@@ -870,7 +861,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// After all of the forces add up with 'add force' we apply them with doForce
/// </summary>
/// <param name="force"></param>
public void doForce(PhysicsVector force)
public void doForce(Vector3 force)
{
if (!collidelock)
{
@@ -881,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override void SetMomentum(PhysicsVector momentum)
public override void SetMomentum(Vector3 momentum)
{
}
@@ -908,9 +899,9 @@ namespace OpenSim.Region.Physics.OdePlugin
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
if (!PhysicsVector.isFinite(localPos))
if (!localPos.IsFinite())
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
@@ -946,7 +937,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
}
PhysicsVector vec = new PhysicsVector();
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
float movementdivisor = 1f;
@@ -1059,12 +1050,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// end add Kitto Flora
}
if (PhysicsVector.isFinite(vec))
if (vec.IsFinite())
{
doForce(vec);
if (!_zeroFlag)
{
AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
}
else
@@ -1197,7 +1188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
public override PhysicsVector PIDTarget { set { return; } }
public override Vector3 PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
@@ -1311,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDestroy(Shell);
AvatarGeomAndBodyCreation(_position.X, _position.Y,
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
Velocity = new PhysicsVector(0f, 0f, 0f);
Velocity = Vector3.Zero;
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
@@ -1325,7 +1316,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
if (!m_taintPosition.IsIdentical(_position, 0.05f))
if (!m_taintPosition.ApproxEquals(_position, 0.05f))
{
if (Body != IntPtr.Zero)
{