BulletSim: complete movement of physical object action code out of the

physical object and into actors for setForce, setTorque, hover, lock
axis and avatar move.

OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs

@@ -0,0 +1,156 @@
+/*
+ * 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 copyrightD
+ *       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.Linq;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorMoveToTarget : BSActor
+{
+    private BSVMotor m_targetMotor;
+
+    public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
+        : base(physicsScene, pObj, actorName)
+    {
+        m_targetMotor = null;
+        m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
+    }
+
+    // BSActor.isActive
+    public override bool isActive
+    {
+        get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+    }
+
+    // Release any connections and resources used by the actor.
+    // BSActor.Dispose()
+    public override void Dispose()
+    {
+        Enabled = false;
+    }
+
+    // Called when physical parameters (properties set in Bullet) need to be re-applied.
+    // Called at taint-time.
+    // BSActor.Refresh()
+    public override void Refresh()
+    {
+        m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID);
+
+        // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+        if (!m_controllingPrim.HoverActive)
+        {
+            m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName);
+            m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+            return;
+        }
+
+        // If the object is physically active, add the hoverer prestep action
+        if (isActive)
+        {
+            ActivateMoveToTarget();
+        }
+        else
+        {
+            DeactivateMoveToTarget();
+        }
+    }
+
+    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+    //     Register a prestep action to restore physical requirements before the next simulation step.
+    // Called at taint-time.
+    // BSActor.RemoveBodyDependencies()
+    public override void RemoveBodyDependencies()
+    {
+        // Nothing to do for the hoverer since it is all software at pre-step action time.
+    }
+
+    // If a hover motor has not been created, create one and start the hovering.
+    private void ActivateMoveToTarget()
+    {
+        if (m_targetMotor == null)
+        {
+            // We're taking over after this.
+            m_controllingPrim.ZeroMotion(true);
+
+            m_targetMotor = new BSVMotor("BSPrim.PIDTarget",
+                                        m_controllingPrim.MoveToTargetTau,                    // timeScale
+                                        BSMotor.Infinite,           // decay time scale
+                                        BSMotor.InfiniteVector,     // friction timescale
+                                        1f                          // efficiency
+            );
+            m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
+            m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
+            m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
+
+            m_physicsScene.BeforeStep += Mover;
+        }
+    }
+
+    private void DeactivateMoveToTarget()
+    {
+        if (m_targetMotor != null)
+        {
+            m_physicsScene.BeforeStep -= Mover;
+            m_targetMotor = null;
+        }
+    }
+
+    // Called just before the simulation step. Update the vertical position for hoverness.
+    private void Mover(float timeStep)
+    {
+        // Don't do hovering while the object is selected.
+        if (!isActive)
+            return;
+
+        OMV.Vector3 origPosition = m_controllingPrim.RawPosition;     // DEBUG DEBUG (for printout below)
+
+        // 'movePosition' is where we'd like the prim to be at this moment.
+        OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
+
+        // If we are very close to our target, turn off the movement motor.
+        if (m_targetMotor.ErrorIsZero())
+        {
+            m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
+                                    m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
+            m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
+            m_targetMotor.Enabled = false;
+        }
+        else
+        {
+            m_controllingPrim.ForcePosition = movePosition;
+        }
+        m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
+    }
+}
+}