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7a2c77e7ea
This involves making PhysicsActor.PIDActive get as well as set. On physics components that don't implement this (all characters and some phys engines) we return false.
1406 lines
52 KiB
C#
1406 lines
52 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using OpenMetaverse;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using log4net;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
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/// </summary>
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public enum dParam : int
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{
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LowStop = 0,
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HiStop = 1,
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Vel = 2,
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FMax = 3,
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FudgeFactor = 4,
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Bounce = 5,
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CFM = 6,
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StopERP = 7,
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StopCFM = 8,
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LoStop2 = 256,
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HiStop2 = 257,
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Vel2 = 258,
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FMax2 = 259,
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StopERP2 = 7 + 256,
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StopCFM2 = 8 + 256,
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LoStop3 = 512,
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HiStop3 = 513,
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Vel3 = 514,
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FMax3 = 515,
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StopERP3 = 7 + 512,
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StopCFM3 = 8 + 512
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}
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public class OdeCharacter : PhysicsActor
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private Vector3 _position;
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private d.Vector3 _zeroPosition;
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private bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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private Vector3 _velocity;
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private Vector3 m_taintTargetVelocity;
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private Vector3 _target_velocity;
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private Vector3 _acceleration;
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private Vector3 m_rotationalVelocity;
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private float m_mass = 80f;
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private float m_density = 60f;
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private bool m_pidControllerActive = true;
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private float PID_D = 800.0f;
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private float PID_P = 900.0f;
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//private static float POSTURE_SERVO = 10000.0f;
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private float CAPSULE_RADIUS = 0.37f;
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private float CAPSULE_LENGTH = 2.140599f;
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private float m_tensor = 3800000f;
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// private float heightFudgeFactor = 0.52f;
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private float walkDivisor = 1.3f;
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private float runDivisor = 0.8f;
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private bool flying = false;
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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private bool m_wascolliding = false;
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private bool m_wascollidingGround = false;
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private bool m_iscollidingObj = false;
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private bool m_alwaysRun = false;
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private bool m_hackSentFall = false;
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private bool m_hackSentFly = false;
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private int m_requestedUpdateFrequency = 0;
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private Vector3 m_taintPosition;
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internal bool m_avatarplanted = false;
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/// <summary>
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/// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force
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/// while calculatios are going on
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/// </summary>
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private Vector3 m_taintForce;
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// taints and their non-tainted counterparts
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private bool m_isPhysical = false; // the current physical status
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private bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
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internal float MinimumGroundFlightOffset = 3f;
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private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
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/// <summary>
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/// Base movement for calculating tilt.
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/// </summary>
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private float m_tiltBaseMovement = (float)Math.Sqrt(2);
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/// <summary>
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/// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
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/// </summary>
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private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f;
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private float m_buoyancy = 0f;
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// private CollisionLocker ode;
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private bool[] m_colliderarr = new bool[11];
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private bool[] m_colliderGroundarr = new bool[11];
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// Default we're a Character
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private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
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// Default, Collide with Other Geometries, spaces, bodies and characters.
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private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
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| CollisionCategories.Space
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| CollisionCategories.Body
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| CollisionCategories.Character
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| CollisionCategories.Land);
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/// <summary>
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/// Body for dynamics simulation
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/// </summary>
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internal IntPtr Body { get; private set; }
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private OdeScene _parent_scene;
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/// <summary>
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/// Collision geometry
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/// </summary>
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internal IntPtr Shell { get; private set; }
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private IntPtr Amotor = IntPtr.Zero;
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private d.Mass ShellMass;
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private int m_eventsubscription = 0;
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private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
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// unique UUID of this character object
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internal UUID m_uuid { get; private set; }
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internal bool bad = false;
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/// <summary>
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/// ODE Avatar.
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/// </summary>
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/// <param name="avName"></param>
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/// <param name="parent_scene"></param>
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/// <param name="pos"></param>
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/// <param name="size"></param>
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/// <param name="pid_d"></param>
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/// <param name="pid_p"></param>
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/// <param name="capsule_radius"></param>
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/// <param name="tensor"></param>
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/// <param name="density">
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/// Only used right now to return information to LSL. Not actually used to set mass in ODE!
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/// </param>
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/// <param name="walk_divisor"></param>
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/// <param name="rundivisor"></param>
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public OdeCharacter(
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String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p,
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float capsule_radius, float tensor, float density,
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float walk_divisor, float rundivisor)
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{
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m_uuid = UUID.Random();
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if (pos.IsFinite())
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{
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if (pos.Z > 9999999f)
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{
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pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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if (pos.Z < -90000f)
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{
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pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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_position = pos;
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m_taintPosition = pos;
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}
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else
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{
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_position
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= new Vector3(
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(float)_parent_scene.WorldExtents.X * 0.5f,
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(float)_parent_scene.WorldExtents.Y * 0.5f,
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parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
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m_taintPosition = _position;
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m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
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}
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_parent_scene = parent_scene;
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PID_D = pid_d;
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PID_P = pid_p;
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CAPSULE_RADIUS = capsule_radius;
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m_tensor = tensor;
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m_density = density;
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// heightFudgeFactor = height_fudge_factor;
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walkDivisor = walk_divisor;
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runDivisor = rundivisor;
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// m_StandUpRotation =
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// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
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// 0.5f);
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// We can set taint and actual to be the same here, since the entire character will be set up when the
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// m_tainted_isPhysical is processed.
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SetTaintedCapsuleLength(size);
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CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
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m_isPhysical = false; // current status: no ODE information exists
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m_tainted_isPhysical = true; // new tainted status: need to create ODE information
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_parent_scene.AddPhysicsActorTaint(this);
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Name = avName;
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}
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Agent; }
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set { return; }
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}
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/// <summary>
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/// If this is set, the avatar will move faster
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/// </summary>
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public override bool SetAlwaysRun
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{
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get { return m_alwaysRun; }
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set { m_alwaysRun = value; }
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}
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public override bool Grabbed
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{
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set { return; }
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}
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public override bool Selected
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{
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set { return; }
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}
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public override float Buoyancy
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{
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get { return m_buoyancy; }
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set { m_buoyancy = value; }
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}
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public override bool FloatOnWater
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{
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set { return; }
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}
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public override bool IsPhysical
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{
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get { return false; }
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set { return; }
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}
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public override bool ThrottleUpdates
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{
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get { return false; }
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set { return; }
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}
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public override bool Flying
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{
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get { return flying; }
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set
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{
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flying = value;
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// m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying);
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}
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}
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/// <summary>
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/// Returns if the avatar is colliding in general.
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/// This includes the ground and objects and avatar.
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/// </summary>
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public override bool IsColliding
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{
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get { return m_iscolliding; }
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set
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{
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderarr[i] = m_colliderarr[i + 1];
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}
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}
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m_colliderarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2*truecount)
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{
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m_iscolliding = false;
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}
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else
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{
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m_iscolliding = true;
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}
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if (m_wascolliding != m_iscolliding)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascolliding = m_iscolliding;
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}
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}
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/// <summary>
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/// Returns if an avatar is colliding with the ground
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/// </summary>
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public override bool CollidingGround
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{
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get { return m_iscollidingGround; }
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set
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{
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// Collisions against the ground are not really reliable
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// So, to get a consistant value we have to average the current result over time
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// Currently we use 1 second = 10 calls to this.
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int i;
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int truecount = 0;
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int falsecount = 0;
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if (m_colliderGroundarr.Length >= 10)
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{
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for (i = 0; i < 10; i++)
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{
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m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
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}
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}
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m_colliderGroundarr[10] = value;
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for (i = 0; i < 11; i++)
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{
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if (m_colliderGroundarr[i])
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{
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truecount++;
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}
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else
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{
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falsecount++;
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}
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}
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// Equal truecounts and false counts means we're colliding with something.
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if (falsecount > 1.2*truecount)
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{
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m_iscollidingGround = false;
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}
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else
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{
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m_iscollidingGround = true;
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}
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if (m_wascollidingGround != m_iscollidingGround)
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{
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//base.SendCollisionUpdate(new CollisionEventUpdate());
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}
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m_wascollidingGround = m_iscollidingGround;
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}
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}
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/// <summary>
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/// Returns if the avatar is colliding with an object
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/// </summary>
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public override bool CollidingObj
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{
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get { return m_iscollidingObj; }
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set
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{
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m_iscollidingObj = value;
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if (value && !m_avatarplanted)
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m_pidControllerActive = false;
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else
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m_pidControllerActive = true;
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}
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}
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/// <summary>
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/// turn the PID controller on or off.
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/// The PID Controller will turn on all by itself in many situations
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/// </summary>
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/// <param name="status"></param>
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public void SetPidStatus(bool status)
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{
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m_pidControllerActive = status;
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}
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public override bool Stopped
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{
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get { return _zeroFlag; }
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}
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/// <summary>
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/// This 'puts' an avatar somewhere in the physics space.
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/// Not really a good choice unless you 'know' it's a good
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/// spot otherwise you're likely to orbit the avatar.
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/// </summary>
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public override Vector3 Position
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{
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get { return _position; }
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set
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{
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if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
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{
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if (value.IsFinite())
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{
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if (value.Z > 9999999f)
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{
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value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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if (value.Z < -90000f)
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{
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value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
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}
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m_taintPosition = value;
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_parent_scene.AddPhysicsActorTaint(this);
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}
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else
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{
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m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Position from Scene on character {0}", Name);
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}
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}
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}
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}
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public override Vector3 RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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/// <summary>
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/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
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/// and use it to offset landings properly
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/// </summary>
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public override Vector3 Size
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{
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get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
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set
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{
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SetTaintedCapsuleLength(value);
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// If we reset velocity here, then an avatar stalls when it crosses a border for the first time
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// (as the height of the new root agent is set).
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// Velocity = Vector3.Zero;
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_parent_scene.AddPhysicsActorTaint(this);
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}
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}
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private void SetTaintedCapsuleLength(Vector3 size)
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{
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if (size.IsFinite())
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{
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m_pidControllerActive = true;
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m_tainted_CAPSULE_LENGTH = size.Z - CAPSULE_RADIUS * 2.0f;
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// m_log.InfoFormat("[ODE CHARACTER]: Size = {0}, Capsule Length = {1} (Capsule Radius = {2})",
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// size, m_tainted_CAPSULE_LENGTH, CAPSULE_RADIUS);
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}
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else
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{
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m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.Name);
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}
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}
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private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
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{
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movementVector.Z = 0f;
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float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
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if (magnitude < 0.1f) return;
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// normalize the velocity vector
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float invMagnitude = 1.0f / magnitude;
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movementVector.X *= invMagnitude;
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movementVector.Y *= invMagnitude;
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// if we change the capsule heading too often, the capsule can fall down
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// therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
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// meaning only 4 possible capsule tilt orientations
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if (movementVector.X > 0)
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{
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// east
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if (movementVector.Y > 0)
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{
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// northeast
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movementVector.X = m_tiltBaseMovement;
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movementVector.Y = m_tiltBaseMovement;
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}
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else
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{
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// southeast
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movementVector.X = m_tiltBaseMovement;
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movementVector.Y = -m_tiltBaseMovement;
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}
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}
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else
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{
|
|
// west
|
|
if (movementVector.Y > 0)
|
|
{
|
|
// northwest
|
|
movementVector.X = -m_tiltBaseMovement;
|
|
movementVector.Y = m_tiltBaseMovement;
|
|
}
|
|
else
|
|
{
|
|
// southwest
|
|
movementVector.X = -m_tiltBaseMovement;
|
|
movementVector.Y = -m_tiltBaseMovement;
|
|
}
|
|
}
|
|
|
|
// movementVector.Z is zero
|
|
|
|
// calculate tilt components based on desired amount of tilt and current (snapped) heading.
|
|
// the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
|
|
float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
|
|
float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
|
|
|
|
//m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
|
}
|
|
|
|
/// <summary>
|
|
/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
|
|
/// This may be used in calculations in the scene/scenepresence
|
|
/// </summary>
|
|
public override float Mass
|
|
{
|
|
get
|
|
{
|
|
float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
|
|
return m_density * AVvolume;
|
|
}
|
|
}
|
|
|
|
public override void link(PhysicsActor obj) {}
|
|
|
|
public override void delink() {}
|
|
|
|
public override void LockAngularMotion(Vector3 axis) {}
|
|
|
|
// This code is very useful. Written by DanX0r. We're just not using it right now.
|
|
// Commented out to prevent a warning.
|
|
//
|
|
// private void standupStraight()
|
|
// {
|
|
// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
|
|
// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
|
|
// // change appearance and when you enter the simulator
|
|
// // After this routine is done, the amotor stabilizes much quicker
|
|
// d.Vector3 feet;
|
|
// d.Vector3 head;
|
|
// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
|
|
// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
|
|
// float posture = head.Z - feet.Z;
|
|
|
|
// // restoring force proportional to lack of posture:
|
|
// float servo = (2.5f - posture) * POSTURE_SERVO;
|
|
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
|
|
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
|
|
// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
|
|
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyFArotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
|
|
// }
|
|
|
|
public override Vector3 Force
|
|
{
|
|
get { return _target_velocity; }
|
|
set { return; }
|
|
}
|
|
|
|
public override int VehicleType
|
|
{
|
|
get { return 0; }
|
|
set { return; }
|
|
}
|
|
|
|
public override void VehicleFloatParam(int param, float value)
|
|
{
|
|
}
|
|
|
|
public override void VehicleVectorParam(int param, Vector3 value)
|
|
{
|
|
}
|
|
|
|
public override void VehicleRotationParam(int param, Quaternion rotation)
|
|
{
|
|
}
|
|
|
|
public override void VehicleFlags(int param, bool remove)
|
|
{
|
|
}
|
|
|
|
public override void SetVolumeDetect(int param)
|
|
{
|
|
}
|
|
|
|
public override Vector3 CenterOfMass
|
|
{
|
|
get { return Vector3.Zero; }
|
|
}
|
|
|
|
public override Vector3 GeometricCenter
|
|
{
|
|
get { return Vector3.Zero; }
|
|
}
|
|
|
|
public override PrimitiveBaseShape Shape
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
public override Vector3 TargetVelocity
|
|
{
|
|
get
|
|
{
|
|
return m_taintTargetVelocity;
|
|
}
|
|
|
|
set
|
|
{
|
|
Velocity = value;
|
|
}
|
|
}
|
|
|
|
|
|
public override Vector3 Velocity
|
|
{
|
|
get
|
|
{
|
|
// There's a problem with Vector3.Zero! Don't Use it Here!
|
|
if (_zeroFlag)
|
|
return Vector3.Zero;
|
|
m_lastUpdateSent = false;
|
|
return _velocity;
|
|
}
|
|
|
|
set
|
|
{
|
|
if (value.IsFinite())
|
|
{
|
|
m_pidControllerActive = true;
|
|
m_taintTargetVelocity = value;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN velocity from Scene for {0}", Name);
|
|
}
|
|
|
|
// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity);
|
|
}
|
|
}
|
|
|
|
public override Vector3 Torque
|
|
{
|
|
get { return Vector3.Zero; }
|
|
set { return; }
|
|
}
|
|
|
|
public override float CollisionScore
|
|
{
|
|
get { return 0f; }
|
|
set { }
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get { return Quaternion.Identity; }
|
|
set {
|
|
//Matrix3 or = Orientation.ToRotationMatrix();
|
|
//d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
|
|
//d.BodySetRotation(Body, ref ord);
|
|
}
|
|
}
|
|
|
|
public override Vector3 Acceleration
|
|
{
|
|
get { return _acceleration; }
|
|
set { _acceleration = value; }
|
|
}
|
|
|
|
/// <summary>
|
|
/// Adds the force supplied to the Target Velocity
|
|
/// The PID controller takes this target velocity and tries to make it a reality
|
|
/// </summary>
|
|
/// <param name="force"></param>
|
|
public override void AddForce(Vector3 force, bool pushforce)
|
|
{
|
|
if (force.IsFinite())
|
|
{
|
|
if (pushforce)
|
|
{
|
|
m_pidControllerActive = false;
|
|
force *= 100f;
|
|
m_taintForce += force;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
|
|
// If uncommented, things get pushed off world
|
|
//
|
|
// m_log.Debug("Push!");
|
|
// m_taintTargetVelocity.X += force.X;
|
|
// m_taintTargetVelocity.Y += force.Y;
|
|
// m_taintTargetVelocity.Z += force.Z;
|
|
}
|
|
else
|
|
{
|
|
m_pidControllerActive = true;
|
|
m_taintTargetVelocity += force;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name);
|
|
}
|
|
//m_lastUpdateSent = false;
|
|
}
|
|
|
|
public override void AddAngularForce(Vector3 force, bool pushforce)
|
|
{
|
|
}
|
|
|
|
public override void SetMomentum(Vector3 momentum)
|
|
{
|
|
}
|
|
|
|
/// <summary>
|
|
/// Called from Simulate
|
|
/// This is the avatar's movement control + PID Controller
|
|
/// </summary>
|
|
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
|
|
/// position or velocity).
|
|
/// </param>
|
|
internal void Move(List<OdeCharacter> defects)
|
|
{
|
|
// no lock; for now it's only called from within Simulate()
|
|
|
|
// If the PID Controller isn't active then we set our force
|
|
// calculating base velocity to the current position
|
|
|
|
if (Body == IntPtr.Zero)
|
|
return;
|
|
|
|
if (m_pidControllerActive == false)
|
|
{
|
|
_zeroPosition = d.BodyGetPosition(Body);
|
|
}
|
|
//PidStatus = true;
|
|
|
|
d.Vector3 localpos = d.BodyGetPosition(Body);
|
|
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
|
|
|
|
if (!localPos.IsFinite())
|
|
{
|
|
m_log.WarnFormat(
|
|
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
|
|
localPos, Name);
|
|
|
|
defects.Add(this);
|
|
|
|
return;
|
|
}
|
|
|
|
Vector3 vec = Vector3.Zero;
|
|
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
|
|
|
// m_log.DebugFormat(
|
|
// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
|
|
// vel.X, vel.Y, vel.Z, _target_velocity, Name);
|
|
|
|
float movementdivisor = 1f;
|
|
|
|
if (!m_alwaysRun)
|
|
{
|
|
movementdivisor = walkDivisor;
|
|
}
|
|
else
|
|
{
|
|
movementdivisor = runDivisor;
|
|
}
|
|
|
|
// if velocity is zero, use position control; otherwise, velocity control
|
|
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
|
|
{
|
|
// keep track of where we stopped. No more slippin' & slidin'
|
|
if (!_zeroFlag)
|
|
{
|
|
_zeroFlag = true;
|
|
_zeroPosition = d.BodyGetPosition(Body);
|
|
}
|
|
|
|
if (m_pidControllerActive)
|
|
{
|
|
// We only want to deactivate the PID Controller if we think we want to have our surrogate
|
|
// react to the physics scene by moving it's position.
|
|
// Avatar to Avatar collisions
|
|
// Prim to avatar collisions
|
|
|
|
d.Vector3 pos = d.BodyGetPosition(Body);
|
|
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
|
|
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
|
|
if (flying)
|
|
{
|
|
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
|
|
}
|
|
}
|
|
//PidStatus = true;
|
|
}
|
|
else
|
|
{
|
|
m_pidControllerActive = true;
|
|
_zeroFlag = false;
|
|
if (m_iscolliding && !flying)
|
|
{
|
|
// We're standing on something
|
|
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
|
|
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
|
|
}
|
|
else if (m_iscolliding && flying)
|
|
{
|
|
// We're flying and colliding with something
|
|
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
|
|
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
|
|
}
|
|
else if (!m_iscolliding && flying)
|
|
{
|
|
// we're in mid air suspended
|
|
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
|
|
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
|
|
|
|
// m_log.DebugFormat(
|
|
// "[ODE CHARACTER]: !m_iscolliding && flying, vec {0}, _target_velocity {1}, movementdivisor {2}, vel {3}",
|
|
// vec, _target_velocity, movementdivisor, vel);
|
|
}
|
|
|
|
if (flying)
|
|
{
|
|
// This also acts as anti-gravity so that we hover when flying rather than fall.
|
|
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
|
|
}
|
|
else
|
|
{
|
|
if (m_iscolliding && _target_velocity.Z > 0.0f)
|
|
{
|
|
// We're colliding with something and we're not flying but we're moving
|
|
// This means we're walking or running.
|
|
d.Vector3 pos = d.BodyGetPosition(Body);
|
|
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
|
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
|
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
|
}
|
|
else if (!m_iscolliding)
|
|
{
|
|
// we're not colliding and we're not flying so that means we're falling!
|
|
// m_iscolliding includes collisions with the ground.
|
|
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
|
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (flying)
|
|
{
|
|
// Anti-gravity so that we hover when flying rather than fall.
|
|
vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
|
|
|
|
//Added for auto fly height. Kitto Flora
|
|
//d.Vector3 pos = d.BodyGetPosition(Body);
|
|
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
|
|
|
|
if (_position.Z < target_altitude)
|
|
{
|
|
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
|
|
}
|
|
// end add Kitto Flora
|
|
}
|
|
|
|
if (vec.IsFinite())
|
|
{
|
|
// Apply the total force acting on this avatar
|
|
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
|
|
|
|
if (!_zeroFlag)
|
|
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat(
|
|
"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
|
|
vec, Name);
|
|
|
|
defects.Add(this);
|
|
|
|
return;
|
|
}
|
|
|
|
d.Vector3 newVel = d.BodyGetLinearVel(Body);
|
|
if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
|
|
{
|
|
// m_log.DebugFormat(
|
|
// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name);
|
|
|
|
newVel.X = Util.Clamp<float>(newVel.X, -255f, 255f);
|
|
newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f);
|
|
|
|
if (!flying)
|
|
newVel.Z
|
|
= Util.Clamp<float>(
|
|
newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity);
|
|
else
|
|
newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
|
|
|
|
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
|
|
/// </summary>
|
|
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
|
|
/// position or velocity).
|
|
/// </param>
|
|
internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
|
|
{
|
|
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
|
d.Vector3 newPos;
|
|
try
|
|
{
|
|
newPos = d.BodyGetPosition(Body);
|
|
}
|
|
catch (NullReferenceException)
|
|
{
|
|
bad = true;
|
|
defects.Add(this);
|
|
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
|
|
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
|
|
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
|
|
|
|
return;
|
|
}
|
|
|
|
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
|
if (newPos.X < 0.0f) newPos.X = 0.0f;
|
|
if (newPos.Y < 0.0f) newPos.Y = 0.0f;
|
|
if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f) newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f;
|
|
if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
|
|
|
|
_position.X = newPos.X;
|
|
_position.Y = newPos.Y;
|
|
_position.Z = newPos.Z;
|
|
|
|
// I think we need to update the taintPosition too -- Diva 12/24/10
|
|
m_taintPosition = _position;
|
|
|
|
// Did we move last? = zeroflag
|
|
// This helps keep us from sliding all over
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
_velocity = Vector3.Zero;
|
|
|
|
// Did we send out the 'stopped' message?
|
|
if (!m_lastUpdateSent)
|
|
{
|
|
m_lastUpdateSent = true;
|
|
//base.RequestPhysicsterseUpdate();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_lastUpdateSent = false;
|
|
d.Vector3 newVelocity;
|
|
|
|
try
|
|
{
|
|
newVelocity = d.BodyGetLinearVel(Body);
|
|
}
|
|
catch (NullReferenceException)
|
|
{
|
|
newVelocity.X = _velocity.X;
|
|
newVelocity.Y = _velocity.Y;
|
|
newVelocity.Z = _velocity.Z;
|
|
}
|
|
|
|
_velocity.X = newVelocity.X;
|
|
_velocity.Y = newVelocity.Y;
|
|
_velocity.Z = newVelocity.Z;
|
|
|
|
if (_velocity.Z < -6 && !m_hackSentFall)
|
|
{
|
|
m_hackSentFall = true;
|
|
m_pidControllerActive = false;
|
|
}
|
|
else if (flying && !m_hackSentFly)
|
|
{
|
|
//m_hackSentFly = true;
|
|
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
|
}
|
|
else
|
|
{
|
|
m_hackSentFly = false;
|
|
m_hackSentFall = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// This creates the Avatar's physical Surrogate in ODE at the position supplied
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
|
|
/// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
|
|
/// place that is safe to call this routine AvatarGeomAndBodyCreation.
|
|
/// </remarks>
|
|
/// <param name="npositionX"></param>
|
|
/// <param name="npositionY"></param>
|
|
/// <param name="npositionZ"></param>
|
|
/// <param name="tensor"></param>
|
|
private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
|
|
{
|
|
if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
|
|
{
|
|
m_log.ErrorFormat(
|
|
"[ODE CHARACTER]: Creating ODE structures for {0} even though some already exist. Shell = {1}, Body = {2}, Amotor = {3}",
|
|
Name, Shell, Body, Amotor);
|
|
}
|
|
|
|
int dAMotorEuler = 1;
|
|
// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
|
|
if (CAPSULE_LENGTH <= 0)
|
|
{
|
|
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
|
|
CAPSULE_LENGTH = 0.01f;
|
|
}
|
|
|
|
if (CAPSULE_RADIUS <= 0)
|
|
{
|
|
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
|
|
CAPSULE_RADIUS = 0.01f;
|
|
}
|
|
|
|
// lock (OdeScene.UniversalColliderSyncObject)
|
|
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
|
|
|
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
|
|
|
|
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
|
Body = d.BodyCreate(_parent_scene.world);
|
|
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
|
|
|
|
_position.X = npositionX;
|
|
_position.Y = npositionY;
|
|
_position.Z = npositionZ;
|
|
|
|
m_taintPosition = _position;
|
|
|
|
d.BodySetMass(Body, ref ShellMass);
|
|
d.Matrix3 m_caprot;
|
|
// 90 Stand up on the cap of the capped cyllinder
|
|
if (_parent_scene.IsAvCapsuleTilted)
|
|
{
|
|
d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
|
|
}
|
|
else
|
|
{
|
|
d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
|
|
}
|
|
|
|
d.GeomSetRotation(Shell, ref m_caprot);
|
|
d.BodySetRotation(Body, ref m_caprot);
|
|
|
|
d.GeomSetBody(Shell, Body);
|
|
|
|
// The purpose of the AMotor here is to keep the avatar's physical
|
|
// surrogate from rotating while moving
|
|
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
|
d.JointAttach(Amotor, Body, IntPtr.Zero);
|
|
d.JointSetAMotorMode(Amotor, dAMotorEuler);
|
|
d.JointSetAMotorNumAxes(Amotor, 3);
|
|
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
|
|
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
|
|
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
|
|
d.JointSetAMotorAngle(Amotor, 0, 0);
|
|
d.JointSetAMotorAngle(Amotor, 1, 0);
|
|
d.JointSetAMotorAngle(Amotor, 2, 0);
|
|
|
|
// These lowstops and high stops are effectively (no wiggle room)
|
|
if (_parent_scene.IsAvCapsuleTilted)
|
|
{
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
|
|
}
|
|
else
|
|
{
|
|
#region Documentation of capsule motor LowStop and HighStop parameters
|
|
// Intentionally introduce some tilt into the capsule by setting
|
|
// the motor stops to small epsilon values. This small tilt prevents
|
|
// the capsule from falling into the terrain; a straight-up capsule
|
|
// (with -0..0 motor stops) falls into the terrain for reasons yet
|
|
// to be comprehended in their entirety.
|
|
#endregion
|
|
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);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
|
|
}
|
|
|
|
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
|
|
// capped cyllinder will fall over
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
|
|
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
|
|
|
|
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
|
|
//d.QfromR(
|
|
//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
|
|
//
|
|
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
|
|
//standupStraight();
|
|
|
|
_parent_scene.geom_name_map[Shell] = Name;
|
|
_parent_scene.actor_name_map[Shell] = this;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Cleanup the things we use in the scene.
|
|
/// </summary>
|
|
internal void Destroy()
|
|
{
|
|
m_tainted_isPhysical = false;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Used internally to destroy the ODE structures associated with this character.
|
|
/// </summary>
|
|
internal void DestroyOdeStructures()
|
|
{
|
|
// Create avatar capsule and related ODE data
|
|
if (Shell == IntPtr.Zero || Body == IntPtr.Zero || Amotor == IntPtr.Zero)
|
|
{
|
|
m_log.ErrorFormat(
|
|
"[ODE CHARACTER]: Destroying ODE structures for {0} even though some are already null. Shell = {1}, Body = {2}, Amotor = {3}",
|
|
Name, Shell, Body, Amotor);
|
|
}
|
|
|
|
// destroy avatar capsule and related ODE data
|
|
if (Amotor != IntPtr.Zero)
|
|
{
|
|
// Kill the Amotor
|
|
d.JointDestroy(Amotor);
|
|
Amotor = IntPtr.Zero;
|
|
}
|
|
|
|
//kill the Geometry
|
|
// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
|
|
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
//kill the body
|
|
d.BodyDestroy(Body);
|
|
Body = IntPtr.Zero;
|
|
}
|
|
|
|
if (Shell != IntPtr.Zero)
|
|
{
|
|
// lock (OdeScene.UniversalColliderSyncObject)
|
|
d.GeomDestroy(Shell);
|
|
|
|
_parent_scene.geom_name_map.Remove(Shell);
|
|
_parent_scene.actor_name_map.Remove(Shell);
|
|
|
|
Shell = IntPtr.Zero;
|
|
}
|
|
}
|
|
|
|
public override void CrossingFailure()
|
|
{
|
|
}
|
|
|
|
public override Vector3 PIDTarget { set { return; } }
|
|
public override bool PIDActive
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
public override float PIDTau { set { return; } }
|
|
|
|
public override float PIDHoverHeight { set { return; } }
|
|
public override bool PIDHoverActive { set { return; } }
|
|
public override PIDHoverType PIDHoverType { set { return; } }
|
|
public override float PIDHoverTau { set { return; } }
|
|
|
|
public override Quaternion APIDTarget{ set { return; } }
|
|
|
|
public override bool APIDActive{ set { return; } }
|
|
|
|
public override float APIDStrength{ set { return; } }
|
|
|
|
public override float APIDDamping{ set { return; } }
|
|
|
|
public override void SubscribeEvents(int ms)
|
|
{
|
|
m_requestedUpdateFrequency = ms;
|
|
m_eventsubscription = ms;
|
|
|
|
// Don't clear collision event reporting here. This is called directly from scene code and so can lead
|
|
// to a race condition with the simulate loop
|
|
|
|
_parent_scene.AddCollisionEventReporting(this);
|
|
}
|
|
|
|
public override void UnSubscribeEvents()
|
|
{
|
|
_parent_scene.RemoveCollisionEventReporting(this);
|
|
|
|
// Don't clear collision event reporting here. This is called directly from scene code and so can lead
|
|
// to a race condition with the simulate loop
|
|
|
|
m_requestedUpdateFrequency = 0;
|
|
m_eventsubscription = 0;
|
|
}
|
|
|
|
internal void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
|
|
{
|
|
if (m_eventsubscription > 0)
|
|
{
|
|
// m_log.DebugFormat(
|
|
// "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
|
|
|
|
CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
|
|
}
|
|
}
|
|
|
|
internal void SendCollisions()
|
|
{
|
|
if (m_eventsubscription > m_requestedUpdateFrequency)
|
|
{
|
|
base.SendCollisionUpdate(CollisionEventsThisFrame);
|
|
|
|
CollisionEventsThisFrame.Clear();
|
|
m_eventsubscription = 0;
|
|
}
|
|
}
|
|
|
|
public override bool SubscribedEvents()
|
|
{
|
|
if (m_eventsubscription > 0)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
internal void ProcessTaints()
|
|
{
|
|
if (m_taintPosition != _position)
|
|
{
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
|
|
_position = m_taintPosition;
|
|
}
|
|
}
|
|
|
|
if (m_taintForce != Vector3.Zero)
|
|
{
|
|
if (Body != IntPtr.Zero)
|
|
{
|
|
// FIXME: This is not a good solution since it's subject to a race condition if a force is another
|
|
// thread sets a new force while we're in this loop (since it could be obliterated by
|
|
// m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
|
|
d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
|
|
}
|
|
|
|
m_taintForce = Vector3.Zero;
|
|
}
|
|
|
|
if (m_taintTargetVelocity != _target_velocity)
|
|
_target_velocity = m_taintTargetVelocity;
|
|
|
|
if (m_tainted_isPhysical != m_isPhysical)
|
|
{
|
|
if (m_tainted_isPhysical)
|
|
{
|
|
CreateOdeStructures(_position.X, _position.Y, _position.Z, m_tensor);
|
|
_parent_scene.AddCharacter(this);
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.RemoveCharacter(this);
|
|
DestroyOdeStructures();
|
|
}
|
|
|
|
m_isPhysical = m_tainted_isPhysical;
|
|
}
|
|
|
|
if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
|
|
{
|
|
if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
|
|
{
|
|
// m_log.DebugFormat(
|
|
// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}",
|
|
// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name);
|
|
|
|
m_pidControllerActive = true;
|
|
|
|
// no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
|
|
DestroyOdeStructures();
|
|
|
|
float prevCapsule = CAPSULE_LENGTH;
|
|
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
|
|
|
|
CreateOdeStructures(
|
|
_position.X,
|
|
_position.Y,
|
|
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
|
|
|
|
// As with Size, we reset velocity. However, this isn't strictly necessary since it doesn't
|
|
// appear to stall initial region crossings when done here. Being done for consistency.
|
|
// Velocity = Vector3.Zero;
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - "
|
|
+ (Shell==IntPtr.Zero ? "Shell ":"")
|
|
+ (Body==IntPtr.Zero ? "Body ":"")
|
|
+ (Amotor==IntPtr.Zero ? "Amotor ":""));
|
|
}
|
|
}
|
|
}
|
|
|
|
internal void AddCollisionFrameTime(int p)
|
|
{
|
|
// protect it from overflow crashing
|
|
if (m_eventsubscription + p >= int.MaxValue)
|
|
m_eventsubscription = 0;
|
|
m_eventsubscription += p;
|
|
}
|
|
}
|
|
}
|