diff options
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 400 |
1 files changed, 269 insertions, 131 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4c195e1..c215e3a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -66,9 +66,10 @@ public sealed class BSCharacter : BSPhysObject | |||
66 | private float _buoyancy; | 66 | private float _buoyancy; |
67 | 67 | ||
68 | // The friction and velocity of the avatar is modified depending on whether walking or not. | 68 | // The friction and velocity of the avatar is modified depending on whether walking or not. |
69 | private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar | ||
70 | private float _currentFriction; // the friction currently being used (changed by setVelocity). | 69 | private float _currentFriction; // the friction currently being used (changed by setVelocity). |
71 | 70 | ||
71 | private BSVMotor _velocityMotor; | ||
72 | |||
72 | private OMV.Vector3 _PIDTarget; | 73 | private OMV.Vector3 _PIDTarget; |
73 | private bool _usePID; | 74 | private bool _usePID; |
74 | private float _PIDTau; | 75 | private float _PIDTau; |
@@ -83,34 +84,36 @@ public sealed class BSCharacter : BSPhysObject | |||
83 | _physicsActorType = (int)ActorTypes.Agent; | 84 | _physicsActorType = (int)ActorTypes.Agent; |
84 | _position = pos; | 85 | _position = pos; |
85 | 86 | ||
86 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, | ||
87 | // replace with the default values. | ||
88 | _size = size; | ||
89 | if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; | ||
90 | if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; | ||
91 | |||
92 | _flying = isFlying; | 87 | _flying = isFlying; |
93 | _orientation = OMV.Quaternion.Identity; | 88 | _orientation = OMV.Quaternion.Identity; |
94 | _velocity = OMV.Vector3.Zero; | 89 | _velocity = OMV.Vector3.Zero; |
95 | _appliedVelocity = OMV.Vector3.Zero; | ||
96 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); | 90 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); |
97 | _currentFriction = PhysicsScene.Params.avatarStandingFriction; | 91 | _currentFriction = BSParam.AvatarStandingFriction; |
98 | _avatarDensity = PhysicsScene.Params.avatarDensity; | 92 | _avatarDensity = BSParam.AvatarDensity; |
99 | 93 | ||
100 | // The dimensions of the avatar capsule are kept in the scale. | 94 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, |
95 | // replace with the default values. | ||
96 | _size = size; | ||
97 | if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; | ||
98 | if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; | ||
99 | |||
100 | // The dimensions of the physical capsule are kept in the scale. | ||
101 | // Physics creates a unit capsule which is scaled by the physics engine. | 101 | // Physics creates a unit capsule which is scaled by the physics engine. |
102 | ComputeAvatarScale(_size); | 102 | Scale = ComputeAvatarScale(_size); |
103 | // set _avatarVolume and _mass based on capsule size, _density and Scale | 103 | // set _avatarVolume and _mass based on capsule size, _density and Scale |
104 | ComputeAvatarVolumeAndMass(); | 104 | ComputeAvatarVolumeAndMass(); |
105 | |||
106 | SetupMovementMotor(); | ||
107 | |||
105 | DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", | 108 | DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", |
106 | LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); | 109 | LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); |
107 | 110 | ||
108 | // do actual create at taint time | 111 | // do actual creation in taint time |
109 | PhysicsScene.TaintedObject("BSCharacter.create", delegate() | 112 | PhysicsScene.TaintedObject("BSCharacter.create", delegate() |
110 | { | 113 | { |
111 | DetailLog("{0},BSCharacter.create,taint", LocalID); | 114 | DetailLog("{0},BSCharacter.create,taint", LocalID); |
112 | // New body and shape into PhysBody and PhysShape | 115 | // New body and shape into PhysBody and PhysShape |
113 | PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null); | 116 | PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); |
114 | 117 | ||
115 | SetPhysicalProperties(); | 118 | SetPhysicalProperties(); |
116 | }); | 119 | }); |
@@ -120,54 +123,116 @@ public sealed class BSCharacter : BSPhysObject | |||
120 | // called when this character is being destroyed and the resources should be released | 123 | // called when this character is being destroyed and the resources should be released |
121 | public override void Destroy() | 124 | public override void Destroy() |
122 | { | 125 | { |
126 | base.Destroy(); | ||
127 | |||
123 | DetailLog("{0},BSCharacter.Destroy", LocalID); | 128 | DetailLog("{0},BSCharacter.Destroy", LocalID); |
124 | PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() | 129 | PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() |
125 | { | 130 | { |
126 | PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); | 131 | PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); |
132 | PhysBody.Clear(); | ||
127 | PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); | 133 | PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); |
134 | PhysShape.Clear(); | ||
128 | }); | 135 | }); |
129 | } | 136 | } |
130 | 137 | ||
131 | private void SetPhysicalProperties() | 138 | private void SetPhysicalProperties() |
132 | { | 139 | { |
133 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); | 140 | PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); |
134 | 141 | ||
135 | ZeroMotion(true); | 142 | ZeroMotion(true); |
136 | ForcePosition = _position; | 143 | ForcePosition = _position; |
144 | |||
137 | // Set the velocity and compute the proper friction | 145 | // Set the velocity and compute the proper friction |
146 | _velocityMotor.Reset(); | ||
147 | _velocityMotor.SetTarget(_velocity); | ||
148 | _velocityMotor.SetCurrent(_velocity); | ||
138 | ForceVelocity = _velocity; | 149 | ForceVelocity = _velocity; |
139 | 150 | ||
140 | // This will enable or disable the flying buoyancy of the avatar. | 151 | // This will enable or disable the flying buoyancy of the avatar. |
141 | // Needs to be reset especially when an avatar is recreated after crossing a region boundry. | 152 | // Needs to be reset especially when an avatar is recreated after crossing a region boundry. |
142 | Flying = _flying; | 153 | Flying = _flying; |
143 | 154 | ||
144 | BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); | 155 | PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); |
145 | BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); | 156 | PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin); |
146 | BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); | 157 | PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); |
147 | BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); | 158 | PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); |
148 | if (PhysicsScene.Params.ccdMotionThreshold > 0f) | 159 | if (BSParam.CcdMotionThreshold > 0f) |
149 | { | 160 | { |
150 | BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); | 161 | PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); |
151 | BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); | 162 | PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); |
152 | } | 163 | } |
153 | 164 | ||
154 | UpdatePhysicalMassProperties(RawMass); | 165 | UpdatePhysicalMassProperties(RawMass, false); |
155 | 166 | ||
156 | // Make so capsule does not fall over | 167 | // Make so capsule does not fall over |
157 | BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); | 168 | PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); |
158 | 169 | ||
159 | BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); | 170 | PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); |
160 | 171 | ||
161 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); | 172 | PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); |
162 | 173 | ||
163 | // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); | 174 | // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); |
164 | BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); | 175 | PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); |
165 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); | 176 | PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); |
166 | 177 | ||
167 | // Do this after the object has been added to the world | 178 | // Do this after the object has been added to the world |
168 | BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, | 179 | PhysBody.collisionType = CollisionType.Avatar; |
169 | (uint)CollisionFilterGroups.AvatarFilter, | 180 | PhysBody.ApplyCollisionMask(PhysicsScene); |
170 | (uint)CollisionFilterGroups.AvatarMask); | 181 | } |
182 | |||
183 | // The avatar's movement is controlled by this motor that speeds up and slows down | ||
184 | // the avatar seeking to reach the motor's target speed. | ||
185 | // This motor runs as a prestep action for the avatar so it will keep the avatar | ||
186 | // standing as well as moving. Destruction of the avatar will destroy the pre-step action. | ||
187 | private void SetupMovementMotor() | ||
188 | { | ||
189 | |||
190 | // Someday, use a PID motor for asymmetric speed up and slow down | ||
191 | // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); | ||
192 | |||
193 | // Infinite decay and timescale values so motor only changes current to target values. | ||
194 | _velocityMotor = new BSVMotor("BSCharacter.Velocity", | ||
195 | 0.2f, // time scale | ||
196 | BSMotor.Infinite, // decay time scale | ||
197 | BSMotor.InfiniteVector, // friction timescale | ||
198 | 1f // efficiency | ||
199 | ); | ||
200 | // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. | ||
201 | |||
202 | RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep) | ||
203 | { | ||
204 | // TODO: Decide if the step parameters should be changed depending on the avatar's | ||
205 | // state (flying, colliding, ...). There is code in ODE to do this. | ||
206 | |||
207 | OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); | ||
208 | |||
209 | // If falling, we keep the world's downward vector no matter what the other axis specify. | ||
210 | if (!Flying && !IsColliding) | ||
211 | { | ||
212 | stepVelocity.Z = _velocity.Z; | ||
213 | // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); | ||
214 | } | ||
215 | |||
216 | // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. | ||
217 | OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; | ||
218 | |||
219 | /* | ||
220 | // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user | ||
221 | float moveForceMagnitudeSquared = moveForce.LengthSquared(); | ||
222 | if (moveForceMagnitudeSquared < 0.0001) | ||
223 | { | ||
224 | DetailLog("{0},BSCharacter.MoveMotor,zeroMovement,stepVel={1},vel={2},mass={3},magSq={4},moveForce={5}", | ||
225 | LocalID, stepVelocity, _velocity, Mass, moveForceMagnitudeSquared, moveForce); | ||
226 | ForceVelocity = OMV.Vector3.Zero; | ||
227 | } | ||
228 | else | ||
229 | { | ||
230 | AddForce(moveForce, false, true); | ||
231 | } | ||
232 | */ | ||
233 | // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); | ||
234 | PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); | ||
235 | }); | ||
171 | } | 236 | } |
172 | 237 | ||
173 | public override void RequestPhysicsterseUpdate() | 238 | public override void RequestPhysicsterseUpdate() |
@@ -185,24 +250,31 @@ public sealed class BSCharacter : BSPhysObject | |||
185 | } | 250 | } |
186 | 251 | ||
187 | set { | 252 | set { |
188 | // When an avatar's size is set, only the height is changed. | ||
189 | _size = value; | 253 | _size = value; |
190 | ComputeAvatarScale(_size); | 254 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, |
255 | // replace with the default values. | ||
256 | if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; | ||
257 | if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; | ||
258 | |||
259 | Scale = ComputeAvatarScale(_size); | ||
191 | ComputeAvatarVolumeAndMass(); | 260 | ComputeAvatarVolumeAndMass(); |
192 | DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", | 261 | DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", |
193 | LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); | 262 | LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); |
194 | 263 | ||
195 | PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() | 264 | PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() |
196 | { | 265 | { |
197 | BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); | 266 | if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) |
198 | UpdatePhysicalMassProperties(RawMass); | 267 | { |
268 | PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); | ||
269 | UpdatePhysicalMassProperties(RawMass, true); | ||
270 | // Make sure this change appears as a property update event | ||
271 | PhysicsScene.PE.PushUpdate(PhysBody); | ||
272 | } | ||
199 | }); | 273 | }); |
200 | 274 | ||
201 | } | 275 | } |
202 | } | 276 | } |
203 | 277 | ||
204 | public override OMV.Vector3 Scale { get; set; } | ||
205 | |||
206 | public override PrimitiveBaseShape Shape | 278 | public override PrimitiveBaseShape Shape |
207 | { | 279 | { |
208 | set { BaseShape = value; } | 280 | set { BaseShape = value; } |
@@ -236,7 +308,8 @@ public sealed class BSCharacter : BSPhysObject | |||
236 | // Zero some other properties directly into the physics engine | 308 | // Zero some other properties directly into the physics engine |
237 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() | 309 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() |
238 | { | 310 | { |
239 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | 311 | if (PhysBody.HasPhysicalBody) |
312 | PhysicsScene.PE.ClearAllForces(PhysBody); | ||
240 | }); | 313 | }); |
241 | } | 314 | } |
242 | public override void ZeroAngularMotion(bool inTaintTime) | 315 | public override void ZeroAngularMotion(bool inTaintTime) |
@@ -245,10 +318,13 @@ public sealed class BSCharacter : BSPhysObject | |||
245 | 318 | ||
246 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() | 319 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() |
247 | { | 320 | { |
248 | BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); | 321 | if (PhysBody.HasPhysicalBody) |
249 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); | 322 | { |
250 | // The next also get rid of applied linear force but the linear velocity is untouched. | 323 | PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); |
251 | BulletSimAPI.ClearForces2(PhysBody.ptr); | 324 | PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); |
325 | // The next also get rid of applied linear force but the linear velocity is untouched. | ||
326 | PhysicsScene.PE.ClearForces(PhysBody); | ||
327 | } | ||
252 | }); | 328 | }); |
253 | } | 329 | } |
254 | 330 | ||
@@ -263,7 +339,7 @@ public sealed class BSCharacter : BSPhysObject | |||
263 | public override OMV.Vector3 Position { | 339 | public override OMV.Vector3 Position { |
264 | get { | 340 | get { |
265 | // Don't refetch the position because this function is called a zillion times | 341 | // Don't refetch the position because this function is called a zillion times |
266 | // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); | 342 | // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); |
267 | return _position; | 343 | return _position; |
268 | } | 344 | } |
269 | set { | 345 | set { |
@@ -273,19 +349,20 @@ public sealed class BSCharacter : BSPhysObject | |||
273 | PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() | 349 | PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() |
274 | { | 350 | { |
275 | DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 351 | DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
276 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 352 | if (PhysBody.HasPhysicalBody) |
353 | PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); | ||
277 | }); | 354 | }); |
278 | } | 355 | } |
279 | } | 356 | } |
280 | public override OMV.Vector3 ForcePosition { | 357 | public override OMV.Vector3 ForcePosition { |
281 | get { | 358 | get { |
282 | _position = BulletSimAPI.GetPosition2(PhysBody.ptr); | 359 | _position = PhysicsScene.PE.GetPosition(PhysBody); |
283 | return _position; | 360 | return _position; |
284 | } | 361 | } |
285 | set { | 362 | set { |
286 | _position = value; | 363 | _position = value; |
287 | PositionSanityCheck(); | 364 | PositionSanityCheck(); |
288 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 365 | PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); |
289 | } | 366 | } |
290 | } | 367 | } |
291 | 368 | ||
@@ -297,6 +374,15 @@ public sealed class BSCharacter : BSPhysObject | |||
297 | { | 374 | { |
298 | bool ret = false; | 375 | bool ret = false; |
299 | 376 | ||
377 | // TODO: check for out of bounds | ||
378 | if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) | ||
379 | { | ||
380 | // The character is out of the known/simulated area. | ||
381 | // Upper levels of code will handle the transition to other areas so, for | ||
382 | // the time, we just ignore the position. | ||
383 | return ret; | ||
384 | } | ||
385 | |||
300 | // If below the ground, move the avatar up | 386 | // If below the ground, move the avatar up |
301 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | 387 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); |
302 | if (Position.Z < terrainHeight) | 388 | if (Position.Z < terrainHeight) |
@@ -307,7 +393,7 @@ public sealed class BSCharacter : BSPhysObject | |||
307 | } | 393 | } |
308 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) | 394 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) |
309 | { | 395 | { |
310 | float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); | 396 | float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); |
311 | if (Position.Z < waterHeight) | 397 | if (Position.Z < waterHeight) |
312 | { | 398 | { |
313 | _position.Z = waterHeight; | 399 | _position.Z = waterHeight; |
@@ -315,7 +401,6 @@ public sealed class BSCharacter : BSPhysObject | |||
315 | } | 401 | } |
316 | } | 402 | } |
317 | 403 | ||
318 | // TODO: check for out of bounds | ||
319 | return ret; | 404 | return ret; |
320 | } | 405 | } |
321 | 406 | ||
@@ -332,7 +417,8 @@ public sealed class BSCharacter : BSPhysObject | |||
332 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() | 417 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() |
333 | { | 418 | { |
334 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 419 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
335 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 420 | if (PhysBody.HasPhysicalBody) |
421 | PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); | ||
336 | }); | 422 | }); |
337 | ret = true; | 423 | ret = true; |
338 | } | 424 | } |
@@ -345,10 +431,10 @@ public sealed class BSCharacter : BSPhysObject | |||
345 | public override float RawMass { | 431 | public override float RawMass { |
346 | get {return _mass; } | 432 | get {return _mass; } |
347 | } | 433 | } |
348 | public override void UpdatePhysicalMassProperties(float physMass) | 434 | public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) |
349 | { | 435 | { |
350 | OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); | 436 | OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); |
351 | BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); | 437 | PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); |
352 | } | 438 | } |
353 | 439 | ||
354 | public override OMV.Vector3 Force { | 440 | public override OMV.Vector3 Force { |
@@ -359,7 +445,8 @@ public sealed class BSCharacter : BSPhysObject | |||
359 | PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() | 445 | PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() |
360 | { | 446 | { |
361 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); | 447 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); |
362 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | 448 | if (PhysBody.HasPhysicalBody) |
449 | PhysicsScene.PE.SetObjectForce(PhysBody, _force); | ||
363 | }); | 450 | }); |
364 | } | 451 | } |
365 | } | 452 | } |
@@ -376,6 +463,31 @@ public sealed class BSCharacter : BSPhysObject | |||
376 | 463 | ||
377 | public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } | 464 | public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } |
378 | public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } | 465 | public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } |
466 | |||
467 | // Sets the target in the motor. This starts the changing of the avatar's velocity. | ||
468 | public override OMV.Vector3 TargetVelocity | ||
469 | { | ||
470 | get | ||
471 | { | ||
472 | return _velocityMotor.TargetValue; | ||
473 | } | ||
474 | set | ||
475 | { | ||
476 | DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); | ||
477 | OMV.Vector3 targetVel = value; | ||
478 | if (_setAlwaysRun) | ||
479 | targetVel *= BSParam.AvatarAlwaysRunFactor; | ||
480 | |||
481 | PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() | ||
482 | { | ||
483 | _velocityMotor.Reset(); | ||
484 | _velocityMotor.SetTarget(targetVel); | ||
485 | _velocityMotor.SetCurrent(_velocity); | ||
486 | _velocityMotor.Enabled = true; | ||
487 | }); | ||
488 | } | ||
489 | } | ||
490 | // Directly setting velocity means this is what the user really wants now. | ||
379 | public override OMV.Vector3 Velocity { | 491 | public override OMV.Vector3 Velocity { |
380 | get { return _velocity; } | 492 | get { return _velocity; } |
381 | set { | 493 | set { |
@@ -383,6 +495,12 @@ public sealed class BSCharacter : BSPhysObject | |||
383 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); | 495 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); |
384 | PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() | 496 | PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() |
385 | { | 497 | { |
498 | _velocityMotor.Reset(); | ||
499 | _velocityMotor.SetCurrent(_velocity); | ||
500 | _velocityMotor.SetTarget(_velocity); | ||
501 | // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar. | ||
502 | _velocityMotor.Enabled = false; | ||
503 | |||
386 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); | 504 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); |
387 | ForceVelocity = _velocity; | 505 | ForceVelocity = _velocity; |
388 | }); | 506 | }); |
@@ -391,30 +509,32 @@ public sealed class BSCharacter : BSPhysObject | |||
391 | public override OMV.Vector3 ForceVelocity { | 509 | public override OMV.Vector3 ForceVelocity { |
392 | get { return _velocity; } | 510 | get { return _velocity; } |
393 | set { | 511 | set { |
512 | PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); | ||
513 | |||
514 | _velocity = value; | ||
394 | // Depending on whether the avatar is moving or not, change the friction | 515 | // Depending on whether the avatar is moving or not, change the friction |
395 | // to keep the avatar from slipping around | 516 | // to keep the avatar from slipping around |
396 | if (_velocity.Length() == 0) | 517 | if (_velocity.Length() == 0) |
397 | { | 518 | { |
398 | if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) | 519 | if (_currentFriction != BSParam.AvatarStandingFriction) |
399 | { | 520 | { |
400 | _currentFriction = PhysicsScene.Params.avatarStandingFriction; | 521 | _currentFriction = BSParam.AvatarStandingFriction; |
401 | BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); | 522 | if (PhysBody.HasPhysicalBody) |
523 | PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); | ||
402 | } | 524 | } |
403 | } | 525 | } |
404 | else | 526 | else |
405 | { | 527 | { |
406 | if (_currentFriction != PhysicsScene.Params.avatarFriction) | 528 | if (_currentFriction != BSParam.AvatarFriction) |
407 | { | 529 | { |
408 | _currentFriction = PhysicsScene.Params.avatarFriction; | 530 | _currentFriction = BSParam.AvatarFriction; |
409 | BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); | 531 | if (PhysBody.HasPhysicalBody) |
532 | PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); | ||
410 | } | 533 | } |
411 | } | 534 | } |
412 | _velocity = value; | ||
413 | // Remember the set velocity so we can suppress the reduction by friction, ... | ||
414 | _appliedVelocity = value; | ||
415 | 535 | ||
416 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | 536 | PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); |
417 | BulletSimAPI.Activate2(PhysBody.ptr, true); | 537 | PhysicsScene.PE.Activate(PhysBody, true); |
418 | } | 538 | } |
419 | } | 539 | } |
420 | public override OMV.Vector3 Torque { | 540 | public override OMV.Vector3 Torque { |
@@ -439,13 +559,16 @@ public sealed class BSCharacter : BSPhysObject | |||
439 | public override OMV.Quaternion Orientation { | 559 | public override OMV.Quaternion Orientation { |
440 | get { return _orientation; } | 560 | get { return _orientation; } |
441 | set { | 561 | set { |
442 | _orientation = value; | 562 | // Orientation is set zillions of times when an avatar is walking. It's like |
443 | // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); | 563 | // the viewer doesn't trust us. |
444 | PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() | 564 | if (_orientation != value) |
445 | { | 565 | { |
446 | // _position = BulletSimAPI.GetPosition2(BSBody.ptr); | 566 | _orientation = value; |
447 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 567 | PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() |
448 | }); | 568 | { |
569 | ForceOrientation = _orientation; | ||
570 | }); | ||
571 | } | ||
449 | } | 572 | } |
450 | } | 573 | } |
451 | // Go directly to Bullet to get/set the value. | 574 | // Go directly to Bullet to get/set the value. |
@@ -453,13 +576,17 @@ public sealed class BSCharacter : BSPhysObject | |||
453 | { | 576 | { |
454 | get | 577 | get |
455 | { | 578 | { |
456 | _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); | 579 | _orientation = PhysicsScene.PE.GetOrientation(PhysBody); |
457 | return _orientation; | 580 | return _orientation; |
458 | } | 581 | } |
459 | set | 582 | set |
460 | { | 583 | { |
461 | _orientation = value; | 584 | _orientation = value; |
462 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 585 | if (PhysBody.HasPhysicalBody) |
586 | { | ||
587 | // _position = PhysicsScene.PE.GetPosition(BSBody); | ||
588 | PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); | ||
589 | } | ||
463 | } | 590 | } |
464 | } | 591 | } |
465 | public override int PhysicsActorType { | 592 | public override int PhysicsActorType { |
@@ -482,6 +609,7 @@ public sealed class BSCharacter : BSPhysObject | |||
482 | get { return _flying; } | 609 | get { return _flying; } |
483 | set { | 610 | set { |
484 | _flying = value; | 611 | _flying = value; |
612 | |||
485 | // simulate flying by changing the effect of gravity | 613 | // simulate flying by changing the effect of gravity |
486 | Buoyancy = ComputeBuoyancyFromFlying(_flying); | 614 | Buoyancy = ComputeBuoyancyFromFlying(_flying); |
487 | } | 615 | } |
@@ -500,27 +628,18 @@ public sealed class BSCharacter : BSPhysObject | |||
500 | get { return _throttleUpdates; } | 628 | get { return _throttleUpdates; } |
501 | set { _throttleUpdates = value; } | 629 | set { _throttleUpdates = value; } |
502 | } | 630 | } |
503 | public override bool IsColliding { | ||
504 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | ||
505 | set { _isColliding = value; } | ||
506 | } | ||
507 | public override bool CollidingGround { | ||
508 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } | ||
509 | set { CollidingGround = value; } | ||
510 | } | ||
511 | public override bool CollidingObj { | ||
512 | get { return _collidingObj; } | ||
513 | set { _collidingObj = value; } | ||
514 | } | ||
515 | public override bool FloatOnWater { | 631 | public override bool FloatOnWater { |
516 | set { | 632 | set { |
517 | _floatOnWater = value; | 633 | _floatOnWater = value; |
518 | PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() | 634 | PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() |
519 | { | 635 | { |
520 | if (_floatOnWater) | 636 | if (PhysBody.HasPhysicalBody) |
521 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | 637 | { |
522 | else | 638 | if (_floatOnWater) |
523 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | 639 | CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); |
640 | else | ||
641 | CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); | ||
642 | } | ||
524 | }); | 643 | }); |
525 | } | 644 | } |
526 | } | 645 | } |
@@ -549,11 +668,15 @@ public sealed class BSCharacter : BSPhysObject | |||
549 | } | 668 | } |
550 | public override float ForceBuoyancy { | 669 | public override float ForceBuoyancy { |
551 | get { return _buoyancy; } | 670 | get { return _buoyancy; } |
552 | set { _buoyancy = value; | 671 | set { |
672 | PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); | ||
673 | |||
674 | _buoyancy = value; | ||
553 | DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | 675 | DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
554 | // Buoyancy is faked by changing the gravity applied to the object | 676 | // Buoyancy is faked by changing the gravity applied to the object |
555 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); | 677 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); |
556 | BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); | 678 | if (PhysBody.HasPhysicalBody) |
679 | PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav)); | ||
557 | } | 680 | } |
558 | } | 681 | } |
559 | 682 | ||
@@ -589,24 +712,40 @@ public sealed class BSCharacter : BSPhysObject | |||
589 | public override float APIDStrength { set { return; } } | 712 | public override float APIDStrength { set { return; } } |
590 | public override float APIDDamping { set { return; } } | 713 | public override float APIDDamping { set { return; } } |
591 | 714 | ||
592 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | 715 | public override void AddForce(OMV.Vector3 force, bool pushforce) |
716 | { | ||
717 | // Since this force is being applied in only one step, make this a force per second. | ||
718 | OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; | ||
719 | AddForce(addForce, pushforce, false); | ||
720 | } | ||
721 | private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { | ||
593 | if (force.IsFinite()) | 722 | if (force.IsFinite()) |
594 | { | 723 | { |
595 | _force.X += force.X; | 724 | float magnitude = force.Length(); |
596 | _force.Y += force.Y; | 725 | if (magnitude > BSParam.MaxAddForceMagnitude) |
597 | _force.Z += force.Z; | ||
598 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); | ||
599 | PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() | ||
600 | { | 726 | { |
601 | DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); | 727 | // Force has a limit |
602 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | 728 | force = force / magnitude * BSParam.MaxAddForceMagnitude; |
729 | } | ||
730 | |||
731 | OMV.Vector3 addForce = force; | ||
732 | // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); | ||
733 | |||
734 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() | ||
735 | { | ||
736 | // Bullet adds this central force to the total force for this tick | ||
737 | // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); | ||
738 | if (PhysBody.HasPhysicalBody) | ||
739 | { | ||
740 | PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); | ||
741 | } | ||
603 | }); | 742 | }); |
604 | } | 743 | } |
605 | else | 744 | else |
606 | { | 745 | { |
607 | m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); | 746 | m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID); |
747 | return; | ||
608 | } | 748 | } |
609 | //m_lastUpdateSent = false; | ||
610 | } | 749 | } |
611 | 750 | ||
612 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | 751 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |
@@ -614,24 +753,31 @@ public sealed class BSCharacter : BSPhysObject | |||
614 | public override void SetMomentum(OMV.Vector3 momentum) { | 753 | public override void SetMomentum(OMV.Vector3 momentum) { |
615 | } | 754 | } |
616 | 755 | ||
617 | private void ComputeAvatarScale(OMV.Vector3 size) | 756 | private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) |
618 | { | 757 | { |
619 | // The 'size' given by the simulator is the mid-point of the avatar | 758 | OMV.Vector3 newScale; |
620 | // and X and Y are unspecified. | 759 | |
621 | 760 | // Bullet's capsule total height is the "passed height + radius * 2"; | |
622 | OMV.Vector3 newScale = size; | 761 | // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1) |
623 | // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; | 762 | // The number we pass in for 'scaling' is the multiplier to get that base |
624 | // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; | 763 | // shape to be the size desired. |
625 | 764 | // So, when creating the scale for the avatar height, we take the passed height | |
626 | // From the total height, remove the capsule half spheres that are at each end | 765 | // (size.Z) and remove the caps. |
627 | // The 1.15f came from ODE. Not sure what this factors in. | 766 | // Another oddity of the Bullet capsule implementation is that it presumes the Y |
628 | // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); | 767 | // dimension is the radius of the capsule. Even though some of the code allows |
768 | // for a asymmetrical capsule, other parts of the code presume it is cylindrical. | ||
769 | |||
770 | // Scale is multiplier of radius with one of "0.5" | ||
771 | newScale.X = size.X / 2f; | ||
772 | newScale.Y = size.Y / 2f; | ||
629 | 773 | ||
630 | // The total scale height is the central cylindar plus the caps on the two ends. | 774 | // The total scale height is the central cylindar plus the caps on the two ends. |
631 | newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f); | 775 | newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f; |
776 | // If smaller than the endcaps, just fake like we're almost that small | ||
777 | if (newScale.Z < 0) | ||
778 | newScale.Z = 0.1f; | ||
632 | 779 | ||
633 | // Convert diameters to radii and height to half height -- the way Bullet expects it. | 780 | return newScale; |
634 | Scale = newScale / 2f; | ||
635 | } | 781 | } |
636 | 782 | ||
637 | // set _avatarVolume and _mass based on capsule size, _density and Scale | 783 | // set _avatarVolume and _mass based on capsule size, _density and Scale |
@@ -639,14 +785,14 @@ public sealed class BSCharacter : BSPhysObject | |||
639 | { | 785 | { |
640 | _avatarVolume = (float)( | 786 | _avatarVolume = (float)( |
641 | Math.PI | 787 | Math.PI |
642 | * Scale.X | 788 | * Size.X / 2f |
643 | * Scale.Y // the area of capsule cylinder | 789 | * Size.Y / 2f // the area of capsule cylinder |
644 | * Scale.Z // times height of capsule cylinder | 790 | * Size.Z // times height of capsule cylinder |
645 | + 1.33333333f | 791 | + 1.33333333f |
646 | * Math.PI | 792 | * Math.PI |
647 | * Scale.X | 793 | * Size.X / 2f |
648 | * Math.Min(Scale.X, Scale.Y) | 794 | * Math.Min(Size.X, Size.Y) / 2 |
649 | * Scale.Y // plus the volume of the capsule end caps | 795 | * Size.Y / 2f // plus the volume of the capsule end caps |
650 | ); | 796 | ); |
651 | _mass = _avatarDensity * _avatarVolume; | 797 | _mass = _avatarDensity * _avatarVolume; |
652 | } | 798 | } |
@@ -660,6 +806,7 @@ public sealed class BSCharacter : BSPhysObject | |||
660 | _velocity = entprop.Velocity; | 806 | _velocity = entprop.Velocity; |
661 | _acceleration = entprop.Acceleration; | 807 | _acceleration = entprop.Acceleration; |
662 | _rotationalVelocity = entprop.RotationalVelocity; | 808 | _rotationalVelocity = entprop.RotationalVelocity; |
809 | |||
663 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. | 810 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. |
664 | PositionSanityCheck(true); | 811 | PositionSanityCheck(true); |
665 | 812 | ||
@@ -667,17 +814,8 @@ public sealed class BSCharacter : BSPhysObject | |||
667 | LastEntityProperties = CurrentEntityProperties; | 814 | LastEntityProperties = CurrentEntityProperties; |
668 | CurrentEntityProperties = entprop; | 815 | CurrentEntityProperties = entprop; |
669 | 816 | ||
670 | if (entprop.Velocity != LastEntityProperties.Velocity) | ||
671 | { | ||
672 | // Changes in the velocity are suppressed in avatars. | ||
673 | // That's just the way they are defined. | ||
674 | OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z); | ||
675 | _velocity = avVel; | ||
676 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); | ||
677 | } | ||
678 | |||
679 | // Tell the linkset about value changes | 817 | // Tell the linkset about value changes |
680 | Linkset.UpdateProperties(this); | 818 | Linkset.UpdateProperties(this, true); |
681 | 819 | ||
682 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. | 820 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
683 | // base.RequestPhysicsterseUpdate(); | 821 | // base.RequestPhysicsterseUpdate(); |