aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
diff options
context:
space:
mode:
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs1424
1 files changed, 1424 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..0c79aa6
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -0,0 +1,1424 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using OpenMetaverse;
32using Ode.NET;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using log4net;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 /// <summary>
40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
41 /// </summary>
42
43 public enum dParam : int
44 {
45 LowStop = 0,
46 HiStop = 1,
47 Vel = 2,
48 FMax = 3,
49 FudgeFactor = 4,
50 Bounce = 5,
51 CFM = 6,
52 StopERP = 7,
53 StopCFM = 8,
54 LoStop2 = 256,
55 HiStop2 = 257,
56 Vel2 = 258,
57 FMax2 = 259,
58 StopERP2 = 7 + 256,
59 StopCFM2 = 8 + 256,
60 LoStop3 = 512,
61 HiStop3 = 513,
62 Vel3 = 514,
63 FMax3 = 515,
64 StopERP3 = 7 + 512,
65 StopCFM3 = 8 + 512
66 }
67 public class OdeCharacter : PhysicsActor
68 {
69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
70
71 private Vector3 _position;
72 private d.Vector3 _zeroPosition;
73 // private d.Matrix3 m_StandUpRotation;
74 private bool _zeroFlag = false;
75 private bool m_lastUpdateSent = false;
76 private Vector3 _velocity;
77 private Vector3 _target_velocity;
78 private Vector3 _acceleration;
79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f;
81 public float m_density = 60f;
82 private bool m_pidControllerActive = true;
83 public float PID_D = 800.0f;
84 public float PID_P = 900.0f;
85 //private static float POSTURE_SERVO = 10000.0f;
86 public float CAPSULE_RADIUS = 0.37f;
87 public float CAPSULE_LENGTH = 2.140599f;
88 public float m_tensor = 3800000f;
89 public float heightFudgeFactor = 0.52f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool jumping = false; // add for jumping
94 private bool m_iscolliding = false;
95 private bool m_iscollidingGround = false;
96 private bool m_wascolliding = false;
97 private bool m_wascollidingGround = false;
98 private bool m_iscollidingObj = false;
99 private bool m_alwaysRun = false;
100 private bool m_hackSentFall = false;
101 private bool m_hackSentFly = false;
102 private int m_requestedUpdateFrequency = 0;
103 private Vector3 m_taintPosition = Vector3.Zero;
104 public uint m_localID = 0;
105 public bool m_returnCollisions = false;
106 // taints and their non-tainted counterparts
107 public bool m_isPhysical = false; // the current physical status
108 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
109 public float MinimumGroundFlightOffset = 3f;
110
111 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
112 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
113
114
115 private float m_buoyancy = 0f;
116
117 // private CollisionLocker ode;
118
119 private string m_name = String.Empty;
120
121 private bool[] m_colliderarr = new bool[11];
122 private bool[] m_colliderGroundarr = new bool[11];
123
124 // Default we're a Character
125 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
126
127 // Default, Collide with Other Geometries, spaces, bodies and characters.
128 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
129 | CollisionCategories.Space
130 | CollisionCategories.Body
131 | CollisionCategories.Character
132 | CollisionCategories.Land);
133 public IntPtr Body = IntPtr.Zero;
134 private OdeScene _parent_scene;
135 public IntPtr Shell = IntPtr.Zero;
136 public IntPtr Amotor = IntPtr.Zero;
137 public d.Mass ShellMass;
138 public bool collidelock = false;
139
140 public int m_eventsubscription = 0;
141 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
142
143 // unique UUID of this character object
144 public UUID m_uuid;
145 public bool bad = false;
146
147 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
148 {
149 m_uuid = UUID.Random();
150
151 if (pos.IsFinite())
152 {
153 if (pos.Z > 9999999f)
154 {
155 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
156 }
157 if (pos.Z < -90000f)
158 {
159 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
160 }
161 _position = pos;
162 m_taintPosition.X = pos.X;
163 m_taintPosition.Y = pos.Y;
164 m_taintPosition.Z = pos.Z;
165 }
166 else
167 {
168 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
169 m_taintPosition.X = _position.X;
170 m_taintPosition.Y = _position.Y;
171 m_taintPosition.Z = _position.Z;
172 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
173 }
174
175 _parent_scene = parent_scene;
176
177 PID_D = pid_d;
178 PID_P = pid_p;
179 CAPSULE_RADIUS = capsule_radius;
180 m_tensor = tensor;
181 m_density = density;
182 heightFudgeFactor = height_fudge_factor;
183 walkDivisor = walk_divisor;
184 runDivisor = rundivisor;
185
186 // m_StandUpRotation =
187 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
188 // 0.5f);
189
190 for (int i = 0; i < 11; i++)
191 {
192 m_colliderarr[i] = false;
193 }
194 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
195 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
196 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
197
198 m_isPhysical = false; // current status: no ODE information exists
199 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
200
201 _parent_scene.AddPhysicsActorTaint(this);
202
203 m_name = avName;
204 }
205
206 public override int PhysicsActorType
207 {
208 get { return (int) ActorTypes.Agent; }
209 set { return; }
210 }
211
212 /// <summary>
213 /// If this is set, the avatar will move faster
214 /// </summary>
215 public override bool SetAlwaysRun
216 {
217 get { return m_alwaysRun; }
218 set { m_alwaysRun = value; }
219 }
220
221 public override uint LocalID
222 {
223 set { m_localID = value; }
224 }
225
226 public override bool Grabbed
227 {
228 set { return; }
229 }
230
231 public override bool Selected
232 {
233// set { return; }
234 set { jumping = value; } // add for jumping flag
235 }
236
237 public override float Buoyancy
238 {
239 get { return m_buoyancy; }
240 set { m_buoyancy = value; }
241 }
242
243 public override bool FloatOnWater
244 {
245 set { return; }
246 }
247
248 public override bool IsPhysical
249 {
250 get { return false; }
251 set { return; }
252 }
253
254 public override bool ThrottleUpdates
255 {
256 get { return false; }
257 set { return; }
258 }
259
260 public override bool Flying
261 {
262 get { return flying; }
263 set { flying = value; }
264 }
265
266 /// <summary>
267 /// Returns if the avatar is colliding in general.
268 /// This includes the ground and objects and avatar.
269 /// </summary>
270 public override bool IsColliding
271 {
272 get { return m_iscolliding; }
273 set
274 {
275 int i;
276 int truecount = 0;
277 int falsecount = 0;
278
279 if (m_colliderarr.Length >= 10)
280 {
281 for (i = 0; i < 10; i++)
282 {
283 m_colliderarr[i] = m_colliderarr[i + 1];
284 }
285 }
286 m_colliderarr[10] = value;
287
288 for (i = 0; i < 11; i++)
289 {
290 if (m_colliderarr[i])
291 {
292 truecount++;
293 }
294 else
295 {
296 falsecount++;
297 }
298 }
299
300 // Equal truecounts and false counts means we're colliding with something.
301
302 if (falsecount > 1.2*truecount)
303 {
304 m_iscolliding = false;
305 }
306 else
307 {
308 m_iscolliding = true;
309 }
310 if (m_wascolliding != m_iscolliding)
311 {
312 //base.SendCollisionUpdate(new CollisionEventUpdate());
313 }
314 m_wascolliding = m_iscolliding;
315 }
316 }
317
318 /// <summary>
319 /// Returns if an avatar is colliding with the ground
320 /// </summary>
321 public override bool CollidingGround
322 {
323 get { return m_iscollidingGround; }
324 set
325 {
326 // Collisions against the ground are not really reliable
327 // So, to get a consistant value we have to average the current result over time
328 // Currently we use 1 second = 10 calls to this.
329 int i;
330 int truecount = 0;
331 int falsecount = 0;
332
333 if (m_colliderGroundarr.Length >= 10)
334 {
335 for (i = 0; i < 10; i++)
336 {
337 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
338 }
339 }
340 m_colliderGroundarr[10] = value;
341
342 for (i = 0; i < 11; i++)
343 {
344 if (m_colliderGroundarr[i])
345 {
346 truecount++;
347 }
348 else
349 {
350 falsecount++;
351 }
352 }
353
354 // Equal truecounts and false counts means we're colliding with something.
355
356 if (falsecount > 1.2*truecount)
357 {
358 m_iscollidingGround = false;
359 }
360 else
361 {
362 m_iscollidingGround = true;
363 }
364 if (m_wascollidingGround != m_iscollidingGround)
365 {
366 //base.SendCollisionUpdate(new CollisionEventUpdate());
367 }
368 m_wascollidingGround = m_iscollidingGround;
369 }
370 }
371
372 /// <summary>
373 /// Returns if the avatar is colliding with an object
374 /// </summary>
375 public override bool CollidingObj
376 {
377 get { return m_iscollidingObj; }
378 set
379 {
380 m_iscollidingObj = value;
381 if (value)
382 m_pidControllerActive = false;
383 else
384 m_pidControllerActive = true;
385 }
386 }
387
388 /// <summary>
389 /// turn the PID controller on or off.
390 /// The PID Controller will turn on all by itself in many situations
391 /// </summary>
392 /// <param name="status"></param>
393 public void SetPidStatus(bool status)
394 {
395 m_pidControllerActive = status;
396 }
397
398 public override bool Stopped
399 {
400 get { return _zeroFlag; }
401 }
402
403 /// <summary>
404 /// This 'puts' an avatar somewhere in the physics space.
405 /// Not really a good choice unless you 'know' it's a good
406 /// spot otherwise you're likely to orbit the avatar.
407 /// </summary>
408 public override Vector3 Position
409 {
410 get { return _position; }
411 set
412 {
413 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
414 {
415 if (value.IsFinite())
416 {
417 if (value.Z > 9999999f)
418 {
419 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
420 }
421 if (value.Z < -90000f)
422 {
423 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
424 }
425
426 _position.X = value.X;
427 _position.Y = value.Y;
428 _position.Z = value.Z;
429
430 m_taintPosition.X = value.X;
431 m_taintPosition.Y = value.Y;
432 m_taintPosition.Z = value.Z;
433 _parent_scene.AddPhysicsActorTaint(this);
434 }
435 else
436 {
437 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
438 }
439 }
440 }
441 }
442
443 public override Vector3 RotationalVelocity
444 {
445 get { return m_rotationalVelocity; }
446 set { m_rotationalVelocity = value; }
447 }
448
449 /// <summary>
450 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
451 /// and use it to offset landings properly
452 /// </summary>
453 public override Vector3 Size
454 {
455 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
456 set
457 {
458 if (value.IsFinite())
459 {
460 m_pidControllerActive = true;
461
462 Vector3 SetSize = value;
463 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
464 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
465
466 Velocity = Vector3.Zero;
467
468 _parent_scene.AddPhysicsActorTaint(this);
469 }
470 else
471 {
472 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
473 }
474 }
475 }
476
477 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
478 {
479 movementVector.Z = 0f;
480 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
481 if (magnitude < 0.1f) return;
482
483 // normalize the velocity vector
484 float invMagnitude = 1.0f / magnitude;
485 movementVector.X *= invMagnitude;
486 movementVector.Y *= invMagnitude;
487
488 // if we change the capsule heading too often, the capsule can fall down
489 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
490 // meaning only 4 possible capsule tilt orientations
491 if (movementVector.X > 0)
492 {
493 // east
494 if (movementVector.Y > 0)
495 {
496 // northeast
497 movementVector.X = (float)Math.Sqrt(2.0);
498 movementVector.Y = (float)Math.Sqrt(2.0);
499 }
500 else
501 {
502 // southeast
503 movementVector.X = (float)Math.Sqrt(2.0);
504 movementVector.Y = -(float)Math.Sqrt(2.0);
505 }
506 }
507 else
508 {
509 // west
510 if (movementVector.Y > 0)
511 {
512 // northwest
513 movementVector.X = -(float)Math.Sqrt(2.0);
514 movementVector.Y = (float)Math.Sqrt(2.0);
515 }
516 else
517 {
518 // southwest
519 movementVector.X = -(float)Math.Sqrt(2.0);
520 movementVector.Y = -(float)Math.Sqrt(2.0);
521 }
522 }
523
524
525 // movementVector.Z is zero
526
527 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
528 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
529 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
530 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
531
532 //m_log.Debug("[PHYSICS] changing avatar tilt");
533 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
534 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
535 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
536 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
537 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
538 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
539 }
540
541 /// <summary>
542 /// This creates the Avatar's physical Surrogate at the position supplied
543 /// </summary>
544 /// <param name="npositionX"></param>
545 /// <param name="npositionY"></param>
546 /// <param name="npositionZ"></param>
547
548 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
549 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
550 // place that is safe to call this routine AvatarGeomAndBodyCreation.
551 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
552 {
553 //CAPSULE_LENGTH = -5;
554 //CAPSULE_RADIUS = -5;
555 int dAMotorEuler = 1;
556 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
557 if (CAPSULE_LENGTH <= 0)
558 {
559 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
560 CAPSULE_LENGTH = 0.01f;
561
562 }
563
564 if (CAPSULE_RADIUS <= 0)
565 {
566 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
567 CAPSULE_RADIUS = 0.01f;
568
569 }
570
571 if(Shell != IntPtr.Zero)
572 {
573 try
574 {
575 d.GeomDestroy(Shell);
576 }
577 catch (System.AccessViolationException)
578 {
579 m_log.Error("[PHYSICS]: PrimGeom dead");
580 }
581 // Remove any old entries
582//string tShell;
583//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
584//Console.WriteLine("**** Remove {0}", tShell);
585 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
586 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
587 }
588
589 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
590 _parent_scene.geom_name_map[Shell] = m_name;
591 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
592//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name);
593
594 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
595 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
596
597 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
598 Body = d.BodyCreate(_parent_scene.world);
599 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
600
601 _position.X = npositionX;
602 _position.Y = npositionY;
603 _position.Z = npositionZ;
604
605
606 m_taintPosition.X = npositionX;
607 m_taintPosition.Y = npositionY;
608 m_taintPosition.Z = npositionZ;
609
610 d.BodySetMass(Body, ref ShellMass);
611 d.Matrix3 m_caprot;
612 // 90 Stand up on the cap of the capped cyllinder
613 if (_parent_scene.IsAvCapsuleTilted)
614 {
615 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
616 }
617 else
618 {
619 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
620 }
621
622
623 d.GeomSetRotation(Shell, ref m_caprot);
624 d.BodySetRotation(Body, ref m_caprot);
625
626 d.GeomSetBody(Shell, Body);
627
628
629 // The purpose of the AMotor here is to keep the avatar's physical
630 // surrogate from rotating while moving
631 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
632 d.JointAttach(Amotor, Body, IntPtr.Zero);
633 d.JointSetAMotorMode(Amotor, dAMotorEuler);
634 d.JointSetAMotorNumAxes(Amotor, 3);
635 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
636 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
637 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
638 d.JointSetAMotorAngle(Amotor, 0, 0);
639 d.JointSetAMotorAngle(Amotor, 1, 0);
640 d.JointSetAMotorAngle(Amotor, 2, 0);
641
642 // These lowstops and high stops are effectively (no wiggle room)
643 if (_parent_scene.IsAvCapsuleTilted)
644 {
645 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
646 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
647 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
648 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
649 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
650 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
651 }
652 else
653 {
654 #region Documentation of capsule motor LowStop and HighStop parameters
655 // Intentionally introduce some tilt into the capsule by setting
656 // the motor stops to small epsilon values. This small tilt prevents
657 // the capsule from falling into the terrain; a straight-up capsule
658 // (with -0..0 motor stops) falls into the terrain for reasons yet
659 // to be comprehended in their entirety.
660 #endregion
661 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
662 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
663 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
664 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
665 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
666 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
667 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
668 }
669
670 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
671 // capped cyllinder will fall over
672 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
673 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
674
675 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
676 //d.QfromR(
677 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
678 //
679 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
680 //standupStraight();
681 }
682
683 //
684 /// <summary>
685 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
686 /// This may be used in calculations in the scene/scenepresence
687 /// </summary>
688 public override float Mass
689 {
690 get
691 {
692 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
693 return m_density*AVvolume;
694 }
695 }
696 public override void link(PhysicsActor obj)
697 {
698
699 }
700
701 public override void delink()
702 {
703
704 }
705
706 public override void LockAngularMotion(Vector3 axis)
707 {
708
709 }
710
711// This code is very useful. Written by DanX0r. We're just not using it right now.
712// Commented out to prevent a warning.
713//
714// private void standupStraight()
715// {
716// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
717// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
718// // change appearance and when you enter the simulator
719// // After this routine is done, the amotor stabilizes much quicker
720// d.Vector3 feet;
721// d.Vector3 head;
722// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
723// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
724// float posture = head.Z - feet.Z;
725
726// // restoring force proportional to lack of posture:
727// float servo = (2.5f - posture) * POSTURE_SERVO;
728// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
729// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
730// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
731// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
732// }
733
734 public override Vector3 Force
735 {
736 get { return _target_velocity; }
737 set { return; }
738 }
739
740 public override int VehicleType
741 {
742 get { return 0; }
743 set { return; }
744 }
745
746 public override void VehicleFloatParam(int param, float value)
747 {
748
749 }
750
751 public override void VehicleVectorParam(int param, Vector3 value)
752 {
753
754 }
755
756 public override void VehicleRotationParam(int param, Quaternion rotation)
757 {
758
759 }
760
761 public override void VehicleFlags(int flags, bool remove)
762 {
763 }
764
765 public override void SetVolumeDetect(int param)
766 {
767
768 }
769
770 public override Vector3 CenterOfMass
771 {
772 get { return Vector3.Zero; }
773 }
774
775 public override Vector3 GeometricCenter
776 {
777 get { return Vector3.Zero; }
778 }
779
780 public override PrimitiveBaseShape Shape
781 {
782 set { return; }
783 }
784
785 public override Vector3 Velocity
786 {
787 get {
788 // There's a problem with Vector3.Zero! Don't Use it Here!
789 if (_zeroFlag)
790 return Vector3.Zero;
791 m_lastUpdateSent = false;
792 return _velocity;
793 }
794 set
795 {
796 if (value.IsFinite())
797 {
798 m_pidControllerActive = true;
799 _target_velocity = value;
800 }
801 else
802 {
803 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
804 }
805 }
806 }
807
808 public override Vector3 Torque
809 {
810 get { return Vector3.Zero; }
811 set { return; }
812 }
813
814 public override float CollisionScore
815 {
816 get { return 0f; }
817 set { }
818 }
819
820 public override bool Kinematic
821 {
822 get { return false; }
823 set { }
824 }
825
826 public override Quaternion Orientation
827 {
828 get { return Quaternion.Identity; }
829 set {
830 //Matrix3 or = Orientation.ToRotationMatrix();
831 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
832 //d.BodySetRotation(Body, ref ord);
833 }
834 }
835
836 public override Vector3 Acceleration
837 {
838 get { return _acceleration; }
839 }
840
841 public void SetAcceleration(Vector3 accel)
842 {
843 m_pidControllerActive = true;
844 _acceleration = accel;
845 }
846
847 /// <summary>
848 /// Adds the force supplied to the Target Velocity
849 /// The PID controller takes this target velocity and tries to make it a reality
850 /// </summary>
851 /// <param name="force"></param>
852 public override void AddForce(Vector3 force, bool pushforce)
853 {
854 if (force.IsFinite())
855 {
856 if (pushforce)
857 {
858 m_pidControllerActive = false;
859 force *= 100f;
860 doForce(force);
861 // If uncommented, things get pushed off world
862 //
863 // m_log.Debug("Push!");
864 // _target_velocity.X += force.X;
865 // _target_velocity.Y += force.Y;
866 // _target_velocity.Z += force.Z;
867 }
868 else
869 {
870 m_pidControllerActive = true;
871 _target_velocity.X += force.X;
872 _target_velocity.Y += force.Y;
873 _target_velocity.Z += force.Z;
874 }
875 }
876 else
877 {
878 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
879 }
880 //m_lastUpdateSent = false;
881 }
882
883 public override void AddAngularForce(Vector3 force, bool pushforce)
884 {
885
886 }
887
888 /// <summary>
889 /// After all of the forces add up with 'add force' we apply them with doForce
890 /// </summary>
891 /// <param name="force"></param>
892 public void doForce(Vector3 force)
893 {
894 if (!collidelock)
895 {
896 d.BodyAddForce(Body, force.X, force.Y, force.Z);
897 //d.BodySetRotation(Body, ref m_StandUpRotation);
898 //standupStraight();
899
900 }
901 }
902
903 public override void SetMomentum(Vector3 momentum)
904 {
905 }
906
907
908 /// <summary>
909 /// Called from Simulate
910 /// This is the avatar's movement control + PID Controller
911 /// </summary>
912 /// <param name="timeStep"></param>
913 public void Move(float timeStep, List<OdeCharacter> defects)
914 {
915 // no lock; for now it's only called from within Simulate()
916
917 // If the PID Controller isn't active then we set our force
918 // calculating base velocity to the current position
919
920 if (Body == IntPtr.Zero)
921 return;
922
923 if (m_pidControllerActive == false)
924 {
925 _zeroPosition = d.BodyGetPosition(Body);
926 }
927 //PidStatus = true;
928
929 d.Vector3 localpos = d.BodyGetPosition(Body);
930 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
931
932 if (!localPos.IsFinite())
933 {
934
935 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
936 defects.Add(this);
937 // _parent_scene.RemoveCharacter(this);
938
939 // destroy avatar capsule and related ODE data
940 if (Amotor != IntPtr.Zero)
941 {
942 // Kill the Amotor
943 d.JointDestroy(Amotor);
944 Amotor = IntPtr.Zero;
945 }
946
947 //kill the Geometry
948 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
949
950 if (Body != IntPtr.Zero)
951 {
952 //kill the body
953 d.BodyDestroy(Body);
954
955 Body = IntPtr.Zero;
956 }
957
958 if(Shell != IntPtr.Zero)
959 {
960 try
961 {
962 d.GeomDestroy(Shell);
963 }
964 catch (System.AccessViolationException)
965 {
966 m_log.Error("[PHYSICS]: PrimGeom dead");
967 }
968 // Remove any old entries
969//string tShell;
970//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
971//Console.WriteLine("**** Remove {0}", tShell);
972
973 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
974 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
975 Shell = IntPtr.Zero;
976 }
977
978 return;
979 }
980
981 Vector3 vec = Vector3.Zero;
982 d.Vector3 vel = d.BodyGetLinearVel(Body);
983
984 float movementdivisor = 1f;
985
986 if (!m_alwaysRun)
987 {
988 movementdivisor = walkDivisor;
989 }
990 else
991 {
992 movementdivisor = runDivisor;
993 }
994
995 // if velocity is zero, use position control; otherwise, velocity control
996 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
997 {
998 // keep track of where we stopped. No more slippin' & slidin'
999 if (!_zeroFlag)
1000 {
1001 _zeroFlag = true;
1002 _zeroPosition = d.BodyGetPosition(Body);
1003 }
1004 if (m_pidControllerActive)
1005 {
1006 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1007 // react to the physics scene by moving it's position.
1008 // Avatar to Avatar collisions
1009 // Prim to avatar collisions
1010
1011 d.Vector3 pos = d.BodyGetPosition(Body);
1012 float errX = _zeroPosition.X - pos.X;
1013 float errY = _zeroPosition.Y - pos.Y;
1014 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1015 {
1016 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1017 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1018 }
1019 else
1020 { // close, jump to lateral destination
1021 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1022 }
1023// if (flying)
1024 if (flying || jumping) // add for jumping
1025 {
1026 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1027 }
1028 }
1029 //PidStatus = true;
1030 }
1031 else
1032 {
1033 m_pidControllerActive = true;
1034 _zeroFlag = false;
1035 if (m_iscolliding && !flying)
1036 {
1037 // We're standing on something
1038 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1039 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1040 }
1041 else if (m_iscolliding && flying)
1042 {
1043 // We're flying and colliding with something
1044 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1045 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1046 }
1047 else if (!m_iscolliding && flying)
1048 {
1049 // we're in mid air suspended
1050 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1051 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1052 }
1053
1054 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1055 {
1056 // We're colliding with something and we're not flying but we're moving
1057 // This means we're walking or running.
1058 d.Vector3 pos = d.BodyGetPosition(Body);
1059 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1060 if (_target_velocity.X > 0)
1061 {
1062 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1063 }
1064 if (_target_velocity.Y > 0)
1065 {
1066 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1067 }
1068 }
1069 else if (!m_iscolliding && !flying)
1070 {
1071 // we're not colliding and we're not flying so that means we're falling!
1072 // m_iscolliding includes collisions with the ground.
1073
1074 // d.Vector3 pos = d.BodyGetPosition(Body);
1075 if (Math.Abs(_target_velocity.X) > 0)
1076 {
1077 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1078 }
1079 if (Math.Abs(_target_velocity.Y) > 0)
1080 {
1081 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1082 }
1083 }
1084
1085 if (flying)
1086 {
1087 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1088 }
1089 }
1090 if (flying)
1091 {
1092 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1093
1094 //Added for auto fly height. Kitto Flora
1095 //d.Vector3 pos = d.BodyGetPosition(Body);
1096 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1097
1098 if (_position.Z < target_altitude)
1099 {
1100 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1101 }
1102 // end add Kitto Flora
1103 }
1104 if (vec.IsFinite())
1105 {
1106 if (!vec.ApproxEquals(Vector3.Zero, 0.01f))
1107 {
1108 doForce(vec);
1109 if (!_zeroFlag)
1110 {
1111 AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1112 }
1113 }
1114 }
1115 else
1116 {
1117 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1118 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1119 defects.Add(this);
1120 // _parent_scene.RemoveCharacter(this);
1121 // destroy avatar capsule and related ODE data
1122 if (Amotor != IntPtr.Zero)
1123 {
1124 // Kill the Amotor
1125 d.JointDestroy(Amotor);
1126 Amotor = IntPtr.Zero;
1127 }
1128 //kill the Geometry
1129 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1130
1131 if (Body != IntPtr.Zero)
1132 {
1133 //kill the body
1134 d.BodyDestroy(Body);
1135
1136 Body = IntPtr.Zero;
1137 }
1138
1139 if(Shell != IntPtr.Zero)
1140 {
1141 try
1142 {
1143 d.GeomDestroy(Shell);
1144 }
1145 catch (System.AccessViolationException)
1146 {
1147 m_log.Error("[PHYSICS]: PrimGeom dead");
1148 }
1149 // Remove any old entries
1150//string tShell;
1151//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1152//Console.WriteLine("**** Remove {0}", tShell);
1153
1154 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1155 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1156 Shell = IntPtr.Zero;
1157 }
1158 }
1159 }
1160
1161 /// <summary>
1162 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1163 /// </summary>
1164 public void UpdatePositionAndVelocity()
1165 {
1166 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1167 d.Vector3 vec;
1168 try
1169 {
1170 vec = d.BodyGetPosition(Body);
1171 }
1172 catch (NullReferenceException)
1173 {
1174 bad = true;
1175 _parent_scene.BadCharacter(this);
1176 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1177 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1178 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1179 }
1180
1181
1182 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1183 if (vec.X < 0.0f) vec.X = 0.0f;
1184 if (vec.Y < 0.0f) vec.Y = 0.0f;
1185 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1186 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1187
1188 _position.X = vec.X;
1189 _position.Y = vec.Y;
1190 _position.Z = vec.Z;
1191
1192 // Did we move last? = zeroflag
1193 // This helps keep us from sliding all over
1194
1195 if (_zeroFlag)
1196 {
1197 _velocity.X = 0.0f;
1198 _velocity.Y = 0.0f;
1199 _velocity.Z = 0.0f;
1200
1201 // Did we send out the 'stopped' message?
1202 if (!m_lastUpdateSent)
1203 {
1204 m_lastUpdateSent = true;
1205 //base.RequestPhysicsterseUpdate();
1206
1207 }
1208 }
1209 else
1210 {
1211 m_lastUpdateSent = false;
1212 try
1213 {
1214 vec = d.BodyGetLinearVel(Body);
1215 }
1216 catch (NullReferenceException)
1217 {
1218 vec.X = _velocity.X;
1219 vec.Y = _velocity.Y;
1220 vec.Z = _velocity.Z;
1221 }
1222 _velocity.X = (vec.X);
1223 _velocity.Y = (vec.Y);
1224
1225 _velocity.Z = (vec.Z);
1226
1227 if (_velocity.Z < -6 && !m_hackSentFall)
1228 {
1229 m_hackSentFall = true;
1230 m_pidControllerActive = false;
1231 }
1232 else if (flying && !m_hackSentFly)
1233 {
1234 //m_hackSentFly = true;
1235 //base.SendCollisionUpdate(new CollisionEventUpdate());
1236 }
1237 else
1238 {
1239 m_hackSentFly = false;
1240 m_hackSentFall = false;
1241 }
1242 }
1243 }
1244
1245 /// <summary>
1246 /// Cleanup the things we use in the scene.
1247 /// </summary>
1248 public void Destroy()
1249 {
1250 m_tainted_isPhysical = false;
1251 _parent_scene.AddPhysicsActorTaint(this);
1252 }
1253
1254 public override void CrossingFailure()
1255 {
1256 }
1257
1258 public override Vector3 PIDTarget { set { return; } }
1259 public override bool PIDActive { set { return; } }
1260 public override float PIDTau { set { return; } }
1261
1262 public override float PIDHoverHeight { set { return; } }
1263 public override bool PIDHoverActive { set { return; } }
1264 public override PIDHoverType PIDHoverType { set { return; } }
1265 public override float PIDHoverTau { set { return; } }
1266
1267 public override Quaternion APIDTarget{ set { return; } }
1268
1269 public override bool APIDActive{ set { return; } }
1270
1271 public override float APIDStrength{ set { return; } }
1272
1273 public override float APIDDamping{ set { return; } }
1274
1275
1276 public override void SubscribeEvents(int ms)
1277 {
1278 m_requestedUpdateFrequency = ms;
1279 m_eventsubscription = ms;
1280 _parent_scene.addCollisionEventReporting(this);
1281 }
1282 public override void UnSubscribeEvents()
1283 {
1284 _parent_scene.remCollisionEventReporting(this);
1285 m_requestedUpdateFrequency = 0;
1286 m_eventsubscription = 0;
1287 }
1288 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1289 {
1290 if (m_eventsubscription > 0)
1291 {
1292 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
1293 }
1294 }
1295
1296 public void SendCollisions()
1297 {
1298 if (m_eventsubscription > m_requestedUpdateFrequency)
1299 {
1300 if (CollisionEventsThisFrame != null)
1301 {
1302 base.SendCollisionUpdate(CollisionEventsThisFrame);
1303 }
1304 CollisionEventsThisFrame = new CollisionEventUpdate();
1305 m_eventsubscription = 0;
1306 }
1307 }
1308 public override bool SubscribedEvents()
1309 {
1310 if (m_eventsubscription > 0)
1311 return true;
1312 return false;
1313 }
1314
1315 public void ProcessTaints(float timestep)
1316 {
1317
1318 if (m_tainted_isPhysical != m_isPhysical)
1319 {
1320 if (m_tainted_isPhysical)
1321 {
1322 // Create avatar capsule and related ODE data
1323 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1324 {
1325 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1326 + (Shell!=IntPtr.Zero ? "Shell ":"")
1327 + (Body!=IntPtr.Zero ? "Body ":"")
1328 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1329 }
1330 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1331 _parent_scene.AddCharacter(this);
1332 }
1333 else
1334 {
1335 _parent_scene.RemoveCharacter(this);
1336 // destroy avatar capsule and related ODE data
1337 if (Amotor != IntPtr.Zero)
1338 {
1339 // Kill the Amotor
1340 d.JointDestroy(Amotor);
1341 Amotor = IntPtr.Zero;
1342 }
1343 //kill the Geometry
1344 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1345
1346 if (Body != IntPtr.Zero)
1347 {
1348 //kill the body
1349 d.BodyDestroy(Body);
1350 Body = IntPtr.Zero;
1351 }
1352
1353 if(Shell != IntPtr.Zero)
1354 {
1355 try
1356 {
1357 d.GeomDestroy(Shell);
1358 }
1359 catch (System.AccessViolationException)
1360 {
1361 m_log.Error("[PHYSICS]: PrimGeom dead");
1362 }
1363 // Remove any old entries
1364//string tShell;
1365//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1366//Console.WriteLine("**** Remove {0}", tShell);
1367
1368 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1369 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1370 Shell = IntPtr.Zero;
1371 }
1372 }
1373
1374 m_isPhysical = m_tainted_isPhysical;
1375 }
1376
1377 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1378 {
1379 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1380 {
1381
1382 m_pidControllerActive = true;
1383 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1384 d.JointDestroy(Amotor);
1385 float prevCapsule = CAPSULE_LENGTH;
1386 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1387 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1388 d.BodyDestroy(Body);
1389 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1390 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1391 Velocity = Vector3.Zero;
1392 }
1393 else
1394 {
1395 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1396 + (Shell==IntPtr.Zero ? "Shell ":"")
1397 + (Body==IntPtr.Zero ? "Body ":"")
1398 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1399 }
1400 }
1401
1402 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1403 {
1404 if (Body != IntPtr.Zero)
1405 {
1406 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1407
1408 _position.X = m_taintPosition.X;
1409 _position.Y = m_taintPosition.Y;
1410 _position.Z = m_taintPosition.Z;
1411 }
1412 }
1413
1414 }
1415
1416 internal void AddCollisionFrameTime(int p)
1417 {
1418 // protect it from overflow crashing
1419 if (m_eventsubscription + p >= int.MaxValue)
1420 m_eventsubscription = 0;
1421 m_eventsubscription += p;
1422 }
1423 }
1424}
generated by cgit v1.1 at 2024-12-23 05:26:52 +0000