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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
28/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
29 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
30 * ODEPrim.cs contains methods dealing with Prim editing, Prim
31 * characteristics and Kinetic motion.
32 * ODEDynamics.cs contains methods dealing with Prim Physical motion
33 * (dynamics) and the associated settings. Old Linear and angular
34 * motors for dynamic motion have been replace with MoveLinear()
35 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
36 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
37 * switch between 'VEHICLE' parameter use and general dynamics
38 * settings use.
39 */
40
41// Extensive change Ubit 2012
42
43using System;
44using System.Collections.Generic;
45using System.Reflection;
46using System.Runtime.InteropServices;
47using log4net;
48using OpenMetaverse;
49using OdeAPI;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager;
52
53namespace OpenSim.Region.Physics.OdePlugin
54{
55 public class ODEDynamics
56 {
57 public Vehicle Type
58 {
59 get { return m_type; }
60 }
61
62 private OdePrim rootPrim;
63 private OdeScene _pParentScene;
64
65 // Vehicle properties
66 // WARNING this are working copies for internel use
67 // their values may not be the corresponding parameter
68
69 private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
70 private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
71
72 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
73
74 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
75 // HOVER_TERRAIN_ONLY
76 // HOVER_GLOBAL_HEIGHT
77 // NO_DEFLECTION_UP
78 // HOVER_WATER_ONLY
79 // HOVER_UP_ONLY
80 // LIMIT_MOTOR_UP
81 // LIMIT_ROLL_ONLY
82 private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
83
84 // Linear properties
85 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
86 private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
87 private float m_linearMotorDecayTimescale = 120;
88 private float m_linearMotorTimescale = 1000;
89 private Vector3 m_linearMotorOffset = Vector3.Zero;
90
91 //Angular properties
92 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
93 private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
94 private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
95 private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
96
97 //Deflection properties
98 private float m_angularDeflectionEfficiency = 0;
99 private float m_angularDeflectionTimescale = 1000;
100 private float m_linearDeflectionEfficiency = 0;
101 private float m_linearDeflectionTimescale = 1000;
102
103 //Banking properties
104 private float m_bankingEfficiency = 0;
105 private float m_bankingMix = 0;
106 private float m_bankingTimescale = 1000;
107
108 //Hover and Buoyancy properties
109 private float m_VhoverHeight = 0f;
110 private float m_VhoverEfficiency = 0f;
111 private float m_VhoverTimescale = 1000f;
112 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
113 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
114 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
115 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
116
117 //Attractor properties
118 private float m_verticalAttractionEfficiency = 1.0f; // damped
119 private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
120
121
122 // auxiliar
123 private float m_lmEfect = 0f; // current linear motor eficiency
124 private float m_lmDecay = 0f; // current linear decay
125
126 private float m_amEfect = 0; // current angular motor eficiency
127 private float m_amDecay = 0f; // current linear decay
128
129 private float m_ffactor = 1.0f;
130
131 private float m_timestep = 0.02f;
132 private float m_invtimestep = 50;
133
134
135 float m_ampwr;
136 float m_amdampX;
137 float m_amdampY;
138 float m_amdampZ;
139
140
141 public float FrictionFactor
142 {
143 get
144 {
145 return m_ffactor;
146 }
147 }
148
149
150 public ODEDynamics(OdePrim rootp)
151 {
152 rootPrim = rootp;
153 _pParentScene = rootPrim._parent_scene;
154 m_timestep = _pParentScene.ODE_STEPSIZE;
155 m_invtimestep = 1.0f / m_timestep;
156 }
157
158 public void DoSetVehicle(VehicleData vd)
159 {
160 m_type = vd.m_type;
161 m_flags = vd.m_flags;
162
163
164 // Linear properties
165 m_linearMotorDirection = vd.m_linearMotorDirection;
166
167 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
168 if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
169 if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
170 if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
171
172 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
173 if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
174 m_linearMotorDecayTimescale += 0.2f;
175 m_linearMotorDecayTimescale *= m_invtimestep;
176
177 m_linearMotorTimescale = vd.m_linearMotorTimescale;
178 if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
179
180 m_linearMotorOffset = vd.m_linearMotorOffset;
181
182 //Angular properties
183 m_angularMotorDirection = vd.m_angularMotorDirection;
184 m_angularMotorTimescale = vd.m_angularMotorTimescale;
185 if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep;
186
187 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
188 if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
189 m_angularMotorDecayTimescale *= m_invtimestep;
190
191 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
192 if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
193 if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
194 if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
195
196 //Deflection properties
197 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
198 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
199 if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
200
201 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
202 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
203 if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep;
204
205 //Banking properties
206 m_bankingEfficiency = vd.m_bankingEfficiency;
207 m_bankingMix = vd.m_bankingMix;
208 m_bankingTimescale = vd.m_bankingTimescale;
209 if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep;
210
211 //Hover and Buoyancy properties
212 m_VhoverHeight = vd.m_VhoverHeight;
213 m_VhoverEfficiency = vd.m_VhoverEfficiency;
214 m_VhoverTimescale = vd.m_VhoverTimescale;
215 if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep;
216
217 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
218
219 //Attractor properties
220 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
221 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
222 if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep;
223
224 // Axis
225 m_referenceFrame = vd.m_referenceFrame;
226
227 m_lmEfect = 0;
228 m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
229 m_amEfect = 0;
230 m_ffactor = 1.0f;
231 }
232
233 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
234 {
235 float len;
236
237 switch (pParam)
238 {
239 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
240 if (pValue < 0f) pValue = 0f;
241 if (pValue > 1f) pValue = 1f;
242 m_angularDeflectionEfficiency = pValue;
243 break;
244 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
245 if (pValue < m_timestep) pValue = m_timestep;
246 m_angularDeflectionTimescale = pValue;
247 break;
248 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
249 if (pValue < m_timestep) pValue = m_timestep;
250 else if (pValue > 120) pValue = 120;
251 m_angularMotorDecayTimescale = pValue * m_invtimestep;
252 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
253 break;
254 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
255 if (pValue < m_timestep) pValue = m_timestep;
256 m_angularMotorTimescale = pValue;
257 break;
258 case Vehicle.BANKING_EFFICIENCY:
259 if (pValue < -1f) pValue = -1f;
260 if (pValue > 1f) pValue = 1f;
261 m_bankingEfficiency = pValue;
262 break;
263 case Vehicle.BANKING_MIX:
264 if (pValue < 0f) pValue = 0f;
265 if (pValue > 1f) pValue = 1f;
266 m_bankingMix = pValue;
267 break;
268 case Vehicle.BANKING_TIMESCALE:
269 if (pValue < m_timestep) pValue = m_timestep;
270 m_bankingTimescale = pValue;
271 break;
272 case Vehicle.BUOYANCY:
273 if (pValue < -1f) pValue = -1f;
274 if (pValue > 1f) pValue = 1f;
275 m_VehicleBuoyancy = pValue;
276 break;
277 case Vehicle.HOVER_EFFICIENCY:
278 if (pValue < 0f) pValue = 0f;
279 if (pValue > 1f) pValue = 1f;
280 m_VhoverEfficiency = pValue;
281 break;
282 case Vehicle.HOVER_HEIGHT:
283 m_VhoverHeight = pValue;
284 break;
285 case Vehicle.HOVER_TIMESCALE:
286 if (pValue < m_timestep) pValue = m_timestep;
287 m_VhoverTimescale = pValue;
288 break;
289 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
290 if (pValue < 0f) pValue = 0f;
291 if (pValue > 1f) pValue = 1f;
292 m_linearDeflectionEfficiency = pValue;
293 break;
294 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
295 if (pValue < m_timestep) pValue = m_timestep;
296 m_linearDeflectionTimescale = pValue;
297 break;
298 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
299 if (pValue < m_timestep) pValue = m_timestep;
300 else if (pValue > 120) pValue = 120;
301 m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep;
302 m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
303 break;
304 case Vehicle.LINEAR_MOTOR_TIMESCALE:
305 if (pValue < m_timestep) pValue = m_timestep;
306 m_linearMotorTimescale = pValue;
307 break;
308 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
309 if (pValue < 0f) pValue = 0f;
310 if (pValue > 1f) pValue = 1f;
311 m_verticalAttractionEfficiency = pValue;
312 break;
313 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
314 if (pValue < m_timestep) pValue = m_timestep;
315 m_verticalAttractionTimescale = pValue;
316 break;
317
318 // These are vector properties but the engine lets you use a single float value to
319 // set all of the components to the same value
320 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
321 if (pValue < m_timestep) pValue = m_timestep;
322 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
323 break;
324 case Vehicle.ANGULAR_MOTOR_DIRECTION:
325 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
326 len = m_angularMotorDirection.Length();
327 if (len > 12.566f)
328 m_angularMotorDirection *= (12.566f / len);
329
330 m_amEfect = 1.0f ; // turn it on
331 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
332
333 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
334 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
335 d.BodyEnable(rootPrim.Body);
336 break;
337 case Vehicle.LINEAR_FRICTION_TIMESCALE:
338 if (pValue < m_timestep) pValue = m_timestep;
339 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
340 break;
341 case Vehicle.LINEAR_MOTOR_DIRECTION:
342 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
343 len = m_linearMotorDirection.Length();
344 if (len > 100.0f)
345 m_linearMotorDirection *= (100.0f / len);
346
347 m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
348 m_lmEfect = 1.0f; // turn it on
349
350 m_ffactor = 0.0f;
351 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
352 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
353 d.BodyEnable(rootPrim.Body);
354 break;
355 case Vehicle.LINEAR_MOTOR_OFFSET:
356 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
357 len = m_linearMotorOffset.Length();
358 if (len > 100.0f)
359 m_linearMotorOffset *= (100.0f / len);
360 break;
361 }
362 }//end ProcessFloatVehicleParam
363
364 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
365 {
366 float len;
367
368 switch (pParam)
369 {
370 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
371 if (pValue.X < m_timestep) pValue.X = m_timestep;
372 if (pValue.Y < m_timestep) pValue.Y = m_timestep;
373 if (pValue.Z < m_timestep) pValue.Z = m_timestep;
374
375 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
376 break;
377 case Vehicle.ANGULAR_MOTOR_DIRECTION:
378 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
379 // Limit requested angular speed to 2 rps= 4 pi rads/sec
380 len = m_angularMotorDirection.Length();
381 if (len > 12.566f)
382 m_angularMotorDirection *= (12.566f / len);
383
384 m_amEfect = 1.0f; // turn it on
385 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
386
387 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
388 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
389 d.BodyEnable(rootPrim.Body);
390 break;
391 case Vehicle.LINEAR_FRICTION_TIMESCALE:
392 if (pValue.X < m_timestep) pValue.X = m_timestep;
393 if (pValue.Y < m_timestep) pValue.Y = m_timestep;
394 if (pValue.Z < m_timestep) pValue.Z = m_timestep;
395 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
396 break;
397 case Vehicle.LINEAR_MOTOR_DIRECTION:
398 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
399 len = m_linearMotorDirection.Length();
400 if (len > 100.0f)
401 m_linearMotorDirection *= (100.0f / len);
402
403 m_lmEfect = 1.0f; // turn it on
404 m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
405
406 m_ffactor = 0.0f;
407 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
408 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
409 d.BodyEnable(rootPrim.Body);
410 break;
411 case Vehicle.LINEAR_MOTOR_OFFSET:
412 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
413 len = m_linearMotorOffset.Length();
414 if (len > 100.0f)
415 m_linearMotorOffset *= (100.0f / len);
416 break;
417 case Vehicle.BLOCK_EXIT:
418 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
419 break;
420 }
421 }//end ProcessVectorVehicleParam
422
423 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
424 {
425 switch (pParam)
426 {
427 case Vehicle.REFERENCE_FRAME:
428 // m_referenceFrame = Quaternion.Inverse(pValue);
429 m_referenceFrame = pValue;
430 break;
431 case Vehicle.ROLL_FRAME:
432 m_RollreferenceFrame = pValue;
433 break;
434 }
435 }//end ProcessRotationVehicleParam
436
437 internal void ProcessVehicleFlags(int pParam, bool remove)
438 {
439 if (remove)
440 {
441 m_flags &= ~((VehicleFlag)pParam);
442 }
443 else
444 {
445 m_flags |= (VehicleFlag)pParam;
446 }
447 }//end ProcessVehicleFlags
448
449 internal void ProcessTypeChange(Vehicle pType)
450 {
451 m_lmEfect = 0;
452
453 m_amEfect = 0;
454 m_ffactor = 1f;
455
456 m_linearMotorDirection = Vector3.Zero;
457 m_angularMotorDirection = Vector3.Zero;
458
459 m_BlockingEndPoint = Vector3.Zero;
460 m_RollreferenceFrame = Quaternion.Identity;
461 m_linearMotorOffset = Vector3.Zero;
462
463 m_referenceFrame = Quaternion.Identity;
464
465 // Set Defaults For Type
466 m_type = pType;
467 switch (pType)
468 {
469 case Vehicle.TYPE_NONE:
470 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
471 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
472 m_linearMotorTimescale = 1000;
473 m_linearMotorDecayTimescale = 120 * m_invtimestep;
474 m_angularMotorTimescale = 1000;
475 m_angularMotorDecayTimescale = 1000 * m_invtimestep;
476 m_VhoverHeight = 0;
477 m_VhoverEfficiency = 1;
478 m_VhoverTimescale = 1000;
479 m_VehicleBuoyancy = 0;
480 m_linearDeflectionEfficiency = 0;
481 m_linearDeflectionTimescale = 1000;
482 m_angularDeflectionEfficiency = 0;
483 m_angularDeflectionTimescale = 1000;
484 m_bankingEfficiency = 0;
485 m_bankingMix = 1;
486 m_bankingTimescale = 1000;
487 m_verticalAttractionEfficiency = 0;
488 m_verticalAttractionTimescale = 1000;
489
490 m_flags = (VehicleFlag)0;
491 break;
492
493 case Vehicle.TYPE_SLED:
494 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
495 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
496 m_linearMotorTimescale = 1000;
497 m_linearMotorDecayTimescale = 120 * m_invtimestep;
498 m_angularMotorTimescale = 1000;
499 m_angularMotorDecayTimescale = 120 * m_invtimestep;
500 m_VhoverHeight = 0;
501 m_VhoverEfficiency = 1;
502 m_VhoverTimescale = 10;
503 m_VehicleBuoyancy = 0;
504 m_linearDeflectionEfficiency = 1;
505 m_linearDeflectionTimescale = 1;
506 m_angularDeflectionEfficiency = 0;
507 m_angularDeflectionTimescale = 10;
508 m_verticalAttractionEfficiency = 1;
509 m_verticalAttractionTimescale = 1000;
510 m_bankingEfficiency = 0;
511 m_bankingMix = 1;
512 m_bankingTimescale = 10;
513 m_flags &=
514 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
515 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
516 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
517 VehicleFlag.LIMIT_ROLL_ONLY |
518 VehicleFlag.LIMIT_MOTOR_UP);
519 break;
520
521 case Vehicle.TYPE_CAR:
522 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
523 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
524 m_linearMotorTimescale = 1;
525 m_linearMotorDecayTimescale = 60 * m_invtimestep;
526 m_angularMotorTimescale = 1;
527 m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
528 m_VhoverHeight = 0;
529 m_VhoverEfficiency = 0;
530 m_VhoverTimescale = 1000;
531 m_VehicleBuoyancy = 0;
532 m_linearDeflectionEfficiency = 1;
533 m_linearDeflectionTimescale = 2;
534 m_angularDeflectionEfficiency = 0;
535 m_angularDeflectionTimescale = 10;
536 m_verticalAttractionEfficiency = 1f;
537 m_verticalAttractionTimescale = 10f;
538 m_bankingEfficiency = -0.2f;
539 m_bankingMix = 1;
540 m_bankingTimescale = 1;
541 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
542 VehicleFlag.HOVER_TERRAIN_ONLY |
543 VehicleFlag.HOVER_GLOBAL_HEIGHT);
544 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
545 VehicleFlag.LIMIT_ROLL_ONLY |
546 VehicleFlag.LIMIT_MOTOR_UP |
547 VehicleFlag.HOVER_UP_ONLY);
548 break;
549 case Vehicle.TYPE_BOAT:
550 m_linearFrictionTimescale = new Vector3(10, 3, 2);
551 m_angularFrictionTimescale = new Vector3(10, 10, 10);
552 m_linearMotorTimescale = 5;
553 m_linearMotorDecayTimescale = 60 * m_invtimestep;
554 m_angularMotorTimescale = 4;
555 m_angularMotorDecayTimescale = 4 * m_invtimestep;
556 m_VhoverHeight = 0;
557 m_VhoverEfficiency = 0.5f;
558 m_VhoverTimescale = 2;
559 m_VehicleBuoyancy = 1;
560 m_linearDeflectionEfficiency = 0.5f;
561 m_linearDeflectionTimescale = 3;
562 m_angularDeflectionEfficiency = 0.5f;
563 m_angularDeflectionTimescale = 5;
564 m_verticalAttractionEfficiency = 0.5f;
565 m_verticalAttractionTimescale = 5f;
566 m_bankingEfficiency = -0.3f;
567 m_bankingMix = 0.8f;
568 m_bankingTimescale = 1;
569 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
570 VehicleFlag.HOVER_GLOBAL_HEIGHT |
571 VehicleFlag.HOVER_UP_ONLY); // |
572// VehicleFlag.LIMIT_ROLL_ONLY);
573 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
574 VehicleFlag.LIMIT_MOTOR_UP |
575 VehicleFlag.HOVER_UP_ONLY | // new sl
576 VehicleFlag.HOVER_WATER_ONLY);
577 break;
578
579 case Vehicle.TYPE_AIRPLANE:
580 m_linearFrictionTimescale = new Vector3(200, 10, 5);
581 m_angularFrictionTimescale = new Vector3(20, 20, 20);
582 m_linearMotorTimescale = 2;
583 m_linearMotorDecayTimescale = 60 * m_invtimestep;
584 m_angularMotorTimescale = 4;
585 m_angularMotorDecayTimescale = 8 * m_invtimestep;
586 m_VhoverHeight = 0;
587 m_VhoverEfficiency = 0.5f;
588 m_VhoverTimescale = 1000;
589 m_VehicleBuoyancy = 0;
590 m_linearDeflectionEfficiency = 0.5f;
591 m_linearDeflectionTimescale = 0.5f;
592 m_angularDeflectionEfficiency = 1;
593 m_angularDeflectionTimescale = 2;
594 m_verticalAttractionEfficiency = 0.9f;
595 m_verticalAttractionTimescale = 2f;
596 m_bankingEfficiency = 1;
597 m_bankingMix = 0.7f;
598 m_bankingTimescale = 2;
599 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
600 VehicleFlag.HOVER_TERRAIN_ONLY |
601 VehicleFlag.HOVER_GLOBAL_HEIGHT |
602 VehicleFlag.HOVER_UP_ONLY |
603 VehicleFlag.NO_DEFLECTION_UP |
604 VehicleFlag.LIMIT_MOTOR_UP);
605 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
606 break;
607
608 case Vehicle.TYPE_BALLOON:
609 m_linearFrictionTimescale = new Vector3(5, 5, 5);
610 m_angularFrictionTimescale = new Vector3(10, 10, 10);
611 m_linearMotorTimescale = 5;
612 m_linearMotorDecayTimescale = 60 * m_invtimestep;
613 m_angularMotorTimescale = 6;
614 m_angularMotorDecayTimescale = 10 * m_invtimestep;
615 m_VhoverHeight = 5;
616 m_VhoverEfficiency = 0.8f;
617 m_VhoverTimescale = 10;
618 m_VehicleBuoyancy = 1;
619 m_linearDeflectionEfficiency = 0;
620 m_linearDeflectionTimescale = 5 * m_invtimestep;
621 m_angularDeflectionEfficiency = 0;
622 m_angularDeflectionTimescale = 5;
623 m_verticalAttractionEfficiency = 1f;
624 m_verticalAttractionTimescale = 1000f;
625 m_bankingEfficiency = 0;
626 m_bankingMix = 0.7f;
627 m_bankingTimescale = 5;
628 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
629 VehicleFlag.HOVER_TERRAIN_ONLY |
630 VehicleFlag.HOVER_UP_ONLY |
631 VehicleFlag.NO_DEFLECTION_UP |
632 VehicleFlag.LIMIT_MOTOR_UP | //);
633 VehicleFlag.LIMIT_ROLL_ONLY | // new sl
634 VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl
635
636// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
637// VehicleFlag.HOVER_GLOBAL_HEIGHT);
638 break;
639
640 }
641
642 m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
643 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
644
645 }//end SetDefaultsForType
646
647 internal void Stop()
648 {
649 m_lmEfect = 0;
650 m_lmDecay = 0f;
651 m_amEfect = 0;
652 m_amDecay = 0;
653 m_ffactor = 1f;
654 }
655
656 public static Vector3 Xrot(Quaternion rot)
657 {
658 Vector3 vec;
659 rot.Normalize(); // just in case
660 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
661 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
662 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
663 return vec;
664 }
665
666 public static Vector3 Zrot(Quaternion rot)
667 {
668 Vector3 vec;
669 rot.Normalize(); // just in case
670 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
671 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
672 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
673
674 return vec;
675 }
676
677 private const float pi = (float)Math.PI;
678 private const float halfpi = 0.5f * (float)Math.PI;
679 private const float twopi = 2.0f * pi;
680
681 public static Vector3 ubitRot2Euler(Quaternion rot)
682 {
683 // returns roll in X
684 // pitch in Y
685 // yaw in Z
686 Vector3 vec;
687
688 // assuming rot is normalised
689 // rot.Normalize();
690
691 float zX = rot.X * rot.Z + rot.Y * rot.W;
692
693 if (zX < -0.49999f)
694 {
695 vec.X = 0;
696 vec.Y = -halfpi;
697 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
698 }
699 else if (zX > 0.49999f)
700 {
701 vec.X = 0;
702 vec.Y = halfpi;
703 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
704 }
705 else
706 {
707 vec.Y = (float)Math.Asin(2 * zX);
708
709 float sqw = rot.W * rot.W;
710
711 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
712 float zZ = rot.Z * rot.Z + sqw - 0.5f;
713
714 vec.X = (float)Math.Atan2(minuszY, zZ);
715
716 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
717 float yY = rot.X * rot.X + sqw - 0.5f;
718 vec.Z = (float)Math.Atan2(yX, yY);
719 }
720 return vec;
721 }
722
723 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
724 {
725 // assuming rot is normalised
726 // rot.Normalize();
727
728 float zX = rot.X * rot.Z + rot.Y * rot.W;
729
730 if (zX < -0.49999f)
731 {
732 roll = 0;
733 pitch = -halfpi;
734 }
735 else if (zX > 0.49999f)
736 {
737 roll = 0;
738 pitch = halfpi;
739 }
740 else
741 {
742 pitch = (float)Math.Asin(2 * zX);
743
744 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
745 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
746
747 roll = (float)Math.Atan2(minuszY, zZ);
748 }
749 return ;
750 }
751
752 internal void Step()
753 {
754 IntPtr Body = rootPrim.Body;
755
756 d.Mass dmass;
757 d.BodyGetMass(Body, out dmass);
758
759 d.Quaternion rot = d.BodyGetQuaternion(Body);
760 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
761 Quaternion rotq = objrotq; // rotq = rotation of object
762 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
763 Quaternion irotq = Quaternion.Inverse(rotq);
764
765 d.Vector3 dvtmp;
766 Vector3 tmpV;
767 Vector3 curVel; // velocity in world
768 Vector3 curAngVel; // angular velocity in world
769 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
770 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
771 d.Vector3 dtorque = new d.Vector3();
772
773 dvtmp = d.BodyGetLinearVel(Body);
774 curVel.X = dvtmp.X;
775 curVel.Y = dvtmp.Y;
776 curVel.Z = dvtmp.Z;
777 Vector3 curLocalVel = curVel * irotq; // current velocity in local
778
779 dvtmp = d.BodyGetAngularVel(Body);
780 curAngVel.X = dvtmp.X;
781 curAngVel.Y = dvtmp.Y;
782 curAngVel.Z = dvtmp.Z;
783 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
784
785 float ldampZ = 0;
786
787 // linear motor
788 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
789 {
790 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
791 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
792 tmpV *= rotq; // to world
793
794 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
795 tmpV.Z = 0;
796
797 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
798 {
799 // have offset, do it now
800 tmpV *= dmass.mass;
801 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
802 }
803 else
804 {
805 force.X += tmpV.X;
806 force.Y += tmpV.Y;
807 force.Z += tmpV.Z;
808 }
809
810 m_lmEfect *= m_lmDecay;
811// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
812 m_ffactor = 0.0f;
813 }
814 else
815 {
816 m_lmEfect = 0;
817 m_ffactor = 1f;
818 }
819
820 // hover
821 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
822 {
823 // d.Vector3 pos = d.BodyGetPosition(Body);
824 d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
825 pos.Z -= 0.21f; // minor offset that seems to be always there in sl
826
827 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
828 float perr;
829
830 // default to global but don't go underground
831 perr = m_VhoverHeight - pos.Z;
832
833 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
834 {
835 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
836 {
837 perr += _pParentScene.GetWaterLevel();
838 }
839 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
840 {
841 perr += t;
842 }
843 else
844 {
845 float w = _pParentScene.GetWaterLevel();
846 if (t > w)
847 perr += t;
848 else
849 perr += w;
850 }
851 }
852 else if (t > m_VhoverHeight)
853 perr = t - pos.Z; ;
854
855 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > -0.1)
856 {
857 ldampZ = m_VhoverEfficiency * m_invtimestep;
858
859 perr *= (1.0f + ldampZ) / m_VhoverTimescale;
860
861 // force.Z += perr - curVel.Z * tmp;
862 force.Z += perr;
863 ldampZ *= -curVel.Z;
864
865 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
866 }
867 else // no buoyancy
868 force.Z += _pParentScene.gravityz;
869 }
870 else
871 {
872 // default gravity and Buoyancy
873 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
874 }
875
876 // linear deflection
877 if (m_linearDeflectionEfficiency > 0)
878 {
879 float len = curVel.Length();
880 if (len > 0.01) // if moving
881 {
882 Vector3 atAxis;
883 atAxis = Xrot(rotq); // where are we pointing to
884 atAxis *= len; // make it same size as world velocity vector
885
886 tmpV = -atAxis; // oposite direction
887 atAxis -= curVel; // error to one direction
888 len = atAxis.LengthSquared();
889
890 tmpV -= curVel; // error to oposite
891 float lens = tmpV.LengthSquared();
892
893 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
894 {
895 if (len < lens)
896 tmpV = atAxis;
897
898 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
899 force.X += tmpV.X;
900 force.Y += tmpV.Y;
901 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
902 force.Z += tmpV.Z;
903 }
904 }
905 }
906
907 // linear friction/damping
908 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
909 {
910 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
911 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
912 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
913 tmpV *= rotq; // to world
914
915 if(ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z))
916 tmpV.Z = ldampZ;
917 force.X += tmpV.X;
918 force.Y += tmpV.Y;
919 force.Z += tmpV.Z;
920 }
921
922 // vertical atractor
923 if (m_verticalAttractionTimescale < 300)
924 {
925 float roll;
926 float pitch;
927
928
929
930 float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale;
931
932 float ftmp2;
933 ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
934 m_amdampX = ftmp2;
935
936 m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency;
937
938 GetRollPitch(irotq, out roll, out pitch);
939
940 if (roll > halfpi)
941 roll = pi - roll;
942 else if (roll < -halfpi)
943 roll = -pi - roll;
944
945 float effroll = pitch / halfpi;
946 effroll *= effroll;
947 effroll = 1 - effroll;
948 effroll *= roll;
949
950
951 torque.X += effroll * ftmp;
952
953 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
954 {
955 float effpitch = roll / halfpi;
956 effpitch *= effpitch;
957 effpitch = 1 - effpitch;
958 effpitch *= pitch;
959
960 torque.Y += effpitch * ftmp;
961 }
962
963 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
964 {
965
966 float broll = effroll;
967 /*
968 if (broll > halfpi)
969 broll = pi - broll;
970 else if (broll < -halfpi)
971 broll = -pi - broll;
972 */
973 broll *= m_bankingEfficiency;
974 if (m_bankingMix != 0)
975 {
976 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
977 if (vfact > 1.0f) vfact = 1.0f;
978
979 if (curLocalVel.X >= 0)
980 broll *= (1 + (vfact - 1) * m_bankingMix);
981 else
982 broll *= -(1 + (vfact - 1) * m_bankingMix);
983 }
984 // make z rot be in world Z not local as seems to be in sl
985
986 broll = broll / m_bankingTimescale;
987
988
989 tmpV = Zrot(irotq);
990 tmpV *= broll;
991
992 torque.X += tmpV.X;
993 torque.Y += tmpV.Y;
994 torque.Z += tmpV.Z;
995
996 m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
997 m_amdampY = m_amdampZ;
998
999 }
1000 else
1001 {
1002 m_amdampZ = 1 / m_angularFrictionTimescale.Z;
1003 m_amdampY = m_amdampX;
1004 }
1005 }
1006 else
1007 {
1008 m_ampwr = 1.0f;
1009 m_amdampX = 1 / m_angularFrictionTimescale.X;
1010 m_amdampY = 1 / m_angularFrictionTimescale.Y;
1011 m_amdampZ = 1 / m_angularFrictionTimescale.Z;
1012 }
1013
1014 // angular motor
1015 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
1016 {
1017 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
1018 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
1019 torque.X += tmpV.X * m_ampwr;
1020 torque.Y += tmpV.Y * m_ampwr;
1021 torque.Z += tmpV.Z;
1022
1023 m_amEfect *= m_amDecay;
1024 }
1025 else
1026 m_amEfect = 0;
1027
1028 // angular deflection
1029 if (m_angularDeflectionEfficiency > 0)
1030 {
1031 Vector3 dirv;
1032
1033 if (curLocalVel.X > 0.01f)
1034 dirv = curLocalVel;
1035 else if (curLocalVel.X < -0.01f)
1036 // use oposite
1037 dirv = -curLocalVel;
1038 else
1039 {
1040 // make it fall into small positive x case
1041 dirv.X = 0.01f;
1042 dirv.Y = curLocalVel.Y;
1043 dirv.Z = curLocalVel.Z;
1044 }
1045
1046 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
1047
1048 if (Math.Abs(dirv.Z) > 0.01)
1049 {
1050 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
1051 }
1052
1053 if (Math.Abs(dirv.Y) > 0.01)
1054 {
1055 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
1056 }
1057 }
1058
1059 // angular friction
1060 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
1061 {
1062 torque.X -= curLocalAngVel.X * m_amdampX;
1063 torque.Y -= curLocalAngVel.Y * m_amdampY;
1064 torque.Z -= curLocalAngVel.Z * m_amdampZ;
1065 }
1066
1067
1068
1069 if (force.X != 0 || force.Y != 0 || force.Z != 0)
1070 {
1071 force *= dmass.mass;
1072 d.BodyAddForce(Body, force.X, force.Y, force.Z);
1073 }
1074
1075 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
1076 {
1077 torque *= m_referenceFrame; // to object frame
1078 dtorque.X = torque.X ;
1079 dtorque.Y = torque.Y;
1080 dtorque.Z = torque.Z;
1081
1082 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
1083 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
1084 }
1085 }
1086 }
1087}
generated by cgit v1.1 at 2024-11-16 08:45:45 +0000