From 1d6b33bc2da3b312cff1d1802a73aacdf72b0385 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sun, 30 Aug 2015 20:06:53 -0700 Subject: Major renaming of Physics dlls / folders. No functional changes, just renames. --- OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 1409 ---------------------- 1 file changed, 1409 deletions(-) delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODECharacter.cs (limited to 'OpenSim/Region/Physics/OdePlugin/ODECharacter.cs') diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs deleted file mode 100644 index 05eaf2a..0000000 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ /dev/null @@ -1,1409 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -using System; -using System.Collections.Generic; -using System.Reflection; -using OpenMetaverse; -using Ode.NET; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; -using log4net; - -namespace OpenSim.Region.Physics.OdePlugin -{ - /// - /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. - /// - public enum dParam : int - { - LowStop = 0, - HiStop = 1, - Vel = 2, - FMax = 3, - FudgeFactor = 4, - Bounce = 5, - CFM = 6, - StopERP = 7, - StopCFM = 8, - LoStop2 = 256, - HiStop2 = 257, - Vel2 = 258, - FMax2 = 259, - StopERP2 = 7 + 256, - StopCFM2 = 8 + 256, - LoStop3 = 512, - HiStop3 = 513, - Vel3 = 514, - FMax3 = 515, - StopERP3 = 7 + 512, - StopCFM3 = 8 + 512 - } - - public class OdeCharacter : PhysicsActor - { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - - private Vector3 _position; - private d.Vector3 _zeroPosition; - private bool _zeroFlag = false; - private bool m_lastUpdateSent = false; - private Vector3 _velocity; - private Vector3 m_taintTargetVelocity; - private Vector3 _target_velocity; - private Vector3 _acceleration; - private Vector3 m_rotationalVelocity; - private float m_mass = 80f; - private float m_density = 60f; - private bool m_pidControllerActive = true; - private float PID_D = 800.0f; - private float PID_P = 900.0f; - //private static float POSTURE_SERVO = 10000.0f; - private float CAPSULE_RADIUS = 0.37f; - private float CAPSULE_LENGTH = 2.140599f; - private float m_tensor = 3800000f; -// private float heightFudgeFactor = 0.52f; - private float walkDivisor = 1.3f; - private float runDivisor = 0.8f; - private bool flying = false; - private bool m_iscolliding = false; - private bool m_iscollidingGround = false; - private bool m_wascolliding = false; - private bool m_wascollidingGround = false; - private bool m_iscollidingObj = false; - private bool m_alwaysRun = false; - private bool m_hackSentFall = false; - private bool m_hackSentFly = false; - private int m_requestedUpdateFrequency = 0; - private Vector3 m_taintPosition; - internal bool m_avatarplanted = false; - /// - /// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force - /// while calculatios are going on - /// - private Vector3 m_taintForce; - - // taints and their non-tainted counterparts - private bool m_isPhysical = false; // the current physical status - private bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing) - internal float MinimumGroundFlightOffset = 3f; - - private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. - - /// - /// Base movement for calculating tilt. - /// - private float m_tiltBaseMovement = (float)Math.Sqrt(2); - - /// - /// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider - /// - private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; - - private float m_buoyancy = 0f; - - // private CollisionLocker ode; - private bool[] m_colliderarr = new bool[11]; - private bool[] m_colliderGroundarr = new bool[11]; - - // Default we're a Character - private CollisionCategories m_collisionCategories = (CollisionCategories.Character); - - // Default, Collide with Other Geometries, spaces, bodies and characters. - private CollisionCategories m_collisionFlags = (CollisionCategories.Geom - | CollisionCategories.Space - | CollisionCategories.Body - | CollisionCategories.Character - | CollisionCategories.Land); - /// - /// Body for dynamics simulation - /// - internal IntPtr Body { get; private set; } - - private OdeScene _parent_scene; - - /// - /// Collision geometry - /// - internal IntPtr Shell { get; private set; } - - private IntPtr Amotor = IntPtr.Zero; - private d.Mass ShellMass; - - private int m_eventsubscription = 0; - private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); - - // unique UUID of this character object - internal UUID m_uuid { get; private set; } - internal bool bad = false; - - /// - /// ODE Avatar. - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// Only used right now to return information to LSL. Not actually used to set mass in ODE! - /// - /// - /// - public OdeCharacter( - String avName, OdeScene parent_scene, Vector3 pos, Vector3 vel, Vector3 size, float pid_d, float pid_p, - float capsule_radius, float tensor, float density, - float walk_divisor, float rundivisor) - { - m_uuid = UUID.Random(); - - if (pos.IsFinite()) - { - if (pos.Z > 9999999f) - { - pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - if (pos.Z < -90000f) - { - pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - - _position = pos; - m_taintPosition = pos; - } - else - { - _position - = new Vector3( - (float)_parent_scene.WorldExtents.X * 0.5f, - (float)_parent_scene.WorldExtents.Y * 0.5f, - parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f); - m_taintPosition = _position; - - m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName); - } - - _velocity = vel; - m_taintTargetVelocity = vel; - - _parent_scene = parent_scene; - - PID_D = pid_d; - PID_P = pid_p; - CAPSULE_RADIUS = capsule_radius; - m_tensor = tensor; - m_density = density; -// heightFudgeFactor = height_fudge_factor; - walkDivisor = walk_divisor; - runDivisor = rundivisor; - - // m_StandUpRotation = - // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f, - // 0.5f); - - // We can set taint and actual to be the same here, since the entire character will be set up when the - // m_tainted_isPhysical is processed. - SetTaintedCapsuleLength(size); - CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH; - - m_isPhysical = false; // current status: no ODE information exists - m_tainted_isPhysical = true; // new tainted status: need to create ODE information - - _parent_scene.AddPhysicsActorTaint(this); - - Name = avName; - } - - public override int PhysicsActorType - { - get { return (int) ActorTypes.Agent; } - set { return; } - } - - /// - /// If this is set, the avatar will move faster - /// - public override bool SetAlwaysRun - { - get { return m_alwaysRun; } - set { m_alwaysRun = value; } - } - - public override bool Grabbed - { - set { return; } - } - - public override bool Selected - { - set { return; } - } - - public override float Buoyancy - { - get { return m_buoyancy; } - set { m_buoyancy = value; } - } - - public override bool FloatOnWater - { - set { return; } - } - - public override bool IsPhysical - { - get { return false; } - set { return; } - } - - public override bool ThrottleUpdates - { - get { return false; } - set { return; } - } - - public override bool Flying - { - get { return flying; } - set - { - flying = value; -// m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying); - } - } - - /// - /// Returns if the avatar is colliding in general. - /// This includes the ground and objects and avatar. - /// - public override bool IsColliding - { - get { return m_iscolliding; } - set - { - int i; - int truecount = 0; - int falsecount = 0; - - if (m_colliderarr.Length >= 10) - { - for (i = 0; i < 10; i++) - { - m_colliderarr[i] = m_colliderarr[i + 1]; - } - } - m_colliderarr[10] = value; - - for (i = 0; i < 11; i++) - { - if (m_colliderarr[i]) - { - truecount++; - } - else - { - falsecount++; - } - } - - // Equal truecounts and false counts means we're colliding with something. - - if (falsecount > 1.2*truecount) - { - m_iscolliding = false; - } - else - { - m_iscolliding = true; - } - - if (m_wascolliding != m_iscolliding) - { - //base.SendCollisionUpdate(new CollisionEventUpdate()); - } - - m_wascolliding = m_iscolliding; - } - } - - /// - /// Returns if an avatar is colliding with the ground - /// - public override bool CollidingGround - { - get { return m_iscollidingGround; } - set - { - // Collisions against the ground are not really reliable - // So, to get a consistant value we have to average the current result over time - // Currently we use 1 second = 10 calls to this. - int i; - int truecount = 0; - int falsecount = 0; - - if (m_colliderGroundarr.Length >= 10) - { - for (i = 0; i < 10; i++) - { - m_colliderGroundarr[i] = m_colliderGroundarr[i + 1]; - } - } - m_colliderGroundarr[10] = value; - - for (i = 0; i < 11; i++) - { - if (m_colliderGroundarr[i]) - { - truecount++; - } - else - { - falsecount++; - } - } - - // Equal truecounts and false counts means we're colliding with something. - - if (falsecount > 1.2*truecount) - { - m_iscollidingGround = false; - } - else - { - m_iscollidingGround = true; - } - if (m_wascollidingGround != m_iscollidingGround) - { - //base.SendCollisionUpdate(new CollisionEventUpdate()); - } - m_wascollidingGround = m_iscollidingGround; - } - } - - /// - /// Returns if the avatar is colliding with an object - /// - public override bool CollidingObj - { - get { return m_iscollidingObj; } - set - { - m_iscollidingObj = value; - if (value && !m_avatarplanted) - m_pidControllerActive = false; - else - m_pidControllerActive = true; - } - } - - /// - /// turn the PID controller on or off. - /// The PID Controller will turn on all by itself in many situations - /// - /// - public void SetPidStatus(bool status) - { - m_pidControllerActive = status; - } - - public override bool Stopped - { - get { return _zeroFlag; } - } - - /// - /// This 'puts' an avatar somewhere in the physics space. - /// Not really a good choice unless you 'know' it's a good - /// spot otherwise you're likely to orbit the avatar. - /// - public override Vector3 Position - { - get { return _position; } - set - { - if (Body == IntPtr.Zero || Shell == IntPtr.Zero) - { - if (value.IsFinite()) - { - if (value.Z > 9999999f) - { - value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - if (value.Z < -90000f) - { - value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - - m_taintPosition = value; - _parent_scene.AddPhysicsActorTaint(this); - } - else - { - m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Position from Scene on character {0}", Name); - } - } - } - } - - public override Vector3 RotationalVelocity - { - get { return m_rotationalVelocity; } - set { m_rotationalVelocity = value; } - } - - /// - /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight - /// and use it to offset landings properly - /// - public override Vector3 Size - { - get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } - set - { - SetTaintedCapsuleLength(value); - - // If we reset velocity here, then an avatar stalls when it crosses a border for the first time - // (as the height of the new root agent is set). -// Velocity = Vector3.Zero; - - _parent_scene.AddPhysicsActorTaint(this); - } - } - - private void SetTaintedCapsuleLength(Vector3 size) - { - if (size.IsFinite()) - { - m_pidControllerActive = true; - - m_tainted_CAPSULE_LENGTH = size.Z - CAPSULE_RADIUS * 2.0f; - - // m_log.InfoFormat("[ODE CHARACTER]: Size = {0}, Capsule Length = {1} (Capsule Radius = {2})", - // size, m_tainted_CAPSULE_LENGTH, CAPSULE_RADIUS); - } - else - { - m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.Name); - } - } - - private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector) - { - movementVector.Z = 0f; - float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y)); - if (magnitude < 0.1f) return; - - // normalize the velocity vector - float invMagnitude = 1.0f / magnitude; - movementVector.X *= invMagnitude; - movementVector.Y *= invMagnitude; - - // if we change the capsule heading too often, the capsule can fall down - // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw), - // meaning only 4 possible capsule tilt orientations - if (movementVector.X > 0) - { - // east - if (movementVector.Y > 0) - { - // northeast - movementVector.X = m_tiltBaseMovement; - movementVector.Y = m_tiltBaseMovement; - } - else - { - // southeast - movementVector.X = m_tiltBaseMovement; - movementVector.Y = -m_tiltBaseMovement; - } - } - else - { - // west - if (movementVector.Y > 0) - { - // northwest - movementVector.X = -m_tiltBaseMovement; - movementVector.Y = m_tiltBaseMovement; - } - else - { - // southwest - movementVector.X = -m_tiltBaseMovement; - movementVector.Y = -m_tiltBaseMovement; - } - } - - // movementVector.Z is zero - - // calculate tilt components based on desired amount of tilt and current (snapped) heading. - // the "-" sign is to force the tilt to be OPPOSITE the direction of movement. - float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane; - float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane; - - //m_log.Debug("[ODE CHARACTER]: changing avatar tilt"); - d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop - } - - /// - /// Uses the capped cyllinder volume formula to calculate the avatar's mass. - /// This may be used in calculations in the scene/scenepresence - /// - public override float Mass - { - get - { - float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH); - return m_density * AVvolume; - } - } - - public override void link(PhysicsActor obj) {} - - public override void delink() {} - - public override void LockAngularMotion(Vector3 axis) {} - -// This code is very useful. Written by DanX0r. We're just not using it right now. -// Commented out to prevent a warning. -// -// private void standupStraight() -// { -// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air. -// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you -// // change appearance and when you enter the simulator -// // After this routine is done, the amotor stabilizes much quicker -// d.Vector3 feet; -// d.Vector3 head; -// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet); -// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head); -// float posture = head.Z - feet.Z; - -// // restoring force proportional to lack of posture: -// float servo = (2.5f - posture) * POSTURE_SERVO; -// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); -// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); -// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body); -// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyFArotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22); -// } - - public override Vector3 Force - { - get { return _target_velocity; } - set { return; } - } - - public override int VehicleType - { - get { return 0; } - set { return; } - } - - public override void VehicleFloatParam(int param, float value) - { - } - - public override void VehicleVectorParam(int param, Vector3 value) - { - } - - public override void VehicleRotationParam(int param, Quaternion rotation) - { - } - - public override void VehicleFlags(int param, bool remove) - { - } - - public override void SetVolumeDetect(int param) - { - } - - public override Vector3 CenterOfMass - { - get { return Vector3.Zero; } - } - - public override Vector3 GeometricCenter - { - get { return Vector3.Zero; } - } - - public override PrimitiveBaseShape Shape - { - set { return; } - } - - public override Vector3 TargetVelocity - { - get - { - return m_taintTargetVelocity; - } - - set - { - Velocity = value; - } - } - - - public override Vector3 Velocity - { - get - { - // There's a problem with Vector3.Zero! Don't Use it Here! - if (_zeroFlag) - return Vector3.Zero; - m_lastUpdateSent = false; - return _velocity; - } - - set - { - if (value.IsFinite()) - { - m_pidControllerActive = true; - m_taintTargetVelocity = value; - _parent_scene.AddPhysicsActorTaint(this); - } - else - { - m_log.WarnFormat("[ODE CHARACTER]: Got a NaN velocity from Scene for {0}", Name); - } - -// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity); - } - } - - public override Vector3 Torque - { - get { return Vector3.Zero; } - set { return; } - } - - public override float CollisionScore - { - get { return 0f; } - set { } - } - - public override bool Kinematic - { - get { return false; } - set { } - } - - public override Quaternion Orientation - { - get { return Quaternion.Identity; } - set { - //Matrix3 or = Orientation.ToRotationMatrix(); - //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22); - //d.BodySetRotation(Body, ref ord); - } - } - - public override Vector3 Acceleration - { - get { return _acceleration; } - set { _acceleration = value; } - } - - /// - /// Adds the force supplied to the Target Velocity - /// The PID controller takes this target velocity and tries to make it a reality - /// - /// - public override void AddForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { - if (pushforce) - { - m_pidControllerActive = false; - force *= 100f; - m_taintForce += force; - _parent_scene.AddPhysicsActorTaint(this); - - // If uncommented, things get pushed off world - // - // m_log.Debug("Push!"); - // m_taintTargetVelocity.X += force.X; - // m_taintTargetVelocity.Y += force.Y; - // m_taintTargetVelocity.Z += force.Z; - } - else - { - m_pidControllerActive = true; - m_taintTargetVelocity += force; - } - } - else - { - m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name); - } - //m_lastUpdateSent = false; - } - - public override void AddAngularForce(Vector3 force, bool pushforce) - { - } - - public override void SetMomentum(Vector3 momentum) - { - } - - /// - /// Called from Simulate - /// This is the avatar's movement control + PID Controller - /// - /// The character will be added to this list if there is something wrong (non-finite - /// position or velocity). - /// - internal void Move(List defects) - { - // no lock; for now it's only called from within Simulate() - - // If the PID Controller isn't active then we set our force - // calculating base velocity to the current position - - if (Body == IntPtr.Zero) - return; - - if (m_pidControllerActive == false) - { - _zeroPosition = d.BodyGetPosition(Body); - } - //PidStatus = true; - - d.Vector3 localpos = d.BodyGetPosition(Body); - Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z); - - if (!localPos.IsFinite()) - { - m_log.WarnFormat( - "[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.", - localPos, Name); - - defects.Add(this); - - return; - } - - Vector3 vec = Vector3.Zero; - d.Vector3 vel = d.BodyGetLinearVel(Body); - -// m_log.DebugFormat( -// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}", -// vel.X, vel.Y, vel.Z, _target_velocity, Name); - - float movementdivisor = 1f; - - if (!m_alwaysRun) - { - movementdivisor = walkDivisor; - } - else - { - movementdivisor = runDivisor; - } - - // if velocity is zero, use position control; otherwise, velocity control - if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding) - { - // keep track of where we stopped. No more slippin' & slidin' - if (!_zeroFlag) - { - _zeroFlag = true; - _zeroPosition = d.BodyGetPosition(Body); - } - - if (m_pidControllerActive) - { - // We only want to deactivate the PID Controller if we think we want to have our surrogate - // react to the physics scene by moving it's position. - // Avatar to Avatar collisions - // Prim to avatar collisions - - d.Vector3 pos = d.BodyGetPosition(Body); - vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); - vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2); - if (flying) - { - vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; - } - } - //PidStatus = true; - } - else - { - m_pidControllerActive = true; - _zeroFlag = false; - if (m_iscolliding && !flying) - { - // We're standing on something - vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D); - vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D); - } - else if (m_iscolliding && flying) - { - // We're flying and colliding with something - vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16); - vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16); - } - else if (!m_iscolliding && flying) - { - // we're in mid air suspended - vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6); - vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6); - -// m_log.DebugFormat( -// "[ODE CHARACTER]: !m_iscolliding && flying, vec {0}, _target_velocity {1}, movementdivisor {2}, vel {3}", -// vec, _target_velocity, movementdivisor, vel); - } - - if (flying) - { - // This also acts as anti-gravity so that we hover when flying rather than fall. - vec.Z = (_target_velocity.Z - vel.Z) * (PID_D); - } - else - { - if (m_iscolliding && _target_velocity.Z > 0.0f) - { - // We're colliding with something and we're not flying but we're moving - // This means we're walking or running. - d.Vector3 pos = d.BodyGetPosition(Body); - vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; - vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; - vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; - } - else if (!m_iscolliding) - { - // we're not colliding and we're not flying so that means we're falling! - // m_iscolliding includes collisions with the ground. - vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; - vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; - } - } - } - - if (flying) - { - // Anti-gravity so that we hover when flying rather than fall. - vec.Z += ((-1 * _parent_scene.gravityz) * m_mass); - - //Added for auto fly height. Kitto Flora - //d.Vector3 pos = d.BodyGetPosition(Body); - float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset; - - if (_position.Z < target_altitude) - { - vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f; - } - // end add Kitto Flora - } - - if (vec.IsFinite()) - { - // Apply the total force acting on this avatar - d.BodyAddForce(Body, vec.X, vec.Y, vec.Z); - - if (!_zeroFlag) - AlignAvatarTiltWithCurrentDirectionOfMovement(vec); - } - else - { - m_log.WarnFormat( - "[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.", - vec, Name); - - defects.Add(this); - - return; - } - - d.Vector3 newVel = d.BodyGetLinearVel(Body); - if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256) - { -// m_log.DebugFormat( -// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name); - - newVel.X = Util.Clamp(newVel.X, -255f, 255f); - newVel.Y = Util.Clamp(newVel.Y, -255f, 255f); - - if (!flying) - newVel.Z - = Util.Clamp( - newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity); - else - newVel.Z = Util.Clamp(newVel.Z, -255f, 255f); - - d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); - } - } - - /// - /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. - /// - /// The character will be added to this list if there is something wrong (non-finite - /// position or velocity). - /// - internal void UpdatePositionAndVelocity(List defects) - { - // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! - d.Vector3 newPos; - try - { - newPos = d.BodyGetPosition(Body); - } - catch (NullReferenceException) - { - bad = true; - defects.Add(this); - newPos = new d.Vector3(_position.X, _position.Y, _position.Z); - base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! - m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid); - - return; - } - - // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) - if (newPos.X < 0.0f) newPos.X = 0.0f; - if (newPos.Y < 0.0f) newPos.Y = 0.0f; - if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f) newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f; - if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f; - - _position.X = newPos.X; - _position.Y = newPos.Y; - _position.Z = newPos.Z; - - // I think we need to update the taintPosition too -- Diva 12/24/10 - m_taintPosition = _position; - - // Did we move last? = zeroflag - // This helps keep us from sliding all over - - if (_zeroFlag) - { - _velocity = Vector3.Zero; - - // Did we send out the 'stopped' message? - if (!m_lastUpdateSent) - { - m_lastUpdateSent = true; - //base.RequestPhysicsterseUpdate(); - } - } - else - { - m_lastUpdateSent = false; - d.Vector3 newVelocity; - - try - { - newVelocity = d.BodyGetLinearVel(Body); - } - catch (NullReferenceException) - { - newVelocity.X = _velocity.X; - newVelocity.Y = _velocity.Y; - newVelocity.Z = _velocity.Z; - } - - _velocity.X = newVelocity.X; - _velocity.Y = newVelocity.Y; - _velocity.Z = newVelocity.Z; - - if (_velocity.Z < -6 && !m_hackSentFall) - { - m_hackSentFall = true; - m_pidControllerActive = false; - } - else if (flying && !m_hackSentFly) - { - //m_hackSentFly = true; - //base.SendCollisionUpdate(new CollisionEventUpdate()); - } - else - { - m_hackSentFly = false; - m_hackSentFall = false; - } - } - } - - /// - /// This creates the Avatar's physical Surrogate in ODE at the position supplied - /// - /// - /// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access - /// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only - /// place that is safe to call this routine AvatarGeomAndBodyCreation. - /// - /// - /// - /// - /// - private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor) - { - if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero)) - { - m_log.ErrorFormat( - "[ODE CHARACTER]: Creating ODE structures for {0} even though some already exist. Shell = {1}, Body = {2}, Amotor = {3}", - Name, Shell, Body, Amotor); - } - - int dAMotorEuler = 1; -// _parent_scene.waitForSpaceUnlock(_parent_scene.space); - if (CAPSULE_LENGTH <= 0) - { - m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); - CAPSULE_LENGTH = 0.01f; - } - - if (CAPSULE_RADIUS <= 0) - { - m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); - CAPSULE_RADIUS = 0.01f; - } - -// lock (OdeScene.UniversalColliderSyncObject) - Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); - - d.GeomSetCategoryBits(Shell, (int)m_collisionCategories); - d.GeomSetCollideBits(Shell, (int)m_collisionFlags); - - d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH); - Body = d.BodyCreate(_parent_scene.world); - d.BodySetPosition(Body, npositionX, npositionY, npositionZ); - - _position.X = npositionX; - _position.Y = npositionY; - _position.Z = npositionZ; - - m_taintPosition = _position; - - d.BodySetMass(Body, ref ShellMass); - d.Matrix3 m_caprot; - // 90 Stand up on the cap of the capped cyllinder - if (_parent_scene.IsAvCapsuleTilted) - { - d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2)); - } - else - { - d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2)); - } - - d.GeomSetRotation(Shell, ref m_caprot); - d.BodySetRotation(Body, ref m_caprot); - - d.GeomSetBody(Shell, Body); - - // The purpose of the AMotor here is to keep the avatar's physical - // surrogate from rotating while moving - Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); - d.JointAttach(Amotor, Body, IntPtr.Zero); - d.JointSetAMotorMode(Amotor, dAMotorEuler); - d.JointSetAMotorNumAxes(Amotor, 3); - d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0); - d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0); - d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1); - d.JointSetAMotorAngle(Amotor, 0, 0); - d.JointSetAMotorAngle(Amotor, 1, 0); - d.JointSetAMotorAngle(Amotor, 2, 0); - - // These lowstops and high stops are effectively (no wiggle room) - if (_parent_scene.IsAvCapsuleTilted) - { - d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f); - } - else - { - #region Documentation of capsule motor LowStop and HighStop parameters - // Intentionally introduce some tilt into the capsule by setting - // the motor stops to small epsilon values. This small tilt prevents - // the capsule from falling into the terrain; a straight-up capsule - // (with -0..0 motor stops) falls into the terrain for reasons yet - // to be comprehended in their entirety. - #endregion - AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero); - d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop - } - - // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the - // capped cyllinder will fall over - d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor); - - //d.Matrix3 bodyrotation = d.BodyGetRotation(Body); - //d.QfromR( - //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068, - // - //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22); - //standupStraight(); - - _parent_scene.geom_name_map[Shell] = Name; - _parent_scene.actor_name_map[Shell] = this; - } - - /// - /// Cleanup the things we use in the scene. - /// - internal void Destroy() - { - m_tainted_isPhysical = false; - _parent_scene.AddPhysicsActorTaint(this); - } - - /// - /// Used internally to destroy the ODE structures associated with this character. - /// - internal void DestroyOdeStructures() - { - // Create avatar capsule and related ODE data - if (Shell == IntPtr.Zero || Body == IntPtr.Zero || Amotor == IntPtr.Zero) - { - m_log.ErrorFormat( - "[ODE CHARACTER]: Destroying ODE structures for {0} even though some are already null. Shell = {1}, Body = {2}, Amotor = {3}", - Name, Shell, Body, Amotor); - } - - // destroy avatar capsule and related ODE data - if (Amotor != IntPtr.Zero) - { - // Kill the Amotor - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - - //kill the Geometry -// _parent_scene.waitForSpaceUnlock(_parent_scene.space); - - if (Body != IntPtr.Zero) - { - //kill the body - d.BodyDestroy(Body); - Body = IntPtr.Zero; - } - - if (Shell != IntPtr.Zero) - { -// lock (OdeScene.UniversalColliderSyncObject) - d.GeomDestroy(Shell); - - _parent_scene.geom_name_map.Remove(Shell); - _parent_scene.actor_name_map.Remove(Shell); - - Shell = IntPtr.Zero; - } - } - - public override void CrossingFailure() - { - } - - public override Vector3 PIDTarget { set { return; } } - public override bool PIDActive - { - get { return false; } - set { return; } - } - public override float PIDTau { set { return; } } - - public override float PIDHoverHeight { set { return; } } - public override bool PIDHoverActive { set { return; } } - public override PIDHoverType PIDHoverType { set { return; } } - public override float PIDHoverTau { set { return; } } - - public override Quaternion APIDTarget{ set { return; } } - - public override bool APIDActive{ set { return; } } - - public override float APIDStrength{ set { return; } } - - public override float APIDDamping{ set { return; } } - - public override void SubscribeEvents(int ms) - { - m_requestedUpdateFrequency = ms; - m_eventsubscription = ms; - - // Don't clear collision event reporting here. This is called directly from scene code and so can lead - // to a race condition with the simulate loop - - _parent_scene.AddCollisionEventReporting(this); - } - - public override void UnSubscribeEvents() - { - _parent_scene.RemoveCollisionEventReporting(this); - - // Don't clear collision event reporting here. This is called directly from scene code and so can lead - // to a race condition with the simulate loop - - m_requestedUpdateFrequency = 0; - m_eventsubscription = 0; - } - - internal void AddCollisionEvent(uint CollidedWith, ContactPoint contact) - { - if (m_eventsubscription > 0) - { -// m_log.DebugFormat( -// "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact); - - CollisionEventsThisFrame.AddCollider(CollidedWith, contact); - } - } - - internal void SendCollisions() - { - if (m_eventsubscription > m_requestedUpdateFrequency) - { - base.SendCollisionUpdate(CollisionEventsThisFrame); - - CollisionEventsThisFrame.Clear(); - m_eventsubscription = 0; - } - } - - public override bool SubscribedEvents() - { - if (m_eventsubscription > 0) - return true; - return false; - } - - internal void ProcessTaints() - { - if (m_taintPosition != _position) - { - if (Body != IntPtr.Zero) - { - d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z); - _position = m_taintPosition; - } - } - - if (m_taintForce != Vector3.Zero) - { - if (Body != IntPtr.Zero) - { - // FIXME: This is not a good solution since it's subject to a race condition if a force is another - // thread sets a new force while we're in this loop (since it could be obliterated by - // m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force. - d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z); - } - - m_taintForce = Vector3.Zero; - } - - if (m_taintTargetVelocity != _target_velocity) - _target_velocity = m_taintTargetVelocity; - - if (m_tainted_isPhysical != m_isPhysical) - { - if (m_tainted_isPhysical) - { - CreateOdeStructures(_position.X, _position.Y, _position.Z, m_tensor); - _parent_scene.AddCharacter(this); - } - else - { - _parent_scene.RemoveCharacter(this); - DestroyOdeStructures(); - } - - m_isPhysical = m_tainted_isPhysical; - } - - if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH) - { - if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero) - { -// m_log.DebugFormat( -// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}", -// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name); - - m_pidControllerActive = true; - - // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate() - DestroyOdeStructures(); - - float prevCapsule = CAPSULE_LENGTH; - CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH; - - CreateOdeStructures( - _position.X, - _position.Y, - _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor); - - // As with Size, we reset velocity. However, this isn't strictly necessary since it doesn't - // appear to stall initial region crossings when done here. Being done for consistency. -// Velocity = Vector3.Zero; - } - else - { - m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - " - + (Shell==IntPtr.Zero ? "Shell ":"") - + (Body==IntPtr.Zero ? "Body ":"") - + (Amotor==IntPtr.Zero ? "Amotor ":"")); - } - } - } - - internal void AddCollisionFrameTime(int p) - { - // protect it from overflow crashing - if (m_eventsubscription + p >= int.MaxValue) - m_eventsubscription = 0; - m_eventsubscription += p; - } - } -} -- cgit v1.1