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/PhysicsModules/Ode/ODECharacter.cs | 1409 +++++++++++++++++++++ 1 file changed, 1409 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs (limited to 'OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs') diff --git a/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs new file mode 100644 index 0000000..05eaf2a --- /dev/null +++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs @@ -0,0 +1,1409 @@ +/* + * 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