From e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 12 Sep 2015 21:38:26 +0100 Subject: rename Ubit physics modules --- .../Region/PhysicsModules/UbitOde/ODEDynamics.cs | 1096 -------------------- 1 file changed, 1096 deletions(-) delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs (limited to 'OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs') diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs deleted file mode 100644 index abe6f37..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs +++ /dev/null @@ -1,1096 +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. - */ - -/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces - * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: - * ODEPrim.cs contains methods dealing with Prim editing, Prim - * characteristics and Kinetic motion. - * ODEDynamics.cs contains methods dealing with Prim Physical motion - * (dynamics) and the associated settings. Old Linear and angular - * motors for dynamic motion have been replace with MoveLinear() - * and MoveAngular(); 'Physical' is used only to switch ODE dynamic - * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to - * switch between 'VEHICLE' parameter use and general dynamics - * settings use. - */ - -// Extensive change Ubit 2012 - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using log4net; -using OpenMetaverse; -using OdeAPI; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - public class ODEDynamics - { - public Vehicle Type - { - get { return m_type; } - } - - private OdePrim rootPrim; - private ODEScene _pParentScene; - - // Vehicle properties - // WARNING this are working copies for internel use - // their values may not be the corresponding parameter - - private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier - private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? - - private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind - - private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: - // HOVER_TERRAIN_ONLY - // HOVER_GLOBAL_HEIGHT - // NO_DEFLECTION_UP - // HOVER_WATER_ONLY - // HOVER_UP_ONLY - // LIMIT_MOTOR_UP - // LIMIT_ROLL_ONLY - private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl - - // Linear properties - private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time - private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); - private float m_linearMotorDecayTimescale = 120; - private float m_linearMotorTimescale = 1000; - private Vector3 m_linearMotorOffset = Vector3.Zero; - - //Angular properties - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate - - //Deflection properties - private float m_angularDeflectionEfficiency = 0; - private float m_angularDeflectionTimescale = 1000; - private float m_linearDeflectionEfficiency = 0; - private float m_linearDeflectionTimescale = 1000; - - //Banking properties - private float m_bankingEfficiency = 0; - private float m_bankingMix = 0; - private float m_bankingTimescale = 1000; - - //Hover and Buoyancy properties - private float m_VhoverHeight = 0f; - private float m_VhoverEfficiency = 0f; - private float m_VhoverTimescale = 1000f; - private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. - // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) - // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. - // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. - - //Attractor properties - private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor. - - - // auxiliar - private float m_lmEfect = 0f; // current linear motor eficiency - private float m_lmDecay = 0f; // current linear decay - - private float m_amEfect = 0; // current angular motor eficiency - private float m_amDecay = 0f; // current linear decay - - private float m_ffactor = 1.0f; - - private float m_timestep = 0.02f; - private float m_invtimestep = 50; - - - float m_ampwr; - float m_amdampX; - float m_amdampY; - float m_amdampZ; - - float m_gravmod; - - public float FrictionFactor - { - get - { - return m_ffactor; - } - } - - public float GravMod - { - set - { - m_gravmod = value; - } - } - - - public ODEDynamics(OdePrim rootp) - { - rootPrim = rootp; - _pParentScene = rootPrim._parent_scene; - m_timestep = _pParentScene.ODE_STEPSIZE; - m_invtimestep = 1.0f / m_timestep; - m_gravmod = rootPrim.GravModifier; - } - - public void DoSetVehicle(VehicleData vd) - { - m_type = vd.m_type; - m_flags = vd.m_flags; - - - // Linear properties - m_linearMotorDirection = vd.m_linearMotorDirection; - - m_linearFrictionTimescale = vd.m_linearFrictionTimescale; - if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep; - if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep; - if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep; - - m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale; - if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep; - m_linearMotorDecayTimescale += 0.2f; - m_linearMotorDecayTimescale *= m_invtimestep; - - m_linearMotorTimescale = vd.m_linearMotorTimescale; - if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep; - - m_linearMotorOffset = vd.m_linearMotorOffset; - - //Angular properties - m_angularMotorDirection = vd.m_angularMotorDirection; - m_angularMotorTimescale = vd.m_angularMotorTimescale; - if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep; - - m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale; - if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep; - m_angularMotorDecayTimescale *= m_invtimestep; - - m_angularFrictionTimescale = vd.m_angularFrictionTimescale; - if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep; - if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep; - if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep; - - //Deflection properties - m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency; - m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale; - if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep; - - m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency; - m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale; - if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep; - - //Banking properties - m_bankingEfficiency = vd.m_bankingEfficiency; - m_bankingMix = vd.m_bankingMix; - m_bankingTimescale = vd.m_bankingTimescale; - if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep; - - //Hover and Buoyancy properties - m_VhoverHeight = vd.m_VhoverHeight; - m_VhoverEfficiency = vd.m_VhoverEfficiency; - m_VhoverTimescale = vd.m_VhoverTimescale; - if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep; - - m_VehicleBuoyancy = vd.m_VehicleBuoyancy; - - //Attractor properties - m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency; - m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale; - if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep; - - // Axis - m_referenceFrame = vd.m_referenceFrame; - - m_lmEfect = 0; - m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); - m_amEfect = 0; - m_ffactor = 1.0f; - } - - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) - { - float len; - - switch (pParam) - { - case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_angularDeflectionEfficiency = pValue; - break; - case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_angularDeflectionTimescale = pValue; - break; - case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - else if (pValue > 120) pValue = 120; - m_angularMotorDecayTimescale = pValue * m_invtimestep; - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - break; - case Vehicle.ANGULAR_MOTOR_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_angularMotorTimescale = pValue; - break; - case Vehicle.BANKING_EFFICIENCY: - if (pValue < -1f) pValue = -1f; - if (pValue > 1f) pValue = 1f; - m_bankingEfficiency = pValue; - break; - case Vehicle.BANKING_MIX: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_bankingMix = pValue; - break; - case Vehicle.BANKING_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_bankingTimescale = pValue; - break; - case Vehicle.BUOYANCY: - if (pValue < -1f) pValue = -1f; - if (pValue > 1f) pValue = 1f; - m_VehicleBuoyancy = pValue; - break; - case Vehicle.HOVER_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_VhoverEfficiency = pValue; - break; - case Vehicle.HOVER_HEIGHT: - m_VhoverHeight = pValue; - break; - case Vehicle.HOVER_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_VhoverTimescale = pValue; - break; - case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_linearDeflectionEfficiency = pValue; - break; - case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_linearDeflectionTimescale = pValue; - break; - case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - else if (pValue > 120) pValue = 120; - m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep; - m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); - break; - case Vehicle.LINEAR_MOTOR_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_linearMotorTimescale = pValue; - break; - case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_verticalAttractionEfficiency = pValue; - break; - case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_verticalAttractionTimescale = pValue; - break; - - // These are vector properties but the engine lets you use a single float value to - // set all of the components to the same value - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - len = m_angularMotorDirection.Length(); - if (len > 12.566f) - m_angularMotorDirection *= (12.566f / len); - - m_amEfect = 1.0f ; // turn it on - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - len = m_linearMotorDirection.Length(); - if (len > 100.0f) - m_linearMotorDirection *= (100.0f / len); - - m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; - m_lmEfect = 1.0f; // turn it on - - m_ffactor = 0.0f; - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue, pValue, pValue); - len = m_linearMotorOffset.Length(); - if (len > 100.0f) - m_linearMotorOffset *= (100.0f / len); - break; - } - }//end ProcessFloatVehicleParam - - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) - { - float len; - - switch (pParam) - { - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - if (pValue.X < m_timestep) pValue.X = m_timestep; - if (pValue.Y < m_timestep) pValue.Y = m_timestep; - if (pValue.Z < m_timestep) pValue.Z = m_timestep; - - m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - // Limit requested angular speed to 2 rps= 4 pi rads/sec - len = m_angularMotorDirection.Length(); - if (len > 12.566f) - m_angularMotorDirection *= (12.566f / len); - - m_amEfect = 1.0f; // turn it on - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - if (pValue.X < m_timestep) pValue.X = m_timestep; - if (pValue.Y < m_timestep) pValue.Y = m_timestep; - if (pValue.Z < m_timestep) pValue.Z = m_timestep; - m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - len = m_linearMotorDirection.Length(); - if (len > 100.0f) - m_linearMotorDirection *= (100.0f / len); - - m_lmEfect = 1.0f; // turn it on - m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; - - m_ffactor = 0.0f; - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); - len = m_linearMotorOffset.Length(); - if (len > 100.0f) - m_linearMotorOffset *= (100.0f / len); - break; - case Vehicle.BLOCK_EXIT: - m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - } - }//end ProcessVectorVehicleParam - - internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) - { - switch (pParam) - { - case Vehicle.REFERENCE_FRAME: - // m_referenceFrame = Quaternion.Inverse(pValue); - m_referenceFrame = pValue; - break; - case Vehicle.ROLL_FRAME: - m_RollreferenceFrame = pValue; - break; - } - }//end ProcessRotationVehicleParam - - internal void ProcessVehicleFlags(int pParam, bool remove) - { - if (remove) - { - m_flags &= ~((VehicleFlag)pParam); - } - else - { - m_flags |= (VehicleFlag)pParam; - } - }//end ProcessVehicleFlags - - internal void ProcessTypeChange(Vehicle pType) - { - m_lmEfect = 0; - - m_amEfect = 0; - m_ffactor = 1f; - - m_linearMotorDirection = Vector3.Zero; - m_angularMotorDirection = Vector3.Zero; - - m_BlockingEndPoint = Vector3.Zero; - m_RollreferenceFrame = Quaternion.Identity; - m_linearMotorOffset = Vector3.Zero; - - m_referenceFrame = Quaternion.Identity; - - // Set Defaults For Type - m_type = pType; - switch (pType) - { - case Vehicle.TYPE_NONE: - m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorTimescale = 1000; - m_linearMotorDecayTimescale = 120 * m_invtimestep; - m_angularMotorTimescale = 1000; - m_angularMotorDecayTimescale = 1000 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 1; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 0; - m_linearDeflectionTimescale = 1000; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 1000; - m_bankingEfficiency = 0; - m_bankingMix = 1; - m_bankingTimescale = 1000; - m_verticalAttractionEfficiency = 0; - m_verticalAttractionTimescale = 1000; - - m_flags = (VehicleFlag)0; - break; - - case Vehicle.TYPE_SLED: - m_linearFrictionTimescale = new Vector3(30, 1, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorTimescale = 1000; - m_linearMotorDecayTimescale = 120 * m_invtimestep; - m_angularMotorTimescale = 1000; - m_angularMotorDecayTimescale = 120 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 1; - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 1; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 10; - m_verticalAttractionEfficiency = 1; - m_verticalAttractionTimescale = 1000; - m_bankingEfficiency = 0; - m_bankingMix = 1; - m_bankingTimescale = 10; - m_flags &= - ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_ROLL_ONLY | - VehicleFlag.LIMIT_MOTOR_UP); - break; - - case Vehicle.TYPE_CAR: - m_linearFrictionTimescale = new Vector3(100, 2, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorTimescale = 1; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 1; - m_angularMotorDecayTimescale = 0.8f * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 0; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 2; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 10; - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 10f; - m_bankingEfficiency = -0.2f; - m_bankingMix = 1; - m_bankingTimescale = 1; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | - VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_ROLL_ONLY | - VehicleFlag.LIMIT_MOTOR_UP | - VehicleFlag.HOVER_UP_ONLY); - break; - case Vehicle.TYPE_BOAT: - m_linearFrictionTimescale = new Vector3(10, 3, 2); - m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_linearMotorTimescale = 5; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 4 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 2; - m_VehicleBuoyancy = 1; - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 3; - m_angularDeflectionEfficiency = 0.5f; - m_angularDeflectionTimescale = 5; - m_verticalAttractionEfficiency = 0.5f; - m_verticalAttractionTimescale = 5f; - m_bankingEfficiency = -0.3f; - m_bankingMix = 0.8f; - m_bankingTimescale = 1; - m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | - VehicleFlag.HOVER_UP_ONLY); // | -// VehicleFlag.LIMIT_ROLL_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP | - VehicleFlag.HOVER_UP_ONLY | // new sl - VehicleFlag.HOVER_WATER_ONLY); - break; - - case Vehicle.TYPE_AIRPLANE: - m_linearFrictionTimescale = new Vector3(200, 10, 5); - m_angularFrictionTimescale = new Vector3(20, 20, 20); - m_linearMotorTimescale = 2; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 8 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 0.5f; - m_angularDeflectionEfficiency = 1; - m_angularDeflectionTimescale = 2; - m_verticalAttractionEfficiency = 0.9f; - m_verticalAttractionTimescale = 2f; - m_bankingEfficiency = 1; - m_bankingMix = 0.7f; - m_bankingTimescale = 2; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | - VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | - VehicleFlag.HOVER_UP_ONLY | - VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); - break; - - case Vehicle.TYPE_BALLOON: - m_linearFrictionTimescale = new Vector3(5, 5, 5); - m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_linearMotorTimescale = 5; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 6; - m_angularMotorDecayTimescale = 10 * m_invtimestep; - m_VhoverHeight = 5; - m_VhoverEfficiency = 0.8f; - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 1; - m_linearDeflectionEfficiency = 0; - m_linearDeflectionTimescale = 5 * m_invtimestep; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 5; - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 1000f; - m_bankingEfficiency = 0; - m_bankingMix = 0.7f; - m_bankingTimescale = 5; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | - VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_UP_ONLY | - VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP | //); - VehicleFlag.LIMIT_ROLL_ONLY | // new sl - VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl - -// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | -// VehicleFlag.HOVER_GLOBAL_HEIGHT); - break; - - } - - m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - - }//end SetDefaultsForType - - internal void Stop() - { - m_lmEfect = 0; - m_lmDecay = 0f; - m_amEfect = 0; - m_amDecay = 0; - m_ffactor = 1f; - } - - public static Vector3 Xrot(Quaternion rot) - { - Vector3 vec; - rot.Normalize(); // just in case - vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1; - vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W); - vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W); - return vec; - } - - public static Vector3 Zrot(Quaternion rot) - { - Vector3 vec; - rot.Normalize(); // just in case - vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W); - vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W); - vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1; - - return vec; - } - - private const float pi = (float)Math.PI; - private const float halfpi = 0.5f * (float)Math.PI; - private const float twopi = 2.0f * pi; - - public static Vector3 ubitRot2Euler(Quaternion rot) - { - // returns roll in X - // pitch in Y - // yaw in Z - Vector3 vec; - - // assuming rot is normalised - // rot.Normalize(); - - float zX = rot.X * rot.Z + rot.Y * rot.W; - - if (zX < -0.49999f) - { - vec.X = 0; - vec.Y = -halfpi; - vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W)); - } - else if (zX > 0.49999f) - { - vec.X = 0; - vec.Y = halfpi; - vec.Z = (float)(2d * Math.Atan(rot.X / rot.W)); - } - else - { - vec.Y = (float)Math.Asin(2 * zX); - - float sqw = rot.W * rot.W; - - float minuszY = rot.X * rot.W - rot.Y * rot.Z; - float zZ = rot.Z * rot.Z + sqw - 0.5f; - - vec.X = (float)Math.Atan2(minuszY, zZ); - - float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?) - float yY = rot.X * rot.X + sqw - 0.5f; - vec.Z = (float)Math.Atan2(yX, yY); - } - return vec; - } - - public static void GetRollPitch(Quaternion rot, out float roll, out float pitch) - { - // assuming rot is normalised - // rot.Normalize(); - - float zX = rot.X * rot.Z + rot.Y * rot.W; - - if (zX < -0.49999f) - { - roll = 0; - pitch = -halfpi; - } - else if (zX > 0.49999f) - { - roll = 0; - pitch = halfpi; - } - else - { - pitch = (float)Math.Asin(2 * zX); - - float minuszY = rot.X * rot.W - rot.Y * rot.Z; - float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f; - - roll = (float)Math.Atan2(minuszY, zZ); - } - return ; - } - - internal void Step() - { - IntPtr Body = rootPrim.Body; - - d.Mass dmass; - d.BodyGetMass(Body, out dmass); - - d.Quaternion rot = d.BodyGetQuaternion(Body); - Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object - Quaternion rotq = objrotq; // rotq = rotation of object - rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame - Quaternion irotq = Quaternion.Inverse(rotq); - - d.Vector3 dvtmp; - Vector3 tmpV; - Vector3 curVel; // velocity in world - Vector3 curAngVel; // angular velocity in world - Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame - Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame - d.Vector3 dtorque = new d.Vector3(); - - dvtmp = d.BodyGetLinearVel(Body); - curVel.X = dvtmp.X; - curVel.Y = dvtmp.Y; - curVel.Z = dvtmp.Z; - Vector3 curLocalVel = curVel * irotq; // current velocity in local - - dvtmp = d.BodyGetAngularVel(Body); - curAngVel.X = dvtmp.X; - curAngVel.Y = dvtmp.Y; - curAngVel.Z = dvtmp.Z; - Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local - - float ldampZ = 0; - - // linear motor - if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) - { - tmpV = m_linearMotorDirection - curLocalVel; // velocity error - tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep - tmpV *= rotq; // to world - - if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) - tmpV.Z = 0; - - if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0) - { - // have offset, do it now - tmpV *= dmass.mass; - d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z); - } - else - { - force.X += tmpV.X; - force.Y += tmpV.Y; - force.Z += tmpV.Z; - } - - m_lmEfect *= m_lmDecay; -// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); - m_ffactor = 0.0f; - } - else - { - m_lmEfect = 0; - m_ffactor = 1f; - } - - // hover - if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero) - { - // d.Vector3 pos = d.BodyGetPosition(Body); - d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom); - pos.Z -= 0.21f; // minor offset that seems to be always there in sl - - float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); - float perr; - - // default to global but don't go underground - perr = m_VhoverHeight - pos.Z; - - if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0) - { - if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) - { - perr += _pParentScene.GetWaterLevel(); - } - else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) - { - perr += t; - } - else - { - float w = _pParentScene.GetWaterLevel(); - if (t > w) - perr += t; - else - perr += w; - } - } - else if (t > m_VhoverHeight) - perr = t - pos.Z; ; - - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > -0.1) - { - ldampZ = m_VhoverEfficiency * m_invtimestep; - - perr *= (1.0f + ldampZ) / m_VhoverTimescale; - - // force.Z += perr - curVel.Z * tmp; - force.Z += perr; - ldampZ *= -curVel.Z; - - force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy); - } - else // no buoyancy - force.Z += _pParentScene.gravityz; - } - else - { - // default gravity and Buoyancy - force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy); - } - - // linear deflection - if (m_linearDeflectionEfficiency > 0) - { - float len = curVel.Length(); - if (len > 0.01) // if moving - { - Vector3 atAxis; - atAxis = Xrot(rotq); // where are we pointing to - atAxis *= len; // make it same size as world velocity vector - - tmpV = -atAxis; // oposite direction - atAxis -= curVel; // error to one direction - len = atAxis.LengthSquared(); - - tmpV -= curVel; // error to oposite - float lens = tmpV.LengthSquared(); - - if (len > 0.01 || lens > 0.01) // do nothing if close enougth - { - if (len < lens) - tmpV = atAxis; - - tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep - force.X += tmpV.X; - force.Y += tmpV.Y; - if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0) - force.Z += tmpV.Z; - } - } - } - - // linear friction/damping - if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0) - { - tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X; - tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y; - tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z; - tmpV *= rotq; // to world - - if(ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z)) - tmpV.Z = ldampZ; - force.X += tmpV.X; - force.Y += tmpV.Y; - force.Z += tmpV.Z; - } - - // vertical atractor - if (m_verticalAttractionTimescale < 300) - { - float roll; - float pitch; - - - - float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale; - - float ftmp2; - ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep; - m_amdampX = ftmp2; - - m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency; - - GetRollPitch(irotq, out roll, out pitch); - - if (roll > halfpi) - roll = pi - roll; - else if (roll < -halfpi) - roll = -pi - roll; - - float effroll = pitch / halfpi; - effroll *= effroll; - effroll = 1 - effroll; - effroll *= roll; - - - torque.X += effroll * ftmp; - - if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0) - { - float effpitch = roll / halfpi; - effpitch *= effpitch; - effpitch = 1 - effpitch; - effpitch *= pitch; - - torque.Y += effpitch * ftmp; - } - - if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01) - { - - float broll = effroll; - /* - if (broll > halfpi) - broll = pi - broll; - else if (broll < -halfpi) - broll = -pi - broll; - */ - broll *= m_bankingEfficiency; - if (m_bankingMix != 0) - { - float vfact = Math.Abs(curLocalVel.X) / 10.0f; - if (vfact > 1.0f) vfact = 1.0f; - - if (curLocalVel.X >= 0) - broll *= (1 + (vfact - 1) * m_bankingMix); - else - broll *= -(1 + (vfact - 1) * m_bankingMix); - } - // make z rot be in world Z not local as seems to be in sl - - broll = broll / m_bankingTimescale; - - - tmpV = Zrot(irotq); - tmpV *= broll; - - torque.X += tmpV.X; - torque.Y += tmpV.Y; - torque.Z += tmpV.Z; - - m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale; - m_amdampY = m_amdampZ; - - } - else - { - m_amdampZ = 1 / m_angularFrictionTimescale.Z; - m_amdampY = m_amdampX; - } - } - else - { - m_ampwr = 1.0f; - m_amdampX = 1 / m_angularFrictionTimescale.X; - m_amdampY = 1 / m_angularFrictionTimescale.Y; - m_amdampZ = 1 / m_angularFrictionTimescale.Z; - } - - // angular motor - if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) - { - tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error - tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep - torque.X += tmpV.X * m_ampwr; - torque.Y += tmpV.Y * m_ampwr; - torque.Z += tmpV.Z; - - m_amEfect *= m_amDecay; - } - else - m_amEfect = 0; - - // angular deflection - if (m_angularDeflectionEfficiency > 0) - { - Vector3 dirv; - - if (curLocalVel.X > 0.01f) - dirv = curLocalVel; - else if (curLocalVel.X < -0.01f) - // use oposite - dirv = -curLocalVel; - else - { - // make it fall into small positive x case - dirv.X = 0.01f; - dirv.Y = curLocalVel.Y; - dirv.Z = curLocalVel.Z; - } - - float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale; - - if (Math.Abs(dirv.Z) > 0.01) - { - torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp; - } - - if (Math.Abs(dirv.Y) > 0.01) - { - torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp; - } - } - - // angular friction - if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0) - { - torque.X -= curLocalAngVel.X * m_amdampX; - torque.Y -= curLocalAngVel.Y * m_amdampY; - torque.Z -= curLocalAngVel.Z * m_amdampZ; - } - - - if (force.X != 0 || force.Y != 0 || force.Z != 0) - { - force *= dmass.mass; - d.BodyAddForce(Body, force.X, force.Y, force.Z); - } - - if (torque.X != 0 || torque.Y != 0 || torque.Z != 0) - { - torque *= m_referenceFrame; // to object frame - dtorque.X = torque.X ; - dtorque.Y = torque.Y; - dtorque.Z = torque.Z; - - d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque); - d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame - } - } - } -} -- cgit v1.1