/* * 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 { /// <summary> /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. /// </summary> 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; /// <summary> /// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force /// while calculatios are going on /// </summary> 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. /// <summary> /// Base movement for calculating tilt. /// </summary> private float m_tiltBaseMovement = (float)Math.Sqrt(2); /// <summary> /// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider /// </summary> 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); /// <summary> /// Body for dynamics simulation /// </summary> internal IntPtr Body { get; private set; } private OdeScene _parent_scene; /// <summary> /// Collision geometry /// </summary> 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; /// <summary> /// ODE Avatar. /// </summary> /// <param name="avName"></param> /// <param name="parent_scene"></param> /// <param name="pos"></param> /// <param name="size"></param> /// <param name="pid_d"></param> /// <param name="pid_p"></param> /// <param name="capsule_radius"></param> /// <param name="tensor"></param> /// <param name="density"> /// Only used right now to return information to LSL. Not actually used to set mass in ODE! /// </param> /// <param name="walk_divisor"></param> /// <param name="rundivisor"></param> public OdeCharacter( String avName, OdeScene parent_scene, Vector3 pos, 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); } _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; } } /// <summary> /// If this is set, the avatar will move faster /// </summary> 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); } } /// <summary> /// Returns if the avatar is colliding in general. /// This includes the ground and objects and avatar. /// </summary> 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; } } /// <summary> /// Returns if an avatar is colliding with the ground /// </summary> 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; } } /// <summary> /// Returns if the avatar is colliding with an object /// </summary> public override bool CollidingObj { get { return m_iscollidingObj; } set { m_iscollidingObj = value; if (value) m_pidControllerActive = false; else m_pidControllerActive = true; } } /// <summary> /// turn the PID controller on or off. /// The PID Controller will turn on all by itself in many situations /// </summary> /// <param name="status"></param> public void SetPidStatus(bool status) { m_pidControllerActive = status; } public override bool Stopped { get { return _zeroFlag; } } /// <summary> /// 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. /// </summary> 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; } } /// <summary> /// 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 /// </summary> 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 * 1.15f) - CAPSULE_RADIUS * 2.0f; // m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH); } 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 } /// <summary> /// Uses the capped cyllinder volume formula to calculate the avatar's mass. /// This may be used in calculations in the scene/scenepresence /// </summary> 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 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; } } /// <summary> /// Adds the force supplied to the Target Velocity /// The PID controller takes this target velocity and tries to make it a reality /// </summary> /// <param name="force"></param> 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) { } /// <summary> /// Called from Simulate /// This is the avatar's movement control + PID Controller /// </summary> /// <param name="defects">The character will be added to this list if there is something wrong (non-finite /// position or velocity). /// </param> internal void Move(List<OdeCharacter> 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 (m_iscolliding && !flying && _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; if (_target_velocity.X > 0) { vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; } if (_target_velocity.Y > 0) { vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; } } else if (!m_iscolliding && !flying) { // we're not colliding and we're not flying so that means we're falling! // m_iscolliding includes collisions with the ground. // d.Vector3 pos = d.BodyGetPosition(Body); if (_target_velocity.X > 0) { vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; } if (_target_velocity.Y > 0) { vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; } } 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); } } 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<float>(newVel.X, -255f, 255f); newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f); if (!flying) newVel.Z = Util.Clamp<float>( newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity); else newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f); d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); } } /// <summary> /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. /// </summary> /// <param name="defects">The character will be added to this list if there is something wrong (non-finite /// position or velocity). /// </param> internal void UpdatePositionAndVelocity(List<OdeCharacter> 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; } } } /// <summary> /// This creates the Avatar's physical Surrogate in ODE at the position supplied /// </summary> /// <remarks> /// 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. /// </remarks> /// <param name="npositionX"></param> /// <param name="npositionY"></param> /// <param name="npositionZ"></param> /// <param name="tensor"></param> 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; } /// <summary> /// Cleanup the things we use in the scene. /// </summary> internal void Destroy() { m_tainted_isPhysical = false; _parent_scene.AddPhysicsActorTaint(this); } /// <summary> /// Used internally to destroy the ODE structures associated with this character. /// </summary> 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 { 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() { CollisionEventsThisFrame.Clear(); // 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; } } }