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authorRobert Adams2013-04-07 08:27:49 -0700
committerRobert Adams2013-04-08 06:27:43 -0700
commitfe16dc09da3f2736fad5a9e792f5f81098b5f9a1 (patch)
tree14df85296a103e7326726ccfb9a017bc9ecb669f /OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
parentOptimize the number of Simian calls to get the initial presence (diff)
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BulletSim: complete movement of physical object action code out of the
physical object and into actors for setForce, setTorque, hover, lock axis and avatar move.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs176
1 files changed, 176 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
new file mode 100755
index 0000000..8dd3700
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -0,0 +1,176 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Linq;
31using System.Text;
32
33using OpenSim.Region.Physics.Manager;
34
35using OMV = OpenMetaverse;
36
37namespace OpenSim.Region.Physics.BulletSPlugin
38{
39public class BSActorHover : BSActor
40{
41 private BSFMotor m_hoverMotor;
42
43 public BSActorHover(BSScene physicsScene, BSPhysObject pObj, string actorName)
44 : base(physicsScene, pObj, actorName)
45 {
46 m_hoverMotor = null;
47 m_physicsScene.DetailLog("{0},BSActorHover,constructor", m_controllingPrim.LocalID);
48 }
49
50 // BSActor.isActive
51 public override bool isActive
52 {
53 get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
54 }
55
56 // Release any connections and resources used by the actor.
57 // BSActor.Dispose()
58 public override void Dispose()
59 {
60 Enabled = false;
61 }
62
63 // Called when physical parameters (properties set in Bullet) need to be re-applied.
64 // Called at taint-time.
65 // BSActor.Refresh()
66 public override void Refresh()
67 {
68 m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID);
69
70 // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
71 if (!m_controllingPrim.HoverActive)
72 {
73 m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName);
74 m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
75 return;
76 }
77
78 // If the object is physically active, add the hoverer prestep action
79 if (isActive)
80 {
81 ActivateHover();
82 }
83 else
84 {
85 DeactivateHover();
86 }
87 }
88
89 // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
90 // Register a prestep action to restore physical requirements before the next simulation step.
91 // Called at taint-time.
92 // BSActor.RemoveBodyDependencies()
93 public override void RemoveBodyDependencies()
94 {
95 // Nothing to do for the hoverer since it is all software at pre-step action time.
96 }
97
98 // If a hover motor has not been created, create one and start the hovering.
99 private void ActivateHover()
100 {
101 if (m_hoverMotor == null)
102 {
103 // Turning the target on
104 m_hoverMotor = new BSFMotor("BSActorHover",
105 m_controllingPrim.HoverTau, // timeScale
106 BSMotor.Infinite, // decay time scale
107 BSMotor.Infinite, // friction timescale
108 1f // efficiency
109 );
110 m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
111 m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
112 m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
113
114 m_physicsScene.BeforeStep += Hoverer;
115 }
116 }
117
118 private void DeactivateHover()
119 {
120 if (m_hoverMotor != null)
121 {
122 m_physicsScene.BeforeStep -= Hoverer;
123 m_hoverMotor = null;
124 }
125 }
126
127 // Called just before the simulation step. Update the vertical position for hoverness.
128 private void Hoverer(float timeStep)
129 {
130 // Don't do hovering while the object is selected.
131 if (!isActive)
132 return;
133
134 m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
135 m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
136 float targetHeight = m_hoverMotor.Step(timeStep);
137
138 // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
139 // Compute the amount of force to push us there.
140 float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass;
141 // Undo anything the object thinks it's doing at the moment
142 moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass;
143
144 m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce));
145 m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}",
146 m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass);
147 }
148
149 // Based on current position, determine what we should be hovering at now.
150 // Must recompute often. What if we walked offa cliff>
151 private float ComputeCurrentHoverHeight()
152 {
153 float ret = m_controllingPrim.HoverHeight;
154 float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition);
155
156 switch (m_controllingPrim.HoverType)
157 {
158 case PIDHoverType.Ground:
159 ret = groundHeight + m_controllingPrim.HoverHeight;
160 break;
161 case PIDHoverType.GroundAndWater:
162 float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition);
163 if (groundHeight > waterHeight)
164 {
165 ret = groundHeight + m_controllingPrim.HoverHeight;
166 }
167 else
168 {
169 ret = waterHeight + m_controllingPrim.HoverHeight;
170 }
171 break;
172 }
173 return ret;
174 }
175}
176}