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author | Robert Adams | 2015-09-08 06:15:46 -0700 |
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committer | Robert Adams | 2015-09-08 06:15:46 -0700 |
commit | 4dd17c4117ea413fb0c4418511956cb3abfe258c (patch) | |
tree | 6f31a583610f8bf074d1f0b4e7ab6ccef37dec9a /OpenSim/Region/PhysicsModules/UbitOdePlugin/ODESitAvatar.cs | |
parent | Merge of ubitworkvarnew with opensim/master as of 20150905. (diff) | |
download | opensim-SC_OLD-4dd17c4117ea413fb0c4418511956cb3abfe258c.zip opensim-SC_OLD-4dd17c4117ea413fb0c4418511956cb3abfe258c.tar.gz opensim-SC_OLD-4dd17c4117ea413fb0c4418511956cb3abfe258c.tar.bz2 opensim-SC_OLD-4dd17c4117ea413fb0c4418511956cb3abfe258c.tar.xz |
More 'everything is a module' merging.
Have most of UbitOde converted.
There are compile errors in OpenSimBase as the new modules stuff is not all there.
Removed ChOdePlugin as it's connection to OdePlugin was tangled.
Diffstat (limited to 'OpenSim/Region/PhysicsModules/UbitOdePlugin/ODESitAvatar.cs')
-rw-r--r-- | OpenSim/Region/PhysicsModules/UbitOdePlugin/ODESitAvatar.cs | 356 |
1 files changed, 356 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODESitAvatar.cs b/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODESitAvatar.cs new file mode 100644 index 0000000..d934d3e --- /dev/null +++ b/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODESitAvatar.cs | |||
@@ -0,0 +1,356 @@ | |||
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 copyright | ||
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 | // Ubit 2012 | ||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Reflection; | ||
31 | using System.Runtime.InteropServices; | ||
32 | using System.Text; | ||
33 | using OpenSim.Framework; | ||
34 | using OpenSim.Region.PhysicsModules.SharedBase; | ||
35 | using OdeAPI; | ||
36 | using log4net; | ||
37 | using OpenMetaverse; | ||
38 | |||
39 | namespace OpenSim.Region.PhysicsModules.OdePlugin | ||
40 | { | ||
41 | /// <summary> | ||
42 | /// </summary> | ||
43 | public class ODESitAvatar | ||
44 | { | ||
45 | private OdeScene m_scene; | ||
46 | private ODERayCastRequestManager m_raymanager; | ||
47 | |||
48 | public ODESitAvatar(OdeScene pScene, ODERayCastRequestManager raymanager) | ||
49 | { | ||
50 | m_scene = pScene; | ||
51 | m_raymanager = raymanager; | ||
52 | } | ||
53 | |||
54 | private static Vector3 SitAjust = new Vector3(0, 0, 0.4f); | ||
55 | private const RayFilterFlags RaySitFlags = RayFilterFlags.AllPrims | RayFilterFlags.ClosestHit; | ||
56 | |||
57 | private void RotAroundZ(float x, float y, ref Quaternion ori) | ||
58 | { | ||
59 | double ang = Math.Atan2(y, x); | ||
60 | ang *= 0.5d; | ||
61 | float s = (float)Math.Sin(ang); | ||
62 | float c = (float)Math.Cos(ang); | ||
63 | |||
64 | ori.X = 0; | ||
65 | ori.Y = 0; | ||
66 | ori.Z = s; | ||
67 | ori.W = c; | ||
68 | } | ||
69 | |||
70 | |||
71 | public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse) | ||
72 | { | ||
73 | if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).prim_geom == IntPtr.Zero) | ||
74 | { | ||
75 | PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity); | ||
76 | return; | ||
77 | } | ||
78 | |||
79 | IntPtr geom = ((OdePrim)actor).prim_geom; | ||
80 | |||
81 | Vector3 geopos = d.GeomGetPositionOMV(geom); | ||
82 | Quaternion geomOri = d.GeomGetQuaternionOMV(geom); | ||
83 | |||
84 | // Vector3 geopos = actor.Position; | ||
85 | // Quaternion geomOri = actor.Orientation; | ||
86 | |||
87 | Quaternion geomInvOri = Quaternion.Conjugate(geomOri); | ||
88 | |||
89 | Quaternion ori = Quaternion.Identity; | ||
90 | |||
91 | Vector3 rayDir = geopos + offset - avCameraPosition; | ||
92 | |||
93 | float raylen = rayDir.Length(); | ||
94 | if (raylen < 0.001f) | ||
95 | { | ||
96 | PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity); | ||
97 | return; | ||
98 | } | ||
99 | float t = 1 / raylen; | ||
100 | rayDir.X *= t; | ||
101 | rayDir.Y *= t; | ||
102 | rayDir.Z *= t; | ||
103 | |||
104 | raylen += 30f; // focal point may be far | ||
105 | List<ContactResult> rayResults; | ||
106 | |||
107 | rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags); | ||
108 | if (rayResults.Count == 0) | ||
109 | { | ||
110 | /* if this fundamental ray failed, then just fail so user can try another spot and not be sitted far on a big prim | ||
111 | d.AABB aabb; | ||
112 | d.GeomGetAABB(geom, out aabb); | ||
113 | offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z); | ||
114 | ori = geomInvOri; | ||
115 | offset *= geomInvOri; | ||
116 | PhysicsSitResponse(1, actor.LocalID, offset, ori); | ||
117 | */ | ||
118 | PhysicsSitResponse(0, actor.LocalID, offset, ori); | ||
119 | return; | ||
120 | } | ||
121 | |||
122 | int status = 1; | ||
123 | |||
124 | offset = rayResults[0].Pos - geopos; | ||
125 | |||
126 | d.GeomClassID geoclass = d.GeomGetClass(geom); | ||
127 | |||
128 | if (geoclass == d.GeomClassID.SphereClass) | ||
129 | { | ||
130 | float r = d.GeomSphereGetRadius(geom); | ||
131 | |||
132 | offset.Normalize(); | ||
133 | offset *= r; | ||
134 | |||
135 | RotAroundZ(offset.X, offset.Y, ref ori); | ||
136 | |||
137 | if (r < 0.4f) | ||
138 | { | ||
139 | offset = new Vector3(0, 0, r); | ||
140 | } | ||
141 | else | ||
142 | { | ||
143 | if (offset.Z < 0.4f) | ||
144 | { | ||
145 | t = offset.Z; | ||
146 | float rsq = r * r; | ||
147 | |||
148 | t = 1.0f / (rsq - t * t); | ||
149 | offset.X *= t; | ||
150 | offset.Y *= t; | ||
151 | offset.Z = 0.4f; | ||
152 | t = rsq - 0.16f; | ||
153 | offset.X *= t; | ||
154 | offset.Y *= t; | ||
155 | } | ||
156 | else if (r > 0.8f && offset.Z > 0.8f * r) | ||
157 | { | ||
158 | status = 3; | ||
159 | avOffset.X = -avOffset.X; | ||
160 | avOffset.Z *= 1.6f; | ||
161 | } | ||
162 | } | ||
163 | |||
164 | offset += avOffset * ori; | ||
165 | |||
166 | ori = geomInvOri * ori; | ||
167 | offset *= geomInvOri; | ||
168 | |||
169 | PhysicsSitResponse(status, actor.LocalID, offset, ori); | ||
170 | return; | ||
171 | } | ||
172 | |||
173 | Vector3 norm = rayResults[0].Normal; | ||
174 | |||
175 | if (norm.Z < -0.4f) | ||
176 | { | ||
177 | PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity); | ||
178 | return; | ||
179 | } | ||
180 | |||
181 | |||
182 | float SitNormX = -rayDir.X; | ||
183 | float SitNormY = -rayDir.Y; | ||
184 | |||
185 | Vector3 pivot = geopos + offset; | ||
186 | |||
187 | float edgeNormalX = norm.X; | ||
188 | float edgeNormalY = norm.Y; | ||
189 | float edgeDirX = -rayDir.X; | ||
190 | float edgeDirY = -rayDir.Y; | ||
191 | Vector3 edgePos = rayResults[0].Pos; | ||
192 | float edgeDist = float.MaxValue; | ||
193 | |||
194 | bool foundEdge = false; | ||
195 | |||
196 | if (norm.Z < 0.5f) | ||
197 | { | ||
198 | float rayDist = 4.0f; | ||
199 | |||
200 | for (int i = 0; i < 6; i++) | ||
201 | { | ||
202 | pivot.X -= 0.01f * norm.X; | ||
203 | pivot.Y -= 0.01f * norm.Y; | ||
204 | pivot.Z -= 0.01f * norm.Z; | ||
205 | |||
206 | rayDir.X = -norm.X * norm.Z; | ||
207 | rayDir.Y = -norm.Y * norm.Z; | ||
208 | rayDir.Z = 1.0f - norm.Z * norm.Z; | ||
209 | rayDir.Normalize(); | ||
210 | |||
211 | rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims); | ||
212 | if (rayResults.Count == 0) | ||
213 | break; | ||
214 | |||
215 | if (Math.Abs(rayResults[0].Normal.Z) < 0.7f) | ||
216 | { | ||
217 | rayDist -= rayResults[0].Depth; | ||
218 | if (rayDist < 0f) | ||
219 | break; | ||
220 | |||
221 | pivot = rayResults[0].Pos; | ||
222 | norm = rayResults[0].Normal; | ||
223 | edgeNormalX = norm.X; | ||
224 | edgeNormalY = norm.Y; | ||
225 | edgeDirX = -rayDir.X; | ||
226 | edgeDirY = -rayDir.Y; | ||
227 | } | ||
228 | else | ||
229 | { | ||
230 | foundEdge = true; | ||
231 | edgePos = rayResults[0].Pos; | ||
232 | break; | ||
233 | } | ||
234 | } | ||
235 | |||
236 | if (!foundEdge) | ||
237 | { | ||
238 | PhysicsSitResponse(0, actor.LocalID, offset, ori); | ||
239 | return; | ||
240 | } | ||
241 | avOffset.X *= 0.5f; | ||
242 | } | ||
243 | |||
244 | else if (norm.Z > 0.866f) | ||
245 | { | ||
246 | float toCamBaseX = avCameraPosition.X - pivot.X; | ||
247 | float toCamBaseY = avCameraPosition.Y - pivot.Y; | ||
248 | float toCamX = toCamBaseX; | ||
249 | float toCamY = toCamBaseY; | ||
250 | |||
251 | for (int j = 0; j < 4; j++) | ||
252 | { | ||
253 | float rayDist = 1.0f; | ||
254 | float curEdgeDist = 0.0f; | ||
255 | |||
256 | for (int i = 0; i < 3; i++) | ||
257 | { | ||
258 | pivot.Z -= 0.01f; | ||
259 | rayDir.X = toCamX; | ||
260 | rayDir.Y = toCamY; | ||
261 | rayDir.Z = (-toCamX * norm.X - toCamY * norm.Y) / norm.Z; | ||
262 | rayDir.Normalize(); | ||
263 | |||
264 | rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims); | ||
265 | if (rayResults.Count == 0) | ||
266 | break; | ||
267 | |||
268 | curEdgeDist += rayResults[0].Depth; | ||
269 | |||
270 | if (rayResults[0].Normal.Z > 0.5f) | ||
271 | { | ||
272 | rayDist -= rayResults[0].Depth; | ||
273 | if (rayDist < 0f) | ||
274 | break; | ||
275 | |||
276 | pivot = rayResults[0].Pos; | ||
277 | norm = rayResults[0].Normal; | ||
278 | } | ||
279 | else | ||
280 | { | ||
281 | foundEdge = true; | ||
282 | if (curEdgeDist < edgeDist) | ||
283 | { | ||
284 | edgeDist = curEdgeDist; | ||
285 | edgeNormalX = rayResults[0].Normal.X; | ||
286 | edgeNormalY = rayResults[0].Normal.Y; | ||
287 | edgeDirX = rayDir.X; | ||
288 | edgeDirY = rayDir.Y; | ||
289 | edgePos = rayResults[0].Pos; | ||
290 | } | ||
291 | break; | ||
292 | } | ||
293 | } | ||
294 | if (foundEdge && edgeDist < 0.2f) | ||
295 | break; | ||
296 | |||
297 | pivot = geopos + offset; | ||
298 | |||
299 | switch (j) | ||
300 | { | ||
301 | case 0: | ||
302 | toCamX = -toCamBaseY; | ||
303 | toCamY = toCamBaseX; | ||
304 | break; | ||
305 | case 1: | ||
306 | toCamX = toCamBaseY; | ||
307 | toCamY = -toCamBaseX; | ||
308 | break; | ||
309 | case 2: | ||
310 | toCamX = -toCamBaseX; | ||
311 | toCamY = -toCamBaseY; | ||
312 | break; | ||
313 | default: | ||
314 | break; | ||
315 | } | ||
316 | } | ||
317 | |||
318 | if (!foundEdge) | ||
319 | { | ||
320 | avOffset.X = -avOffset.X; | ||
321 | avOffset.Z *= 1.6f; | ||
322 | |||
323 | RotAroundZ(SitNormX, SitNormY, ref ori); | ||
324 | |||
325 | offset += avOffset * ori; | ||
326 | |||
327 | ori = geomInvOri * ori; | ||
328 | offset *= geomInvOri; | ||
329 | |||
330 | PhysicsSitResponse(3, actor.LocalID, offset, ori); | ||
331 | return; | ||
332 | } | ||
333 | avOffset.X *= 0.5f; | ||
334 | } | ||
335 | |||
336 | SitNormX = edgeNormalX; | ||
337 | SitNormY = edgeNormalY; | ||
338 | if (edgeDirX * SitNormX + edgeDirY * SitNormY < 0) | ||
339 | { | ||
340 | SitNormX = -SitNormX; | ||
341 | SitNormY = -SitNormY; | ||
342 | } | ||
343 | |||
344 | RotAroundZ(SitNormX, SitNormY, ref ori); | ||
345 | |||
346 | offset = edgePos + avOffset * ori; | ||
347 | offset -= geopos; | ||
348 | |||
349 | ori = geomInvOri * ori; | ||
350 | offset *= geomInvOri; | ||
351 | |||
352 | PhysicsSitResponse(1, actor.LocalID, offset, ori); | ||
353 | return; | ||
354 | } | ||
355 | } | ||
356 | } | ||