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-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs2208
1 files changed, 1104 insertions, 1104 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index 6791671..9f3349e 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -1,1104 +1,1104 @@
1using System; 1using System;
2using System.Reflection; 2using System.Reflection;
3using BulletDotNET; 3using BulletDotNET;
4using OpenMetaverse; 4using OpenMetaverse;
5using OpenSim.Framework; 5using OpenSim.Framework;
6using OpenSim.Region.Physics.Manager; 6using OpenSim.Region.Physics.Manager;
7using log4net; 7using log4net;
8 8
9namespace OpenSim.Region.Physics.BulletDotNETPlugin 9namespace OpenSim.Region.Physics.BulletDotNETPlugin
10{ 10{
11 public class BulletDotNETCharacter : PhysicsActor 11 public class BulletDotNETCharacter : PhysicsActor
12 { 12 {
13 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 13 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
14 14
15 public btRigidBody Body; 15 public btRigidBody Body;
16 public btCollisionShape Shell; 16 public btCollisionShape Shell;
17 public btVector3 tempVector1; 17 public btVector3 tempVector1;
18 public btVector3 tempVector2; 18 public btVector3 tempVector2;
19 public btVector3 tempVector3; 19 public btVector3 tempVector3;
20 public btVector3 tempVector4; 20 public btVector3 tempVector4;
21 21
22 public btVector3 tempVector5RayCast; 22 public btVector3 tempVector5RayCast;
23 public btVector3 tempVector6RayCast; 23 public btVector3 tempVector6RayCast;
24 public btVector3 tempVector7RayCast; 24 public btVector3 tempVector7RayCast;
25 25
26 public btQuaternion tempQuat1; 26 public btQuaternion tempQuat1;
27 public btTransform tempTrans1; 27 public btTransform tempTrans1;
28 28
29 public ClosestNotMeRayResultCallback ClosestCastResult; 29 public ClosestNotMeRayResultCallback ClosestCastResult;
30 private btTransform m_bodyTransform; 30 private btTransform m_bodyTransform;
31 private btVector3 m_bodyPosition; 31 private btVector3 m_bodyPosition;
32 private btVector3 m_CapsuleOrientationAxis; 32 private btVector3 m_CapsuleOrientationAxis;
33 private btQuaternion m_bodyOrientation; 33 private btQuaternion m_bodyOrientation;
34 private btDefaultMotionState m_bodyMotionState; 34 private btDefaultMotionState m_bodyMotionState;
35 private btGeneric6DofConstraint m_aMotor; 35 private btGeneric6DofConstraint m_aMotor;
36 private PhysicsVector m_movementComparision; 36 private PhysicsVector m_movementComparision;
37 private PhysicsVector m_position; 37 private PhysicsVector m_position;
38 private PhysicsVector m_zeroPosition; 38 private PhysicsVector m_zeroPosition;
39 private bool m_zeroFlag = false; 39 private bool m_zeroFlag = false;
40 private bool m_lastUpdateSent = false; 40 private bool m_lastUpdateSent = false;
41 private PhysicsVector m_velocity; 41 private PhysicsVector m_velocity;
42 private PhysicsVector m_target_velocity; 42 private PhysicsVector m_target_velocity;
43 private PhysicsVector m_acceleration; 43 private PhysicsVector m_acceleration;
44 private PhysicsVector m_rotationalVelocity; 44 private PhysicsVector m_rotationalVelocity;
45 private bool m_pidControllerActive = true; 45 private bool m_pidControllerActive = true;
46 public float PID_D = 80.0f; 46 public float PID_D = 80.0f;
47 public float PID_P = 90.0f; 47 public float PID_P = 90.0f;
48 public float CAPSULE_RADIUS = 0.37f; 48 public float CAPSULE_RADIUS = 0.37f;
49 public float CAPSULE_LENGTH = 2.140599f; 49 public float CAPSULE_LENGTH = 2.140599f;
50 public float heightFudgeFactor = 0.52f; 50 public float heightFudgeFactor = 0.52f;
51 public float walkDivisor = 1.3f; 51 public float walkDivisor = 1.3f;
52 public float runDivisor = 0.8f; 52 public float runDivisor = 0.8f;
53 private float m_mass = 80f; 53 private float m_mass = 80f;
54 public float m_density = 60f; 54 public float m_density = 60f;
55 private bool m_flying = false; 55 private bool m_flying = false;
56 private bool m_iscolliding = false; 56 private bool m_iscolliding = false;
57 private bool m_iscollidingGround = false; 57 private bool m_iscollidingGround = false;
58 private bool m_wascolliding = false; 58 private bool m_wascolliding = false;
59 private bool m_wascollidingGround = false; 59 private bool m_wascollidingGround = false;
60 private bool m_iscollidingObj = false; 60 private bool m_iscollidingObj = false;
61 private bool m_alwaysRun = false; 61 private bool m_alwaysRun = false;
62 private bool m_hackSentFall = false; 62 private bool m_hackSentFall = false;
63 private bool m_hackSentFly = false; 63 private bool m_hackSentFly = false;
64 public uint m_localID = 0; 64 public uint m_localID = 0;
65 public bool m_returnCollisions = false; 65 public bool m_returnCollisions = false;
66 // taints and their non-tainted counterparts 66 // taints and their non-tainted counterparts
67 public bool m_isPhysical = false; // the current physical status 67 public bool m_isPhysical = false; // the current physical status
68 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing) 68 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
69 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 69 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
70 private bool m_taintRemove = false; 70 private bool m_taintRemove = false;
71 private bool m_taintedPosition = false; 71 private bool m_taintedPosition = false;
72 private PhysicsVector m_taintedPosition_value; 72 private PhysicsVector m_taintedPosition_value;
73 private PhysicsVector m_taintedForce; 73 private PhysicsVector m_taintedForce;
74 74
75 private float m_buoyancy = 0f; 75 private float m_buoyancy = 0f;
76 76
77 // private CollisionLocker ode; 77 // private CollisionLocker ode;
78 78
79 private string m_name = String.Empty; 79 private string m_name = String.Empty;
80 80
81 private bool[] m_colliderarr = new bool[11]; 81 private bool[] m_colliderarr = new bool[11];
82 private bool[] m_colliderGroundarr = new bool[11]; 82 private bool[] m_colliderGroundarr = new bool[11];
83 83
84 84
85 85
86 private BulletDotNETScene m_parent_scene; 86 private BulletDotNETScene m_parent_scene;
87 87
88 public int m_eventsubscription = 0; 88 public int m_eventsubscription = 0;
89 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); 89 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
90 90
91 public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) 91 public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
92 { 92 {
93 m_taintedForce = new PhysicsVector(); 93 m_taintedForce = new PhysicsVector();
94 m_velocity = new PhysicsVector(); 94 m_velocity = new PhysicsVector();
95 m_target_velocity = new PhysicsVector(); 95 m_target_velocity = new PhysicsVector();
96 m_position = pos; 96 m_position = pos;
97 m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless 97 m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless
98 m_acceleration = new PhysicsVector(); 98 m_acceleration = new PhysicsVector();
99 m_parent_scene = parent_scene; 99 m_parent_scene = parent_scene;
100 PID_D = pid_d; 100 PID_D = pid_d;
101 PID_P = pid_p; 101 PID_P = pid_p;
102 CAPSULE_RADIUS = capsule_radius; 102 CAPSULE_RADIUS = capsule_radius;
103 m_density = density; 103 m_density = density;
104 heightFudgeFactor = height_fudge_factor; 104 heightFudgeFactor = height_fudge_factor;
105 walkDivisor = walk_divisor; 105 walkDivisor = walk_divisor;
106 runDivisor = rundivisor; 106 runDivisor = rundivisor;
107 107
108 for (int i = 0; i < 11; i++) 108 for (int i = 0; i < 11; i++)
109 { 109 {
110 m_colliderarr[i] = false; 110 m_colliderarr[i] = false;
111 } 111 }
112 for (int i = 0; i < 11; i++) 112 for (int i = 0; i < 11; i++)
113 { 113 {
114 m_colliderGroundarr[i] = false; 114 m_colliderGroundarr[i] = false;
115 } 115 }
116 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; 116 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
117 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; 117 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
118 m_isPhysical = false; // current status: no ODE information exists 118 m_isPhysical = false; // current status: no ODE information exists
119 m_tainted_isPhysical = true; // new tainted status: need to create ODE information 119 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
120 120
121 m_parent_scene.AddPhysicsActorTaint(this); 121 m_parent_scene.AddPhysicsActorTaint(this);
122 122
123 m_name = avName; 123 m_name = avName;
124 tempVector1 = new btVector3(0, 0, 0); 124 tempVector1 = new btVector3(0, 0, 0);
125 tempVector2 = new btVector3(0, 0, 0); 125 tempVector2 = new btVector3(0, 0, 0);
126 tempVector3 = new btVector3(0, 0, 0); 126 tempVector3 = new btVector3(0, 0, 0);
127 tempVector4 = new btVector3(0, 0, 0); 127 tempVector4 = new btVector3(0, 0, 0);
128 128
129 tempVector5RayCast = new btVector3(0, 0, 0); 129 tempVector5RayCast = new btVector3(0, 0, 0);
130 tempVector6RayCast = new btVector3(0, 0, 0); 130 tempVector6RayCast = new btVector3(0, 0, 0);
131 tempVector7RayCast = new btVector3(0, 0, 0); 131 tempVector7RayCast = new btVector3(0, 0, 0);
132 132
133 tempQuat1 = new btQuaternion(0, 0, 0, 1); 133 tempQuat1 = new btQuaternion(0, 0, 0, 1);
134 tempTrans1 = new btTransform(tempQuat1, tempVector1); 134 tempTrans1 = new btTransform(tempQuat1, tempVector1);
135 m_movementComparision = new PhysicsVector(0, 0, 0); 135 m_movementComparision = new PhysicsVector(0, 0, 0);
136 m_CapsuleOrientationAxis = new btVector3(1, 0, 1); 136 m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
137 137
138 138
139 139
140 } 140 }
141 141
142 /// <summary> 142 /// <summary>
143 /// This creates the Avatar's physical Surrogate at the position supplied 143 /// This creates the Avatar's physical Surrogate at the position supplied
144 /// </summary> 144 /// </summary>
145 /// <param name="npositionX"></param> 145 /// <param name="npositionX"></param>
146 /// <param name="npositionY"></param> 146 /// <param name="npositionY"></param>
147 /// <param name="npositionZ"></param> 147 /// <param name="npositionZ"></param>
148 148
149 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access 149 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
150 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only 150 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
151 // place that is safe to call this routine AvatarGeomAndBodyCreation. 151 // place that is safe to call this routine AvatarGeomAndBodyCreation.
152 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) 152 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
153 { 153 {
154 154
155 if (CAPSULE_LENGTH <= 0) 155 if (CAPSULE_LENGTH <= 0)
156 { 156 {
157 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); 157 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
158 CAPSULE_LENGTH = 0.01f; 158 CAPSULE_LENGTH = 0.01f;
159 159
160 } 160 }
161 161
162 if (CAPSULE_RADIUS <= 0) 162 if (CAPSULE_RADIUS <= 0)
163 { 163 {
164 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); 164 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
165 CAPSULE_RADIUS = 0.01f; 165 CAPSULE_RADIUS = 0.01f;
166 166
167 } 167 }
168 168
169 Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH); 169 Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);
170 170
171 if (m_bodyPosition == null) 171 if (m_bodyPosition == null)
172 m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ); 172 m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
173 173
174 m_bodyPosition.setValue(npositionX, npositionY, npositionZ); 174 m_bodyPosition.setValue(npositionX, npositionY, npositionZ);
175 175
176 if (m_bodyOrientation == null) 176 if (m_bodyOrientation == null)
177 m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90)); 177 m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
178 178
179 if (m_bodyTransform == null) 179 if (m_bodyTransform == null)
180 m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition); 180 m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
181 else 181 else
182 { 182 {
183 m_bodyTransform.Dispose(); 183 m_bodyTransform.Dispose();
184 m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition); 184 m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
185 } 185 }
186 186
187 if (m_bodyMotionState == null) 187 if (m_bodyMotionState == null)
188 m_bodyMotionState = new btDefaultMotionState(m_bodyTransform); 188 m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
189 else 189 else
190 m_bodyMotionState.setWorldTransform(m_bodyTransform); 190 m_bodyMotionState.setWorldTransform(m_bodyTransform);
191 191
192 m_mass = Mass; 192 m_mass = Mass;
193 193
194 Body = new btRigidBody(m_mass, m_bodyMotionState, Shell); 194 Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
195 Body.setUserPointer(new IntPtr((int)Body.Handle)); 195 Body.setUserPointer(new IntPtr((int)Body.Handle));
196 196
197 if (ClosestCastResult != null) 197 if (ClosestCastResult != null)
198 ClosestCastResult.Dispose(); 198 ClosestCastResult.Dispose();
199 ClosestCastResult = new ClosestNotMeRayResultCallback(Body); 199 ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
200 200
201 m_parent_scene.AddRigidBody(Body); 201 m_parent_scene.AddRigidBody(Body);
202 Body.setActivationState(4); 202 Body.setActivationState(4);
203 if (m_aMotor != null) 203 if (m_aMotor != null)
204 { 204 {
205 if (m_aMotor.Handle != IntPtr.Zero) 205 if (m_aMotor.Handle != IntPtr.Zero)
206 { 206 {
207 m_parent_scene.getBulletWorld().removeConstraint(m_aMotor); 207 m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
208 m_aMotor.Dispose(); 208 m_aMotor.Dispose();
209 } 209 }
210 m_aMotor = null; 210 m_aMotor = null;
211 } 211 }
212 212
213 m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody, 213 m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
214 m_parent_scene.TransZero, 214 m_parent_scene.TransZero,
215 m_parent_scene.TransZero, false); 215 m_parent_scene.TransZero, false);
216 m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero); 216 m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
217 m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero); 217 m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
218 218
219 219
220 } 220 }
221 public void Remove() 221 public void Remove()
222 { 222 {
223 m_taintRemove = true; 223 m_taintRemove = true;
224 } 224 }
225 public override bool Stopped 225 public override bool Stopped
226 { 226 {
227 get { return m_zeroFlag; } 227 get { return m_zeroFlag; }
228 } 228 }
229 229
230 public override PhysicsVector Size 230 public override PhysicsVector Size
231 { 231 {
232 get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } 232 get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
233 set 233 set
234 { 234 {
235 m_pidControllerActive = true; 235 m_pidControllerActive = true;
236 236
237 PhysicsVector SetSize = value; 237 PhysicsVector SetSize = value;
238 m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; 238 m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
239 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); 239 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
240 240
241 Velocity = new PhysicsVector(0f, 0f, 0f); 241 Velocity = new PhysicsVector(0f, 0f, 0f);
242 242
243 m_parent_scene.AddPhysicsActorTaint(this); 243 m_parent_scene.AddPhysicsActorTaint(this);
244 } 244 }
245 } 245 }
246 246
247 /// <summary> 247 /// <summary>
248 /// turn the PID controller on or off. 248 /// turn the PID controller on or off.
249 /// The PID Controller will turn on all by itself in many situations 249 /// The PID Controller will turn on all by itself in many situations
250 /// </summary> 250 /// </summary>
251 /// <param name="status"></param> 251 /// <param name="status"></param>
252 public void SetPidStatus(bool status) 252 public void SetPidStatus(bool status)
253 { 253 {
254 m_pidControllerActive = status; 254 m_pidControllerActive = status;
255 } 255 }
256 256
257 public override PrimitiveBaseShape Shape 257 public override PrimitiveBaseShape Shape
258 { 258 {
259 set { return; } 259 set { return; }
260 } 260 }
261 261
262 public override uint LocalID 262 public override uint LocalID
263 { 263 {
264 set { m_localID = value; } 264 set { m_localID = value; }
265 } 265 }
266 266
267 public override bool Grabbed 267 public override bool Grabbed
268 { 268 {
269 set { return; } 269 set { return; }
270 } 270 }
271 271
272 public override bool Selected 272 public override bool Selected
273 { 273 {
274 set { return; } 274 set { return; }
275 } 275 }
276 276
277 277
278 public override void CrossingFailure() 278 public override void CrossingFailure()
279 { 279 {
280 280
281 } 281 }
282 282
283 public override void link(PhysicsActor obj) 283 public override void link(PhysicsActor obj)
284 { 284 {
285 285
286 } 286 }
287 287
288 public override void delink() 288 public override void delink()
289 { 289 {
290 290
291 } 291 }
292 292
293 public override void LockAngularMotion(PhysicsVector axis) 293 public override void LockAngularMotion(PhysicsVector axis)
294 { 294 {
295 295
296 } 296 }
297 297
298 public override PhysicsVector Position 298 public override PhysicsVector Position
299 { 299 {
300 get { return m_position; } 300 get { return m_position; }
301 set 301 set
302 { 302 {
303 m_taintedPosition_value = value; 303 m_taintedPosition_value = value;
304 m_position = value; 304 m_position = value;
305 m_taintedPosition = true; 305 m_taintedPosition = true;
306 } 306 }
307 } 307 }
308 308
309 public override float Mass 309 public override float Mass
310 { 310 {
311 get 311 get
312 { 312 {
313 float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH); 313 float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
314 return m_density * AVvolume; 314 return m_density * AVvolume;
315 } 315 }
316 } 316 }
317 317
318 public override PhysicsVector Force 318 public override PhysicsVector Force
319 { 319 {
320 get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); } 320 get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); }
321 set { return; } 321 set { return; }
322 } 322 }
323 323
324 public override int VehicleType 324 public override int VehicleType
325 { 325 {
326 get { return 0; } 326 get { return 0; }
327 set { return; } 327 set { return; }
328 } 328 }
329 329
330 public override void VehicleFloatParam(int param, float value) 330 public override void VehicleFloatParam(int param, float value)
331 { 331 {
332 332
333 } 333 }
334 334
335 public override void VehicleVectorParam(int param, PhysicsVector value) 335 public override void VehicleVectorParam(int param, PhysicsVector value)
336 { 336 {
337 337
338 } 338 }
339 339
340 public override void VehicleRotationParam(int param, Quaternion rotation) 340 public override void VehicleRotationParam(int param, Quaternion rotation)
341 { 341 {
342 342
343 } 343 }
344 344
345 public override void SetVolumeDetect(int param) 345 public override void SetVolumeDetect(int param)
346 { 346 {
347 347
348 } 348 }
349 349
350 public override PhysicsVector GeometricCenter 350 public override PhysicsVector GeometricCenter
351 { 351 {
352 get { return PhysicsVector.Zero; } 352 get { return PhysicsVector.Zero; }
353 } 353 }
354 354
355 public override PhysicsVector CenterOfMass 355 public override PhysicsVector CenterOfMass
356 { 356 {
357 get { return PhysicsVector.Zero; } 357 get { return PhysicsVector.Zero; }
358 } 358 }
359 359
360 public override PhysicsVector Velocity 360 public override PhysicsVector Velocity
361 { 361 {
362 get 362 get
363 { 363 {
364 // There's a problem with PhysicsVector.Zero! Don't Use it Here! 364 // There's a problem with PhysicsVector.Zero! Don't Use it Here!
365 if (m_zeroFlag) 365 if (m_zeroFlag)
366 return new PhysicsVector(0f, 0f, 0f); 366 return new PhysicsVector(0f, 0f, 0f);
367 m_lastUpdateSent = false; 367 m_lastUpdateSent = false;
368 return m_velocity; 368 return m_velocity;
369 } 369 }
370 set 370 set
371 { 371 {
372 m_pidControllerActive = true; 372 m_pidControllerActive = true;
373 m_target_velocity = value; 373 m_target_velocity = value;
374 } 374 }
375 } 375 }
376 376
377 public override PhysicsVector Torque 377 public override PhysicsVector Torque
378 { 378 {
379 get { return PhysicsVector.Zero; } 379 get { return PhysicsVector.Zero; }
380 set { return; } 380 set { return; }
381 } 381 }
382 382
383 public override float CollisionScore 383 public override float CollisionScore
384 { 384 {
385 get { return 0f; } 385 get { return 0f; }
386 set { } 386 set { }
387 } 387 }
388 388
389 public override PhysicsVector Acceleration 389 public override PhysicsVector Acceleration
390 { 390 {
391 get { return m_acceleration; } 391 get { return m_acceleration; }
392 } 392 }
393 393
394 public override Quaternion Orientation 394 public override Quaternion Orientation
395 { 395 {
396 get { return Quaternion.Identity; } 396 get { return Quaternion.Identity; }
397 set 397 set
398 { 398 {
399 399
400 } 400 }
401 } 401 }
402 402
403 public override int PhysicsActorType 403 public override int PhysicsActorType
404 { 404 {
405 get { return (int)ActorTypes.Agent; } 405 get { return (int)ActorTypes.Agent; }
406 set { return; } 406 set { return; }
407 } 407 }
408 408
409 public override bool IsPhysical 409 public override bool IsPhysical
410 { 410 {
411 get { return false; } 411 get { return false; }
412 set { return; } 412 set { return; }
413 } 413 }
414 414
415 public override bool Flying 415 public override bool Flying
416 { 416 {
417 get { return m_flying; } 417 get { return m_flying; }
418 set { m_flying = value; } 418 set { m_flying = value; }
419 } 419 }
420 420
421 public override bool SetAlwaysRun 421 public override bool SetAlwaysRun
422 { 422 {
423 get { return m_alwaysRun; } 423 get { return m_alwaysRun; }
424 set { m_alwaysRun = value; } 424 set { m_alwaysRun = value; }
425 } 425 }
426 426
427 427
428 public override bool ThrottleUpdates 428 public override bool ThrottleUpdates
429 { 429 {
430 get { return false; } 430 get { return false; }
431 set { return; } 431 set { return; }
432 } 432 }
433 433
434 /// <summary> 434 /// <summary>
435 /// Returns if the avatar is colliding in general. 435 /// Returns if the avatar is colliding in general.
436 /// This includes the ground and objects and avatar. 436 /// This includes the ground and objects and avatar.
437 /// </summary> 437 /// </summary>
438 public override bool IsColliding 438 public override bool IsColliding
439 { 439 {
440 get { return m_iscolliding; } 440 get { return m_iscolliding; }
441 set 441 set
442 { 442 {
443 int i; 443 int i;
444 int truecount = 0; 444 int truecount = 0;
445 int falsecount = 0; 445 int falsecount = 0;
446 446
447 if (m_colliderarr.Length >= 10) 447 if (m_colliderarr.Length >= 10)
448 { 448 {
449 for (i = 0; i < 10; i++) 449 for (i = 0; i < 10; i++)
450 { 450 {
451 m_colliderarr[i] = m_colliderarr[i + 1]; 451 m_colliderarr[i] = m_colliderarr[i + 1];
452 } 452 }
453 } 453 }
454 m_colliderarr[10] = value; 454 m_colliderarr[10] = value;
455 455
456 for (i = 0; i < 11; i++) 456 for (i = 0; i < 11; i++)
457 { 457 {
458 if (m_colliderarr[i]) 458 if (m_colliderarr[i])
459 { 459 {
460 truecount++; 460 truecount++;
461 } 461 }
462 else 462 else
463 { 463 {
464 falsecount++; 464 falsecount++;
465 } 465 }
466 } 466 }
467 467
468 // Equal truecounts and false counts means we're colliding with something. 468 // Equal truecounts and false counts means we're colliding with something.
469 m_log.DebugFormat("[PHYSICS]: TrueCount:{0}, FalseCount:{1}",truecount,falsecount); 469 m_log.DebugFormat("[PHYSICS]: TrueCount:{0}, FalseCount:{1}",truecount,falsecount);
470 if (falsecount > 1.2 * truecount) 470 if (falsecount > 1.2 * truecount)
471 { 471 {
472 m_iscolliding = false; 472 m_iscolliding = false;
473 } 473 }
474 else 474 else
475 { 475 {
476 m_iscolliding = true; 476 m_iscolliding = true;
477 } 477 }
478 if (m_wascolliding != m_iscolliding) 478 if (m_wascolliding != m_iscolliding)
479 { 479 {
480 //base.SendCollisionUpdate(new CollisionEventUpdate()); 480 //base.SendCollisionUpdate(new CollisionEventUpdate());
481 } 481 }
482 m_wascolliding = m_iscolliding; 482 m_wascolliding = m_iscolliding;
483 } 483 }
484 } 484 }
485 485
486 /// <summary> 486 /// <summary>
487 /// Returns if an avatar is colliding with the ground 487 /// Returns if an avatar is colliding with the ground
488 /// </summary> 488 /// </summary>
489 public override bool CollidingGround 489 public override bool CollidingGround
490 { 490 {
491 get { return m_iscollidingGround; } 491 get { return m_iscollidingGround; }
492 set 492 set
493 { 493 {
494 // Collisions against the ground are not really reliable 494 // Collisions against the ground are not really reliable
495 // So, to get a consistant value we have to average the current result over time 495 // So, to get a consistant value we have to average the current result over time
496 // Currently we use 1 second = 10 calls to this. 496 // Currently we use 1 second = 10 calls to this.
497 int i; 497 int i;
498 int truecount = 0; 498 int truecount = 0;
499 int falsecount = 0; 499 int falsecount = 0;
500 500
501 if (m_colliderGroundarr.Length >= 10) 501 if (m_colliderGroundarr.Length >= 10)
502 { 502 {
503 for (i = 0; i < 10; i++) 503 for (i = 0; i < 10; i++)
504 { 504 {
505 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1]; 505 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
506 } 506 }
507 } 507 }
508 m_colliderGroundarr[10] = value; 508 m_colliderGroundarr[10] = value;
509 509
510 for (i = 0; i < 11; i++) 510 for (i = 0; i < 11; i++)
511 { 511 {
512 if (m_colliderGroundarr[i]) 512 if (m_colliderGroundarr[i])
513 { 513 {
514 truecount++; 514 truecount++;
515 } 515 }
516 else 516 else
517 { 517 {
518 falsecount++; 518 falsecount++;
519 } 519 }
520 } 520 }
521 521
522 // Equal truecounts and false counts means we're colliding with something. 522 // Equal truecounts and false counts means we're colliding with something.
523 523
524 if (falsecount > 1.2 * truecount) 524 if (falsecount > 1.2 * truecount)
525 { 525 {
526 m_iscollidingGround = false; 526 m_iscollidingGround = false;
527 } 527 }
528 else 528 else
529 { 529 {
530 m_iscollidingGround = true; 530 m_iscollidingGround = true;
531 } 531 }
532 if (m_wascollidingGround != m_iscollidingGround) 532 if (m_wascollidingGround != m_iscollidingGround)
533 { 533 {
534 //base.SendCollisionUpdate(new CollisionEventUpdate()); 534 //base.SendCollisionUpdate(new CollisionEventUpdate());
535 } 535 }
536 m_wascollidingGround = m_iscollidingGround; 536 m_wascollidingGround = m_iscollidingGround;
537 } 537 }
538 } 538 }
539 539
540 /// <summary> 540 /// <summary>
541 /// Returns if the avatar is colliding with an object 541 /// Returns if the avatar is colliding with an object
542 /// </summary> 542 /// </summary>
543 public override bool CollidingObj 543 public override bool CollidingObj
544 { 544 {
545 get { return m_iscollidingObj; } 545 get { return m_iscollidingObj; }
546 set 546 set
547 { 547 {
548 m_iscollidingObj = value; 548 m_iscollidingObj = value;
549 if (value) 549 if (value)
550 m_pidControllerActive = false; 550 m_pidControllerActive = false;
551 else 551 else
552 m_pidControllerActive = true; 552 m_pidControllerActive = true;
553 } 553 }
554 } 554 }
555 555
556 556
557 public override bool FloatOnWater 557 public override bool FloatOnWater
558 { 558 {
559 set { return; } 559 set { return; }
560 } 560 }
561 561
562 public override PhysicsVector RotationalVelocity 562 public override PhysicsVector RotationalVelocity
563 { 563 {
564 get { return m_rotationalVelocity; } 564 get { return m_rotationalVelocity; }
565 set { m_rotationalVelocity = value; } 565 set { m_rotationalVelocity = value; }
566 } 566 }
567 567
568 public override bool Kinematic 568 public override bool Kinematic
569 { 569 {
570 get { return false; } 570 get { return false; }
571 set { } 571 set { }
572 } 572 }
573 573
574 public override float Buoyancy 574 public override float Buoyancy
575 { 575 {
576 get { return m_buoyancy; } 576 get { return m_buoyancy; }
577 set { m_buoyancy = value; } 577 set { m_buoyancy = value; }
578 } 578 }
579 579
580 public override PhysicsVector PIDTarget { set { return; } } 580 public override PhysicsVector PIDTarget { set { return; } }
581 public override bool PIDActive { set { return; } } 581 public override bool PIDActive { set { return; } }
582 public override float PIDTau { set { return; } } 582 public override float PIDTau { set { return; } }
583 583
584 public override bool PIDHoverActive 584 public override bool PIDHoverActive
585 { 585 {
586 set { return; } 586 set { return; }
587 } 587 }
588 588
589 public override float PIDHoverHeight 589 public override float PIDHoverHeight
590 { 590 {
591 set { return; } 591 set { return; }
592 } 592 }
593 593
594 public override PIDHoverType PIDHoverType 594 public override PIDHoverType PIDHoverType
595 { 595 {
596 set { return; } 596 set { return; }
597 } 597 }
598 598
599 public override float PIDHoverTau 599 public override float PIDHoverTau
600 { 600 {
601 set { return; } 601 set { return; }
602 } 602 }
603 603
604 /// <summary> 604 /// <summary>
605 /// Adds the force supplied to the Target Velocity 605 /// Adds the force supplied to the Target Velocity
606 /// The PID controller takes this target velocity and tries to make it a reality 606 /// The PID controller takes this target velocity and tries to make it a reality
607 /// </summary> 607 /// </summary>
608 /// <param name="force"></param> 608 /// <param name="force"></param>
609 /// <param name="pushforce">Is this a push by a script?</param> 609 /// <param name="pushforce">Is this a push by a script?</param>
610 public override void AddForce(PhysicsVector force, bool pushforce) 610 public override void AddForce(PhysicsVector force, bool pushforce)
611 { 611 {
612 if (pushforce) 612 if (pushforce)
613 { 613 {
614 m_pidControllerActive = false; 614 m_pidControllerActive = false;
615 force *= 100f; 615 force *= 100f;
616 doForce(force, false); 616 doForce(force, false);
617 //System.Console.WriteLine("Push!"); 617 //System.Console.WriteLine("Push!");
618 //_target_velocity.X += force.X; 618 //_target_velocity.X += force.X;
619 // _target_velocity.Y += force.Y; 619 // _target_velocity.Y += force.Y;
620 //_target_velocity.Z += force.Z; 620 //_target_velocity.Z += force.Z;
621 } 621 }
622 else 622 else
623 { 623 {
624 m_pidControllerActive = true; 624 m_pidControllerActive = true;
625 m_target_velocity.X += force.X; 625 m_target_velocity.X += force.X;
626 m_target_velocity.Y += force.Y; 626 m_target_velocity.Y += force.Y;
627 m_target_velocity.Z += force.Z; 627 m_target_velocity.Z += force.Z;
628 } 628 }
629 //m_lastUpdateSent = false; 629 //m_lastUpdateSent = false;
630 } 630 }
631 631
632 public void doForce(PhysicsVector force, bool now) 632 public void doForce(PhysicsVector force, bool now)
633 { 633 {
634 634
635 tempVector3.setValue(force.X, force.Y, force.Z); 635 tempVector3.setValue(force.X, force.Y, force.Z);
636 if (now) 636 if (now)
637 { 637 {
638 Body.applyCentralForce(tempVector3); 638 Body.applyCentralForce(tempVector3);
639 } 639 }
640 else 640 else
641 { 641 {
642 m_taintedForce += force; 642 m_taintedForce += force;
643 m_parent_scene.AddPhysicsActorTaint(this); 643 m_parent_scene.AddPhysicsActorTaint(this);
644 } 644 }
645 } 645 }
646 646
647 public void doImpulse(PhysicsVector force, bool now) 647 public void doImpulse(PhysicsVector force, bool now)
648 { 648 {
649 649
650 tempVector3.setValue(force.X, force.Y, force.Z); 650 tempVector3.setValue(force.X, force.Y, force.Z);
651 if (now) 651 if (now)
652 { 652 {
653 Body.applyCentralImpulse(tempVector3); 653 Body.applyCentralImpulse(tempVector3);
654 } 654 }
655 else 655 else
656 { 656 {
657 m_taintedForce += force; 657 m_taintedForce += force;
658 m_parent_scene.AddPhysicsActorTaint(this); 658 m_parent_scene.AddPhysicsActorTaint(this);
659 } 659 }
660 } 660 }
661 661
662 public override void AddAngularForce(PhysicsVector force, bool pushforce) 662 public override void AddAngularForce(PhysicsVector force, bool pushforce)
663 { 663 {
664 664
665 } 665 }
666 666
667 public override void SetMomentum(PhysicsVector momentum) 667 public override void SetMomentum(PhysicsVector momentum)
668 { 668 {
669 669
670 } 670 }
671 671
672 public override void SubscribeEvents(int ms) 672 public override void SubscribeEvents(int ms)
673 { 673 {
674 m_eventsubscription = ms; 674 m_eventsubscription = ms;
675 m_parent_scene.addCollisionEventReporting(this); 675 m_parent_scene.addCollisionEventReporting(this);
676 } 676 }
677 677
678 public override void UnSubscribeEvents() 678 public override void UnSubscribeEvents()
679 { 679 {
680 m_parent_scene.remCollisionEventReporting(this); 680 m_parent_scene.remCollisionEventReporting(this);
681 m_eventsubscription = 0; 681 m_eventsubscription = 0;
682 } 682 }
683 683
684 public override bool SubscribedEvents() 684 public override bool SubscribedEvents()
685 { 685 {
686 if (m_eventsubscription > 0) 686 if (m_eventsubscription > 0)
687 return true; 687 return true;
688 return false; 688 return false;
689 } 689 }
690 690
691 internal void Dispose() 691 internal void Dispose()
692 { 692 {
693 if (Body.isInWorld()) 693 if (Body.isInWorld())
694 m_parent_scene.removeFromWorld(Body); 694 m_parent_scene.removeFromWorld(Body);
695 695
696 if (m_aMotor.Handle != IntPtr.Zero) 696 if (m_aMotor.Handle != IntPtr.Zero)
697 m_parent_scene.getBulletWorld().removeConstraint(m_aMotor); 697 m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
698 698
699 m_aMotor.Dispose(); m_aMotor = null; 699 m_aMotor.Dispose(); m_aMotor = null;
700 ClosestCastResult.Dispose(); ClosestCastResult = null; 700 ClosestCastResult.Dispose(); ClosestCastResult = null;
701 Body.Dispose(); Body = null; 701 Body.Dispose(); Body = null;
702 Shell.Dispose(); Shell = null; 702 Shell.Dispose(); Shell = null;
703 tempQuat1.Dispose(); 703 tempQuat1.Dispose();
704 tempTrans1.Dispose(); 704 tempTrans1.Dispose();
705 tempVector1.Dispose(); 705 tempVector1.Dispose();
706 tempVector2.Dispose(); 706 tempVector2.Dispose();
707 tempVector3.Dispose(); 707 tempVector3.Dispose();
708 tempVector4.Dispose(); 708 tempVector4.Dispose();
709 tempVector5RayCast.Dispose(); 709 tempVector5RayCast.Dispose();
710 tempVector6RayCast.Dispose(); 710 tempVector6RayCast.Dispose();
711 711
712 } 712 }
713 713
714 public void ProcessTaints(float timestep) 714 public void ProcessTaints(float timestep)
715 { 715 {
716 716
717 if (m_tainted_isPhysical != m_isPhysical) 717 if (m_tainted_isPhysical != m_isPhysical)
718 { 718 {
719 if (m_tainted_isPhysical) 719 if (m_tainted_isPhysical)
720 { 720 {
721 // Create avatar capsule and related ODE data 721 // Create avatar capsule and related ODE data
722 if (!(Shell == null && Body == null)) 722 if (!(Shell == null && Body == null))
723 { 723 {
724 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - " 724 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
725 + (Shell != null ? "Shell " : "") 725 + (Shell != null ? "Shell " : "")
726 + (Body != null ? "Body " : "")); 726 + (Body != null ? "Body " : ""));
727 } 727 }
728 AvatarGeomAndBodyCreation(m_position.X, m_position.Y, m_position.Z); 728 AvatarGeomAndBodyCreation(m_position.X, m_position.Y, m_position.Z);
729 729
730 730
731 } 731 }
732 else 732 else
733 { 733 {
734 // destroy avatar capsule and related ODE data 734 // destroy avatar capsule and related ODE data
735 735
736 Dispose(); 736 Dispose();
737 tempVector1 = new btVector3(0, 0, 0); 737 tempVector1 = new btVector3(0, 0, 0);
738 tempVector2 = new btVector3(0, 0, 0); 738 tempVector2 = new btVector3(0, 0, 0);
739 tempVector3 = new btVector3(0, 0, 0); 739 tempVector3 = new btVector3(0, 0, 0);
740 tempVector4 = new btVector3(0, 0, 0); 740 tempVector4 = new btVector3(0, 0, 0);
741 741
742 tempVector5RayCast = new btVector3(0, 0, 0); 742 tempVector5RayCast = new btVector3(0, 0, 0);
743 tempVector6RayCast = new btVector3(0, 0, 0); 743 tempVector6RayCast = new btVector3(0, 0, 0);
744 tempVector7RayCast = new btVector3(0, 0, 0); 744 tempVector7RayCast = new btVector3(0, 0, 0);
745 745
746 tempQuat1 = new btQuaternion(0, 0, 0, 1); 746 tempQuat1 = new btQuaternion(0, 0, 0, 1);
747 tempTrans1 = new btTransform(tempQuat1, tempVector1); 747 tempTrans1 = new btTransform(tempQuat1, tempVector1);
748 m_movementComparision = new PhysicsVector(0, 0, 0); 748 m_movementComparision = new PhysicsVector(0, 0, 0);
749 m_CapsuleOrientationAxis = new btVector3(1, 0, 1); 749 m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
750 } 750 }
751 751
752 m_isPhysical = m_tainted_isPhysical; 752 m_isPhysical = m_tainted_isPhysical;
753 } 753 }
754 754
755 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH) 755 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
756 { 756 {
757 if (Body != null) 757 if (Body != null)
758 { 758 {
759 759
760 m_pidControllerActive = true; 760 m_pidControllerActive = true;
761 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate() 761 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
762 //d.JointDestroy(Amotor); 762 //d.JointDestroy(Amotor);
763 float prevCapsule = CAPSULE_LENGTH; 763 float prevCapsule = CAPSULE_LENGTH;
764 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH; 764 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
765 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); 765 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
766 Dispose(); 766 Dispose();
767 767
768 tempVector1 = new btVector3(0, 0, 0); 768 tempVector1 = new btVector3(0, 0, 0);
769 tempVector2 = new btVector3(0, 0, 0); 769 tempVector2 = new btVector3(0, 0, 0);
770 tempVector3 = new btVector3(0, 0, 0); 770 tempVector3 = new btVector3(0, 0, 0);
771 tempVector4 = new btVector3(0, 0, 0); 771 tempVector4 = new btVector3(0, 0, 0);
772 772
773 tempVector5RayCast = new btVector3(0, 0, 0); 773 tempVector5RayCast = new btVector3(0, 0, 0);
774 tempVector6RayCast = new btVector3(0, 0, 0); 774 tempVector6RayCast = new btVector3(0, 0, 0);
775 tempVector7RayCast = new btVector3(0, 0, 0); 775 tempVector7RayCast = new btVector3(0, 0, 0);
776 776
777 tempQuat1 = new btQuaternion(0, 0, 0, 1); 777 tempQuat1 = new btQuaternion(0, 0, 0, 1);
778 tempTrans1 = new btTransform(tempQuat1, tempVector1); 778 tempTrans1 = new btTransform(tempQuat1, tempVector1);
779 m_movementComparision = new PhysicsVector(0, 0, 0); 779 m_movementComparision = new PhysicsVector(0, 0, 0);
780 m_CapsuleOrientationAxis = new btVector3(1, 0, 1); 780 m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
781 781
782 AvatarGeomAndBodyCreation(m_position.X, m_position.Y, 782 AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
783 m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2)); 783 m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
784 Velocity = new PhysicsVector(0f, 0f, 0f); 784 Velocity = new PhysicsVector(0f, 0f, 0f);
785 785
786 } 786 }
787 else 787 else
788 { 788 {
789 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - " 789 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
790 + (Shell == null ? "Shell " : "") 790 + (Shell == null ? "Shell " : "")
791 + (Body == null ? "Body " : "")); 791 + (Body == null ? "Body " : ""));
792 } 792 }
793 } 793 }
794 if (m_taintRemove) 794 if (m_taintRemove)
795 { 795 {
796 Dispose(); 796 Dispose();
797 } 797 }
798 } 798 }
799 799
800 /// <summary> 800 /// <summary>
801 /// Called from Simulate 801 /// Called from Simulate
802 /// This is the avatar's movement control + PID Controller 802 /// This is the avatar's movement control + PID Controller
803 /// </summary> 803 /// </summary>
804 /// <param name="timeStep"></param> 804 /// <param name="timeStep"></param>
805 public void Move(float timeStep) 805 public void Move(float timeStep)
806 { 806 {
807 // no lock; for now it's only called from within Simulate() 807 // no lock; for now it's only called from within Simulate()
808 808
809 // If the PID Controller isn't active then we set our force 809 // If the PID Controller isn't active then we set our force
810 // calculating base velocity to the current position 810 // calculating base velocity to the current position
811 if (Body == null) 811 if (Body == null)
812 return; 812 return;
813 tempTrans1.Dispose(); 813 tempTrans1.Dispose();
814 tempTrans1 = Body.getInterpolationWorldTransform(); 814 tempTrans1 = Body.getInterpolationWorldTransform();
815 tempVector1.Dispose(); 815 tempVector1.Dispose();
816 tempVector1 = tempTrans1.getOrigin(); 816 tempVector1 = tempTrans1.getOrigin();
817 tempVector2.Dispose(); 817 tempVector2.Dispose();
818 tempVector2 = Body.getInterpolationLinearVelocity(); 818 tempVector2 = Body.getInterpolationLinearVelocity();
819 819
820 if (m_pidControllerActive == false) 820 if (m_pidControllerActive == false)
821 { 821 {
822 m_zeroPosition.X = tempVector1.getX(); 822 m_zeroPosition.X = tempVector1.getX();
823 m_zeroPosition.Y = tempVector1.getY(); 823 m_zeroPosition.Y = tempVector1.getY();
824 m_zeroPosition.Z = tempVector1.getZ(); 824 m_zeroPosition.Z = tempVector1.getZ();
825 } 825 }
826 //PidStatus = true; 826 //PidStatus = true;
827 827
828 PhysicsVector vec = new PhysicsVector(); 828 PhysicsVector vec = new PhysicsVector();
829 829
830 PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ()); 830 PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
831 831
832 float movementdivisor = 1f; 832 float movementdivisor = 1f;
833 833
834 if (!m_alwaysRun) 834 if (!m_alwaysRun)
835 { 835 {
836 movementdivisor = walkDivisor; 836 movementdivisor = walkDivisor;
837 } 837 }
838 else 838 else
839 { 839 {
840 movementdivisor = runDivisor; 840 movementdivisor = runDivisor;
841 } 841 }
842 842
843 // if velocity is zero, use position control; otherwise, velocity control 843 // if velocity is zero, use position control; otherwise, velocity control
844 if (m_target_velocity.X == 0.0f && m_target_velocity.Y == 0.0f && m_target_velocity.Z == 0.0f && m_iscolliding) 844 if (m_target_velocity.X == 0.0f && m_target_velocity.Y == 0.0f && m_target_velocity.Z == 0.0f && m_iscolliding)
845 { 845 {
846 // keep track of where we stopped. No more slippin' & slidin' 846 // keep track of where we stopped. No more slippin' & slidin'
847 if (!m_zeroFlag) 847 if (!m_zeroFlag)
848 { 848 {
849 m_zeroFlag = true; 849 m_zeroFlag = true;
850 m_zeroPosition.X = tempVector1.getX(); 850 m_zeroPosition.X = tempVector1.getX();
851 m_zeroPosition.Y = tempVector1.getY(); 851 m_zeroPosition.Y = tempVector1.getY();
852 m_zeroPosition.Z = tempVector1.getZ(); 852 m_zeroPosition.Z = tempVector1.getZ();
853 } 853 }
854 if (m_pidControllerActive) 854 if (m_pidControllerActive)
855 { 855 {
856 // We only want to deactivate the PID Controller if we think we want to have our surrogate 856 // We only want to deactivate the PID Controller if we think we want to have our surrogate
857 // react to the physics scene by moving it's position. 857 // react to the physics scene by moving it's position.
858 // Avatar to Avatar collisions 858 // Avatar to Avatar collisions
859 // Prim to avatar collisions 859 // Prim to avatar collisions
860 860
861 PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ()); 861 PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
862 vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2); 862 vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
863 vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2); 863 vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
864 if (m_flying) 864 if (m_flying)
865 { 865 {
866 vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D) + (m_zeroPosition.Z - pos.Z) * PID_P; 866 vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D) + (m_zeroPosition.Z - pos.Z) * PID_P;
867 } 867 }
868 } 868 }
869 //PidStatus = true; 869 //PidStatus = true;
870 } 870 }
871 else 871 else
872 { 872 {
873 m_pidControllerActive = true; 873 m_pidControllerActive = true;
874 m_zeroFlag = false; 874 m_zeroFlag = false;
875 if (m_iscolliding && !m_flying) 875 if (m_iscolliding && !m_flying)
876 { 876 {
877 // We're standing on something 877 // We're standing on something
878 vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D); 878 vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
879 vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D); 879 vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
880 } 880 }
881 else if (m_iscolliding && m_flying) 881 else if (m_iscolliding && m_flying)
882 { 882 {
883 // We're flying and colliding with something 883 // We're flying and colliding with something
884 vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16); 884 vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
885 vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16); 885 vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
886 } 886 }
887 else if (!m_iscolliding && m_flying) 887 else if (!m_iscolliding && m_flying)
888 { 888 {
889 // we're in mid air suspended 889 // we're in mid air suspended
890 vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6); 890 vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
891 vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6); 891 vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
892 } 892 }
893 893
894 if (m_iscolliding && !m_flying && m_target_velocity.Z > 0.0f) 894 if (m_iscolliding && !m_flying && m_target_velocity.Z > 0.0f)
895 { 895 {
896 // We're colliding with something and we're not flying but we're moving 896 // We're colliding with something and we're not flying but we're moving
897 // This means we're walking or running. 897 // This means we're walking or running.
898 PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ()); 898 PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
899 vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P; 899 vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
900 if (m_target_velocity.X > 0) 900 if (m_target_velocity.X > 0)
901 { 901 {
902 vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D; 902 vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
903 } 903 }
904 if (m_target_velocity.Y > 0) 904 if (m_target_velocity.Y > 0)
905 { 905 {
906 vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D; 906 vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
907 } 907 }
908 } 908 }
909 else if (!m_iscolliding && !m_flying) 909 else if (!m_iscolliding && !m_flying)
910 { 910 {
911 // we're not colliding and we're not flying so that means we're falling! 911 // we're not colliding and we're not flying so that means we're falling!
912 // m_iscolliding includes collisions with the ground. 912 // m_iscolliding includes collisions with the ground.
913 913
914 // d.Vector3 pos = d.BodyGetPosition(Body); 914 // d.Vector3 pos = d.BodyGetPosition(Body);
915 if (m_target_velocity.X > 0) 915 if (m_target_velocity.X > 0)
916 { 916 {
917 vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D; 917 vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
918 } 918 }
919 if (m_target_velocity.Y > 0) 919 if (m_target_velocity.Y > 0)
920 { 920 {
921 vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D; 921 vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
922 } 922 }
923 } 923 }
924 924
925 925
926 if (m_flying) 926 if (m_flying)
927 { 927 {
928 vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D); 928 vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D);
929 } 929 }
930 } 930 }
931 if (m_flying) 931 if (m_flying)
932 { 932 {
933 //vec.Z += ((-1 * m_parent_scene.gravityz) * m_mass); 933 //vec.Z += ((-1 * m_parent_scene.gravityz) * m_mass);
934 } 934 }
935 if (Body != null && (((m_target_velocity.X > 0.2f || m_target_velocity.X < -0.2f) || (m_target_velocity.Y > 0.2f || m_target_velocity.Y < -0.2f)))) 935 if (Body != null && (((m_target_velocity.X > 0.2f || m_target_velocity.X < -0.2f) || (m_target_velocity.Y > 0.2f || m_target_velocity.Y < -0.2f))))
936 { 936 {
937 Body.setFriction(0.001f); 937 Body.setFriction(0.001f);
938 //m_log.DebugFormat("[PHYSICS]: Avatar force applied: {0}, Target:{1}", vec.ToString(), m_target_velocity.ToString()); 938 //m_log.DebugFormat("[PHYSICS]: Avatar force applied: {0}, Target:{1}", vec.ToString(), m_target_velocity.ToString());
939 } 939 }
940 940
941 if (Body != null) 941 if (Body != null)
942 { 942 {
943 int activationstate = Body.getActivationState(); 943 int activationstate = Body.getActivationState();
944 if (activationstate == 0) 944 if (activationstate == 0)
945 { 945 {
946 Body.forceActivationState(1); 946 Body.forceActivationState(1);
947 } 947 }
948 948
949 949
950 } 950 }
951 doImpulse(vec, true); 951 doImpulse(vec, true);
952 } 952 }
953 953
954 /// <summary> 954 /// <summary>
955 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. 955 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
956 /// </summary> 956 /// </summary>
957 public void UpdatePositionAndVelocity() 957 public void UpdatePositionAndVelocity()
958 { 958 {
959 if (Body == null) 959 if (Body == null)
960 return; 960 return;
961 //int val = Environment.TickCount; 961 //int val = Environment.TickCount;
962 CheckIfStandingOnObject(); 962 CheckIfStandingOnObject();
963 //m_log.DebugFormat("time:{0}", Environment.TickCount - val); 963 //m_log.DebugFormat("time:{0}", Environment.TickCount - val);
964 964
965 //IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody); 965 //IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody);
966 966
967 tempTrans1.Dispose(); 967 tempTrans1.Dispose();
968 tempTrans1 = Body.getInterpolationWorldTransform(); 968 tempTrans1 = Body.getInterpolationWorldTransform();
969 tempVector1.Dispose(); 969 tempVector1.Dispose();
970 tempVector1 = tempTrans1.getOrigin(); 970 tempVector1 = tempTrans1.getOrigin();
971 tempVector2.Dispose(); 971 tempVector2.Dispose();
972 tempVector2 = Body.getInterpolationLinearVelocity(); 972 tempVector2 = Body.getInterpolationLinearVelocity();
973 973
974 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 974 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
975 PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ()); 975 PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ());
976 976
977 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) 977 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
978 if (vec.X < 0.0f) vec.X = 0.0f; 978 if (vec.X < 0.0f) vec.X = 0.0f;
979 if (vec.Y < 0.0f) vec.Y = 0.0f; 979 if (vec.Y < 0.0f) vec.Y = 0.0f;
980 if (vec.X > (int)Constants.RegionSize - 0.2f) vec.X = (int)Constants.RegionSize - 0.2f; 980 if (vec.X > (int)Constants.RegionSize - 0.2f) vec.X = (int)Constants.RegionSize - 0.2f;
981 if (vec.Y > (int)Constants.RegionSize - 0.2f) vec.Y = (int)Constants.RegionSize - 0.2f; 981 if (vec.Y > (int)Constants.RegionSize - 0.2f) vec.Y = (int)Constants.RegionSize - 0.2f;
982 982
983 m_position.X = vec.X; 983 m_position.X = vec.X;
984 m_position.Y = vec.Y; 984 m_position.Y = vec.Y;
985 m_position.Z = vec.Z; 985 m_position.Z = vec.Z;
986 986
987 // Did we move last? = zeroflag 987 // Did we move last? = zeroflag
988 // This helps keep us from sliding all over 988 // This helps keep us from sliding all over
989 989
990 if (m_zeroFlag) 990 if (m_zeroFlag)
991 { 991 {
992 m_velocity.X = 0.0f; 992 m_velocity.X = 0.0f;
993 m_velocity.Y = 0.0f; 993 m_velocity.Y = 0.0f;
994 m_velocity.Z = 0.0f; 994 m_velocity.Z = 0.0f;
995 995
996 // Did we send out the 'stopped' message? 996 // Did we send out the 'stopped' message?
997 if (!m_lastUpdateSent) 997 if (!m_lastUpdateSent)
998 { 998 {
999 m_lastUpdateSent = true; 999 m_lastUpdateSent = true;
1000 //base.RequestPhysicsterseUpdate(); 1000 //base.RequestPhysicsterseUpdate();
1001 1001
1002 } 1002 }
1003 } 1003 }
1004 else 1004 else
1005 { 1005 {
1006 m_lastUpdateSent = false; 1006 m_lastUpdateSent = false;
1007 vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ()); 1007 vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
1008 m_velocity.X = (vec.X); 1008 m_velocity.X = (vec.X);
1009 m_velocity.Y = (vec.Y); 1009 m_velocity.Y = (vec.Y);
1010 1010
1011 m_velocity.Z = (vec.Z); 1011 m_velocity.Z = (vec.Z);
1012 1012
1013 if (m_velocity.Z < -6 && !m_hackSentFall) 1013 if (m_velocity.Z < -6 && !m_hackSentFall)
1014 { 1014 {
1015 m_hackSentFall = true; 1015 m_hackSentFall = true;
1016 m_pidControllerActive = false; 1016 m_pidControllerActive = false;
1017 } 1017 }
1018 else if (m_flying && !m_hackSentFly) 1018 else if (m_flying && !m_hackSentFly)
1019 { 1019 {
1020 //m_hackSentFly = true; 1020 //m_hackSentFly = true;
1021 //base.SendCollisionUpdate(new CollisionEventUpdate()); 1021 //base.SendCollisionUpdate(new CollisionEventUpdate());
1022 } 1022 }
1023 else 1023 else
1024 { 1024 {
1025 m_hackSentFly = false; 1025 m_hackSentFly = false;
1026 m_hackSentFall = false; 1026 m_hackSentFall = false;
1027 } 1027 }
1028 } 1028 }
1029 if (Body != null) 1029 if (Body != null)
1030 { 1030 {
1031 if (Body.getFriction() < 0.9f) 1031 if (Body.getFriction() < 0.9f)
1032 Body.setFriction(0.9f); 1032 Body.setFriction(0.9f);
1033 } 1033 }
1034 //if (Body != null) 1034 //if (Body != null)
1035 // Body.clearForces(); 1035 // Body.clearForces();
1036 } 1036 }
1037 1037
1038 public void CheckIfStandingOnObject() 1038 public void CheckIfStandingOnObject()
1039 { 1039 {
1040 1040
1041 float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f); 1041 float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f);
1042 1042
1043 tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z); 1043 tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z);
1044 tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - 1 * capsuleHalfHeight * 1.1f); 1044 tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - 1 * capsuleHalfHeight * 1.1f);
1045 1045
1046 1046
1047 ClosestCastResult.Dispose(); 1047 ClosestCastResult.Dispose();
1048 ClosestCastResult = new ClosestNotMeRayResultCallback(Body); 1048 ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
1049 1049
1050 try 1050 try
1051 { 1051 {
1052 m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult); 1052 m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult);
1053 } 1053 }
1054 catch (AccessViolationException) 1054 catch (AccessViolationException)
1055 { 1055 {
1056 m_log.Debug("BAD!"); 1056 m_log.Debug("BAD!");
1057 } 1057 }
1058 if (ClosestCastResult.hasHit()) 1058 if (ClosestCastResult.hasHit())
1059 { 1059 {
1060 1060
1061 if (tempVector7RayCast != null) 1061 if (tempVector7RayCast != null)
1062 tempVector7RayCast.Dispose(); 1062 tempVector7RayCast.Dispose();
1063 1063
1064 //tempVector7RayCast = ClosestCastResult.getHitPointWorld(); 1064 //tempVector7RayCast = ClosestCastResult.getHitPointWorld();
1065 1065
1066 /*if (tempVector7RayCast == null) // null == no result also 1066 /*if (tempVector7RayCast == null) // null == no result also
1067 { 1067 {
1068 CollidingObj = false; 1068 CollidingObj = false;
1069 IsColliding = false; 1069 IsColliding = false;
1070 CollidingGround = false; 1070 CollidingGround = false;
1071 1071
1072 return; 1072 return;
1073 } 1073 }
1074 float zVal = tempVector7RayCast.getZ(); 1074 float zVal = tempVector7RayCast.getZ();
1075 if (zVal != 0) 1075 if (zVal != 0)
1076 m_log.Debug("[PHYSICS]: HAAAA"); 1076 m_log.Debug("[PHYSICS]: HAAAA");
1077 if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f)) 1077 if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f))
1078 { 1078 {
1079 CollidingObj = true; 1079 CollidingObj = true;
1080 IsColliding = true; 1080 IsColliding = true;
1081 } 1081 }
1082 else 1082 else
1083 { 1083 {
1084 CollidingObj = false; 1084 CollidingObj = false;
1085 IsColliding = false; 1085 IsColliding = false;
1086 CollidingGround = false; 1086 CollidingGround = false;
1087 }*/ 1087 }*/
1088 1088
1089 //height+2*radius = capsule full length 1089 //height+2*radius = capsule full length
1090 //CollidingObj = true; 1090 //CollidingObj = true;
1091 //IsColliding = true; 1091 //IsColliding = true;
1092 m_iscolliding = true; 1092 m_iscolliding = true;
1093 } 1093 }
1094 else 1094 else
1095 { 1095 {
1096 //CollidingObj = false; 1096 //CollidingObj = false;
1097 //IsColliding = false; 1097 //IsColliding = false;
1098 //CollidingGround = false; 1098 //CollidingGround = false;
1099 m_iscolliding = false; 1099 m_iscolliding = false;
1100 } 1100 }
1101 } 1101 }
1102 } 1102 }
1103 1103
1104} 1104}
generated by cgit v1.1 at 2024-07-05 17:46:32 +0000