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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
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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 BSActorMoveToTarget : BSActor
40{
41 private BSVMotor m_targetMotor;
42
43 public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
44 : base(physicsScene, pObj, actorName)
45 {
46 m_targetMotor = null;
47 m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
48 }
49
50 // BSActor.isActive
51 public override bool isActive
52 {
53 // MoveToTarget only works on physical prims
54 get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
55 }
56
57 // Release any connections and resources used by the actor.
58 // BSActor.Dispose()
59 public override void Dispose()
60 {
61 Enabled = false;
62 }
63
64 // Called when physical parameters (properties set in Bullet) need to be re-applied.
65 // Called at taint-time.
66 // BSActor.Refresh()
67 public override void Refresh()
68 {
69 m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
70 m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
71 m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
72
73 // If not active any more...
74 if (!m_controllingPrim.MoveToTargetActive)
75 {
76 Enabled = false;
77 }
78
79 if (isActive)
80 {
81 ActivateMoveToTarget();
82 }
83 else
84 {
85 DeactivateMoveToTarget();
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.RemoveDependencies()
93 public override void RemoveDependencies()
94 {
95 // Nothing to do for the moveToTarget 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 ActivateMoveToTarget()
100 {
101 if (m_targetMotor == null)
102 {
103 // We're taking over after this.
104 m_controllingPrim.ZeroMotion(true);
105
106 /* Someday use the PID controller
107 m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
108 m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
109 m_targetMotor.Efficiency = 1f;
110 */
111 m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
112 m_controllingPrim.MoveToTargetTau, // timeScale
113 BSMotor.Infinite, // decay time scale
114 1f // efficiency
115 );
116 m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
117 m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
118 m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
119
120 // m_physicsScene.BeforeStep += Mover;
121 m_physicsScene.BeforeStep += Mover2;
122 }
123 else
124 {
125 // If already allocated, make sure the target and other paramters are current
126 m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
127 m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
128 }
129 }
130
131 private void DeactivateMoveToTarget()
132 {
133 if (m_targetMotor != null)
134 {
135 // m_physicsScene.BeforeStep -= Mover;
136 m_physicsScene.BeforeStep -= Mover2;
137 m_targetMotor = null;
138 }
139 }
140
141 // Origional mover that set the objects position to move to the target.
142 // The problem was that gravity would keep trying to push the object down so
143 // the overall downward velocity would increase to infinity.
144 // Called just before the simulation step.
145 private void Mover(float timeStep)
146 {
147 // Don't do hovering while the object is selected.
148 if (!isActive)
149 return;
150
151 OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
152
153 // 'movePosition' is where we'd like the prim to be at this moment.
154 OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
155
156 // If we are very close to our target, turn off the movement motor.
157 if (m_targetMotor.ErrorIsZero())
158 {
159 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
160 m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
161 m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
162 m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
163 // Setting the position does not cause the physics engine to generate a property update. Force it.
164 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
165 }
166 else
167 {
168 m_controllingPrim.ForcePosition = movePosition;
169 // Setting the position does not cause the physics engine to generate a property update. Force it.
170 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
171 }
172 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
173 m_controllingPrim.LocalID, origPosition, movePosition);
174 }
175
176 // Version of mover that applies forces to move the physical object to the target.
177 // Also overcomes gravity so the object doesn't just drop to the ground.
178 // Called just before the simulation step.
179 private void Mover2(float timeStep)
180 {
181 // Don't do hovering while the object is selected.
182 if (!isActive)
183 return;
184
185 OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
186 OMV.Vector3 addedForce = OMV.Vector3.Zero;
187
188 // CorrectionVector is the movement vector required this step
189 OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
190
191 // If we are very close to our target, turn off the movement motor.
192 if (m_targetMotor.ErrorIsZero())
193 {
194 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
195 m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
196 m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
197 m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
198 // Setting the position does not cause the physics engine to generate a property update. Force it.
199 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
200 }
201 else
202 {
203 // First force to move us there -- the motor return a timestep scaled value.
204 addedForce = correctionVector / timeStep;
205 // Remove the existing velocity (only the moveToTarget force counts)
206 addedForce -= m_controllingPrim.RawVelocity;
207 // Overcome gravity.
208 addedForce -= m_controllingPrim.Gravity;
209
210 // Add enough force to overcome the mass of the object
211 addedForce *= m_controllingPrim.Mass;
212
213 m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
214 }
215 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
216 m_controllingPrim.LocalID, origPosition, addedForce);
217 }
218}
219}