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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 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
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using OpenMetaverse;
32using Ode.NET;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using log4net;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 /// <summary>
40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
41 /// </summary>
42
43 public enum dParam : int
44 {
45 LowStop = 0,
46 HiStop = 1,
47 Vel = 2,
48 FMax = 3,
49 FudgeFactor = 4,
50 Bounce = 5,
51 CFM = 6,
52 StopERP = 7,
53 StopCFM = 8,
54 LoStop2 = 256,
55 HiStop2 = 257,
56 Vel2 = 258,
57 FMax2 = 259,
58 StopERP2 = 7 + 256,
59 StopCFM2 = 8 + 256,
60 LoStop3 = 512,
61 HiStop3 = 513,
62 Vel3 = 514,
63 FMax3 = 515,
64 StopERP3 = 7 + 512,
65 StopCFM3 = 8 + 512
66 }
67 public class OdeCharacter : PhysicsActor
68 {
69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
70
71 private Vector3 _position;
72 private d.Vector3 _zeroPosition;
73 // private d.Matrix3 m_StandUpRotation;
74 private bool _zeroFlag = false;
75 private bool m_lastUpdateSent = false;
76 private Vector3 _velocity;
77 private Vector3 _target_velocity;
78 private Vector3 _acceleration;
79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f;
81 public float m_density = 60f;
82 private bool m_pidControllerActive = true;
83 public float PID_D = 800.0f;
84 public float PID_P = 900.0f;
85 //private static float POSTURE_SERVO = 10000.0f;
86 public float CAPSULE_RADIUS = 0.37f;
87 public float CAPSULE_LENGTH = 2.140599f;
88 public float m_tensor = 3800000f;
89 public float heightFudgeFactor = 0.52f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool jumping = false; // add for jumping
94 private bool m_iscolliding = false;
95 private bool m_iscollidingGround = false;
96 private bool m_wascolliding = false;
97 private bool m_wascollidingGround = false;
98 private bool m_iscollidingObj = false;
99 private bool m_alwaysRun = false;
100 private bool m_hackSentFall = false;
101 private bool m_hackSentFly = false;
102 private int m_requestedUpdateFrequency = 0;
103 private Vector3 m_taintPosition = Vector3.Zero;
104 public uint m_localID = 0;
105 public bool m_returnCollisions = false;
106 // taints and their non-tainted counterparts
107 public bool m_isPhysical = false; // the current physical status
108 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
109 public float MinimumGroundFlightOffset = 3f;
110
111 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
112 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
113
114
115 private float m_buoyancy = 0f;
116
117 // private CollisionLocker ode;
118
119 private string m_name = String.Empty;
120
121 private bool[] m_colliderarr = new bool[11];
122 private bool[] m_colliderGroundarr = new bool[11];
123
124 // Default we're a Character
125 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
126
127 // Default, Collide with Other Geometries, spaces, bodies and characters.
128 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
129 | CollisionCategories.Space
130 | CollisionCategories.Body
131 | CollisionCategories.Character
132 | CollisionCategories.Land);
133 public IntPtr Body = IntPtr.Zero;
134 private OdeScene _parent_scene;
135 public IntPtr Shell = IntPtr.Zero;
136 public IntPtr Amotor = IntPtr.Zero;
137 public d.Mass ShellMass;
138 public bool collidelock = false;
139
140 public int m_eventsubscription = 0;
141 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
142
143 private Vector3 m_taintMomentum = Vector3.Zero;
144 private bool m_haveTaintMomentum = false;
145
146
147 // unique UUID of this character object
148 public UUID m_uuid;
149 public bool bad = false;
150 private Object m_syncRoot = new Object();
151
152 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
153 {
154 m_uuid = UUID.Random();
155
156 if (pos.IsFinite())
157 {
158 if (pos.Z > 9999999f)
159 {
160 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
161 }
162 if (pos.Z < -90000f)
163 {
164 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
165 }
166 _position = pos;
167 m_taintPosition.X = pos.X;
168 m_taintPosition.Y = pos.Y;
169 m_taintPosition.Z = pos.Z;
170 }
171 else
172 {
173 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
174 m_taintPosition.X = _position.X;
175 m_taintPosition.Y = _position.Y;
176 m_taintPosition.Z = _position.Z;
177 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
178 }
179
180 _parent_scene = parent_scene;
181
182 PID_D = pid_d;
183 PID_P = pid_p;
184 CAPSULE_RADIUS = capsule_radius;
185 m_tensor = tensor;
186 m_density = density;
187 heightFudgeFactor = height_fudge_factor;
188 walkDivisor = walk_divisor;
189 runDivisor = rundivisor;
190
191 // m_StandUpRotation =
192 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
193 // 0.5f);
194
195 for (int i = 0; i < 11; i++)
196 {
197 m_colliderarr[i] = false;
198 }
199 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
200 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
201 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
202
203 m_isPhysical = false; // current status: no ODE information exists
204 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
205
206 _parent_scene.AddPhysicsActorTaint(this);
207
208 m_name = avName;
209 }
210
211 public override int PhysicsActorType
212 {
213 get { return (int) ActorTypes.Agent; }
214 set { return; }
215 }
216
217 /// <summary>
218 /// If this is set, the avatar will move faster
219 /// </summary>
220 public override bool SetAlwaysRun
221 {
222 get { return m_alwaysRun; }
223 set { m_alwaysRun = value; }
224 }
225
226 public override uint LocalID
227 {
228 set { m_localID = value; }
229 }
230
231 public override bool Grabbed
232 {
233 set { return; }
234 }
235
236 public override bool Selected
237 {
238// set { return; }
239 set { jumping = value; } // add for jumping flag
240 }
241
242 public override float Buoyancy
243 {
244 get { return m_buoyancy; }
245 set { m_buoyancy = value; }
246 }
247
248 public override bool FloatOnWater
249 {
250 set { return; }
251 }
252
253 public override bool IsPhysical
254 {
255 get { return false; }
256 set { return; }
257 }
258
259 public override bool ThrottleUpdates
260 {
261 get { return false; }
262 set { return; }
263 }
264
265 public override bool Flying
266 {
267 get { return flying; }
268 set { flying = value; }
269 }
270
271 /// <summary>
272 /// Returns if the avatar is colliding in general.
273 /// This includes the ground and objects and avatar.
274 /// </summary>
275 public override bool IsColliding
276 {
277//#@ get { return m_iscolliding; }
278 get { //##
279//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
280 return m_iscolliding; } //##
281 set
282 {
283 int i;
284 int truecount = 0;
285 int falsecount = 0;
286
287 if (m_colliderarr.Length >= 10)
288 {
289 for (i = 0; i < 10; i++)
290 {
291 m_colliderarr[i] = m_colliderarr[i + 1];
292 }
293 }
294 m_colliderarr[10] = value;
295
296 for (i = 0; i < 11; i++)
297 {
298 if (m_colliderarr[i])
299 {
300 truecount++;
301 }
302 else
303 {
304 falsecount++;
305 }
306 }
307
308 // Equal truecounts and false counts means we're colliding with something.
309
310 if (falsecount > 1.2*truecount)
311 {
312 m_iscolliding = false;
313 }
314 else
315 {
316 m_iscolliding = true;
317 }
318// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
319 if (m_wascolliding != m_iscolliding)
320 {
321 //base.SendCollisionUpdate(new CollisionEventUpdate());
322 }
323 m_wascolliding = m_iscolliding;
324 }
325 }
326
327 /// <summary>
328 /// Returns if an avatar is colliding with the ground
329 /// </summary>
330 public override bool CollidingGround
331 {
332 get { return m_iscollidingGround; }
333 set
334 {
335 // Collisions against the ground are not really reliable
336 // So, to get a consistant value we have to average the current result over time
337 // Currently we use 1 second = 10 calls to this.
338 int i;
339 int truecount = 0;
340 int falsecount = 0;
341
342 if (m_colliderGroundarr.Length >= 10)
343 {
344 for (i = 0; i < 10; i++)
345 {
346 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
347 }
348 }
349 m_colliderGroundarr[10] = value;
350
351 for (i = 0; i < 11; i++)
352 {
353 if (m_colliderGroundarr[i])
354 {
355 truecount++;
356 }
357 else
358 {
359 falsecount++;
360 }
361 }
362
363 // Equal truecounts and false counts means we're colliding with something.
364
365 if (falsecount > 1.2*truecount)
366 {
367 m_iscollidingGround = false;
368 }
369 else
370 {
371 m_iscollidingGround = true;
372 }
373 if (m_wascollidingGround != m_iscollidingGround)
374 {
375 //base.SendCollisionUpdate(new CollisionEventUpdate());
376 }
377 m_wascollidingGround = m_iscollidingGround;
378 }
379 }
380
381 /// <summary>
382 /// Returns if the avatar is colliding with an object
383 /// </summary>
384 public override bool CollidingObj
385 {
386 get { return m_iscollidingObj; }
387 set
388 {
389 m_iscollidingObj = value;
390 if (value)
391 m_pidControllerActive = false;
392 else
393 m_pidControllerActive = true;
394 }
395 }
396
397 /// <summary>
398 /// turn the PID controller on or off.
399 /// The PID Controller will turn on all by itself in many situations
400 /// </summary>
401 /// <param name="status"></param>
402 public void SetPidStatus(bool status)
403 {
404 m_pidControllerActive = status;
405 }
406
407 public override bool Stopped
408 {
409 get { return _zeroFlag; }
410 }
411
412 /// <summary>
413 /// This 'puts' an avatar somewhere in the physics space.
414 /// Not really a good choice unless you 'know' it's a good
415 /// spot otherwise you're likely to orbit the avatar.
416 /// </summary>
417 public override Vector3 Position
418 {
419 get { return _position; }
420 set
421 {
422 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
423 {
424 if (value.IsFinite())
425 {
426 if (value.Z > 9999999f)
427 {
428 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
429 }
430 if (value.Z < -90000f)
431 {
432 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
433 }
434
435 _position.X = value.X;
436 _position.Y = value.Y;
437 _position.Z = value.Z;
438
439 m_taintPosition.X = value.X;
440 m_taintPosition.Y = value.Y;
441 m_taintPosition.Z = value.Z;
442 _parent_scene.AddPhysicsActorTaint(this);
443 }
444 else
445 {
446 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
447 }
448 }
449 }
450 }
451
452 public override Vector3 RotationalVelocity
453 {
454 get { return m_rotationalVelocity; }
455 set { m_rotationalVelocity = value; }
456 }
457
458 /// <summary>
459 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
460 /// and use it to offset landings properly
461 /// </summary>
462 public override Vector3 Size
463 {
464 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
465 set
466 {
467 if (value.IsFinite())
468 {
469 m_pidControllerActive = true;
470
471 Vector3 SetSize = value;
472 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
473 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
474
475 Velocity = Vector3.Zero;
476 m_taintPosition = _position; // update the stale taint position
477 _parent_scene.AddPhysicsActorTaint(this);
478 }
479 else
480 {
481 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
482 }
483 }
484 }
485
486 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
487 {
488 movementVector.Z = 0f;
489 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
490 if (magnitude < 0.1f) return;
491
492 // normalize the velocity vector
493 float invMagnitude = 1.0f / magnitude;
494 movementVector.X *= invMagnitude;
495 movementVector.Y *= invMagnitude;
496
497 // if we change the capsule heading too often, the capsule can fall down
498 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
499 // meaning only 4 possible capsule tilt orientations
500 if (movementVector.X > 0)
501 {
502 // east
503 if (movementVector.Y > 0)
504 {
505 // northeast
506 movementVector.X = (float)Math.Sqrt(2.0);
507 movementVector.Y = (float)Math.Sqrt(2.0);
508 }
509 else
510 {
511 // southeast
512 movementVector.X = (float)Math.Sqrt(2.0);
513 movementVector.Y = -(float)Math.Sqrt(2.0);
514 }
515 }
516 else
517 {
518 // west
519 if (movementVector.Y > 0)
520 {
521 // northwest
522 movementVector.X = -(float)Math.Sqrt(2.0);
523 movementVector.Y = (float)Math.Sqrt(2.0);
524 }
525 else
526 {
527 // southwest
528 movementVector.X = -(float)Math.Sqrt(2.0);
529 movementVector.Y = -(float)Math.Sqrt(2.0);
530 }
531 }
532
533
534 // movementVector.Z is zero
535
536 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
537 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
538 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
539 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
540
541 //m_log.Debug("[PHYSICS] changing avatar tilt");
542 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
544 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
545 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
546 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
547 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
548 }
549
550 /// <summary>
551 /// This creates the Avatar's physical Surrogate at the position supplied
552 /// </summary>
553 /// <param name="npositionX"></param>
554 /// <param name="npositionY"></param>
555 /// <param name="npositionZ"></param>
556
557 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
558 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
559 // place that is safe to call this routine AvatarGeomAndBodyCreation.
560 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
561 {
562 //CAPSULE_LENGTH = -5;
563 //CAPSULE_RADIUS = -5;
564 int dAMotorEuler = 1;
565 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
566 if (CAPSULE_LENGTH <= 0)
567 {
568 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
569 CAPSULE_LENGTH = 0.01f;
570
571 }
572
573 if (CAPSULE_RADIUS <= 0)
574 {
575 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
576 CAPSULE_RADIUS = 0.01f;
577
578 }
579
580 if(Shell != IntPtr.Zero)
581 {
582 try
583 {
584 d.GeomDestroy(Shell);
585 }
586 catch (System.AccessViolationException)
587 {
588 m_log.Error("[PHYSICS]: PrimGeom dead");
589 }
590 // Remove any old entries
591//string tShell;
592//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
593//Console.WriteLine("**** Remove {0}", tShell);
594 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
595 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
596 }
597
598 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
599 _parent_scene.geom_name_map[Shell] = m_name;
600 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
601//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1} height={3} rad={4}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name, CAPSULE_LENGTH, CAPSULE_RADIUS);
602
603 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
604 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
605
606 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
607 Body = d.BodyCreate(_parent_scene.world);
608 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
609
610 _position.X = npositionX;
611 _position.Y = npositionY;
612 _position.Z = npositionZ;
613
614
615 m_taintPosition.X = npositionX;
616 m_taintPosition.Y = npositionY;
617 m_taintPosition.Z = npositionZ;
618
619 d.BodySetMass(Body, ref ShellMass);
620 d.Matrix3 m_caprot;
621 // 90 Stand up on the cap of the capped cyllinder
622 if (_parent_scene.IsAvCapsuleTilted)
623 {
624 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
625 }
626 else
627 {
628 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
629 }
630
631
632 d.GeomSetRotation(Shell, ref m_caprot);
633 d.BodySetRotation(Body, ref m_caprot);
634
635 d.GeomSetBody(Shell, Body);
636
637
638 // The purpose of the AMotor here is to keep the avatar's physical
639 // surrogate from rotating while moving
640 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
641 d.JointAttach(Amotor, Body, IntPtr.Zero);
642 d.JointSetAMotorMode(Amotor, dAMotorEuler);
643 d.JointSetAMotorNumAxes(Amotor, 3);
644 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
645 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
646 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
647 d.JointSetAMotorAngle(Amotor, 0, 0);
648 d.JointSetAMotorAngle(Amotor, 1, 0);
649 d.JointSetAMotorAngle(Amotor, 2, 0);
650
651 // These lowstops and high stops are effectively (no wiggle room)
652 if (_parent_scene.IsAvCapsuleTilted)
653 {
654 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
655 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
656 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
657 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
658 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
659 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
660 }
661 else
662 {
663 #region Documentation of capsule motor LowStop and HighStop parameters
664 // Intentionally introduce some tilt into the capsule by setting
665 // the motor stops to small epsilon values. This small tilt prevents
666 // the capsule from falling into the terrain; a straight-up capsule
667 // (with -0..0 motor stops) falls into the terrain for reasons yet
668 // to be comprehended in their entirety.
669 #endregion
670 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
671 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
672 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
673 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
674 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
675 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
676 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
677 }
678
679 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
680 // capped cyllinder will fall over
681 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
682 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
683
684 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
685 //d.QfromR(
686 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
687 //
688 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
689 //standupStraight();
690 }
691
692 //
693 /// <summary>
694 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
695 /// This may be used in calculations in the scene/scenepresence
696 /// </summary>
697 public override float Mass
698 {
699 get
700 {
701 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
702 return m_density*AVvolume;
703 }
704 }
705 public override void link(PhysicsActor obj)
706 {
707
708 }
709
710 public override void delink()
711 {
712
713 }
714
715 public override void LockAngularMotion(Vector3 axis)
716 {
717
718 }
719
720// This code is very useful. Written by DanX0r. We're just not using it right now.
721// Commented out to prevent a warning.
722//
723// private void standupStraight()
724// {
725// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
726// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
727// // change appearance and when you enter the simulator
728// // After this routine is done, the amotor stabilizes much quicker
729// d.Vector3 feet;
730// d.Vector3 head;
731// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
732// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
733// float posture = head.Z - feet.Z;
734
735// // restoring force proportional to lack of posture:
736// float servo = (2.5f - posture) * POSTURE_SERVO;
737// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
738// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
739// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
740// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
741// }
742
743 public override Vector3 Force
744 {
745 get { return _target_velocity; }
746 set { return; }
747 }
748
749 public override int VehicleType
750 {
751 get { return 0; }
752 set { return; }
753 }
754
755 public override void VehicleFloatParam(int param, float value)
756 {
757
758 }
759
760 public override void VehicleVectorParam(int param, Vector3 value)
761 {
762
763 }
764
765 public override void VehicleRotationParam(int param, Quaternion rotation)
766 {
767
768 }
769
770 public override void VehicleFlags(int flags, bool remove)
771 {
772 }
773
774 public override void SetVolumeDetect(int param)
775 {
776
777 }
778
779 public override Vector3 CenterOfMass
780 {
781 get { return Vector3.Zero; }
782 }
783
784 public override Vector3 GeometricCenter
785 {
786 get { return Vector3.Zero; }
787 }
788
789 public override PrimitiveBaseShape Shape
790 {
791 set { return; }
792 }
793
794 public override Vector3 Velocity
795 {
796 get {
797 // There's a problem with Vector3.Zero! Don't Use it Here!
798 if (_zeroFlag)
799 return Vector3.Zero;
800 m_lastUpdateSent = false;
801 return _velocity;
802 }
803 set
804 {
805 if (value.IsFinite())
806 {
807 _target_velocity = value;
808 m_pidControllerActive = true;
809 }
810 else
811 {
812 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
813 }
814 }
815 }
816
817 public override Vector3 Torque
818 {
819 get { return Vector3.Zero; }
820 set { return; }
821 }
822
823 public override float CollisionScore
824 {
825 get { return 0f; }
826 set { }
827 }
828
829 public override bool Kinematic
830 {
831 get { return false; }
832 set { }
833 }
834
835 public override Quaternion Orientation
836 {
837 get { return Quaternion.Identity; }
838 set {
839 //Matrix3 or = Orientation.ToRotationMatrix();
840 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
841 //d.BodySetRotation(Body, ref ord);
842 }
843 }
844
845 public override Vector3 Acceleration
846 {
847 get { return _acceleration; }
848 set { _acceleration = value; }
849 }
850
851 public void SetAcceleration(Vector3 accel)
852 {
853 m_pidControllerActive = true;
854 _acceleration = accel;
855 }
856
857 /// <summary>
858 /// Adds the force supplied to the Target Velocity
859 /// The PID controller takes this target velocity and tries to make it a reality
860 /// </summary>
861 /// <param name="force"></param>
862 public override void AddForce(Vector3 force, bool pushforce)
863 {
864 if (force.IsFinite())
865 {
866 if (pushforce)
867 {
868 m_pidControllerActive = false;
869 force *= 100f;
870//Console.WriteLine("DF 1"); // ##
871 if (!force.ApproxEquals(Vector3.Zero, 0.01f))
872 doForce(force);
873 // If uncommented, things get pushed off world
874 //
875 // m_log.Debug("Push!");
876 // _target_velocity.X += force.X;
877 // _target_velocity.Y += force.Y;
878 // _target_velocity.Z += force.Z;
879 }
880 else
881 {
882 m_pidControllerActive = true;
883 _target_velocity.X += force.X;
884 _target_velocity.Y += force.Y;
885 _target_velocity.Z += force.Z;
886 }
887 }
888 else
889 {
890 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
891 }
892 //m_lastUpdateSent = false;
893 }
894
895 public override void AddAngularForce(Vector3 force, bool pushforce)
896 {
897
898 }
899
900 /// <summary>
901 /// After all of the forces add up with 'add force' we apply them with doForce
902 /// </summary>
903 /// <param name="force"></param>
904 public void doForce(Vector3 force)
905 {
906 if (!collidelock)
907 {
908 d.BodyAddForce(Body, force.X, force.Y, force.Z);
909 //d.BodySetRotation(Body, ref m_StandUpRotation);
910 //standupStraight();
911 d.Vector3 vel = d.BodyGetLinearVel(Body); //##
912//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
913 }
914 }
915
916 public override void SetMomentum(Vector3 momentum)
917 {
918 if (momentum.IsFinite())
919 {
920 m_taintMomentum = momentum;
921 m_haveTaintMomentum = true;
922 _parent_scene.AddPhysicsActorTaint(this);
923 }
924 else
925 m_log.Warn("[PHYSICS] !isFinite momentum");
926 }
927
928
929 /// <summary>
930 /// Called from Simulate
931 /// This is the avatar's movement control + PID Controller
932 /// </summary>
933 /// <param name="timeStep"></param>
934 public void Move(float timeStep, List<OdeCharacter> defects)
935 {
936 // no lock; for now it's only called from within Simulate()
937
938 // If the PID Controller isn't active then we set our force
939 // calculating base velocity to the current position
940
941 if (Body == IntPtr.Zero)
942 return;
943
944 if (m_pidControllerActive == false)
945 {
946 _zeroPosition = d.BodyGetPosition(Body);
947 }
948 //PidStatus = true;
949
950 d.Vector3 localpos = d.BodyGetPosition(Body);
951 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
952
953 if (!localPos.IsFinite())
954 {
955
956 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
957 defects.Add(this);
958 // _parent_scene.RemoveCharacter(this);
959
960 // destroy avatar capsule and related ODE data
961 if (Amotor != IntPtr.Zero)
962 {
963 // Kill the Amotor
964 d.JointDestroy(Amotor);
965 Amotor = IntPtr.Zero;
966 }
967
968 //kill the Geometry
969 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
970
971 if (Body != IntPtr.Zero)
972 {
973 //kill the body
974 d.BodyDestroy(Body);
975
976 Body = IntPtr.Zero;
977 }
978
979 if(Shell != IntPtr.Zero)
980 {
981 try
982 {
983 d.GeomDestroy(Shell);
984 }
985 catch (System.AccessViolationException)
986 {
987 m_log.Error("[PHYSICS]: PrimGeom dead");
988 }
989 // Remove any old entries
990//string tShell;
991//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
992//Console.WriteLine("**** Remove {0}", tShell);
993
994 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
995 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
996 Shell = IntPtr.Zero;
997 }
998
999 return;
1000 }
1001
1002 Vector3 vec = Vector3.Zero;
1003 d.Vector3 vel = d.BodyGetLinearVel(Body);
1004
1005 float movementdivisor = 1f;
1006
1007 if (!m_alwaysRun)
1008 {
1009 movementdivisor = walkDivisor;
1010 }
1011 else
1012 {
1013 movementdivisor = runDivisor;
1014 }
1015
1016 // if velocity is zero, use position control; otherwise, velocity control
1017 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
1018 {
1019 // keep track of where we stopped. No more slippin' & slidin'
1020 if (!_zeroFlag)
1021 {
1022 _zeroFlag = true;
1023 _zeroPosition = d.BodyGetPosition(Body);
1024 }
1025 if (m_pidControllerActive)
1026 {
1027 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1028 // react to the physics scene by moving it's position.
1029 // Avatar to Avatar collisions
1030 // Prim to avatar collisions
1031
1032 d.Vector3 pos = d.BodyGetPosition(Body);
1033 float errX = _zeroPosition.X - pos.X;
1034 float errY = _zeroPosition.Y - pos.Y;
1035 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1036 {
1037 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1038 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1039 }
1040 else
1041 { // close, jump to lateral destination
1042 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1043 }
1044// if (flying)
1045 if (flying || jumping) // add for jumping
1046 {
1047 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1048 }
1049 }
1050 //PidStatus = true;
1051 }
1052 else
1053 {
1054 m_pidControllerActive = true;
1055 _zeroFlag = false;
1056 if (m_iscolliding && !flying)
1057 {
1058 // We're standing on something
1059 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1060 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1061 }
1062 else if (m_iscolliding && flying)
1063 {
1064 // We're flying and colliding with something
1065 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1066 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1067 }
1068 else if (!m_iscolliding && flying)
1069 {
1070 // we're in mid air suspended
1071 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1072 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1073 }
1074
1075 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1076 {
1077 // We're colliding with something and we're not flying but we're moving
1078 // This means we're walking or running.
1079 d.Vector3 pos = d.BodyGetPosition(Body);
1080 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1081 if (_target_velocity.X > 0)
1082 {
1083 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1084 }
1085 if (_target_velocity.Y > 0)
1086 {
1087 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1088 }
1089 }
1090 else if (!m_iscolliding && !flying)
1091 {
1092 // we're not colliding and we're not flying so that means we're falling!
1093 // m_iscolliding includes collisions with the ground.
1094
1095 // d.Vector3 pos = d.BodyGetPosition(Body);
1096 if (Math.Abs(_target_velocity.X) > 0)
1097 {
1098 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1099 }
1100 if (Math.Abs(_target_velocity.Y) > 0)
1101 {
1102 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1103 }
1104 }
1105
1106 if (flying)
1107 {
1108 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1109 }
1110 }
1111 if (flying)
1112 {
1113 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1114
1115 //Added for auto fly height. Kitto Flora
1116 //d.Vector3 pos = d.BodyGetPosition(Body);
1117 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1118
1119 if (_position.Z < target_altitude)
1120 {
1121 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1122 }
1123 // end add Kitto Flora
1124 }
1125
1126 if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50ms apply breaks
1127 {
1128 float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall
1129 vec.X -= breakfactor * vel.X;
1130 vec.Y -= breakfactor * vel.Y;
1131 vec.Z -= breakfactor * vel.Z;
1132 }
1133
1134 if (vec.IsFinite())
1135 {
1136 if (vec.LengthSquared() > 0.0004f) // 0.01 allows 0.002 !!
1137 {
1138//Console.WriteLine("DF 2"); // ##
1139
1140 doForce(vec);
1141 if (!_zeroFlag)
1142 {
1143// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1144 }
1145 }
1146 }
1147 else
1148 {
1149 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1150 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1151 defects.Add(this);
1152 // _parent_scene.RemoveCharacter(this);
1153 // destroy avatar capsule and related ODE data
1154 if (Amotor != IntPtr.Zero)
1155 {
1156 // Kill the Amotor
1157 d.JointDestroy(Amotor);
1158 Amotor = IntPtr.Zero;
1159 }
1160 //kill the Geometry
1161 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1162
1163 if (Body != IntPtr.Zero)
1164 {
1165 //kill the body
1166 d.BodyDestroy(Body);
1167
1168 Body = IntPtr.Zero;
1169 }
1170
1171 if(Shell != IntPtr.Zero)
1172 {
1173 try
1174 {
1175 d.GeomDestroy(Shell);
1176 }
1177 catch (System.AccessViolationException)
1178 {
1179 m_log.Error("[PHYSICS]: PrimGeom dead");
1180 }
1181 // Remove any old entries
1182//string tShell;
1183//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1184//Console.WriteLine("**** Remove {0}", tShell);
1185
1186 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1187 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1188 Shell = IntPtr.Zero;
1189 }
1190 }
1191 }
1192
1193 /// <summary>
1194 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1195 /// </summary>
1196 public void UpdatePositionAndVelocity()
1197 {
1198 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1199 d.Vector3 vec;
1200 try
1201 {
1202 vec = d.BodyGetPosition(Body);
1203 }
1204 catch (NullReferenceException)
1205 {
1206 bad = true;
1207 _parent_scene.BadCharacter(this);
1208 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1209 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1210 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1211 }
1212
1213
1214 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1215 if (vec.X < 0.0f) vec.X = 0.0f;
1216 if (vec.Y < 0.0f) vec.Y = 0.0f;
1217 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1218 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1219
1220 _position.X = vec.X;
1221 _position.Y = vec.Y;
1222 _position.Z = vec.Z;
1223
1224 // Did we move last? = zeroflag
1225 // This helps keep us from sliding all over
1226
1227 if (_zeroFlag)
1228 {
1229 _velocity.X = 0.0f;
1230 _velocity.Y = 0.0f;
1231 _velocity.Z = 0.0f;
1232
1233 // Did we send out the 'stopped' message?
1234 if (!m_lastUpdateSent)
1235 {
1236 m_lastUpdateSent = true;
1237 //base.RequestPhysicsterseUpdate();
1238
1239 }
1240 }
1241 else
1242 {
1243 m_lastUpdateSent = false;
1244 try
1245 {
1246 vec = d.BodyGetLinearVel(Body);
1247 }
1248 catch (NullReferenceException)
1249 {
1250 vec.X = _velocity.X;
1251 vec.Y = _velocity.Y;
1252 vec.Z = _velocity.Z;
1253 }
1254 _velocity.X = (vec.X);
1255 _velocity.Y = (vec.Y);
1256
1257 _velocity.Z = (vec.Z);
1258
1259 if (_velocity.Z < -6 && !m_hackSentFall)
1260 {
1261 m_hackSentFall = true;
1262 m_pidControllerActive = false;
1263 }
1264 else if (flying && !m_hackSentFly)
1265 {
1266 //m_hackSentFly = true;
1267 //base.SendCollisionUpdate(new CollisionEventUpdate());
1268 }
1269 else
1270 {
1271 m_hackSentFly = false;
1272 m_hackSentFall = false;
1273 }
1274 }
1275 }
1276
1277 /// <summary>
1278 /// Cleanup the things we use in the scene.
1279 /// </summary>
1280 public void Destroy()
1281 {
1282 m_tainted_isPhysical = false;
1283 _parent_scene.AddPhysicsActorTaint(this);
1284 }
1285
1286 public override void CrossingFailure()
1287 {
1288 }
1289
1290 public override Vector3 PIDTarget { set { return; } }
1291 public override bool PIDActive { set { return; } }
1292 public override float PIDTau { set { return; } }
1293
1294 public override float PIDHoverHeight { set { return; } }
1295 public override bool PIDHoverActive { set { return; } }
1296 public override PIDHoverType PIDHoverType { set { return; } }
1297 public override float PIDHoverTau { set { return; } }
1298
1299 public override Quaternion APIDTarget{ set { return; } }
1300
1301 public override bool APIDActive{ set { return; } }
1302
1303 public override float APIDStrength{ set { return; } }
1304
1305 public override float APIDDamping{ set { return; } }
1306
1307
1308 public override void SubscribeEvents(int ms)
1309 {
1310 m_requestedUpdateFrequency = ms;
1311 m_eventsubscription = ms;
1312 _parent_scene.addCollisionEventReporting(this);
1313 }
1314 public override void UnSubscribeEvents()
1315 {
1316 _parent_scene.remCollisionEventReporting(this);
1317 m_requestedUpdateFrequency = 0;
1318 m_eventsubscription = 0;
1319 }
1320 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1321 {
1322 if (m_eventsubscription > 0)
1323 {
1324 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1325 }
1326 }
1327
1328 public void SendCollisions()
1329 {
1330 if (m_eventsubscription > m_requestedUpdateFrequency)
1331 {
1332 if (CollisionEventsThisFrame != null)
1333 {
1334 base.SendCollisionUpdate(CollisionEventsThisFrame);
1335 }
1336 CollisionEventsThisFrame = new CollisionEventUpdate();
1337 m_eventsubscription = 0;
1338 }
1339 }
1340 public override bool SubscribedEvents()
1341 {
1342 if (m_eventsubscription > 0)
1343 return true;
1344 return false;
1345 }
1346
1347 public void ProcessTaints(float timestep)
1348 {
1349 lock (m_syncRoot)
1350 {
1351 if (m_tainted_isPhysical != m_isPhysical)
1352 {
1353 if (m_tainted_isPhysical)
1354 {
1355 // Create avatar capsule and related ODE data
1356 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1357 {
1358 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1359 + (Shell!=IntPtr.Zero ? "Shell ":"")
1360 + (Body!=IntPtr.Zero ? "Body ":"")
1361 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1362 }
1363 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1364 _parent_scene.AddCharacter(this);
1365 }
1366 else
1367 {
1368 _parent_scene.RemoveCharacter(this);
1369 // destroy avatar capsule and related ODE data
1370 if (Amotor != IntPtr.Zero)
1371 {
1372 // Kill the Amotor
1373 d.JointDestroy(Amotor);
1374 Amotor = IntPtr.Zero;
1375 }
1376 //kill the Geometry
1377 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1378
1379 if (Body != IntPtr.Zero)
1380 {
1381 //kill the body
1382 d.BodyDestroy(Body);
1383 Body = IntPtr.Zero;
1384 }
1385
1386 if(Shell != IntPtr.Zero)
1387 {
1388 try
1389 {
1390 d.GeomDestroy(Shell);
1391 }
1392 catch (Exception e)
1393 {
1394 m_log.ErrorFormat("[PHYSICS]: Failed to destroy character shell {0}",e.Message);
1395 }
1396 // Remove any old entries
1397 //string tShell;
1398 //_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1399 //Console.WriteLine("**** Remove {0}", tShell);
1400
1401 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1402 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1403 Shell = IntPtr.Zero;
1404 }
1405 }
1406
1407 m_isPhysical = m_tainted_isPhysical;
1408 }
1409
1410 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1411 {
1412 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1413 {
1414
1415 m_pidControllerActive = true;
1416 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1417 d.JointDestroy(Amotor);
1418 float prevCapsule = CAPSULE_LENGTH;
1419 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1420 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1421 d.BodyDestroy(Body);
1422 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1423 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1424 Velocity = Vector3.Zero;
1425 }
1426 else
1427 {
1428 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1429 + (Shell==IntPtr.Zero ? "Shell ":"")
1430 + (Body==IntPtr.Zero ? "Body ":"")
1431 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1432 }
1433 }
1434
1435 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1436 {
1437 if (Body != IntPtr.Zero)
1438 {
1439 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1440
1441 }
1442 _position.X = m_taintPosition.X;
1443 _position.Y = m_taintPosition.Y;
1444 _position.Z = m_taintPosition.Z;
1445 }
1446
1447 if (m_haveTaintMomentum)
1448 {
1449 m_haveTaintMomentum = false;
1450 _velocity = m_taintMomentum;
1451 _target_velocity = m_taintMomentum;
1452 m_pidControllerActive = true;
1453 if (Body != IntPtr.Zero)
1454 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1455 }
1456 }
1457 }
1458
1459 internal void AddCollisionFrameTime(int p)
1460 {
1461 // protect it from overflow crashing
1462 if (m_eventsubscription + p >= int.MaxValue)
1463 m_eventsubscription = 0;
1464 m_eventsubscription += p;
1465 }
1466 }
1467}
generated by cgit v1.1 at 2024-07-15 23:55:30 +0000