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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 // unique UUID of this character object
144 public UUID m_uuid;
145 public bool bad = false;
146
147 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)
148 {
149 m_uuid = UUID.Random();
150
151 if (pos.IsFinite())
152 {
153 if (pos.Z > 9999999f)
154 {
155 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
156 }
157 if (pos.Z < -90000f)
158 {
159 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
160 }
161 _position = pos;
162 m_taintPosition.X = pos.X;
163 m_taintPosition.Y = pos.Y;
164 m_taintPosition.Z = pos.Z;
165 }
166 else
167 {
168 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
169 m_taintPosition.X = _position.X;
170 m_taintPosition.Y = _position.Y;
171 m_taintPosition.Z = _position.Z;
172 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
173 }
174
175 _parent_scene = parent_scene;
176
177 PID_D = pid_d;
178 PID_P = pid_p;
179 CAPSULE_RADIUS = capsule_radius;
180 m_tensor = tensor;
181 m_density = density;
182 heightFudgeFactor = height_fudge_factor;
183 walkDivisor = walk_divisor;
184 runDivisor = rundivisor;
185
186 // m_StandUpRotation =
187 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
188 // 0.5f);
189
190 for (int i = 0; i < 11; i++)
191 {
192 m_colliderarr[i] = false;
193 }
194 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
195 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
196 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
197
198 m_isPhysical = false; // current status: no ODE information exists
199 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
200
201 _parent_scene.AddPhysicsActorTaint(this);
202
203 m_name = avName;
204 }
205
206 public override int PhysicsActorType
207 {
208 get { return (int) ActorTypes.Agent; }
209 set { return; }
210 }
211
212 /// <summary>
213 /// If this is set, the avatar will move faster
214 /// </summary>
215 public override bool SetAlwaysRun
216 {
217 get { return m_alwaysRun; }
218 set { m_alwaysRun = value; }
219 }
220
221 public override uint LocalID
222 {
223 set { m_localID = value; }
224 }
225
226 public override bool Grabbed
227 {
228 set { return; }
229 }
230
231 public override bool Selected
232 {
233// set { return; }
234 set { jumping = value; } // add for jumping flag
235 }
236
237 public override float Buoyancy
238 {
239 get { return m_buoyancy; }
240 set { m_buoyancy = value; }
241 }
242
243 public override bool FloatOnWater
244 {
245 set { return; }
246 }
247
248 public override bool IsPhysical
249 {
250 get { return false; }
251 set { return; }
252 }
253
254 public override bool ThrottleUpdates
255 {
256 get { return false; }
257 set { return; }
258 }
259
260 public override bool Flying
261 {
262 get { return flying; }
263 set { flying = value; }
264 }
265
266 /// <summary>
267 /// Returns if the avatar is colliding in general.
268 /// This includes the ground and objects and avatar.
269 /// </summary>
270 public override bool IsColliding
271 {
272//#@ get { return m_iscolliding; }
273 get { //##
274//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
275 return m_iscolliding; } //##
276 set
277 {
278 int i;
279 int truecount = 0;
280 int falsecount = 0;
281
282 if (m_colliderarr.Length >= 10)
283 {
284 for (i = 0; i < 10; i++)
285 {
286 m_colliderarr[i] = m_colliderarr[i + 1];
287 }
288 }
289 m_colliderarr[10] = value;
290
291 for (i = 0; i < 11; i++)
292 {
293 if (m_colliderarr[i])
294 {
295 truecount++;
296 }
297 else
298 {
299 falsecount++;
300 }
301 }
302
303 // Equal truecounts and false counts means we're colliding with something.
304
305 if (falsecount > 1.2*truecount)
306 {
307 m_iscolliding = false;
308 }
309 else
310 {
311 m_iscolliding = true;
312 }
313// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
314 if (m_wascolliding != m_iscolliding)
315 {
316 //base.SendCollisionUpdate(new CollisionEventUpdate());
317 }
318 m_wascolliding = m_iscolliding;
319 }
320 }
321
322 /// <summary>
323 /// Returns if an avatar is colliding with the ground
324 /// </summary>
325 public override bool CollidingGround
326 {
327 get { return m_iscollidingGround; }
328 set
329 {
330 // Collisions against the ground are not really reliable
331 // So, to get a consistant value we have to average the current result over time
332 // Currently we use 1 second = 10 calls to this.
333 int i;
334 int truecount = 0;
335 int falsecount = 0;
336
337 if (m_colliderGroundarr.Length >= 10)
338 {
339 for (i = 0; i < 10; i++)
340 {
341 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
342 }
343 }
344 m_colliderGroundarr[10] = value;
345
346 for (i = 0; i < 11; i++)
347 {
348 if (m_colliderGroundarr[i])
349 {
350 truecount++;
351 }
352 else
353 {
354 falsecount++;
355 }
356 }
357
358 // Equal truecounts and false counts means we're colliding with something.
359
360 if (falsecount > 1.2*truecount)
361 {
362 m_iscollidingGround = false;
363 }
364 else
365 {
366 m_iscollidingGround = true;
367 }
368 if (m_wascollidingGround != m_iscollidingGround)
369 {
370 //base.SendCollisionUpdate(new CollisionEventUpdate());
371 }
372 m_wascollidingGround = m_iscollidingGround;
373 }
374 }
375
376 /// <summary>
377 /// Returns if the avatar is colliding with an object
378 /// </summary>
379 public override bool CollidingObj
380 {
381 get { return m_iscollidingObj; }
382 set
383 {
384 m_iscollidingObj = value;
385 if (value)
386 m_pidControllerActive = false;
387 else
388 m_pidControllerActive = true;
389 }
390 }
391
392 /// <summary>
393 /// turn the PID controller on or off.
394 /// The PID Controller will turn on all by itself in many situations
395 /// </summary>
396 /// <param name="status"></param>
397 public void SetPidStatus(bool status)
398 {
399 m_pidControllerActive = status;
400 }
401
402 public override bool Stopped
403 {
404 get { return _zeroFlag; }
405 }
406
407 /// <summary>
408 /// This 'puts' an avatar somewhere in the physics space.
409 /// Not really a good choice unless you 'know' it's a good
410 /// spot otherwise you're likely to orbit the avatar.
411 /// </summary>
412 public override Vector3 Position
413 {
414 get { return _position; }
415 set
416 {
417 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
418 {
419 if (value.IsFinite())
420 {
421 if (value.Z > 9999999f)
422 {
423 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
424 }
425 if (value.Z < -90000f)
426 {
427 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
428 }
429
430 _position.X = value.X;
431 _position.Y = value.Y;
432 _position.Z = value.Z;
433
434 m_taintPosition.X = value.X;
435 m_taintPosition.Y = value.Y;
436 m_taintPosition.Z = value.Z;
437 _parent_scene.AddPhysicsActorTaint(this);
438 }
439 else
440 {
441 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
442 }
443 }
444 }
445 }
446
447 public override Vector3 RotationalVelocity
448 {
449 get { return m_rotationalVelocity; }
450 set { m_rotationalVelocity = value; }
451 }
452
453 /// <summary>
454 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
455 /// and use it to offset landings properly
456 /// </summary>
457 public override Vector3 Size
458 {
459 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
460 set
461 {
462 if (value.IsFinite())
463 {
464 m_pidControllerActive = true;
465
466 Vector3 SetSize = value;
467 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
468 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
469
470 Velocity = Vector3.Zero;
471
472 _parent_scene.AddPhysicsActorTaint(this);
473 }
474 else
475 {
476 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
477 }
478 }
479 }
480
481 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
482 {
483 movementVector.Z = 0f;
484 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
485 if (magnitude < 0.1f) return;
486
487 // normalize the velocity vector
488 float invMagnitude = 1.0f / magnitude;
489 movementVector.X *= invMagnitude;
490 movementVector.Y *= invMagnitude;
491
492 // if we change the capsule heading too often, the capsule can fall down
493 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
494 // meaning only 4 possible capsule tilt orientations
495 if (movementVector.X > 0)
496 {
497 // east
498 if (movementVector.Y > 0)
499 {
500 // northeast
501 movementVector.X = (float)Math.Sqrt(2.0);
502 movementVector.Y = (float)Math.Sqrt(2.0);
503 }
504 else
505 {
506 // southeast
507 movementVector.X = (float)Math.Sqrt(2.0);
508 movementVector.Y = -(float)Math.Sqrt(2.0);
509 }
510 }
511 else
512 {
513 // west
514 if (movementVector.Y > 0)
515 {
516 // northwest
517 movementVector.X = -(float)Math.Sqrt(2.0);
518 movementVector.Y = (float)Math.Sqrt(2.0);
519 }
520 else
521 {
522 // southwest
523 movementVector.X = -(float)Math.Sqrt(2.0);
524 movementVector.Y = -(float)Math.Sqrt(2.0);
525 }
526 }
527
528
529 // movementVector.Z is zero
530
531 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
532 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
533 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
534 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
535
536 //m_log.Debug("[PHYSICS] changing avatar tilt");
537 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
538 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
539 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
540 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
541 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
542 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
543 }
544
545 /// <summary>
546 /// This creates the Avatar's physical Surrogate at the position supplied
547 /// </summary>
548 /// <param name="npositionX"></param>
549 /// <param name="npositionY"></param>
550 /// <param name="npositionZ"></param>
551
552 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
553 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
554 // place that is safe to call this routine AvatarGeomAndBodyCreation.
555 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
556 {
557 //CAPSULE_LENGTH = -5;
558 //CAPSULE_RADIUS = -5;
559 int dAMotorEuler = 1;
560 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
561 if (CAPSULE_LENGTH <= 0)
562 {
563 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
564 CAPSULE_LENGTH = 0.01f;
565
566 }
567
568 if (CAPSULE_RADIUS <= 0)
569 {
570 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
571 CAPSULE_RADIUS = 0.01f;
572
573 }
574
575 if(Shell != IntPtr.Zero)
576 {
577 try
578 {
579 d.GeomDestroy(Shell);
580 }
581 catch (System.AccessViolationException)
582 {
583 m_log.Error("[PHYSICS]: PrimGeom dead");
584 }
585 // Remove any old entries
586//string tShell;
587//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
588//Console.WriteLine("**** Remove {0}", tShell);
589 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
590 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
591 }
592
593 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
594 _parent_scene.geom_name_map[Shell] = m_name;
595 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
596Console.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);
597
598 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
599 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
600
601 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
602 Body = d.BodyCreate(_parent_scene.world);
603 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
604
605 _position.X = npositionX;
606 _position.Y = npositionY;
607 _position.Z = npositionZ;
608
609
610 m_taintPosition.X = npositionX;
611 m_taintPosition.Y = npositionY;
612 m_taintPosition.Z = npositionZ;
613
614 d.BodySetMass(Body, ref ShellMass);
615 d.Matrix3 m_caprot;
616 // 90 Stand up on the cap of the capped cyllinder
617 if (_parent_scene.IsAvCapsuleTilted)
618 {
619 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
620 }
621 else
622 {
623 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
624 }
625
626
627 d.GeomSetRotation(Shell, ref m_caprot);
628 d.BodySetRotation(Body, ref m_caprot);
629
630 d.GeomSetBody(Shell, Body);
631
632
633 // The purpose of the AMotor here is to keep the avatar's physical
634 // surrogate from rotating while moving
635 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
636 d.JointAttach(Amotor, Body, IntPtr.Zero);
637 d.JointSetAMotorMode(Amotor, dAMotorEuler);
638 d.JointSetAMotorNumAxes(Amotor, 3);
639 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
640 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
641 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
642 d.JointSetAMotorAngle(Amotor, 0, 0);
643 d.JointSetAMotorAngle(Amotor, 1, 0);
644 d.JointSetAMotorAngle(Amotor, 2, 0);
645
646 // These lowstops and high stops are effectively (no wiggle room)
647 if (_parent_scene.IsAvCapsuleTilted)
648 {
649 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
650 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
651 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
652 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
653 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
654 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
655 }
656 else
657 {
658 #region Documentation of capsule motor LowStop and HighStop parameters
659 // Intentionally introduce some tilt into the capsule by setting
660 // the motor stops to small epsilon values. This small tilt prevents
661 // the capsule from falling into the terrain; a straight-up capsule
662 // (with -0..0 motor stops) falls into the terrain for reasons yet
663 // to be comprehended in their entirety.
664 #endregion
665 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
666 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
667 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
668 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
669 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
670 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
671 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
672 }
673
674 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
675 // capped cyllinder will fall over
676 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
677 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
678
679 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
680 //d.QfromR(
681 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
682 //
683 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
684 //standupStraight();
685 }
686
687 //
688 /// <summary>
689 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
690 /// This may be used in calculations in the scene/scenepresence
691 /// </summary>
692 public override float Mass
693 {
694 get
695 {
696 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
697 return m_density*AVvolume;
698 }
699 }
700 public override void link(PhysicsActor obj)
701 {
702
703 }
704
705 public override void delink()
706 {
707
708 }
709
710 public override void LockAngularMotion(Vector3 axis)
711 {
712
713 }
714
715// This code is very useful. Written by DanX0r. We're just not using it right now.
716// Commented out to prevent a warning.
717//
718// private void standupStraight()
719// {
720// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
721// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
722// // change appearance and when you enter the simulator
723// // After this routine is done, the amotor stabilizes much quicker
724// d.Vector3 feet;
725// d.Vector3 head;
726// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
727// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
728// float posture = head.Z - feet.Z;
729
730// // restoring force proportional to lack of posture:
731// float servo = (2.5f - posture) * POSTURE_SERVO;
732// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
733// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
734// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
735// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
736// }
737
738 public override Vector3 Force
739 {
740 get { return _target_velocity; }
741 set { return; }
742 }
743
744 public override int VehicleType
745 {
746 get { return 0; }
747 set { return; }
748 }
749
750 public override void VehicleFloatParam(int param, float value)
751 {
752
753 }
754
755 public override void VehicleVectorParam(int param, Vector3 value)
756 {
757
758 }
759
760 public override void VehicleRotationParam(int param, Quaternion rotation)
761 {
762
763 }
764
765 public override void VehicleFlags(int flags, bool remove)
766 {
767 }
768
769 public override void SetVolumeDetect(int param)
770 {
771
772 }
773
774 public override Vector3 CenterOfMass
775 {
776 get { return Vector3.Zero; }
777 }
778
779 public override Vector3 GeometricCenter
780 {
781 get { return Vector3.Zero; }
782 }
783
784 public override PrimitiveBaseShape Shape
785 {
786 set { return; }
787 }
788
789 public override Vector3 Velocity
790 {
791 get {
792 // There's a problem with Vector3.Zero! Don't Use it Here!
793 if (_zeroFlag)
794 return Vector3.Zero;
795 m_lastUpdateSent = false;
796 return _velocity;
797 }
798 set
799 {
800 if (value.IsFinite())
801 {
802 m_pidControllerActive = true;
803 _target_velocity = value;
804 }
805 else
806 {
807 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
808 }
809 }
810 }
811
812 public override Vector3 Torque
813 {
814 get { return Vector3.Zero; }
815 set { return; }
816 }
817
818 public override float CollisionScore
819 {
820 get { return 0f; }
821 set { }
822 }
823
824 public override bool Kinematic
825 {
826 get { return false; }
827 set { }
828 }
829
830 public override Quaternion Orientation
831 {
832 get { return Quaternion.Identity; }
833 set {
834 //Matrix3 or = Orientation.ToRotationMatrix();
835 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
836 //d.BodySetRotation(Body, ref ord);
837 }
838 }
839
840 public override Vector3 Acceleration
841 {
842 get { return _acceleration; }
843 }
844
845 public void SetAcceleration(Vector3 accel)
846 {
847 m_pidControllerActive = true;
848 _acceleration = accel;
849 }
850
851 /// <summary>
852 /// Adds the force supplied to the Target Velocity
853 /// The PID controller takes this target velocity and tries to make it a reality
854 /// </summary>
855 /// <param name="force"></param>
856 public override void AddForce(Vector3 force, bool pushforce)
857 {
858 if (force.IsFinite())
859 {
860 if (pushforce)
861 {
862 m_pidControllerActive = false;
863 force *= 100f;
864//Console.WriteLine("DF 1"); // ##
865 if (!force.ApproxEquals(Vector3.Zero, 0.01f))
866 doForce(force);
867 // If uncommented, things get pushed off world
868 //
869 // m_log.Debug("Push!");
870 // _target_velocity.X += force.X;
871 // _target_velocity.Y += force.Y;
872 // _target_velocity.Z += force.Z;
873 }
874 else
875 {
876 m_pidControllerActive = true;
877 _target_velocity.X += force.X;
878 _target_velocity.Y += force.Y;
879 _target_velocity.Z += force.Z;
880 }
881 }
882 else
883 {
884 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
885 }
886 //m_lastUpdateSent = false;
887 }
888
889 public override void AddAngularForce(Vector3 force, bool pushforce)
890 {
891
892 }
893
894 /// <summary>
895 /// After all of the forces add up with 'add force' we apply them with doForce
896 /// </summary>
897 /// <param name="force"></param>
898 public void doForce(Vector3 force)
899 {
900 if (!collidelock)
901 {
902 d.BodyAddForce(Body, force.X, force.Y, force.Z);
903 //d.BodySetRotation(Body, ref m_StandUpRotation);
904 //standupStraight();
905 d.Vector3 vel = d.BodyGetLinearVel(Body); //##
906//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
907 }
908 }
909
910 public override void SetMomentum(Vector3 momentum)
911 {
912 }
913
914
915 /// <summary>
916 /// Called from Simulate
917 /// This is the avatar's movement control + PID Controller
918 /// </summary>
919 /// <param name="timeStep"></param>
920 public void Move(float timeStep, List<OdeCharacter> defects)
921 {
922 // no lock; for now it's only called from within Simulate()
923
924 // If the PID Controller isn't active then we set our force
925 // calculating base velocity to the current position
926
927 if (Body == IntPtr.Zero)
928 return;
929
930 if (m_pidControllerActive == false)
931 {
932 _zeroPosition = d.BodyGetPosition(Body);
933 }
934 //PidStatus = true;
935
936 d.Vector3 localpos = d.BodyGetPosition(Body);
937 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
938
939 if (!localPos.IsFinite())
940 {
941
942 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
943 defects.Add(this);
944 // _parent_scene.RemoveCharacter(this);
945
946 // destroy avatar capsule and related ODE data
947 if (Amotor != IntPtr.Zero)
948 {
949 // Kill the Amotor
950 d.JointDestroy(Amotor);
951 Amotor = IntPtr.Zero;
952 }
953
954 //kill the Geometry
955 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
956
957 if (Body != IntPtr.Zero)
958 {
959 //kill the body
960 d.BodyDestroy(Body);
961
962 Body = IntPtr.Zero;
963 }
964
965 if(Shell != IntPtr.Zero)
966 {
967 try
968 {
969 d.GeomDestroy(Shell);
970 }
971 catch (System.AccessViolationException)
972 {
973 m_log.Error("[PHYSICS]: PrimGeom dead");
974 }
975 // Remove any old entries
976//string tShell;
977//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
978//Console.WriteLine("**** Remove {0}", tShell);
979
980 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
981 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
982 Shell = IntPtr.Zero;
983 }
984
985 return;
986 }
987
988 Vector3 vec = Vector3.Zero;
989 d.Vector3 vel = d.BodyGetLinearVel(Body);
990
991 float movementdivisor = 1f;
992
993 if (!m_alwaysRun)
994 {
995 movementdivisor = walkDivisor;
996 }
997 else
998 {
999 movementdivisor = runDivisor;
1000 }
1001
1002 // if velocity is zero, use position control; otherwise, velocity control
1003 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
1004 {
1005 // keep track of where we stopped. No more slippin' & slidin'
1006 if (!_zeroFlag)
1007 {
1008 _zeroFlag = true;
1009 _zeroPosition = d.BodyGetPosition(Body);
1010 }
1011 if (m_pidControllerActive)
1012 {
1013 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1014 // react to the physics scene by moving it's position.
1015 // Avatar to Avatar collisions
1016 // Prim to avatar collisions
1017
1018 d.Vector3 pos = d.BodyGetPosition(Body);
1019 float errX = _zeroPosition.X - pos.X;
1020 float errY = _zeroPosition.Y - pos.Y;
1021 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1022 {
1023 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1024 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1025 }
1026 else
1027 { // close, jump to lateral destination
1028 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1029 }
1030// if (flying)
1031 if (flying || jumping) // add for jumping
1032 {
1033 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1034 }
1035 }
1036 //PidStatus = true;
1037 }
1038 else
1039 {
1040 m_pidControllerActive = true;
1041 _zeroFlag = false;
1042 if (m_iscolliding && !flying)
1043 {
1044 // We're standing on something
1045 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1046 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1047 }
1048 else if (m_iscolliding && flying)
1049 {
1050 // We're flying and colliding with something
1051 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1052 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1053 }
1054 else if (!m_iscolliding && flying)
1055 {
1056 // we're in mid air suspended
1057 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1058 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1059 }
1060
1061 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1062 {
1063 // We're colliding with something and we're not flying but we're moving
1064 // This means we're walking or running.
1065 d.Vector3 pos = d.BodyGetPosition(Body);
1066 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1067 if (_target_velocity.X > 0)
1068 {
1069 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1070 }
1071 if (_target_velocity.Y > 0)
1072 {
1073 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1074 }
1075 }
1076 else if (!m_iscolliding && !flying)
1077 {
1078 // we're not colliding and we're not flying so that means we're falling!
1079 // m_iscolliding includes collisions with the ground.
1080
1081 // d.Vector3 pos = d.BodyGetPosition(Body);
1082 if (Math.Abs(_target_velocity.X) > 0)
1083 {
1084 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1085 }
1086 if (Math.Abs(_target_velocity.Y) > 0)
1087 {
1088 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1089 }
1090 }
1091
1092 if (flying)
1093 {
1094 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1095 }
1096 }
1097 if (flying)
1098 {
1099 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1100
1101 //Added for auto fly height. Kitto Flora
1102 //d.Vector3 pos = d.BodyGetPosition(Body);
1103 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1104
1105 if (_position.Z < target_altitude)
1106 {
1107 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1108 }
1109 // end add Kitto Flora
1110 }
1111 if (vec.IsFinite())
1112 {
1113 if (!vec.ApproxEquals(Vector3.Zero, 0.02f)) // 0.01 allows 0.002 !!
1114 {
1115//Console.WriteLine("DF 2"); // ##
1116
1117 doForce(vec);
1118 if (!_zeroFlag)
1119 {
1120// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1121 }
1122 }
1123 }
1124 else
1125 {
1126 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1127 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1128 defects.Add(this);
1129 // _parent_scene.RemoveCharacter(this);
1130 // destroy avatar capsule and related ODE data
1131 if (Amotor != IntPtr.Zero)
1132 {
1133 // Kill the Amotor
1134 d.JointDestroy(Amotor);
1135 Amotor = IntPtr.Zero;
1136 }
1137 //kill the Geometry
1138 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1139
1140 if (Body != IntPtr.Zero)
1141 {
1142 //kill the body
1143 d.BodyDestroy(Body);
1144
1145 Body = IntPtr.Zero;
1146 }
1147
1148 if(Shell != IntPtr.Zero)
1149 {
1150 try
1151 {
1152 d.GeomDestroy(Shell);
1153 }
1154 catch (System.AccessViolationException)
1155 {
1156 m_log.Error("[PHYSICS]: PrimGeom dead");
1157 }
1158 // Remove any old entries
1159//string tShell;
1160//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1161//Console.WriteLine("**** Remove {0}", tShell);
1162
1163 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1164 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1165 Shell = IntPtr.Zero;
1166 }
1167 }
1168 }
1169
1170 /// <summary>
1171 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1172 /// </summary>
1173 public void UpdatePositionAndVelocity()
1174 {
1175 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1176 d.Vector3 vec;
1177 try
1178 {
1179 vec = d.BodyGetPosition(Body);
1180 }
1181 catch (NullReferenceException)
1182 {
1183 bad = true;
1184 _parent_scene.BadCharacter(this);
1185 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1186 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1187 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1188 }
1189
1190
1191 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1192 if (vec.X < 0.0f) vec.X = 0.0f;
1193 if (vec.Y < 0.0f) vec.Y = 0.0f;
1194 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1195 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1196
1197 _position.X = vec.X;
1198 _position.Y = vec.Y;
1199 _position.Z = vec.Z;
1200
1201 // Did we move last? = zeroflag
1202 // This helps keep us from sliding all over
1203
1204 if (_zeroFlag)
1205 {
1206 _velocity.X = 0.0f;
1207 _velocity.Y = 0.0f;
1208 _velocity.Z = 0.0f;
1209
1210 // Did we send out the 'stopped' message?
1211 if (!m_lastUpdateSent)
1212 {
1213 m_lastUpdateSent = true;
1214 //base.RequestPhysicsterseUpdate();
1215
1216 }
1217 }
1218 else
1219 {
1220 m_lastUpdateSent = false;
1221 try
1222 {
1223 vec = d.BodyGetLinearVel(Body);
1224 }
1225 catch (NullReferenceException)
1226 {
1227 vec.X = _velocity.X;
1228 vec.Y = _velocity.Y;
1229 vec.Z = _velocity.Z;
1230 }
1231 _velocity.X = (vec.X);
1232 _velocity.Y = (vec.Y);
1233
1234 _velocity.Z = (vec.Z);
1235
1236 if (_velocity.Z < -6 && !m_hackSentFall)
1237 {
1238 m_hackSentFall = true;
1239 m_pidControllerActive = false;
1240 }
1241 else if (flying && !m_hackSentFly)
1242 {
1243 //m_hackSentFly = true;
1244 //base.SendCollisionUpdate(new CollisionEventUpdate());
1245 }
1246 else
1247 {
1248 m_hackSentFly = false;
1249 m_hackSentFall = false;
1250 }
1251 }
1252 }
1253
1254 /// <summary>
1255 /// Cleanup the things we use in the scene.
1256 /// </summary>
1257 public void Destroy()
1258 {
1259 m_tainted_isPhysical = false;
1260 _parent_scene.AddPhysicsActorTaint(this);
1261 }
1262
1263 public override void CrossingFailure()
1264 {
1265 }
1266
1267 public override Vector3 PIDTarget { set { return; } }
1268 public override bool PIDActive { set { return; } }
1269 public override float PIDTau { set { return; } }
1270
1271 public override float PIDHoverHeight { set { return; } }
1272 public override bool PIDHoverActive { set { return; } }
1273 public override PIDHoverType PIDHoverType { set { return; } }
1274 public override float PIDHoverTau { set { return; } }
1275
1276 public override Quaternion APIDTarget{ set { return; } }
1277
1278 public override bool APIDActive{ set { return; } }
1279
1280 public override float APIDStrength{ set { return; } }
1281
1282 public override float APIDDamping{ set { return; } }
1283
1284
1285 public override void SubscribeEvents(int ms)
1286 {
1287 m_requestedUpdateFrequency = ms;
1288 m_eventsubscription = ms;
1289 _parent_scene.addCollisionEventReporting(this);
1290 }
1291 public override void UnSubscribeEvents()
1292 {
1293 _parent_scene.remCollisionEventReporting(this);
1294 m_requestedUpdateFrequency = 0;
1295 m_eventsubscription = 0;
1296 }
1297 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1298 {
1299 if (m_eventsubscription > 0)
1300 {
1301 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
1302 }
1303 }
1304
1305 public void SendCollisions()
1306 {
1307 if (m_eventsubscription > m_requestedUpdateFrequency)
1308 {
1309 if (CollisionEventsThisFrame != null)
1310 {
1311 base.SendCollisionUpdate(CollisionEventsThisFrame);
1312 }
1313 CollisionEventsThisFrame = new CollisionEventUpdate();
1314 m_eventsubscription = 0;
1315 }
1316 }
1317 public override bool SubscribedEvents()
1318 {
1319 if (m_eventsubscription > 0)
1320 return true;
1321 return false;
1322 }
1323
1324 public void ProcessTaints(float timestep)
1325 {
1326
1327 if (m_tainted_isPhysical != m_isPhysical)
1328 {
1329 if (m_tainted_isPhysical)
1330 {
1331 // Create avatar capsule and related ODE data
1332 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1333 {
1334 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1335 + (Shell!=IntPtr.Zero ? "Shell ":"")
1336 + (Body!=IntPtr.Zero ? "Body ":"")
1337 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1338 }
1339 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1340 _parent_scene.AddCharacter(this);
1341 }
1342 else
1343 {
1344 _parent_scene.RemoveCharacter(this);
1345 // destroy avatar capsule and related ODE data
1346 if (Amotor != IntPtr.Zero)
1347 {
1348 // Kill the Amotor
1349 d.JointDestroy(Amotor);
1350 Amotor = IntPtr.Zero;
1351 }
1352 //kill the Geometry
1353 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1354
1355 if (Body != IntPtr.Zero)
1356 {
1357 //kill the body
1358 d.BodyDestroy(Body);
1359 Body = IntPtr.Zero;
1360 }
1361
1362 if(Shell != IntPtr.Zero)
1363 {
1364 try
1365 {
1366 d.GeomDestroy(Shell);
1367 }
1368 catch (System.AccessViolationException)
1369 {
1370 m_log.Error("[PHYSICS]: PrimGeom dead");
1371 }
1372 // Remove any old entries
1373//string tShell;
1374//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1375//Console.WriteLine("**** Remove {0}", tShell);
1376
1377 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1378 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1379 Shell = IntPtr.Zero;
1380 }
1381 }
1382
1383 m_isPhysical = m_tainted_isPhysical;
1384 }
1385
1386 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1387 {
1388 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1389 {
1390
1391 m_pidControllerActive = true;
1392 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1393 d.JointDestroy(Amotor);
1394 float prevCapsule = CAPSULE_LENGTH;
1395 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1396 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1397 d.BodyDestroy(Body);
1398 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1399 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1400 Velocity = Vector3.Zero;
1401 }
1402 else
1403 {
1404 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1405 + (Shell==IntPtr.Zero ? "Shell ":"")
1406 + (Body==IntPtr.Zero ? "Body ":"")
1407 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1408 }
1409 }
1410
1411 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1412 {
1413 if (Body != IntPtr.Zero)
1414 {
1415 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1416
1417 _position.X = m_taintPosition.X;
1418 _position.Y = m_taintPosition.Y;
1419 _position.Z = m_taintPosition.Z;
1420 }
1421 }
1422
1423 }
1424
1425 internal void AddCollisionFrameTime(int p)
1426 {
1427 // protect it from overflow crashing
1428 if (m_eventsubscription + p >= int.MaxValue)
1429 m_eventsubscription = 0;
1430 m_eventsubscription += p;
1431 }
1432 }
1433}
generated by cgit v1.1 at 2024-09-25 15:18:44 +0000