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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 m_iscolliding = false;
94 private bool m_iscollidingGround = false;
95 private bool m_wascolliding = false;
96 private bool m_wascollidingGround = false;
97 private bool m_iscollidingObj = false;
98 private bool m_alwaysRun = false;
99 private bool m_hackSentFall = false;
100 private bool m_hackSentFly = false;
101 private int m_requestedUpdateFrequency = 0;
102 private Vector3 m_taintPosition = Vector3.Zero;
103 public uint m_localID = 0;
104 public bool m_returnCollisions = false;
105 // taints and their non-tainted counterparts
106 public bool m_isPhysical = false; // the current physical status
107 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
108 public float MinimumGroundFlightOffset = 3f;
109
110 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
111 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
112
113
114 private float m_buoyancy = 0f;
115
116 // private CollisionLocker ode;
117
118 private string m_name = String.Empty;
119
120 private bool[] m_colliderarr = new bool[11];
121 private bool[] m_colliderGroundarr = new bool[11];
122
123 // Default we're a Character
124 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
125
126 // Default, Collide with Other Geometries, spaces, bodies and characters.
127 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
128 | CollisionCategories.Space
129 | CollisionCategories.Body
130 | CollisionCategories.Character
131 | CollisionCategories.Land);
132 public IntPtr Body = IntPtr.Zero;
133 private OdeScene _parent_scene;
134 public IntPtr Shell = IntPtr.Zero;
135 public IntPtr Amotor = IntPtr.Zero;
136 public d.Mass ShellMass;
137 public bool collidelock = false;
138
139 public int m_eventsubscription = 0;
140 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
141
142 // unique UUID of this character object
143 public UUID m_uuid;
144 public bool bad = false;
145
146 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)
147 {
148 m_uuid = UUID.Random();
149
150 if (pos.IsFinite())
151 {
152 if (pos.Z > 9999999f)
153 {
154 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
155 }
156 if (pos.Z < -90000f)
157 {
158 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
159 }
160 _position = pos;
161 m_taintPosition.X = pos.X;
162 m_taintPosition.Y = pos.Y;
163 m_taintPosition.Z = pos.Z;
164 }
165 else
166 {
167 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
168 m_taintPosition.X = _position.X;
169 m_taintPosition.Y = _position.Y;
170 m_taintPosition.Z = _position.Z;
171 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
172 }
173
174 _parent_scene = parent_scene;
175
176 PID_D = pid_d;
177 PID_P = pid_p;
178 CAPSULE_RADIUS = capsule_radius;
179 m_tensor = tensor;
180 m_density = density;
181 heightFudgeFactor = height_fudge_factor;
182 walkDivisor = walk_divisor;
183 runDivisor = rundivisor;
184
185 // m_StandUpRotation =
186 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
187 // 0.5f);
188
189 for (int i = 0; i < 11; i++)
190 {
191 m_colliderarr[i] = false;
192 }
193 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
194 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
195 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
196
197 m_isPhysical = false; // current status: no ODE information exists
198 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
199
200 _parent_scene.AddPhysicsActorTaint(this);
201
202 m_name = avName;
203 }
204
205 public override int PhysicsActorType
206 {
207 get { return (int) ActorTypes.Agent; }
208 set { return; }
209 }
210
211 /// <summary>
212 /// If this is set, the avatar will move faster
213 /// </summary>
214 public override bool SetAlwaysRun
215 {
216 get { return m_alwaysRun; }
217 set { m_alwaysRun = value; }
218 }
219
220 public override uint LocalID
221 {
222 set { m_localID = value; }
223 }
224
225 public override bool Grabbed
226 {
227 set { return; }
228 }
229
230 public override bool Selected
231 {
232 set { return; }
233 }
234
235 public override float Buoyancy
236 {
237 get { return m_buoyancy; }
238 set { m_buoyancy = value; }
239 }
240
241 public override bool FloatOnWater
242 {
243 set { return; }
244 }
245
246 public override bool IsPhysical
247 {
248 get { return false; }
249 set { return; }
250 }
251
252 public override bool ThrottleUpdates
253 {
254 get { return false; }
255 set { return; }
256 }
257
258 public override bool Flying
259 {
260 get { return flying; }
261 set { flying = value; }
262 }
263
264 /// <summary>
265 /// Returns if the avatar is colliding in general.
266 /// This includes the ground and objects and avatar.
267 /// </summary>
268 public override bool IsColliding
269 {
270 get { return m_iscolliding; }
271 set
272 {
273 int i;
274 int truecount = 0;
275 int falsecount = 0;
276
277 if (m_colliderarr.Length >= 10)
278 {
279 for (i = 0; i < 10; i++)
280 {
281 m_colliderarr[i] = m_colliderarr[i + 1];
282 }
283 }
284 m_colliderarr[10] = value;
285
286 for (i = 0; i < 11; i++)
287 {
288 if (m_colliderarr[i])
289 {
290 truecount++;
291 }
292 else
293 {
294 falsecount++;
295 }
296 }
297
298 // Equal truecounts and false counts means we're colliding with something.
299
300 if (falsecount > 1.2*truecount)
301 {
302 m_iscolliding = false;
303 }
304 else
305 {
306 m_iscolliding = true;
307 }
308 if (m_wascolliding != m_iscolliding)
309 {
310 //base.SendCollisionUpdate(new CollisionEventUpdate());
311 }
312 m_wascolliding = m_iscolliding;
313 }
314 }
315
316 /// <summary>
317 /// Returns if an avatar is colliding with the ground
318 /// </summary>
319 public override bool CollidingGround
320 {
321 get { return m_iscollidingGround; }
322 set
323 {
324 // Collisions against the ground are not really reliable
325 // So, to get a consistant value we have to average the current result over time
326 // Currently we use 1 second = 10 calls to this.
327 int i;
328 int truecount = 0;
329 int falsecount = 0;
330
331 if (m_colliderGroundarr.Length >= 10)
332 {
333 for (i = 0; i < 10; i++)
334 {
335 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
336 }
337 }
338 m_colliderGroundarr[10] = value;
339
340 for (i = 0; i < 11; i++)
341 {
342 if (m_colliderGroundarr[i])
343 {
344 truecount++;
345 }
346 else
347 {
348 falsecount++;
349 }
350 }
351
352 // Equal truecounts and false counts means we're colliding with something.
353
354 if (falsecount > 1.2*truecount)
355 {
356 m_iscollidingGround = false;
357 }
358 else
359 {
360 m_iscollidingGround = true;
361 }
362 if (m_wascollidingGround != m_iscollidingGround)
363 {
364 //base.SendCollisionUpdate(new CollisionEventUpdate());
365 }
366 m_wascollidingGround = m_iscollidingGround;
367 }
368 }
369
370 /// <summary>
371 /// Returns if the avatar is colliding with an object
372 /// </summary>
373 public override bool CollidingObj
374 {
375 get { return m_iscollidingObj; }
376 set
377 {
378 m_iscollidingObj = value;
379 if (value)
380 m_pidControllerActive = false;
381 else
382 m_pidControllerActive = true;
383 }
384 }
385
386 /// <summary>
387 /// turn the PID controller on or off.
388 /// The PID Controller will turn on all by itself in many situations
389 /// </summary>
390 /// <param name="status"></param>
391 public void SetPidStatus(bool status)
392 {
393 m_pidControllerActive = status;
394 }
395
396 public override bool Stopped
397 {
398 get { return _zeroFlag; }
399 }
400
401 /// <summary>
402 /// This 'puts' an avatar somewhere in the physics space.
403 /// Not really a good choice unless you 'know' it's a good
404 /// spot otherwise you're likely to orbit the avatar.
405 /// </summary>
406 public override Vector3 Position
407 {
408 get { return _position; }
409 set
410 {
411 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
412 {
413 if (value.IsFinite())
414 {
415 if (value.Z > 9999999f)
416 {
417 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
418 }
419 if (value.Z < -90000f)
420 {
421 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
422 }
423
424 _position.X = value.X;
425 _position.Y = value.Y;
426 _position.Z = value.Z;
427
428 m_taintPosition.X = value.X;
429 m_taintPosition.Y = value.Y;
430 m_taintPosition.Z = value.Z;
431 _parent_scene.AddPhysicsActorTaint(this);
432 }
433 else
434 {
435 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
436 }
437 }
438 }
439 }
440
441 public override Vector3 RotationalVelocity
442 {
443 get { return m_rotationalVelocity; }
444 set { m_rotationalVelocity = value; }
445 }
446
447 /// <summary>
448 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
449 /// and use it to offset landings properly
450 /// </summary>
451 public override Vector3 Size
452 {
453 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
454 set
455 {
456 if (value.IsFinite())
457 {
458 m_pidControllerActive = true;
459
460 Vector3 SetSize = value;
461 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
462 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
463
464 Velocity = Vector3.Zero;
465
466 _parent_scene.AddPhysicsActorTaint(this);
467 }
468 else
469 {
470 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
471 }
472 }
473 }
474
475 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
476 {
477 movementVector.Z = 0f;
478 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
479 if (magnitude < 0.1f) return;
480
481 // normalize the velocity vector
482 float invMagnitude = 1.0f / magnitude;
483 movementVector.X *= invMagnitude;
484 movementVector.Y *= invMagnitude;
485
486 // if we change the capsule heading too often, the capsule can fall down
487 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
488 // meaning only 4 possible capsule tilt orientations
489 if (movementVector.X > 0)
490 {
491 // east
492 if (movementVector.Y > 0)
493 {
494 // northeast
495 movementVector.X = (float)Math.Sqrt(2.0);
496 movementVector.Y = (float)Math.Sqrt(2.0);
497 }
498 else
499 {
500 // southeast
501 movementVector.X = (float)Math.Sqrt(2.0);
502 movementVector.Y = -(float)Math.Sqrt(2.0);
503 }
504 }
505 else
506 {
507 // west
508 if (movementVector.Y > 0)
509 {
510 // northwest
511 movementVector.X = -(float)Math.Sqrt(2.0);
512 movementVector.Y = (float)Math.Sqrt(2.0);
513 }
514 else
515 {
516 // southwest
517 movementVector.X = -(float)Math.Sqrt(2.0);
518 movementVector.Y = -(float)Math.Sqrt(2.0);
519 }
520 }
521
522
523 // movementVector.Z is zero
524
525 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
526 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
527 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
528 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
529
530 //m_log.Debug("[PHYSICS] changing avatar tilt");
531 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
532 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
533 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
534 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
535 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
536 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
537 }
538
539 /// <summary>
540 /// This creates the Avatar's physical Surrogate at the position supplied
541 /// </summary>
542 /// <param name="npositionX"></param>
543 /// <param name="npositionY"></param>
544 /// <param name="npositionZ"></param>
545
546 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
547 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
548 // place that is safe to call this routine AvatarGeomAndBodyCreation.
549 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
550 {
551 //CAPSULE_LENGTH = -5;
552 //CAPSULE_RADIUS = -5;
553 int dAMotorEuler = 1;
554 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
555 if (CAPSULE_LENGTH <= 0)
556 {
557 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
558 CAPSULE_LENGTH = 0.01f;
559
560 }
561
562 if (CAPSULE_RADIUS <= 0)
563 {
564 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
565 CAPSULE_RADIUS = 0.01f;
566
567 }
568 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
569
570 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
571 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
572
573 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
574 Body = d.BodyCreate(_parent_scene.world);
575 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
576
577 _position.X = npositionX;
578 _position.Y = npositionY;
579 _position.Z = npositionZ;
580
581
582 m_taintPosition.X = npositionX;
583 m_taintPosition.Y = npositionY;
584 m_taintPosition.Z = npositionZ;
585
586 d.BodySetMass(Body, ref ShellMass);
587 d.Matrix3 m_caprot;
588 // 90 Stand up on the cap of the capped cyllinder
589 if (_parent_scene.IsAvCapsuleTilted)
590 {
591 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
592 }
593 else
594 {
595 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
596 }
597
598
599 d.GeomSetRotation(Shell, ref m_caprot);
600 d.BodySetRotation(Body, ref m_caprot);
601
602 d.GeomSetBody(Shell, Body);
603
604
605 // The purpose of the AMotor here is to keep the avatar's physical
606 // surrogate from rotating while moving
607 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
608 d.JointAttach(Amotor, Body, IntPtr.Zero);
609 d.JointSetAMotorMode(Amotor, dAMotorEuler);
610 d.JointSetAMotorNumAxes(Amotor, 3);
611 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
612 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
613 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
614 d.JointSetAMotorAngle(Amotor, 0, 0);
615 d.JointSetAMotorAngle(Amotor, 1, 0);
616 d.JointSetAMotorAngle(Amotor, 2, 0);
617
618 // These lowstops and high stops are effectively (no wiggle room)
619 if (_parent_scene.IsAvCapsuleTilted)
620 {
621 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
622 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
623 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
624 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
625 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
626 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
627 }
628 else
629 {
630 #region Documentation of capsule motor LowStop and HighStop parameters
631 // Intentionally introduce some tilt into the capsule by setting
632 // the motor stops to small epsilon values. This small tilt prevents
633 // the capsule from falling into the terrain; a straight-up capsule
634 // (with -0..0 motor stops) falls into the terrain for reasons yet
635 // to be comprehended in their entirety.
636 #endregion
637 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
638 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
639 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
640 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
641 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
642 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
643 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
644 }
645
646 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
647 // capped cyllinder will fall over
648 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
649 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
650
651 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
652 //d.QfromR(
653 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
654 //
655 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
656 //standupStraight();
657 }
658
659 //
660 /// <summary>
661 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
662 /// This may be used in calculations in the scene/scenepresence
663 /// </summary>
664 public override float Mass
665 {
666 get
667 {
668 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
669 return m_density*AVvolume;
670 }
671 }
672 public override void link(PhysicsActor obj)
673 {
674
675 }
676
677 public override void delink()
678 {
679
680 }
681
682 public override void LockAngularMotion(Vector3 axis)
683 {
684
685 }
686
687// This code is very useful. Written by DanX0r. We're just not using it right now.
688// Commented out to prevent a warning.
689//
690// private void standupStraight()
691// {
692// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
693// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
694// // change appearance and when you enter the simulator
695// // After this routine is done, the amotor stabilizes much quicker
696// d.Vector3 feet;
697// d.Vector3 head;
698// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
699// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
700// float posture = head.Z - feet.Z;
701
702// // restoring force proportional to lack of posture:
703// float servo = (2.5f - posture) * POSTURE_SERVO;
704// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
705// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
706// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
707// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
708// }
709
710 public override Vector3 Force
711 {
712 get { return _target_velocity; }
713 set { return; }
714 }
715
716 public override int VehicleType
717 {
718 get { return 0; }
719 set { return; }
720 }
721
722 public override void VehicleFloatParam(int param, float value)
723 {
724
725 }
726
727 public override void VehicleVectorParam(int param, Vector3 value)
728 {
729
730 }
731
732 public override void VehicleRotationParam(int param, Quaternion rotation)
733 {
734
735 }
736
737 public override void VehicleFlags(int flags, bool remove)
738 {
739 }
740
741 public override void SetVolumeDetect(int param)
742 {
743
744 }
745
746 public override Vector3 CenterOfMass
747 {
748 get { return Vector3.Zero; }
749 }
750
751 public override Vector3 GeometricCenter
752 {
753 get { return Vector3.Zero; }
754 }
755
756 public override PrimitiveBaseShape Shape
757 {
758 set { return; }
759 }
760
761 public override Vector3 Velocity
762 {
763 get {
764 // There's a problem with Vector3.Zero! Don't Use it Here!
765 if (_zeroFlag)
766 return Vector3.Zero;
767 m_lastUpdateSent = false;
768 return _velocity;
769 }
770 set
771 {
772 if (value.IsFinite())
773 {
774 m_pidControllerActive = true;
775 _target_velocity = value;
776 }
777 else
778 {
779 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
780 }
781 }
782 }
783
784 public override Vector3 Torque
785 {
786 get { return Vector3.Zero; }
787 set { return; }
788 }
789
790 public override float CollisionScore
791 {
792 get { return 0f; }
793 set { }
794 }
795
796 public override bool Kinematic
797 {
798 get { return false; }
799 set { }
800 }
801
802 public override Quaternion Orientation
803 {
804 get { return Quaternion.Identity; }
805 set {
806 //Matrix3 or = Orientation.ToRotationMatrix();
807 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
808 //d.BodySetRotation(Body, ref ord);
809 }
810 }
811
812 public override Vector3 Acceleration
813 {
814 get { return _acceleration; }
815 }
816
817 public void SetAcceleration(Vector3 accel)
818 {
819 m_pidControllerActive = true;
820 _acceleration = accel;
821 }
822
823 /// <summary>
824 /// Adds the force supplied to the Target Velocity
825 /// The PID controller takes this target velocity and tries to make it a reality
826 /// </summary>
827 /// <param name="force"></param>
828 public override void AddForce(Vector3 force, bool pushforce)
829 {
830 if (force.IsFinite())
831 {
832 if (pushforce)
833 {
834 m_pidControllerActive = false;
835 force *= 100f;
836 doForce(force);
837 // If uncommented, things get pushed off world
838 //
839 // m_log.Debug("Push!");
840 // _target_velocity.X += force.X;
841 // _target_velocity.Y += force.Y;
842 // _target_velocity.Z += force.Z;
843 }
844 else
845 {
846 m_pidControllerActive = true;
847 _target_velocity.X += force.X;
848 _target_velocity.Y += force.Y;
849 _target_velocity.Z += force.Z;
850 }
851 }
852 else
853 {
854 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
855 }
856 //m_lastUpdateSent = false;
857 }
858
859 public override void AddAngularForce(Vector3 force, bool pushforce)
860 {
861
862 }
863
864 /// <summary>
865 /// After all of the forces add up with 'add force' we apply them with doForce
866 /// </summary>
867 /// <param name="force"></param>
868 public void doForce(Vector3 force)
869 {
870 if (!collidelock)
871 {
872 d.BodyAddForce(Body, force.X, force.Y, force.Z);
873 //d.BodySetRotation(Body, ref m_StandUpRotation);
874 //standupStraight();
875
876 }
877 }
878
879 public override void SetMomentum(Vector3 momentum)
880 {
881 }
882
883
884 /// <summary>
885 /// Called from Simulate
886 /// This is the avatar's movement control + PID Controller
887 /// </summary>
888 /// <param name="timeStep"></param>
889 public void Move(float timeStep, List<OdeCharacter> defects)
890 {
891 // no lock; for now it's only called from within Simulate()
892
893 // If the PID Controller isn't active then we set our force
894 // calculating base velocity to the current position
895
896 if (Body == IntPtr.Zero)
897 return;
898
899 if (m_pidControllerActive == false)
900 {
901 _zeroPosition = d.BodyGetPosition(Body);
902 }
903 //PidStatus = true;
904
905 d.Vector3 localpos = d.BodyGetPosition(Body);
906 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
907
908 if (!localPos.IsFinite())
909 {
910
911 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
912 defects.Add(this);
913 // _parent_scene.RemoveCharacter(this);
914
915 // destroy avatar capsule and related ODE data
916 if (Amotor != IntPtr.Zero)
917 {
918 // Kill the Amotor
919 d.JointDestroy(Amotor);
920 Amotor = IntPtr.Zero;
921 }
922
923 //kill the Geometry
924 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
925
926 if (Body != IntPtr.Zero)
927 {
928 //kill the body
929 d.BodyDestroy(Body);
930
931 Body = IntPtr.Zero;
932 }
933
934 if (Shell != IntPtr.Zero)
935 {
936 d.GeomDestroy(Shell);
937 _parent_scene.geom_name_map.Remove(Shell);
938 Shell = IntPtr.Zero;
939 }
940
941 return;
942 }
943
944 Vector3 vec = Vector3.Zero;
945 d.Vector3 vel = d.BodyGetLinearVel(Body);
946
947 float movementdivisor = 1f;
948
949 if (!m_alwaysRun)
950 {
951 movementdivisor = walkDivisor;
952 }
953 else
954 {
955 movementdivisor = runDivisor;
956 }
957
958 // if velocity is zero, use position control; otherwise, velocity control
959 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
960 {
961 // keep track of where we stopped. No more slippin' & slidin'
962 if (!_zeroFlag)
963 {
964 _zeroFlag = true;
965 _zeroPosition = d.BodyGetPosition(Body);
966 }
967 if (m_pidControllerActive)
968 {
969 // We only want to deactivate the PID Controller if we think we want to have our surrogate
970 // react to the physics scene by moving it's position.
971 // Avatar to Avatar collisions
972 // Prim to avatar collisions
973
974 d.Vector3 pos = d.BodyGetPosition(Body);
975 float errX = _zeroPosition.X - pos.X;
976 float errY = _zeroPosition.Y - pos.Y;
977 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
978 {
979 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
980 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
981 }
982 else
983 { // close, jump to lateral destination
984 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
985 }
986 if (flying)
987 {
988 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
989 }
990 }
991 //PidStatus = true;
992 }
993 else
994 {
995 m_pidControllerActive = true;
996 _zeroFlag = false;
997 if (m_iscolliding && !flying)
998 {
999 // We're standing on something
1000 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1001 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1002 }
1003 else if (m_iscolliding && flying)
1004 {
1005 // We're flying and colliding with something
1006 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1007 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1008 }
1009 else if (!m_iscolliding && flying)
1010 {
1011 // we're in mid air suspended
1012 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1013 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1014 }
1015
1016 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1017 {
1018 // We're colliding with something and we're not flying but we're moving
1019 // This means we're walking or running.
1020 d.Vector3 pos = d.BodyGetPosition(Body);
1021 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1022 if (_target_velocity.X > 0)
1023 {
1024 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1025 }
1026 if (_target_velocity.Y > 0)
1027 {
1028 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1029 }
1030 }
1031 else if (!m_iscolliding && !flying)
1032 {
1033 // we're not colliding and we're not flying so that means we're falling!
1034 // m_iscolliding includes collisions with the ground.
1035
1036 // d.Vector3 pos = d.BodyGetPosition(Body);
1037 if (Math.Abs(_target_velocity.X) > 0)
1038 {
1039 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1040 }
1041 if (Math.Abs(_target_velocity.Y) > 0)
1042 {
1043 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1044 }
1045 }
1046
1047 if (flying)
1048 {
1049 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1050 }
1051 }
1052 if (flying)
1053 {
1054 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1055
1056 //Added for auto fly height. Kitto Flora
1057 //d.Vector3 pos = d.BodyGetPosition(Body);
1058 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1059
1060 if (_position.Z < target_altitude)
1061 {
1062 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1063 }
1064 // end add Kitto Flora
1065 }
1066 if (vec.IsFinite())
1067 {
1068 if (!vec.ApproxEquals(Vector3.Zero, 0.01f))
1069 {
1070 doForce(vec);
1071 if (!_zeroFlag)
1072 {
1073 AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1074 }
1075 }
1076 }
1077 else
1078 {
1079 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1080 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1081 defects.Add(this);
1082 // _parent_scene.RemoveCharacter(this);
1083 // destroy avatar capsule and related ODE data
1084 if (Amotor != IntPtr.Zero)
1085 {
1086 // Kill the Amotor
1087 d.JointDestroy(Amotor);
1088 Amotor = IntPtr.Zero;
1089 }
1090 //kill the Geometry
1091 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1092
1093 if (Body != IntPtr.Zero)
1094 {
1095 //kill the body
1096 d.BodyDestroy(Body);
1097
1098 Body = IntPtr.Zero;
1099 }
1100
1101 if (Shell != IntPtr.Zero)
1102 {
1103 d.GeomDestroy(Shell);
1104 _parent_scene.geom_name_map.Remove(Shell);
1105 Shell = IntPtr.Zero;
1106 }
1107 }
1108 }
1109
1110 /// <summary>
1111 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1112 /// </summary>
1113 public void UpdatePositionAndVelocity()
1114 {
1115 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1116 d.Vector3 vec;
1117 try
1118 {
1119 vec = d.BodyGetPosition(Body);
1120 }
1121 catch (NullReferenceException)
1122 {
1123 bad = true;
1124 _parent_scene.BadCharacter(this);
1125 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1126 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1127 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1128 }
1129
1130
1131 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1132 if (vec.X < 0.0f) vec.X = 0.0f;
1133 if (vec.Y < 0.0f) vec.Y = 0.0f;
1134 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1135 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1136
1137 _position.X = vec.X;
1138 _position.Y = vec.Y;
1139 _position.Z = vec.Z;
1140
1141 // Did we move last? = zeroflag
1142 // This helps keep us from sliding all over
1143
1144 if (_zeroFlag)
1145 {
1146 _velocity.X = 0.0f;
1147 _velocity.Y = 0.0f;
1148 _velocity.Z = 0.0f;
1149
1150 // Did we send out the 'stopped' message?
1151 if (!m_lastUpdateSent)
1152 {
1153 m_lastUpdateSent = true;
1154 //base.RequestPhysicsterseUpdate();
1155
1156 }
1157 }
1158 else
1159 {
1160 m_lastUpdateSent = false;
1161 try
1162 {
1163 vec = d.BodyGetLinearVel(Body);
1164 }
1165 catch (NullReferenceException)
1166 {
1167 vec.X = _velocity.X;
1168 vec.Y = _velocity.Y;
1169 vec.Z = _velocity.Z;
1170 }
1171 _velocity.X = (vec.X);
1172 _velocity.Y = (vec.Y);
1173
1174 _velocity.Z = (vec.Z);
1175
1176 if (_velocity.Z < -6 && !m_hackSentFall)
1177 {
1178 m_hackSentFall = true;
1179 m_pidControllerActive = false;
1180 }
1181 else if (flying && !m_hackSentFly)
1182 {
1183 //m_hackSentFly = true;
1184 //base.SendCollisionUpdate(new CollisionEventUpdate());
1185 }
1186 else
1187 {
1188 m_hackSentFly = false;
1189 m_hackSentFall = false;
1190 }
1191 }
1192 }
1193
1194 /// <summary>
1195 /// Cleanup the things we use in the scene.
1196 /// </summary>
1197 public void Destroy()
1198 {
1199 m_tainted_isPhysical = false;
1200 _parent_scene.AddPhysicsActorTaint(this);
1201 }
1202
1203 public override void CrossingFailure()
1204 {
1205 }
1206
1207 public override Vector3 PIDTarget { set { return; } }
1208 public override bool PIDActive { set { return; } }
1209 public override float PIDTau { set { return; } }
1210
1211 public override float PIDHoverHeight { set { return; } }
1212 public override bool PIDHoverActive { set { return; } }
1213 public override PIDHoverType PIDHoverType { set { return; } }
1214 public override float PIDHoverTau { set { return; } }
1215
1216 public override Quaternion APIDTarget{ set { return; } }
1217
1218 public override bool APIDActive{ set { return; } }
1219
1220 public override float APIDStrength{ set { return; } }
1221
1222 public override float APIDDamping{ set { return; } }
1223
1224
1225 public override void SubscribeEvents(int ms)
1226 {
1227 m_requestedUpdateFrequency = ms;
1228 m_eventsubscription = ms;
1229 _parent_scene.addCollisionEventReporting(this);
1230 }
1231 public override void UnSubscribeEvents()
1232 {
1233 _parent_scene.remCollisionEventReporting(this);
1234 m_requestedUpdateFrequency = 0;
1235 m_eventsubscription = 0;
1236 }
1237 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1238 {
1239 if (m_eventsubscription > 0)
1240 {
1241 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
1242 }
1243 }
1244
1245 public void SendCollisions()
1246 {
1247 if (m_eventsubscription > m_requestedUpdateFrequency)
1248 {
1249 if (CollisionEventsThisFrame != null)
1250 {
1251 base.SendCollisionUpdate(CollisionEventsThisFrame);
1252 }
1253 CollisionEventsThisFrame = new CollisionEventUpdate();
1254 m_eventsubscription = 0;
1255 }
1256 }
1257 public override bool SubscribedEvents()
1258 {
1259 if (m_eventsubscription > 0)
1260 return true;
1261 return false;
1262 }
1263
1264 public void ProcessTaints(float timestep)
1265 {
1266
1267 if (m_tainted_isPhysical != m_isPhysical)
1268 {
1269 if (m_tainted_isPhysical)
1270 {
1271 // Create avatar capsule and related ODE data
1272 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1273 {
1274 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1275 + (Shell!=IntPtr.Zero ? "Shell ":"")
1276 + (Body!=IntPtr.Zero ? "Body ":"")
1277 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1278 }
1279 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1280
1281 _parent_scene.geom_name_map[Shell] = m_name;
1282 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1283 _parent_scene.AddCharacter(this);
1284 }
1285 else
1286 {
1287 _parent_scene.RemoveCharacter(this);
1288 // destroy avatar capsule and related ODE data
1289 if (Amotor != IntPtr.Zero)
1290 {
1291 // Kill the Amotor
1292 d.JointDestroy(Amotor);
1293 Amotor = IntPtr.Zero;
1294 }
1295 //kill the Geometry
1296 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1297
1298 if (Body != IntPtr.Zero)
1299 {
1300 //kill the body
1301 d.BodyDestroy(Body);
1302
1303 Body = IntPtr.Zero;
1304 }
1305
1306 if (Shell != IntPtr.Zero)
1307 {
1308 d.GeomDestroy(Shell);
1309 _parent_scene.geom_name_map.Remove(Shell);
1310 Shell = IntPtr.Zero;
1311 }
1312
1313 }
1314
1315 m_isPhysical = m_tainted_isPhysical;
1316 }
1317
1318 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1319 {
1320 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1321 {
1322
1323 m_pidControllerActive = true;
1324 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1325 d.JointDestroy(Amotor);
1326 float prevCapsule = CAPSULE_LENGTH;
1327 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1328 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1329 d.BodyDestroy(Body);
1330 d.GeomDestroy(Shell);
1331 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1332 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1333 Velocity = Vector3.Zero;
1334
1335 _parent_scene.geom_name_map[Shell] = m_name;
1336 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1337 }
1338 else
1339 {
1340 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1341 + (Shell==IntPtr.Zero ? "Shell ":"")
1342 + (Body==IntPtr.Zero ? "Body ":"")
1343 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1344 }
1345 }
1346
1347 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1348 {
1349 if (Body != IntPtr.Zero)
1350 {
1351 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1352
1353 _position.X = m_taintPosition.X;
1354 _position.Y = m_taintPosition.Y;
1355 _position.Z = m_taintPosition.Z;
1356 }
1357 }
1358
1359 }
1360
1361 internal void AddCollisionFrameTime(int p)
1362 {
1363 // protect it from overflow crashing
1364 if (m_eventsubscription + p >= int.MaxValue)
1365 m_eventsubscription = 0;
1366 m_eventsubscription += p;
1367 }
1368 }
1369}
generated by cgit v1.1 at 2024-09-27 04:31:25 +0000