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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
569 if(Shell != IntPtr.Zero)
570 {
571 try
572 {
573 d.GeomDestroy(Shell);
574 }
575 catch (System.AccessViolationException)
576 {
577 m_log.Error("[PHYSICS]: PrimGeom dead");
578 }
579 // Remove any old entries
580//string tShell;
581//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
582//Console.WriteLine("**** Remove {0}", tShell);
583 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
584 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
585 }
586
587 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
588 _parent_scene.geom_name_map[Shell] = m_name;
589 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
590//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name);
591
592 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
593 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
594
595 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
596 Body = d.BodyCreate(_parent_scene.world);
597 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
598
599 _position.X = npositionX;
600 _position.Y = npositionY;
601 _position.Z = npositionZ;
602
603
604 m_taintPosition.X = npositionX;
605 m_taintPosition.Y = npositionY;
606 m_taintPosition.Z = npositionZ;
607
608 d.BodySetMass(Body, ref ShellMass);
609 d.Matrix3 m_caprot;
610 // 90 Stand up on the cap of the capped cyllinder
611 if (_parent_scene.IsAvCapsuleTilted)
612 {
613 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
614 }
615 else
616 {
617 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
618 }
619
620
621 d.GeomSetRotation(Shell, ref m_caprot);
622 d.BodySetRotation(Body, ref m_caprot);
623
624 d.GeomSetBody(Shell, Body);
625
626
627 // The purpose of the AMotor here is to keep the avatar's physical
628 // surrogate from rotating while moving
629 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
630 d.JointAttach(Amotor, Body, IntPtr.Zero);
631 d.JointSetAMotorMode(Amotor, dAMotorEuler);
632 d.JointSetAMotorNumAxes(Amotor, 3);
633 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
634 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
635 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
636 d.JointSetAMotorAngle(Amotor, 0, 0);
637 d.JointSetAMotorAngle(Amotor, 1, 0);
638 d.JointSetAMotorAngle(Amotor, 2, 0);
639
640 // These lowstops and high stops are effectively (no wiggle room)
641 if (_parent_scene.IsAvCapsuleTilted)
642 {
643 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
644 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
645 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
646 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
647 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
648 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
649 }
650 else
651 {
652 #region Documentation of capsule motor LowStop and HighStop parameters
653 // Intentionally introduce some tilt into the capsule by setting
654 // the motor stops to small epsilon values. This small tilt prevents
655 // the capsule from falling into the terrain; a straight-up capsule
656 // (with -0..0 motor stops) falls into the terrain for reasons yet
657 // to be comprehended in their entirety.
658 #endregion
659 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
660 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
661 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
662 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
663 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
664 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
665 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
666 }
667
668 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
669 // capped cyllinder will fall over
670 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
671 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
672
673 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
674 //d.QfromR(
675 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
676 //
677 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
678 //standupStraight();
679 }
680
681 //
682 /// <summary>
683 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
684 /// This may be used in calculations in the scene/scenepresence
685 /// </summary>
686 public override float Mass
687 {
688 get
689 {
690 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
691 return m_density*AVvolume;
692 }
693 }
694 public override void link(PhysicsActor obj)
695 {
696
697 }
698
699 public override void delink()
700 {
701
702 }
703
704 public override void LockAngularMotion(Vector3 axis)
705 {
706
707 }
708
709// This code is very useful. Written by DanX0r. We're just not using it right now.
710// Commented out to prevent a warning.
711//
712// private void standupStraight()
713// {
714// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
715// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
716// // change appearance and when you enter the simulator
717// // After this routine is done, the amotor stabilizes much quicker
718// d.Vector3 feet;
719// d.Vector3 head;
720// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
721// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
722// float posture = head.Z - feet.Z;
723
724// // restoring force proportional to lack of posture:
725// float servo = (2.5f - posture) * POSTURE_SERVO;
726// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
727// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
728// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
729// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
730// }
731
732 public override Vector3 Force
733 {
734 get { return _target_velocity; }
735 set { return; }
736 }
737
738 public override int VehicleType
739 {
740 get { return 0; }
741 set { return; }
742 }
743
744 public override void VehicleFloatParam(int param, float value)
745 {
746
747 }
748
749 public override void VehicleVectorParam(int param, Vector3 value)
750 {
751
752 }
753
754 public override void VehicleRotationParam(int param, Quaternion rotation)
755 {
756
757 }
758
759 public override void VehicleFlags(int flags, bool remove)
760 {
761 }
762
763 public override void SetVolumeDetect(int param)
764 {
765
766 }
767
768 public override Vector3 CenterOfMass
769 {
770 get { return Vector3.Zero; }
771 }
772
773 public override Vector3 GeometricCenter
774 {
775 get { return Vector3.Zero; }
776 }
777
778 public override PrimitiveBaseShape Shape
779 {
780 set { return; }
781 }
782
783 public override Vector3 Velocity
784 {
785 get {
786 // There's a problem with Vector3.Zero! Don't Use it Here!
787 if (_zeroFlag)
788 return Vector3.Zero;
789 m_lastUpdateSent = false;
790 return _velocity;
791 }
792 set
793 {
794 if (value.IsFinite())
795 {
796 m_pidControllerActive = true;
797 _target_velocity = value;
798 }
799 else
800 {
801 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
802 }
803 }
804 }
805
806 public override Vector3 Torque
807 {
808 get { return Vector3.Zero; }
809 set { return; }
810 }
811
812 public override float CollisionScore
813 {
814 get { return 0f; }
815 set { }
816 }
817
818 public override bool Kinematic
819 {
820 get { return false; }
821 set { }
822 }
823
824 public override Quaternion Orientation
825 {
826 get { return Quaternion.Identity; }
827 set {
828 //Matrix3 or = Orientation.ToRotationMatrix();
829 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
830 //d.BodySetRotation(Body, ref ord);
831 }
832 }
833
834 public override Vector3 Acceleration
835 {
836 get { return _acceleration; }
837 }
838
839 public void SetAcceleration(Vector3 accel)
840 {
841 m_pidControllerActive = true;
842 _acceleration = accel;
843 }
844
845 /// <summary>
846 /// Adds the force supplied to the Target Velocity
847 /// The PID controller takes this target velocity and tries to make it a reality
848 /// </summary>
849 /// <param name="force"></param>
850 public override void AddForce(Vector3 force, bool pushforce)
851 {
852 if (force.IsFinite())
853 {
854 if (pushforce)
855 {
856 m_pidControllerActive = false;
857 force *= 100f;
858 doForce(force);
859 // If uncommented, things get pushed off world
860 //
861 // m_log.Debug("Push!");
862 // _target_velocity.X += force.X;
863 // _target_velocity.Y += force.Y;
864 // _target_velocity.Z += force.Z;
865 }
866 else
867 {
868 m_pidControllerActive = true;
869 _target_velocity.X += force.X;
870 _target_velocity.Y += force.Y;
871 _target_velocity.Z += force.Z;
872 }
873 }
874 else
875 {
876 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
877 }
878 //m_lastUpdateSent = false;
879 }
880
881 public override void AddAngularForce(Vector3 force, bool pushforce)
882 {
883
884 }
885
886 /// <summary>
887 /// After all of the forces add up with 'add force' we apply them with doForce
888 /// </summary>
889 /// <param name="force"></param>
890 public void doForce(Vector3 force)
891 {
892 if (!collidelock)
893 {
894 d.BodyAddForce(Body, force.X, force.Y, force.Z);
895 //d.BodySetRotation(Body, ref m_StandUpRotation);
896 //standupStraight();
897
898 }
899 }
900
901 public override void SetMomentum(Vector3 momentum)
902 {
903 }
904
905
906 /// <summary>
907 /// Called from Simulate
908 /// This is the avatar's movement control + PID Controller
909 /// </summary>
910 /// <param name="timeStep"></param>
911 public void Move(float timeStep, List<OdeCharacter> defects)
912 {
913 // no lock; for now it's only called from within Simulate()
914
915 // If the PID Controller isn't active then we set our force
916 // calculating base velocity to the current position
917
918 if (Body == IntPtr.Zero)
919 return;
920
921 if (m_pidControllerActive == false)
922 {
923 _zeroPosition = d.BodyGetPosition(Body);
924 }
925 //PidStatus = true;
926
927 d.Vector3 localpos = d.BodyGetPosition(Body);
928 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
929
930 if (!localPos.IsFinite())
931 {
932
933 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
934 defects.Add(this);
935 // _parent_scene.RemoveCharacter(this);
936
937 // destroy avatar capsule and related ODE data
938 if (Amotor != IntPtr.Zero)
939 {
940 // Kill the Amotor
941 d.JointDestroy(Amotor);
942 Amotor = IntPtr.Zero;
943 }
944
945 //kill the Geometry
946 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
947
948 if (Body != IntPtr.Zero)
949 {
950 //kill the body
951 d.BodyDestroy(Body);
952
953 Body = IntPtr.Zero;
954 }
955
956 if(Shell != IntPtr.Zero)
957 {
958 try
959 {
960 d.GeomDestroy(Shell);
961 }
962 catch (System.AccessViolationException)
963 {
964 m_log.Error("[PHYSICS]: PrimGeom dead");
965 }
966 // Remove any old entries
967//string tShell;
968//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
969//Console.WriteLine("**** Remove {0}", tShell);
970
971 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
972 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
973 Shell = IntPtr.Zero;
974 }
975
976 return;
977 }
978
979 Vector3 vec = Vector3.Zero;
980 d.Vector3 vel = d.BodyGetLinearVel(Body);
981
982 float movementdivisor = 1f;
983
984 if (!m_alwaysRun)
985 {
986 movementdivisor = walkDivisor;
987 }
988 else
989 {
990 movementdivisor = runDivisor;
991 }
992
993 // if velocity is zero, use position control; otherwise, velocity control
994 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
995 {
996 // keep track of where we stopped. No more slippin' & slidin'
997 if (!_zeroFlag)
998 {
999 _zeroFlag = true;
1000 _zeroPosition = d.BodyGetPosition(Body);
1001 }
1002 if (m_pidControllerActive)
1003 {
1004 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1005 // react to the physics scene by moving it's position.
1006 // Avatar to Avatar collisions
1007 // Prim to avatar collisions
1008
1009 d.Vector3 pos = d.BodyGetPosition(Body);
1010 float errX = _zeroPosition.X - pos.X;
1011 float errY = _zeroPosition.Y - pos.Y;
1012 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1013 {
1014 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1015 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1016 }
1017 else
1018 { // close, jump to lateral destination
1019 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1020 }
1021 if (flying)
1022 {
1023 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1024 }
1025 }
1026 //PidStatus = true;
1027 }
1028 else
1029 {
1030 m_pidControllerActive = true;
1031 _zeroFlag = false;
1032 if (m_iscolliding && !flying)
1033 {
1034 // We're standing on something
1035 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1036 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1037 }
1038 else if (m_iscolliding && flying)
1039 {
1040 // We're flying and colliding with something
1041 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1042 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1043 }
1044 else if (!m_iscolliding && flying)
1045 {
1046 // we're in mid air suspended
1047 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1048 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1049 }
1050
1051 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1052 {
1053 // We're colliding with something and we're not flying but we're moving
1054 // This means we're walking or running.
1055 d.Vector3 pos = d.BodyGetPosition(Body);
1056 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1057 if (_target_velocity.X > 0)
1058 {
1059 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1060 }
1061 if (_target_velocity.Y > 0)
1062 {
1063 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1064 }
1065 }
1066 else if (!m_iscolliding && !flying)
1067 {
1068 // we're not colliding and we're not flying so that means we're falling!
1069 // m_iscolliding includes collisions with the ground.
1070
1071 // d.Vector3 pos = d.BodyGetPosition(Body);
1072 if (Math.Abs(_target_velocity.X) > 0)
1073 {
1074 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1075 }
1076 if (Math.Abs(_target_velocity.Y) > 0)
1077 {
1078 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1079 }
1080 }
1081
1082 if (flying)
1083 {
1084 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1085 }
1086 }
1087 if (flying)
1088 {
1089 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1090
1091 //Added for auto fly height. Kitto Flora
1092 //d.Vector3 pos = d.BodyGetPosition(Body);
1093 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1094
1095 if (_position.Z < target_altitude)
1096 {
1097 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1098 }
1099 // end add Kitto Flora
1100 }
1101 if (vec.IsFinite())
1102 {
1103 if (!vec.ApproxEquals(Vector3.Zero, 0.01f))
1104 {
1105 doForce(vec);
1106 if (!_zeroFlag)
1107 {
1108 AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1109 }
1110 }
1111 }
1112 else
1113 {
1114 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1115 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1116 defects.Add(this);
1117 // _parent_scene.RemoveCharacter(this);
1118 // destroy avatar capsule and related ODE data
1119 if (Amotor != IntPtr.Zero)
1120 {
1121 // Kill the Amotor
1122 d.JointDestroy(Amotor);
1123 Amotor = IntPtr.Zero;
1124 }
1125 //kill the Geometry
1126 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1127
1128 if (Body != IntPtr.Zero)
1129 {
1130 //kill the body
1131 d.BodyDestroy(Body);
1132
1133 Body = IntPtr.Zero;
1134 }
1135
1136 if(Shell != IntPtr.Zero)
1137 {
1138 try
1139 {
1140 d.GeomDestroy(Shell);
1141 }
1142 catch (System.AccessViolationException)
1143 {
1144 m_log.Error("[PHYSICS]: PrimGeom dead");
1145 }
1146 // Remove any old entries
1147//string tShell;
1148//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1149//Console.WriteLine("**** Remove {0}", tShell);
1150
1151 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1152 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1153 Shell = IntPtr.Zero;
1154 }
1155 }
1156 }
1157
1158 /// <summary>
1159 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1160 /// </summary>
1161 public void UpdatePositionAndVelocity()
1162 {
1163 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1164 d.Vector3 vec;
1165 try
1166 {
1167 vec = d.BodyGetPosition(Body);
1168 }
1169 catch (NullReferenceException)
1170 {
1171 bad = true;
1172 _parent_scene.BadCharacter(this);
1173 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1174 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1175 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1176 }
1177
1178
1179 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1180 if (vec.X < 0.0f) vec.X = 0.0f;
1181 if (vec.Y < 0.0f) vec.Y = 0.0f;
1182 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1183 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1184
1185 _position.X = vec.X;
1186 _position.Y = vec.Y;
1187 _position.Z = vec.Z;
1188
1189 // Did we move last? = zeroflag
1190 // This helps keep us from sliding all over
1191
1192 if (_zeroFlag)
1193 {
1194 _velocity.X = 0.0f;
1195 _velocity.Y = 0.0f;
1196 _velocity.Z = 0.0f;
1197
1198 // Did we send out the 'stopped' message?
1199 if (!m_lastUpdateSent)
1200 {
1201 m_lastUpdateSent = true;
1202 //base.RequestPhysicsterseUpdate();
1203
1204 }
1205 }
1206 else
1207 {
1208 m_lastUpdateSent = false;
1209 try
1210 {
1211 vec = d.BodyGetLinearVel(Body);
1212 }
1213 catch (NullReferenceException)
1214 {
1215 vec.X = _velocity.X;
1216 vec.Y = _velocity.Y;
1217 vec.Z = _velocity.Z;
1218 }
1219 _velocity.X = (vec.X);
1220 _velocity.Y = (vec.Y);
1221
1222 _velocity.Z = (vec.Z);
1223
1224 if (_velocity.Z < -6 && !m_hackSentFall)
1225 {
1226 m_hackSentFall = true;
1227 m_pidControllerActive = false;
1228 }
1229 else if (flying && !m_hackSentFly)
1230 {
1231 //m_hackSentFly = true;
1232 //base.SendCollisionUpdate(new CollisionEventUpdate());
1233 }
1234 else
1235 {
1236 m_hackSentFly = false;
1237 m_hackSentFall = false;
1238 }
1239 }
1240 }
1241
1242 /// <summary>
1243 /// Cleanup the things we use in the scene.
1244 /// </summary>
1245 public void Destroy()
1246 {
1247 m_tainted_isPhysical = false;
1248 _parent_scene.AddPhysicsActorTaint(this);
1249 }
1250
1251 public override void CrossingFailure()
1252 {
1253 }
1254
1255 public override Vector3 PIDTarget { set { return; } }
1256 public override bool PIDActive { set { return; } }
1257 public override float PIDTau { set { return; } }
1258
1259 public override float PIDHoverHeight { set { return; } }
1260 public override bool PIDHoverActive { set { return; } }
1261 public override PIDHoverType PIDHoverType { set { return; } }
1262 public override float PIDHoverTau { set { return; } }
1263
1264 public override Quaternion APIDTarget{ set { return; } }
1265
1266 public override bool APIDActive{ set { return; } }
1267
1268 public override float APIDStrength{ set { return; } }
1269
1270 public override float APIDDamping{ set { return; } }
1271
1272
1273 public override void SubscribeEvents(int ms)
1274 {
1275 m_requestedUpdateFrequency = ms;
1276 m_eventsubscription = ms;
1277 _parent_scene.addCollisionEventReporting(this);
1278 }
1279 public override void UnSubscribeEvents()
1280 {
1281 _parent_scene.remCollisionEventReporting(this);
1282 m_requestedUpdateFrequency = 0;
1283 m_eventsubscription = 0;
1284 }
1285 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1286 {
1287 if (m_eventsubscription > 0)
1288 {
1289 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
1290 }
1291 }
1292
1293 public void SendCollisions()
1294 {
1295 if (m_eventsubscription > m_requestedUpdateFrequency)
1296 {
1297 if (CollisionEventsThisFrame != null)
1298 {
1299 base.SendCollisionUpdate(CollisionEventsThisFrame);
1300 }
1301 CollisionEventsThisFrame = new CollisionEventUpdate();
1302 m_eventsubscription = 0;
1303 }
1304 }
1305 public override bool SubscribedEvents()
1306 {
1307 if (m_eventsubscription > 0)
1308 return true;
1309 return false;
1310 }
1311
1312 public void ProcessTaints(float timestep)
1313 {
1314
1315 if (m_tainted_isPhysical != m_isPhysical)
1316 {
1317 if (m_tainted_isPhysical)
1318 {
1319 // Create avatar capsule and related ODE data
1320 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1321 {
1322 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1323 + (Shell!=IntPtr.Zero ? "Shell ":"")
1324 + (Body!=IntPtr.Zero ? "Body ":"")
1325 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1326 }
1327 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1328 _parent_scene.AddCharacter(this);
1329 }
1330 else
1331 {
1332 _parent_scene.RemoveCharacter(this);
1333 // destroy avatar capsule and related ODE data
1334 if (Amotor != IntPtr.Zero)
1335 {
1336 // Kill the Amotor
1337 d.JointDestroy(Amotor);
1338 Amotor = IntPtr.Zero;
1339 }
1340 //kill the Geometry
1341 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1342
1343 if (Body != IntPtr.Zero)
1344 {
1345 //kill the body
1346 d.BodyDestroy(Body);
1347 Body = IntPtr.Zero;
1348 }
1349
1350 if(Shell != IntPtr.Zero)
1351 {
1352 try
1353 {
1354 d.GeomDestroy(Shell);
1355 }
1356 catch (System.AccessViolationException)
1357 {
1358 m_log.Error("[PHYSICS]: PrimGeom dead");
1359 }
1360 // Remove any old entries
1361//string tShell;
1362//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1363//Console.WriteLine("**** Remove {0}", tShell);
1364
1365 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1366 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1367 Shell = IntPtr.Zero;
1368 }
1369 }
1370
1371 m_isPhysical = m_tainted_isPhysical;
1372 }
1373
1374 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1375 {
1376 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1377 {
1378
1379 m_pidControllerActive = true;
1380 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1381 d.JointDestroy(Amotor);
1382 float prevCapsule = CAPSULE_LENGTH;
1383 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1384 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1385 d.BodyDestroy(Body);
1386 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1387 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1388 Velocity = Vector3.Zero;
1389 }
1390 else
1391 {
1392 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1393 + (Shell==IntPtr.Zero ? "Shell ":"")
1394 + (Body==IntPtr.Zero ? "Body ":"")
1395 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1396 }
1397 }
1398
1399 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1400 {
1401 if (Body != IntPtr.Zero)
1402 {
1403 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1404
1405 _position.X = m_taintPosition.X;
1406 _position.Y = m_taintPosition.Y;
1407 _position.Z = m_taintPosition.Z;
1408 }
1409 }
1410
1411 }
1412
1413 internal void AddCollisionFrameTime(int p)
1414 {
1415 // protect it from overflow crashing
1416 if (m_eventsubscription + p >= int.MaxValue)
1417 m_eventsubscription = 0;
1418 m_eventsubscription += p;
1419 }
1420 }
1421}
generated by cgit v1.1 at 2024-09-25 20:25:24 +0000