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Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/ODECharacter.cs')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs954
1 files changed, 477 insertions, 477 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index cda6af2..888f555 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1,477 +1,477 @@
1using System; 1using System;
2using System.Collections.Generic; 2using System.Collections.Generic;
3using Axiom.Math; 3using Axiom.Math;
4using Ode.NET; 4using Ode.NET;
5using OpenSim.Framework; 5using OpenSim.Framework;
6using OpenSim.Region.Physics.Manager; 6using OpenSim.Region.Physics.Manager;
7 7
8namespace OpenSim.Region.Physics.OdePlugin 8namespace OpenSim.Region.Physics.OdePlugin
9{ 9{
10 public class OdeCharacter : PhysicsActor 10 public class OdeCharacter : PhysicsActor
11 { 11 {
12 private PhysicsVector _position; 12 private PhysicsVector _position;
13 private d.Vector3 _zeroPosition; 13 private d.Vector3 _zeroPosition;
14 private bool _zeroFlag = false; 14 private bool _zeroFlag = false;
15 private bool m_lastUpdateSent = false; 15 private bool m_lastUpdateSent = false;
16 private PhysicsVector _velocity; 16 private PhysicsVector _velocity;
17 private PhysicsVector _target_velocity; 17 private PhysicsVector _target_velocity;
18 private PhysicsVector _acceleration; 18 private PhysicsVector _acceleration;
19 private PhysicsVector m_rotationalVelocity; 19 private PhysicsVector m_rotationalVelocity;
20 private static float PID_D = 3020.0f; 20 private static float PID_D = 3020.0f;
21 private static float PID_P = 7000.0f; 21 private static float PID_P = 7000.0f;
22 private static float POSTURE_SERVO = 10000.0f; 22 private static float POSTURE_SERVO = 10000.0f;
23 public static float CAPSULE_RADIUS = 0.5f; 23 public static float CAPSULE_RADIUS = 0.5f;
24 public float CAPSULE_LENGTH = 0.79f; 24 public float CAPSULE_LENGTH = 0.79f;
25 private bool flying = false; 25 private bool flying = false;
26 private bool m_iscolliding = false; 26 private bool m_iscolliding = false;
27 private bool m_iscollidingGround = false; 27 private bool m_iscollidingGround = false;
28 private bool m_wascolliding = false; 28 private bool m_wascolliding = false;
29 private bool m_wascollidingGround = false; 29 private bool m_wascollidingGround = false;
30 private bool m_alwaysRun = false; 30 private bool m_alwaysRun = false;
31 private bool m_hackSentFall = false; 31 private bool m_hackSentFall = false;
32 private bool m_hackSentFly = false; 32 private bool m_hackSentFly = false;
33 private string m_name = ""; 33 private string m_name = "";
34 34
35 private bool[] m_colliderarr = new bool[11]; 35 private bool[] m_colliderarr = new bool[11];
36 private bool[] m_colliderGroundarr = new bool[11]; 36 private bool[] m_colliderGroundarr = new bool[11];
37 37
38 38
39 private bool jumping = false; 39 private bool jumping = false;
40 //private float gravityAccel; 40 //private float gravityAccel;
41 public IntPtr Body; 41 public IntPtr Body;
42 private OdeScene _parent_scene; 42 private OdeScene _parent_scene;
43 public IntPtr Shell; 43 public IntPtr Shell;
44 public d.Mass ShellMass; 44 public d.Mass ShellMass;
45 public bool collidelock = false; 45 public bool collidelock = false;
46 46
47 public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos) 47 public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
48 { 48 {
49 _velocity = new PhysicsVector(); 49 _velocity = new PhysicsVector();
50 _target_velocity = new PhysicsVector(); 50 _target_velocity = new PhysicsVector();
51 _position = pos; 51 _position = pos;
52 _acceleration = new PhysicsVector(); 52 _acceleration = new PhysicsVector();
53 _parent_scene = parent_scene; 53 _parent_scene = parent_scene;
54 54
55 for (int i = 0; i < 11; i++) 55 for (int i = 0; i < 11; i++)
56 { 56 {
57 m_colliderarr[i] = false; 57 m_colliderarr[i] = false;
58 } 58 }
59 59
60 lock (OdeScene.OdeLock) 60 lock (OdeScene.OdeLock)
61 { 61 {
62 62
63 Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); 63 Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
64 d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f); 64 d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
65 Body = d.BodyCreate(parent_scene.world); 65 Body = d.BodyCreate(parent_scene.world);
66 d.BodySetMass(Body, ref ShellMass); 66 d.BodySetMass(Body, ref ShellMass);
67 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); 67 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
68 d.GeomSetBody(Shell, Body); 68 d.GeomSetBody(Shell, Body);
69 } 69 }
70 m_name = avName; 70 m_name = avName;
71 parent_scene.geom_name_map[Shell] = avName; 71 parent_scene.geom_name_map[Shell] = avName;
72 parent_scene.actor_name_map[Shell] = (PhysicsActor)this; 72 parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
73 } 73 }
74 public override int PhysicsActorType 74 public override int PhysicsActorType
75 { 75 {
76 get { return (int)ActorTypes.Agent; } 76 get { return (int)ActorTypes.Agent; }
77 set { return; } 77 set { return; }
78 } 78 }
79 public override bool SetAlwaysRun 79 public override bool SetAlwaysRun
80 { 80 {
81 get { return m_alwaysRun; } 81 get { return m_alwaysRun; }
82 set { m_alwaysRun = value; } 82 set { m_alwaysRun = value; }
83 } 83 }
84 public override bool IsPhysical 84 public override bool IsPhysical
85 { 85 {
86 get { return false; } 86 get { return false; }
87 set { return; } 87 set { return; }
88 } 88 }
89 public override bool ThrottleUpdates 89 public override bool ThrottleUpdates
90 { 90 {
91 get { return false; } 91 get { return false; }
92 set { return; } 92 set { return; }
93 } 93 }
94 public override bool Flying 94 public override bool Flying
95 { 95 {
96 get { return flying; } 96 get { return flying; }
97 set { flying = value; } 97 set { flying = value; }
98 } 98 }
99 public override bool IsColliding 99 public override bool IsColliding
100 { 100 {
101 101
102 get { return m_iscolliding; } 102 get { return m_iscolliding; }
103 set 103 set
104 { 104 {
105 int i; 105 int i;
106 int truecount = 0; 106 int truecount = 0;
107 int falsecount = 0; 107 int falsecount = 0;
108 108
109 if (m_colliderarr.Length >= 10) 109 if (m_colliderarr.Length >= 10)
110 { 110 {
111 for (i = 0; i < 10; i++) 111 for (i = 0; i < 10; i++)
112 { 112 {
113 m_colliderarr[i] = m_colliderarr[i + 1]; 113 m_colliderarr[i] = m_colliderarr[i + 1];
114 } 114 }
115 } 115 }
116 m_colliderarr[10] = value; 116 m_colliderarr[10] = value;
117 117
118 for (i = 0; i < 11; i++) 118 for (i = 0; i < 11; i++)
119 { 119 {
120 if (m_colliderarr[i]) 120 if (m_colliderarr[i])
121 { 121 {
122 truecount++; 122 truecount++;
123 } 123 }
124 else 124 else
125 { 125 {
126 falsecount++; 126 falsecount++;
127 } 127 }
128 } 128 }
129 129
130 // Equal truecounts and false counts means we're colliding with something. 130 // Equal truecounts and false counts means we're colliding with something.
131 131
132 if (falsecount > 1.2 * truecount) 132 if (falsecount > 1.2 * truecount)
133 { 133 {
134 m_iscolliding = false; 134 m_iscolliding = false;
135 } 135 }
136 else 136 else
137 { 137 {
138 m_iscolliding = true; 138 m_iscolliding = true;
139 } 139 }
140 if (m_wascolliding != m_iscolliding) 140 if (m_wascolliding != m_iscolliding)
141 { 141 {
142 base.SendCollisionUpdate(new CollisionEventUpdate()); 142 base.SendCollisionUpdate(new CollisionEventUpdate());
143 } 143 }
144 m_wascolliding = m_iscolliding; 144 m_wascolliding = m_iscolliding;
145 } 145 }
146 } 146 }
147 public override bool CollidingGround 147 public override bool CollidingGround
148 { 148 {
149 get { return m_iscollidingGround; } 149 get { return m_iscollidingGround; }
150 set 150 set
151 { 151 {
152 int i; 152 int i;
153 int truecount = 0; 153 int truecount = 0;
154 int falsecount = 0; 154 int falsecount = 0;
155 155
156 if (m_colliderGroundarr.Length >= 10) 156 if (m_colliderGroundarr.Length >= 10)
157 { 157 {
158 for (i = 0; i < 10; i++) 158 for (i = 0; i < 10; i++)
159 { 159 {
160 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1]; 160 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
161 } 161 }
162 } 162 }
163 m_colliderGroundarr[10] = value; 163 m_colliderGroundarr[10] = value;
164 164
165 for (i = 0; i < 11; i++) 165 for (i = 0; i < 11; i++)
166 { 166 {
167 if (m_colliderGroundarr[i]) 167 if (m_colliderGroundarr[i])
168 { 168 {
169 truecount++; 169 truecount++;
170 } 170 }
171 else 171 else
172 { 172 {
173 falsecount++; 173 falsecount++;
174 } 174 }
175 } 175 }
176 176
177 // Equal truecounts and false counts means we're colliding with something. 177 // Equal truecounts and false counts means we're colliding with something.
178 178
179 if (falsecount > 1.2 * truecount) 179 if (falsecount > 1.2 * truecount)
180 { 180 {
181 m_iscollidingGround = false; 181 m_iscollidingGround = false;
182 } 182 }
183 else 183 else
184 { 184 {
185 m_iscollidingGround = true; 185 m_iscollidingGround = true;
186 } 186 }
187 if (m_wascollidingGround != m_iscollidingGround) 187 if (m_wascollidingGround != m_iscollidingGround)
188 { 188 {
189 //base.SendCollisionUpdate(new CollisionEventUpdate()); 189 //base.SendCollisionUpdate(new CollisionEventUpdate());
190 } 190 }
191 m_wascollidingGround = m_iscollidingGround; 191 m_wascollidingGround = m_iscollidingGround;
192 } 192 }
193 } 193 }
194 public override bool CollidingObj 194 public override bool CollidingObj
195 { 195 {
196 get { return false; } 196 get { return false; }
197 set { return; } 197 set { return; }
198 } 198 }
199 199
200 public override PhysicsVector Position 200 public override PhysicsVector Position
201 { 201 {
202 get { return _position; } 202 get { return _position; }
203 set 203 set
204 { 204 {
205 lock (OdeScene.OdeLock) 205 lock (OdeScene.OdeLock)
206 { 206 {
207 d.BodySetPosition(Body, value.X, value.Y, value.Z); 207 d.BodySetPosition(Body, value.X, value.Y, value.Z);
208 _position = value; 208 _position = value;
209 } 209 }
210 } 210 }
211 } 211 }
212 public override PhysicsVector RotationalVelocity 212 public override PhysicsVector RotationalVelocity
213 { 213 {
214 get { return m_rotationalVelocity; } 214 get { return m_rotationalVelocity; }
215 set { m_rotationalVelocity = value; } 215 set { m_rotationalVelocity = value; }
216 } 216 }
217 public override PhysicsVector Size 217 public override PhysicsVector Size
218 { 218 {
219 get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } 219 get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
220 set 220 set
221 { 221 {
222 lock (OdeScene.OdeLock) 222 lock (OdeScene.OdeLock)
223 { 223 {
224 PhysicsVector SetSize = value; 224 PhysicsVector SetSize = value;
225 float prevCapsule = CAPSULE_LENGTH; 225 float prevCapsule = CAPSULE_LENGTH;
226 float capsuleradius = CAPSULE_RADIUS; 226 float capsuleradius = CAPSULE_RADIUS;
227 capsuleradius = 0.2f; 227 capsuleradius = 0.2f;
228 228
229 CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size 229 CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
230 d.BodyDestroy(Body); 230 d.BodyDestroy(Body);
231 d.GeomDestroy(Shell); 231 d.GeomDestroy(Shell);
232 //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH)); 232 //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
233 Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH); 233 Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
234 d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH); 234 d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
235 Body = d.BodyCreate(_parent_scene.world); 235 Body = d.BodyCreate(_parent_scene.world);
236 d.BodySetMass(Body, ref ShellMass); 236 d.BodySetMass(Body, ref ShellMass);
237 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule)); 237 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
238 d.GeomSetBody(Shell, Body); 238 d.GeomSetBody(Shell, Body);
239 } 239 }
240 _parent_scene.geom_name_map[Shell] = m_name; 240 _parent_scene.geom_name_map[Shell] = m_name;
241 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; 241 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
242 } 242 }
243 } 243 }
244 244
245 public override PrimitiveBaseShape Shape 245 public override PrimitiveBaseShape Shape
246 { 246 {
247 set 247 set
248 { 248 {
249 return; 249 return;
250 } 250 }
251 } 251 }
252 252
253 public override PhysicsVector Velocity 253 public override PhysicsVector Velocity
254 { 254 {
255 get { return _velocity; } 255 get { return _velocity; }
256 set { _target_velocity = value; } 256 set { _target_velocity = value; }
257 } 257 }
258 258
259 public override bool Kinematic 259 public override bool Kinematic
260 { 260 {
261 get { return false; } 261 get { return false; }
262 set { } 262 set { }
263 } 263 }
264 264
265 public override Quaternion Orientation 265 public override Quaternion Orientation
266 { 266 {
267 get { return Quaternion.Identity; } 267 get { return Quaternion.Identity; }
268 set { } 268 set { }
269 } 269 }
270 270
271 public override PhysicsVector Acceleration 271 public override PhysicsVector Acceleration
272 { 272 {
273 get { return _acceleration; } 273 get { return _acceleration; }
274 } 274 }
275 275
276 public void SetAcceleration(PhysicsVector accel) 276 public void SetAcceleration(PhysicsVector accel)
277 { 277 {
278 _acceleration = accel; 278 _acceleration = accel;
279 } 279 }
280 280
281 public override void AddForce(PhysicsVector force) 281 public override void AddForce(PhysicsVector force)
282 { 282 {
283 283
284 _target_velocity.X += force.X; 284 _target_velocity.X += force.X;
285 _target_velocity.Y += force.Y; 285 _target_velocity.Y += force.Y;
286 _target_velocity.Z += force.Z; 286 _target_velocity.Z += force.Z;
287 287
288 //m_lastUpdateSent = false; 288 //m_lastUpdateSent = false;
289 } 289 }
290 public void doForce(PhysicsVector force) 290 public void doForce(PhysicsVector force)
291 { 291 {
292 if (!collidelock) 292 if (!collidelock)
293 { 293 {
294 d.BodyAddForce(Body, force.X, force.Y, force.Z); 294 d.BodyAddForce(Body, force.X, force.Y, force.Z);
295 295
296 // ok -- let's stand up straight! 296 // ok -- let's stand up straight!
297 d.Vector3 feet; 297 d.Vector3 feet;
298 d.Vector3 head; 298 d.Vector3 head;
299 d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet); 299 d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
300 d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head); 300 d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
301 float posture = head.Z - feet.Z; 301 float posture = head.Z - feet.Z;
302 302
303 // restoring force proportional to lack of posture: 303 // restoring force proportional to lack of posture:
304 float servo = (2.5f - posture) * POSTURE_SERVO; 304 float servo = (2.5f - posture) * POSTURE_SERVO;
305 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); 305 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
306 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); 306 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
307 //m_lastUpdateSent = false; 307 //m_lastUpdateSent = false;
308 308
309 } 309 }
310 310
311 } 311 }
312 public override void SetMomentum(PhysicsVector momentum) 312 public override void SetMomentum(PhysicsVector momentum)
313 { 313 {
314 314
315 } 315 }
316 316
317 public void Move(float timeStep) 317 public void Move(float timeStep)
318 { 318 {
319 // no lock; for now it's only called from within Simulate() 319 // no lock; for now it's only called from within Simulate()
320 PhysicsVector vec = new PhysicsVector(); 320 PhysicsVector vec = new PhysicsVector();
321 d.Vector3 vel = d.BodyGetLinearVel(Body); 321 d.Vector3 vel = d.BodyGetLinearVel(Body);
322 float movementdivisor = 1f; 322 float movementdivisor = 1f;
323 323
324 if (!m_alwaysRun) 324 if (!m_alwaysRun)
325 { 325 {
326 movementdivisor = 1.3f; 326 movementdivisor = 1.3f;
327 } 327 }
328 else 328 else
329 { 329 {
330 movementdivisor = 0.8f; 330 movementdivisor = 0.8f;
331 331
332 } 332 }
333 333
334 // if velocity is zero, use position control; otherwise, velocity control 334 // if velocity is zero, use position control; otherwise, velocity control
335 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding) 335 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
336 { 336 {
337 // keep track of where we stopped. No more slippin' & slidin' 337 // keep track of where we stopped. No more slippin' & slidin'
338 if (!_zeroFlag) 338 if (!_zeroFlag)
339 { 339 {
340 _zeroFlag = true; 340 _zeroFlag = true;
341 _zeroPosition = d.BodyGetPosition(Body); 341 _zeroPosition = d.BodyGetPosition(Body);
342 } 342 }
343 d.Vector3 pos = d.BodyGetPosition(Body); 343 d.Vector3 pos = d.BodyGetPosition(Body);
344 vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P; 344 vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
345 vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P; 345 vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
346 if (flying) 346 if (flying)
347 { 347 {
348 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; 348 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
349 } 349 }
350 } 350 }
351 else 351 else
352 { 352 {
353 353
354 _zeroFlag = false; 354 _zeroFlag = false;
355 if (m_iscolliding || flying) 355 if (m_iscolliding || flying)
356 { 356 {
357 357
358 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D; 358 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
359 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D; 359 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
360 } 360 }
361 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f) 361 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
362 { 362 {
363 d.Vector3 pos = d.BodyGetPosition(Body); 363 d.Vector3 pos = d.BodyGetPosition(Body);
364 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; 364 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
365 if (_target_velocity.X > 0) 365 if (_target_velocity.X > 0)
366 { 366 {
367 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; 367 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
368 } 368 }
369 if (_target_velocity.Y > 0) 369 if (_target_velocity.Y > 0)
370 { 370 {
371 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; 371 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
372 } 372 }
373 } 373 }
374 else if (!m_iscolliding && !flying) 374 else if (!m_iscolliding && !flying)
375 { 375 {
376 d.Vector3 pos = d.BodyGetPosition(Body); 376 d.Vector3 pos = d.BodyGetPosition(Body);
377 if (_target_velocity.X > 0) 377 if (_target_velocity.X > 0)
378 { 378 {
379 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; 379 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
380 } 380 }
381 if (_target_velocity.Y > 0) 381 if (_target_velocity.Y > 0)
382 { 382 {
383 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; 383 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
384 } 384 }
385 385
386 } 386 }
387 387
388 388
389 if (flying) 389 if (flying)
390 { 390 {
391 vec.Z = (_target_velocity.Z - vel.Z) * PID_D; 391 vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
392 } 392 }
393 } 393 }
394 if (flying) 394 if (flying)
395 { 395 {
396 vec.Z += 10.0f; 396 vec.Z += 10.0f;
397 } 397 }
398 398
399 399
400 doForce(vec); 400 doForce(vec);
401 } 401 }
402 402
403 public void UpdatePositionAndVelocity() 403 public void UpdatePositionAndVelocity()
404 { 404 {
405 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 405 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
406 d.Vector3 vec = d.BodyGetPosition(Body); 406 d.Vector3 vec = d.BodyGetPosition(Body);
407 407
408 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) 408 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
409 if (vec.X < 0.0f) vec.X = 0.0f; 409 if (vec.X < 0.0f) vec.X = 0.0f;
410 if (vec.Y < 0.0f) vec.Y = 0.0f; 410 if (vec.Y < 0.0f) vec.Y = 0.0f;
411 if (vec.X > 255.95f) vec.X = 255.95f; 411 if (vec.X > 255.95f) vec.X = 255.95f;
412 if (vec.Y > 255.95f) vec.Y = 255.95f; 412 if (vec.Y > 255.95f) vec.Y = 255.95f;
413 413
414 _position.X = vec.X; 414 _position.X = vec.X;
415 _position.Y = vec.Y; 415 _position.Y = vec.Y;
416 _position.Z = vec.Z; 416 _position.Z = vec.Z;
417 417
418 if (_zeroFlag) 418 if (_zeroFlag)
419 { 419 {
420 _velocity.X = 0.0f; 420 _velocity.X = 0.0f;
421 _velocity.Y = 0.0f; 421 _velocity.Y = 0.0f;
422 _velocity.Z = 0.0f; 422 _velocity.Z = 0.0f;
423 if (!m_lastUpdateSent) 423 if (!m_lastUpdateSent)
424 { 424 {
425 m_lastUpdateSent = true; 425 m_lastUpdateSent = true;
426 base.RequestPhysicsterseUpdate(); 426 base.RequestPhysicsterseUpdate();
427 string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); 427 string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
428 int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); 428 int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
429 if (primScenAvatarIn == "0") 429 if (primScenAvatarIn == "0")
430 { 430 {
431 OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); 431 OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
432 } 432 }
433 else 433 else
434 { 434 {
435 OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); 435 OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
436 } 436 }
437 437
438 } 438 }
439 } 439 }
440 else 440 else
441 { 441 {
442 m_lastUpdateSent = false; 442 m_lastUpdateSent = false;
443 vec = d.BodyGetLinearVel(Body); 443 vec = d.BodyGetLinearVel(Body);
444 _velocity.X = (vec.X); 444 _velocity.X = (vec.X);
445 _velocity.Y = (vec.Y); 445 _velocity.Y = (vec.Y);
446 446
447 _velocity.Z = (vec.Z); 447 _velocity.Z = (vec.Z);
448 if (_velocity.Z < -6 && !m_hackSentFall) 448 if (_velocity.Z < -6 && !m_hackSentFall)
449 { 449 {
450 m_hackSentFall = true; 450 m_hackSentFall = true;
451 base.SendCollisionUpdate(new CollisionEventUpdate()); 451 base.SendCollisionUpdate(new CollisionEventUpdate());
452 } 452 }
453 else if (flying && !m_hackSentFly) 453 else if (flying && !m_hackSentFly)
454 { 454 {
455 //m_hackSentFly = true; 455 //m_hackSentFly = true;
456 //base.SendCollisionUpdate(new CollisionEventUpdate()); 456 //base.SendCollisionUpdate(new CollisionEventUpdate());
457 } 457 }
458 else 458 else
459 { 459 {
460 m_hackSentFly = false; 460 m_hackSentFly = false;
461 m_hackSentFall = false; 461 m_hackSentFall = false;
462 } 462 }
463 } 463 }
464 } 464 }
465 465
466 public void Destroy() 466 public void Destroy()
467 { 467 {
468 lock (OdeScene.OdeLock) 468 lock (OdeScene.OdeLock)
469 { 469 {
470 d.GeomDestroy(Shell); 470 d.GeomDestroy(Shell);
471 _parent_scene.geom_name_map.Remove(Shell); 471 _parent_scene.geom_name_map.Remove(Shell);
472 d.BodyDestroy(Body); 472 d.BodyDestroy(Body);
473 } 473 }
474 } 474 }
475 } 475 }
476 476
477} 477}
generated by cgit v1.1 at 2024-11-12 00:10:00 +0000