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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.PhysicsModules.SharedBase;
35using log4net;
36
37namespace OpenSim.Region.PhysicsModule.ODE
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 public enum dParam : int
43 {
44 LowStop = 0,
45 HiStop = 1,
46 Vel = 2,
47 FMax = 3,
48 FudgeFactor = 4,
49 Bounce = 5,
50 CFM = 6,
51 StopERP = 7,
52 StopCFM = 8,
53 LoStop2 = 256,
54 HiStop2 = 257,
55 Vel2 = 258,
56 FMax2 = 259,
57 StopERP2 = 7 + 256,
58 StopCFM2 = 8 + 256,
59 LoStop3 = 512,
60 HiStop3 = 513,
61 Vel3 = 514,
62 FMax3 = 515,
63 StopERP3 = 7 + 512,
64 StopCFM3 = 8 + 512
65 }
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 bool _zeroFlag = false;
74 private bool m_lastUpdateSent = false;
75 private Vector3 _velocity;
76 private Vector3 m_taintTargetVelocity;
77 private Vector3 _target_velocity;
78 private Vector3 _acceleration;
79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f;
81 private float m_density = 60f;
82 private bool m_pidControllerActive = true;
83 private float PID_D = 800.0f;
84 private float PID_P = 900.0f;
85 //private static float POSTURE_SERVO = 10000.0f;
86 private float CAPSULE_RADIUS = 0.37f;
87 private float CAPSULE_LENGTH = 2.140599f;
88 private float m_tensor = 3800000f;
89// private float heightFudgeFactor = 0.52f;
90 private float walkDivisor = 1.3f;
91 private 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;
103 internal bool m_avatarplanted = false;
104 /// <summary>
105 /// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force
106 /// while calculatios are going on
107 /// </summary>
108 private Vector3 m_taintForce;
109
110 // taints and their non-tainted counterparts
111 private bool m_isPhysical = false; // the current physical status
112 private bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
113 internal float MinimumGroundFlightOffset = 3f;
114
115 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
116
117 /// <summary>
118 /// Base movement for calculating tilt.
119 /// </summary>
120 private float m_tiltBaseMovement = (float)Math.Sqrt(2);
121
122 /// <summary>
123 /// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
124 /// </summary>
125 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f;
126
127 private float m_buoyancy = 0f;
128
129 // private CollisionLocker ode;
130 private bool[] m_colliderarr = new bool[11];
131 private bool[] m_colliderGroundarr = new bool[11];
132
133 // Default we're a Character
134 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
135
136 // Default, Collide with Other Geometries, spaces, bodies and characters.
137 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
138 | CollisionCategories.Space
139 | CollisionCategories.Body
140 | CollisionCategories.Character
141 | CollisionCategories.Land);
142 /// <summary>
143 /// Body for dynamics simulation
144 /// </summary>
145 internal IntPtr Body { get; private set; }
146
147 private OdeScene _parent_scene;
148
149 /// <summary>
150 /// Collision geometry
151 /// </summary>
152 internal IntPtr Shell { get; private set; }
153
154 private IntPtr Amotor = IntPtr.Zero;
155 private d.Mass ShellMass;
156
157 private int m_eventsubscription = 0;
158 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
159
160 // unique UUID of this character object
161 internal UUID m_uuid { get; private set; }
162 internal bool bad = false;
163
164 /// <summary>
165 /// ODE Avatar.
166 /// </summary>
167 /// <param name="avName"></param>
168 /// <param name="parent_scene"></param>
169 /// <param name="pos"></param>
170 /// <param name="vel"></param>
171 /// <param name="size"></param>
172 /// <param name="pid_d"></param>
173 /// <param name="pid_p"></param>
174 /// <param name="capsule_radius"></param>
175 /// <param name="tensor"></param>
176 /// <param name="density">
177 /// Only used right now to return information to LSL. Not actually used to set mass in ODE!
178 /// </param>
179 /// <param name="walk_divisor"></param>
180 /// <param name="rundivisor"></param>
181 public OdeCharacter(
182 String avName, OdeScene parent_scene, Vector3 pos, Vector3 vel, Vector3 size, float pid_d, float pid_p,
183 float capsule_radius, float tensor, float density,
184 float walk_divisor, float rundivisor)
185 {
186 m_uuid = UUID.Random();
187
188 if (pos.IsFinite())
189 {
190 if (pos.Z > 9999999f)
191 {
192 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
193 }
194 if (pos.Z < -90000f)
195 {
196 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
197 }
198
199 _position = pos;
200 m_taintPosition = pos;
201 }
202 else
203 {
204 _position
205 = new Vector3(
206 (float)_parent_scene.WorldExtents.X * 0.5f,
207 (float)_parent_scene.WorldExtents.Y * 0.5f,
208 parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
209 m_taintPosition = _position;
210
211 m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
212 }
213
214 _velocity = vel;
215 m_taintTargetVelocity = vel;
216
217 _parent_scene = parent_scene;
218
219 PID_D = pid_d;
220 PID_P = pid_p;
221 CAPSULE_RADIUS = capsule_radius;
222 m_tensor = tensor;
223 m_density = density;
224// heightFudgeFactor = height_fudge_factor;
225 walkDivisor = walk_divisor;
226 runDivisor = rundivisor;
227
228 // m_StandUpRotation =
229 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
230 // 0.5f);
231
232 // We can set taint and actual to be the same here, since the entire character will be set up when the
233 // m_tainted_isPhysical is processed.
234 SetTaintedCapsuleLength(size);
235 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
236
237 m_isPhysical = false; // current status: no ODE information exists
238 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
239
240 _parent_scene.AddPhysicsActorTaint(this);
241
242 Name = avName;
243 }
244
245 public override int PhysicsActorType
246 {
247 get { return (int) ActorTypes.Agent; }
248 set { return; }
249 }
250
251 /// <summary>
252 /// If this is set, the avatar will move faster
253 /// </summary>
254 public override bool SetAlwaysRun
255 {
256 get { return m_alwaysRun; }
257 set { m_alwaysRun = value; }
258 }
259
260 public override bool Grabbed
261 {
262 set { return; }
263 }
264
265 public override bool Selected
266 {
267 set { return; }
268 }
269
270 public override float Buoyancy
271 {
272 get { return m_buoyancy; }
273 set { m_buoyancy = value; }
274 }
275
276 public override bool FloatOnWater
277 {
278 set { return; }
279 }
280
281 public override bool IsPhysical
282 {
283 get { return false; }
284 set { return; }
285 }
286
287 public override bool ThrottleUpdates
288 {
289 get { return false; }
290 set { return; }
291 }
292
293 public override bool Flying
294 {
295 get { return flying; }
296 set
297 {
298 flying = value;
299// m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying);
300 }
301 }
302
303 /// <summary>
304 /// Returns if the avatar is colliding in general.
305 /// This includes the ground and objects and avatar.
306 /// </summary>
307 public override bool IsColliding
308 {
309 get { return m_iscolliding; }
310 set
311 {
312 int i;
313 int truecount = 0;
314 int falsecount = 0;
315
316 if (m_colliderarr.Length >= 10)
317 {
318 for (i = 0; i < 10; i++)
319 {
320 m_colliderarr[i] = m_colliderarr[i + 1];
321 }
322 }
323 m_colliderarr[10] = value;
324
325 for (i = 0; i < 11; i++)
326 {
327 if (m_colliderarr[i])
328 {
329 truecount++;
330 }
331 else
332 {
333 falsecount++;
334 }
335 }
336
337 // Equal truecounts and false counts means we're colliding with something.
338
339 if (falsecount > 1.2*truecount)
340 {
341 m_iscolliding = false;
342 }
343 else
344 {
345 m_iscolliding = true;
346 }
347
348 if (m_wascolliding != m_iscolliding)
349 {
350 //base.SendCollisionUpdate(new CollisionEventUpdate());
351 }
352
353 m_wascolliding = m_iscolliding;
354 }
355 }
356
357 /// <summary>
358 /// Returns if an avatar is colliding with the ground
359 /// </summary>
360 public override bool CollidingGround
361 {
362 get { return m_iscollidingGround; }
363 set
364 {
365 // Collisions against the ground are not really reliable
366 // So, to get a consistant value we have to average the current result over time
367 // Currently we use 1 second = 10 calls to this.
368 int i;
369 int truecount = 0;
370 int falsecount = 0;
371
372 if (m_colliderGroundarr.Length >= 10)
373 {
374 for (i = 0; i < 10; i++)
375 {
376 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
377 }
378 }
379 m_colliderGroundarr[10] = value;
380
381 for (i = 0; i < 11; i++)
382 {
383 if (m_colliderGroundarr[i])
384 {
385 truecount++;
386 }
387 else
388 {
389 falsecount++;
390 }
391 }
392
393 // Equal truecounts and false counts means we're colliding with something.
394
395 if (falsecount > 1.2*truecount)
396 {
397 m_iscollidingGround = false;
398 }
399 else
400 {
401 m_iscollidingGround = true;
402 }
403 if (m_wascollidingGround != m_iscollidingGround)
404 {
405 //base.SendCollisionUpdate(new CollisionEventUpdate());
406 }
407 m_wascollidingGround = m_iscollidingGround;
408 }
409 }
410
411 /// <summary>
412 /// Returns if the avatar is colliding with an object
413 /// </summary>
414 public override bool CollidingObj
415 {
416 get { return m_iscollidingObj; }
417 set
418 {
419 m_iscollidingObj = value;
420 if (value && !m_avatarplanted)
421 m_pidControllerActive = false;
422 else
423 m_pidControllerActive = true;
424 }
425 }
426
427 /// <summary>
428 /// turn the PID controller on or off.
429 /// The PID Controller will turn on all by itself in many situations
430 /// </summary>
431 /// <param name="status"></param>
432 public void SetPidStatus(bool status)
433 {
434 m_pidControllerActive = status;
435 }
436
437 public override bool Stopped
438 {
439 get { return _zeroFlag; }
440 }
441
442 /// <summary>
443 /// This 'puts' an avatar somewhere in the physics space.
444 /// Not really a good choice unless you 'know' it's a good
445 /// spot otherwise you're likely to orbit the avatar.
446 /// </summary>
447 public override Vector3 Position
448 {
449 get { return _position; }
450 set
451 {
452 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
453 {
454 if (value.IsFinite())
455 {
456 if (value.Z > 9999999f)
457 {
458 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
459 }
460 if (value.Z < -90000f)
461 {
462 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
463 }
464
465 m_taintPosition = value;
466 _parent_scene.AddPhysicsActorTaint(this);
467 }
468 else
469 {
470 m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Position from Scene on character {0}", Name);
471 }
472 }
473 }
474 }
475
476 public override Vector3 RotationalVelocity
477 {
478 get { return m_rotationalVelocity; }
479 set { m_rotationalVelocity = value; }
480 }
481
482 /// <summary>
483 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
484 /// and use it to offset landings properly
485 /// </summary>
486 public override Vector3 Size
487 {
488 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
489 set
490 {
491 SetTaintedCapsuleLength(value);
492
493 // If we reset velocity here, then an avatar stalls when it crosses a border for the first time
494 // (as the height of the new root agent is set).
495// Velocity = Vector3.Zero;
496
497 _parent_scene.AddPhysicsActorTaint(this);
498 }
499 }
500
501 private void SetTaintedCapsuleLength(Vector3 size)
502 {
503 if (size.IsFinite())
504 {
505 m_pidControllerActive = true;
506
507 m_tainted_CAPSULE_LENGTH = size.Z - CAPSULE_RADIUS * 2.0f;
508
509 // m_log.InfoFormat("[ODE CHARACTER]: Size = {0}, Capsule Length = {1} (Capsule Radius = {2})",
510 // size, m_tainted_CAPSULE_LENGTH, CAPSULE_RADIUS);
511 }
512 else
513 {
514 m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.PhysicsSceneName);
515 }
516 }
517
518 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
519 {
520 movementVector.Z = 0f;
521 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
522 if (magnitude < 0.1f) return;
523
524 // normalize the velocity vector
525 float invMagnitude = 1.0f / magnitude;
526 movementVector.X *= invMagnitude;
527 movementVector.Y *= invMagnitude;
528
529 // if we change the capsule heading too often, the capsule can fall down
530 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
531 // meaning only 4 possible capsule tilt orientations
532 if (movementVector.X > 0)
533 {
534 // east
535 if (movementVector.Y > 0)
536 {
537 // northeast
538 movementVector.X = m_tiltBaseMovement;
539 movementVector.Y = m_tiltBaseMovement;
540 }
541 else
542 {
543 // southeast
544 movementVector.X = m_tiltBaseMovement;
545 movementVector.Y = -m_tiltBaseMovement;
546 }
547 }
548 else
549 {
550 // west
551 if (movementVector.Y > 0)
552 {
553 // northwest
554 movementVector.X = -m_tiltBaseMovement;
555 movementVector.Y = m_tiltBaseMovement;
556 }
557 else
558 {
559 // southwest
560 movementVector.X = -m_tiltBaseMovement;
561 movementVector.Y = -m_tiltBaseMovement;
562 }
563 }
564
565 // movementVector.Z is zero
566
567 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
568 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
569 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
570 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
571
572 //m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
573 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
574 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
575 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
576 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
577 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
578 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
579 }
580
581 /// <summary>
582 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
583 /// This may be used in calculations in the scene/scenepresence
584 /// </summary>
585 public override float Mass
586 {
587 get
588 {
589 float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
590 return m_density * AVvolume;
591 }
592 }
593
594 public override void link(PhysicsActor obj) {}
595
596 public override void delink() {}
597
598 public override void LockAngularMotion(Vector3 axis) {}
599
600// This code is very useful. Written by DanX0r. We're just not using it right now.
601// Commented out to prevent a warning.
602//
603// private void standupStraight()
604// {
605// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
606// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
607// // change appearance and when you enter the simulator
608// // After this routine is done, the amotor stabilizes much quicker
609// d.Vector3 feet;
610// d.Vector3 head;
611// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
612// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
613// float posture = head.Z - feet.Z;
614
615// // restoring force proportional to lack of posture:
616// float servo = (2.5f - posture) * POSTURE_SERVO;
617// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
618// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
619// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
620// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyFArotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
621// }
622
623 public override Vector3 Force
624 {
625 get { return _target_velocity; }
626 set { return; }
627 }
628
629 public override int VehicleType
630 {
631 get { return 0; }
632 set { return; }
633 }
634
635 public override void VehicleFloatParam(int param, float value)
636 {
637 }
638
639 public override void VehicleVectorParam(int param, Vector3 value)
640 {
641 }
642
643 public override void VehicleRotationParam(int param, Quaternion rotation)
644 {
645 }
646
647 public override void VehicleFlags(int param, bool remove)
648 {
649 }
650
651 public override void SetVolumeDetect(int param)
652 {
653 }
654
655 public override Vector3 CenterOfMass
656 {
657 get { return Vector3.Zero; }
658 }
659
660 public override Vector3 GeometricCenter
661 {
662 get { return Vector3.Zero; }
663 }
664
665 public override PrimitiveBaseShape Shape
666 {
667 set { return; }
668 }
669
670 public override Vector3 TargetVelocity
671 {
672 get
673 {
674 return m_taintTargetVelocity;
675 }
676
677 set
678 {
679 Velocity = value;
680 }
681 }
682
683
684 public override Vector3 Velocity
685 {
686 get
687 {
688 // There's a problem with Vector3.Zero! Don't Use it Here!
689 if (_zeroFlag)
690 return Vector3.Zero;
691 m_lastUpdateSent = false;
692 return _velocity;
693 }
694
695 set
696 {
697 if (value.IsFinite())
698 {
699 m_pidControllerActive = true;
700 m_taintTargetVelocity = value;
701 _parent_scene.AddPhysicsActorTaint(this);
702 }
703 else
704 {
705 m_log.WarnFormat("[ODE CHARACTER]: Got a NaN velocity from Scene for {0}", Name);
706 }
707
708// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity);
709 }
710 }
711
712 public override Vector3 Torque
713 {
714 get { return Vector3.Zero; }
715 set { return; }
716 }
717
718 public override float CollisionScore
719 {
720 get { return 0f; }
721 set { }
722 }
723
724 public override bool Kinematic
725 {
726 get { return false; }
727 set { }
728 }
729
730 public override Quaternion Orientation
731 {
732 get { return Quaternion.Identity; }
733 set {
734 //Matrix3 or = Orientation.ToRotationMatrix();
735 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
736 //d.BodySetRotation(Body, ref ord);
737 }
738 }
739
740 public override Vector3 Acceleration
741 {
742 get { return _acceleration; }
743 set { _acceleration = value; }
744 }
745
746 /// <summary>
747 /// Adds the force supplied to the Target Velocity
748 /// The PID controller takes this target velocity and tries to make it a reality
749 /// </summary>
750 /// <param name="force"></param>
751 public override void AddForce(Vector3 force, bool pushforce)
752 {
753 if (force.IsFinite())
754 {
755 if (pushforce)
756 {
757 m_pidControllerActive = false;
758 force *= 100f;
759 m_taintForce += force;
760 _parent_scene.AddPhysicsActorTaint(this);
761
762 // If uncommented, things get pushed off world
763 //
764 // m_log.Debug("Push!");
765 // m_taintTargetVelocity.X += force.X;
766 // m_taintTargetVelocity.Y += force.Y;
767 // m_taintTargetVelocity.Z += force.Z;
768 }
769 else
770 {
771 m_pidControllerActive = true;
772 m_taintTargetVelocity += force;
773 }
774 }
775 else
776 {
777 m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name);
778 }
779 //m_lastUpdateSent = false;
780 }
781
782 public override void AddAngularForce(Vector3 force, bool pushforce)
783 {
784 }
785
786 public override void SetMomentum(Vector3 momentum)
787 {
788 }
789
790 /// <summary>
791 /// Called from Simulate
792 /// This is the avatar's movement control + PID Controller
793 /// </summary>
794 /// <param name="defects">The character will be added to this list if there is something wrong (non-finite
795 /// position or velocity).
796 /// </param>
797 internal void Move(List<OdeCharacter> defects)
798 {
799 // no lock; for now it's only called from within Simulate()
800
801 // If the PID Controller isn't active then we set our force
802 // calculating base velocity to the current position
803
804 if (Body == IntPtr.Zero)
805 return;
806
807 if (m_pidControllerActive == false)
808 {
809 _zeroPosition = d.BodyGetPosition(Body);
810 }
811 //PidStatus = true;
812
813 d.Vector3 localpos = d.BodyGetPosition(Body);
814 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
815
816 if (!localPos.IsFinite())
817 {
818 m_log.WarnFormat(
819 "[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
820 localPos, Name);
821
822 defects.Add(this);
823
824 return;
825 }
826
827 Vector3 vec = Vector3.Zero;
828 d.Vector3 vel = d.BodyGetLinearVel(Body);
829
830// m_log.DebugFormat(
831// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
832// vel.X, vel.Y, vel.Z, _target_velocity, Name);
833
834 float movementdivisor = 1f;
835
836 if (!m_alwaysRun)
837 {
838 movementdivisor = walkDivisor;
839 }
840 else
841 {
842 movementdivisor = runDivisor;
843 }
844
845 // if velocity is zero, use position control; otherwise, velocity control
846 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
847 {
848 // keep track of where we stopped. No more slippin' & slidin'
849 if (!_zeroFlag)
850 {
851 _zeroFlag = true;
852 _zeroPosition = d.BodyGetPosition(Body);
853 }
854
855 if (m_pidControllerActive)
856 {
857 // We only want to deactivate the PID Controller if we think we want to have our surrogate
858 // react to the physics scene by moving it's position.
859 // Avatar to Avatar collisions
860 // Prim to avatar collisions
861
862 d.Vector3 pos = d.BodyGetPosition(Body);
863 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
864 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
865 if (flying)
866 {
867 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
868 }
869 }
870 //PidStatus = true;
871 }
872 else
873 {
874 m_pidControllerActive = true;
875 _zeroFlag = false;
876 if (m_iscolliding && !flying)
877 {
878 // We're standing on something
879 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
880 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
881 }
882 else if (m_iscolliding && flying)
883 {
884 // We're flying and colliding with something
885 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
886 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
887 }
888 else if (!m_iscolliding && flying)
889 {
890 // we're in mid air suspended
891 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
892 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
893
894// m_log.DebugFormat(
895// "[ODE CHARACTER]: !m_iscolliding && flying, vec {0}, _target_velocity {1}, movementdivisor {2}, vel {3}",
896// vec, _target_velocity, movementdivisor, vel);
897 }
898
899 if (flying)
900 {
901 // This also acts as anti-gravity so that we hover when flying rather than fall.
902 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
903 }
904 else
905 {
906 if (m_iscolliding && _target_velocity.Z > 0.0f)
907 {
908 // We're colliding with something and we're not flying but we're moving
909 // This means we're walking or running.
910 d.Vector3 pos = d.BodyGetPosition(Body);
911 vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
912 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
913 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
914 }
915 else if (!m_iscolliding)
916 {
917 // we're not colliding and we're not flying so that means we're falling!
918 // m_iscolliding includes collisions with the ground.
919 vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
920 vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
921 }
922 }
923 }
924
925 if (flying)
926 {
927 // Anti-gravity so that we hover when flying rather than fall.
928 vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
929
930 //Added for auto fly height. Kitto Flora
931 //d.Vector3 pos = d.BodyGetPosition(Body);
932 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
933
934 if (_position.Z < target_altitude)
935 {
936 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
937 }
938 // end add Kitto Flora
939 }
940
941 if (vec.IsFinite())
942 {
943 // Apply the total force acting on this avatar
944 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
945
946 if (!_zeroFlag)
947 AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
948 }
949 else
950 {
951 m_log.WarnFormat(
952 "[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
953 vec, Name);
954
955 defects.Add(this);
956
957 return;
958 }
959
960 d.Vector3 newVel = d.BodyGetLinearVel(Body);
961 if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
962 {
963// m_log.DebugFormat(
964// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name);
965
966 newVel.X = Util.Clamp<float>(newVel.X, -255f, 255f);
967 newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f);
968
969 if (!flying)
970 newVel.Z
971 = Util.Clamp<float>(
972 newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity);
973 else
974 newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
975
976 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
977 }
978 }
979
980 /// <summary>
981 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
982 /// </summary>
983 /// <param name="defects">The character will be added to this list if there is something wrong (non-finite
984 /// position or velocity).
985 /// </param>
986 internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
987 {
988 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
989 d.Vector3 newPos;
990 try
991 {
992 newPos = d.BodyGetPosition(Body);
993 }
994 catch (NullReferenceException)
995 {
996 bad = true;
997 defects.Add(this);
998 newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
999 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1000 m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
1001
1002 return;
1003 }
1004
1005 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1006 if (newPos.X < 0.0f) newPos.X = 0.0f;
1007 if (newPos.Y < 0.0f) newPos.Y = 0.0f;
1008 if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f) newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1009 if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1010
1011 _position.X = newPos.X;
1012 _position.Y = newPos.Y;
1013 _position.Z = newPos.Z;
1014
1015 // I think we need to update the taintPosition too -- Diva 12/24/10
1016 m_taintPosition = _position;
1017
1018 // Did we move last? = zeroflag
1019 // This helps keep us from sliding all over
1020
1021 if (_zeroFlag)
1022 {
1023 _velocity = Vector3.Zero;
1024
1025 // Did we send out the 'stopped' message?
1026 if (!m_lastUpdateSent)
1027 {
1028 m_lastUpdateSent = true;
1029 //base.RequestPhysicsterseUpdate();
1030 }
1031 }
1032 else
1033 {
1034 m_lastUpdateSent = false;
1035 d.Vector3 newVelocity;
1036
1037 try
1038 {
1039 newVelocity = d.BodyGetLinearVel(Body);
1040 }
1041 catch (NullReferenceException)
1042 {
1043 newVelocity.X = _velocity.X;
1044 newVelocity.Y = _velocity.Y;
1045 newVelocity.Z = _velocity.Z;
1046 }
1047
1048 _velocity.X = newVelocity.X;
1049 _velocity.Y = newVelocity.Y;
1050 _velocity.Z = newVelocity.Z;
1051
1052 if (_velocity.Z < -6 && !m_hackSentFall)
1053 {
1054 m_hackSentFall = true;
1055 m_pidControllerActive = false;
1056 }
1057 else if (flying && !m_hackSentFly)
1058 {
1059 //m_hackSentFly = true;
1060 //base.SendCollisionUpdate(new CollisionEventUpdate());
1061 }
1062 else
1063 {
1064 m_hackSentFly = false;
1065 m_hackSentFall = false;
1066 }
1067 }
1068 }
1069
1070 /// <summary>
1071 /// This creates the Avatar's physical Surrogate in ODE at the position supplied
1072 /// </summary>
1073 /// <remarks>
1074 /// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
1075 /// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
1076 /// place that is safe to call this routine AvatarGeomAndBodyCreation.
1077 /// </remarks>
1078 /// <param name="npositionX"></param>
1079 /// <param name="npositionY"></param>
1080 /// <param name="npositionZ"></param>
1081 /// <param name="tensor"></param>
1082 private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
1083 {
1084 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1085 {
1086 m_log.ErrorFormat(
1087 "[ODE CHARACTER]: Creating ODE structures for {0} even though some already exist. Shell = {1}, Body = {2}, Amotor = {3}",
1088 Name, Shell, Body, Amotor);
1089 }
1090
1091 int dAMotorEuler = 1;
1092// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1093 if (CAPSULE_LENGTH <= 0)
1094 {
1095 m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
1096 CAPSULE_LENGTH = 0.01f;
1097 }
1098
1099 if (CAPSULE_RADIUS <= 0)
1100 {
1101 m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
1102 CAPSULE_RADIUS = 0.01f;
1103 }
1104
1105// lock (OdeScene.UniversalColliderSyncObject)
1106 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
1107
1108 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
1109 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
1110
1111 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
1112 Body = d.BodyCreate(_parent_scene.world);
1113 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
1114
1115 _position.X = npositionX;
1116 _position.Y = npositionY;
1117 _position.Z = npositionZ;
1118
1119 m_taintPosition = _position;
1120
1121 d.BodySetMass(Body, ref ShellMass);
1122 d.Matrix3 m_caprot;
1123 // 90 Stand up on the cap of the capped cyllinder
1124 if (_parent_scene.IsAvCapsuleTilted)
1125 {
1126 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
1127 }
1128 else
1129 {
1130 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
1131 }
1132
1133 d.GeomSetRotation(Shell, ref m_caprot);
1134 d.BodySetRotation(Body, ref m_caprot);
1135
1136 d.GeomSetBody(Shell, Body);
1137
1138 // The purpose of the AMotor here is to keep the avatar's physical
1139 // surrogate from rotating while moving
1140 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1141 d.JointAttach(Amotor, Body, IntPtr.Zero);
1142 d.JointSetAMotorMode(Amotor, dAMotorEuler);
1143 d.JointSetAMotorNumAxes(Amotor, 3);
1144 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
1145 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
1146 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
1147 d.JointSetAMotorAngle(Amotor, 0, 0);
1148 d.JointSetAMotorAngle(Amotor, 1, 0);
1149 d.JointSetAMotorAngle(Amotor, 2, 0);
1150
1151 // These lowstops and high stops are effectively (no wiggle room)
1152 if (_parent_scene.IsAvCapsuleTilted)
1153 {
1154 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
1155 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
1156 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
1157 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
1158 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
1159 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
1160 }
1161 else
1162 {
1163 #region Documentation of capsule motor LowStop and HighStop parameters
1164 // Intentionally introduce some tilt into the capsule by setting
1165 // the motor stops to small epsilon values. This small tilt prevents
1166 // the capsule from falling into the terrain; a straight-up capsule
1167 // (with -0..0 motor stops) falls into the terrain for reasons yet
1168 // to be comprehended in their entirety.
1169 #endregion
1170 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
1171 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
1172 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
1173 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
1174 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
1175 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
1176 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
1177 }
1178
1179 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
1180 // capped cyllinder will fall over
1181 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
1182 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
1183
1184 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
1185 //d.QfromR(
1186 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
1187 //
1188 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
1189 //standupStraight();
1190
1191 _parent_scene.geom_name_map[Shell] = Name;
1192 _parent_scene.actor_name_map[Shell] = this;
1193 }
1194
1195 /// <summary>
1196 /// Cleanup the things we use in the scene.
1197 /// </summary>
1198 internal void Destroy()
1199 {
1200 m_tainted_isPhysical = false;
1201 _parent_scene.AddPhysicsActorTaint(this);
1202 }
1203
1204 /// <summary>
1205 /// Used internally to destroy the ODE structures associated with this character.
1206 /// </summary>
1207 internal void DestroyOdeStructures()
1208 {
1209 // Create avatar capsule and related ODE data
1210 if (Shell == IntPtr.Zero || Body == IntPtr.Zero || Amotor == IntPtr.Zero)
1211 {
1212 m_log.ErrorFormat(
1213 "[ODE CHARACTER]: Destroying ODE structures for {0} even though some are already null. Shell = {1}, Body = {2}, Amotor = {3}",
1214 Name, Shell, Body, Amotor);
1215 }
1216
1217 // destroy avatar capsule and related ODE data
1218 if (Amotor != IntPtr.Zero)
1219 {
1220 // Kill the Amotor
1221 d.JointDestroy(Amotor);
1222 Amotor = IntPtr.Zero;
1223 }
1224
1225 //kill the Geometry
1226// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1227
1228 if (Body != IntPtr.Zero)
1229 {
1230 //kill the body
1231 d.BodyDestroy(Body);
1232 Body = IntPtr.Zero;
1233 }
1234
1235 if (Shell != IntPtr.Zero)
1236 {
1237// lock (OdeScene.UniversalColliderSyncObject)
1238 d.GeomDestroy(Shell);
1239
1240 _parent_scene.geom_name_map.Remove(Shell);
1241 _parent_scene.actor_name_map.Remove(Shell);
1242
1243 Shell = IntPtr.Zero;
1244 }
1245 }
1246
1247 public override void CrossingFailure()
1248 {
1249 }
1250
1251 public override Vector3 PIDTarget { set { return; } }
1252 public override bool PIDActive
1253 {
1254 get { return false; }
1255 set { return; }
1256 }
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 public override void SubscribeEvents(int ms)
1273 {
1274 m_requestedUpdateFrequency = ms;
1275 m_eventsubscription = ms;
1276
1277 // Don't clear collision event reporting here. This is called directly from scene code and so can lead
1278 // to a race condition with the simulate loop
1279
1280 _parent_scene.AddCollisionEventReporting(this);
1281 }
1282
1283 public override void UnSubscribeEvents()
1284 {
1285 _parent_scene.RemoveCollisionEventReporting(this);
1286
1287 // Don't clear collision event reporting here. This is called directly from scene code and so can lead
1288 // to a race condition with the simulate loop
1289
1290 m_requestedUpdateFrequency = 0;
1291 m_eventsubscription = 0;
1292 }
1293
1294 internal void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1295 {
1296 if (m_eventsubscription > 0)
1297 {
1298// m_log.DebugFormat(
1299// "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1300
1301 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1302 }
1303 }
1304
1305 internal void SendCollisions()
1306 {
1307 if (m_eventsubscription > m_requestedUpdateFrequency)
1308 {
1309 base.SendCollisionUpdate(CollisionEventsThisFrame);
1310
1311 CollisionEventsThisFrame.Clear();
1312 m_eventsubscription = 0;
1313 }
1314 }
1315
1316 public override bool SubscribedEvents()
1317 {
1318 if (m_eventsubscription > 0)
1319 return true;
1320 return false;
1321 }
1322
1323 internal void ProcessTaints()
1324 {
1325 if (m_taintPosition != _position)
1326 {
1327 if (Body != IntPtr.Zero)
1328 {
1329 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1330 _position = m_taintPosition;
1331 }
1332 }
1333
1334 if (m_taintForce != Vector3.Zero)
1335 {
1336 if (Body != IntPtr.Zero)
1337 {
1338 // FIXME: This is not a good solution since it's subject to a race condition if a force is another
1339 // thread sets a new force while we're in this loop (since it could be obliterated by
1340 // m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
1341 d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
1342 }
1343
1344 m_taintForce = Vector3.Zero;
1345 }
1346
1347 if (m_taintTargetVelocity != _target_velocity)
1348 _target_velocity = m_taintTargetVelocity;
1349
1350 if (m_tainted_isPhysical != m_isPhysical)
1351 {
1352 if (m_tainted_isPhysical)
1353 {
1354 CreateOdeStructures(_position.X, _position.Y, _position.Z, m_tensor);
1355 _parent_scene.AddCharacter(this);
1356 }
1357 else
1358 {
1359 _parent_scene.RemoveCharacter(this);
1360 DestroyOdeStructures();
1361 }
1362
1363 m_isPhysical = m_tainted_isPhysical;
1364 }
1365
1366 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1367 {
1368 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1369 {
1370// m_log.DebugFormat(
1371// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}",
1372// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name);
1373
1374 m_pidControllerActive = true;
1375
1376 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1377 DestroyOdeStructures();
1378
1379 float prevCapsule = CAPSULE_LENGTH;
1380 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1381
1382 CreateOdeStructures(
1383 _position.X,
1384 _position.Y,
1385 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1386
1387 // As with Size, we reset velocity. However, this isn't strictly necessary since it doesn't
1388 // appear to stall initial region crossings when done here. Being done for consistency.
1389// Velocity = Vector3.Zero;
1390 }
1391 else
1392 {
1393 m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - "
1394 + (Shell==IntPtr.Zero ? "Shell ":"")
1395 + (Body==IntPtr.Zero ? "Body ":"")
1396 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1397 }
1398 }
1399 }
1400
1401 internal void AddCollisionFrameTime(int p)
1402 {
1403 // protect it from overflow crashing
1404 if (m_eventsubscription + p >= int.MaxValue)
1405 m_eventsubscription = 0;
1406 m_eventsubscription += p;
1407 }
1408 }
1409}
generated by cgit v1.1 at 2024-07-05 09:31:20 +0000