From f95033812402aaf31a9f2f66c946165d2d79669f Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Sat, 17 Sep 2011 01:09:25 +0100
Subject: Remove old bullet DotNET and X libraries in preparation for BulletS
These weren't working properly anyway.
You will need to rerun prebuild.sh/.bat after this commit, and maybe "nant clean" as well.
---
.../BulletDotNETPlugin/BulletDotNETCharacter.cs | 1191 --------------------
1 file changed, 1191 deletions(-)
delete mode 100644 OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
(limited to 'OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs')
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
deleted file mode 100644
index ac4e2b9..0000000
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ /dev/null
@@ -1,1191 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the OpenSimulator Project nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-using System;
-using System.Reflection;
-using BulletDotNET;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using log4net;
-
-namespace OpenSim.Region.Physics.BulletDotNETPlugin
-{
- public class BulletDotNETCharacter : PhysicsActor
- {
- private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-
- public btRigidBody Body;
- public btCollisionShape Shell;
- public btVector3 tempVector1;
- public btVector3 tempVector2;
- public btVector3 tempVector3;
- public btVector3 tempVector4;
-
- public btVector3 tempVector5RayCast;
- public btVector3 tempVector6RayCast;
- public btVector3 tempVector7RayCast;
-
- public btQuaternion tempQuat1;
- public btTransform tempTrans1;
-
- public ClosestNotMeRayResultCallback ClosestCastResult;
- private btTransform m_bodyTransform;
- private btVector3 m_bodyPosition;
- private btVector3 m_CapsuleOrientationAxis;
- private btQuaternion m_bodyOrientation;
- private btDefaultMotionState m_bodyMotionState;
- private btGeneric6DofConstraint m_aMotor;
- // private Vector3 m_movementComparision;
- private Vector3 m_position;
- private Vector3 m_zeroPosition;
- private bool m_zeroFlag = false;
- private bool m_lastUpdateSent = false;
- private Vector3 m_velocity;
- private Vector3 m_target_velocity;
- private Vector3 m_acceleration;
- private Vector3 m_rotationalVelocity;
- private bool m_pidControllerActive = true;
- public float PID_D = 80.0f;
- public float PID_P = 90.0f;
- public float CAPSULE_RADIUS = 0.37f;
- public float CAPSULE_LENGTH = 2.140599f;
- public float heightFudgeFactor = 0.52f;
- public float walkDivisor = 1.3f;
- public float runDivisor = 0.8f;
- private float m_mass = 80f;
- public float m_density = 60f;
- private bool m_flying = false;
- private bool m_iscolliding = false;
- private bool m_iscollidingGround = false;
- private bool m_wascolliding = false;
- private bool m_wascollidingGround = false;
- private bool m_iscollidingObj = false;
- private bool m_alwaysRun = false;
- private bool m_hackSentFall = false;
- private bool m_hackSentFly = false;
- public uint m_localID = 0;
- public bool m_returnCollisions = false;
- // taints and their non-tainted counterparts
- public bool m_isPhysical = false; // the current physical status
- public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
- private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
- private bool m_taintRemove = false;
- // private bool m_taintedPosition = false;
- // private Vector3 m_taintedPosition_value;
- private Vector3 m_taintedForce;
-
- private float m_buoyancy = 0f;
-
- // private CollisionLocker ode;
-
- // private string m_name = String.Empty;
-
- private bool[] m_colliderarr = new bool[11];
- private bool[] m_colliderGroundarr = new bool[11];
-
- private BulletDotNETScene m_parent_scene;
-
- public int m_eventsubscription = 0;
- private CollisionEventUpdate CollisionEventsThisFrame = null;
- private int m_requestedUpdateFrequency = 0;
-
- public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
- {
- m_position = pos;
- m_zeroPosition = pos;
- m_parent_scene = parent_scene;
- PID_D = pid_d;
- PID_P = pid_p;
- CAPSULE_RADIUS = capsule_radius;
- m_density = density;
- heightFudgeFactor = height_fudge_factor;
- walkDivisor = walk_divisor;
- runDivisor = rundivisor;
-
- for (int i = 0; i < 11; i++)
- {
- m_colliderarr[i] = false;
- }
- for (int i = 0; i < 11; i++)
- {
- m_colliderGroundarr[i] = false;
- }
- CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
- m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
- m_isPhysical = false; // current status: no ODE information exists
- m_tainted_isPhysical = true; // new tainted status: need to create ODE information
-
- m_parent_scene.AddPhysicsActorTaint(this);
-
- // m_name = avName;
- tempVector1 = new btVector3(0, 0, 0);
- tempVector2 = new btVector3(0, 0, 0);
- tempVector3 = new btVector3(0, 0, 0);
- tempVector4 = new btVector3(0, 0, 0);
-
- tempVector5RayCast = new btVector3(0, 0, 0);
- tempVector6RayCast = new btVector3(0, 0, 0);
- tempVector7RayCast = new btVector3(0, 0, 0);
-
- tempQuat1 = new btQuaternion(0, 0, 0, 1);
- tempTrans1 = new btTransform(tempQuat1, tempVector1);
- // m_movementComparision = new PhysicsVector(0, 0, 0);
- m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
- }
-
- ///
- /// This creates the Avatar's physical Surrogate at the position supplied
- ///
- ///
- ///
- ///
-
- // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
- // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
- // place that is safe to call this routine AvatarGeomAndBodyCreation.
- private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
- {
-
- if (CAPSULE_LENGTH <= 0)
- {
- m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
- CAPSULE_LENGTH = 0.01f;
-
- }
-
- if (CAPSULE_RADIUS <= 0)
- {
- m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
- CAPSULE_RADIUS = 0.01f;
-
- }
-
- Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);
-
- if (m_bodyPosition == null)
- m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
-
- m_bodyPosition.setValue(npositionX, npositionY, npositionZ);
-
- if (m_bodyOrientation == null)
- m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
-
- if (m_bodyTransform == null)
- m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
- else
- {
- m_bodyTransform.Dispose();
- m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
- }
-
- if (m_bodyMotionState == null)
- m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
- else
- m_bodyMotionState.setWorldTransform(m_bodyTransform);
-
- m_mass = Mass;
-
- Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
- // this is used for self identification. User localID instead of body handle
- Body.setUserPointer(new IntPtr((int)m_localID));
-
- if (ClosestCastResult != null)
- ClosestCastResult.Dispose();
- ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
-
- m_parent_scene.AddRigidBody(Body);
- Body.setActivationState(4);
- if (m_aMotor != null)
- {
- if (m_aMotor.Handle != IntPtr.Zero)
- {
- m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
- m_aMotor.Dispose();
- }
- m_aMotor = null;
- }
-
- m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
- m_parent_scene.TransZero,
- m_parent_scene.TransZero, false);
- m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
- m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
-
-
- }
- public void Remove()
- {
- m_taintRemove = true;
- }
- public override bool Stopped
- {
- get { return m_zeroFlag; }
- }
-
- public override Vector3 Size
- {
- get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
- set
- {
- m_pidControllerActive = true;
-
- Vector3 SetSize = value;
- m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
- //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
-
- Velocity = Vector3.Zero;
-
- m_parent_scene.AddPhysicsActorTaint(this);
- }
- }
-
- ///
- /// turn the PID controller on or off.
- /// The PID Controller will turn on all by itself in many situations
- ///
- ///
- public void SetPidStatus(bool status)
- {
- m_pidControllerActive = status;
- }
-
- public override PrimitiveBaseShape Shape
- {
- set { return; }
- }
-
- public override uint LocalID
- {
- set { m_localID = value; }
- }
-
- public override bool Grabbed
- {
- set { return; }
- }
-
- public override bool Selected
- {
- set { return; }
- }
-
-
- public override void CrossingFailure()
- {
-
- }
-
- public override void link(PhysicsActor obj)
- {
-
- }
-
- public override void delink()
- {
-
- }
-
- public override void LockAngularMotion(Vector3 axis)
- {
-
- }
-
- public override Vector3 Position
- {
- get { return m_position; }
- set
- {
- // m_taintedPosition_value = value;
- m_position = value;
- // m_taintedPosition = true;
- }
- }
-
- public override float Mass
- {
- get
- {
- float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
- return m_density * AVvolume;
- }
- }
-
- public override Vector3 Force
- {
- get { return m_target_velocity; }
- set { return; }
- }
-
- public override int VehicleType
- {
- get { return 0; }
- set { return; }
- }
-
- public override void VehicleFloatParam(int param, float value)
- {
-
- }
-
- public override void VehicleVectorParam(int param, Vector3 value)
- {
-
- }
-
- public override void VehicleRotationParam(int param, Quaternion rotation)
- {
-
- }
-
- public override void VehicleFlags(int param, bool remove)
- {
-
- }
-
- public override void SetVolumeDetect(int param)
- {
-
- }
-
- public override Vector3 GeometricCenter
- {
- get { return Vector3.Zero; }
- }
-
- public override Vector3 CenterOfMass
- {
- get { return Vector3.Zero; }
- }
-
- public override Vector3 Velocity
- {
- get
- {
- if (m_zeroFlag)
- return Vector3.Zero;
- m_lastUpdateSent = false;
- return m_velocity;
- }
- set
- {
- m_pidControllerActive = true;
- m_target_velocity = value;
- }
- }
-
- public override Vector3 Torque
- {
- get { return Vector3.Zero; }
- set { return; }
- }
-
- public override float CollisionScore
- {
- get { return 0f; }
- set { }
- }
-
- public override Vector3 Acceleration
- {
- get { return m_acceleration; }
- }
-
- public override Quaternion Orientation
- {
- get { return Quaternion.Identity; }
- set
- {
-
- }
- }
-
- public override int PhysicsActorType
- {
- get { return (int)ActorTypes.Agent; }
- set { return; }
- }
-
- public override bool IsPhysical
- {
- get { return false; }
- set { return; }
- }
-
- public override bool Flying
- {
- get { return m_flying; }
- set { m_flying = value; }
- }
-
- public override bool SetAlwaysRun
- {
- get { return m_alwaysRun; }
- set { m_alwaysRun = value; }
- }
-
-
- public override bool ThrottleUpdates
- {
- get { return false; }
- set { return; }
- }
-
- ///
- /// Returns if the avatar is colliding in general.
- /// This includes the ground and objects and avatar.
- ///
- public override bool IsColliding
- {
- get { return m_iscolliding; }
- set
- {
- int i;
- int truecount = 0;
- int falsecount = 0;
-
- if (m_colliderarr.Length >= 10)
- {
- for (i = 0; i < 10; i++)
- {
- m_colliderarr[i] = m_colliderarr[i + 1];
- }
- }
- m_colliderarr[10] = value;
-
- for (i = 0; i < 11; i++)
- {
- if (m_colliderarr[i])
- {
- truecount++;
- }
- else
- {
- falsecount++;
- }
- }
-
- // Equal truecounts and false counts means we're colliding with something.
- m_log.DebugFormat("[PHYSICS]: TrueCount:{0}, FalseCount:{1}",truecount,falsecount);
- if (falsecount > 1.2 * truecount)
- {
- m_iscolliding = false;
- }
- else
- {
- m_iscolliding = true;
- }
- if (m_wascolliding != m_iscolliding)
- {
- //base.SendCollisionUpdate(new CollisionEventUpdate());
- }
- m_wascolliding = m_iscolliding;
- }
- }
-
- ///
- /// Returns if an avatar is colliding with the ground
- ///
- public override bool CollidingGround
- {
- get { return m_iscollidingGround; }
- set
- {
- // Collisions against the ground are not really reliable
- // So, to get a consistant value we have to average the current result over time
- // Currently we use 1 second = 10 calls to this.
- int i;
- int truecount = 0;
- int falsecount = 0;
-
- if (m_colliderGroundarr.Length >= 10)
- {
- for (i = 0; i < 10; i++)
- {
- m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
- }
- }
- m_colliderGroundarr[10] = value;
-
- for (i = 0; i < 11; i++)
- {
- if (m_colliderGroundarr[i])
- {
- truecount++;
- }
- else
- {
- falsecount++;
- }
- }
-
- // Equal truecounts and false counts means we're colliding with something.
-
- if (falsecount > 1.2 * truecount)
- {
- m_iscollidingGround = false;
- }
- else
- {
- m_iscollidingGround = true;
- }
- if (m_wascollidingGround != m_iscollidingGround)
- {
- //base.SendCollisionUpdate(new CollisionEventUpdate());
- }
- m_wascollidingGround = m_iscollidingGround;
- }
- }
-
- ///
- /// Returns if the avatar is colliding with an object
- ///
- public override bool CollidingObj
- {
- get { return m_iscollidingObj; }
- set
- {
- m_iscollidingObj = value;
- if (value)
- m_pidControllerActive = false;
- else
- m_pidControllerActive = true;
- }
- }
-
-
- public override bool FloatOnWater
- {
- set { return; }
- }
-
- public override Vector3 RotationalVelocity
- {
- get { return m_rotationalVelocity; }
- set { m_rotationalVelocity = value; }
- }
-
- public override bool Kinematic
- {
- get { return false; }
- set { }
- }
-
- public override float Buoyancy
- {
- get { return m_buoyancy; }
- set { m_buoyancy = value; }
- }
-
- public override Vector3 PIDTarget { set { return; } }
- public override bool PIDActive { set { return; } }
- public override float PIDTau { set { return; } }
-
- public override bool PIDHoverActive
- {
- set { return; }
- }
-
- public override float PIDHoverHeight
- {
- set { return; }
- }
-
- public override PIDHoverType PIDHoverType
- {
- set { return; }
- }
-
- public override float PIDHoverTau
- {
- set { return; }
- }
-
-
- public override Quaternion APIDTarget
- {
- set { return; }
- }
-
- public override bool APIDActive
- {
- set { return; }
- }
-
- public override float APIDStrength
- {
- set { return; }
- }
-
- public override float APIDDamping
- {
- set { return; }
- }
-
- ///
- /// Adds the force supplied to the Target Velocity
- /// The PID controller takes this target velocity and tries to make it a reality
- ///
- ///
- /// Is this a push by a script?
- public override void AddForce(Vector3 force, bool pushforce)
- {
- if (pushforce)
- {
- m_pidControllerActive = false;
- force *= 100f;
- doForce(force, false);
- //System.Console.WriteLine("Push!");
- //_target_velocity.X += force.X;
- // _target_velocity.Y += force.Y;
- //_target_velocity.Z += force.Z;
- }
- else
- {
- m_pidControllerActive = true;
- m_target_velocity.X += force.X;
- m_target_velocity.Y += force.Y;
- m_target_velocity.Z += force.Z;
- }
- //m_lastUpdateSent = false;
- }
-
- public void doForce(Vector3 force, bool now)
- {
-
- tempVector3.setValue(force.X, force.Y, force.Z);
- if (now)
- {
- Body.applyCentralForce(tempVector3);
- }
- else
- {
- m_taintedForce += force;
- m_parent_scene.AddPhysicsActorTaint(this);
- }
- }
-
- public void doImpulse(Vector3 force, bool now)
- {
-
- tempVector3.setValue(force.X, force.Y, force.Z);
- if (now)
- {
- Body.applyCentralImpulse(tempVector3);
- }
- else
- {
- m_taintedForce += force;
- m_parent_scene.AddPhysicsActorTaint(this);
- }
- }
-
- public override void AddAngularForce(Vector3 force, bool pushforce)
- {
-
- }
-
- public override void SetMomentum(Vector3 momentum)
- {
-
- }
-
- public override void SubscribeEvents(int ms)
- {
- m_eventsubscription = ms;
- m_requestedUpdateFrequency = ms;
- m_parent_scene.addCollisionEventReporting(this);
- }
-
- public override void UnSubscribeEvents()
- {
- m_parent_scene.remCollisionEventReporting(this);
- m_eventsubscription = 0;
- m_requestedUpdateFrequency = 0;
- }
-
- public override bool SubscribedEvents()
- {
- if (m_eventsubscription > 0)
- return true;
- return false;
- }
-
- public void AddCollision(uint collideWith, ContactPoint contact)
- {
- if (CollisionEventsThisFrame == null)
- {
- CollisionEventsThisFrame = new CollisionEventUpdate();
- }
- CollisionEventsThisFrame.addCollider(collideWith, contact);
- }
-
- public void SendCollisions()
- {
- if (m_eventsubscription >= m_requestedUpdateFrequency)
- {
- if (CollisionEventsThisFrame != null)
- {
- base.SendCollisionUpdate(CollisionEventsThisFrame);
- }
- CollisionEventsThisFrame = new CollisionEventUpdate();
- m_eventsubscription = 0;
- }
- return;
- }
-
- internal void Dispose()
- {
- if (Body.isInWorld())
- m_parent_scene.removeFromWorld(Body);
-
- if (m_aMotor.Handle != IntPtr.Zero)
- m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
-
- m_aMotor.Dispose(); m_aMotor = null;
- ClosestCastResult.Dispose(); ClosestCastResult = null;
- Body.Dispose(); Body = null;
- Shell.Dispose(); Shell = null;
- tempQuat1.Dispose();
- tempTrans1.Dispose();
- tempVector1.Dispose();
- tempVector2.Dispose();
- tempVector3.Dispose();
- tempVector4.Dispose();
- tempVector5RayCast.Dispose();
- tempVector6RayCast.Dispose();
-
- }
-
- public void ProcessTaints(float timestep)
- {
-
- if (m_tainted_isPhysical != m_isPhysical)
- {
- if (m_tainted_isPhysical)
- {
- // Create avatar capsule and related ODE data
- if (!(Shell == null && Body == null))
- {
- m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
- + (Shell != null ? "Shell " : "")
- + (Body != null ? "Body " : ""));
- }
- AvatarGeomAndBodyCreation(m_position.X, m_position.Y, m_position.Z);
-
-
- }
- else
- {
- // destroy avatar capsule and related ODE data
-
- Dispose();
- tempVector1 = new btVector3(0, 0, 0);
- tempVector2 = new btVector3(0, 0, 0);
- tempVector3 = new btVector3(0, 0, 0);
- tempVector4 = new btVector3(0, 0, 0);
-
- tempVector5RayCast = new btVector3(0, 0, 0);
- tempVector6RayCast = new btVector3(0, 0, 0);
- tempVector7RayCast = new btVector3(0, 0, 0);
-
- tempQuat1 = new btQuaternion(0, 0, 0, 1);
- tempTrans1 = new btTransform(tempQuat1, tempVector1);
- // m_movementComparision = new PhysicsVector(0, 0, 0);
- m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
- }
-
- m_isPhysical = m_tainted_isPhysical;
- }
-
- if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
- {
- if (Body != null)
- {
-
- m_pidControllerActive = true;
- // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
- //d.JointDestroy(Amotor);
- float prevCapsule = CAPSULE_LENGTH;
- CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
- //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
- Dispose();
-
- tempVector1 = new btVector3(0, 0, 0);
- tempVector2 = new btVector3(0, 0, 0);
- tempVector3 = new btVector3(0, 0, 0);
- tempVector4 = new btVector3(0, 0, 0);
-
- tempVector5RayCast = new btVector3(0, 0, 0);
- tempVector6RayCast = new btVector3(0, 0, 0);
- tempVector7RayCast = new btVector3(0, 0, 0);
-
- tempQuat1 = new btQuaternion(0, 0, 0, 1);
- tempTrans1 = new btTransform(tempQuat1, tempVector1);
- // m_movementComparision = new PhysicsVector(0, 0, 0);
- m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
-
- AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
- m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
- Velocity = Vector3.Zero;
-
- }
- else
- {
- m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
- + (Shell == null ? "Shell " : "")
- + (Body == null ? "Body " : ""));
- }
- }
- if (m_taintRemove)
- {
- Dispose();
- }
- }
-
- ///
- /// Called from Simulate
- /// This is the avatar's movement control + PID Controller
- ///
- ///
- public void Move(float timeStep)
- {
- // no lock; for now it's only called from within Simulate()
-
- // If the PID Controller isn't active then we set our force
- // calculating base velocity to the current position
- if (Body == null)
- return;
- tempTrans1.Dispose();
- tempTrans1 = Body.getInterpolationWorldTransform();
- tempVector1.Dispose();
- tempVector1 = tempTrans1.getOrigin();
- tempVector2.Dispose();
- tempVector2 = Body.getInterpolationLinearVelocity();
-
- if (m_pidControllerActive == false)
- {
- m_zeroPosition.X = tempVector1.getX();
- m_zeroPosition.Y = tempVector1.getY();
- m_zeroPosition.Z = tempVector1.getZ();
- }
- //PidStatus = true;
-
- Vector3 vec = Vector3.Zero;
-
- Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
-
- float movementdivisor = 1f;
-
- if (!m_alwaysRun)
- {
- movementdivisor = walkDivisor;
- }
- else
- {
- movementdivisor = runDivisor;
- }
-
- // if velocity is zero, use position control; otherwise, velocity control
- if (m_target_velocity.X == 0.0f && m_target_velocity.Y == 0.0f && m_target_velocity.Z == 0.0f && m_iscolliding)
- {
- // keep track of where we stopped. No more slippin' & slidin'
- if (!m_zeroFlag)
- {
- m_zeroFlag = true;
- m_zeroPosition.X = tempVector1.getX();
- m_zeroPosition.Y = tempVector1.getY();
- m_zeroPosition.Z = tempVector1.getZ();
- }
- if (m_pidControllerActive)
- {
- // We only want to deactivate the PID Controller if we think we want to have our surrogate
- // react to the physics scene by moving it's position.
- // Avatar to Avatar collisions
- // Prim to avatar collisions
-
- Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
- vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
- vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
- if (m_flying)
- {
- vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D) + (m_zeroPosition.Z - pos.Z) * PID_P;
- }
- }
- //PidStatus = true;
- }
- else
- {
- m_pidControllerActive = true;
- m_zeroFlag = false;
- if (m_iscolliding && !m_flying)
- {
- // We're standing on something
- vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
- vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
- }
- else if (m_iscolliding && m_flying)
- {
- // We're flying and colliding with something
- vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
- vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
- }
- else if (!m_iscolliding && m_flying)
- {
- // we're in mid air suspended
- vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
- vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
-
- // We don't want linear velocity to cause our avatar to bounce, so we check target Z and actual velocity X, Y
- // rebound preventing
- if (m_target_velocity.Z < 0.025f && m_velocity.X < 0.25f && m_velocity.Y < 0.25f)
- m_zeroFlag = true;
- }
-
- if (m_iscolliding && !m_flying && m_target_velocity.Z > 0.0f)
- {
- // We're colliding with something and we're not flying but we're moving
- // This means we're walking or running.
- Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
- vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
- if (m_target_velocity.X > 0)
- {
- vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
- }
- if (m_target_velocity.Y > 0)
- {
- vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
- }
- }
- else if (!m_iscolliding && !m_flying)
- {
- // we're not colliding and we're not flying so that means we're falling!
- // m_iscolliding includes collisions with the ground.
-
- // d.Vector3 pos = d.BodyGetPosition(Body);
- if (m_target_velocity.X > 0)
- {
- vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D;
- }
- if (m_target_velocity.Y > 0)
- {
- vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
- }
- }
-
-
- if (m_flying)
- {
- vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D);
- }
- }
- if (m_flying)
- {
- // Slight PID correction
- vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.06f);
-
-
- //auto fly height. Kitto Flora
- //d.Vector3 pos = d.BodyGetPosition(Body);
- float target_altitude = m_parent_scene.GetTerrainHeightAtXY(m_position.X, m_position.Y) + 5.0f;
-
- if (m_position.Z < target_altitude)
- {
- vec.Z += (target_altitude - m_position.Z) * PID_P * 5.0f;
- }
-
- }
- if (Body != null && (((m_target_velocity.X > 0.2f || m_target_velocity.X < -0.2f) || (m_target_velocity.Y > 0.2f || m_target_velocity.Y < -0.2f))))
- {
- Body.setFriction(0.001f);
- //m_log.DebugFormat("[PHYSICS]: Avatar force applied: {0}, Target:{1}", vec.ToString(), m_target_velocity.ToString());
- }
-
- if (Body != null)
- {
- int activationstate = Body.getActivationState();
- if (activationstate == 0)
- {
- Body.forceActivationState(1);
- }
-
-
- }
- doImpulse(vec, true);
- }
-
- ///
- /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
- ///
- public void UpdatePositionAndVelocity()
- {
- if (Body == null)
- return;
- //int val = Environment.TickCount;
- CheckIfStandingOnObject();
- //m_log.DebugFormat("time:{0}", Environment.TickCount - val);
-
- //IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody);
-
- tempTrans1.Dispose();
- tempTrans1 = Body.getInterpolationWorldTransform();
- tempVector1.Dispose();
- tempVector1 = tempTrans1.getOrigin();
- tempVector2.Dispose();
- tempVector2 = Body.getInterpolationLinearVelocity();
-
- // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
- Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
-
- // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
- if (vec.X < -10.0f) vec.X = 0.0f;
- if (vec.Y < -10.0f) vec.Y = 0.0f;
- if (vec.X > (int)Constants.RegionSize + 10.2f) vec.X = (int)Constants.RegionSize + 10.2f;
- if (vec.Y > (int)Constants.RegionSize + 10.2f) vec.Y = (int)Constants.RegionSize + 10.2f;
-
- m_position.X = vec.X;
- m_position.Y = vec.Y;
- m_position.Z = vec.Z;
-
- // Did we move last? = zeroflag
- // This helps keep us from sliding all over
-
- if (m_zeroFlag)
- {
- m_velocity.X = 0.0f;
- m_velocity.Y = 0.0f;
- m_velocity.Z = 0.0f;
-
- // Did we send out the 'stopped' message?
- if (!m_lastUpdateSent)
- {
- m_lastUpdateSent = true;
- //base.RequestPhysicsterseUpdate();
-
- }
- }
- else
- {
- m_lastUpdateSent = false;
- vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
- m_velocity.X = (vec.X);
- m_velocity.Y = (vec.Y);
-
- m_velocity.Z = (vec.Z);
- //m_log.Debug(m_target_velocity);
- if (m_velocity.Z < -6 && !m_hackSentFall)
- {
- m_hackSentFall = true;
- m_pidControllerActive = false;
- }
- else if (m_flying && !m_hackSentFly)
- {
- //m_hackSentFly = true;
- //base.SendCollisionUpdate(new CollisionEventUpdate());
- }
- else
- {
- m_hackSentFly = false;
- m_hackSentFall = false;
- }
- }
- if (Body != null)
- {
- if (Body.getFriction() < 0.9f)
- Body.setFriction(0.9f);
- }
- //if (Body != null)
- // Body.clearForces();
- }
-
- public void CheckIfStandingOnObject()
- {
-
- float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f);
-
- tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z);
- tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - 1 * capsuleHalfHeight * 1.1f);
-
-
- ClosestCastResult.Dispose();
- ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
-
- try
- {
- m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult);
- }
- catch (AccessViolationException)
- {
- m_log.Debug("BAD!");
- }
- if (ClosestCastResult.hasHit())
- {
-
- if (tempVector7RayCast != null)
- tempVector7RayCast.Dispose();
-
- //tempVector7RayCast = ClosestCastResult.getHitPointWorld();
-
- /*if (tempVector7RayCast == null) // null == no result also
- {
- CollidingObj = false;
- IsColliding = false;
- CollidingGround = false;
-
- return;
- }
- float zVal = tempVector7RayCast.getZ();
- if (zVal != 0)
- m_log.Debug("[PHYSICS]: HAAAA");
- if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f))
- {
- CollidingObj = true;
- IsColliding = true;
- }
- else
- {
- CollidingObj = false;
- IsColliding = false;
- CollidingGround = false;
- }*/
-
- //height+2*radius = capsule full length
- //CollidingObj = true;
- //IsColliding = true;
- m_iscolliding = true;
- }
- else
- {
- //CollidingObj = false;
- //IsColliding = false;
- //CollidingGround = false;
- m_iscolliding = false;
- }
- }
- }
-
-}
--
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