From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../Region/Physics/BulletSNPlugin/BSDynamics.cs | 1377 -------------------- 1 file changed, 1377 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs deleted file mode 100644 index 415ad4f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs +++ /dev/null @@ -1,1377 +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. - * - * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial - * are Copyright (c) 2009 Linden Research, Inc and are used under their license - * of Creative Commons Attribution-Share Alike 3.0 - * (http://creativecommons.org/licenses/by-sa/3.0/). - */ - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using OpenMetaverse; -using OpenSim.Region.Physics.Manager; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - public sealed class BSDynamics - { - private static string LogHeader = "[BULLETSIM VEHICLE]"; - - private BSScene PhysicsScene { get; set; } - // the prim this dynamic controller belongs to - private BSPrim Prim { get; set; } - - // mass of the vehicle fetched each time we're calles - private float m_vehicleMass; - - // Vehicle properties - public Vehicle Type { get; set; } - - // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier - private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: - // HOVER_TERRAIN_ONLY - // HOVER_GLOBAL_HEIGHT - // NO_DEFLECTION_UP - // HOVER_WATER_ONLY - // HOVER_UP_ONLY - // LIMIT_MOTOR_UP - // LIMIT_ROLL_ONLY - private Vector3 m_BlockingEndPoint = Vector3.Zero; - private Quaternion m_RollreferenceFrame = Quaternion.Identity; - private Quaternion m_referenceFrame = Quaternion.Identity; - - // Linear properties - private BSVMotor m_linearMotor = new BSVMotor("LinearMotor"); - private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time - private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center - private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL - private Vector3 m_linearFrictionTimescale = Vector3.Zero; - private float m_linearMotorDecayTimescale = 0; - private float m_linearMotorTimescale = 0; - private Vector3 m_lastLinearVelocityVector = Vector3.Zero; - private Vector3 m_lastPositionVector = Vector3.Zero; - // private bool m_LinearMotorSetLastFrame = false; - // private Vector3 m_linearMotorOffset = Vector3.Zero; - - //Angular properties - private BSVMotor m_angularMotor = new BSVMotor("AngularMotor"); - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - // private int m_angularMotorApply = 0; // application frame counter - private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; - private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body - - //Deflection properties - private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection"); - private float m_angularDeflectionEfficiency = 0; - private float m_angularDeflectionTimescale = 0; - private float m_linearDeflectionEfficiency = 0; - private float m_linearDeflectionTimescale = 0; - - //Banking properties - private float m_bankingEfficiency = 0; - private float m_bankingMix = 0; - private float m_bankingTimescale = 0; - - //Hover and Buoyancy properties - private BSVMotor m_hoverMotor = new BSVMotor("Hover"); - private float m_VhoverHeight = 0f; - private float m_VhoverEfficiency = 0f; - private float m_VhoverTimescale = 0f; - private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height - private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. - // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) - // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. - // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. - - //Attractor properties - private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); - private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionCutoff = 500f; // per the documentation - // Timescale > cutoff means no vert attractor. - private float m_verticalAttractionTimescale = 510f; - - // Just some recomputed constants: - static readonly float PIOverFour = ((float)Math.PI) / 4f; - static readonly float PIOverTwo = ((float)Math.PI) / 2f; - - public BSDynamics(BSScene myScene, BSPrim myPrim) - { - PhysicsScene = myScene; - Prim = myPrim; - Type = Vehicle.TYPE_NONE; - } - - // Return 'true' if this vehicle is doing vehicle things - public bool IsActive - { - get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } - } - - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) - { - VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); - switch (pParam) - { - case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); - break; - case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); - m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; - break; - case Vehicle.ANGULAR_MOTOR_TIMESCALE: - m_angularMotorTimescale = Math.Max(pValue, 0.01f); - m_angularMotor.TimeScale = m_angularMotorTimescale; - break; - case Vehicle.BANKING_EFFICIENCY: - m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); - break; - case Vehicle.BANKING_MIX: - m_bankingMix = Math.Max(pValue, 0.01f); - break; - case Vehicle.BANKING_TIMESCALE: - m_bankingTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.BUOYANCY: - m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); - break; - case Vehicle.HOVER_EFFICIENCY: - m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); - break; - case Vehicle.HOVER_HEIGHT: - m_VhoverHeight = pValue; - break; - case Vehicle.HOVER_TIMESCALE: - m_VhoverTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); - break; - case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); - break; - case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); - m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; - break; - case Vehicle.LINEAR_MOTOR_TIMESCALE: - m_linearMotorTimescale = Math.Max(pValue, 0.01f); - m_linearMotor.TimeScale = m_linearMotorTimescale; - break; - case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f); - m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; - break; - case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); - m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; - break; - - // These are vector properties but the engine lets you use a single float value to - // set all of the components to the same value - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); - m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - m_angularMotor.SetTarget(m_angularMotorDirection); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); - m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); - m_linearMotor.SetTarget(m_linearMotorDirection); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue, pValue, pValue); - break; - - } - }//end ProcessFloatVehicleParam - - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) - { - VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); - switch (pParam) - { - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - // Limit requested angular speed to 2 rps= 4 pi rads/sec - pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); - pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); - pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); - m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_angularMotor.SetTarget(m_angularMotorDirection); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotor.SetTarget(m_linearMotorDirection); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - case Vehicle.BLOCK_EXIT: - m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - } - }//end ProcessVectorVehicleParam - - internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) - { - VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); - switch (pParam) - { - case Vehicle.REFERENCE_FRAME: - m_referenceFrame = pValue; - break; - case Vehicle.ROLL_FRAME: - m_RollreferenceFrame = pValue; - break; - } - }//end ProcessRotationVehicleParam - - internal void ProcessVehicleFlags(int pParam, bool remove) - { - VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); - VehicleFlag parm = (VehicleFlag)pParam; - if (pParam == -1) - m_flags = (VehicleFlag)0; - else - { - if (remove) - m_flags &= ~parm; - else - m_flags |= parm; - } - } - - internal void ProcessTypeChange(Vehicle pType) - { - VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); - // Set Defaults For Type - Type = pType; - switch (pType) - { - case Vehicle.TYPE_NONE: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 0; - m_linearMotorDecayTimescale = 0; - m_linearFrictionTimescale = new Vector3(0, 0, 0); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorDecayTimescale = 0; - m_angularMotorTimescale = 0; - m_angularFrictionTimescale = new Vector3(0, 0, 0); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0; - m_VhoverTimescale = 0; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 1; - - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 1000; - - m_verticalAttractionEfficiency = 0; - m_verticalAttractionTimescale = 0; - - m_bankingEfficiency = 0; - m_bankingTimescale = 1000; - m_bankingMix = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags = (VehicleFlag)0; - - break; - - case Vehicle.TYPE_SLED: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 1000; - m_linearMotorDecayTimescale = 120; - m_linearFrictionTimescale = new Vector3(30, 1, 1000); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 1000; - m_angularMotorDecayTimescale = 120; - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 10; // TODO: this looks wrong!! - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 1; - - m_angularDeflectionEfficiency = 1; - m_angularDeflectionTimescale = 1000; - - m_verticalAttractionEfficiency = 0; - m_verticalAttractionTimescale = 0; - - m_bankingEfficiency = 0; - m_bankingTimescale = 10; - m_bankingMix = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT - | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP); - - break; - case Vehicle.TYPE_CAR: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 1; - m_linearMotorDecayTimescale = 60; - m_linearFrictionTimescale = new Vector3(100, 2, 1000); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 1; - m_angularMotorDecayTimescale = 0.8f; - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 2; - - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 10; - - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 10f; - - m_bankingEfficiency = -0.2f; - m_bankingMix = 1; - m_bankingTimescale = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP - | VehicleFlag.HOVER_UP_ONLY); - break; - case Vehicle.TYPE_BOAT: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 5; - m_linearMotorDecayTimescale = 60; - m_linearFrictionTimescale = new Vector3(10, 3, 2); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 4; - m_angularFrictionTimescale = new Vector3(10,10,10); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 2; - m_VehicleBuoyancy = 1; - - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 3; - - m_angularDeflectionEfficiency = 0.5f; - m_angularDeflectionTimescale = 5; - - m_verticalAttractionEfficiency = 0.5f; - m_verticalAttractionTimescale = 5f; - - m_bankingEfficiency = -0.3f; - m_bankingMix = 0.8f; - m_bankingTimescale = 1; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT - | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP - | VehicleFlag.HOVER_WATER_ONLY); - break; - case Vehicle.TYPE_AIRPLANE: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 2; - m_linearMotorDecayTimescale = 60; - m_linearFrictionTimescale = new Vector3(200, 10, 5); - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 4; - m_angularFrictionTimescale = new Vector3(20, 20, 20); - - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 3; - - m_angularDeflectionEfficiency = 1; - m_angularDeflectionTimescale = 2; - - m_verticalAttractionEfficiency = 0.9f; - m_verticalAttractionTimescale = 2f; - - m_bankingEfficiency = 1; - m_bankingMix = 0.7f; - m_bankingTimescale = 2; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT - | VehicleFlag.HOVER_UP_ONLY - | VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); - break; - case Vehicle.TYPE_BALLOON: - m_linearMotorDirection = Vector3.Zero; - m_linearMotorTimescale = 5; - m_linearFrictionTimescale = new Vector3(5, 5, 5); - m_linearMotorDecayTimescale = 60; - - m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 6; - m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_angularMotorDecayTimescale = 10; - - m_VhoverHeight = 5; - m_VhoverEfficiency = 0.8f; - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 1; - - m_linearDeflectionEfficiency = 0; - m_linearDeflectionTimescale = 5; - - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 5; - - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 100f; - - m_bankingEfficiency = 0; - m_bankingMix = 0.7f; - m_bankingTimescale = 5; - - m_referenceFrame = Quaternion.Identity; - - m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_UP_ONLY - | VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT); - break; - } - - // Update any physical parameters based on this type. - Refresh(); - - m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, - m_linearMotorDecayTimescale, m_linearFrictionTimescale, - 1f); - m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - - m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, - m_angularMotorDecayTimescale, m_angularFrictionTimescale, - 1f); - m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - - m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, - BSMotor.Infinite, BSMotor.InfiniteVector, - m_verticalAttractionEfficiency); - // Z goes away and we keep X and Y - m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); - m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - } - - // Some of the properties of this prim may have changed. - // Do any updating needed for a vehicle - public void Refresh() - { - if (IsActive) - { - // Remember the mass so we don't have to fetch it every step - m_vehicleMass = Prim.Linkset.LinksetMass; - - // Friction affects are handled by this vehicle code - float friction = 0f; - BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); - - // Moderate angular movement introduced by Bullet. - // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. - // Maybe compute linear and angular factor and damping from params. - float angularDamping = BSParam.VehicleAngularDamping; - BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); - - // Vehicles report collision events so we know when it's on the ground - BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); - - Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); - BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); - - Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); - BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); - - VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", - Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); - } - else - { - BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); - } - } - - public bool RemoveBodyDependencies(BSPhysObject prim) - { - // If active, we need to add our properties back when the body is rebuilt. - return IsActive; - } - - public void RestoreBodyDependencies(BSPhysObject prim) - { - if (Prim.LocalID != prim.LocalID) - { - // The call should be on us by our prim. Error if not. - PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}", - LogHeader, prim.LocalID, Prim.LocalID); - return; - } - Refresh(); - } - - #region Known vehicle value functions - // Vehicle physical parameters that we buffer from constant getting and setting. - // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set. - // Changing is remembered and the parameter is stored back into the physics engine only if updated. - // This does two things: 1) saves continuious calls into unmanaged code, and - // 2) signals when a physics property update must happen back to the simulator - // to update values modified for the vehicle. - private int m_knownChanged; - private int m_knownHas; - private float m_knownTerrainHeight; - private float m_knownWaterLevel; - private Vector3 m_knownPosition; - private Vector3 m_knownVelocity; - private Vector3 m_knownForce; - private Quaternion m_knownOrientation; - private Vector3 m_knownRotationalVelocity; - private Vector3 m_knownRotationalForce; - private Vector3 m_knownForwardVelocity; // vehicle relative forward speed - - private const int m_knownChangedPosition = 1 << 0; - private const int m_knownChangedVelocity = 1 << 1; - private const int m_knownChangedForce = 1 << 2; - private const int m_knownChangedOrientation = 1 << 3; - private const int m_knownChangedRotationalVelocity = 1 << 4; - private const int m_knownChangedRotationalForce = 1 << 5; - private const int m_knownChangedTerrainHeight = 1 << 6; - private const int m_knownChangedWaterLevel = 1 << 7; - private const int m_knownChangedForwardVelocity = 1 << 8; - - private void ForgetKnownVehicleProperties() - { - m_knownHas = 0; - m_knownChanged = 0; - } - // Push all the changed values back into the physics engine - private void PushKnownChanged() - { - if (m_knownChanged != 0) - { - if ((m_knownChanged & m_knownChangedPosition) != 0) - Prim.ForcePosition = m_knownPosition; - - if ((m_knownChanged & m_knownChangedOrientation) != 0) - Prim.ForceOrientation = m_knownOrientation; - - if ((m_knownChanged & m_knownChangedVelocity) != 0) - { - Prim.ForceVelocity = m_knownVelocity; - BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); - } - - if ((m_knownChanged & m_knownChangedForce) != 0) - Prim.AddForce((Vector3)m_knownForce, false, true); - - if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) - { - Prim.ForceRotationalVelocity = m_knownRotationalVelocity; - // Fake out Bullet by making it think the velocity is the same as last time. - BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); - } - - if ((m_knownChanged & m_knownChangedRotationalForce) != 0) - Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); - - // If we set one of the values (ie, the physics engine didn't do it) we must force - // an UpdateProperties event to send the changes up to the simulator. - BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); - } - m_knownChanged = 0; - } - - // Since the computation of terrain height can be a little involved, this routine - // is used to fetch the height only once for each vehicle simulation step. - private float GetTerrainHeight(Vector3 pos) - { - if ((m_knownHas & m_knownChangedTerrainHeight) == 0) - { - m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); - m_knownHas |= m_knownChangedTerrainHeight; - } - return m_knownTerrainHeight; - } - - // Since the computation of water level can be a little involved, this routine - // is used ot fetch the level only once for each vehicle simulation step. - private float GetWaterLevel(Vector3 pos) - { - if ((m_knownHas & m_knownChangedWaterLevel) == 0) - { - m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); - m_knownHas |= m_knownChangedWaterLevel; - } - return (float)m_knownWaterLevel; - } - - private Vector3 VehiclePosition - { - get - { - if ((m_knownHas & m_knownChangedPosition) == 0) - { - m_knownPosition = Prim.ForcePosition; - m_knownHas |= m_knownChangedPosition; - } - return m_knownPosition; - } - set - { - m_knownPosition = value; - m_knownChanged |= m_knownChangedPosition; - m_knownHas |= m_knownChangedPosition; - } - } - - private Quaternion VehicleOrientation - { - get - { - if ((m_knownHas & m_knownChangedOrientation) == 0) - { - m_knownOrientation = Prim.ForceOrientation; - m_knownHas |= m_knownChangedOrientation; - } - return m_knownOrientation; - } - set - { - m_knownOrientation = value; - m_knownChanged |= m_knownChangedOrientation; - m_knownHas |= m_knownChangedOrientation; - } - } - - private Vector3 VehicleVelocity - { - get - { - if ((m_knownHas & m_knownChangedVelocity) == 0) - { - m_knownVelocity = Prim.ForceVelocity; - m_knownHas |= m_knownChangedVelocity; - } - return (Vector3)m_knownVelocity; - } - set - { - m_knownVelocity = value; - m_knownChanged |= m_knownChangedVelocity; - m_knownHas |= m_knownChangedVelocity; - } - } - - private void VehicleAddForce(Vector3 aForce) - { - if ((m_knownHas & m_knownChangedForce) == 0) - { - m_knownForce = Vector3.Zero; - } - m_knownForce += aForce; - m_knownChanged |= m_knownChangedForce; - m_knownHas |= m_knownChangedForce; - } - - private Vector3 VehicleRotationalVelocity - { - get - { - if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) - { - m_knownRotationalVelocity = Prim.ForceRotationalVelocity; - m_knownHas |= m_knownChangedRotationalVelocity; - } - return (Vector3)m_knownRotationalVelocity; - } - set - { - m_knownRotationalVelocity = value; - m_knownChanged |= m_knownChangedRotationalVelocity; - m_knownHas |= m_knownChangedRotationalVelocity; - } - } - private void VehicleAddAngularForce(Vector3 aForce) - { - if ((m_knownHas & m_knownChangedRotationalForce) == 0) - { - m_knownRotationalForce = Vector3.Zero; - } - m_knownRotationalForce += aForce; - m_knownChanged |= m_knownChangedRotationalForce; - m_knownHas |= m_knownChangedRotationalForce; - } - // Vehicle relative forward velocity - private Vector3 VehicleForwardVelocity - { - get - { - if ((m_knownHas & m_knownChangedForwardVelocity) == 0) - { - m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); - m_knownHas |= m_knownChangedForwardVelocity; - } - return m_knownForwardVelocity; - } - } - private float VehicleForwardSpeed - { - get - { - return VehicleForwardVelocity.X; - } - } - - #endregion // Known vehicle value functions - - // One step of the vehicle properties for the next 'pTimestep' seconds. - internal void Step(float pTimestep) - { - if (!IsActive) return; - - ForgetKnownVehicleProperties(); - - MoveLinear(pTimestep); - MoveAngular(pTimestep); - - LimitRotation(pTimestep); - - // remember the position so next step we can limit absolute movement effects - m_lastPositionVector = VehiclePosition; - - // If we forced the changing of some vehicle parameters, update the values and - // for the physics engine to note the changes so an UpdateProperties event will happen. - PushKnownChanged(); - - VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); - } - - // Apply the effect of the linear motor and other linear motions (like hover and float). - private void MoveLinear(float pTimestep) - { - Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); - - // The movement computed in the linear motor is relative to the vehicle - // coordinates. Rotate the movement to world coordinates. - linearMotorContribution *= VehicleOrientation; - - // ================================================================== - // Buoyancy: force to overcome gravity. - // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity. - Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy; - - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); - - Vector3 hoverContribution = ComputeLinearHover(pTimestep); - - ComputeLinearBlockingEndPoint(pTimestep); - - Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); - - // ================================================================== - Vector3 newVelocity = linearMotorContribution - + terrainHeightContribution - + hoverContribution - + limitMotorUpContribution; - - Vector3 newForce = buoyancyContribution; - - // If not changing some axis, reduce out velocity - if ((m_flags & (VehicleFlag.NO_X)) != 0) - newVelocity.X = 0; - if ((m_flags & (VehicleFlag.NO_Y)) != 0) - newVelocity.Y = 0; - if ((m_flags & (VehicleFlag.NO_Z)) != 0) - newVelocity.Z = 0; - - // ================================================================== - // Clamp high or low velocities - float newVelocityLengthSq = newVelocity.LengthSquared(); - if (newVelocityLengthSq > 1000f) - { - newVelocity /= newVelocity.Length(); - newVelocity *= 1000f; - } - else if (newVelocityLengthSq < 0.001f) - newVelocity = Vector3.Zero; - - // ================================================================== - // Stuff new linear velocity into the vehicle. - // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. - VehicleVelocity = newVelocity; - - // Other linear forces are applied as forces. - Vector3 totalDownForce = newForce * m_vehicleMass; - if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) - { - VehicleAddForce(totalDownForce); - } - - VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}", - Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding); - VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}", - Prim.LocalID, - linearMotorContribution, terrainHeightContribution, hoverContribution, - limitMotorUpContribution, buoyancyContribution - ); - - } // end MoveLinear() - - public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) - { - Vector3 ret = Vector3.Zero; - // If below the terrain, move us above the ground a little. - // TODO: Consider taking the rotated size of the object or possibly casting a ray. - if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) - { - // TODO: correct position by applying force rather than forcing position. - Vector3 newPosition = VehiclePosition; - newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; - VehiclePosition = newPosition; - VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", - Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); - } - return ret; - } - - public Vector3 ComputeLinearHover(float pTimestep) - { - Vector3 ret = Vector3.Zero; - - // m_VhoverEfficiency: 0=bouncy, 1=totally damped - // m_VhoverTimescale: time to achieve height - if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) - { - // We should hover, get the target height - if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) - { - m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight; - } - if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) - { - m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight; - } - if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) - { - m_VhoverTargetHeight = m_VhoverHeight; - } - - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) - { - // If body is already heigher, use its height as target height - if (VehiclePosition.Z > m_VhoverTargetHeight) - m_VhoverTargetHeight = VehiclePosition.Z; - } - - if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) - { - if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) - { - Vector3 pos = VehiclePosition; - pos.Z = m_VhoverTargetHeight; - VehiclePosition = pos; - } - } - else - { - // Error is positive if below the target and negative if above. - float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; - float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; - - // TODO: implement m_VhoverEfficiency correctly - if (Math.Abs(verticalError) > m_VhoverEfficiency) - { - ret = new Vector3(0f, 0f, verticalCorrectionVelocity); - } - } - - VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", - Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); - } - - return ret; - } - - public bool ComputeLinearBlockingEndPoint(float pTimestep) - { - bool changed = false; - - Vector3 pos = VehiclePosition; - Vector3 posChange = pos - m_lastPositionVector; - if (m_BlockingEndPoint != Vector3.Zero) - { - if (pos.X >= (m_BlockingEndPoint.X - (float)1)) - { - pos.X -= posChange.X + 1; - changed = true; - } - if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) - { - pos.Y -= posChange.Y + 1; - changed = true; - } - if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) - { - pos.Z -= posChange.Z + 1; - changed = true; - } - if (pos.X <= 0) - { - pos.X += posChange.X + 1; - changed = true; - } - if (pos.Y <= 0) - { - pos.Y += posChange.Y + 1; - changed = true; - } - if (changed) - { - VehiclePosition = pos; - VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", - Prim.LocalID, m_BlockingEndPoint, posChange, pos); - } - } - return changed; - } - - // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : - // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when - // used with conjunction with banking: the strength of the banking will decay when the - // vehicle no longer experiences collisions. The decay timescale is the same as - // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering - // when they are in mid jump. - // TODO: this code is wrong. Also, what should it do for boats (height from water)? - // This is just using the ground and a general collision check. Should really be using - // a downward raycast to find what is below. - public Vector3 ComputeLinearMotorUp(float pTimestep) - { - Vector3 ret = Vector3.Zero; - float distanceAboveGround = 0f; - - if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) - { - float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); - distanceAboveGround = VehiclePosition.Z - targetHeight; - // Not colliding if the vehicle is off the ground - if (!Prim.IsColliding) - { - // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); - ret = new Vector3(0, 0, -distanceAboveGround); - } - // TODO: this calculation is wrong. From the description at - // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce - // has a decay factor. This says this force should - // be computed with a motor. - // TODO: add interaction with banking. - } - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); - return ret; - } - - // ======================================================================= - // ======================================================================= - // Apply the effect of the angular motor. - // The 'contribution' is how much angular correction velocity each function wants. - // All the contributions are added together and the resulting velocity is - // set directly on the vehicle. - private void MoveAngular(float pTimestep) - { - // The user wants this many radians per second angular change? - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); - - // ================================================================== - // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : - // This flag prevents linear deflection parallel to world z-axis. This is useful - // for preventing ground vehicles with large linear deflection, like bumper cars, - // from climbing their linear deflection into the sky. - // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement - if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - { - angularMotorContribution.X = 0f; - angularMotorContribution.Y = 0f; - VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); - } - - Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); - - Vector3 deflectionContribution = ComputeAngularDeflection(); - - Vector3 bankingContribution = ComputeAngularBanking(); - - // ================================================================== - m_lastVertAttractor = verticalAttractionContribution; - - m_lastAngularVelocity = angularMotorContribution - + verticalAttractionContribution - + deflectionContribution - + bankingContribution; - - // ================================================================== - // Apply the correction velocity. - // TODO: Should this be applied as an angular force (torque)? - if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) - { - VehicleRotationalVelocity = m_lastAngularVelocity; - - VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", - Prim.LocalID, - angularMotorContribution, verticalAttractionContribution, - bankingContribution, deflectionContribution, - m_lastAngularVelocity - ); - } - else - { - // The vehicle is not adding anything angular wise. - VehicleRotationalVelocity = Vector3.Zero; - VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); - } - - // ================================================================== - //Offset section - if (m_linearMotorOffset != Vector3.Zero) - { - //Offset of linear velocity doesn't change the linear velocity, - // but causes a torque to be applied, for example... - // - // IIIII >>> IIIII - // IIIII >>> IIIII - // IIIII >>> IIIII - // ^ - // | Applying a force at the arrow will cause the object to move forward, but also rotate - // - // - // The torque created is the linear velocity crossed with the offset - - // TODO: this computation should be in the linear section - // because that is where we know the impulse being applied. - Vector3 torqueFromOffset = Vector3.Zero; - // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); - if (float.IsNaN(torqueFromOffset.X)) - torqueFromOffset.X = 0; - if (float.IsNaN(torqueFromOffset.Y)) - torqueFromOffset.Y = 0; - if (float.IsNaN(torqueFromOffset.Z)) - torqueFromOffset.Z = 0; - - VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); - VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); - } - - } - // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: - // Some vehicles, like boats, should always keep their up-side up. This can be done by - // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to - // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the - // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency, - // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An - // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an - // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. - public Vector3 ComputeAngularVerticalAttraction() - { - Vector3 ret = Vector3.Zero; - - // If vertical attaction timescale is reasonable - if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) - { - // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - - // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) - // is now: - // leaning to one side: rotated around the X axis with the Y value going - // from zero (nearly straight up) to one (completely to the side)) or - // leaning front-to-back: rotated around the Y axis with the value of X being between - // zero and one. - // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. - - // Y error means needed rotation around X axis and visa versa. - // Since the error goes from zero to one, the asin is the corresponding angle. - ret.X = (float)Math.Asin(verticalError.Y); - // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) - ret.Y = -(float)Math.Asin(verticalError.X); - - // If verticalError.Z is negative, the vehicle is upside down. Add additional push. - if (verticalError.Z < 0f) - { - ret.X += PIOverFour; - ret.Y += PIOverFour; - } - - // 'ret' is now the necessary velocity to correct tilt in one second. - // Correction happens over a number of seconds. - Vector3 unscaledContrib = ret; - ret /= m_verticalAttractionTimescale; - - VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", - Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret); - } - return ret; - } - - // Return the angular correction to correct the direction the vehicle is pointing to be - // the direction is should want to be pointing. - // The vehicle is moving in some direction and correct its orientation to it is pointing - // in that direction. - // TODO: implement reference frame. - public Vector3 ComputeAngularDeflection() - { - Vector3 ret = Vector3.Zero; - return ret; // DEBUG DEBUG DEBUG - // Disable angular deflection for the moment. - // Since angularMotorUp and angularDeflection are computed independently, they will calculate - // approximately the same X or Y correction. When added together (when contributions are combined) - // this creates an over-correction and then wabbling as the target is overshot. - // TODO: rethink how the different correction computations inter-relate. - - if (m_angularDeflectionEfficiency != 0) - { - // The direction the vehicle is moving - Vector3 movingDirection = VehicleVelocity; - movingDirection.Normalize(); - - // The direction the vehicle is pointing - Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; - pointingDirection.Normalize(); - - // The difference between what is and what should be. - Vector3 deflectionError = movingDirection - pointingDirection; - - // Don't try to correct very large errors (not our job) - if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; - if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; - if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; - - // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); - - // Scale the correction by recovery timescale and efficiency - ret = (-deflectionError) * m_angularDeflectionEfficiency; - ret /= m_angularDeflectionTimescale; - - VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", - Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); - VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); - } - return ret; - } - - // Return an angular change to rotate the vehicle around the Z axis when the vehicle - // is tipped around the X axis. - // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: - // The vertical attractor feature must be enabled in order for the banking behavior to - // function. The way banking works is this: a rotation around the vehicle's roll-axis will - // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude - // of the yaw effect will be proportional to the - // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's - // velocity along its preferred axis of motion. - // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any - // positive rotation (by the right-hand rule) about the roll-axis will effect a - // (negative) torque around the yaw-axis, making it turn to the right--that is the - // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. - // Negating the banking coefficient will make it so that the vehicle leans to the - // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). - // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making - // banking vehicles do what you want rather than what the laws of physics allow. - // For example, consider a real motorcycle...it must be moving forward in order for - // it to turn while banking, however video-game motorcycles are often configured - // to turn in place when at a dead stop--because they are often easier to control - // that way using the limited interface of the keyboard or game controller. The - // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic - // banking by functioning as a slider between a banking that is correspondingly - // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the - // banking effect depends only on the vehicle's rotation about its roll-axis compared - // to "dynamic" where the banking is also proportional to its velocity along its - // roll-axis. Finding the best value of the "mixture" will probably require trial and error. - // The time it takes for the banking behavior to defeat a preexisting angular velocity about the - // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to - // bank quickly then give it a banking timescale of about a second or less, otherwise you can - // make a sluggish vehicle by giving it a timescale of several seconds. - public Vector3 ComputeAngularBanking() - { - Vector3 ret = Vector3.Zero; - - if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) - { - // This works by rotating a unit vector to the orientation of the vehicle. The - // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt - // up to one for full over). - Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; - - // Figure out the yaw value for this much roll. - float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; - // Keep the sign - if (rollComponents.Y < 0f) - turnComponent = -turnComponent; - - // TODO: there must be a better computation of the banking force. - float bankingTurnForce = turnComponent; - - // actual error = static turn error + dynamic turn error - float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; - // TODO: the banking effect should not go to infinity but what to limit it to? - mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); - - // Build the force vector to change rotation from what it is to what it should be - ret.Z = -mixedBankingError; - - // Don't do it all at once. - ret /= m_bankingTimescale; - - VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); - } - return ret; - } - - // This is from previous instantiations of XXXDynamics.cs. - // Applies roll reference frame. - // TODO: is this the right way to separate the code to do this operation? - // Should this be in MoveAngular()? - internal void LimitRotation(float timestep) - { - Quaternion rotq = VehicleOrientation; - Quaternion m_rot = rotq; - if (m_RollreferenceFrame != Quaternion.Identity) - { - if (rotq.X >= m_RollreferenceFrame.X) - { - m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); - } - if (rotq.Y >= m_RollreferenceFrame.Y) - { - m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); - } - if (rotq.X <= -m_RollreferenceFrame.X) - { - m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); - } - if (rotq.Y <= -m_RollreferenceFrame.Y) - { - m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); - } - } - if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) - { - m_rot.X = 0; - m_rot.Y = 0; - } - if (rotq != m_rot) - { - VehicleOrientation = m_rot; - VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); - } - - } - - private float ClampInRange(float low, float val, float high) - { - return Math.Max(low, Math.Min(val, high)); - // return Utils.Clamp(val, low, high); - } - - // Invoke the detailed logger and output something if it's enabled. - private void VDetailLog(string msg, params Object[] args) - { - if (Prim.PhysicsScene.VehicleLoggingEnabled) - Prim.PhysicsScene.DetailLog(msg, args); - } - } -} -- cgit v1.1