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. --- .../PhysicsModules/BulletS/BSActorMoveToTarget.cs | 220 +++++++++++++++++++++ 1 file changed, 220 insertions(+) create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs (limited to 'OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs') diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs b/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs new file mode 100755 index 0000000..3db8f2c --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs @@ -0,0 +1,220 @@ +/* + * 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 copyrightD + * 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.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.PhysicsModules.SharedBase; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.PhysicsModule.BulletS +{ +public class BSActorMoveToTarget : BSActor +{ + private BSVMotor m_targetMotor; + + public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_targetMotor = null; + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + // MoveToTarget only works on physical prims + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + DeactivateMoveToTarget(); + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}", + m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive, + m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau ); + + // If not active any more... + if (!m_controllingPrim.MoveToTargetActive) + { + Enabled = false; + } + + if (isActive) + { + ActivateMoveToTarget(); + } + else + { + DeactivateMoveToTarget(); + } + } + + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + // Called at taint-time. + // BSActor.RemoveDependencies() + public override void RemoveDependencies() + { + // Nothing to do for the moveToTarget since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateMoveToTarget() + { + if (m_targetMotor == null) + { + // We're taking over after this. + m_controllingPrim.ZeroMotion(true); + + /* Someday use the PID controller + m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString()); + m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau; + m_targetMotor.Efficiency = 1f; + */ + m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(), + m_controllingPrim.MoveToTargetTau, // timeScale + BSMotor.Infinite, // decay time scale + 1f // efficiency + ); + m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. + m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); + m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); + + // m_physicsScene.BeforeStep += Mover; + m_physicsScene.BeforeStep += Mover2; + } + else + { + // If already allocated, make sure the target and other paramters are current + m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); + m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); + } + } + + private void DeactivateMoveToTarget() + { + if (m_targetMotor != null) + { + // m_physicsScene.BeforeStep -= Mover; + m_physicsScene.BeforeStep -= Mover2; + m_targetMotor = null; + } + } + + // Origional mover that set the objects position to move to the target. + // The problem was that gravity would keep trying to push the object down so + // the overall downward velocity would increase to infinity. + // Called just before the simulation step. + private void Mover(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) + + // 'movePosition' is where we'd like the prim to be at this moment. + OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep); + + // If we are very close to our target, turn off the movement motor. + if (m_targetMotor.ErrorIsZero()) + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}", + m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); + m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + m_controllingPrim.ForceVelocity = OMV.Vector3.Zero; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); + } + else + { + m_controllingPrim.ForcePosition = movePosition; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); + } + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", + m_controllingPrim.LocalID, origPosition, movePosition); + } + + // Version of mover that applies forces to move the physical object to the target. + // Also overcomes gravity so the object doesn't just drop to the ground. + // Called just before the simulation step. + private void Mover2(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) + OMV.Vector3 addedForce = OMV.Vector3.Zero; + + // CorrectionVector is the movement vector required this step + OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition); + + // If we are very close to our target, turn off the movement motor. + if (m_targetMotor.ErrorIsZero()) + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}", + m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass); + m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + m_controllingPrim.ForceVelocity = OMV.Vector3.Zero; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); + } + else + { + // First force to move us there -- the motor return a timestep scaled value. + addedForce = correctionVector / timeStep; + // Remove the existing velocity (only the moveToTarget force counts) + addedForce -= m_controllingPrim.RawVelocity; + // Overcome gravity. + addedForce -= m_controllingPrim.Gravity; + + // Add enough force to overcome the mass of the object + addedForce *= m_controllingPrim.Mass; + + m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */); + } + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}", + m_controllingPrim.LocalID, origPosition, addedForce); + } +} +} -- cgit v1.1