/* * 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.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSDynamics : BSActor { private static string LogHeader = "[BULLETSIM VEHICLE]"; // the prim this dynamic controller belongs to private BSPrim ControllingPrim { get; set; } private bool m_haveRegisteredForSceneEvents; // 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 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) private float m_VehicleBuoyancy = 0f; private Vector3 m_VehicleGravity = Vector3.Zero; // Gravity computed when buoyancy set //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; // For debugging, flags to turn on and off individual corrections. public bool enableAngularVerticalAttraction; public bool enableAngularDeflection; public bool enableAngularBanking; public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) { ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; m_haveRegisteredForSceneEvents = false; SetupVehicleDebugging(); } // Stopgap debugging enablement. Allows source level debugging but still checking // in changes by making enablement of debugging flags from INI file. public void SetupVehicleDebugging() { enableAngularVerticalAttraction = true; enableAngularDeflection = false; enableAngularBanking = true; if (BSParam.VehicleDebuggingEnabled) { enableAngularVerticalAttraction = true; enableAngularDeflection = false; enableAngularBanking = false; } } // Return 'true' if this vehicle is doing vehicle things public bool IsActive { get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); } } // Return 'true' if this a vehicle that should be sitting on the ground public bool IsGroundVehicle { get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); } } #region Vehicle parameter setting public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.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); m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); 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.Zero(); 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}", ControllingPrim.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.Zero(); 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}", ControllingPrim.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}", ControllingPrim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; if (pParam == -1) m_flags = (VehicleFlag)0; else { if (remove) m_flags &= ~parm; else m_flags |= parm; } } public void ProcessTypeChange(Vehicle pType) { VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.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 = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f); m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) /* Not implemented 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) */ if (this.Type == Vehicle.TYPE_NONE) { UnregisterForSceneEvents(); } else { RegisterForSceneEvents(); } } #endregion // Vehicle parameter setting // BSActor.Refresh() public override void Refresh() { // If asking for a refresh, reset the physical parameters before the next simulation step. m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate() { SetPhysicalParameters(); }); } // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle private void SetPhysicalParameters() { if (IsActive) { // Remember the mass so we don't have to fetch it every step m_vehicleMass = ControllingPrim.TotalMass; // Friction affects are handled by this vehicle code m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); // 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. m_physicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping); m_physicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor); m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution, BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor ); } else { if (ControllingPrim.PhysBody.HasPhysicalBody) m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } // BSActor.RemoveBodyDependencies public override void RemoveDependencies() { Refresh(); } // BSActor.Release() public override void Dispose() { UnregisterForSceneEvents(); Type = Vehicle.TYPE_NONE; Enabled = false; return; } private void RegisterForSceneEvents() { if (!m_haveRegisteredForSceneEvents) { m_physicsScene.BeforeStep += this.Step; m_physicsScene.AfterStep += this.PostStep; ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty; m_haveRegisteredForSceneEvents = true; } } private void UnregisterForSceneEvents() { if (m_haveRegisteredForSceneEvents) { m_physicsScene.BeforeStep -= this.Step; m_physicsScene.AfterStep -= this.PostStep; ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty; m_haveRegisteredForSceneEvents = false; } } private void PreUpdateProperty(ref EntityProperties entprop) { // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet // TODO: handle physics introduced by Bullet with computed vehicle physics. if (IsActive) { entprop.RotationalVelocity = Vector3.Zero; } } #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 Vector3 m_knownForceImpulse; private Quaternion m_knownOrientation; private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; private Vector3 m_knownRotationalImpulse; 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_knownChangedForceImpulse = 1 << 3; private const int m_knownChangedOrientation = 1 << 4; private const int m_knownChangedRotationalVelocity = 1 << 5; private const int m_knownChangedRotationalForce = 1 << 6; private const int m_knownChangedRotationalImpulse = 1 << 7; private const int m_knownChangedTerrainHeight = 1 << 8; private const int m_knownChangedWaterLevel = 1 << 9; private const int m_knownChangedForwardVelocity = 1 <<10; public void ForgetKnownVehicleProperties() { m_knownHas = 0; m_knownChanged = 0; } // Push all the changed values back into the physics engine public void PushKnownChanged() { if (m_knownChanged != 0) { if ((m_knownChanged & m_knownChangedPosition) != 0) ControllingPrim.ForcePosition = m_knownPosition; if ((m_knownChanged & m_knownChangedOrientation) != 0) ControllingPrim.ForceOrientation = m_knownOrientation; if ((m_knownChanged & m_knownChangedVelocity) != 0) { ControllingPrim.ForceVelocity = m_knownVelocity; // Fake out Bullet by making it think the velocity is the same as last time. // Bullet does a bunch of smoothing for changing parameters. // Since the vehicle is demanding this setting, we override Bullet's smoothing // by telling Bullet the value was the same last time. // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity); } if ((m_knownChanged & m_knownChangedForce) != 0) ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedForceImpulse) != 0) ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity; // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalForce) != 0) { ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); } // 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. m_physicsScene.PE.PushUpdate(ControllingPrim.PhysBody); } 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. Vector3 lastRememberedHeightPos; private float GetTerrainHeight(Vector3 pos) { if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) { lastRememberedHeightPos = pos; m_knownTerrainHeight = ControllingPrim.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 = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } return (float)m_knownWaterLevel; } private Vector3 VehiclePosition { get { if ((m_knownHas & m_knownChangedPosition) == 0) { m_knownPosition = ControllingPrim.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 = ControllingPrim.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 = ControllingPrim.ForceVelocity; m_knownHas |= m_knownChangedVelocity; } return m_knownVelocity; } set { m_knownVelocity = value; m_knownChanged |= m_knownChangedVelocity; m_knownHas |= m_knownChangedVelocity; } } private void VehicleAddForce(Vector3 pForce) { if ((m_knownHas & m_knownChangedForce) == 0) { m_knownForce = Vector3.Zero; m_knownHas |= m_knownChangedForce; } m_knownForce += pForce; m_knownChanged |= m_knownChangedForce; } private void VehicleAddForceImpulse(Vector3 pImpulse) { if ((m_knownHas & m_knownChangedForceImpulse) == 0) { m_knownForceImpulse = Vector3.Zero; m_knownHas |= m_knownChangedForceImpulse; } m_knownForceImpulse += pImpulse; m_knownChanged |= m_knownChangedForceImpulse; } private Vector3 VehicleRotationalVelocity { get { if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) { m_knownRotationalVelocity = ControllingPrim.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; } private void VehicleAddRotationalImpulse(Vector3 pImpulse) { if ((m_knownHas & m_knownChangedRotationalImpulse) == 0) { m_knownRotationalImpulse = Vector3.Zero; m_knownHas |= m_knownChangedRotationalImpulse; } m_knownRotationalImpulse += pImpulse; m_knownChanged |= m_knownChangedRotationalImpulse; } // 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(); if (m_physicsScene.VehiclePhysicalLoggingEnabled) m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody); VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}", ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); } // Called after the simulation step internal void PostStep(float pTimestep) { if (!IsActive) return; if (m_physicsScene.VehiclePhysicalLoggingEnabled) m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody); } // Apply the effect of the linear motor and other linear motions (like hover and float). private void MoveLinear(float pTimestep) { ComputeLinearVelocity(pTimestep); ComputeLinearTerrainHeightCorrection(pTimestep); ComputeLinearHover(pTimestep); ComputeLinearBlockingEndPoint(pTimestep); ComputeLinearMotorUp(pTimestep); ApplyGravity(pTimestep); // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0) { Vector3 vel = VehicleVelocity; if ((m_flags & (VehicleFlag.NO_X)) != 0) vel.X = 0; if ((m_flags & (VehicleFlag.NO_Y)) != 0) vel.Y = 0; if ((m_flags & (VehicleFlag.NO_Z)) != 0) vel.Z = 0; VehicleVelocity = vel; } // ================================================================== // Clamp high or low velocities float newVelocityLengthSq = VehicleVelocity.LengthSquared(); if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySquared) { Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity ); } // end MoveLinear() public void ComputeLinearVelocity(float pTimestep) { // Step the motor from the current value. Get the correction needed this step. Vector3 origVelW = VehicleVelocity; // DEBUG Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); // Motor is vehicle coordinates. Rotate it to world coordinates Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; // If we're a ground vehicle, don't add any upward Z movement if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) { if (linearMotorVelocityW.Z > 0f) linearMotorVelocityW.Z = 0f; } // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}", ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) { // 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)) { // Force position because applying force won't get the vehicle through the terrain Vector3 newPosition = VehiclePosition; newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; VehiclePosition = newPosition; VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } } public void ComputeLinearHover(float pTimestep) { // 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; VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos); } } else { // Error is positive if below the target and negative if above. Vector3 hpos = VehiclePosition; float verticalError = m_VhoverTargetHeight - hpos.Z; float verticalCorrection = verticalError / m_VhoverTimescale; verticalCorrection *= m_VhoverEfficiency; hpos.Z += verticalCorrection; VehiclePosition = hpos; // Since we are hovering, we need to do the opposite of falling -- get rid of world Z Vector3 vel = VehicleVelocity; vel.Z = 0f; VehicleVelocity = vel; /* float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity); verticalCorrection *= m_vehicleMass; // TODO: implement m_VhoverEfficiency correctly VehicleAddForceImpulse(verticalCorrection); */ VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}", ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, verticalError, verticalCorrection); } } } 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}", ControllingPrim.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 void ComputeLinearMotorUp(float pTimestep) { if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // This code tries to decide if the object is not on the ground and then pushing down /* 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); VehicleVelocity += 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); */ // Another approach is to measure if we're going up. If going up and not colliding, // the vehicle is in the air. Fix that by pushing down. if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. float upVelocity = VehicleVelocity.Z; VehicleVelocity += new Vector3(0, 0, -upVelocity); /* // If we're pointed up into the air, we should nose down Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; // The rotation around the Y axis is pitch up or down if (pointingDirection.Y > 0.01f) { float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y); Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f); // Rotate into world coordinates and apply to vehicle angularCorrectionVector *= VehicleOrientation; VehicleAddAngularForce(angularCorrectionVector); VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}", Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector); } */ VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity); } } } private void ApplyGravity(float pTimeStep) { Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; // Hack to reduce downward force if the vehicle is probably sitting on the ground if (ControllingPrim.IsColliding && IsGroundVehicle) appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", ControllingPrim.LocalID, m_VehicleGravity, ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= // ======================================================================= // 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) { ComputeAngularTurning(pTimestep); ComputeAngularVerticalAttraction(); ComputeAngularDeflection(); ComputeAngularBanking(); // ================================================================== if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f)) { // The vehicle is not adding anything angular wise. VehicleRotationalVelocity = Vector3.Zero; VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID); } else { VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity); } // ================================================================== //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}", ControllingPrim.LocalID, torqueFromOffset); } } private void ComputeAngularTurning(float pTimestep) { // The user wants this many radians per second angular change? Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); // ================================================================== // 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 // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) // { // angularMotorContributionV.X = 0f; // angularMotorContributionV.Y = 0f; // } VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV); } // 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 void ComputeAngularVerticalAttraction() { // If vertical attaction timescale is reasonable if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { //Another formula to try got from : //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html Vector3 VehicleUpAxis = Vector3.UnitZ * VehicleOrientation; // Flipping what was originally a timescale into a speed variable and then multiplying it by 2 // since only computing half the distance between the angles. float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; // Make a prediction of where the up axis will be when this is applied rather then where it is now as // this makes for a smoother adjustment and less fighting between the various forces. Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); // This is only half the distance to the target so it will take 2 seconds to complete the turn. Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed; VehicleRotationalVelocity += vertContributionV; VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", ControllingPrim.LocalID, VehicleUpAxis, predictedUp, torqueVector, vertContributionV); //===================================================================== /* // Possible solution derived from a discussion at: // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no // Create a rotation that is only the vehicle's rotation around Z Vector3 currentEuler = Vector3.Zero; VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); // Create the axis that is perpendicular to the up vector and the rotated up vector. Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); // Compute the angle between those to vectors. double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. // TODO: add 'efficiency'. differenceAngle /= m_verticalAttractionTimescale; // Create the quaterian representing the correction angle Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); // Turn that quaternion into Euler values to make it into velocities to apply. Vector3 vertContributionV = Vector3.Zero; correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); vertContributionV *= -1f; VehicleRotationalVelocity += vertContributionV; VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}", ControllingPrim.LocalID, differenceAxis, differenceAngle, correctionRotation, vertContributionV); */ // =================================================================== /* Vector3 vertContributionV = Vector3.Zero; Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.Normalize(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. vertContributionV.X = (float)Math.Asin(verticalError.Y); // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) vertContributionV.Y = -(float)Math.Asin(verticalError.X); // If verticalError.Z is negative, the vehicle is upside down. Add additional push. if (verticalError.Z < 0f) { vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour; // vertContribution.Y -= PIOverFour; } // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. // Correction happens over a number of seconds. Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG // The correction happens over the user's time period vertContributionV /= m_verticalAttractionTimescale; // Rotate the vehicle rotation to the world coordinates. VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); */ } } // 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 void ComputeAngularDeflection() { // 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 (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { Vector3 deflectContributionV = Vector3.Zero; // The direction the vehicle is moving Vector3 movingDirection = VehicleVelocity; movingDirection.Normalize(); // If the vehicle is going backward, it is still pointing forward movingDirection *= Math.Sign(VehicleForwardSpeed); // 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 = PIOverTwo * Math.Sign(deflectionError.X); // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y); // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z); 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 deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; deflectContributionV /= m_angularDeflectionTimescale; VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); } } // 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 void ComputeAngularBanking() { if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { Vector3 bankingContributionV = Vector3.Zero; // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; // Figure out the yaw value for this much roll. float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; // actual error = static turn error + dynamic turn error float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed); // TODO: the banking effect should not go to infinity but what to limit it to? // And what should happen when this is being added to a user defined yaw that is already PI*4? mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4. bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge; //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); } } // 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}", ControllingPrim.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 (ControllingPrim.PhysicsScene.VehicleLoggingEnabled) ControllingPrim.PhysicsScene.DetailLog(msg, args); } } }