aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Framework/Scenes/SOGVehicle.cs
blob: d6e9a3ab824224f312730d593730a241fdbe40fb (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

using System;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;


namespace OpenSim.Region.Framework.Scenes
{
    public class SOGVehicle
    {
        public Vehicle Type
        {
            get { return m_type; }
        }
        private Quaternion m_referenceFrame = Quaternion.Identity;      // Axis modifier
        private Quaternion m_RollreferenceFrame = Quaternion.Identity;  // what hell is this ?

        private Vehicle m_type = Vehicle.TYPE_NONE;                     // If a 'VEHICLE', and what kind

        private VehicleFlag m_flags = (VehicleFlag)0;
        private Vector3 m_BlockingEndPoint = Vector3.Zero;              // not sl

        // Linear properties
        private Vector3 m_linearMotorDirection = Vector3.Zero;          // velocity requested by LSL, decayed by time
        private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
        private float m_linearMotorDecayTimescale = 120;
        private float m_linearMotorTimescale = 1000;
        private Vector3 m_linearMotorOffset = Vector3.Zero;

        //Angular properties
        private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
        private float m_angularMotorTimescale = 1000;                      // motor angular velocity ramp up rate
        private float m_angularMotorDecayTimescale = 120;                 // motor angular velocity decay rate
        private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);      // body angular velocity  decay rate

        //Deflection properties
        private float m_angularDeflectionEfficiency = 0;
        private float m_angularDeflectionTimescale = 1000;
        private float m_linearDeflectionEfficiency = 0;
        private float m_linearDeflectionTimescale = 1000;

        //Banking properties
        private float m_bankingEfficiency = 0;
        private float m_bankingMix = 0;
        private float m_bankingTimescale = 0;

        //Hover and Buoyancy properties
        private float m_VhoverHeight = 0f;
        private float m_VhoverEfficiency = 0f;
        private float m_VhoverTimescale = 1000f;
        private float m_VehicleBuoyancy = 0f;

        //Attractor properties
        private float m_verticalAttractionEfficiency = 1.0f;        // damped
        private float m_verticalAttractionTimescale = 1000f;        // Timescale > 300  means no vert attractor.

        public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
        {
            float len;
            float timestep = 0.01f;
            switch (pParam)
            {
                case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
                    if (pValue < 0f) pValue = 0f;
                    if (pValue > 1f) pValue = 1f;
                    m_angularDeflectionEfficiency = pValue;
                    break;
                case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_angularDeflectionTimescale = pValue;
                    break;
                case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    else if (pValue > 120) pValue = 120;
                    m_angularMotorDecayTimescale = pValue;
                    break;
                case Vehicle.ANGULAR_MOTOR_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_angularMotorTimescale = pValue;
                    break;
                case Vehicle.BANKING_EFFICIENCY:
                    if (pValue < -1f) pValue = -1f;
                    if (pValue > 1f) pValue = 1f;
                    m_bankingEfficiency = pValue;
                    break;
                case Vehicle.BANKING_MIX:
                    if (pValue < 0f) pValue = 0f;
                    if (pValue > 1f) pValue = 1f;
                    m_bankingMix = pValue;
                    break;
                case Vehicle.BANKING_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_bankingTimescale = pValue;
                    break;
                case Vehicle.BUOYANCY:
                    if (pValue < -1f) pValue = -1f;
                    if (pValue > 1f) pValue = 1f;
                    m_VehicleBuoyancy = pValue;
                    break;
                case Vehicle.HOVER_EFFICIENCY:
                    if (pValue < 0f) pValue = 0f;
                    if (pValue > 1f) pValue = 1f;
                    m_VhoverEfficiency = pValue;
                    break;
                case Vehicle.HOVER_HEIGHT:
                    m_VhoverHeight = pValue;
                    break;
                case Vehicle.HOVER_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_VhoverTimescale = pValue;
                    break;
                case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
                    if (pValue < 0f) pValue = 0f;
                    if (pValue > 1f) pValue = 1f;
                    m_linearDeflectionEfficiency = pValue;
                    break;
                case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_linearDeflectionTimescale = pValue;
                    break;
                case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
                    //                    if (pValue < timestep) pValue = timestep;
                    // try to make impulses to work a bit better
                    if (pValue < timestep) pValue = timestep;
                    else if (pValue > 120) pValue = 120;
                    m_linearMotorDecayTimescale = pValue;
                    break;
                case Vehicle.LINEAR_MOTOR_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_linearMotorTimescale = pValue;
                    break;
                case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
                    if (pValue < 0f) pValue = 0f;
                    if (pValue > 1f) pValue = 1f;
                    m_verticalAttractionEfficiency = pValue;
                    break;
                case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_verticalAttractionTimescale = pValue;
                    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:
                    if (pValue < timestep) pValue = timestep;
                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
                    break;
                case Vehicle.ANGULAR_MOTOR_DIRECTION:
                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
                    len = m_angularMotorDirection.Length();
                    if (len > 12.566f)
                        m_angularMotorDirection *= (12.566f / len);
                    break;
                case Vehicle.LINEAR_FRICTION_TIMESCALE:
                    if (pValue < timestep) pValue = timestep;
                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
                    break;
                case Vehicle.LINEAR_MOTOR_DIRECTION:
                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
                    len = m_linearMotorDirection.Length();
                    if (len > 30.0f)
                        m_linearMotorDirection *= (30.0f / len);
                    break;
                case Vehicle.LINEAR_MOTOR_OFFSET:
                    m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
                    len = m_linearMotorOffset.Length();
                    if (len > 100.0f)
                        m_linearMotorOffset *= (100.0f / len);
                    break;
            }
        }//end ProcessFloatVehicleParam

        public void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
        {
            float len;
            float timestep = 0.01f;
            switch (pParam)
            {
                case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                    if (pValue.X < timestep) pValue.X = timestep;
                    if (pValue.Y < timestep) pValue.Y = timestep;
                    if (pValue.Z < timestep) pValue.Z = timestep;

                    m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    break;
                case Vehicle.ANGULAR_MOTOR_DIRECTION:
                    m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    // Limit requested angular speed to 2 rps= 4 pi rads/sec
                    len = m_angularMotorDirection.Length();
                    if (len > 12.566f)
                        m_angularMotorDirection *= (12.566f / len);
                    break;
                case Vehicle.LINEAR_FRICTION_TIMESCALE:
                    if (pValue.X < timestep) pValue.X = timestep;
                    if (pValue.Y < timestep) pValue.Y = timestep;
                    if (pValue.Z < timestep) pValue.Z = timestep;
                    m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    break;
                case Vehicle.LINEAR_MOTOR_DIRECTION:
                    m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    len = m_linearMotorDirection.Length();
                    if (len > 30.0f)
                        m_linearMotorDirection *= (30.0f / len);
                    break;
                case Vehicle.LINEAR_MOTOR_OFFSET:
                    m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    len = m_linearMotorOffset.Length();
                    if (len > 100.0f)
                        m_linearMotorOffset *= (100.0f / len);
                    break;
                case Vehicle.BLOCK_EXIT:
                    m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
                    break;
            }
        }//end ProcessVectorVehicleParam

        public void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
        {
            switch (pParam)
            {
                case Vehicle.REFERENCE_FRAME:
                    m_referenceFrame = Quaternion.Inverse(pValue);
                    break;
                case Vehicle.ROLL_FRAME:
                    m_RollreferenceFrame = pValue;
                    break;
            }
        }//end ProcessRotationVehicleParam

        public void ProcessVehicleFlags(int pParam, bool remove)
        {
            if (remove)
            {
                m_flags &= ~((VehicleFlag)pParam);
            }
            else
            {
                m_flags |= (VehicleFlag)pParam;
            }
        }//end ProcessVehicleFlags

        public void ProcessTypeChange(Vehicle pType)
        {
            m_linearMotorDirection = Vector3.Zero;
            m_angularMotorDirection = Vector3.Zero;

            m_BlockingEndPoint = Vector3.Zero;
            m_RollreferenceFrame = Quaternion.Identity;
            m_linearMotorOffset = Vector3.Zero;

            m_referenceFrame = Quaternion.Identity;

            // Set Defaults For Type
            m_type = pType;
            switch (pType)
            {
                case Vehicle.TYPE_NONE: // none sense this will never exist
                    m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
                    m_linearMotorTimescale = 1000;
                    m_linearMotorDecayTimescale = 120;
                    m_angularMotorTimescale = 1000;
                    m_angularMotorDecayTimescale = 1000;
                    m_VhoverHeight = 0;
                    m_VhoverTimescale = 1000;
                    m_VehicleBuoyancy = 0;
                    m_flags = (VehicleFlag)0;
                    break;

                case Vehicle.TYPE_SLED:
                    m_linearFrictionTimescale = new Vector3(30, 1, 1000);
                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
                    m_linearMotorTimescale = 1000;
                    m_linearMotorDecayTimescale = 120;
                    m_angularMotorTimescale = 1000;
                    m_angularMotorDecayTimescale = 120;
                    m_VhoverHeight = 0;
                    m_VhoverEfficiency = 1;
                    m_VhoverTimescale = 10;
                    m_VehicleBuoyancy = 0;
                    m_linearDeflectionEfficiency = 1;
                    m_linearDeflectionTimescale = 1;
                    m_angularDeflectionEfficiency = 0;
                    m_angularDeflectionTimescale = 1000;
                    m_bankingEfficiency = 0;
                    m_bankingMix = 1;
                    m_bankingTimescale = 10;
                    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_linearFrictionTimescale = new Vector3(100, 2, 1000);
                    m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
                    m_linearMotorTimescale = 1;
                    m_linearMotorDecayTimescale = 60;
                    m_angularMotorTimescale = 1;
                    m_angularMotorDecayTimescale = 0.8f;
                    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_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_linearFrictionTimescale = new Vector3(10, 3, 2);
                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
                    m_linearMotorTimescale = 5;
                    m_linearMotorDecayTimescale = 60;
                    m_angularMotorTimescale = 4;
                    m_angularMotorDecayTimescale = 4;
                    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_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
                            VehicleFlag.HOVER_GLOBAL_HEIGHT |
                            VehicleFlag.HOVER_UP_ONLY |
                            VehicleFlag.LIMIT_ROLL_ONLY);
                    m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
                                VehicleFlag.LIMIT_MOTOR_UP |
                                VehicleFlag.HOVER_WATER_ONLY);
                    break;
                case Vehicle.TYPE_AIRPLANE:
                    m_linearFrictionTimescale = new Vector3(200, 10, 5);
                    m_angularFrictionTimescale = new Vector3(20, 20, 20);
                    m_linearMotorTimescale = 2;
                    m_linearMotorDecayTimescale = 60;
                    m_angularMotorTimescale = 4;
                    m_angularMotorDecayTimescale = 8;
                    m_VhoverHeight = 0;
                    m_VhoverEfficiency = 0.5f;
                    m_VhoverTimescale = 1000;
                    m_VehicleBuoyancy = 0;
                    m_linearDeflectionEfficiency = 0.5f;
                    m_linearDeflectionTimescale = 0.5f;
                    m_angularDeflectionEfficiency = 1;
                    m_angularDeflectionTimescale = 2;
                    m_verticalAttractionEfficiency = 0.9f;
                    m_verticalAttractionTimescale = 2f;
                    m_bankingEfficiency = 1;
                    m_bankingMix = 0.7f;
                    m_bankingTimescale = 2;
                    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_linearFrictionTimescale = new Vector3(5, 5, 5);
                    m_angularFrictionTimescale = new Vector3(10, 10, 10);
                    m_linearMotorTimescale = 5;
                    m_linearMotorDecayTimescale = 60;
                    m_angularMotorTimescale = 6;
                    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 = 0f;
                    m_verticalAttractionTimescale = 1000f;
                    m_bankingEfficiency = 0;
                    m_bankingMix = 0.7f;
                    m_bankingTimescale = 5;
                    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;
            }
        }
    }
}