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/*
* 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.Physics.Manager;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
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);
}
}
}
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