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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
{
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
}
// Release any connections and resources used by the actor.
// BSActor.Dispose()
public override void Dispose()
{
Enabled = false;
}
// 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", m_controllingPrim.LocalID);
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
if (!m_controllingPrim.HoverActive)
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
return;
}
// If the object is physically active, add the hoverer prestep action
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.RemoveBodyDependencies()
public override void RemoveBodyDependencies()
{
// Nothing to do for the hoverer 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);
m_targetMotor = new BSVMotor("BSPrim.PIDTarget",
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
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;
}
}
private void DeactivateMoveToTarget()
{
if (m_targetMotor != null)
{
m_physicsScene.BeforeStep -= Mover;
m_targetMotor = null;
}
}
// Called just before the simulation step. Update the vertical position for hoverness.
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},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
m_targetMotor.Enabled = false;
}
else
{
m_controllingPrim.ForcePosition = movePosition;
}
m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
}
}
}
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