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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 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.
*/
// Ubit 2012
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OdeAPI;
using log4net;
using OpenMetaverse;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// </summary>
public class ODESitAvatar
{
private OdeScene m_scene;
private ODERayCastRequestManager m_raymanager;
public ODESitAvatar(OdeScene pScene, ODERayCastRequestManager raymanager)
{
m_scene = pScene;
m_raymanager = raymanager;
}
private static Vector3 SitAjust = new Vector3(0, 0, 0.4f);
public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse)
{
if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).prim_geom == IntPtr.Zero)
{
PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
return;
}
IntPtr geom = ((OdePrim)actor).prim_geom;
d.Vector3 dtmp = d.GeomGetPosition(geom);
Vector3 geopos;
geopos.X = dtmp.X;
geopos.Y = dtmp.Y;
geopos.Z = dtmp.Z;
d.AABB aabb;
Quaternion ori;
d.Quaternion qtmp;
d.GeomCopyQuaternion(geom, out qtmp);
Quaternion geomOri;
geomOri.X = qtmp.X;
geomOri.Y = qtmp.Y;
geomOri.Z = qtmp.Z;
geomOri.W = qtmp.W;
Quaternion geomInvOri;
geomInvOri.X = -qtmp.X;
geomInvOri.Y = -qtmp.Y;
geomInvOri.Z = -qtmp.Z;
geomInvOri.W = qtmp.W;
Vector3 target = geopos + offset;
Vector3 rayDir = target - avCameraPosition;
float raylen = rayDir.Length();
float t = 1 / raylen;
rayDir.X *= t;
rayDir.Y *= t;
rayDir.Z *= t;
raylen += 30f; // focal point may be far
List<ContactResult> rayResults;
rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir , raylen, 1);
if (rayResults.Count == 0 || rayResults[0].ConsumerID != actor.LocalID)
{
d.GeomGetAABB(geom,out aabb);
offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z);
ori = geomInvOri;
offset *= geomInvOri;
PhysicsSitResponse(1, actor.LocalID, offset, ori);
return;
}
offset = rayResults[0].Pos - geopos;
double ang;
float s;
float c;
d.GeomClassID geoclass = d.GeomGetClass(geom);
if (geoclass == d.GeomClassID.SphereClass)
{
float r = d.GeomSphereGetRadius(geom);
offset.Normalize();
offset *= r;
ang = Math.Atan2(offset.Y, offset.X);
ang *= 0.5d;
s = (float)Math.Sin(ang);
c = (float)Math.Cos(ang);
ori = new Quaternion(0, 0, s, c);
if (r < 0.4f)
{
offset = new Vector3(0, 0, r);
}
else if (offset.Z < 0.4f)
{
t = offset.Z;
float rsq = r * r;
t = 1.0f / (rsq - t * t);
offset.X *= t;
offset.Y *= t;
offset.Z = 0.4f;
t = rsq - 0.16f;
offset.X *= t;
offset.Y *= t;
}
offset += avOffset * ori;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(1, actor.LocalID, offset, ori);
return;
}
Vector3 norm = rayResults[0].Normal;
if (norm.Z < 0)
{
PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity);
return;
}
ang = Math.Atan2(-rayDir.Y, -rayDir.X);
ang *= 0.5d;
s = (float)Math.Sin(ang);
c = (float)Math.Cos(ang);
ori = new Quaternion(0, 0, s, c);
offset += avOffset * ori;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(1, actor.LocalID, offset, ori);
return;
}
}
}
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