// Keyboard callback
static void command(int cmd)
{
IntPtr geom;
d.Mass mass;
d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
Char ch = Char.ToLower((Char)cmd);
switch ((Char)ch)
{
case 'b':
d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z);
geom = d.CreateBox(space, sides.X, sides.Y, sides.Z);
addObject(geom, mass);
break;
case 'c':
sides.X *= 0.5f;
d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y);
geom = d.CreateCapsule(space, sides.X, sides.Y);
addObject(geom, mass);
break;
case 'v':
d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f);
geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons);
addObject(geom, mass);
break;
}
}
public void UpdatePosition()
{
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z;
}
// Keyboard callback
public void command(int cmd)
{
IntPtr geom;
d.Mass mass;
d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
Char ch = Char.ToLower((Char)cmd);
switch ((Char)ch)
{
case 'w':
try
{
Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
ds.SetViewpoint(ref xyz, ref hpr);
}
catch (ArgumentException)
{ hpr.X = 0; }
break;
case 'a':
hpr.X++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 's':
try
{
Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
ds.SetViewpoint(ref xyz, ref hpr);
}
catch (ArgumentException)
{ hpr.X = 0; }
break;
case 'd':
hpr.X--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'r':
xyz.Z++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'f':
xyz.Z--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'e':
xyz.Y++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'q':
xyz.Y--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
}
}
internal void Step()
{
IntPtr Body = rootPrim.Body;
d.Mass dmass;
d.BodyGetMass(Body, out dmass);
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
Quaternion rotq = objrotq; // rotq = rotation of object
rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
Quaternion irotq = Quaternion.Inverse(rotq);
d.Vector3 dvtmp;
Vector3 tmpV;
Vector3 curVel; // velocity in world
Vector3 curAngVel; // angular velocity in world
Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
Vector3 torque = Vector3.Zero; // actually angular aceleration until mult by Inertia in vehicle frame
d.Vector3 dtorque = new d.Vector3();
dvtmp = d.BodyGetLinearVel(Body);
curVel.X = dvtmp.X;
curVel.Y = dvtmp.Y;
curVel.Z = dvtmp.Z;
Vector3 curLocalVel = curVel * irotq; // current velocity in local
dvtmp = d.BodyGetAngularVel(Body);
curAngVel.X = dvtmp.X;
curAngVel.Y = dvtmp.Y;
curAngVel.Z = dvtmp.Z;
Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
float ldampZ = 0;
// linear motor
if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
{
tmpV = m_linearMotorDirection - curLocalVel; // velocity error
tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
tmpV *= rotq; // to world
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
{
tmpV.Z = 0;
}
if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
{
// have offset, do it now
tmpV *= dmass.mass;
d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
}
else
{
force.X += tmpV.X;
force.Y += tmpV.Y;
force.Z += tmpV.Z;
}
m_lmEfect *= m_lmDecay;
// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
m_ffactor = 0.0f;
}
else
{
m_lmEfect = 0;
m_ffactor = 1f;
}
// hover
if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
{
// d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
pos.Z -= 0.21f; // minor offset that seems to be always there in sl
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float perr;
// default to global but don't go underground
perr = m_VhoverHeight - pos.Z;
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
{
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
perr += _pParentScene.GetWaterLevel();
}
else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
perr += t;
}
else
{
float w = _pParentScene.GetWaterLevel();
if (t > w)
{
perr += t;
}
else
{
perr += w;
}
}
}
else if (t > m_VhoverHeight)
{
perr = t - pos.Z;
}
;
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > -0.1)
{
ldampZ = m_VhoverEfficiency * m_invtimestep;
perr *= (1.0f + ldampZ) / m_VhoverTimescale;
// force.Z += perr - curVel.Z * tmp;
force.Z += perr;
ldampZ *= -curVel.Z;
force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy);
}
else // no buoyancy
{
force.Z += _pParentScene.gravityz;
}
}
else
{
// default gravity and Buoyancy
force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy);
}
// linear deflection
if (m_linearDeflectionEfficiency > 0)
{
float len = curVel.Length();
if (len > 0.01) // if moving
{
Vector3 atAxis;
atAxis = Xrot(rotq); // where are we pointing to
atAxis *= len; // make it same size as world velocity vector
tmpV = -atAxis; // oposite direction
atAxis -= curVel; // error to one direction
len = atAxis.LengthSquared();
tmpV -= curVel; // error to oposite
float lens = tmpV.LengthSquared();
if (len > 0.01 || lens > 0.01) // do nothing if close enougth
{
if (len < lens)
{
tmpV = atAxis;
}
tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
force.X += tmpV.X;
force.Y += tmpV.Y;
if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
{
force.Z += tmpV.Z;
}
}
}
}
// linear friction/damping
if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
{
tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
tmpV *= rotq; // to world
if (ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z))
{
tmpV.Z = ldampZ;
}
force.X += tmpV.X;
force.Y += tmpV.Y;
force.Z += tmpV.Z;
}
// vertical atractor
if (m_verticalAttractionTimescale < 300)
{
float roll;
float pitch;
float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale;
float ftmp2;
ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
m_amdampX = ftmp2;
m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency;
GetRollPitch(irotq, out roll, out pitch);
if (roll > halfpi)
{
roll = pi - roll;
}
else if (roll < -halfpi)
{
roll = -pi - roll;
}
float effroll = pitch / halfpi;
effroll *= effroll;
effroll = 1 - effroll;
effroll *= roll;
torque.X += effroll * ftmp;
if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
{
float effpitch = roll / halfpi;
effpitch *= effpitch;
effpitch = 1 - effpitch;
effpitch *= pitch;
torque.Y += effpitch * ftmp;
}
if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
{
float broll = effroll;
/*
* if (broll > halfpi)
* broll = pi - broll;
* else if (broll < -halfpi)
* broll = -pi - broll;
*/
broll *= m_bankingEfficiency;
if (m_bankingMix != 0)
{
float vfact = Math.Abs(curLocalVel.X) / 10.0f;
if (vfact > 1.0f)
{
vfact = 1.0f;
}
if (curLocalVel.X >= 0)
{
broll *= (1 + (vfact - 1) * m_bankingMix);
}
else
{
broll *= -(1 + (vfact - 1) * m_bankingMix);
}
}
// make z rot be in world Z not local as seems to be in sl
broll = broll / m_bankingTimescale;
tmpV = Zrot(irotq);
tmpV *= broll;
torque.X += tmpV.X;
torque.Y += tmpV.Y;
torque.Z += tmpV.Z;
m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
m_amdampY = m_amdampZ;
}
else
{
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
m_amdampY = m_amdampX;
}
}
else
{
m_ampwr = 1.0f;
m_amdampX = 1 / m_angularFrictionTimescale.X;
m_amdampY = 1 / m_angularFrictionTimescale.Y;
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
}
// angular motor
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
{
tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
torque.X += tmpV.X * m_ampwr;
torque.Y += tmpV.Y * m_ampwr;
torque.Z += tmpV.Z;
m_amEfect *= m_amDecay;
}
else
{
m_amEfect = 0;
}
// angular deflection
if (m_angularDeflectionEfficiency > 0)
{
Vector3 dirv;
if (curLocalVel.X > 0.01f)
{
dirv = curLocalVel;
}
else if (curLocalVel.X < -0.01f)
{
// use oposite
dirv = -curLocalVel;
}
else
{
// make it fall into small positive x case
dirv.X = 0.01f;
dirv.Y = curLocalVel.Y;
dirv.Z = curLocalVel.Z;
}
float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
if (Math.Abs(dirv.Z) > 0.01)
{
torque.Y += -(float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
}
if (Math.Abs(dirv.Y) > 0.01)
{
torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
}
}
// angular friction
if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
{
torque.X -= curLocalAngVel.X * m_amdampX;
torque.Y -= curLocalAngVel.Y * m_amdampY;
torque.Z -= curLocalAngVel.Z * m_amdampZ;
}
if (force.X != 0 || force.Y != 0 || force.Z != 0)
{
force *= dmass.mass;
d.BodyAddForce(Body, force.X, force.Y, force.Z);
}
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
{
torque *= m_referenceFrame; // to object frame
dtorque.X = torque.X;
dtorque.Y = torque.Y;
dtorque.Z = torque.Z;
d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
}
}
}// end Step
private void MoveAngular(float pTimestep)
{
/*
* private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
* private int m_angularMotorApply = 0; // application frame counter
* private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down)
* 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; // what was last applied to body
*/
// Get what the body is doing, this includes 'external' influences
d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
// Vector3 angularVelocity = Vector3.Zero;
if (m_angularMotorApply > 0)
{
// ramp up to new value
// current velocity += error / (time to get there / step interval)
// requested speed - last motor speed
m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived.
}
else
{
// no motor recently applied, keep the body velocity
/* m_angularMotorVelocity.X = angularVelocity.X;
* m_angularMotorVelocity.Y = angularVelocity.Y;
* m_angularMotorVelocity.Z = angularVelocity.Z; */
// and decay the velocity
m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
} // end motor section
// Vertical attractor section
Vector3 vertattr = Vector3.Zero;
if (m_verticalAttractionTimescale < 300)
{
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
// get present body rotation
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f;
// rotate it to Body Angle
verterr = verterr * rotq;
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
if (verterr.Z < 0.0f)
{
verterr.X = 2.0f - verterr.X;
verterr.Y = 2.0f - verterr.Y;
}
// Error is 0 (no error) to +/- 2 (max error)
// scale it by VAservo
verterr = verterr * VAservo;
//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
vertattr.X = verterr.Y;
vertattr.Y = -verterr.X;
vertattr.Z = 0f;
// scaling appears better usingsquare-law
float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
vertattr.X += bounce * angularVelocity.X;
vertattr.Y += bounce * angularVelocity.Y;
} // else vertical attractor is off
// m_lastVertAttractor = vertattr;
// Bank section tba
// Deflection section tba
// Sum velocities
m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0;
}
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
if (!d.BodyIsEnabled(Body))
{
d.BodyEnable(Body);
}
}
else
{
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
}
// apply friction
Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="timeStep"></param>
public void Move (float timeStep, ref List<AuroraODECharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
return;
if (!m_shouldBePhysical)
return;
// replace amotor
d.Quaternion dtmp;
dtmp.W = 1;
dtmp.X = 0;
dtmp.Y = 0;
dtmp.Z = 0;
d.BodySetQuaternion (Body, ref dtmp);
d.BodySetAngularVel(Body, 0, 0, 0);
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
#region Flight Ceiling
// rex, added height check
d.Vector3 tempPos = d.BodyGetPosition (Body);
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition (Body);
}
if (_parent_scene.m_useFlightCeilingHeight && tempPos.Z > _parent_scene.m_flightCeilingHeight)
{
tempPos.Z = _parent_scene.m_flightCeilingHeight;
d.BodySetPosition (Body, tempPos.X, tempPos.Y, tempPos.Z);
d.Vector3 tempVel = d.BodyGetLinearVel (Body);
if (tempVel.Z > 0.0f)
{
tempVel.Z = 0.0f;
d.BodySetLinearVel (Body, tempVel.X, tempVel.Y, tempVel.Z);
}
if (_target_velocity.Z > 0.0f)
_target_velocity.Z = 0.0f;
}
// endrex
#endregion
#region NonFinite Pos
Vector3 localPos = new Vector3 ((float)tempPos.X, (float)tempPos.Y, (float)tempPos.Z);
if (!localPos.IsFinite ())
{
m_log.Warn ("[PHYSICS]: Avatar Position is non-finite!");
defects.Add (this);
// _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
/*
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
*/
//kill the Geometry
_parent_scene.waitForSpaceUnlock (_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy (Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy (Shell);
_parent_scene.geom_name_map.Remove (Shell);
Shell = IntPtr.Zero;
}
return;
}
#endregion
#region Check for out of region
if (Position.X < 0.25f || Position.Y < 0.25f ||
Position.X > _parent_scene.Region.RegionSizeX - .25f ||
Position.Y > _parent_scene.Region.RegionSizeY - .25f)
{
if (!CheckForRegionCrossing())
{
Vector3 newPos = Position;
newPos.X = Util.Clip(Position.X, 0.75f, _parent_scene.Region.RegionSizeX - 0.75f);
newPos.Y = Util.Clip(Position.Y, 0.75f, _parent_scene.Region.RegionSizeY - 0.75f);
Position = newPos;
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
}
}
#endregion
#region Movement Multiplier
float movementmult = 1f;
if (!m_alwaysRun)
movementmult /= _parent_scene.avMovementDivisorWalk;
else
movementmult /= _parent_scene.avMovementDivisorRun;
movementmult *= 10;
movementmult *= SpeedModifier;
if (flying)
movementmult *= _parent_scene.m_AvFlySpeed;
#endregion
#region Check for underground
if (!(Position.X < 0.25f || Position.Y < 0.25f ||
Position.X > _parent_scene.Region.RegionSizeX - .25f ||
Position.Y > _parent_scene.Region.RegionSizeY - .25f))
{
float groundHeight = _parent_scene.GetTerrainHeightAtXY (
tempPos.X + (tempPos.X == 0 ? tempPos.X : timeStep * 0.75f * vel.X),
tempPos.Y + (tempPos.Y == 0 ? tempPos.Y : timeStep * 0.75f * vel.Y));
if ((tempPos.Z - AvatarHalfsize) < groundHeight)
{
if (!flying)
{
//if (_target_velocity.Z < 0)
_target_velocity.Z = 0;
vec.Z = -vel.Z * PID_D * 2f + ((groundHeight - (tempPos.Z - AvatarHalfsize)) * PID_P * 100.0f);
}
else
vec.Z = ((groundHeight - (tempPos.Z - AvatarHalfsize)) * PID_P);
}
if (tempPos.Z - AvatarHalfsize - groundHeight < 0.12f)
{
m_iscolliding = true;
m_iscollidingGround = true;
flying = false; // ground the avatar
ContactPoint point = new ContactPoint ();
point.PenetrationDepth = vel.Z;
point.Position = Position;
point.SurfaceNormal = Vector3.Zero;
//0 is the ground localID
this.AddCollisionEvent (0, point);
}
else
m_iscollidingGround = false;
}
else
m_iscollidingGround = true;//Assume that they are crossing, and keep them from falling down
#endregion
#region Movement
#region Jump code
if (IsJumping && (IsColliding && m_preJumpCounter > _parent_scene.m_preJumpTime + 10) || m_preJumpCounter > 50)
{
m_isJumping = false;
m_preJumpCounter = 0;
}
if (IsJumping)
m_preJumpCounter++;
if (m_ispreJumping && m_preJumpCounter == _parent_scene.m_preJumpTime)
{
m_ispreJumping = false;
_target_velocity += m_preJumpForce * _parent_scene.m_preJumpForceMultiplier;
m_preJumpCounter = 0;
m_isJumping = true;
}
if (m_ispreJumping)
{
m_preJumpCounter++;
TriggerMovementUpdate();
return;
}
#endregion
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity == Vector3.Zero &&
Math.Abs (vel.X) < 0.05 && Math.Abs (vel.Y) < 0.05 && Math.Abs (vel.Z) < 0.05 && (this.m_iscollidingGround || this.m_iscollidingObj || this.flying))
//This is so that if we get moved by something else, it will update us in the client
{
m_isJumping = false;
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = tempPos;
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
// if target vel is zero why was it here ?
vec.X = -vel.X * PID_D + (_zeroPosition.X - tempPos.X) * PID_P;
vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - tempPos.Y) * PID_P;
}
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding)
{
if (!flying)
{
if (_target_velocity.Z != 0.0f)
vec.Z = (_target_velocity.Z * movementmult - vel.Z) * PID_D;// + (_zeroPosition.Z - tempPos.Z) * PID_P)) _zeropos maybe bad here
// We're standing or walking on something
vec.X = (_target_velocity.X * movementmult - vel.X) * PID_D * 2;
vec.Y = (_target_velocity.Y * movementmult - vel.Y) * PID_D * 2;
}
else
{
// We're flying and colliding with something
vec.X = (_target_velocity.X * movementmult - vel.X) * PID_D * 0.5f;
vec.Y = (_target_velocity.Y * movementmult - vel.Y) * PID_D * 0.5f;
}
}
else
{
if (flying)
{
// we're flying
vec.X = (_target_velocity.X * movementmult - vel.X) * PID_D * 0.75f;
vec.Y = (_target_velocity.Y * movementmult - vel.Y) * PID_D * 0.75f;
}
else
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.85f;
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.85f;
}
}
if (flying)
{
#region Av gravity
if (_parent_scene.AllowAvGravity &&
tempPos.Z > _parent_scene.AvGravityHeight) //Should be stop avies from flying upwards
{
//Decay going up
if (_target_velocity.Z > 0)
{
//How much should we force them down?
float Multiplier = (_parent_scene.AllowAvsToEscapeGravity ? .03f : .1f);
//How much should we force them down?
float fudgeHeight = (_parent_scene.AllowAvsToEscapeGravity ? 80 : 30);
//We add the 30 so that gravity is resonably strong once they pass the min height
Multiplier *= tempPos.Z + fudgeHeight - _parent_scene.AvGravityHeight;
//Limit these so that things don't go wrong
if (Multiplier < 1)
Multiplier = 1;
float maxpower = (_parent_scene.AllowAvsToEscapeGravity ? 1.5f : 3f);
if (Multiplier > maxpower)
Multiplier = maxpower;
_target_velocity.Z /= Multiplier;
vel.Z /= Multiplier;
}
}
#endregion
vec.Z = (_target_velocity.Z * movementmult - vel.Z) * PID_D * 0.5f;
if (_parent_scene.AllowAvGravity && tempPos.Z > _parent_scene.AvGravityHeight)
//Add extra gravity
vec.Z += ((10 * _parent_scene.gravityz) * Mass);
}
}
if (flying)
{
#region Auto Fly Height
//Added for auto fly height. Kitto Flora
//Changed to only check if the avatar is flying around,
// Revolution: If the avatar is going down, they are trying to land (probably), so don't push them up to make it harder
// Only if they are moving around sideways do we need to push them up
if (_target_velocity.X != 0 || _target_velocity.Y != 0)
{
Vector3 forwardVel = new Vector3 (_target_velocity.X > 0 ? 2 : (_target_velocity.X < 0 ? -2 : 0),
_target_velocity.Y > 0 ? 2 : (_target_velocity.Y < 0 ? -2 : 0),
0);
float target_altitude = _parent_scene.GetTerrainHeightAtXY (tempPos.X, tempPos.Y) + MinimumGroundFlightOffset;
//We cheat a bit and do a bit lower than normal
if ((tempPos.Z - CAPSULE_LENGTH) < target_altitude ||
(tempPos.Z - CAPSULE_LENGTH) < _parent_scene.GetTerrainHeightAtXY (tempPos.X + forwardVel.X, tempPos.Y + forwardVel.Y)
+ MinimumGroundFlightOffset)
vec.Z += (target_altitude - tempPos.Z) * PID_P * 0.5f;
}
else
{
//Straight up and down, only apply when they are very close to the ground
float target_altitude = _parent_scene.GetTerrainHeightAtXY (tempPos.X, tempPos.Y);
if ((tempPos.Z - CAPSULE_LENGTH + (MinimumGroundFlightOffset / 1.5)) < target_altitude + MinimumGroundFlightOffset)
{
if ((tempPos.Z - CAPSULE_LENGTH) < target_altitude + 1)
{
vec.Z += ((target_altitude + 4) - (tempPos.Z - CAPSULE_LENGTH)) * PID_P;
}
else
vec.Z += ((target_altitude + MinimumGroundFlightOffset) - (tempPos.Z - CAPSULE_LENGTH)) * PID_P * 0.5f;
}
}
#endregion
}
#region Gravity
if (!flying && _parent_scene.AllowAvGravity)
{
if (!_parent_scene.UsePointGravity)
{
//Add normal gravity
vec.X += _parent_scene.gravityx * m_mass;
vec.Y += _parent_scene.gravityy * m_mass;
vec.Z += _parent_scene.gravityz * m_mass;
}
else
{
Vector3 cog = _parent_scene.PointOfGravity;
if (cog.X != 0)
vec.X += (cog.X - tempPos.X) * m_mass;
if (cog.Y != 0)
vec.Y += (cog.Y - tempPos.Y) * m_mass;
if (cog.Z != 0)
vec.Z += (cog.Z - tempPos.Z) * m_mass;
}
}
#endregion
#region Under water physics
if (_parent_scene.AllowUnderwaterPhysics && (float)tempPos.X < _parent_scene.Region.RegionSizeX &&
(float)tempPos.Y < _parent_scene.Region.RegionSizeY)
{
//Position plus height to av's shoulder (aprox) is just above water
if ((tempPos.Z + (CAPSULE_LENGTH / 3) - .25f) < _parent_scene.GetWaterLevel ((float)tempPos.X, (float)tempPos.Y))
{
if (StartingUnderWater)
ShouldBeWalking = Flying == false;
StartingUnderWater = false;
WasUnderWater = true;
Flying = true;
lastUnderwaterPush = 0;
if (ShouldBeWalking)
{
lastUnderwaterPush += (float)(_parent_scene.GetWaterLevel ((float)tempPos.X, (float)tempPos.Y) - tempPos.Z) * 33 + 3;
vec.Z += lastUnderwaterPush;
}
else
{
lastUnderwaterPush += 3500;
lastUnderwaterPush += (float)(_parent_scene.GetWaterLevel ((float)tempPos.X, (float)tempPos.Y) - tempPos.Z) * 8;
vec.Z += lastUnderwaterPush;
}
}
else
{
StartingUnderWater = true;
if (WasUnderWater)
{
WasUnderWater = false;
Flying = true;
}
}
}
#endregion
#endregion
#region Apply the force
if (vec.IsFinite ())
{
if (vec.X < 100000000 && vec.Y < 10000000 && vec.Z < 10000000) //Checks for crazy, going to NaN us values
{
// round small values to zero. those possible are just errors
if (Math.Abs (vec.X) < 0.001)
vec.X = 0;
if (Math.Abs (vec.Y) < 0.001)
vec.Y = 0;
if (Math.Abs (vec.Z) < 0.001)
vec.Z = 0;
if (vec == Vector3.Zero) //if we arn't moving, STOP
d.BodySetLinearVel(Body, vec.X, vec.Y, vec.Z);
else
doForce (vec);
//When falling, we keep going faster and faster, and eventually, the client blue screens (blue is all you see).
// The speed that does this is slightly higher than -30, so we cap it here so we never do that during falling.
if (vel.Z < -30)
{
vel.Z = -30;
d.BodySetLinearVel (Body, vel.X, vel.Y, vel.Z);
}
//Decay out the target velocity
_target_velocity *= _parent_scene.m_avDecayTime;
if (!_zeroFlag && _target_velocity.ApproxEquals (Vector3.Zero, _parent_scene.m_avStopDecaying))
_target_velocity = Vector3.Zero;
}
else
{
//This is a safe guard from going NaN, but it isn't very smooth... which is ok
d.BodySetForce (Body, 0, 0, 0);
d.BodySetLinearVel (Body, 0, 0, 0);
}
}
else
{
m_log.Warn ("[PHYSICS]: Got a NaN force vector in Move()");
m_log.Warn ("[PHYSICS]: Avatar Position is non-finite!");
defects.Add (this);
//kill the Geometry
_parent_scene.waitForSpaceUnlock (_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy (Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy (Shell);
_parent_scene.geom_name_map.Remove (Shell);
Shell = IntPtr.Zero;
}
}
#endregion
}
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
// appears to be unreliable. Fortunately we can compute the joint axis ourselves by
// keeping track of the joint's original orientation relative to one of the involved bodies.
public override Vector3 GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = new d.Vector3();
if (!(joint is AuroraODEPhysicsJoint))
{
DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
}
else
{
AuroraODEPhysicsJoint odeJoint = (AuroraODEPhysicsJoint)joint;
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAxis(odeJoint.jointID, out axis);
break;
}
}
return new Vector3((float)axis.X, (float)axis.Y, (float)axis.Z);
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 newPos;
try
{
newPos = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
defects.Add(this);
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
return;
}
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (newPos.X < 0.0f) newPos.X = 0.0f;
if (newPos.Y < 0.0f) newPos.Y = 0.0f;
if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f) newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f;
if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
_position.X = newPos.X;
_position.Y = newPos.Y;
_position.Z = newPos.Z;
// I think we need to update the taintPosition too -- Diva 12/24/10
m_taintPosition = _position;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (_zeroFlag)
{
_velocity = Vector3.Zero;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
//base.RequestPhysicsterseUpdate();
}
}
else
{
m_lastUpdateSent = false;
d.Vector3 newVelocity;
try
{
newVelocity = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
newVelocity.X = _velocity.X;
newVelocity.Y = _velocity.Y;
newVelocity.Z = _velocity.Z;
}
_velocity.X = newVelocity.X;
_velocity.Y = newVelocity.Y;
_velocity.Z = newVelocity.Z;
if (_velocity.Z < -6 && !m_hackSentFall)
{
m_hackSentFall = true;
m_pidControllerActive = false;
}
else if (flying && !m_hackSentFly)
{
//m_hackSentFly = true;
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
else
{
m_hackSentFly = false;
m_hackSentFall = false;
}
}
}
} // end Step
private void MoveLinear(float pTimestep, AuroraODEPhysicsScene _pParentScene)
{
d.Vector3 pos = d.BodyGetPosition (Body);
d.Vector3 oldPos = pos;
if (m_lastPositionVector.X != pos.X ||
m_lastPositionVector.Y != pos.Y ||
m_lastPositionVector.Z != pos.Z)
{
m_lastPositionVector = d.BodyGetPosition (Body);
m_lastAngularVelocity = new Vector3 ((float)d.BodyGetAngularVel (Body).X, (float)d.BodyGetAngularVel (Body).Y, (float)d.BodyGetAngularVel (Body).Z);
}
if (!m_linearMotorDirection.ApproxEquals (Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if (!d.BodyIsEnabled (Body))
d.BodyEnable (Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection / (m_linearMotorTimescale * m_linearMotorDecayTimescale / (pTimestep));
m_lastLinearVelocityVector += (addAmount * 10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
m_linearMotorDirection = Vector3.Zero;
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion (Body);
Quaternion rotq = new Quaternion (rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq;
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z += (float)vel_now.Z; // Preserve the accumulated falling velocity
#region Blocking End Points
//This makes sure that the vehicle doesn't leave the defined limits of position
if (m_BlockingEndPoint != Vector3.Zero)
{
Vector3 posChange = new Vector3();
posChange.X = (float)(pos.X - m_lastPositionVector.X);
posChange.Y = (float)(pos.Y - m_lastPositionVector.Y);
posChange.Z = (float)(pos.Z - m_lastPositionVector.Z);
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
pos.X -= posChange.X + 1;
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
pos.Y -= posChange.Y + 1;
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
pos.Z -= posChange.Z + 1;
if (pos.X <= 0)
pos.X += posChange.X + 1;
if (pos.Y <= 0)
pos.Y += posChange.Y + 1;
}
#endregion
// Check if hovering
if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = (float)_pParentScene.GetWaterLevel((float)pos.X, (float)pos.Y) + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY((float)pos.X, (float)pos.Y) + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is already heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight)
m_VhoverTargetHeight = (float)pos.Z;
}
if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
if ((pos.Z - (pos.Z - m_VhoverTargetHeight)) >= _pParentScene.GetTerrainHeightAtXY((float)pos.X, (float)pos.Y))
pos.Z = m_VhoverTargetHeight;
}
}
else
{
// m_VhoverEfficiency - 0=boucy, 1=Crit.damped
// m_VhoverTimescale - time to acheive height
float herr0 = (float)pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs(herr0) > 0.01f)
{
//Note: we use 1.05 because it doesn't disappear completely, only very critically damped
m_dir.Z = (float)((-((herr0 * pTimestep * 50.0f) / m_VhoverTimescale)) * (1.05 - m_VhoverEfficiency));
}
else
//Too small, zero it.
m_dir.Z = 0f;
}
}
//Do this here, because it shouldn't clear out gravity or the tainted forces (not part of vehicle physics)
if ((m_flags & (VehicleFlag.NO_X)) != 0)
m_dir.X = 0;
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
m_dir.Y = 0;
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
m_dir.Z = 0;
m_lastPositionVector = d.BodyGetPosition(Body);
#region Deal with tainted forces
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 TaintedForce = new Vector3();
if (m_forcelist.Count != 0)
{
try
{
for (int i = 0; i < m_forcelist.Count; i++)
{
TaintedForce = TaintedForce + (m_forcelist[i] * 100);
}
}
catch (IndexOutOfRangeException)
{
TaintedForce = Vector3.Zero;
}
catch (ArgumentOutOfRangeException)
{
TaintedForce = Vector3.Zero;
}
m_forcelist = new List<Vector3>();
}
#endregion
#region Deflection
//Forward is the prefered direction
Vector3 PreferredAxisOfMotion = new Vector3 (1 + 1 * (m_linearDeflectionEfficiency / m_linearDeflectionTimescale) * pTimestep * pTimestep * pTimestep, 1, 1);
PreferredAxisOfMotion *= m_referenceFrame;
//Multiply it so that it scales linearly
m_dir *= PreferredAxisOfMotion;
#endregion
if (Mass == 0)
{
d.Mass mass;
d.BodyGetMass(m_body, out mass);
Mass = mass.mass;
Mass *= 2;
}
//No Setting forces, only velocity! Forces are NOT recommended to be used by the ODE manual
//d.BodySetForce(Body, _pParentScene.gravityx + TaintedForce.X,
// _pParentScene.gravityy + TaintedForce.Y,
// (_pParentScene.gravityz * Mass * (1f - m_VehicleBuoyancy)) + TaintedForce.Z);
//d.BodySetForce(Body, _pParentScene.gravityx + TaintedForce.X + (m_dir.X * 10000),
// _pParentScene.gravityy + TaintedForce.Y + (m_dir.Y * 10000),
// (_pParentScene.gravityz * Mass * (1f - m_VehicleBuoyancy)) + TaintedForce.Z + (m_dir.Z * 10000));
m_dir += TaintedForce;
//Uses the square to make bouyancy more effective as in SL, as it seems to effect gravity more the higher the value is
//This check helps keep things from being pushed into the ground and the consequence of being shoved back out
m_dir.Z += ((_pParentScene.gravityz * (float)Mass) * ((((1 - m_VehicleBuoyancy) * (1 - m_VehicleBuoyancy))) * pTimestep));
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
//Check for changes and only set it once
if (pos.X != oldPos.X || pos.Y != oldPos.Y || pos.Z != oldPos.Z)
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
// apply friction
// note: seems more effective with how SL does this with the square
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / (pTimestep * pTimestep));
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name = "timeStep"></param>
public void Move(float timeStep, ref List<AuroraODECharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
return;
if (!m_shouldBePhysical)
return;
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 tempPos;
d.BodyCopyPosition(Body, out tempPos);
#region Flight Ceiling
// rex, added height check
if (m_pidControllerActive == false)
{
_zeroPosition = tempPos;
}
if (_parent_scene.m_useFlightCeilingHeight && tempPos.Z > _parent_scene.m_flightCeilingHeight)
{
tempPos.Z = _parent_scene.m_flightCeilingHeight;
d.BodySetPosition(Body, tempPos.X, tempPos.Y, tempPos.Z);
if (vel.Z > 0.0f)
{
vel.Z = 0.0f;
d.BodySetLinearVel(Body, vel.X, vel.Y, vel.Z);
}
if (_target_velocity.Z > 0.0f)
_target_velocity.Z = 0.0f;
}
// endrex
#endregion
#region NonFinite Pos
Vector3 localPos = new Vector3(tempPos.X, tempPos.Y, tempPos.Z);
if (!IsFinite(localPos))
{
MainConsole.Instance.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
Shell = IntPtr.Zero;
}
return;
}
#endregion
#region Check for out of region
if (Position.X < 0.25f || Position.Y < 0.25f ||
Position.X > _parent_scene.Region.RegionSizeX - .25f ||
Position.Y > _parent_scene.Region.RegionSizeY - .25f)
{
if (!CheckForRegionCrossing())
{
Vector3 newPos = Position;
newPos.X = Util.Clip(Position.X, 0.75f, _parent_scene.Region.RegionSizeX - 0.75f);
newPos.Y = Util.Clip(Position.Y, 0.75f, _parent_scene.Region.RegionSizeY - 0.75f);
Position = newPos;
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
}
}
#endregion
#region Movement Multiplier
float movementmult = 1f;
if (!m_alwaysRun)
movementmult /= _parent_scene.avMovementDivisorWalk;
else
movementmult /= _parent_scene.avMovementDivisorRun;
movementmult *= 10;
movementmult *= SpeedModifier;
// movementmult *= 1 / _parent_scene.TimeDilation;
if (flying)
movementmult *= _parent_scene.m_AvFlySpeed;
#endregion
#region Check for underground
d.AABB aabb;
d.GeomGetAABB(Shell, out aabb);
float chrminZ = aabb.MinZ;
Vector3 posch = localPos;
float ftmp;
if (flying)
{
ftmp = 0.75f*timeStep;
posch.X += vel.X*ftmp;
posch.Y += vel.Y*ftmp;
}
float groundHeight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
if (chrminZ < groundHeight)
{
float depth = groundHeight - chrminZ;
if (_target_velocity.Z < 0)
_target_velocity.Z = 0;
if (!flying)
{
if (vel.Z < -10f)
vel.Z = -10f;
vec.Z = -vel.Z*PID_D*1.5f + depth*PID_P*50.0f;
}
else
{
vec.Z = depth*PID_P*50.0f;
}
if (depth < 0.12f)
{
m_iscolliding = true;
m_colliderfilter = 2;
m_iscollidingGround = true;
ContactPoint point = new ContactPoint
{
Type = ActorTypes.Ground,
PenetrationDepth = depth,
Position = {X = localPos.X, Y = localPos.Y, Z = chrminZ},
SurfaceNormal = new Vector3(0, 0, -1f)
};
//0 is the ground localID
AddCollisionEvent(0, point);
vec.Z *= 0.5f;
}
else
m_iscollidingGround = false;
}
else
m_iscollidingGround = false;
/*
if(Flying && _target_velocity == Vector3.Zero &&
Math.Abs(vel.Z) < 0.1)
notMoving = true;
*/
#endregion
#region Movement
#region Jump code
if (IsJumping)
{
// if ((IsColliding) && m_preJumpCounter > _parent_scene.m_preJumpTime || m_preJumpCounter > 150)
if ((IsColliding) && m_preJumpCounter > _parent_scene.m_preJumpTime || m_preJumpCounter > 150)
{
m_isJumping = false;
m_preJumpCounter = 0;
_target_velocity.Z = 0;
}
else
m_preJumpCounter++;
}
else if (m_ispreJumping)
{
if (m_preJumpCounter == _parent_scene.m_preJumpTime)
{
m_ispreJumping = false;
_target_velocity.X = m_preJumpForce.X*_parent_scene.m_preJumpForceMultiplierX;
_target_velocity.Y = m_preJumpForce.Y*_parent_scene.m_preJumpForceMultiplierY;
_target_velocity.Z = m_preJumpForce.Z*_parent_scene.m_preJumpForceMultiplierZ;
m_preJumpCounter = 0;
m_isJumping = true;
}
else
{
m_preJumpCounter++;
TriggerMovementUpdate();
return;
}
}
//This is for jumping on prims, since otherwise, you don't get off the ground sometimes
// if (m_iscolliding && m_isJumping && _target_velocity.Z < 1 && !Flying)
// _target_velocity.Z += m_preJumpForce.Z * _parent_scene.m_preJumpForceMultiplier;
#endregion
Vector3 gravForce = new Vector3();
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity == Vector3.Zero &&
Math.Abs(vel.X) < 0.1 && Math.Abs(vel.Y) < 0.1 && Math.Abs(vel.Z) < 0.1 &&
(this.m_iscolliding || this.flying || (this._zeroFlag && _wasZeroFlagFlying == flying)))
//This is so that if we get moved by something else, it will update us in the client
{
m_isJumping = false;
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_wasZeroFlagFlying = flying;
_zeroPosition = tempPos;
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
// if target vel is zero why was it here ?
vec.X = -vel.X*PID_D + (_zeroPosition.X - tempPos.X)*PID_P;
vec.Y = -vel.Y*PID_D + (_zeroPosition.Y - tempPos.Y)*PID_P;
// if (!realFlying)
// vec.Z += - vel.Z * PID_D * 5;
// else
if (flying)
vec.Z += -vel.Z*PID_D*0.5f + (_zeroPosition.Z - tempPos.Z)*PID_P;
// _parent_scene.CalculateGravity(m_mass, tempPos, true, 0.15f, ref gravForce);
// vec += gravForce;
}
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding)
{
if (!flying) //If there is a ground collision, it sets flying to false, so check against real flying
{
// We're standing or walking on something
if (_target_velocity.X != 0.0f)
vec.X += (_target_velocity.X * movementmult - vel.X) * PID_D * 2;
if (_target_velocity.Y != 0.0f)
vec.Y += (_target_velocity.Y * movementmult - vel.Y) * PID_D * 2;
if (_target_velocity.Z != 0.0f)
vec.Z += (_target_velocity.Z * movementmult - vel.Z) * PID_D;
/*// We're standing or walking on something
vec.X += (_target_velocity.X*movementmult - vel.X)*PID_D*2;
vec.Y += (_target_velocity.Y*movementmult - vel.Y)*PID_D*2;
if (_target_velocity.Z > 0.0f)
vec.Z += (_target_velocity.Z*movementmult - vel.Z)*PID_D;
// + (_zeroPosition.Z - tempPos.Z) * PID_P)) _zeropos maybe bad here*/
}
else
{
// We're flying and colliding with something
vec.X += (_target_velocity.X*movementmult - vel.X)*PID_D*0.5f;
vec.Y += (_target_velocity.Y*movementmult - vel.Y)*PID_D*0.5f;
//if(_target_velocity.Z > 0)
vec.Z += (_target_velocity.Z*movementmult - vel.Z)*PID_D*0.5f;
}
}
else
{
if (flying)
{
// we're flying
vec.X += (_target_velocity.X * movementmult - vel.X) * PID_D * 0.75f;
vec.Y += (_target_velocity.Y * movementmult - vel.Y) * PID_D * 0.75f;
}
else
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
vec.X += (_target_velocity.X - vel.X) * PID_D * 0.85f;
vec.Y += (_target_velocity.Y - vel.Y) * PID_D * 0.85f;
}
}
if (flying)
{
#region Av gravity
if (_parent_scene.AllowAvGravity &&
tempPos.Z > _parent_scene.AvGravityHeight) //Should be stop avies from flying upwards
{
//Decay going up
if (_target_velocity.Z > 0)
{
//How much should we force them down?
float Multiplier = (_parent_scene.AllowAvsToEscapeGravity ? .03f : .1f);
//How much should we force them down?
float fudgeHeight = (_parent_scene.AllowAvsToEscapeGravity ? 80 : 30);
//We add the 30 so that gravity is resonably strong once they pass the min height
Multiplier *= tempPos.Z + fudgeHeight - _parent_scene.AvGravityHeight;
//Limit these so that things don't go wrong
if (Multiplier < 1)
Multiplier = 1;
float maxpower = (_parent_scene.AllowAvsToEscapeGravity ? 1.5f : 3f);
if (Multiplier > maxpower)
Multiplier = maxpower;
_target_velocity.Z /= Multiplier;
vel.Z /= Multiplier;
}
}
#endregion
vec.Z = (_target_velocity.Z*movementmult - vel.Z)*PID_D*0.5f;
if (_parent_scene.AllowAvGravity && tempPos.Z > _parent_scene.AvGravityHeight)
//Add extra gravity
vec.Z += ((10*_parent_scene.gravityz)*Mass);
}
}
if (realFlying)
{
#region Auto Fly Height
//Added for auto fly height. Kitto Flora
//Changed to only check if the avatar is flying around,
// Revolution: If the avatar is going down, they are trying to land (probably), so don't push them up to make it harder
// Only if they are moving around sideways do we need to push them up
if (_target_velocity.X != 0 || _target_velocity.Y != 0)
{
Vector3 forwardVel = new Vector3(_target_velocity.X > 0 ? 2 : (_target_velocity.X < 0 ? -2 : 0),
_target_velocity.Y > 0 ? 2 : (_target_velocity.Y < 0 ? -2 : 0),
0);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(tempPos.X, tempPos.Y) +
MinimumGroundFlightOffset;
//We cheat a bit and do a bit lower than normal
if ((tempPos.Z - CAPSULE_LENGTH) < target_altitude ||
(tempPos.Z - CAPSULE_LENGTH) <
_parent_scene.GetTerrainHeightAtXY(tempPos.X + forwardVel.X, tempPos.Y + forwardVel.Y)
+ MinimumGroundFlightOffset)
if (_target_velocity.Z < 0)
vec.Z += (target_altitude - tempPos.Z)*PID_P*0.5f; //Don't apply so much
else
vec.Z += (target_altitude - tempPos.Z)*PID_P*1.05f;
}
else
{
//Straight up and down, only apply when they are very close to the ground
float target_altitude = _parent_scene.GetTerrainHeightAtXY(tempPos.X, tempPos.Y);
if ((tempPos.Z - CAPSULE_LENGTH + (MinimumGroundFlightOffset/1.5)) <
target_altitude + MinimumGroundFlightOffset)
{
if ((tempPos.Z - CAPSULE_LENGTH) < target_altitude + 1)
{
vec.Z += ((target_altitude + 4) - (tempPos.Z - CAPSULE_LENGTH))*PID_P;
}
else
vec.Z += ((target_altitude + MinimumGroundFlightOffset) - (tempPos.Z - CAPSULE_LENGTH))*
PID_P*0.5f;
}
}
#endregion
}
#region Gravity
if (!flying)
_parent_scene.CalculateGravity(m_mass, tempPos, true, 1.0f, ref gravForce);
else
_parent_scene.CalculateGravity(m_mass, tempPos, false, 0.65f, ref gravForce);
//Allow point gravity and repulsors affect us a bit
vec += gravForce;
#endregion
#region Under water physics
if (_parent_scene.AllowUnderwaterPhysics && tempPos.X < _parent_scene.Region.RegionSizeX &&
tempPos.Y < _parent_scene.Region.RegionSizeY)
{
//Position plus height to av's shoulder (aprox) is just above water
if ((tempPos.Z + (CAPSULE_LENGTH/3) - .25f) < _parent_scene.GetWaterLevel(tempPos.X, tempPos.Y))
{
if (StartingUnderWater)
ShouldBeWalking = Flying = false;
StartingUnderWater = false;
WasUnderWater = true;
Flying = true;
lastUnderwaterPush = 0;
if (ShouldBeWalking)
{
lastUnderwaterPush += (float) (_parent_scene.GetWaterLevel(tempPos.X, tempPos.Y) - tempPos.Z)*33 +
3;
vec.Z += lastUnderwaterPush;
}
else
{
lastUnderwaterPush += 3500;
lastUnderwaterPush += (float) (_parent_scene.GetWaterLevel(tempPos.X, tempPos.Y) - tempPos.Z)*8;
vec.Z += lastUnderwaterPush;
}
}
else
{
StartingUnderWater = true;
if (WasUnderWater)
{
WasUnderWater = false;
Flying = true;
}
}
}
#endregion
#endregion
#region Apply the force
if (IsFinite(vec))
{
if (vec.X < 100000000 && vec.Y < 10000000 && vec.Z < 10000000)
//Checks for crazy, going to NaN us values
{
// round small values to zero. those possible are just errors
if (Math.Abs(vec.X) < 0.001)
vec.X = 0;
if (Math.Abs(vec.Y) < 0.001)
vec.Y = 0;
if (Math.Abs(vec.Z) < 0.001)
vec.Z = 0;
//ODE autodisables not moving prims, accept it and reenable when we need to
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
if (vec == Vector3.Zero) //if we arn't moving, STOP
{
if (m_lastForceApplied != -1)
{
m_lastForceApplied = -1;
d.BodySetLinearVel(Body, vec.X, vec.Y, vec.Z);
}
}
else
{
if (m_lastForceApplied < 5)
vec *= m_lastForceApplied / 5;
doForce(vec);
m_lastForceApplied++;
}
// if (!_zeroFlag && (!flying || m_iscolliding))
// AlignAvatarTiltWithCurrentDirectionOfMovement (vec, gravForce);
// the Amotor still lets avatar rotation to drift during colisions
// so force it back to identity
d.Quaternion qtmp;
qtmp.W = 1;
qtmp.X = 0;
qtmp.Y = 0;
qtmp.Z = 0;
d.BodySetQuaternion(Body, ref qtmp);
d.BodySetAngularVel(Body, 0, 0, 0);
//When falling, we keep going faster and faster, and eventually, the client blue screens (blue is all you see).
// The speed that does this is slightly higher than -30, so we cap it here so we never do that during falling.
if (vel.Z < -30)
{
vel.Z = -30;
d.BodySetLinearVel(Body, vel.X, vel.Y, vel.Z);
}
//Decay out the target velocity DON'T it forces tons of updates
_target_velocity *= _parent_scene.m_avDecayTime;
if (!_zeroFlag && _target_velocity.ApproxEquals (Vector3.Zero, _parent_scene.m_avStopDecaying))
_target_velocity = Vector3.Zero;
}
else
{
//This is a safe guard from going NaN, but it isn't very smooth... which is ok
d.BodySetForce(Body, 0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
}
}
else
{
MainConsole.Instance.Warn("[PHYSICS]: Got a NaN force vector in Move()");
MainConsole.Instance.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
Shell = IntPtr.Zero;
}
}
#endregion
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity(float timestep)
{
if (!m_shouldBePhysical)
return;
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec;
try
{
vec = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
MainConsole.Instance.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
}
// vec is a ptr into internal ode data better not mess with it
_position.X = vec.X;
_position.Y = vec.Y;
_position.Z = vec.Z;
if (!IsFinite(_position))
{
_parent_scene.BadCharacter(this);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
return;
}
try
{
vec = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
vec.X = _velocity.X;
vec.Y = _velocity.Y;
vec.Z = _velocity.Z;
}
d.Vector3 rvec;
try
{
rvec = d.BodyGetAngularVel(Body);
}
catch (NullReferenceException)
{
rvec.X = m_rotationalVelocity.X;
rvec.Y = m_rotationalVelocity.Y;
rvec.Z = m_rotationalVelocity.Z;
}
m_rotationalVelocity.X = rvec.X;
m_rotationalVelocity.Y = rvec.Y;
m_rotationalVelocity.Z = rvec.Z;
// vec is a ptr into internal ode data better not mess with it
_velocity.X = vec.X;
_velocity.Y = vec.Y;
_velocity.Z = vec.Z;
if (!IsFinite(_velocity))
{
_parent_scene.BadCharacter(this);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
return;
}
bool VelIsZero = false;
int vcntr = 0;
if (Math.Abs(_velocity.X) < 0.01)
{
vcntr++;
_velocity.X = 0;
}
if (Math.Abs(_velocity.Y) < 0.01)
{
vcntr++;
_velocity.Y = 0;
}
if (Math.Abs(_velocity.Z) < 0.01)
{
vcntr++;
_velocity.Z = 0;
}
if (vcntr == 3)
VelIsZero = true;
// slow down updates, changed y mind: updates should go at physics fps, acording to movement conditions
/*
m_UpdateTimecntr += timestep;
m_UpdateFPScntr = 2.5f * _parent_scene.StepTime;
if(m_UpdateTimecntr < m_UpdateFPScntr)
return;
m_UpdateTimecntr = 0;
*/
const float VELOCITY_TOLERANCE = 0.025f*0.025f;
//const float ANG_VELOCITY_TOLERANCE = 0.05f;
const float POSITION_TOLERANCE = 5f*5f;
bool needSendUpdate = false;
float vlength = (_velocity - m_lastVelocity).LengthSquared();
float plength = (_position - m_lastPosition).LengthSquared();
if ( //!VelIsZero &&
(
vlength > VELOCITY_TOLERANCE ||
plength > POSITION_TOLERANCE
//(anglength > ANG_VELOCITY_TOLERANCE) ||
//true
// (Math.Abs(_lastorientation.X - _orientation.X) > 0.001) ||
// (Math.Abs(_lastorientation.Y - _orientation.Y) > 0.001) ||
// (Math.Abs(_lastorientation.Z - _orientation.Z) > 0.001) ||
// (Math.Abs(_lastorientation.W - _orientation.W) > 0.001)
))
{
needSendUpdate = true;
m_ZeroUpdateSent = 3;
// _lastorientation = Orientation;
// base.RequestPhysicsterseUpdate();
// base.TriggerSignificantMovement();
}
else if (VelIsZero)
{
if (m_ZeroUpdateSent > 0)
{
needSendUpdate = true;
m_ZeroUpdateSent--;
}
}
if (needSendUpdate)
{
m_lastPosition = _position;
// m_lastRotationalVelocity = RotationalVelocity;
m_lastVelocity = _velocity;
m_lastAngVelocity = RotationalVelocity;
base.TriggerSignificantMovement();
//Tell any listeners about the new info
// This is for animations
base.TriggerMovementUpdate();
}
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="timeStep"></param>
public void Move(float timeStep, List<AuroraODECharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
return;
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition(Body);
}
//PidStatus = true;
// rex, added height check
d.Vector3 tempPos = d.BodyGetPosition(Body);
if (_parent_scene.m_useFlightCeilingHeight && tempPos.Z > _parent_scene.m_flightCeilingHeight)
{
tempPos.Z = _parent_scene.m_flightCeilingHeight;
d.BodySetPosition(Body, tempPos.X, tempPos.Y, tempPos.Z);
d.Vector3 tempVel = d.BodyGetLinearVel(Body);
if (tempVel.Z > 0.0f)
{
tempVel.Z = 0.0f;
d.BodySetLinearVel(Body, tempVel.X, tempVel.Y, tempVel.Z);
}
if (_target_velocity.Z > 0.0f)
_target_velocity.Z = 0.0f;
}
// endrex
d.Vector3 localpos = d.BodyGetPosition(Body);
Vector3 localPos = new Vector3((float)localpos.X, (float)localpos.Y, (float)localpos.Z);
if (!localPos.IsFinite())
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
return;
}
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
float movementdivisor = 1f;
if (!m_alwaysRun)
movementdivisor = walkDivisor * _parent_scene.TimeDilation; //Dynamically adjust it for slower sims
else
movementdivisor = runDivisor * _parent_scene.TimeDilation; //Dynamically adjust it for slower sims
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding &&
Math.Abs(vel.X) < 0.5 && Math.Abs(vel.Y) < 0.5 && Math.Abs(vel.Z) < 0.5) //This is so that if we get moved by something else, it will update us in the client
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(Body);
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
d.Vector3 pos = d.BodyGetPosition(Body);
Vector3 velocity = new Vector3((float)vel.X, (float)vel.Y, (float)vel.Z);
//NOTE: THIS WILL CAUSE BENDING KNEE
//if (!velocity.ApproxEquals(Vector3.Zero, 0.2f))
//{
vec.X = (float)((_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2));
vec.Y = (float)((_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2));
if(!Flying)
vec.Z += -(_parent_scene.gravityz * 3f * m_mass);
//if (flying)
// vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
//}
}
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding && !flying)
{
// We're standing or walking on something
vec.X = (float)((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
vec.Y = (float)((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
//Stop pushing down if we are just standing
//if (_target_velocity.Z < 0)
// _target_velocity.Z = 0;
}
else if (m_iscolliding && flying)
{
// We're flying and colliding with something
vec.X = (float)((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
vec.Y = (float)((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
}
else if (!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = (float)((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
vec.Y = (float)((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
}
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
d.Vector3 pos = d.BodyGetPosition(Body);
vec.Z = (float)((_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P);
if (_target_velocity.X > 0)
vec.X = (float)((_target_velocity.X - vel.X) / 1.2f) * PID_D;
if (_target_velocity.Y > 0)
vec.Y = (float)((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
else if (!m_iscolliding && !flying)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
if (_target_velocity.X > 0)
vec.X = (float)((_target_velocity.X - vel.X) / 1.2f) * PID_D;
if (_target_velocity.Y > 0)
vec.Y = (float)((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
if (flying)
{
#region Av gravity
float oldVelZ = (float)vel.Z;
if (_parent_scene.AllowAvGravity &&
tempPos.Z > _parent_scene.AvGravityHeight) //Should be stop avies from flying upwards
{
//Decay going up
if (_target_velocity.Z > 0)
{
//How much should we force them down?
float divisor = (_parent_scene.AllowAvsToEscapeGravity ? 100 : 25);
//How much should we force them down?
float fudgeHeight = (_parent_scene.AllowAvsToEscapeGravity ? 80 : 30);
//We add the 30 so that gravity is resonably strong once they pass the min height
float Multiplier = (float)(((tempPos.Z + fudgeHeight) - _parent_scene.AvGravityHeight) / divisor);
//Limit these so that things don't go wrong
if (Multiplier < 1)
Multiplier = 1;
float maxpower = (_parent_scene.AllowAvsToEscapeGravity ? 1.5f : 3);
if (Multiplier > maxpower)
Multiplier = maxpower;
_target_velocity.Z /= Multiplier;
oldVelZ /= Multiplier;
}
}
vec.Z = (_target_velocity.Z - oldVelZ) * (PID_D);
if (_parent_scene.AllowAvGravity && tempPos.Z > _parent_scene.AvGravityHeight)
//Add extra gravity
vec.Z += ((25 * _parent_scene.gravityz) * Mass);
#endregion
}
}
if (flying)
{
//Fix grav when flying
if (!_parent_scene.AllowAvGravity ||
(_parent_scene.AllowAvGravity && tempPos.Z < _parent_scene.AvGravityHeight))
{
//Cancel out gravity if we are flying
vec.X += _parent_scene.gravityx * -3f * m_mass;
vec.Y += _parent_scene.gravityy * -3f * m_mass;
vec.Z += _parent_scene.gravityz * -3f * m_mass;
}
#region Auto Fly Height
//Added for auto fly height. Kitto Flora
//Changed to only check if the avatar is flying around,
// Revolution: If the avatar is going down, they are trying to land (probably), so don't push them up to make it harder
// Only if they are moving around sideways do we need to push them up
if (_target_velocity.X != 0 || _target_velocity.Y != 0)
{
Vector3 forwardVel = new Vector3(_target_velocity.X > 0 ? 2 : (_target_velocity.X < 0 ? -2 : 0),
_target_velocity.Y > 0 ? 2 : (_target_velocity.Y < 0 ? -2 : 0),
0);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
//We cheat a bit and do a bit lower than normal
if ((_position.Z - CAPSULE_LENGTH) < target_altitude)
vec.Z += (target_altitude - _position.Z) * PID_D;
//Check in the direction we are going as well
target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X + forwardVel.X, _position.Y + forwardVel.Y) + MinimumGroundFlightOffset;
if ((_position.Z - CAPSULE_LENGTH) < target_altitude)
vec.Z += (target_altitude - _position.Z) * PID_D / 2;
}
else
{
//Straight up and down, only apply when they are very close to the ground
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y);
if ((_position.Z - CAPSULE_LENGTH + (MinimumGroundFlightOffset / 1.5)) < target_altitude + MinimumGroundFlightOffset)
{
if ((_position.Z - CAPSULE_LENGTH) < target_altitude + 1)
{
vec.Z += ((target_altitude+4) - (_position.Z - CAPSULE_LENGTH)) * PID_D;
}
else
vec.Z += ((target_altitude + MinimumGroundFlightOffset) - (_position.Z - CAPSULE_LENGTH)) * PID_D / 2;
}
}
#endregion
}
#region Gravity
//The '3' is since the gravity isn't exactly what people would expect... maybe should be a config option someday
if (!_parent_scene.UsePointGravity)
{
//Add normal gravity
vec.X += _parent_scene.gravityx * 3f * m_mass;
vec.Y += _parent_scene.gravityy * 3f * m_mass;
vec.Z += _parent_scene.gravityz * 3f * m_mass;
}
else
{
Vector3 cog = _parent_scene.PointOfGravity;
if (cog.X != 0)
vec.X += (cog.X - Position.X) * m_mass;
if (cog.Y != 0)
vec.Y += (cog.Y - Position.Y) * m_mass;
if (cog.Z != 0)
vec.Z += (cog.Z - Position.Z) * m_mass;
}
#endregion
#region Under water physics
if (_parent_scene.AllowUnderwaterPhysics)
{
//Position plus height to av's shoulder (aprox) is just above water
if ((_position.Z + (CAPSULE_LENGTH / 3) - .25f) < _parent_scene.waterlevel)
{
if (StartingUnderWater)
ShouldBeWalking = Flying == false;
StartingUnderWater = false;
WasUnderWater = true;
Flying = true;
lastUnderwaterPush = 0;
if (ShouldBeWalking)
{
lastUnderwaterPush += (_parent_scene.waterlevel - _position.Z) * 100 + 10;
vec.Z += lastUnderwaterPush;
}
else
{
lastUnderwaterPush += 8000;
lastUnderwaterPush += (_parent_scene.waterlevel - _position.Z) * 25;
vec.Z += lastUnderwaterPush;
}
}
else
{
StartingUnderWater = true;
if (WasUnderWater)
{
WasUnderWater = false;
Flying = true;
}
}
}
#endregion
#region Check for underground
if (!flying || (flying && _target_velocity.X == 0 || _target_velocity.Y == 0)) //Don't duplicate the ground check for flying from above, it will already have given us a good shove
{
if (m_WaitGroundCheck >= 10 && vel.Z != 0)
{
float groundHeight = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y);
if (_position.Z - (CAPSULE_LENGTH / 2) < groundHeight)
vec.Z += ((groundHeight - (_position.Z - (CAPSULE_LENGTH / 2))) * 100);
m_WaitGroundCheck = -1;
}
m_WaitGroundCheck++;
}
#endregion
if (vec.IsFinite())
{
if (vec.X < 100000 && vec.Y < 100000 && vec.Z < 100000) //Checks for crazy, going to NaN us values
{
//Stop us from fidgiting if we have a small velocity
if (Math.Abs(vec.X) < 0.05 && Math.Abs(vec.Y) < 0.05 && Math.Abs(vec.Z) < 0.05)
{
vec = new Vector3(0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
}
//Reduce insanely small values to 0
if (Math.Abs(vec.Z) < 0.01)
vec.Z = 0;
doForce(vec);
//When falling, we keep going faster and faster, and eventually, the client blue screens (blue is all you see).
// The speed that does this is slightly higher than -30, so we cap it here so we never do that during falling.
if (vel.Z < -30)
{
vel.Z = -30;
d.BodySetLinearVel(Body, vel.X, vel.Y, vel.Z);
}
//Check if the capsule is tilted before changing it
if (!_zeroFlag && !_parent_scene.IsAvCapsuleTilted)
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
else
{
//This is a safe guard from going NaN, but it isn't very smooth... which is ok
d.BodySetForce(Body, 0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
}
}
else
{
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
}
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="timeStep"></param>
public void Move(float timeStep)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
{
return;
}
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition(Body);
}
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
if (!PhysicsVector.isFinite(localPos))
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
_parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
return;
}
PhysicsVector vec = new PhysicsVector();
d.Vector3 vel = d.BodyGetLinearVel(Body);
float movementdivisor = 1f;
if (!m_alwaysRun)
{
movementdivisor = walkDivisor;
}
else
{
movementdivisor = runDivisor;
}
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(Body);
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
}
}
//PidStatus = true;
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding && !flying)
{
// We're standing on something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
}
else if (m_iscolliding && flying)
{
// We're flying and colliding with something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
}
else if (!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
}
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
d.Vector3 pos = d.BodyGetPosition(Body);
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
else if (!m_iscolliding && !flying)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
}
}
if (flying)
{
vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
//Added for auto fly height. Kitto Flora
//d.Vector3 pos = d.BodyGetPosition(Body);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
if (_position.Z < target_altitude)
{
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
}
// end add Kitto Flora
}
if (PhysicsVector.isFinite(vec))
{
doForce(vec);
}
else
{
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
_parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
return;
}
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity()
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec;
try
{
vec = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
}
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < 0.0f) vec.X = 0.0f;
if (vec.Y < 0.0f) vec.Y = 0.0f;
if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
_position.X = (float)vec.X;
_position.Y = (float)vec.Y;
_position.Z = (float)vec.Z;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (_zeroFlag)
{
/*if (CollisionEventsThisFrame != null)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
}
CollisionEventsThisFrame = new CollisionEventUpdate();
m_eventsubscription = 0;*/
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
//base.RequestPhysicsterseUpdate();
}
}
else
{
m_lastUpdateSent = false;
try
{
vec = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
vec.X = _velocity.X;
vec.Y = _velocity.Y;
vec.Z = _velocity.Z;
}
_velocity.X = (float)(vec.X);
_velocity.Y = (float)(vec.Y);
_velocity.Z = (float)(vec.Z);
if (_velocity.Z < -6 && !m_hackSentFall)
{
//m_hackSentFall = true;
//m_pidControllerActive = false;
}
else if (flying && !m_hackSentFly)
{
//m_hackSentFly = true;
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
else
{
m_hackSentFly = false;
m_hackSentFall = false;
}
}
}
public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void Move(List<OdeCharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
return;
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition(Body);
}
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
if (!localPos.IsFinite())
{
m_log.WarnFormat(
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
localPos, Name);
defects.Add(this);
return;
}
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
// m_log.DebugFormat(
// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
// vel.X, vel.Y, vel.Z, _target_velocity, Name);
float movementdivisor = 1f;
if (!m_alwaysRun)
{
movementdivisor = walkDivisor;
}
else
{
movementdivisor = runDivisor;
}
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(Body);
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
}
}
//PidStatus = true;
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding && !flying)
{
// We're standing on something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
}
else if (m_iscolliding && flying)
{
// We're flying and colliding with something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
}
else if (!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
// m_log.DebugFormat(
// "[ODE CHARACTER]: !m_iscolliding && flying, vec {0}, _target_velocity {1}, movementdivisor {2}, vel {3}",
// vec, _target_velocity, movementdivisor, vel);
}
if (flying)
{
// This also acts as anti-gravity so that we hover when flying rather than fall.
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
}
else
{
if (m_iscolliding && _target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
d.Vector3 pos = d.BodyGetPosition(Body);
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
else if (!m_iscolliding)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
}
if (flying)
{
// Anti-gravity so that we hover when flying rather than fall.
vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
//Added for auto fly height. Kitto Flora
//d.Vector3 pos = d.BodyGetPosition(Body);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
if (_position.Z < target_altitude)
{
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
}
// end add Kitto Flora
}
if (vec.IsFinite())
{
// Apply the total force acting on this avatar
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
if (!_zeroFlag)
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
else
{
m_log.WarnFormat(
"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
vec, Name);
defects.Add(this);
return;
}
d.Vector3 newVel = d.BodyGetLinearVel(Body);
if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
{
// m_log.DebugFormat(
// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name);
newVel.X = Util.Clamp<float>(newVel.X, -255f, 255f);
newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f);
if (!flying)
newVel.Z
= Util.Clamp<float>(
newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity);
else
newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
}
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void Move(List <OdeCharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
{
return;
}
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition(Body);
}
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
if (!localPos.IsFinite())
{
m_log.WarnFormat(
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
localPos, Name);
defects.Add(this);
return;
}
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
float movementdivisor = 1f;
if (!m_alwaysRun)
{
movementdivisor = walkDivisor;
}
else
{
movementdivisor = runDivisor;
}
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(Body);
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
}
}
//PidStatus = true;
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding && !flying)
{
// We're standing on something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
}
else if (m_iscolliding && flying)
{
// We're flying and colliding with something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
}
else if (!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
// m_log.DebugFormat(
// "[ODE CHARACTER]: !m_iscolliding && flying, vec {0}, _target_velocity {1}, movementdivisor {2}, vel {3}",
// vec, _target_velocity, movementdivisor, vel);
}
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
d.Vector3 pos = d.BodyGetPosition(Body);
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
else if (!m_iscolliding && !flying)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
}
}
if (flying)
{
vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
//Added for auto fly height. Kitto Flora
//d.Vector3 pos = d.BodyGetPosition(Body);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
if (_position.Z < target_altitude)
{
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
}
// end add Kitto Flora
}
if (vec.IsFinite())
{
// Apply the total force acting on this avatar
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
if (!_zeroFlag)
{
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
}
else
{
m_log.WarnFormat(
"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
vec, Name);
defects.Add(this);
return;
}
}
internal void Stop()
{
m_lastLinearVelocityVector = Vector3.Zero;
m_lastAngularVelocity = Vector3.Zero;
m_lastPositionVector = d.BodyGetPosition(Body);
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void UpdatePositionAndVelocity(List <OdeCharacter> defects)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 newPos;
try
{
newPos = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
defects.Add(this);
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
return;
}
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (newPos.X < 0.0f)
{
newPos.X = 0.0f;
}
if (newPos.Y < 0.0f)
{
newPos.Y = 0.0f;
}
if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f)
{
newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f;
}
if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f)
{
newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
}
_position.X = newPos.X;
_position.Y = newPos.Y;
_position.Z = newPos.Z;
// I think we need to update the taintPosition too -- Diva 12/24/10
m_taintPosition = _position;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (_zeroFlag)
{
_velocity = Vector3.Zero;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
//base.RequestPhysicsterseUpdate();
}
}
else
{
m_lastUpdateSent = false;
d.Vector3 newVelocity;
try
{
newVelocity = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
newVelocity.X = _velocity.X;
newVelocity.Y = _velocity.Y;
newVelocity.Z = _velocity.Z;
}
_velocity.X = newVelocity.X;
_velocity.Y = newVelocity.Y;
_velocity.Z = newVelocity.Z;
if (_velocity.Z < -6 && !m_hackSentFall)
{
m_hackSentFall = true;
m_pidControllerActive = false;
}
else if (flying && !m_hackSentFly)
{
//m_hackSentFly = true;
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
else
{
m_hackSentFly = false;
m_hackSentFall = false;
}
}
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity(float timestep)
{
if (!m_shouldBePhysical)
return;
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec;
try
{
vec = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
}
// vec is a ptr into internal ode data better not mess with it
_position.X = (float)vec.X;
_position.Y = (float)vec.Y;
_position.Z = (float)vec.Z;
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
bool needfixbody = false;
/*if (_position.X < 0.0f)
{
needfixbody = true;
_position.X = 0.1f;
}
else if (_position.X > (int)_parent_scene.Region.RegionSizeX - 0.1f)
{
needfixbody = true;
_position.X = (int)_parent_scene.Region.RegionSizeX - 0.1f;
}
if (_position.Y < 0.0f)
{
needfixbody = true;
_position.Y = 0.1f;
}
else if (_position.Y > (int)_parent_scene.Region.RegionSizeY - 0.1)
{
needfixbody = true;
_position.Y = (int)_parent_scene.Region.RegionSizeY - 0.1f;
}*/
if (needfixbody)
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
try
{
vec = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
vec.X = _velocity.X;
vec.Y = _velocity.Y;
vec.Z = _velocity.Z;
}
// vec is a ptr into internal ode data better not mess with it
_velocity.X = vec.X;
_velocity.Y = vec.Y;
_velocity.Z = vec.Z;
bool VelIsZero = false;
int vcntr = 0;
if (Math.Abs(_velocity.X) < 0.01)
{
vcntr++;
_velocity.X = 0;
}
if (Math.Abs(_velocity.Y) < 0.01)
{
vcntr++;
_velocity.Y = 0;
}
if (Math.Abs(_velocity.Z) < 0.01)
{
vcntr++;
_velocity.Z = 0;
}
if (vcntr == 3)
VelIsZero = true;
// slow down updates
m_UpdateTimecntr += timestep;
if (m_UpdateTimecntr < m_UpdateFPScntr)
return;
m_UpdateTimecntr = 0;
const float VELOCITY_TOLERANCE = 0.01f;
const float POSITION_TOLERANCE = 0.05f;
bool needSendUpdate = false;
//Check to see whether we need to trigger the significant movement method in the presence
// avas don't rotate for now if (!RotationalVelocity.ApproxEquals(m_lastRotationalVelocity, VELOCITY_TOLERANCE) ||
// but simulator does not process rotation changes
if (//!VelIsZero &&
// (!Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE) ||
(
(Math.Abs(Velocity.X - m_lastVelocity.X) > VELOCITY_TOLERANCE) ||
(Math.Abs(Velocity.Y - m_lastVelocity.Y) > VELOCITY_TOLERANCE) ||
(Math.Abs(Velocity.Z - m_lastVelocity.Z) > VELOCITY_TOLERANCE) ||
(Math.Abs(_position.X - m_lastPosition.X) > POSITION_TOLERANCE) ||
(Math.Abs(_position.Y - m_lastPosition.Y) > POSITION_TOLERANCE) ||
(Math.Abs(_position.Z - m_lastPosition.Z) > POSITION_TOLERANCE)// ||
// (Math.Abs(_lastorientation.X - _orientation.X) > 0.001) ||
// (Math.Abs(_lastorientation.Y - _orientation.Y) > 0.001) ||
// (Math.Abs(_lastorientation.Z - _orientation.Z) > 0.001) ||
// (Math.Abs(_lastorientation.W - _orientation.W) > 0.001)
))
{
// Update the "last" values
needSendUpdate = true;
m_ZeroUpdateSent = false;
m_lastPosition = _position;
// m_lastRotationalVelocity = RotationalVelocity;
m_lastVelocity = Velocity;
// _lastorientation = Orientation;
// base.RequestPhysicsterseUpdate();
// base.TriggerSignificantMovement();
}
else if (VelIsZero)
{
if (!m_ZeroUpdateSent)
{
needSendUpdate = true;
m_ZeroUpdateSent = true;
}
}
if (needSendUpdate)
{
base.RequestPhysicsterseUpdate();
base.TriggerSignificantMovement();
}
//Tell any listeners about the new info
// This is for animations
base.TriggerMovementUpdate ();
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity (float timestep)
{
if(!m_shouldBePhysical)
return;
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec;
try
{
vec = d.BodyGetPosition(Body);
}
catch(NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
}
// vec is a ptr into internal ode data better not mess with it
_position.X = (float)vec.X;
_position.Y = (float)vec.Y;
_position.Z = (float)vec.Z;
if (!IsFinite(_position))
{
_parent_scene.BadCharacter(this);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
return;
}
try
{
vec = d.BodyGetLinearVel(Body);
}
catch(NullReferenceException)
{
vec.X = _velocity.X;
vec.Y = _velocity.Y;
vec.Z = _velocity.Z;
}
d.Vector3 rvec;
try
{
rvec = d.BodyGetAngularVel(Body);
}
catch(NullReferenceException)
{
rvec.X = m_rotationalVelocity.X;
rvec.Y = m_rotationalVelocity.Y;
rvec.Z = m_rotationalVelocity.Z;
}
m_rotationalVelocity.X = rvec.X;
m_rotationalVelocity.Y = rvec.Y;
m_rotationalVelocity.Z = rvec.Z;
// vec is a ptr into internal ode data better not mess with it
_velocity.X = vec.X;
_velocity.Y = vec.Y;
_velocity.Z = vec.Z;
if (!IsFinite(_velocity))
{
_parent_scene.BadCharacter(this);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
return;
}
bool VelIsZero = false;
int vcntr = 0;
if(Math.Abs(_velocity.X) < 0.01)
{
vcntr++;
_velocity.X = 0;
}
if(Math.Abs(_velocity.Y) < 0.01)
{
vcntr++;
_velocity.Y = 0;
}
if(Math.Abs(_velocity.Z) < 0.01)
{
vcntr++;
_velocity.Z = 0;
}
if(vcntr == 3)
VelIsZero = true;
// slow down updates
m_UpdateTimecntr += timestep;
m_UpdateFPScntr = 2.5f * _parent_scene.StepTime * 10 * (6 - (_parent_scene.TimeDilation * 5));
if(m_UpdateTimecntr < m_UpdateFPScntr)
return;
m_UpdateTimecntr = 0;
const float VELOCITY_TOLERANCE = 0.025f;
//const float ANG_VELOCITY_TOLERANCE = 0.05f;
const float POSITION_TOLERANCE = 5f;
bool needSendUpdate = false;
//Check to see whether we need to trigger the significant movement method in the presence
// avas don't rotate for now if (!RotationalVelocity.ApproxEquals(m_lastRotationalVelocity, VELOCITY_TOLERANCE) ||
// but simulator does not process rotation changes
float length = (Velocity - m_lastVelocity).LengthSquared();
//The rotational velocity check... is odd and doesn't work right, so ignore it here
// Velocity (when turning) will change enough to trigger the updates
//float anglength = (m_rotationalVelocity - m_lastAngVelocity).LengthSquared();
if(//!VelIsZero &&
// (!Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE) ||
(
(length > VELOCITY_TOLERANCE)// ||
//(anglength > ANG_VELOCITY_TOLERANCE) ||
//true
// (Math.Abs(_lastorientation.X - _orientation.X) > 0.001) ||
// (Math.Abs(_lastorientation.Y - _orientation.Y) > 0.001) ||
// (Math.Abs(_lastorientation.Z - _orientation.Z) > 0.001) ||
// (Math.Abs(_lastorientation.W - _orientation.W) > 0.001)
))
{
//m_log.Warn("Vel change - " + length);
// Update the "last" values
needSendUpdate = true;
m_ZeroUpdateSent = 10;
m_lastPosition = _position;
// m_lastRotationalVelocity = RotationalVelocity;
m_lastVelocity = Velocity;
m_lastAngVelocity = RotationalVelocity;
// _lastorientation = Orientation;
// base.RequestPhysicsterseUpdate();
// base.TriggerSignificantMovement();
}
else if(VelIsZero)
{
if(m_ZeroUpdateSent > 0)
{
needSendUpdate = true;
m_ZeroUpdateSent--;
}
}
if((Math.Abs(_position.X - m_lastPosition.X) > POSITION_TOLERANCE) ||
(Math.Abs(_position.Y - m_lastPosition.Y) > POSITION_TOLERANCE) ||
(Math.Abs(_position.Z - m_lastPosition.Z) > POSITION_TOLERANCE))
{
m_lastPosition = _position;
needSendUpdate = true;
}
if(needSendUpdate)
{
base.TriggerSignificantMovement();
//Tell any listeners about the new info
// This is for animations
base.TriggerMovementUpdate();
}
}
}// end Step
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
d.Vector3 pos = d.BodyGetPosition(Body);
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
Vector3 posChange = new Vector3();
posChange.X = pos.X - m_lastPositionVector.X;
posChange.Y = pos.Y - m_lastPositionVector.Y;
posChange.Z = pos.Z - m_lastPositionVector.Z;
double Zchange = Math.Abs(posChange.Z);
if (m_BlockingEndPoint != Vector3.Zero)
{
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{
pos.X -= posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{
pos.Y -= posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{
pos.Z -= posChange.Z + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.X <= 0)
{
pos.X += posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y <= 0)
{
pos.Y += posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
}
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
{
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
// Check if hovering
if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
}
if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
}
}
else
{
float herr0 = pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs(herr0) > 0.01f)
{
m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
}
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
//Start Experimental Values
if (Zchange > .3)
{
grav.Z = (float)(grav.Z * 3);
}
if (Zchange > .15)
{
grav.Z = (float)(grav.Z * 2);
}
if (Zchange > .75)
{
grav.Z = (float)(grav.Z * 1.5);
}
if (Zchange > .05)
{
grav.Z = (float)(grav.Z * 1.25);
}
if (Zchange > .025)
{
grav.Z = (float)(grav.Z * 1.125);
}
float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float postemp = (pos.Z - terraintemp);
if (postemp > 2.5f)
{
grav.Z = (float)(grav.Z * 1.037125);
}
//End Experimental Values
}
if ((m_flags & (VehicleFlag.NO_X)) != 0)
{
m_dir.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{
m_dir.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{
m_dir.Z = 0;
}
m_lastPositionVector = d.BodyGetPosition(Body);
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
private int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
{
// String name1 = null;
// String name2 = null;
//
// if (!geom_name_map.TryGetValue(trimesh, out name1))
// {
// name1 = "null";
// }
//
// if (!geom_name_map.TryGetValue(refObject, out name2))
// {
// name2 = "null";
// }
// m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
d.Vector3 v0 = new d.Vector3();
d.Vector3 v1 = new d.Vector3();
d.Vector3 v2 = new d.Vector3();
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
// m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
return 1;
}
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if (!d.BodyIsEnabled(Body))
{
d.BodyEnable(Body);
}
// add drive to body
Vector3 addAmount = m_linearMotorDirection / (m_linearMotorTimescale / pTimestep);
m_lastLinearVelocityVector += (addAmount * 10); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
{
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
}
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
{
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
}
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
{
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
}
// decay applied velocity
Vector3 decayfraction = ((Vector3.One / (m_linearMotorDecayTimescale / pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lastLinearVelocityVector = Vector3.Zero;
}
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
d.Vector3 pos = d.BodyGetPosition(Body);
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
Vector3 posChange = new Vector3();
posChange.X = pos.X - m_lastPositionVector.X;
posChange.Y = pos.Y - m_lastPositionVector.Y;
posChange.Z = pos.Z - m_lastPositionVector.Z;
double Zchange = Math.Abs(posChange.Z);
if (m_BlockingEndPoint != Vector3.Zero)
{
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{
pos.X -= posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{
pos.Y -= posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{
pos.Z -= posChange.Z + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.X <= 0)
{
pos.X += posChange.X + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y <= 0)
{
pos.Y += posChange.Y + 1;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
}
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
{
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
// Check if hovering
if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight)
{
m_VhoverTargetHeight = pos.Z;
}
}
if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
}
}
else
{
float herr0 = pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs(herr0) > 0.01f)
{
m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
}
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
//Start Experimental Values
if (Zchange > .3)
{
grav.Z = (float)(grav.Z * 3);
}
if (Zchange > .15)
{
grav.Z = (float)(grav.Z * 2);
}
if (Zchange > .75)
{
grav.Z = (float)(grav.Z * 1.5);
}
if (Zchange > .05)
{
grav.Z = (float)(grav.Z * 1.25);
}
if (Zchange > .025)
{
grav.Z = (float)(grav.Z * 1.125);
}
float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float postemp = (pos.Z - terraintemp);
if (postemp > 2.5f)
{
grav.Z = (float)(grav.Z * 1.037125);
}
//End Experimental Values
}
if ((m_flags & (VehicleFlag.NO_X)) != 0)
{
m_dir.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{
m_dir.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{
m_dir.Z = 0;
}
m_lastPositionVector = d.BodyGetPosition(Body);
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
public override Vector3 GetJointAnchor(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 pos = new d.Vector3();
if (!(joint is OdePhysicsJoint))
{
DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
}
else
{
OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
d.JointGetBallAnchor(odeJoint.jointID, out pos);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAnchor(odeJoint.jointID, out pos);
break;
}
}
return new Vector3(pos.X, pos.Y, pos.Z);
}
public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
{
d.Vector3 v0 = new d.Vector3();
d.Vector3 v1 = new d.Vector3();
d.Vector3 v2 = new d.Vector3();
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
return 1;
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity(float timestep)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec;
try
{
vec = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
}
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
bool needfixbody = false;
if (vec.X < 0.0f)
{
needfixbody = true;
vec.X = CAPSULE_RADIUS;
}
else if (vec.X > (int)_parent_scene.WorldExtents.X - CAPSULE_RADIUS)
{
needfixbody = true;
vec.X = (int)_parent_scene.WorldExtents.X - CAPSULE_RADIUS;
}
if (vec.Y < 0.0f)
{
needfixbody = true;
vec.Y = CAPSULE_RADIUS;
}
else if (vec.Y > (int)_parent_scene.WorldExtents.Y - CAPSULE_RADIUS)
{
needfixbody = true;
vec.Y = (int)_parent_scene.WorldExtents.Y - CAPSULE_RADIUS;
}
if (needfixbody)
d.BodySetPosition(Body, vec.X, vec.Y, vec.Z);
_position.X = (float)vec.X;
_position.Y = (float)vec.Y;
_position.Z = (float)vec.Z;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (_zeroFlag)
{
/*if (CollisionEventsThisFrame != null)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
}
CollisionEventsThisFrame = new CollisionEventUpdate();
m_eventsubscription = 0;*/
_velocity = Vector3.Zero;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
base.RequestPhysicsterseUpdate();
}
//Tell any listeners that we've stopped
base.TriggerMovementUpdate();
}
else
{
m_lastUpdateSent = false;
try
{
vec = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
vec.X = _velocity.X;
vec.Y = _velocity.Y;
vec.Z = _velocity.Z;
}
/*
if (vec.X == 0 && vec.Y == 0 && vec.Z == 0)
{
m_log.Warn("[AODECharacter]: We have a malformed Velocity, ignoring...");
}
else
*/
needfixbody = false;
if (Math.Abs(vec.X) < 0.001 && vec.X != 0)
{
needfixbody = true;
vec.X = 0;
}
if (Math.Abs(vec.Y) < 0.001 && vec.Y != 0)
{
needfixbody = true;
vec.Y = 0;
}
if (Math.Abs(vec.Z) < 0.001 && vec.Z != 0)
{
needfixbody = true;
vec.Z = 0;
}
if (needfixbody)
d.BodySetLinearVel(Body, vec.X, vec.Y, vec.Z);
_velocity = new Vector3((float)(vec.X), (float)(vec.Y), (float)(vec.Z));
const float VELOCITY_TOLERANCE = 0.001f;
const float POSITION_TOLERANCE = 0.05f;
//Check to see whether we need to trigger the significant movement method in the presence
if (!RotationalVelocity.ApproxEquals(m_lastRotationalVelocity, VELOCITY_TOLERANCE) ||
!Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE) ||
!Position.ApproxEquals(m_lastPosition, POSITION_TOLERANCE))
{
// Update the "last" values
m_lastPosition = Position;
m_lastRotationalVelocity = RotationalVelocity;
m_lastVelocity = Velocity;
base.RequestPhysicsterseUpdate();
base.TriggerSignificantMovement();
}
//Tell any listeners about the new info
base.TriggerMovementUpdate();
}
}
public void step(int pause)
{
ds.SetColor(1.0f, 1.0f, 0.0f);
ds.SetTexture(ds.Texture.Wood);
lock (_prims)
{
foreach (OdePrim prm in _prims)
{
//IntPtr body = d.GeomGetBody(prm.prim_geom);
if (prm.prim_geom != IntPtr.Zero)
{
d.Vector3 pos;
d.GeomCopyPosition(prm.prim_geom, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(prm.prim_geom, out R);
//d.BodyCopyRotation(body, out R);
d.Vector3 sides = new d.Vector3();
sides.X = prm.Size.X;
sides.Y = prm.Size.Y;
sides.Z = prm.Size.Z;
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}
ds.SetColor(1.0f, 0.0f, 0.0f);
lock (_characters)
{
foreach (OdeCharacter chr in _characters)
{
if (chr.Shell != IntPtr.Zero)
{
IntPtr body = d.GeomGetBody(chr.Shell);
d.Vector3 pos;
d.GeomCopyPosition(chr.Shell, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(chr.Shell, out R);
//d.BodyCopyRotation(body, out R);
ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
d.Vector3 sides = new d.Vector3();
sides.X = 0.5f;
sides.Y = 0.5f;
sides.Z = 0.5f;
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="timeStep"></param>
public void Move(float timeStep, List<AuroraODECharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
return;
// replace amotor
d.Quaternion dtmp;
dtmp.W =1;
dtmp.X=0;
dtmp.Y=0;
dtmp.Z=0;
d.BodySetQuaternion(Body, ref dtmp);
d.BodySetAngularVel(Body, 0, 0, 0);
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition(Body);
}
//PidStatus = true;
// rex, added height check
d.Vector3 tempPos = d.BodyGetPosition(Body);
if (_parent_scene.m_useFlightCeilingHeight && tempPos.Z > _parent_scene.m_flightCeilingHeight)
{
tempPos.Z = _parent_scene.m_flightCeilingHeight;
d.BodySetPosition(Body, tempPos.X, tempPos.Y, tempPos.Z);
d.Vector3 tempVel = d.BodyGetLinearVel(Body);
if (tempVel.Z > 0.0f)
{
tempVel.Z = 0.0f;
d.BodySetLinearVel(Body, tempVel.X, tempVel.Y, tempVel.Z);
}
if (_target_velocity.Z > 0.0f)
_target_velocity.Z = 0.0f;
}
// endrex
Vector3 localPos = new Vector3((float)tempPos.X, (float)tempPos.Y, (float)tempPos.Z);
if (!localPos.IsFinite())
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
return;
}
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
#region Check for underground
// _parent_scene.CheckTerrainColisionAABB(Shell);
// if (!flying || (flying && _target_velocity.X == 0 || _target_velocity.Y == 0))
// if (!m_iscollidingGround)
//Don't duplicate the ground check for flying from above, it will already have given us a good shove
{
// if (m_WaitGroundCheck >= 10 && vel.Z != 0)
{
float groundHeight = _parent_scene.GetTerrainHeightAtXY(tempPos.X, tempPos.Y);
if ((tempPos.Z - AvatarHalfsize) < groundHeight)
{
if (!flying)
{
if (_target_velocity.Z < 0)
_target_velocity.Z = 0;
vec.Z = -vel.Z * PID_D + ((groundHeight - (tempPos.Z - AvatarHalfsize)) * PID_P * 20.0f);
}
else
vec.Z = ((groundHeight - (tempPos.Z - AvatarHalfsize)) * PID_P);
}
if (tempPos.Z - AvatarHalfsize - groundHeight < 0.1)
{
m_iscolliding = true;
m_iscollidingGround = true;
flying = false; // gound the avatar
}
else
m_iscollidingGround = false;
// m_WaitGroundCheck = -1;
}
// m_WaitGroundCheck++;
}
/*
if (!m_alwaysRun)
movementdivisor = _parent_scene.avMovementDivisorWalk * (_parent_scene.TimeDilation < 0.3 ? 0.6f : _parent_scene.TimeDilation); //Dynamically adjust it for slower sims
else
movementdivisor = _parent_scene.avMovementDivisorRun * (_parent_scene.TimeDilation < 0.3 ? 0.6f : _parent_scene.TimeDilation); //Dynamically adjust it for slower sims
*/
// no dinamic messing here
float movementmult = 1f;
if (!m_alwaysRun)
movementmult /= _parent_scene.avMovementDivisorWalk;
else
movementmult /= _parent_scene.avMovementDivisorRun;
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity == Vector3.Zero &&
Math.Abs(vel.X) < 0.05 && Math.Abs(vel.Y) < 0.05 && Math.Abs(vel.Z) < 0.05 && (this.m_iscollidingGround || this.m_iscollidingObj || this.flying))
//This is so that if we get moved by something else, it will update us in the client
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = tempPos;
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
// if target vel is zero why was it here ?
//vec.X = -vel.X * PID_D + (_zeroPosition.X - tempPos.X) * PID_P * 2f;
//vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - tempPos.Y) * PID_P * 2f;
}
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding)
{
if(!flying)
{
if (_target_velocity.Z != 0.0f)
vec.Z = (_target_velocity.Z - vel.Z) * PID_D;// + (_zeroPosition.Z - tempPos.Z) * PID_P)) _zeropos maybe bad here
// We're standing or walking on something
vec.X = (_target_velocity.X * movementmult - vel.X) * PID_D*2;
vec.Y = (_target_velocity.Y * movementmult - vel.Y) * PID_D*2;
}
else
{
// We're flying and colliding with something
vec.X = (_target_velocity.X * movementmult - vel.X) * PID_D * 0.5f;
vec.Y = (_target_velocity.Y * movementmult - vel.Y) * PID_D * 0.5f;
}
}
else
{
if (flying)
{
// we're flyind
vec.X = (_target_velocity.X * movementmult - vel.X) * PID_D * 0.75f;
vec.Y = (_target_velocity.Y * movementmult - vel.Y) * PID_D * 0.75f;
}
else
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.85f;
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.85f;
}
}
if (flying)
{
#region Av gravity
if (_parent_scene.AllowAvGravity &&
tempPos.Z > _parent_scene.AvGravityHeight) //Should be stop avies from flying upwards
{
//Decay going up
if (_target_velocity.Z > 0)
{
//How much should we force them down?
float Multiplier = (_parent_scene.AllowAvsToEscapeGravity ? .03f : .1f);
//How much should we force them down?
float fudgeHeight = (_parent_scene.AllowAvsToEscapeGravity ? 80 : 30);
//We add the 30 so that gravity is resonably strong once they pass the min height
Multiplier *= tempPos.Z + fudgeHeight - _parent_scene.AvGravityHeight;
//Limit these so that things don't go wrong
if (Multiplier < 1)
Multiplier = 1;
float maxpower = (_parent_scene.AllowAvsToEscapeGravity ? 1.5f : 3f);
if (Multiplier > maxpower)
Multiplier = maxpower;
_target_velocity.Z /= Multiplier;
vel.Z /= Multiplier;
}
}
#endregion
vec.Z = (_target_velocity.Z - vel.Z) * PID_D * 0.5f;
if (_parent_scene.AllowAvGravity && tempPos.Z > _parent_scene.AvGravityHeight)
//Add extra gravity
vec.Z += ((10 * _parent_scene.gravityz) * Mass);
}
}
if (flying)
{
#region Auto Fly Height
//Added for auto fly height. Kitto Flora
//Changed to only check if the avatar is flying around,
// Revolution: If the avatar is going down, they are trying to land (probably), so don't push them up to make it harder
// Only if they are moving around sideways do we need to push them up
if (_target_velocity.X != 0 || _target_velocity.Y != 0)
{
Vector3 forwardVel = new Vector3(_target_velocity.X > 0 ? 2 : (_target_velocity.X < 0 ? -2 : 0),
_target_velocity.Y > 0 ? 2 : (_target_velocity.Y < 0 ? -2 : 0),
0);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(tempPos.X, tempPos.Y) + MinimumGroundFlightOffset;
//We cheat a bit and do a bit lower than normal
if ((tempPos.Z - CAPSULE_LENGTH) < target_altitude ||
(tempPos.Z - CAPSULE_LENGTH) < _parent_scene.GetTerrainHeightAtXY(tempPos.X + forwardVel.X, tempPos.Y + forwardVel.Y)
+ MinimumGroundFlightOffset)
vec.Z += (target_altitude - tempPos.Z) * PID_P * 0.5f;
}
else
{
//Straight up and down, only apply when they are very close to the ground
float target_altitude = _parent_scene.GetTerrainHeightAtXY(tempPos.X, tempPos.Y);
if ((tempPos.Z - CAPSULE_LENGTH + (MinimumGroundFlightOffset / 1.5)) < target_altitude + MinimumGroundFlightOffset)
{
if ((tempPos.Z - CAPSULE_LENGTH) < target_altitude + 1)
{
vec.Z += ((target_altitude + 4) - (tempPos.Z - CAPSULE_LENGTH)) * PID_P;
}
else
vec.Z += ((target_altitude + MinimumGroundFlightOffset) - (tempPos.Z - CAPSULE_LENGTH)) * PID_P * 0.5f;
}
}
#endregion
}
#region Gravity
if (!flying && _parent_scene.AllowAvGravity)
{
if (!_parent_scene.UsePointGravity)
{
//Add normal gravity
vec.X += _parent_scene.gravityx * m_mass;
vec.Y += _parent_scene.gravityy * m_mass;
vec.Z += _parent_scene.gravityz * m_mass;
}
else
{
Vector3 cog = _parent_scene.PointOfGravity;
if (cog.X != 0)
vec.X += (cog.X - tempPos.X) * m_mass;
if (cog.Y != 0)
vec.Y += (cog.Y - tempPos.Y) * m_mass;
if (cog.Z != 0)
vec.Z += (cog.Z - tempPos.Z) * m_mass;
}
}
#endregion
#region Under water physics
if (_parent_scene.AllowUnderwaterPhysics)
{
//Position plus height to av's shoulder (aprox) is just above water
if ((tempPos.Z + (CAPSULE_LENGTH / 3) - .25f) < _parent_scene.GetWaterLevel((float)tempPos.X, (float)tempPos.Y))
{
if (StartingUnderWater)
ShouldBeWalking = Flying == false;
StartingUnderWater = false;
WasUnderWater = true;
Flying = true;
lastUnderwaterPush = 0;
if (ShouldBeWalking)
{
lastUnderwaterPush += (float)(_parent_scene.GetWaterLevel((float)tempPos.X, (float)tempPos.Y) - tempPos.Z) * 33 + 3;
vec.Z += lastUnderwaterPush;
}
else
{
lastUnderwaterPush += 3500;
lastUnderwaterPush += (float)(_parent_scene.GetWaterLevel((float)tempPos.X, (float)tempPos.Y) - tempPos.Z) * 8;
vec.Z += lastUnderwaterPush;
}
}
else
{
StartingUnderWater = true;
if (WasUnderWater)
{
WasUnderWater = false;
Flying = true;
}
}
}
#endregion
#endregion
if (vec.IsFinite())
{
if (vec.X < 100000000 && vec.Y < 10000000 && vec.Z < 10000000) //Checks for crazy, going to NaN us values
{
d.Vector3 veloc = d.BodyGetLinearVel(Body);
//Stop us from fidgiting if we have a small velocity
/*
if (_zeroFlag && ((Math.Abs(vec.X) < 0.09 && Math.Abs(vec.Y) < 0.09 && Math.Abs(vec.Z) < 0.03) && !flying && vec.Z != 0))
{
//m_log.Warn("Nulling Velo: " + vec.ToString());
vec = new Vector3(0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
}
//Reduce insanely small values to 0 if the velocity isn't going up
if (Math.Abs(vec.Z) < 0.01 && veloc.Z < 0.6 && _zeroFlag)
{
if (veloc.Z != 0)
{
if (-veloc.Z > 0)
vec.Z = 0;
else
vec.Z = -veloc.Z * 5;
d.BodySetLinearVel(Body, veloc.X, veloc.Y, vec.Z);
}
}
*/
// round small values to zero. those possible are just errors
if (Math.Abs(vec.X) < 0.001)
vec.X = 0;
if (Math.Abs(vec.Y) < 0.001)
vec.Y = 0;
if (Math.Abs(vec.Z) < 0.001)
vec.Z = 0;
doForce(vec);
//When falling, we keep going faster and faster, and eventually, the client blue screens (blue is all you see).
// The speed that does this is slightly higher than -30, so we cap it here so we never do that during falling.
if (vel.Z < -30)
{
vel.Z = -30;
d.BodySetLinearVel(Body, vel.X, vel.Y, vel.Z);
}
//Decay out the target velocity
_target_velocity *= _parent_scene.m_avDecayTime;
if (!_zeroFlag && _target_velocity.ApproxEquals(Vector3.Zero, _parent_scene.m_avStopDecaying))
_target_velocity = Vector3.Zero;
//Check if the capsule is tilted before changing it
// if (!_zeroFlag && !_parent_scene.IsAvCapsuleTilted)
// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
else
{
//This is a safe guard from going NaN, but it isn't very smooth... which is ok
d.BodySetForce(Body, 0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
}
}
else
{
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
}
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity()
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 vec = d.BodyGetPosition(Body);
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < 0.0f)
{
vec.X = 0.0f;
}
if (vec.Y < 0.0f)
{
vec.Y = 0.0f;
}
if (vec.X > 255.95f)
{
vec.X = 255.95f;
}
if (vec.Y > 255.95f)
{
vec.Y = 255.95f;
}
_position.X = vec.X;
_position.Y = vec.Y;
_position.Z = vec.Z;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (_zeroFlag)
{
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
//base.RequestPhysicsterseUpdate();
}
}
else
{
m_lastUpdateSent = false;
vec = d.BodyGetLinearVel(Body);
_velocity.X = (vec.X);
_velocity.Y = (vec.Y);
_velocity.Z = (vec.Z);
if (_velocity.Z < -6 && !m_hackSentFall)
{
m_hackSentFall = true;
m_pidControllerActive = false;
}
else if (flying && !m_hackSentFly)
{
//m_hackSentFly = true;
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
else
{
m_hackSentFly = false;
m_hackSentFall = false;
}
}
}
} // end Step
private void MoveLinear (float pTimestep, AuroraODEPhysicsScene _pParentScene, AuroraODEPrim parent)
{
if (!m_linearMotorDirection.ApproxEquals (Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if (!d.BodyIsEnabled (Body))
d.BodyEnable (Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection / ((m_linearMotorTimescale) / pTimestep);
m_lastLinearVelocityVector += (addAmount); // lastLinearVelocityVector is the current body velocity vector?
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs (m_lastLinearVelocityVector.X) > Math.Abs (m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs (m_lastLinearVelocityVector.Y) > Math.Abs (m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs (m_lastLinearVelocityVector.Z) > Math.Abs (m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One / (m_linearMotorDecayTimescale / (pTimestep))));
decayfraction.Z = ((1 / (m_linearMotorDecayTimescale / (pTimestep * pTimestep))));
//Console.WriteLine("decay: " + decayfraction);
Vector3 decayAmt = (m_linearMotorDirection * decayfraction);
m_linearMotorDirection -= decayAmt;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals (Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion (Body);
Quaternion rotq = new Quaternion (rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector
// that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * Mass * (float)parent.ParentEntity.GravityMultiplier * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel (Body);
if(m_lastLinearVelocityVector.Z == 0 && m_verticalAttractionTimescale == 0)
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
else if(Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON)
m_dir.Z += vel_now.Z;
d.Vector3 pos = d.BodyGetPosition (Body);
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
Vector3 posChange = new Vector3 ();
posChange.X = pos.X - m_lastPositionVector.X;
posChange.Y = pos.Y - m_lastPositionVector.Y;
posChange.Z = pos.Z - m_lastPositionVector.Z;
double Zchange = Math.Abs (posChange.Z);
if (m_BlockingEndPoint != Vector3.Zero)
{
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{
pos.X -= posChange.X + 1;
d.BodySetPosition (Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{
pos.Y -= posChange.Y + 1;
d.BodySetPosition (Body, pos.X, pos.Y, pos.Z);
}
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{
pos.Z -= posChange.Z + 1;
d.BodySetPosition (Body, pos.X, pos.Y, pos.Z);
}
if (pos.X <= 0)
{
pos.X += posChange.X + 1;
d.BodySetPosition (Body, pos.X, pos.Y, pos.Z);
}
if (pos.Y <= 0)
{
pos.Y += posChange.Y + 1;
d.BodySetPosition (Body, pos.X, pos.Y, pos.Z);
}
}
if (pos.Z < _pParentScene.GetTerrainHeightAtXY (pos.X, pos.Y))
{
pos.Z = _pParentScene.GetTerrainHeightAtXY (pos.X, pos.Y) + 2;
d.BodySetPosition (Body, pos.X, pos.Y, pos.Z);
}
// Check if hovering
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 = (float)_pParentScene.GetWaterLevel (pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY (pos.X, pos.Y) + 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 aready heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight)
m_VhoverTargetHeight = pos.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
d.BodySetPosition (Body, pos.X, pos.Y, m_VhoverTargetHeight);
}
}
else
{
float herr0 = pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs (herr0) > 0.01f)
{
m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
}
if ((m_flags & (VehicleFlag.NO_X)) != 0)
m_dir.X = 0;
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
m_dir.Y = 0;
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
m_dir.Z = 0;
#region Limit Motor Up
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) //if it isn't going up, don't apply the limiting force
{
if (Zchange > -0.1f)
{
//Requires idea of 'up', so use reference frame to rotate it
//Add to the X, because that will normally tilt the vehicle downward (if its rotated, it'll be rotated by the ref. frame
grav += (new Vector3 (0, 0, ((float)Math.Abs (Zchange) * (pTimestep * -_pParentScene.PID_D * _pParentScene.PID_D))));
}
}
#endregion
#region Deal with tainted forces
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 TaintedForce = new Vector3 ();
if (m_forcelist.Count != 0)
{
try
{
for (int i = 0; i < m_forcelist.Count; i++)
{
TaintedForce = TaintedForce + (m_forcelist[i] * 100);
}
}
catch (IndexOutOfRangeException)
{
TaintedForce = Vector3.Zero;
}
catch (ArgumentOutOfRangeException)
{
TaintedForce = Vector3.Zero;
}
m_forcelist = new List<Vector3> ();
}
#endregion
#region Deflection
//Forward is the prefered direction
/*Vector3 deflectionamount = m_dir / (m_linearDeflectionTimescale / pTimestep);
//deflectionamount *= m_linearDeflectionEfficiency;
if (deflectionamount != Vector3.Zero)
{
}
Vector3 deflection = Vector3.One / deflectionamount;
m_dir /= deflection;*/
#endregion
m_lastPositionVector = d.BodyGetPosition (Body);
#region limitations
if (Math.Abs (m_dir.X) > 1000 ||
Math.Abs (m_dir.Y) > 1000 ||
Math.Abs (m_dir.Z) > 1000)
{
//This vehicle is f***ed
parent.RaiseOutOfBounds (parent.Position);
parent._zeroFlag = true;
parent.m_disabled = true;
parent.m_frozen = true;
return;
}
#endregion
// Apply velocity
d.BodySetLinearVel (Body, m_dir.X, m_dir.Y, m_dir.Z);
// apply gravity force
d.BodyAddForce (Body, grav.X, grav.Y, grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
} // end MoveLinear()
