/// <summary>
/// Adds the force supplied to the Target Velocity
/// The PID controller takes this target velocity and tries to make it a reality
/// </summary>
/// <param name="force"></param>
public override void AddForce(Vector3 force, bool pushforce)
{
if (force.IsFinite())
{
if (pushforce)
{
m_pidControllerActive = false;
force *= 100f;
m_taintForce += force;
_parent_scene.AddPhysicsActorTaint(this);
// If uncommented, things get pushed off world
//
// m_log.Debug("Push!");
// m_taintTargetVelocity.X += force.X;
// m_taintTargetVelocity.Y += force.Y;
// m_taintTargetVelocity.Z += force.Z;
}
else
{
m_pidControllerActive = true;
m_taintTargetVelocity += force;
}
}
else
{
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name);
}
//m_lastUpdateSent = false;
}
public OdeCharacter(
String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p,
float capsule_radius, float tensor, float density,
float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
if (pos.IsFinite())
{
if (pos.Z > 9999999f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
_position = pos;
m_taintPosition = pos;
}
else
{
_position
= new Vector3(
(float)_parent_scene.WorldExtents.X * 0.5f,
(float)_parent_scene.WorldExtents.Y * 0.5f,
parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition = _position;
m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
}
_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_tensor = tensor;
m_density = density;
// heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
// We can set taint and actual to be the same here, since the entire character will be set up when the
// m_tainted_isPhysical is processed.
SetTaintedCapsuleLength(size);
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
Name = avName;
}
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
// ode = dode;
_velocity = new PhysicsVector();
_target_velocity = new PhysicsVector();
if (PhysicsVector.isFinite(pos))
{
if (pos.Z > 9999999)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
_position = pos;
m_taintPosition.X = pos.X;
m_taintPosition.Y = pos.Y;
m_taintPosition.Z = pos.Z;
}
else
{
_position = new PhysicsVector(128, 128, parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
m_taintPosition.X = _position.X;
m_taintPosition.Y = _position.Y;
m_taintPosition.Z = _position.Z;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
_acceleration = new PhysicsVector();
_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_tensor = tensor;
m_density = density;
heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
for (int i = 0; i < 11; i++)
{
m_colliderarr[i] = false;
}
CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
m_name = avName;
}
/// <summary>
/// Cleanup the things we use in the scene.
/// </summary>
public void Destroy()
{
m_tainted_isPhysical = false;
_parent_scene.AddPhysicsActorTaint(this);
}
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
// ode = dode;
_velocity = new Vector3();
_target_velocity = new Vector3();
_position = pos;
m_taintPosition.X = pos.X;
m_taintPosition.Y = pos.Y;
m_taintPosition.Z = pos.Z;
_acceleration = new Vector3();
_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_tensor = tensor;
m_density = density;
heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
for (int i = 0; i < 11; i++)
{
m_colliderarr[i] = false;
}
CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
m_name = avName;
}
public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
_target_velocity = new Vector3(0, 0, 0);
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
_velocity = new Vector3();
_position = pos;
m_taintposition = pos;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
m_density = parent_scene.geomDefaultDensity;
m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
if (size.X <= 0) size.X = 0.01f;
if (size.Y <= 0) size.Y = 0.01f;
if (size.Z <= 0) size.Z = 0.01f;
_size = size;
m_taintsize = _size;
_acceleration = new Vector3();
m_rotationalVelocity = Vector3.Zero;
_orientation = rotation;
m_taintrot = _orientation;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
m_targetSpace = (IntPtr)0;
if (pos.Z < 0)
m_isphysical = false;
else
{
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
if (m_isphysical)
m_targetSpace = _parent_scene.space;
}
m_primName = primName;
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
// don't do .add() here; old geoms get recycled with the same hash
}
