// end Step
private void MoveLinear(float pTimestep, WhiteCoreODEPhysicsScene _pParentScene, WhiteCoreODEPrim parent)
{
bool ishovering = false;
bool bypass_buoyancy = false;
d.Vector3 dpos = d.BodyGetPosition(Body);
d.Vector3 dvel_now = d.BodyGetLinearVel(Body);
d.Quaternion drotq_now = d.BodyGetQuaternion(Body);
Vector3 pos = new Vector3(dpos.X, dpos.Y, dpos.Z);
Vector3 vel_now = new Vector3(dvel_now.X, dvel_now.Y, dvel_now.Z);
Quaternion rotq = new Quaternion(drotq_now.X, drotq_now.Y, drotq_now.Z, drotq_now.W);
rotq *= m_referenceFrame; //add reference rotation to rotq
Quaternion irotq = new Quaternion(-rotq.X, -rotq.Y, -rotq.Z, rotq.W);
m_newVelocity = Vector3.Zero;
if (!(m_lastPositionVector.X == 0 &&
m_lastPositionVector.Y == 0 &&
m_lastPositionVector.Z == 0))
{
///Only do this if we have a last position
m_lastposChange.X = pos.X - m_lastPositionVector.X;
m_lastposChange.Y = pos.Y - m_lastPositionVector.Y;
m_lastposChange.Z = pos.Z - m_lastPositionVector.Z;
}
#region Blocking Change
if (m_BlockingEndPoint != Vector3.Zero)
{
bool needUpdateBody = false;
if(pos.X >= (m_BlockingEndPoint.X - 1)) {
pos.X -= m_lastposChange.X + 1;
needUpdateBody = true;
}
if(pos.Y >= (m_BlockingEndPoint.Y - 1)) {
pos.Y -= m_lastposChange.Y + 1;
needUpdateBody = true;
}
if(pos.Z >= (m_BlockingEndPoint.Z - 1)) {
pos.Z -= m_lastposChange.Z + 1;
needUpdateBody = true;
}
if(pos.X <= 0) {
pos.X += m_lastposChange.X + 1;
needUpdateBody = true;
}
if(pos.Y <= 0) {
pos.Y += m_lastposChange.Y + 1;
needUpdateBody = true;
}
if(needUpdateBody)
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
#endregion
#region Terrain checks
float terrainHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
if(pos.Z < terrainHeight - 5) {
pos.Z = terrainHeight + 2;
m_lastPositionVector = pos;
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
else if(pos.Z < terrainHeight) {
m_newVelocity.Z += 1;
}
#endregion
#region Hover
Vector3 hovervel = Vector3.Zero;
if(m_VhoverTimescale * pTimestep <= 300.0f && m_VhoverHeight > 0.0f) {
ishovering = true;
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) {
m_VhoverTargetHeight = (float) _pParentScene.GetWaterLevel(pos.X, pos.Y) + 0.3f + m_VhoverHeight;
}
else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) {
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) {
m_VhoverTargetHeight = m_VhoverHeight;
}
else {
float waterlevel = (float)_pParentScene.GetWaterLevel(pos.X, pos.Y) + 0.3f;
float terrainlevel = (float)_pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
if(waterlevel > terrainlevel) {
m_VhoverTargetHeight = waterlevel + m_VhoverHeight;
}
else {
m_VhoverTargetHeight = terrainlevel + m_VhoverHeight;
}
}
float tempHoverHeight = m_VhoverTargetHeight;
if((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) {
// If body is aready heigher, use its height as target height
if (pos.Z > tempHoverHeight) {
tempHoverHeight = pos.Z;
bypass_buoyancy = true; //emulate sl bug
}
}
if((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) {
if((pos.Z - tempHoverHeight) > .2 || (pos.Z - tempHoverHeight) < -.2) {
float h = tempHoverHeight;
float groundHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
if(groundHeight >= tempHoverHeight)
h = groundHeight;
d.BodySetPosition(Body, pos.X, pos.Y, h);
}
}
else {
hovervel.Z -= ((dvel_now.Z * 0.1f * m_VhoverEfficiency) + (pos.Z - tempHoverHeight)) / m_VhoverTimescale;
hovervel.Z *= 7.0f * (1.0f + m_VhoverEfficiency);
if(hovervel.Z > 50.0f) hovervel.Z = 50.0f;
if(hovervel.Z < -50.0f) hovervel.Z = -50.0f;
}
}
#endregion
#region limitations
//limit maximum velocity
if(vel_now.LengthSquared() > 1e6f) {
vel_now /= vel_now.Length();
vel_now *= 1000f;
d.BodySetLinearVel(Body, vel_now.X, vel_now.Y, vel_now.Z);
}
//block movement in x and y when low velocity
bool enable_ode_gravity = true;
if(vel_now.LengthSquared() < 0.02f) {
d.BodySetLinearVel(Body, 0.0f, 0.0f, 0.0f);
vel_now = Vector3.Zero;
if(parent.LinkSetIsColliding)
enable_ode_gravity = false;
}
#endregion
#region Linear motors
//cancel directions of linear friction for certain vehicles without having effect on ode gravity
Vector3 vt_vel_now = vel_now;
bool no_grav_calc = false;
if((Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON) && m_VehicleBuoyancy != 1.0f) {
vt_vel_now.Z = 0.0f;
no_grav_calc = true;
}
if(!bypass_buoyancy) {
//apply additional gravity force over ode gravity
if(m_VehicleBuoyancy == 1.0f) enable_ode_gravity = false;
else if(m_VehicleBuoyancy != 0.0f && enable_ode_gravity) {
float grav = _pParentScene.gravityz * parent.GravityMultiplier * -m_VehicleBuoyancy;
m_newVelocity.Z += grav * Mass;
}
}
//set ode gravity
d.BodySetGravityMode(Body, enable_ode_gravity);
//add default linear friction (mimic sl friction as much as possible)
float initialFriction = 0.055f;
float defaultFriction = 180f;
Vector3 friction = Vector3.Zero;
if(parent.LinkSetIsColliding || ishovering) {
if(vt_vel_now.X > 0.0f) friction.X += initialFriction;
if(vt_vel_now.Y > 0.0f) friction.Y += initialFriction;
if(vt_vel_now.Z > 0.0f) friction.Z += initialFriction;
if(vt_vel_now.X < 0.0f) friction.X -= initialFriction;
if(vt_vel_now.Y < 0.0f) friction.Y -= initialFriction;
if(vt_vel_now.Z < 0.0f) friction.Z -= initialFriction;
friction += vt_vel_now / defaultFriction;
friction *= irotq;
}
//world -> body orientation
vel_now *= irotq;
vt_vel_now *= irotq;
//add linear friction
if(vt_vel_now.X > 0.0f)
friction.X += vt_vel_now.X * vt_vel_now.X / m_linearFrictionTimescale.X;
else
friction.X -= vt_vel_now.X * vt_vel_now.X / m_linearFrictionTimescale.X;
if(vt_vel_now.Y > 0.0f)
friction.Y += vt_vel_now.Y * vt_vel_now.Y / m_linearFrictionTimescale.Y;
else
friction.Y -= vt_vel_now.Y * vt_vel_now.Y / m_linearFrictionTimescale.Y;
if(vt_vel_now.Z > 0.0f)
friction.Z += vt_vel_now.Z * vt_vel_now.Z / m_linearFrictionTimescale.Z;
else
friction.Z -= vt_vel_now.Z * vt_vel_now.Z / m_linearFrictionTimescale.Z;
friction /= 1.35f; //1.5f;
//add linear forces
//not the best solution, but it is really close to sl motor velocity, and just works
Vector3 motorVelocity = (m_linearMotorDirection * 3.0f - vel_now) / m_linearMotorTimescale / 5.0f; //2.8f;
Vector3 motorfrictionamp = new Vector3(4.0f, 4.0f, 4.0f);
Vector3 motorfrictionstart = new Vector3(1.0f, 1.0f, 1.0f);
motorVelocity *= motorfrictionstart + motorfrictionamp / (m_linearFrictionTimescale * pTimestep);
float addVel = 0.15f;
if(motorVelocity.LengthSquared() > 0.01f) {
if(motorVelocity.X > 0.0f) motorVelocity.X += addVel;
if(motorVelocity.Y > 0.0f) motorVelocity.Y += addVel;
if(motorVelocity.Z > 0.0f) motorVelocity.Z += addVel;
if(motorVelocity.X < 0.0f) motorVelocity.X -= addVel;
if(motorVelocity.Y < 0.0f) motorVelocity.Y -= addVel;
if(motorVelocity.Z < 0.0f) motorVelocity.Z -= addVel;
}
//free run
if(vel_now.X > m_linearMotorDirection.X && m_linearMotorDirection.X >= 0.0f) motorVelocity.X = 0.0f;
if(vel_now.Y > m_linearMotorDirection.Y && m_linearMotorDirection.Y >= 0.0f) motorVelocity.Y = 0.0f;
if(vel_now.Z > m_linearMotorDirection.Z && m_linearMotorDirection.Z >= 0.0f) motorVelocity.Z = 0.0f;
if(vel_now.X < m_linearMotorDirection.X && m_linearMotorDirection.X <= 0.0f) motorVelocity.X = 0.0f;
if(vel_now.Y < m_linearMotorDirection.Y && m_linearMotorDirection.Y <= 0.0f) motorVelocity.Y = 0.0f;
if(vel_now.Z < m_linearMotorDirection.Z && m_linearMotorDirection.Z <= 0.0f) motorVelocity.Z = 0.0f;
//decay linear motor
m_linearMotorDirection *= (1.0f - 1.0f/m_linearMotorDecayTimescale);
#endregion
#region Deflection
//does only deflect on x axis from world orientation with z axis rotated to body
//it is easier to filter out gravity deflection for vehicles(car) without rotation problems
Quaternion irotq_z = irotq;
irotq_z.X = 0.0f;
irotq_z.Y = 0.0f;
float mag = (float)Math.Sqrt(irotq_z.W * irotq_z.W + irotq_z.Z * irotq_z.Z); //normalize
irotq_z.W /= mag;
irotq_z.Z /= mag;
Vector3 vel_defl = new Vector3(dvel_now.X, dvel_now.Y, dvel_now.Z);
vel_defl *= irotq_z;
if(no_grav_calc) {
vel_defl.Z = 0.0f;
if(!parent.LinkSetIsColliding) vel_defl.Y = 0.0f;
}
Vector3 deflection = vel_defl / m_linearDeflectionTimescale * m_linearDeflectionEfficiency * 100.0f;
float deflectionLengthY = Math.Abs(deflection.Y);
float deflectionLengthX = Math.Abs(deflection.X);
deflection.Z = 0.0f;
if((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) == 0) {
deflection.Z = deflectionLengthX;
deflection.X = -deflection.X;
}
if(vel_defl.X < 0.0f) deflection.X = -deflectionLengthY;
else if(vel_defl.X >= 0.0f) deflection.X = deflectionLengthY;
deflection.Y = -deflection.Y;
irotq_z.W = -irotq_z.W;
deflection *= irotq_z;
#endregion
#region Deal with tainted forces
Vector3 TaintedForce = new Vector3();
if(m_forcelist.Count != 0) {
try {
TaintedForce = m_forcelist.Aggregate(TaintedForce, (current, t) => current + (t));
}
catch(IndexOutOfRangeException) {
TaintedForce = Vector3.Zero;
}
catch(ArgumentOutOfRangeException) {
TaintedForce = Vector3.Zero;
}
m_forcelist = new List<Vector3>();
}
#endregion
#region Add Forces
//add forces
m_newVelocity -= (friction *= Mass / pTimestep);
m_newVelocity += TaintedForce;
motorVelocity *= Mass / pTimestep;
#endregion
#region No X,Y,Z
if((m_flags & (VehicleFlag.NO_X)) != 0)
m_newVelocity.X = -vel_now.X * Mass / pTimestep;
if((m_flags & (VehicleFlag.NO_Y)) != 0)
m_newVelocity.Y = -vel_now.Y * Mass / pTimestep;
if((m_flags & (VehicleFlag.NO_Z)) != 0)
m_newVelocity.Z = -vel_now.Z * Mass / pTimestep;
#endregion
m_newVelocity *= rotq;
m_newVelocity += (hovervel *= Mass / pTimestep);
if(parent.LinkSetIsColliding || Type == Vehicle.TYPE_AIRPLANE || Type == Vehicle.TYPE_BALLOON || ishovering) {
m_newVelocity += deflection;
motorVelocity *= rotq;
if((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0 && motorVelocity.Z > 0.0f) motorVelocity.Z = 0.0f;
m_newVelocity += motorVelocity;
}
d.BodyAddForce(Body, m_newVelocity.X, m_newVelocity.Y, m_newVelocity.Z);
}
public WhiteCoreODECharacter(String avName, WhiteCoreODEPhysicsScene parent_scene, Vector3 pos, Quaternion rotation,
Vector3 size)
{
m_uuid = UUID.Random();
_parent_scene = parent_scene;
m_taintRotation = rotation;
if (pos.IsFinite())
{
if (pos.Z > 9999999f || pos.Z < -90f)
{
pos.Z =
_parent_scene.GetTerrainHeightAtXY(_parent_scene.Region.RegionSizeX*0.5f,
_parent_scene.Region.RegionSizeY*0.5f) + 5.0f;
}
_position = pos;
}
else
{
_position.X = _parent_scene.Region.RegionSizeX*0.5f;
_position.Y = _parent_scene.Region.RegionSizeY*0.5f;
_position.Z = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + 10f;
MainConsole.Instance.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
m_isPhysical = false; // current status: no ODE information exists
Size = size;
Name = avName;
}
// end Step
private void MoveLinear(float pTimestep, WhiteCoreODEPhysicsScene _pParentScene, WhiteCoreODEPrim parent)
{
if (m_linearMotorDirection.LengthSquared() < 0.0001f)
{
m_linearMotorDirection = Vector3.Zero;
m_newVelocity = Vector3.Zero;
}
else
{
Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale);
m_lastLinearVelocityVector += (addAmount);
m_linearMotorDirection *= (1.0f - 1.0f/m_linearMotorDecayTimescale);
// convert requested object velocity to world-referenced vector
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
//Vector3 oldVelocity = m_newVelocity;
m_newVelocity = m_lastLinearVelocityVector*rotq; // apply obj rotation to velocity vector
//if (oldVelocity.Z == 0 && (Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON))
// m_newVelocity.Z += dvel_now.Z; // Preserve the accumulated falling velocity
}
//if (m_newVelocity.Z == 0 && (Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON))
// m_newVelocity.Z += dvel_now.Z; // Preserve the accumulated falling velocity
d.Vector3 dpos = d.BodyGetPosition(Body);
Vector3 pos = new Vector3(dpos.X, dpos.Y, dpos.Z);
if (!(m_lastPositionVector.X == 0 &&
m_lastPositionVector.Y == 0 &&
m_lastPositionVector.Z == 0))
{
// Only do this if we have a last position
m_lastposChange.X = pos.X - m_lastPositionVector.X;
m_lastposChange.Y = pos.Y - m_lastPositionVector.Y;
m_lastposChange.Z = pos.Z - m_lastPositionVector.Z;
}
#region Blocking Change
if (m_BlockingEndPoint != Vector3.Zero)
{
bool needUpdateBody = false;
if (pos.X >= (m_BlockingEndPoint.X - 1))
{
pos.X -= m_lastposChange.X + 1;
needUpdateBody = true;
}
if (pos.Y >= (m_BlockingEndPoint.Y - 1))
{
pos.Y -= m_lastposChange.Y + 1;
needUpdateBody = true;
}
if (pos.Z >= (m_BlockingEndPoint.Z - 1))
{
pos.Z -= m_lastposChange.Z + 1;
needUpdateBody = true;
}
if (pos.X <= 0)
{
pos.X += m_lastposChange.X + 1;
needUpdateBody = true;
}
if (pos.Y <= 0)
{
pos.Y += m_lastposChange.Y + 1;
needUpdateBody = true;
}
if (needUpdateBody)
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
#endregion
#region Terrain checks
float terrainHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
if (pos.Z < terrainHeight - 5)
{
pos.Z = terrainHeight + 2;
m_lastPositionVector = pos;
//Make sure that we don't have an explosion the next frame with the posChange
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
else if (pos.Z < terrainHeight)
m_newVelocity.Z += 1;
#endregion
#region Hover
// 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;
}
float tempHoverHeight = m_VhoverTargetHeight;
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (pos.Z > tempHoverHeight)
tempHoverHeight = pos.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - tempHoverHeight) > .2 || (pos.Z - tempHoverHeight) < -.2)
{
float h = tempHoverHeight;
float groundHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
if (groundHeight >= tempHoverHeight)
h = groundHeight;
d.BodySetPosition(Body, pos.X, pos.Y, h);
}
}
else
{
float herr0 = pos.Z - tempHoverHeight;
// Replace Vertical speed with correction figure if significant
if (herr0 > 0.01f)
{
m_newVelocity.Z = -((herr0*50.0f)/m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else if (herr0 < -0.01f)
{
m_newVelocity.Z = -((herr0*50f)/m_VhoverTimescale);
}
else
{
m_newVelocity.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
}
#endregion
#region No X,Y,Z
if ((m_flags & (VehicleFlag.NO_X)) != 0)
m_newVelocity.X = 0;
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
m_newVelocity.Y = 0;
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
m_newVelocity.Z = 0;
#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
{
TaintedForce = m_forcelist.Aggregate(TaintedForce, (current, t) => current + (t));
}
catch (IndexOutOfRangeException)
{
TaintedForce = Vector3.Zero;
}
catch (ArgumentOutOfRangeException)
{
TaintedForce = Vector3.Zero;
}
m_forcelist = new List<Vector3>();
}
// force to deltaV
m_newVelocity += TaintedForce*(pTimestep/Mass);
#endregion
#region Deflection
//Forward is the prefered direction
/*Vector3 deflectionamount = m_newVelocity / (m_linearDeflectionTimescale / pTimestep);
//deflectionamount *= m_linearDeflectionEfficiency;
if (deflectionamount != Vector3.Zero)
{
}
Vector3 deflection = Vector3.One / deflectionamount;
m_newVelocity /= deflection;*/
#endregion
#region limitations
if (m_newVelocity.LengthSquared() > 1e6f)
{
m_newVelocity /= m_newVelocity.Length();
m_newVelocity *= 1000f;
}
else if (m_newVelocity.LengthSquared() < 1e-6f)
m_newVelocity = Vector3.Zero;
#endregion
m_lastPositionVector = parent.Position;
float grav = -1*Mass*pTimestep;
// Apply velocity
if (m_newVelocity != Vector3.Zero)
{
if ((Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED) && !parent.LinkSetIsColliding)
{
//Force ODE gravity here!!!
}
else
d.BodySetLinearVel(Body, m_newVelocity.X, m_newVelocity.Y, m_newVelocity.Z + grav);
}
// apply friction
m_lastLinearVelocityVector.X *= (1.0f - 1/m_linearFrictionTimescale.X);
m_lastLinearVelocityVector.Y *= (1.0f - 1/m_linearFrictionTimescale.Y);
m_lastLinearVelocityVector.Z *= (1.0f - 1/m_linearFrictionTimescale.Z);
}