public Particle(int Dim, double[] startPos = null, double startAngl = 0.0)
{
SpatialDim = Dim;
// Particle history
// =============================
for (int i = 0; i < m_HistoryLength; i++)
{
Position.Add(new double[Dim]);
Angle.Add(new double());
TranslationalVelocity.Add(new double[Dim]);
TranslationalAcceleration.Add(new double[Dim]);
RotationalVelocity.Add(new double());
RotationalAcceleration.Add(new double());
HydrodynamicForces.Add(new double[Dim]);
HydrodynamicTorque.Add(new double());
}
// =============================
if (startPos == null)
{
startPos = new double[Dim];
}
Position[0] = startPos;
Position[1] = startPos;
//From degree to radiant
Angle[0] = StartingAngle = startAngl * 2 * Math.PI / 360;
Angle[1] = startAngl * 2 * Math.PI / 360;
//UpdateLevelSetFunction();
}
public override string ToString()
{
StringBuilder __sb = new StringBuilder("MVelocityConstraint(");
__sb.Append(", ParentObjectID: ");
__sb.Append(ParentObjectID);
if (ParentToConstraint != null && __isset.ParentToConstraint)
{
__sb.Append(", ParentToConstraint: ");
__sb.Append(ParentToConstraint == null ? "<null>" : ParentToConstraint.ToString());
}
if (TranslationalVelocity != null && __isset.TranslationalVelocity)
{
__sb.Append(", TranslationalVelocity: ");
__sb.Append(TranslationalVelocity == null ? "<null>" : TranslationalVelocity.ToString());
}
if (RotationalVelocity != null && __isset.RotationalVelocity)
{
__sb.Append(", RotationalVelocity: ");
__sb.Append(RotationalVelocity == null ? "<null>" : RotationalVelocity.ToString());
}
if (__isset.WeightingFactor)
{
__sb.Append(", WeightingFactor: ");
__sb.Append(WeightingFactor);
}
__sb.Append(")");
return(__sb.ToString());
}
/// <summary>
/// The standard description of motion including hydrodynamics.
/// </summary>
/// <param name="gravity">
/// The gravity (volume forces) acting on the particle.
/// </param>
/// <param name="density">
/// The density of the particle.
/// </param>
public Motion(Vector gravity, double density)
{
if (gravity.IsNullOrEmpty())
{
gravity = new Vector(0, 0);
}
Gravity = new Vector(gravity);
Density = density;
for (int i = 0; i < NumberOfHistoryEntries; i++)
{
Position.Add(new Vector(SpatialDim));
TranslationalVelocity.Add(new Vector(SpatialDim));
TranslationalAcceleration.Add(new Vector(SpatialDim));
HydrodynamicForces.Add(new Vector(SpatialDim));
Angle.Add(new double());
RotationalVelocity.Add(new double());
RotationalAcceleration.Add(new double());
HydrodynamicTorque.Add(new double());
}
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
public void UpdatePositionAndVelocity()
{
if (Body == null)
{
return;
}
//int val = Environment.TickCount;
CheckIfStandingOnObject();
//m_log.DebugFormat("time:{0}", Environment.TickCount - val);
//IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody);
tempTrans1.Dispose();
tempTrans1 = Body.getInterpolationWorldTransform();
tempVector1.Dispose();
tempVector1 = tempTrans1.getOrigin();
tempVector2.Dispose();
tempVector2 = Body.getInterpolationLinearVelocity();
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < -10.0f)
{
vec.X = 0.0f;
}
if (vec.Y < -10.0f)
{
vec.Y = 0.0f;
}
if (vec.X > m_parent_scene.m_region.RegionSizeX + 10.2f)
{
vec.X = m_parent_scene.m_region.RegionSizeX + 10.2f;
}
if (vec.Y > m_parent_scene.m_region.RegionSizeY + 10.2f)
{
vec.Y = m_parent_scene.m_region.RegionSizeY + 10.2f;
}
m_position.X = vec.X;
m_position.Y = vec.Y;
m_position.Z = vec.Z;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (m_zeroFlag)
{
m_velocity.X = 0.0f;
m_velocity.Y = 0.0f;
m_velocity.Z = 0.0f;
// 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;
vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
m_velocity.X = (vec.X);
m_velocity.Y = (vec.Y);
m_velocity.Z = (vec.Z);
//m_log.Debug(m_target_velocity);
if (m_velocity.Z < -6 && !m_hackSentFall)
{
m_hackSentFall = true;
m_pidControllerActive = false;
}
else if (m_flying && !m_hackSentFly)
{
//m_hackSentFly = true;
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
else
{
m_hackSentFly = false;
m_hackSentFall = false;
}
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();
}
if (Body != null)
{
if (Body.getFriction() < 0.9f)
{
Body.setFriction(0.9f);
}
}
//if (Body != null)
// Body.clearForces();
}
public void Write(TProtocol oprot)
{
oprot.IncrementRecursionDepth();
try
{
TStruct struc = new TStruct("MVelocityConstraint");
oprot.WriteStructBegin(struc);
TField field = new TField();
if (ParentObjectID == null)
{
throw new TProtocolException(TProtocolException.INVALID_DATA, "required field ParentObjectID not set");
}
field.Name = "ParentObjectID";
field.Type = TType.String;
field.ID = 1;
oprot.WriteFieldBegin(field);
oprot.WriteString(ParentObjectID);
oprot.WriteFieldEnd();
if (ParentToConstraint != null && __isset.ParentToConstraint)
{
field.Name = "ParentToConstraint";
field.Type = TType.Struct;
field.ID = 2;
oprot.WriteFieldBegin(field);
ParentToConstraint.Write(oprot);
oprot.WriteFieldEnd();
}
if (TranslationalVelocity != null && __isset.TranslationalVelocity)
{
field.Name = "TranslationalVelocity";
field.Type = TType.Struct;
field.ID = 3;
oprot.WriteFieldBegin(field);
TranslationalVelocity.Write(oprot);
oprot.WriteFieldEnd();
}
if (RotationalVelocity != null && __isset.RotationalVelocity)
{
field.Name = "RotationalVelocity";
field.Type = TType.Struct;
field.ID = 4;
oprot.WriteFieldBegin(field);
RotationalVelocity.Write(oprot);
oprot.WriteFieldEnd();
}
if (__isset.WeightingFactor)
{
field.Name = "WeightingFactor";
field.Type = TType.Double;
field.ID = 5;
oprot.WriteFieldBegin(field);
oprot.WriteDouble(WeightingFactor);
oprot.WriteFieldEnd();
}
oprot.WriteFieldStop();
oprot.WriteStructEnd();
}
finally
{
oprot.DecrementRecursionDepth();
}
}
