/// <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>
/// 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);
}
}
internal void Stop()
{
m_lastLinearVelocityVector = Vector3.Zero;
m_lastAngularVelocity = Vector3.Zero;
m_lastPositionVector = d.BodyGetPosition(Body);
}
}// 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()
/// <summary>
/// Get joint axis.
/// </summary>
/// <remarks>
/// 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.
/// </remarks>
/// <param name="joint"></param>
/// <returns></returns>
public override Vector3 GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = 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:
DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAxis(odeJoint.jointID, out axis);
break;
}
}
return new Vector3(axis.X, axis.Y, axis.Z);
}
