public void ProcessTaints(float timestep)
{
if (m_tainted_isPhysical != m_isPhysical)
{
if (m_tainted_isPhysical)
{
// Create avatar capsule and related ODE data
if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
{
m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
+ (Shell != IntPtr.Zero ? "Shell ":"")
+ (Body != IntPtr.Zero ? "Body ":"")
+ (Amotor != IntPtr.Zero ? "Amotor ":""));
}
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
_parent_scene.AddCharacter(this);
}
else
{
_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;
}
}
m_isPhysical = m_tainted_isPhysical;
}
if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
{
if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
{
m_pidControllerActive = true;
// no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
d.JointDestroy(Amotor);
float prevCapsule = CAPSULE_LENGTH;
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
d.BodyDestroy(Body);
d.GeomDestroy(Shell);
AvatarGeomAndBodyCreation(_position.X, _position.Y,
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
Velocity = new PhysicsVector(0f, 0f, 0f);
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
}
else
{
m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
+ (Shell == IntPtr.Zero ? "Shell ":"")
+ (Body == IntPtr.Zero ? "Body ":"")
+ (Amotor == IntPtr.Zero ? "Amotor ":""));
}
}
if (!m_taintPosition.IsIdentical(_position, 0.05f))
{
if (Body != IntPtr.Zero)
{
d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
_position.X = m_taintPosition.X;
_position.Y = m_taintPosition.Y;
_position.Z = m_taintPosition.Z;
}
}
}
internal void ProcessTaints()
{
if (m_taintPosition != _position)
{
if (Body != IntPtr.Zero)
{
d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
_position = m_taintPosition;
}
}
if (m_taintForce != Vector3.Zero)
{
if (Body != IntPtr.Zero)
{
// FIXME: This is not a good solution since it's subject to a race condition if a force is another
// thread sets a new force while we're in this loop (since it could be obliterated by
// m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
}
m_taintForce = Vector3.Zero;
}
if (m_taintTargetVelocity != _target_velocity)
{
_target_velocity = m_taintTargetVelocity;
}
if (m_tainted_isPhysical != m_isPhysical)
{
if (m_tainted_isPhysical)
{
// Create avatar capsule and related ODE data
if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
{
m_log.Warn("[ODE CHARACTER]: re-creating the following avatar ODE data for " + Name + ", even though it already exists - "
+ (Shell != IntPtr.Zero ? "Shell ":"")
+ (Body != IntPtr.Zero ? "Body ":"")
+ (Amotor != IntPtr.Zero ? "Amotor ":""));
}
CreateOdeStructures(_position.X, _position.Y, _position.Z, m_tensor);
_parent_scene.AddCharacter(this);
}
else
{
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
}
m_isPhysical = m_tainted_isPhysical;
}
if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
{
if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
{
// m_log.DebugFormat(
// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}",
// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name);
m_pidControllerActive = true;
// no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
DestroyOdeStructures();
float prevCapsule = CAPSULE_LENGTH;
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
CreateOdeStructures(
_position.X,
_position.Y,
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
// As with Size, we reset velocity. However, this isn't strictly necessary since it doesn't
// appear to stall initial region crossings when done here. Being done for consistency.
// Velocity = Vector3.Zero;
}
else
{
m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - "
+ (Shell == IntPtr.Zero ? "Shell ":"")
+ (Body == IntPtr.Zero ? "Body ":"")
+ (Amotor == IntPtr.Zero ? "Amotor ":""));
}
}
}
