private void ChildSetGeom(UniverseODEPrim odePrim)
{
DestroyBody();
MakeBody();
}
private void SetInStaticSpace(UniverseODEPrim prm)
{
if (prm.m_targetSpace != IntPtr.Zero && prm.m_targetSpace == _parent_scene.space)
{
if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
}
prm.m_targetSpace = _parent_scene.calculateSpaceForGeom(prm._position);
d.SpaceAdd(prm.m_targetSpace, prm.prim_geom);
}
private void changelink(UniverseODEPrim newparent)
{
// If the newly set parent is not null
// create link
if (_parent == null && newparent != null)
{
newparent.ParentPrim(this);
}
// If the newly set parent is null
// destroy link
else if (_parent != null)
{
if (_parent is UniverseODEPrim)
{
if (newparent != _parent)
{
UniverseODEPrim obj = (UniverseODEPrim) _parent;
obj.ChildDelink(this);
childPrim = false;
if (newparent != null)
{
newparent.ParentPrim(this);
}
}
}
}
_parent = newparent;
}
private void ChildRemove(UniverseODEPrim odePrim)
{
// Okay, we have a delinked child.. destroy all body and remake
if (odePrim != this && !childrenPrim.Contains(odePrim))
return;
DestroyBody();
if (odePrim == this)
{
UniverseODEPrim newroot = null;
lock (childrenPrim)
{
if (childrenPrim.Count > 0)
{
newroot = childrenPrim[0];
childrenPrim.RemoveAt(0);
foreach (UniverseODEPrim prm in childrenPrim)
{
newroot.childrenPrim.Add(prm);
}
childrenPrim.Clear();
}
if (newroot != null)
{
newroot.childPrim = false;
newroot._parent = null;
newroot.MakeBody();
}
}
return;
}
else
{
lock (childrenPrim)
{
childrenPrim.Remove(odePrim);
odePrim.childPrim = false;
odePrim._parent = null;
}
}
MakeBody();
}
// end Step
private void MoveLinear(float pTimestep, UniverseODEPhysicsScene _pParentScene, UniverseODEPrim 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);
}
// I'm the parent
// prim is the child
public void ParentPrim(UniverseODEPrim prim)
{
//Console.WriteLine("ParentPrim " + m_primName);
if (this.m_localID != prim.m_localID)
{
DestroyBody();
lock (childrenPrim)
{
foreach (UniverseODEPrim prm in prim.childrenPrim.Where(prm => !childrenPrim.Contains(prm)))
{
childrenPrim.Add(prm);
}
if (!childrenPrim.Contains(prim)) // must allow full reconstruction
childrenPrim.Add(prim);
}
//Remove old children
prim.childrenPrim.Clear();
prim.childPrim = true;
prim._parent = this;
if (prim.Body != IntPtr.Zero)
{
prim.DestroyBody(); // don't loose bodies around
prim.Body = IntPtr.Zero;
}
MakeBody(); // full nasty reconstruction
}
}
private void MoveAngular(float pTimestep, UniverseODEPhysicsScene _pParentScene, UniverseODEPrim parent)
{
bool ishovering = false;
d.Vector3 d_angularVelocity = d.BodyGetAngularVel(Body);
d.Vector3 d_lin_vel_now = d.BodyGetLinearVel(Body);
d.Quaternion drotq = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(drotq.X, drotq.Y, drotq.Z, drotq.W);
rotq *= m_referenceFrame; //add reference rotation to rotq
Quaternion irotq = new Quaternion(-rotq.X, -rotq.Y, -rotq.Z, rotq.W);
Vector3 angularVelocity = new Vector3(d_angularVelocity.X, d_angularVelocity.Y, d_angularVelocity.Z);
Vector3 linearVelocity = new Vector3(d_lin_vel_now.X, d_lin_vel_now.Y, d_lin_vel_now.Z);
Vector3 friction = Vector3.Zero;
Vector3 vertattr = Vector3.Zero;
Vector3 deflection = Vector3.Zero;
Vector3 banking = Vector3.Zero;
//limit maximum rotation speed
if(angularVelocity.LengthSquared() > 1e3f) {
angularVelocity = Vector3.Zero;
d.BodySetAngularVel(Body, angularVelocity.X, angularVelocity.Y, angularVelocity.Z);
}
angularVelocity *= irotq; //world to body orientation
if(m_VhoverTimescale * pTimestep <= 300.0f && m_VhoverHeight > 0.0f) ishovering = true;
#region Angular motor
Vector3 motorDirection = Vector3.Zero;
if(Type == Vehicle.TYPE_BOAT) {
//keep z flat for boats, no sidediving lol
Vector3 tmp = new Vector3(0.0f, 0.0f, m_angularMotorDirection.Z);
m_angularMotorDirection.Z = 0.0f;
m_angularMotorDirection += tmp * irotq;
}
if(parent.LinkSetIsColliding || Type == Vehicle.TYPE_AIRPLANE || Type == Vehicle.TYPE_BALLOON || ishovering){
motorDirection = m_angularMotorDirection * 0.34f; //0.3f;
}
m_angularMotorVelocity.X = (motorDirection.X - angularVelocity.X) / m_angularMotorTimescale;
m_angularMotorVelocity.Y = (motorDirection.Y - angularVelocity.Y) / m_angularMotorTimescale;
m_angularMotorVelocity.Z = (motorDirection.Z - angularVelocity.Z) / m_angularMotorTimescale;
m_angularMotorDirection *= (1.0f - 1.0f/m_angularMotorDecayTimescale);
if(m_angularMotorDirection.LengthSquared() > 0.0f)
{
if(angularVelocity.X > m_angularMotorDirection.X && m_angularMotorDirection.X >= 0.0f) m_angularMotorVelocity.X = 0.0f;
if(angularVelocity.Y > m_angularMotorDirection.Y && m_angularMotorDirection.Y >= 0.0f) m_angularMotorVelocity.Y = 0.0f;
if(angularVelocity.Z > m_angularMotorDirection.Z && m_angularMotorDirection.Z >= 0.0f) m_angularMotorVelocity.Z = 0.0f;
if(angularVelocity.X < m_angularMotorDirection.X && m_angularMotorDirection.X <= 0.0f) m_angularMotorVelocity.X = 0.0f;
if(angularVelocity.Y < m_angularMotorDirection.Y && m_angularMotorDirection.Y <= 0.0f) m_angularMotorVelocity.Y = 0.0f;
if(angularVelocity.Z < m_angularMotorDirection.Z && m_angularMotorDirection.Z <= 0.0f) m_angularMotorVelocity.Z = 0.0f;
}
#endregion
#region friction
float initialFriction = 0.0001f;
if(angularVelocity.X > initialFriction) friction.X += initialFriction;
if(angularVelocity.Y > initialFriction) friction.Y += initialFriction;
if(angularVelocity.Z > initialFriction) friction.Z += initialFriction;
if(angularVelocity.X < -initialFriction) friction.X -= initialFriction;
if(angularVelocity.Y < -initialFriction) friction.Y -= initialFriction;
if(angularVelocity.Z < -initialFriction) friction.Z -= initialFriction;
if(angularVelocity.X > 0.0f)
friction.X += angularVelocity.X * angularVelocity.X / m_angularFrictionTimescale.X;
else
friction.X -= angularVelocity.X * angularVelocity.X / m_angularFrictionTimescale.X;
if(angularVelocity.Y > 0.0f)
friction.Y += angularVelocity.Y * angularVelocity.Y / m_angularFrictionTimescale.Y;
else
friction.Y -= angularVelocity.Y * angularVelocity.Y / m_angularFrictionTimescale.Y;
if(angularVelocity.Z > 0.0f)
friction.Z += angularVelocity.Z * angularVelocity.Z / m_angularFrictionTimescale.Z;
else
friction.Z -= angularVelocity.Z * angularVelocity.Z / m_angularFrictionTimescale.Z;
if(Math.Abs(m_angularMotorDirection.X) > 0.01f) friction.X = 0.0f;
if(Math.Abs(m_angularMotorDirection.Y) > 0.01f) friction.Y = 0.0f;
if(Math.Abs(m_angularMotorDirection.Z) > 0.01f) friction.Z = 0.0f;
#endregion
#region Vertical attraction
if(m_verticalAttractionTimescale < 300)
{
float VAservo = 38.0f / m_verticalAttractionTimescale;
if(Type == Vehicle.TYPE_CAR) VAservo = 10.0f / m_verticalAttractionTimescale;
Vector3 verterr = new Vector3(0.0f, 0.0f, 1.0f);
verterr *= rotq;
vertattr.X = verterr.Y;
vertattr.Y = -verterr.X;
vertattr.Z = 0.0f;
vertattr *= irotq;
//when upsidedown prefer x rotation of body, to keep forward movement direction the same
if(verterr.Z < 0.0f) {
vertattr.Y = -vertattr.Y * 2.0f;
if(vertattr.X < 0.0f) vertattr.X = -2.0f - vertattr.X;
else vertattr.X = 2.0f - vertattr.X;
}
vertattr *= VAservo;
vertattr.X += (vertattr.X - angularVelocity.X) * (0.004f * m_verticalAttractionEfficiency + 0.0001f);
vertattr.Y += (vertattr.Y - angularVelocity.Y) * (0.004f * m_verticalAttractionEfficiency + 0.0001f);
if((m_flags & (VehicleFlag.LIMIT_ROLL_ONLY)) != 0) vertattr.Y = 0.0f;
}
#endregion
#region deflection
//rotates body to direction of movement (linearMovement vector)
/* temporary disabled due to instabilities, needs to be rewritten
if(m_angularDeflectionTimescale < 300)
{
float Dservo = 0.05f * m_angularDeflectionTimescale * m_angularDeflectionEfficiency;
float mag = (float)linearVelocity.LengthSquared();
if(mag > 0.01f) {
linearVelocity.Y = -linearVelocity.Y;
linearVelocity *= rotq;
mag = (float)Math.Sqrt(mag);
linearVelocity.Y /= mag;
linearVelocity.Z /= mag;
deflection.Y = -linearVelocity.Z;
deflection.Z = -linearVelocity.Y;
deflection *= Dservo;
}
}
*/
#endregion
#region banking
if(m_verticalAttractionTimescale < 300 && m_bankingEfficiency > 0) { //vertical attraction must be enabled
float mag = (float)(linearVelocity.X * linearVelocity.X + linearVelocity.Y * linearVelocity.Y);
if(mag > 0.01f) {
mag = (float)Math.Sqrt(mag);
if(mag > 20.0f) mag = 1.0f;
else mag /= 20.0f;
}
else mag = 0.0f;
float b_static = -m_angularMotorDirection.X * 0.12f * (1.0f - m_bankingMix);
float b_dynamic = -m_angularMotorDirection.X * 0.12f * mag * m_bankingMix;
banking.Z = (b_static + b_dynamic - d_angularVelocity.Z) / m_bankingTimescale * m_bankingEfficiency;
}
#endregion
m_lastAngularVelocity = angularVelocity;
if(parent.LinkSetIsColliding || Type == Vehicle.TYPE_AIRPLANE || Type == Vehicle.TYPE_BALLOON || ishovering) {
angularVelocity += deflection;
angularVelocity -= friction;
}
else {
banking = Vector3.Zero;
}
angularVelocity += m_angularMotorVelocity;
angularVelocity += vertattr;
angularVelocity *= rotq;
angularVelocity += banking;
if(angularVelocity.LengthSquared() < 1e-5f) {
angularVelocity = Vector3.Zero;
d.BodySetAngularVel(Body, 0, 0, 0);
m_angularZeroFlag = true;
}
else {
d.BodySetAngularVel(Body, angularVelocity.X, angularVelocity.Y, angularVelocity.Z);
m_angularZeroFlag = false;
}
}
internal void Step(IntPtr pBody, float pTimestep, UniverseODEPhysicsScene pParentScene, UniverseODEPrim parent)
{
m_body = pBody;
if (pBody == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
if (Mass == 0)
GetMass(pBody);
if (Mass == 0)
return; //No noMass vehicles...
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
frcount++; // used to limit debug comment output
if (frcount > 100)
frcount = 0;
// scale time so parameters work as before
// until we scale then acording to ode step time
MoveLinear(pTimestep, pParentScene, parent);
MoveAngular(pTimestep, pParentScene, parent);
LimitRotation(pTimestep);
}
//end ProcessVehicleFlags
internal void ProcessTypeChange(UniverseODEPrim parent, Vehicle pType, float timestep)
{
// Set Defaults For Type
m_type = pType;
switch (pType)
{
case Vehicle.TYPE_NONE:
m_linearFrictionTimescale = new Vector3(1000/timestep, 1000/timestep, 1000/timestep);
m_angularFrictionTimescale = new Vector3(1000/timestep, 1000/timestep, 1000/timestep);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1000/timestep;
m_linearMotorDecayTimescale = 1000/timestep;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1000/timestep;
m_angularMotorDecayTimescale = 120/timestep;
m_VhoverHeight = 0;
m_VhoverTimescale = 1000/timestep;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 1/timestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 1000/timestep;
m_bankingEfficiency = 0;
m_bankingMix = 1;
m_bankingTimescale = 1000/timestep;
m_flags = 0;
m_referenceFrame = Quaternion.Identity;
break;
case Vehicle.TYPE_SLED:
m_linearFrictionTimescale = new Vector3(30/timestep, 1/timestep, 1000/timestep);
m_angularFrictionTimescale = new Vector3(1000/timestep, 1000/timestep, 1000/timestep);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1000/timestep;
m_linearMotorDecayTimescale = 120/timestep;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1000/timestep;
m_angularMotorDecayTimescale = 120/timestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 10;
m_VhoverTimescale = 10/timestep;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 1/timestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 1000/timestep;
m_bankingEfficiency = 0;
m_bankingMix = 1;
m_bankingTimescale = 10/timestep;
m_referenceFrame = Quaternion.Identity;
m_flags &=
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100/timestep, 2/timestep, 1000/timestep);
m_angularFrictionTimescale = new Vector3(1000/timestep, 1000/timestep, 1000/timestep);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1/timestep;
m_linearMotorDecayTimescale = 60/timestep;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1/timestep;
m_angularMotorDecayTimescale = 0.8f/timestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000/timestep;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 2/timestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 10/timestep;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 10f/timestep;
m_bankingEfficiency = -0.2f;
m_bankingMix = 1;
m_bankingTimescale = 1/timestep;
m_referenceFrame = Quaternion.Identity;
m_flags &=
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
break;
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10/timestep, 3/timestep, 2/timestep);
m_angularFrictionTimescale = new Vector3(10/timestep, 10/timestep, 10/timestep);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5/timestep;
m_linearMotorDecayTimescale = 60/timestep;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4/timestep;
m_angularMotorDecayTimescale = 4/timestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2/timestep;
m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0.5f;
m_linearDeflectionTimescale = 3/timestep;
m_angularDeflectionEfficiency = 0.5f;
m_angularDeflectionTimescale = 5/timestep;
m_verticalAttractionEfficiency = 0.5f;
m_verticalAttractionTimescale = 5f/timestep;
m_bankingEfficiency = -0.3f;
m_bankingMix = 0.8f;
m_bankingTimescale = 1/timestep;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_MOTOR_UP |
VehicleFlag.HOVER_WATER_ONLY);
break;
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200/timestep, 10/timestep, 5/timestep);
m_angularFrictionTimescale = new Vector3(20/timestep, 20/timestep, 20/timestep);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 2/timestep;
m_linearMotorDecayTimescale = 60/timestep;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4/timestep;
m_angularMotorDecayTimescale = 4/timestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000/timestep;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 0.5f;
m_linearDeflectionTimescale = 3/timestep;
m_angularDeflectionEfficiency = 1;
m_angularDeflectionTimescale = 2/timestep;
m_verticalAttractionEfficiency = 0.9f;
m_verticalAttractionTimescale = 2f/timestep;
m_bankingEfficiency = 1;
m_bankingMix = 0.7f;
m_bankingTimescale = 2;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP |
VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break;
case Vehicle.TYPE_BALLOON:
m_linearFrictionTimescale = new Vector3(5/timestep, 5/timestep, 5/timestep);
m_angularFrictionTimescale = new Vector3(10/timestep, 10/timestep, 10/timestep);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5/timestep;
m_linearMotorDecayTimescale = 60/timestep;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 6/timestep;
m_angularMotorDecayTimescale = 10/timestep;
m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10/timestep;
m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0;
m_linearDeflectionTimescale = 5/timestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5/timestep;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 100f/timestep;
m_bankingEfficiency = 0;
m_bankingMix = 0.7f;
m_bankingTimescale = 5/timestep;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP |
VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
}
//end SetDefaultsForType
internal void Enable(IntPtr pBody, UniverseODEPrim parent, UniverseODEPhysicsScene pParentScene)
{
if (m_enabled)
return;
if (pBody == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
m_body = pBody;
d.BodySetGravityMode(Body, true);
m_enabled = true;
m_lastLinearVelocityVector = parent.Velocity;
m_lastPositionVector = parent.Position;
m_lastAngularVelocity = parent.RotationalVelocity;
parent.ThrottleUpdates = false;
GetMass(pBody);
}
internal void Disable(UniverseODEPrim parent)
{
if (!m_enabled || m_type == Vehicle.TYPE_NONE)
return;
m_enabled = false;
parent.ThrottleUpdates = true;
parent.ForceSetVelocity(Vector3.Zero);
parent.ForceSetRotVelocity(Vector3.Zero);
parent.ForceSetPosition(parent.Position);
d.BodySetGravityMode(Body, false);
m_body = IntPtr.Zero;
m_linearMotorDirection = Vector3.Zero;
m_linearMotorDirectionLASTSET = Vector3.Zero;
m_angularMotorDirection = Vector3.Zero;
}
