protected PositionalForce HoverMotor(IPhysicsObject actor, IPhysicalObject obj, Vector3 pos)
{
lock (m_HoverParamsLock)
{
if (m_HoverEnabled)
{
var v = new Vector3(0, 0, (m_Buoyancy - 1) * GravityConstant(actor, obj));
double targetHoverHeight;
SceneInterface.LocationInfo locInfo = LocationInfoProvider.At(obj.GlobalPosition);
targetHoverHeight = locInfo.GroundHeight;
if (targetHoverHeight < locInfo.WaterHeight && m_AboveWater)
{
targetHoverHeight = locInfo.WaterHeight;
}
v.Z += (targetHoverHeight - obj.Position.Z) * m_HoverTau;
return(new PositionalForce("HoverMotor", v, pos));
}
else
{
return(new PositionalForce("HoverMotor", Vector3.Zero, pos));
}
}
}
protected List <PositionalForce> CalculateForces(double dt, out Vector3 agentTorque)
{
var forces = new List <PositionalForce>();
agentTorque = Vector3.Zero;
Vector3 linearVelocity = Agent.Velocity;
double horizontalVelocity = linearVelocity.HorizontalLength;
Vector3 currentPosition = Agent.GlobalPosition;
Vector3 size = Agent.Size;
if (Agent.SittingOnObject != null || Agent.SceneID != m_StateData.SceneID)
{
/* No animation update on disabled physics */
return(forces);
}
else if (Agent.IsFlying)
{
bool isUnderwater = currentPosition.Z < LocationInfoProvider.At(currentPosition).WaterHeight;
if (horizontalVelocity >= FlySlowFastSpeedSwitchThreshold * SpeedFactor)
{
Agent.SetDefaultAnimation(isUnderwater ? AnimationState.Swimming : AnimationState.Flying);
}
else if (horizontalVelocity > 0.2)
{
Agent.SetDefaultAnimation(isUnderwater ? AnimationState.SwimmingSlow : AnimationState.FlyingSlow);
}
else if (Agent.Velocity.Z > 0.2)
{
Agent.SetDefaultAnimation(isUnderwater ? AnimationState.SwimmingUp : AnimationState.HoveringUp);
}
else if (Agent.Velocity.Z < -0.2)
{
Agent.SetDefaultAnimation(isUnderwater ? AnimationState.SwimmingDown : AnimationState.HoveringDown);
}
else
{
Agent.SetDefaultAnimation(isUnderwater ? AnimationState.Floating : AnimationState.Hovering);
}
/* TODO: implement taking off */
}
else
{
Vector3 angularVelocity = Agent.AngularVelocity;
double groundHeightDiff = Agent.GlobalPositionOnGround.Z - LocationInfoProvider.At(Agent.GlobalPosition).GroundHeight;
bool isfalling = Agent.Velocity.Z > 0.1;
bool standing_still = horizontalVelocity < StandstillSpeedThreshold;
bool iscrouching = m_ControlFlags.HasDown();
AnimationState oldState = Agent.GetDefaultAnimation();
//Vector3 bodyRotDiff = Agent.BodyRotation.GetEulerAngles() - m_LastKnownBodyRotation.GetEulerAngles();
if (isfalling &&
oldState != AnimationState.Running &&
oldState != AnimationState.Walking &&
oldState != AnimationState.Crouching &&
oldState != AnimationState.CrouchWalking)
{
Agent.SetDefaultAnimation(AnimationState.FallingDown);
}
else if (iscrouching)
{
Agent.SetDefaultAnimation(standing_still ? AnimationState.Crouching : AnimationState.CrouchWalking);
}
else if (m_ControlFlags.HasUp())
{
Agent.SetDefaultAnimation(AnimationState.Prejumping);
}
else if (!standing_still)
{
Agent.SetDefaultAnimation(horizontalVelocity >= WalkRunSpeedSwitchThreshold * SpeedFactor ? AnimationState.Running : AnimationState.Walking);
}
else if (m_ControlFlags.HasLeft())
{
Agent.SetDefaultAnimation(AnimationState.TurningLeft);
}
else if (m_ControlFlags.HasRight())
{
Agent.SetDefaultAnimation(AnimationState.TurningRight);
}
else
{
Agent.SetDefaultAnimation(AnimationState.Standing);
}
/* TODO: implement striding, prejumping, jumping, soft landing */
}
m_LastKnownBodyRotation = Agent.BodyRotation;
forces.Add(BuoyancyMotor(this, Agent, Vector3.Zero));
if (!Agent.IsFlying && currentPosition.Z - size.Z / 2 > LocationInfoProvider.At(currentPosition).GroundHeight)
{
forces.Add(GravityMotor(this, Agent, Vector3.Zero));
}
forces.Add(HoverMotor(this, Agent, Vector3.Zero));
forces.Add(new PositionalForce("ControlInput", ControlLinearInput * ControlLinearInputFactor * SpeedFactor * Agent.GlobalRotation, Vector3.Zero));
Vector3 restitutionForce = -Agent.Velocity * RestitutionInputFactor;
if (!Agent.IsFlying)
{
restitutionForce.Z = 0;
}
forces.Add(new PositionalForce("LinearRestitutionMotor", restitutionForce, Vector3.Zero));
/* let us allow advanced physics force input to be used on agents */
foreach (ObjectGroup grp in Agent.Attachments.All)
{
foreach (KeyValuePair <UUID, Vector3> kvp in grp.AttachedForces)
{
ObjectPart part;
if (grp.TryGetValue(kvp.Key, out part))
{
forces.Add(new PositionalForce("AdvPhysics", kvp.Value, part.LocalPosition + grp.Position));
}
}
}
lock (m_Lock)
{
forces.Add(new PositionalForce("LinearImpulse", m_LinearImpulse, Vector3.Zero));
m_LinearImpulse = Vector3.Zero;
forces.Add(new PositionalForce("AppliedForce", m_AppliedForce, Vector3.Zero));
}
forces.Add(MoveToTargetMotor(Agent));
agentTorque += LookAtMotor(Agent);
agentTorque += (ControlAngularInput - Agent.AngularVelocity) * dt;
return(forces);
}