// end Step
private void MoveLinear(float pTimestep, WhiteCoreODEPhysicsScene _pParentScene, WhiteCoreODEPrim parent)
{
if (m_linearMotorDirection.LengthSquared() < 0.0001f)
{
m_linearMotorDirection = Vector3.Zero;
m_newVelocity = Vector3.Zero;
}
else
{
Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale);
m_lastLinearVelocityVector += (addAmount);
m_linearMotorDirection *= (1.0f - 1.0f/m_linearMotorDecayTimescale);
// convert requested object velocity to world-referenced vector
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
//Vector3 oldVelocity = m_newVelocity;
m_newVelocity = m_lastLinearVelocityVector*rotq; // apply obj rotation to velocity vector
//if (oldVelocity.Z == 0 && (Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON))
// m_newVelocity.Z += dvel_now.Z; // Preserve the accumulated falling velocity
}
//if (m_newVelocity.Z == 0 && (Type != Vehicle.TYPE_AIRPLANE && Type != Vehicle.TYPE_BALLOON))
// m_newVelocity.Z += dvel_now.Z; // Preserve the accumulated falling velocity
d.Vector3 dpos = d.BodyGetPosition(Body);
Vector3 pos = new Vector3(dpos.X, dpos.Y, dpos.Z);
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;
//Make sure that we don't have an explosion the next frame with the posChange
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
}
else if (pos.Z < terrainHeight)
m_newVelocity.Z += 1;
#endregion
#region Hover
// Check if hovering
if ((m_flags &
(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = (float) _pParentScene.GetWaterLevel(pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = 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;
}
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
{
float herr0 = pos.Z - tempHoverHeight;
// Replace Vertical speed with correction figure if significant
if (herr0 > 0.01f)
{
m_newVelocity.Z = -((herr0*50.0f)/m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else if (herr0 < -0.01f)
{
m_newVelocity.Z = -((herr0*50f)/m_VhoverTimescale);
}
else
{
m_newVelocity.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
}
#endregion
#region No X,Y,Z
if ((m_flags & (VehicleFlag.NO_X)) != 0)
m_newVelocity.X = 0;
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
m_newVelocity.Y = 0;
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
m_newVelocity.Z = 0;
#endregion
#region Deal with tainted forces
// 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.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
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>();
}
// force to deltaV
m_newVelocity += TaintedForce*(pTimestep/Mass);
#endregion
#region Deflection
//Forward is the prefered direction
/*Vector3 deflectionamount = m_newVelocity / (m_linearDeflectionTimescale / pTimestep);
//deflectionamount *= m_linearDeflectionEfficiency;
if (deflectionamount != Vector3.Zero)
{
}
Vector3 deflection = Vector3.One / deflectionamount;
m_newVelocity /= deflection;*/
#endregion
#region limitations
if (m_newVelocity.LengthSquared() > 1e6f)
{
m_newVelocity /= m_newVelocity.Length();
m_newVelocity *= 1000f;
}
else if (m_newVelocity.LengthSquared() < 1e-6f)
m_newVelocity = Vector3.Zero;
#endregion
m_lastPositionVector = parent.Position;
float grav = -1*Mass*pTimestep;
// Apply velocity
if (m_newVelocity != Vector3.Zero)
{
if ((Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED) && !parent.LinkSetIsColliding)
{
//Force ODE gravity here!!!
}
else
d.BodySetLinearVel(Body, m_newVelocity.X, m_newVelocity.Y, m_newVelocity.Z + grav);
}
// apply friction
m_lastLinearVelocityVector.X *= (1.0f - 1/m_linearFrictionTimescale.X);
m_lastLinearVelocityVector.Y *= (1.0f - 1/m_linearFrictionTimescale.Y);
m_lastLinearVelocityVector.Z *= (1.0f - 1/m_linearFrictionTimescale.Z);
}
public WhiteCoreODECharacter(String avName, WhiteCoreODEPhysicsScene parent_scene, Vector3 pos, Quaternion rotation,
Vector3 size)
{
m_uuid = UUID.Random();
_parent_scene = parent_scene;
m_taintRotation = rotation;
if (pos.IsFinite())
{
if (pos.Z > 9999999f || pos.Z < -90f)
{
pos.Z =
_parent_scene.GetTerrainHeightAtXY(_parent_scene.Region.RegionSizeX*0.5f,
_parent_scene.Region.RegionSizeY*0.5f) + 5.0f;
}
_position = pos;
}
else
{
_position.X = _parent_scene.Region.RegionSizeX*0.5f;
_position.Y = _parent_scene.Region.RegionSizeY*0.5f;
_position.Z = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + 10f;
MainConsole.Instance.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
m_isPhysical = false; // current status: no ODE information exists
Size = size;
Name = avName;
}