public OdeCharacter(
String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p,
float capsule_radius, float tensor, float density,
float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
if (pos.IsFinite())
{
if (pos.Z > 9999999f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
_position = pos;
m_taintPosition = pos;
}
else
{
_position
= new Vector3(
(float)_parent_scene.WorldExtents.X * 0.5f,
(float)_parent_scene.WorldExtents.Y * 0.5f,
parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition = _position;
m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
}
_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_tensor = tensor;
m_density = density;
// heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
// We can set taint and actual to be the same here, since the entire character will be set up when the
// m_tainted_isPhysical is processed.
SetTaintedCapsuleLength(size);
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
Name = avName;
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="timeStep"></param>
public void Move(float timeStep)
{
// 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);
PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
if (!PhysicsVector.isFinite(localPos))
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
_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;
}
return;
}
PhysicsVector vec = new PhysicsVector();
d.Vector3 vel = d.BodyGetLinearVel(Body);
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);
}
if (m_iscolliding && !flying && _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;
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
else if (!m_iscolliding && !flying)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
}
}
if (flying)
{
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 (PhysicsVector.isFinite(vec))
{
doForce(vec);
}
else
{
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
_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;
}
return;
}
}
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
// ode = dode;
_velocity = new PhysicsVector();
_target_velocity = new PhysicsVector();
if (PhysicsVector.isFinite(pos))
{
if (pos.Z > 9999999)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
_position = pos;
m_taintPosition.X = pos.X;
m_taintPosition.Y = pos.Y;
m_taintPosition.Z = pos.Z;
}
else
{
_position = new PhysicsVector(128, 128, parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
m_taintPosition.X = _position.X;
m_taintPosition.Y = _position.Y;
m_taintPosition.Z = _position.Z;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
_acceleration = new PhysicsVector();
_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_tensor = tensor;
m_density = density;
heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
for (int i = 0; i < 11; i++)
{
m_colliderarr[i] = false;
}
CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
m_name = avName;
}
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>
/// 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);
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 (m_iscolliding && !flying && _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;
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
else if (!m_iscolliding && !flying)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
}
}
if (flying)
{
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;
}
}
