/// <summary> /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. /// </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 UpdatePositionAndVelocity(List<OdeCharacter> defects) { // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! d.Vector3 newPos; try { newPos = d.BodyGetPosition(Body); } catch (NullReferenceException) { bad = true; defects.Add(this); newPos = new d.Vector3(_position.X, _position.Y, _position.Z); base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid); return; } // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) if (newPos.X < 0.0f) newPos.X = 0.0f; if (newPos.Y < 0.0f) newPos.Y = 0.0f; if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f) newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f; if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f; _position.X = newPos.X; _position.Y = newPos.Y; _position.Z = newPos.Z; // I think we need to update the taintPosition too -- Diva 12/24/10 m_taintPosition = _position; // Did we move last? = zeroflag // This helps keep us from sliding all over if (_zeroFlag) { _velocity = Vector3.Zero; // Did we send out the 'stopped' message? if (!m_lastUpdateSent) { m_lastUpdateSent = true; //base.RequestPhysicsterseUpdate(); } } else { m_lastUpdateSent = false; d.Vector3 newVelocity; try { newVelocity = d.BodyGetLinearVel(Body); } catch (NullReferenceException) { newVelocity.X = _velocity.X; newVelocity.Y = _velocity.Y; newVelocity.Z = _velocity.Z; } _velocity.X = newVelocity.X; _velocity.Y = newVelocity.Y; _velocity.Z = newVelocity.Z; if (_velocity.Z < -6 && !m_hackSentFall) { m_hackSentFall = true; m_pidControllerActive = false; } else if (flying && !m_hackSentFly) { //m_hackSentFly = true; //base.SendCollisionUpdate(new CollisionEventUpdate()); } else { m_hackSentFly = false; m_hackSentFall = false; } } }
/// <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); // m_log.DebugFormat( // "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}", // vel.X, vel.Y, vel.Z, _target_velocity, Name); 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 (flying) { // This also acts as anti-gravity so that we hover when flying rather than fall. vec.Z = (_target_velocity.Z - vel.Z) * (PID_D); } else { if (m_iscolliding && _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; vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; } else if (!m_iscolliding) { // we're not colliding and we're not flying so that means we're falling! // m_iscolliding includes collisions with the ground. vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; } } } if (flying) { // Anti-gravity so that we hover when flying rather than fall. 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; } d.Vector3 newVel = d.BodyGetLinearVel(Body); if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256) { // m_log.DebugFormat( // "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name); newVel.X = Util.Clamp<float>(newVel.X, -255f, 255f); newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f); if (!flying) newVel.Z = Util.Clamp<float>( newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity); else newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f); d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); } }
internal void Stop() { m_lastLinearVelocityVector = Vector3.Zero; m_lastAngularVelocity = Vector3.Zero; m_lastPositionVector = d.BodyGetPosition(Body); }
}// end Step 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> /// Get joint axis. /// </summary> /// <remarks> /// normally called from within OnJointMoved, which is called from within a lock (OdeLock) /// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function /// appears to be unreliable. Fortunately we can compute the joint axis ourselves by /// keeping track of the joint's original orientation relative to one of the involved bodies. /// </remarks> /// <param name="joint"></param> /// <returns></returns> public override Vector3 GetJointAxis(PhysicsJoint joint) { Debug.Assert(joint.IsInPhysicsEngine); d.Vector3 axis = new d.Vector3(); if (!(joint is OdePhysicsJoint)) { DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene); } else { OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint; switch (odeJoint.Type) { case PhysicsJointType.Ball: DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene); break; case PhysicsJointType.Hinge: d.JointGetHingeAxis(odeJoint.jointID, out axis); break; } } return new Vector3(axis.X, axis.Y, axis.Z); }