opensim-development – Blame information for rev 1
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| Rev | Author | Line No. | Line |
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| 1 | eva | 1 | /* |
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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| 4 | * |
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| 5 | * Redistribution and use in source and binary forms, with or without |
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| 6 | * modification, are permitted provided that the following conditions are met: |
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| 7 | * * Redistributions of source code must retain the above copyright |
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| 8 | * notice, this list of conditions and the following disclaimer. |
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| 9 | * * Redistributions in binary form must reproduce the above copyright |
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| 10 | * notice, this list of conditions and the following disclaimer in the |
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| 11 | * documentation and/or other materials provided with the distribution. |
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| 12 | * * Neither the name of the OpenSimulator Project nor the |
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| 13 | * names of its contributors may be used to endorse or promote products |
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| 14 | * derived from this software without specific prior written permission. |
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| 15 | * |
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| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 26 | */ |
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| 27 | |||
| 28 | /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces |
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| 29 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: |
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| 30 | * ODEPrim.cs contains methods dealing with Prim editing, Prim |
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| 31 | * characteristics and Kinetic motion. |
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| 32 | * ODEDynamics.cs contains methods dealing with Prim Physical motion |
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| 33 | * (dynamics) and the associated settings. Old Linear and angular |
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| 34 | * motors for dynamic motion have been replace with MoveLinear() |
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| 35 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic |
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| 36 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to |
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| 37 | * switch between 'VEHICLE' parameter use and general dynamics |
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| 38 | * settings use. |
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| 39 | */ |
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| 40 | |||
| 41 | using System; |
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| 42 | using System.Collections.Generic; |
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| 43 | using System.Reflection; |
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| 44 | using System.Runtime.InteropServices; |
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| 45 | using log4net; |
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| 46 | using OpenMetaverse; |
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| 47 | using Ode.NET; |
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| 48 | using OpenSim.Framework; |
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| 49 | using OpenSim.Region.Physics.Manager; |
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| 50 | |||
| 51 | namespace OpenSim.Region.Physics.OdePlugin |
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| 52 | { |
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| 53 | public class ODEDynamics |
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| 54 | { |
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| 55 | public Vehicle Type |
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| 56 | { |
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| 57 | get { return m_type; } |
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| 58 | } |
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| 59 | |||
| 60 | public IntPtr Body |
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| 61 | { |
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| 62 | get { return m_body; } |
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| 63 | } |
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| 64 | |||
| 65 | private int frcount = 0; // Used to limit dynamics debug output to |
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| 66 | // every 100th frame |
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| 67 | |||
| 68 | // private OdeScene m_parentScene = null; |
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| 69 | private IntPtr m_body = IntPtr.Zero; |
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| 70 | // private IntPtr m_jointGroup = IntPtr.Zero; |
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| 71 | // private IntPtr m_aMotor = IntPtr.Zero; |
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| 72 | |||
| 73 | |||
| 74 | // Vehicle properties |
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| 75 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind |
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| 76 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier |
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| 77 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: |
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| 78 | // HOVER_TERRAIN_ONLY |
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| 79 | // HOVER_GLOBAL_HEIGHT |
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| 80 | // NO_DEFLECTION_UP |
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| 81 | // HOVER_WATER_ONLY |
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| 82 | // HOVER_UP_ONLY |
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| 83 | // LIMIT_MOTOR_UP |
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| 84 | // LIMIT_ROLL_ONLY |
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| 85 | private VehicleFlag m_Hoverflags = (VehicleFlag)0; |
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| 86 | private Vector3 m_BlockingEndPoint = Vector3.Zero; |
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| 87 | private Quaternion m_RollreferenceFrame = Quaternion.Identity; |
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| 88 | // Linear properties |
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| 89 | private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time |
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| 90 | private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL |
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| 91 | private Vector3 m_dir = Vector3.Zero; // velocity applied to body |
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| 92 | private Vector3 m_linearFrictionTimescale = Vector3.Zero; |
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| 93 | private float m_linearMotorDecayTimescale = 0; |
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| 94 | private float m_linearMotorTimescale = 0; |
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| 95 | private Vector3 m_lastLinearVelocityVector = Vector3.Zero; |
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| 96 | private d.Vector3 m_lastPositionVector = new d.Vector3(); |
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| 97 | // private bool m_LinearMotorSetLastFrame = false; |
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| 98 | // private Vector3 m_linearMotorOffset = Vector3.Zero; |
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| 99 | |||
| 100 | //Angular properties |
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| 101 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor |
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| 102 | private int m_angularMotorApply = 0; // application frame counter |
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| 103 | private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity |
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| 104 | private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate |
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| 105 | private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate |
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| 106 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate |
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| 107 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body |
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| 108 | // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body |
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| 109 | |||
| 110 | //Deflection properties |
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| 111 | // private float m_angularDeflectionEfficiency = 0; |
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| 112 | // private float m_angularDeflectionTimescale = 0; |
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| 113 | // private float m_linearDeflectionEfficiency = 0; |
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| 114 | // private float m_linearDeflectionTimescale = 0; |
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| 115 | |||
| 116 | //Banking properties |
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| 117 | // private float m_bankingEfficiency = 0; |
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| 118 | // private float m_bankingMix = 0; |
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| 119 | // private float m_bankingTimescale = 0; |
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| 120 | |||
| 121 | //Hover and Buoyancy properties |
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| 122 | private float m_VhoverHeight = 0f; |
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| 123 | // private float m_VhoverEfficiency = 0f; |
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| 124 | private float m_VhoverTimescale = 0f; |
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| 125 | private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height |
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| 126 | private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. |
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| 127 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) |
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| 128 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. |
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| 129 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. |
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| 130 | |||
| 131 | //Attractor properties |
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| 132 | private float m_verticalAttractionEfficiency = 1.0f; // damped |
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| 133 | private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. |
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| 134 | |||
| 135 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) |
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| 136 | { |
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| 137 | switch (pParam) |
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| 138 | { |
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| 139 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: |
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| 140 | if (pValue < 0.01f) pValue = 0.01f; |
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| 141 | // m_angularDeflectionEfficiency = pValue; |
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| 142 | break; |
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| 143 | case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: |
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| 144 | if (pValue < 0.01f) pValue = 0.01f; |
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| 145 | // m_angularDeflectionTimescale = pValue; |
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| 146 | break; |
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| 147 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: |
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| 148 | if (pValue < 0.01f) pValue = 0.01f; |
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| 149 | m_angularMotorDecayTimescale = pValue; |
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| 150 | break; |
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| 151 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: |
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| 152 | if (pValue < 0.01f) pValue = 0.01f; |
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| 153 | m_angularMotorTimescale = pValue; |
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| 154 | break; |
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| 155 | case Vehicle.BANKING_EFFICIENCY: |
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| 156 | if (pValue < 0.01f) pValue = 0.01f; |
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| 157 | // m_bankingEfficiency = pValue; |
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| 158 | break; |
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| 159 | case Vehicle.BANKING_MIX: |
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| 160 | if (pValue < 0.01f) pValue = 0.01f; |
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| 161 | // m_bankingMix = pValue; |
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| 162 | break; |
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| 163 | case Vehicle.BANKING_TIMESCALE: |
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| 164 | if (pValue < 0.01f) pValue = 0.01f; |
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| 165 | // m_bankingTimescale = pValue; |
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| 166 | break; |
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| 167 | case Vehicle.BUOYANCY: |
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| 168 | if (pValue < -1f) pValue = -1f; |
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| 169 | if (pValue > 1f) pValue = 1f; |
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| 170 | m_VehicleBuoyancy = pValue; |
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| 171 | break; |
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| 172 | // case Vehicle.HOVER_EFFICIENCY: |
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| 173 | // if (pValue < 0f) pValue = 0f; |
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| 174 | // if (pValue > 1f) pValue = 1f; |
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| 175 | // m_VhoverEfficiency = pValue; |
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| 176 | // break; |
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| 177 | case Vehicle.HOVER_HEIGHT: |
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| 178 | m_VhoverHeight = pValue; |
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| 179 | break; |
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| 180 | case Vehicle.HOVER_TIMESCALE: |
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| 181 | if (pValue < 0.01f) pValue = 0.01f; |
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| 182 | m_VhoverTimescale = pValue; |
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| 183 | break; |
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| 184 | case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: |
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| 185 | if (pValue < 0.01f) pValue = 0.01f; |
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| 186 | // m_linearDeflectionEfficiency = pValue; |
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| 187 | break; |
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| 188 | case Vehicle.LINEAR_DEFLECTION_TIMESCALE: |
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| 189 | if (pValue < 0.01f) pValue = 0.01f; |
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| 190 | // m_linearDeflectionTimescale = pValue; |
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| 191 | break; |
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| 192 | case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: |
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| 193 | if (pValue < 0.01f) pValue = 0.01f; |
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| 194 | m_linearMotorDecayTimescale = pValue; |
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| 195 | break; |
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| 196 | case Vehicle.LINEAR_MOTOR_TIMESCALE: |
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| 197 | if (pValue < 0.01f) pValue = 0.01f; |
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| 198 | m_linearMotorTimescale = pValue; |
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| 199 | break; |
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| 200 | case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: |
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| 201 | if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable |
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| 202 | if (pValue > 1.0f) pValue = 1.0f; |
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| 203 | m_verticalAttractionEfficiency = pValue; |
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| 204 | break; |
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| 205 | case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: |
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| 206 | if (pValue < 0.01f) pValue = 0.01f; |
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| 207 | m_verticalAttractionTimescale = pValue; |
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| 208 | break; |
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| 209 | |||
| 210 | // These are vector properties but the engine lets you use a single float value to |
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| 211 | // set all of the components to the same value |
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| 212 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
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| 213 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); |
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| 214 | break; |
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| 215 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
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| 216 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); |
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| 217 | m_angularMotorApply = 10; |
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| 218 | break; |
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| 219 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
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| 220 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); |
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| 221 | break; |
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| 222 | case Vehicle.LINEAR_MOTOR_DIRECTION: |
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| 223 | m_linearMotorDirection = new Vector3(pValue, pValue, pValue); |
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| 224 | m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); |
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| 225 | break; |
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| 226 | case Vehicle.LINEAR_MOTOR_OFFSET: |
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| 227 | // m_linearMotorOffset = new Vector3(pValue, pValue, pValue); |
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| 228 | break; |
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| 229 | |||
| 230 | } |
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| 231 | }//end ProcessFloatVehicleParam |
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| 232 | |||
| 233 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) |
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| 234 | { |
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| 235 | switch (pParam) |
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| 236 | { |
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| 237 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
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| 238 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 239 | break; |
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| 240 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
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| 241 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 242 | // Limit requested angular speed to 2 rps= 4 pi rads/sec |
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| 243 | if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; |
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| 244 | if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f; |
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| 245 | if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; |
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| 246 | if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; |
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| 247 | if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; |
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| 248 | if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; |
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| 249 | m_angularMotorApply = 10; |
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| 250 | break; |
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| 251 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
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| 252 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 253 | break; |
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| 254 | case Vehicle.LINEAR_MOTOR_DIRECTION: |
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| 255 | m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 256 | m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 257 | break; |
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| 258 | case Vehicle.LINEAR_MOTOR_OFFSET: |
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| 259 | // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 260 | break; |
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| 261 | case Vehicle.BLOCK_EXIT: |
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| 262 | m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); |
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| 263 | break; |
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| 264 | } |
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| 265 | }//end ProcessVectorVehicleParam |
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| 266 | |||
| 267 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) |
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| 268 | { |
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| 269 | switch (pParam) |
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| 270 | { |
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| 271 | case Vehicle.REFERENCE_FRAME: |
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| 272 | // m_referenceFrame = pValue; |
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| 273 | break; |
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| 274 | case Vehicle.ROLL_FRAME: |
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| 275 | m_RollreferenceFrame = pValue; |
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| 276 | break; |
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| 277 | } |
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| 278 | }//end ProcessRotationVehicleParam |
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| 279 | |||
| 280 | internal void ProcessVehicleFlags(int pParam, bool remove) |
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| 281 | { |
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| 282 | if (remove) |
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| 283 | { |
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| 284 | if (pParam == -1) |
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| 285 | { |
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| 286 | m_flags = (VehicleFlag)0; |
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| 287 | m_Hoverflags = (VehicleFlag)0; |
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| 288 | return; |
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| 289 | } |
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| 290 | if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) |
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| 291 | { |
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| 292 | if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0) |
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| 293 | m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT); |
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| 294 | } |
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| 295 | if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) |
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| 296 | { |
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| 297 | if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0) |
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| 298 | m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY); |
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| 299 | } |
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| 300 | if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) |
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| 301 | { |
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| 302 | if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0) |
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| 303 | m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY); |
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| 304 | } |
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| 305 | if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) |
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| 306 | { |
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| 307 | if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0) |
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| 308 | m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY); |
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| 309 | } |
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| 310 | if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) |
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| 311 | { |
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| 312 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0) |
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| 313 | m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP); |
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| 314 | } |
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| 315 | if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY) |
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| 316 | { |
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| 317 | if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0) |
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| 318 | m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); |
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| 319 | } |
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| 320 | if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) |
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| 321 | { |
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| 322 | if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0) |
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| 323 | m_flags &= ~(VehicleFlag.MOUSELOOK_BANK); |
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| 324 | } |
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| 325 | if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) |
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| 326 | { |
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| 327 | if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0) |
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| 328 | m_flags &= ~(VehicleFlag.MOUSELOOK_STEER); |
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| 329 | } |
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| 330 | if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) |
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| 331 | { |
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| 332 | if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0) |
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| 333 | m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP); |
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| 334 | } |
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| 335 | if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) |
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| 336 | { |
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| 337 | if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0) |
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| 338 | m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED); |
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| 339 | } |
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| 340 | if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) |
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| 341 | { |
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| 342 | if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0) |
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| 343 | m_flags &= ~(VehicleFlag.NO_X); |
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| 344 | } |
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| 345 | if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) |
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| 346 | { |
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| 347 | if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0) |
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| 348 | m_flags &= ~(VehicleFlag.NO_Y); |
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| 349 | } |
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| 350 | if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) |
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| 351 | { |
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| 352 | if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0) |
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| 353 | m_flags &= ~(VehicleFlag.NO_Z); |
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| 354 | } |
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| 355 | if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) |
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| 356 | { |
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| 357 | if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0) |
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| 358 | m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT); |
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| 359 | } |
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| 360 | if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) |
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| 361 | { |
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| 362 | if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0) |
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| 363 | m_flags &= ~(VehicleFlag.NO_DEFLECTION); |
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| 364 | } |
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| 365 | if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) |
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| 366 | { |
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| 367 | if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) |
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| 368 | m_flags &= ~(VehicleFlag.LOCK_ROTATION); |
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| 369 | } |
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| 370 | } |
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| 371 | else |
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| 372 | { |
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| 373 | if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) |
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| 374 | { |
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| 375 | m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags); |
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| 376 | } |
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| 377 | if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) |
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| 378 | { |
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| 379 | m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags); |
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| 380 | } |
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| 381 | if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) |
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| 382 | { |
||
| 383 | m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags); |
||
| 384 | } |
||
| 385 | if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) |
||
| 386 | { |
||
| 387 | m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags); |
||
| 388 | } |
||
| 389 | if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) |
||
| 390 | { |
||
| 391 | m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags); |
||
| 392 | } |
||
| 393 | if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) |
||
| 394 | { |
||
| 395 | m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags); |
||
| 396 | } |
||
| 397 | if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) |
||
| 398 | { |
||
| 399 | m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags); |
||
| 400 | } |
||
| 401 | if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) |
||
| 402 | { |
||
| 403 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags); |
||
| 404 | } |
||
| 405 | if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) |
||
| 406 | { |
||
| 407 | m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags); |
||
| 408 | } |
||
| 409 | if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) |
||
| 410 | { |
||
| 411 | m_flags |= (VehicleFlag.NO_X); |
||
| 412 | } |
||
| 413 | if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) |
||
| 414 | { |
||
| 415 | m_flags |= (VehicleFlag.NO_Y); |
||
| 416 | } |
||
| 417 | if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) |
||
| 418 | { |
||
| 419 | m_flags |= (VehicleFlag.NO_Z); |
||
| 420 | } |
||
| 421 | if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) |
||
| 422 | { |
||
| 423 | m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT); |
||
| 424 | } |
||
| 425 | if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) |
||
| 426 | { |
||
| 427 | m_flags |= (VehicleFlag.NO_DEFLECTION); |
||
| 428 | } |
||
| 429 | if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) |
||
| 430 | { |
||
| 431 | m_flags |= (VehicleFlag.LOCK_ROTATION); |
||
| 432 | } |
||
| 433 | } |
||
| 434 | }//end ProcessVehicleFlags |
||
| 435 | |||
| 436 | internal void ProcessTypeChange(Vehicle pType) |
||
| 437 | { |
||
| 438 | // Set Defaults For Type |
||
| 439 | m_type = pType; |
||
| 440 | switch (pType) |
||
| 441 | { |
||
| 442 | case Vehicle.TYPE_NONE: |
||
| 443 | m_linearFrictionTimescale = new Vector3(0, 0, 0); |
||
| 444 | m_angularFrictionTimescale = new Vector3(0, 0, 0); |
||
| 445 | m_linearMotorDirection = Vector3.Zero; |
||
| 446 | m_linearMotorTimescale = 0; |
||
| 447 | m_linearMotorDecayTimescale = 0; |
||
| 448 | m_angularMotorDirection = Vector3.Zero; |
||
| 449 | m_angularMotorTimescale = 0; |
||
| 450 | m_angularMotorDecayTimescale = 0; |
||
| 451 | m_VhoverHeight = 0; |
||
| 452 | m_VhoverTimescale = 0; |
||
| 453 | m_VehicleBuoyancy = 0; |
||
| 454 | m_flags = (VehicleFlag)0; |
||
| 455 | break; |
||
| 456 | |||
| 457 | case Vehicle.TYPE_SLED: |
||
| 458 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); |
||
| 459 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); |
||
| 460 | m_linearMotorDirection = Vector3.Zero; |
||
| 461 | m_linearMotorTimescale = 1000; |
||
| 462 | m_linearMotorDecayTimescale = 120; |
||
| 463 | m_angularMotorDirection = Vector3.Zero; |
||
| 464 | m_angularMotorTimescale = 1000; |
||
| 465 | m_angularMotorDecayTimescale = 120; |
||
| 466 | m_VhoverHeight = 0; |
||
| 467 | // m_VhoverEfficiency = 1; |
||
| 468 | m_VhoverTimescale = 10; |
||
| 469 | m_VehicleBuoyancy = 0; |
||
| 470 | // m_linearDeflectionEfficiency = 1; |
||
| 471 | // m_linearDeflectionTimescale = 1; |
||
| 472 | // m_angularDeflectionEfficiency = 1; |
||
| 473 | // m_angularDeflectionTimescale = 1000; |
||
| 474 | // m_bankingEfficiency = 0; |
||
| 475 | // m_bankingMix = 1; |
||
| 476 | // m_bankingTimescale = 10; |
||
| 477 | // m_referenceFrame = Quaternion.Identity; |
||
| 478 | m_Hoverflags &= |
||
| 479 | ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | |
||
| 480 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); |
||
| 481 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); |
||
| 482 | break; |
||
| 483 | case Vehicle.TYPE_CAR: |
||
| 484 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); |
||
| 485 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); |
||
| 486 | m_linearMotorDirection = Vector3.Zero; |
||
| 487 | m_linearMotorTimescale = 1; |
||
| 488 | m_linearMotorDecayTimescale = 60; |
||
| 489 | m_angularMotorDirection = Vector3.Zero; |
||
| 490 | m_angularMotorTimescale = 1; |
||
| 491 | m_angularMotorDecayTimescale = 0.8f; |
||
| 492 | m_VhoverHeight = 0; |
||
| 493 | // m_VhoverEfficiency = 0; |
||
| 494 | m_VhoverTimescale = 1000; |
||
| 495 | m_VehicleBuoyancy = 0; |
||
| 496 | // // m_linearDeflectionEfficiency = 1; |
||
| 497 | // // m_linearDeflectionTimescale = 2; |
||
| 498 | // // m_angularDeflectionEfficiency = 0; |
||
| 499 | // m_angularDeflectionTimescale = 10; |
||
| 500 | m_verticalAttractionEfficiency = 1f; |
||
| 501 | m_verticalAttractionTimescale = 10f; |
||
| 502 | // m_bankingEfficiency = -0.2f; |
||
| 503 | // m_bankingMix = 1; |
||
| 504 | // m_bankingTimescale = 1; |
||
| 505 | // m_referenceFrame = Quaternion.Identity; |
||
| 506 | m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); |
||
| 507 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | |
||
| 508 | VehicleFlag.LIMIT_MOTOR_UP); |
||
| 509 | m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); |
||
| 510 | break; |
||
| 511 | case Vehicle.TYPE_BOAT: |
||
| 512 | m_linearFrictionTimescale = new Vector3(10, 3, 2); |
||
| 513 | m_angularFrictionTimescale = new Vector3(10,10,10); |
||
| 514 | m_linearMotorDirection = Vector3.Zero; |
||
| 515 | m_linearMotorTimescale = 5; |
||
| 516 | m_linearMotorDecayTimescale = 60; |
||
| 517 | m_angularMotorDirection = Vector3.Zero; |
||
| 518 | m_angularMotorTimescale = 4; |
||
| 519 | m_angularMotorDecayTimescale = 4; |
||
| 520 | m_VhoverHeight = 0; |
||
| 521 | // m_VhoverEfficiency = 0.5f; |
||
| 522 | m_VhoverTimescale = 2; |
||
| 523 | m_VehicleBuoyancy = 1; |
||
| 524 | // m_linearDeflectionEfficiency = 0.5f; |
||
| 525 | // m_linearDeflectionTimescale = 3; |
||
| 526 | // m_angularDeflectionEfficiency = 0.5f; |
||
| 527 | // m_angularDeflectionTimescale = 5; |
||
| 528 | m_verticalAttractionEfficiency = 0.5f; |
||
| 529 | m_verticalAttractionTimescale = 5f; |
||
| 530 | // m_bankingEfficiency = -0.3f; |
||
| 531 | // m_bankingMix = 0.8f; |
||
| 532 | // m_bankingTimescale = 1; |
||
| 533 | // m_referenceFrame = Quaternion.Identity; |
||
| 534 | m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | |
||
| 535 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); |
||
| 536 | m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); |
||
| 537 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | |
||
| 538 | VehicleFlag.LIMIT_MOTOR_UP); |
||
| 539 | m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); |
||
| 540 | break; |
||
| 541 | case Vehicle.TYPE_AIRPLANE: |
||
| 542 | m_linearFrictionTimescale = new Vector3(200, 10, 5); |
||
| 543 | m_angularFrictionTimescale = new Vector3(20, 20, 20); |
||
| 544 | m_linearMotorDirection = Vector3.Zero; |
||
| 545 | m_linearMotorTimescale = 2; |
||
| 546 | m_linearMotorDecayTimescale = 60; |
||
| 547 | m_angularMotorDirection = Vector3.Zero; |
||
| 548 | m_angularMotorTimescale = 4; |
||
| 549 | m_angularMotorDecayTimescale = 4; |
||
| 550 | m_VhoverHeight = 0; |
||
| 551 | // m_VhoverEfficiency = 0.5f; |
||
| 552 | m_VhoverTimescale = 1000; |
||
| 553 | m_VehicleBuoyancy = 0; |
||
| 554 | // m_linearDeflectionEfficiency = 0.5f; |
||
| 555 | // m_linearDeflectionTimescale = 3; |
||
| 556 | // m_angularDeflectionEfficiency = 1; |
||
| 557 | // m_angularDeflectionTimescale = 2; |
||
| 558 | m_verticalAttractionEfficiency = 0.9f; |
||
| 559 | m_verticalAttractionTimescale = 2f; |
||
| 560 | // m_bankingEfficiency = 1; |
||
| 561 | // m_bankingMix = 0.7f; |
||
| 562 | // m_bankingTimescale = 2; |
||
| 563 | // m_referenceFrame = Quaternion.Identity; |
||
| 564 | m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | |
||
| 565 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); |
||
| 566 | m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); |
||
| 567 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); |
||
| 568 | break; |
||
| 569 | case Vehicle.TYPE_BALLOON: |
||
| 570 | m_linearFrictionTimescale = new Vector3(5, 5, 5); |
||
| 571 | m_angularFrictionTimescale = new Vector3(10, 10, 10); |
||
| 572 | m_linearMotorDirection = Vector3.Zero; |
||
| 573 | m_linearMotorTimescale = 5; |
||
| 574 | m_linearMotorDecayTimescale = 60; |
||
| 575 | m_angularMotorDirection = Vector3.Zero; |
||
| 576 | m_angularMotorTimescale = 6; |
||
| 577 | m_angularMotorDecayTimescale = 10; |
||
| 578 | m_VhoverHeight = 5; |
||
| 579 | // m_VhoverEfficiency = 0.8f; |
||
| 580 | m_VhoverTimescale = 10; |
||
| 581 | m_VehicleBuoyancy = 1; |
||
| 582 | // m_linearDeflectionEfficiency = 0; |
||
| 583 | // m_linearDeflectionTimescale = 5; |
||
| 584 | // m_angularDeflectionEfficiency = 0; |
||
| 585 | // m_angularDeflectionTimescale = 5; |
||
| 586 | m_verticalAttractionEfficiency = 1f; |
||
| 587 | m_verticalAttractionTimescale = 100f; |
||
| 588 | // m_bankingEfficiency = 0; |
||
| 589 | // m_bankingMix = 0.7f; |
||
| 590 | // m_bankingTimescale = 5; |
||
| 591 | // m_referenceFrame = Quaternion.Identity; |
||
| 592 | m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | |
||
| 593 | VehicleFlag.HOVER_UP_ONLY); |
||
| 594 | m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); |
||
| 595 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); |
||
| 596 | m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); |
||
| 597 | break; |
||
| 598 | |||
| 599 | } |
||
| 600 | }//end SetDefaultsForType |
||
| 601 | |||
| 602 | internal void Enable(IntPtr pBody, OdeScene pParentScene) |
||
| 603 | { |
||
| 604 | if (m_type == Vehicle.TYPE_NONE) |
||
| 605 | return; |
||
| 606 | |||
| 607 | m_body = pBody; |
||
| 608 | } |
||
| 609 | |||
| 610 | internal void Step(float pTimestep, OdeScene pParentScene) |
||
| 611 | { |
||
| 612 | if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE) |
||
| 613 | return; |
||
| 614 | frcount++; // used to limit debug comment output |
||
| 615 | if (frcount > 100) |
||
| 616 | frcount = 0; |
||
| 617 | |||
| 618 | MoveLinear(pTimestep, pParentScene); |
||
| 619 | MoveAngular(pTimestep); |
||
| 620 | LimitRotation(pTimestep); |
||
| 621 | }// end Step |
||
| 622 | |||
| 623 | private void MoveLinear(float pTimestep, OdeScene _pParentScene) |
||
| 624 | { |
||
| 625 | if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant |
||
| 626 | { |
||
| 627 | if (!d.BodyIsEnabled(Body)) |
||
| 628 | d.BodyEnable(Body); |
||
| 629 | |||
| 630 | // add drive to body |
||
| 631 | Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); |
||
| 632 | m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? |
||
| 633 | |||
| 634 | // This will work temporarily, but we really need to compare speed on an axis |
||
| 635 | // KF: Limit body velocity to applied velocity? |
||
| 636 | if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) |
||
| 637 | m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; |
||
| 638 | if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) |
||
| 639 | m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y; |
||
| 640 | if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) |
||
| 641 | m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; |
||
| 642 | |||
| 643 | // decay applied velocity |
||
| 644 | Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); |
||
| 645 | //Console.WriteLine("decay: " + decayfraction); |
||
| 646 | m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; |
||
| 647 | //Console.WriteLine("actual: " + m_linearMotorDirection); |
||
| 648 | } |
||
| 649 | else |
||
| 650 | { // requested is not significant |
||
| 651 | // if what remains of applied is small, zero it. |
||
| 652 | if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) |
||
| 653 | m_lastLinearVelocityVector = Vector3.Zero; |
||
| 654 | } |
||
| 655 | |||
| 656 | // convert requested object velocity to world-referenced vector |
||
| 657 | m_dir = m_lastLinearVelocityVector; |
||
| 658 | d.Quaternion rot = d.BodyGetQuaternion(Body); |
||
| 659 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object |
||
| 660 | m_dir *= rotq; // apply obj rotation to velocity vector |
||
| 661 | |||
| 662 | // add Gravity andBuoyancy |
||
| 663 | // KF: So far I have found no good method to combine a script-requested |
||
| 664 | // .Z velocity and gravity. Therefore only 0g will used script-requested |
||
| 665 | // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. |
||
| 666 | Vector3 grav = Vector3.Zero; |
||
| 667 | // There is some gravity, make a gravity force vector |
||
| 668 | // that is applied after object velocity. |
||
| 669 | d.Mass objMass; |
||
| 670 | d.BodyGetMass(Body, out objMass); |
||
| 671 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; |
||
| 672 | grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); |
||
| 673 | // Preserve the current Z velocity |
||
| 674 | d.Vector3 vel_now = d.BodyGetLinearVel(Body); |
||
| 675 | m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity |
||
| 676 | |||
| 677 | d.Vector3 pos = d.BodyGetPosition(Body); |
||
| 678 | // 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); |
||
| 679 | Vector3 posChange = new Vector3(); |
||
| 680 | posChange.X = pos.X - m_lastPositionVector.X; |
||
| 681 | posChange.Y = pos.Y - m_lastPositionVector.Y; |
||
| 682 | posChange.Z = pos.Z - m_lastPositionVector.Z; |
||
| 683 | double Zchange = Math.Abs(posChange.Z); |
||
| 684 | if (m_BlockingEndPoint != Vector3.Zero) |
||
| 685 | { |
||
| 686 | if (pos.X >= (m_BlockingEndPoint.X - (float)1)) |
||
| 687 | { |
||
| 688 | pos.X -= posChange.X + 1; |
||
| 689 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
||
| 690 | } |
||
| 691 | if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) |
||
| 692 | { |
||
| 693 | pos.Y -= posChange.Y + 1; |
||
| 694 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
||
| 695 | } |
||
| 696 | if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) |
||
| 697 | { |
||
| 698 | pos.Z -= posChange.Z + 1; |
||
| 699 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
||
| 700 | } |
||
| 701 | if (pos.X <= 0) |
||
| 702 | { |
||
| 703 | pos.X += posChange.X + 1; |
||
| 704 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
||
| 705 | } |
||
| 706 | if (pos.Y <= 0) |
||
| 707 | { |
||
| 708 | pos.Y += posChange.Y + 1; |
||
| 709 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
||
| 710 | } |
||
| 711 | } |
||
| 712 | if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) |
||
| 713 | { |
||
| 714 | pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; |
||
| 715 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
||
| 716 | } |
||
| 717 | |||
| 718 | // Check if hovering |
||
| 719 | if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) |
||
| 720 | { |
||
| 721 | // We should hover, get the target height |
||
| 722 | if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) |
||
| 723 | { |
||
| 724 | m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; |
||
| 725 | } |
||
| 726 | if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) |
||
| 727 | { |
||
| 728 | m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; |
||
| 729 | } |
||
| 730 | if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) |
||
| 731 | { |
||
| 732 | m_VhoverTargetHeight = m_VhoverHeight; |
||
| 733 | } |
||
| 734 | |||
| 735 | if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) |
||
| 736 | { |
||
| 737 | // If body is aready heigher, use its height as target height |
||
| 738 | if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; |
||
| 739 | } |
||
| 740 | if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) |
||
| 741 | { |
||
| 742 | if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) |
||
| 743 | { |
||
| 744 | d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight); |
||
| 745 | } |
||
| 746 | } |
||
| 747 | else |
||
| 748 | { |
||
| 749 | float herr0 = pos.Z - m_VhoverTargetHeight; |
||
| 750 | // Replace Vertical speed with correction figure if significant |
||
| 751 | if (Math.Abs(herr0) > 0.01f) |
||
| 752 | { |
||
| 753 | m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); |
||
| 754 | //KF: m_VhoverEfficiency is not yet implemented |
||
| 755 | } |
||
| 756 | else |
||
| 757 | { |
||
| 758 | m_dir.Z = 0f; |
||
| 759 | } |
||
| 760 | } |
||
| 761 | |||
| 762 | // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped |
||
| 763 | // m_VhoverTimescale = 0f; // time to acheive height |
||
| 764 | // pTimestep is time since last frame,in secs |
||
| 765 | } |
||
| 766 | |||
| 767 | if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) |
||
| 768 | { |
||
| 769 | //Start Experimental Values |
||
| 770 | if (Zchange > .3) |
||
| 771 | { |
||
| 772 | grav.Z = (float)(grav.Z * 3); |
||
| 773 | } |
||
| 774 | if (Zchange > .15) |
||
| 775 | { |
||
| 776 | grav.Z = (float)(grav.Z * 2); |
||
| 777 | } |
||
| 778 | if (Zchange > .75) |
||
| 779 | { |
||
| 780 | grav.Z = (float)(grav.Z * 1.5); |
||
| 781 | } |
||
| 782 | if (Zchange > .05) |
||
| 783 | { |
||
| 784 | grav.Z = (float)(grav.Z * 1.25); |
||
| 785 | } |
||
| 786 | if (Zchange > .025) |
||
| 787 | { |
||
| 788 | grav.Z = (float)(grav.Z * 1.125); |
||
| 789 | } |
||
| 790 | float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); |
||
| 791 | float postemp = (pos.Z - terraintemp); |
||
| 792 | if (postemp > 2.5f) |
||
| 793 | { |
||
| 794 | grav.Z = (float)(grav.Z * 1.037125); |
||
| 795 | } |
||
| 796 | //End Experimental Values |
||
| 797 | } |
||
| 798 | if ((m_flags & (VehicleFlag.NO_X)) != 0) |
||
| 799 | { |
||
| 800 | m_dir.X = 0; |
||
| 801 | } |
||
| 802 | if ((m_flags & (VehicleFlag.NO_Y)) != 0) |
||
| 803 | { |
||
| 804 | m_dir.Y = 0; |
||
| 805 | } |
||
| 806 | if ((m_flags & (VehicleFlag.NO_Z)) != 0) |
||
| 807 | { |
||
| 808 | m_dir.Z = 0; |
||
| 809 | } |
||
| 810 | |||
| 811 | m_lastPositionVector = d.BodyGetPosition(Body); |
||
| 812 | |||
| 813 | // Apply velocity |
||
| 814 | d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z); |
||
| 815 | // apply gravity force |
||
| 816 | d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); |
||
| 817 | |||
| 818 | |||
| 819 | // apply friction |
||
| 820 | Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); |
||
| 821 | m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; |
||
| 822 | } // end MoveLinear() |
||
| 823 | |||
| 824 | private void MoveAngular(float pTimestep) |
||
| 825 | { |
||
| 826 | /* |
||
| 827 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor |
||
| 828 | private int m_angularMotorApply = 0; // application frame counter |
||
| 829 | private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) |
||
| 830 | private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate |
||
| 831 | private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate |
||
| 832 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate |
||
| 833 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body |
||
| 834 | */ |
||
| 835 | |||
| 836 | // Get what the body is doing, this includes 'external' influences |
||
| 837 | d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); |
||
| 838 | // Vector3 angularVelocity = Vector3.Zero; |
||
| 839 | |||
| 840 | if (m_angularMotorApply > 0) |
||
| 841 | { |
||
| 842 | // ramp up to new value |
||
| 843 | // current velocity += error / (time to get there / step interval) |
||
| 844 | // requested speed - last motor speed |
||
| 845 | m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); |
||
| 846 | m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); |
||
| 847 | m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); |
||
| 848 | |||
| 849 | m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected |
||
| 850 | // velocity may still be acheived. |
||
| 851 | } |
||
| 852 | else |
||
| 853 | { |
||
| 854 | // no motor recently applied, keep the body velocity |
||
| 855 | /* m_angularMotorVelocity.X = angularVelocity.X; |
||
| 856 | m_angularMotorVelocity.Y = angularVelocity.Y; |
||
| 857 | m_angularMotorVelocity.Z = angularVelocity.Z; */ |
||
| 858 | |||
| 859 | // and decay the velocity |
||
| 860 | m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); |
||
| 861 | } // end motor section |
||
| 862 | |||
| 863 | // Vertical attractor section |
||
| 864 | Vector3 vertattr = Vector3.Zero; |
||
| 865 | |||
| 866 | if (m_verticalAttractionTimescale < 300) |
||
| 867 | { |
||
| 868 | float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); |
||
| 869 | // get present body rotation |
||
| 870 | d.Quaternion rot = d.BodyGetQuaternion(Body); |
||
| 871 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); |
||
| 872 | // make a vector pointing up |
||
| 873 | Vector3 verterr = Vector3.Zero; |
||
| 874 | verterr.Z = 1.0f; |
||
| 875 | // rotate it to Body Angle |
||
| 876 | verterr = verterr * rotq; |
||
| 877 | // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. |
||
| 878 | // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go |
||
| 879 | // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. |
||
| 880 | if (verterr.Z < 0.0f) |
||
| 881 | { |
||
| 882 | verterr.X = 2.0f - verterr.X; |
||
| 883 | verterr.Y = 2.0f - verterr.Y; |
||
| 884 | } |
||
| 885 | // Error is 0 (no error) to +/- 2 (max error) |
||
| 886 | // scale it by VAservo |
||
| 887 | verterr = verterr * VAservo; |
||
| 888 | //if (frcount == 0) Console.WriteLine("VAerr=" + verterr); |
||
| 889 | |||
| 890 | // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so |
||
| 891 | // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. |
||
| 892 | vertattr.X = verterr.Y; |
||
| 893 | vertattr.Y = - verterr.X; |
||
| 894 | vertattr.Z = 0f; |
||
| 895 | |||
| 896 | // scaling appears better usingsquare-law |
||
| 897 | float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); |
||
| 898 | vertattr.X += bounce * angularVelocity.X; |
||
| 899 | vertattr.Y += bounce * angularVelocity.Y; |
||
| 900 | |||
| 901 | } // else vertical attractor is off |
||
| 902 | |||
| 903 | // m_lastVertAttractor = vertattr; |
||
| 904 | |||
| 905 | // Bank section tba |
||
| 906 | // Deflection section tba |
||
| 907 | |||
| 908 | // Sum velocities |
||
| 909 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection |
||
| 910 | |||
| 911 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) |
||
| 912 | { |
||
| 913 | m_lastAngularVelocity.X = 0; |
||
| 914 | m_lastAngularVelocity.Y = 0; |
||
| 915 | } |
||
| 916 | |||
| 917 | if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
||
| 918 | { |
||
| 919 | if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); |
||
| 920 | } |
||
| 921 | else |
||
| 922 | { |
||
| 923 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. |
||
| 924 | } |
||
| 925 | |||
| 926 | // apply friction |
||
| 927 | Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep); |
||
| 928 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; |
||
| 929 | |||
| 930 | // Apply to the body |
||
| 931 | d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); |
||
| 932 | |||
| 933 | } //end MoveAngular |
||
| 934 | internal void LimitRotation(float timestep) |
||
| 935 | { |
||
| 936 | d.Quaternion rot = d.BodyGetQuaternion(Body); |
||
| 937 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object |
||
| 938 | d.Quaternion m_rot = new d.Quaternion(); |
||
| 939 | bool changed = false; |
||
| 940 | m_rot.X = rotq.X; |
||
| 941 | m_rot.Y = rotq.Y; |
||
| 942 | m_rot.Z = rotq.Z; |
||
| 943 | m_rot.W = rotq.W; |
||
| 944 | if (m_RollreferenceFrame != Quaternion.Identity) |
||
| 945 | { |
||
| 946 | if (rotq.X >= m_RollreferenceFrame.X) |
||
| 947 | { |
||
| 948 | m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); |
||
| 949 | } |
||
| 950 | if (rotq.Y >= m_RollreferenceFrame.Y) |
||
| 951 | { |
||
| 952 | m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); |
||
| 953 | } |
||
| 954 | if (rotq.X <= -m_RollreferenceFrame.X) |
||
| 955 | { |
||
| 956 | m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); |
||
| 957 | } |
||
| 958 | if (rotq.Y <= -m_RollreferenceFrame.Y) |
||
| 959 | { |
||
| 960 | m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); |
||
| 961 | } |
||
| 962 | changed = true; |
||
| 963 | } |
||
| 964 | if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) |
||
| 965 | { |
||
| 966 | m_rot.X = 0; |
||
| 967 | m_rot.Y = 0; |
||
| 968 | changed = true; |
||
| 969 | } |
||
| 970 | if (changed) |
||
| 971 | d.BodySetQuaternion(Body, ref m_rot); |
||
| 972 | } |
||
| 973 | } |
||
| 974 | } |