opensim – Blame information for rev 1
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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 copyrightD |
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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 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Reflection; |
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30 | using log4net; |
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31 | using OMV = OpenMetaverse; |
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32 | using OpenSim.Framework; |
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33 | using OpenSim.Region.Physics.Manager; |
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34 | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin |
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36 | { |
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37 | public sealed class BSCharacter : BSPhysObject |
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38 | { |
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39 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
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40 | private static readonly string LogHeader = "[BULLETS CHAR]"; |
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41 | |||
42 | // private bool _stopped; |
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43 | private OMV.Vector3 _size; |
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44 | private bool _grabbed; |
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45 | private bool _selected; |
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46 | private float _mass; |
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47 | private float _avatarVolume; |
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48 | private float _collisionScore; |
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49 | private OMV.Vector3 _acceleration; |
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50 | private int _physicsActorType; |
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51 | private bool _isPhysical; |
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52 | private bool _flying; |
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53 | private bool _setAlwaysRun; |
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54 | private bool _throttleUpdates; |
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55 | private bool _floatOnWater; |
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56 | private OMV.Vector3 _rotationalVelocity; |
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57 | private bool _kinematic; |
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58 | private float _buoyancy; |
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59 | |||
60 | private BSActorAvatarMove m_moveActor; |
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61 | private const string AvatarMoveActorName = "BSCharacter.AvatarMove"; |
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62 | |||
63 | private OMV.Vector3 _PIDTarget; |
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64 | private bool _usePID; |
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65 | private float _PIDTau; |
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66 | |||
67 | public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) |
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68 | : base(parent_scene, localID, avName, "BSCharacter") |
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69 | { |
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70 | _physicsActorType = (int)ActorTypes.Agent; |
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71 | RawPosition = pos; |
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72 | |||
73 | _flying = isFlying; |
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74 | RawOrientation = OMV.Quaternion.Identity; |
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75 | RawVelocity = OMV.Vector3.Zero; |
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76 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); |
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77 | Friction = BSParam.AvatarStandingFriction; |
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78 | Density = BSParam.AvatarDensity; |
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79 | |||
80 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, |
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81 | // replace with the default values. |
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82 | _size = size; |
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83 | if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; |
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84 | if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; |
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85 | |||
86 | // The dimensions of the physical capsule are kept in the scale. |
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87 | // Physics creates a unit capsule which is scaled by the physics engine. |
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88 | Scale = ComputeAvatarScale(_size); |
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89 | // set _avatarVolume and _mass based on capsule size, _density and Scale |
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90 | ComputeAvatarVolumeAndMass(); |
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91 | |||
92 | DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6}", |
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93 | LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos); |
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94 | |||
95 | // do actual creation in taint time |
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96 | PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate() |
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97 | { |
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98 | DetailLog("{0},BSCharacter.create,taint", LocalID); |
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99 | // New body and shape into PhysBody and PhysShape |
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100 | PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this); |
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101 | |||
102 | // The avatar's movement is controlled by this motor that speeds up and slows down |
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103 | // the avatar seeking to reach the motor's target speed. |
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104 | // This motor runs as a prestep action for the avatar so it will keep the avatar |
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105 | // standing as well as moving. Destruction of the avatar will destroy the pre-step action. |
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106 | m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); |
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107 | PhysicalActors.Add(AvatarMoveActorName, m_moveActor); |
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108 | |||
109 | SetPhysicalProperties(); |
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110 | |||
111 | IsInitialized = true; |
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112 | }); |
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113 | return; |
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114 | } |
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115 | |||
116 | // called when this character is being destroyed and the resources should be released |
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117 | public override void Destroy() |
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118 | { |
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119 | IsInitialized = false; |
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120 | |||
121 | base.Destroy(); |
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122 | |||
123 | DetailLog("{0},BSCharacter.Destroy", LocalID); |
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124 | PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate() |
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125 | { |
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126 | PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); |
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127 | PhysBody.Clear(); |
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128 | PhysShape.Dereference(PhysScene); |
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129 | PhysShape = new BSShapeNull(); |
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130 | }); |
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131 | } |
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132 | |||
133 | private void SetPhysicalProperties() |
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134 | { |
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135 | PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); |
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136 | |||
137 | ZeroMotion(true); |
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138 | ForcePosition = RawPosition; |
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139 | |||
140 | // Set the velocity |
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141 | if (m_moveActor != null) |
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142 | m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false); |
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143 | |||
144 | ForceVelocity = RawVelocity; |
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145 | |||
146 | // This will enable or disable the flying buoyancy of the avatar. |
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147 | // Needs to be reset especially when an avatar is recreated after crossing a region boundry. |
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148 | Flying = _flying; |
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149 | |||
150 | PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); |
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151 | PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin); |
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152 | PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); |
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153 | PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); |
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154 | if (BSParam.CcdMotionThreshold > 0f) |
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155 | { |
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156 | PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); |
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157 | PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); |
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158 | } |
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159 | |||
160 | UpdatePhysicalMassProperties(RawMass, false); |
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161 | |||
162 | // Make so capsule does not fall over |
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163 | PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); |
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164 | |||
165 | // The avatar mover sets some parameters. |
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166 | PhysicalActors.Refresh(); |
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167 | |||
168 | PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); |
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169 | |||
170 | PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody); |
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171 | |||
172 | // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); |
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173 | PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); |
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174 | PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody); |
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175 | |||
176 | // Do this after the object has been added to the world |
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177 | PhysBody.collisionType = CollisionType.Avatar; |
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178 | PhysBody.ApplyCollisionMask(PhysScene); |
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179 | } |
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180 | |||
181 | |||
182 | public override void RequestPhysicsterseUpdate() |
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183 | { |
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184 | base.RequestPhysicsterseUpdate(); |
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185 | } |
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186 | // No one calls this method so I don't know what it could possibly mean |
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187 | public override bool Stopped { get { return false; } } |
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188 | |||
189 | public override OMV.Vector3 Size { |
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190 | get |
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191 | { |
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192 | // Avatar capsule size is kept in the scale parameter. |
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193 | return _size; |
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194 | } |
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195 | |||
196 | set { |
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197 | // This is how much the avatar size is changing. Positive means getting bigger. |
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198 | // The avatar altitude must be adjusted for this change. |
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199 | float heightChange = value.Z - _size.Z; |
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200 | |||
201 | _size = value; |
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202 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, |
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203 | // replace with the default values. |
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204 | if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; |
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205 | if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; |
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206 | |||
207 | Scale = ComputeAvatarScale(_size); |
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208 | ComputeAvatarVolumeAndMass(); |
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209 | DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", |
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210 | LocalID, _size, Scale, Density, _avatarVolume, RawMass); |
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211 | |||
212 | PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate() |
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213 | { |
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214 | if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) |
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215 | { |
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216 | PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); |
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217 | UpdatePhysicalMassProperties(RawMass, true); |
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218 | |||
219 | // Adjust the avatar's position to account for the increase/decrease in size |
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220 | ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f); |
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221 | |||
222 | // Make sure this change appears as a property update event |
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223 | PhysScene.PE.PushUpdate(PhysBody); |
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224 | } |
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225 | }); |
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226 | |||
227 | } |
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228 | } |
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229 | |||
230 | public override PrimitiveBaseShape Shape |
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231 | { |
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232 | set { BaseShape = value; } |
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233 | } |
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234 | |||
235 | public override bool Grabbed { |
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236 | set { _grabbed = value; } |
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237 | } |
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238 | public override bool Selected { |
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239 | set { _selected = value; } |
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240 | } |
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241 | public override bool IsSelected |
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242 | { |
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243 | get { return _selected; } |
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244 | } |
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245 | public override void CrossingFailure() { return; } |
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246 | public override void link(PhysicsActor obj) { return; } |
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247 | public override void delink() { return; } |
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248 | |||
249 | // Set motion values to zero. |
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250 | // Do it to the properties so the values get set in the physics engine. |
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251 | // Push the setting of the values to the viewer. |
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252 | // Called at taint time! |
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253 | public override void ZeroMotion(bool inTaintTime) |
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254 | { |
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255 | RawVelocity = OMV.Vector3.Zero; |
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256 | _acceleration = OMV.Vector3.Zero; |
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257 | _rotationalVelocity = OMV.Vector3.Zero; |
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258 | |||
259 | // Zero some other properties directly into the physics engine |
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260 | PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() |
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261 | { |
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262 | if (PhysBody.HasPhysicalBody) |
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263 | PhysScene.PE.ClearAllForces(PhysBody); |
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264 | }); |
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265 | } |
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266 | public override void ZeroAngularMotion(bool inTaintTime) |
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267 | { |
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268 | _rotationalVelocity = OMV.Vector3.Zero; |
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269 | |||
270 | PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() |
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271 | { |
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272 | if (PhysBody.HasPhysicalBody) |
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273 | { |
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274 | PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); |
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275 | PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); |
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276 | // The next also get rid of applied linear force but the linear velocity is untouched. |
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277 | PhysScene.PE.ClearForces(PhysBody); |
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278 | } |
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279 | }); |
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280 | } |
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281 | |||
282 | |||
283 | public override void LockAngularMotion(OMV.Vector3 axis) { return; } |
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284 | |||
285 | public override OMV.Vector3 Position { |
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286 | get { |
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287 | // Don't refetch the position because this function is called a zillion times |
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288 | // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); |
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289 | return RawPosition; |
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290 | } |
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291 | set { |
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292 | RawPosition = value; |
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293 | |||
294 | PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate() |
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295 | { |
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296 | DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); |
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297 | PositionSanityCheck(); |
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298 | ForcePosition = RawPosition; |
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299 | }); |
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300 | } |
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301 | } |
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302 | public override OMV.Vector3 ForcePosition { |
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303 | get { |
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304 | RawPosition = PhysScene.PE.GetPosition(PhysBody); |
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305 | return RawPosition; |
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306 | } |
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307 | set { |
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308 | RawPosition = value; |
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309 | if (PhysBody.HasPhysicalBody) |
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310 | { |
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311 | PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); |
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312 | } |
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313 | } |
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314 | } |
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315 | |||
316 | |||
317 | // Check that the current position is sane and, if not, modify the position to make it so. |
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318 | // Check for being below terrain or on water. |
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319 | // Returns 'true' of the position was made sane by some action. |
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320 | private bool PositionSanityCheck() |
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321 | { |
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322 | bool ret = false; |
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323 | |||
324 | // TODO: check for out of bounds |
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325 | if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) |
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326 | { |
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327 | // The character is out of the known/simulated area. |
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328 | // Force the avatar position to be within known. ScenePresence will use the position |
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329 | // plus the velocity to decide if the avatar is moving out of the region. |
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330 | RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); |
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331 | DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition); |
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332 | return true; |
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333 | } |
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334 | |||
335 | // If below the ground, move the avatar up |
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336 | float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); |
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337 | if (Position.Z < terrainHeight) |
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338 | { |
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339 | DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); |
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340 | RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters); |
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341 | ret = true; |
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342 | } |
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343 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) |
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344 | { |
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345 | float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); |
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346 | if (Position.Z < waterHeight) |
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347 | { |
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348 | RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight); |
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349 | ret = true; |
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350 | } |
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351 | } |
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352 | |||
353 | return ret; |
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354 | } |
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355 | |||
356 | // A version of the sanity check that also makes sure a new position value is |
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357 | // pushed back to the physics engine. This routine would be used by anyone |
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358 | // who is not already pushing the value. |
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359 | private bool PositionSanityCheck(bool inTaintTime) |
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360 | { |
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361 | bool ret = false; |
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362 | if (PositionSanityCheck()) |
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363 | { |
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364 | // The new position value must be pushed into the physics engine but we can't |
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365 | // just assign to "Position" because of potential call loops. |
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366 | PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate() |
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367 | { |
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368 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); |
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369 | ForcePosition = RawPosition; |
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370 | }); |
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371 | ret = true; |
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372 | } |
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373 | return ret; |
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374 | } |
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375 | |||
376 | public override float Mass { get { return _mass; } } |
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377 | |||
378 | // used when we only want this prim's mass and not the linkset thing |
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379 | public override float RawMass { |
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380 | get {return _mass; } |
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381 | } |
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382 | public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) |
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383 | { |
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384 | OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); |
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385 | PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia); |
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386 | } |
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387 | |||
388 | public override OMV.Vector3 Force { |
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389 | get { return RawForce; } |
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390 | set { |
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391 | RawForce = value; |
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392 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); |
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393 | PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate() |
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394 | { |
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395 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); |
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396 | if (PhysBody.HasPhysicalBody) |
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397 | PhysScene.PE.SetObjectForce(PhysBody, RawForce); |
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398 | }); |
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399 | } |
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400 | } |
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401 | |||
402 | // Avatars don't do vehicles |
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403 | public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } |
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404 | public override void VehicleFloatParam(int param, float value) { } |
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405 | public override void VehicleVectorParam(int param, OMV.Vector3 value) {} |
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406 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } |
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407 | public override void VehicleFlags(int param, bool remove) { } |
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408 | |||
409 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more |
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410 | public override void SetVolumeDetect(int param) { return; } |
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411 | public override bool IsVolumeDetect { get { return false; } } |
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412 | |||
413 | public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } |
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414 | public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } |
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415 | |||
416 | // Sets the target in the motor. This starts the changing of the avatar's velocity. |
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417 | public override OMV.Vector3 TargetVelocity |
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418 | { |
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419 | get |
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420 | { |
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421 | return base.m_targetVelocity; |
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422 | } |
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423 | set |
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424 | { |
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425 | DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); |
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426 | m_targetVelocity = value; |
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427 | OMV.Vector3 targetVel = value; |
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428 | if (_setAlwaysRun && !_flying) |
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429 | targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f); |
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430 | |||
431 | if (m_moveActor != null) |
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432 | m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */); |
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433 | } |
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434 | } |
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435 | // Directly setting velocity means this is what the user really wants now. |
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436 | public override OMV.Vector3 Velocity { |
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437 | get { return RawVelocity; } |
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438 | set { |
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439 | RawVelocity = value; |
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440 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); |
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441 | PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate() |
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442 | { |
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443 | if (m_moveActor != null) |
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444 | m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); |
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445 | |||
446 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity); |
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447 | ForceVelocity = RawVelocity; |
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448 | }); |
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449 | } |
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450 | } |
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451 | public override OMV.Vector3 ForceVelocity { |
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452 | get { return RawVelocity; } |
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453 | set { |
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454 | PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); |
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455 | |||
456 | RawVelocity = value; |
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457 | PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); |
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458 | PhysScene.PE.Activate(PhysBody, true); |
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459 | } |
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460 | } |
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461 | public override OMV.Vector3 Torque { |
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462 | get { return RawTorque; } |
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463 | set { RawTorque = value; |
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464 | } |
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465 | } |
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466 | public override float CollisionScore { |
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467 | get { return _collisionScore; } |
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468 | set { _collisionScore = value; |
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469 | } |
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470 | } |
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471 | public override OMV.Vector3 Acceleration { |
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472 | get { return _acceleration; } |
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473 | set { _acceleration = value; } |
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474 | } |
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475 | public override OMV.Quaternion Orientation { |
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476 | get { return RawOrientation; } |
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477 | set { |
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478 | // Orientation is set zillions of times when an avatar is walking. It's like |
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479 | // the viewer doesn't trust us. |
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480 | if (RawOrientation != value) |
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481 | { |
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482 | RawOrientation = value; |
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483 | PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate() |
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484 | { |
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485 | // Bullet assumes we know what we are doing when forcing orientation |
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486 | // so it lets us go against all the rules and just compensates for them later. |
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487 | // This forces rotation to be only around the Z axis and doesn't change any of the other axis. |
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488 | // This keeps us from flipping the capsule over which the veiwer does not understand. |
||
489 | float oRoll, oPitch, oYaw; |
||
490 | RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); |
||
491 | OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); |
||
492 | // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", |
||
493 | // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation, |
||
494 | // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); |
||
495 | ForceOrientation = trimmedOrientation; |
||
496 | }); |
||
497 | } |
||
498 | } |
||
499 | } |
||
500 | // Go directly to Bullet to get/set the value. |
||
501 | public override OMV.Quaternion ForceOrientation |
||
502 | { |
||
503 | get |
||
504 | { |
||
505 | RawOrientation = PhysScene.PE.GetOrientation(PhysBody); |
||
506 | return RawOrientation; |
||
507 | } |
||
508 | set |
||
509 | { |
||
510 | RawOrientation = value; |
||
511 | if (PhysBody.HasPhysicalBody) |
||
512 | { |
||
513 | // RawPosition = PhysicsScene.PE.GetPosition(BSBody); |
||
514 | PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); |
||
515 | } |
||
516 | } |
||
517 | } |
||
518 | public override int PhysicsActorType { |
||
519 | get { return _physicsActorType; } |
||
520 | set { _physicsActorType = value; |
||
521 | } |
||
522 | } |
||
523 | public override bool IsPhysical { |
||
524 | get { return _isPhysical; } |
||
525 | set { _isPhysical = value; |
||
526 | } |
||
527 | } |
||
528 | public override bool IsSolid { |
||
529 | get { return true; } |
||
530 | } |
||
531 | public override bool IsStatic { |
||
532 | get { return false; } |
||
533 | } |
||
534 | public override bool IsPhysicallyActive { |
||
535 | get { return true; } |
||
536 | } |
||
537 | public override bool Flying { |
||
538 | get { return _flying; } |
||
539 | set { |
||
540 | _flying = value; |
||
541 | |||
542 | // simulate flying by changing the effect of gravity |
||
543 | Buoyancy = ComputeBuoyancyFromFlying(_flying); |
||
544 | } |
||
545 | } |
||
546 | // Flying is implimented by changing the avatar's buoyancy. |
||
547 | // Would this be done better with a vehicle type? |
||
548 | private float ComputeBuoyancyFromFlying(bool ifFlying) { |
||
549 | return ifFlying ? 1f : 0f; |
||
550 | } |
||
551 | public override bool |
||
552 | SetAlwaysRun { |
||
553 | get { return _setAlwaysRun; } |
||
554 | set { _setAlwaysRun = value; } |
||
555 | } |
||
556 | public override bool ThrottleUpdates { |
||
557 | get { return _throttleUpdates; } |
||
558 | set { _throttleUpdates = value; } |
||
559 | } |
||
560 | public override bool FloatOnWater { |
||
561 | set { |
||
562 | _floatOnWater = value; |
||
563 | PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate() |
||
564 | { |
||
565 | if (PhysBody.HasPhysicalBody) |
||
566 | { |
||
567 | if (_floatOnWater) |
||
568 | CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); |
||
569 | else |
||
570 | CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); |
||
571 | } |
||
572 | }); |
||
573 | } |
||
574 | } |
||
575 | public override OMV.Vector3 RotationalVelocity { |
||
576 | get { return _rotationalVelocity; } |
||
577 | set { _rotationalVelocity = value; } |
||
578 | } |
||
579 | public override OMV.Vector3 ForceRotationalVelocity { |
||
580 | get { return _rotationalVelocity; } |
||
581 | set { _rotationalVelocity = value; } |
||
582 | } |
||
583 | public override bool Kinematic { |
||
584 | get { return _kinematic; } |
||
585 | set { _kinematic = value; } |
||
586 | } |
||
587 | // neg=fall quickly, 0=1g, 1=0g, pos=float up |
||
588 | public override float Buoyancy { |
||
589 | get { return _buoyancy; } |
||
590 | set { _buoyancy = value; |
||
591 | PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate() |
||
592 | { |
||
593 | DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
||
594 | ForceBuoyancy = _buoyancy; |
||
595 | }); |
||
596 | } |
||
597 | } |
||
598 | public override float ForceBuoyancy { |
||
599 | get { return _buoyancy; } |
||
600 | set { |
||
601 | PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); |
||
602 | |||
603 | _buoyancy = value; |
||
604 | DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
||
605 | // Buoyancy is faked by changing the gravity applied to the object |
||
606 | float grav = BSParam.Gravity * (1f - _buoyancy); |
||
607 | Gravity = new OMV.Vector3(0f, 0f, grav); |
||
608 | if (PhysBody.HasPhysicalBody) |
||
609 | PhysScene.PE.SetGravity(PhysBody, Gravity); |
||
610 | } |
||
611 | } |
||
612 | |||
613 | // Used for MoveTo |
||
614 | public override OMV.Vector3 PIDTarget { |
||
615 | set { _PIDTarget = value; } |
||
616 | } |
||
617 | public override bool PIDActive { |
||
618 | set { _usePID = value; } |
||
619 | } |
||
620 | public override float PIDTau { |
||
621 | set { _PIDTau = value; } |
||
622 | } |
||
623 | |||
624 | public override void AddForce(OMV.Vector3 force, bool pushforce) |
||
625 | { |
||
626 | // Since this force is being applied in only one step, make this a force per second. |
||
627 | OMV.Vector3 addForce = force / PhysScene.LastTimeStep; |
||
628 | AddForce(addForce, pushforce, false); |
||
629 | } |
||
630 | public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { |
||
631 | if (force.IsFinite()) |
||
632 | { |
||
633 | OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); |
||
634 | // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); |
||
635 | |||
636 | PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate() |
||
637 | { |
||
638 | // Bullet adds this central force to the total force for this tick |
||
639 | // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); |
||
640 | if (PhysBody.HasPhysicalBody) |
||
641 | { |
||
642 | PhysScene.PE.ApplyCentralForce(PhysBody, addForce); |
||
643 | } |
||
644 | }); |
||
645 | } |
||
646 | else |
||
647 | { |
||
648 | m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID); |
||
649 | return; |
||
650 | } |
||
651 | } |
||
652 | |||
653 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { |
||
654 | } |
||
655 | public override void SetMomentum(OMV.Vector3 momentum) { |
||
656 | } |
||
657 | |||
658 | private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) |
||
659 | { |
||
660 | OMV.Vector3 newScale; |
||
661 | |||
662 | // Bullet's capsule total height is the "passed height + radius * 2"; |
||
663 | // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1) |
||
664 | // The number we pass in for 'scaling' is the multiplier to get that base |
||
665 | // shape to be the size desired. |
||
666 | // So, when creating the scale for the avatar height, we take the passed height |
||
667 | // (size.Z) and remove the caps. |
||
668 | // An oddity of the Bullet capsule implementation is that it presumes the Y |
||
669 | // dimension is the radius of the capsule. Even though some of the code allows |
||
670 | // for a asymmetrical capsule, other parts of the code presume it is cylindrical. |
||
671 | |||
672 | // Scale is multiplier of radius with one of "0.5" |
||
673 | newScale.X = size.X / 2f; |
||
674 | newScale.Y = size.Y / 2f; |
||
675 | |||
676 | float heightAdjust = BSParam.AvatarHeightMidFudge; |
||
677 | if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f) |
||
678 | { |
||
679 | const float AVATAR_LOW = 1.1f; |
||
680 | const float AVATAR_MID = 1.775f; // 1.87f |
||
681 | const float AVATAR_HI = 2.45f; |
||
682 | // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m. |
||
683 | float midHeightOffset = size.Z - AVATAR_MID; |
||
684 | if (midHeightOffset < 0f) |
||
685 | { |
||
686 | // Small avatar. Add the adjustment based on the distance from midheight |
||
687 | heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge; |
||
688 | } |
||
689 | else |
||
690 | { |
||
691 | // Large avatar. Add the adjustment based on the distance from midheight |
||
692 | heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge; |
||
693 | } |
||
694 | } |
||
695 | // The total scale height is the central cylindar plus the caps on the two ends. |
||
696 | newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f; |
||
697 | // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale); |
||
698 | |||
699 | // If smaller than the endcaps, just fake like we're almost that small |
||
700 | if (newScale.Z < 0) |
||
701 | newScale.Z = 0.1f; |
||
702 | |||
703 | DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}", |
||
704 | LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale); |
||
705 | |||
706 | return newScale; |
||
707 | } |
||
708 | |||
709 | // set _avatarVolume and _mass based on capsule size, _density and Scale |
||
710 | private void ComputeAvatarVolumeAndMass() |
||
711 | { |
||
712 | _avatarVolume = (float)( |
||
713 | Math.PI |
||
714 | * Size.X / 2f |
||
715 | * Size.Y / 2f // the area of capsule cylinder |
||
716 | * Size.Z // times height of capsule cylinder |
||
717 | + 1.33333333f |
||
718 | * Math.PI |
||
719 | * Size.X / 2f |
||
720 | * Math.Min(Size.X, Size.Y) / 2 |
||
721 | * Size.Y / 2f // plus the volume of the capsule end caps |
||
722 | ); |
||
723 | _mass = Density * BSParam.DensityScaleFactor * _avatarVolume; |
||
724 | } |
||
725 | |||
726 | // The physics engine says that properties have updated. Update same and inform |
||
727 | // the world that things have changed. |
||
728 | public override void UpdateProperties(EntityProperties entprop) |
||
729 | { |
||
730 | // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. |
||
731 | TriggerPreUpdatePropertyAction(ref entprop); |
||
732 | |||
733 | RawPosition = entprop.Position; |
||
734 | RawOrientation = entprop.Rotation; |
||
735 | |||
736 | // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar |
||
737 | // and will send agent updates to the clients if velocity changes by more than |
||
738 | // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many |
||
739 | // extra updates. |
||
740 | if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f)) |
||
741 | RawVelocity = entprop.Velocity; |
||
742 | |||
743 | _acceleration = entprop.Acceleration; |
||
744 | _rotationalVelocity = entprop.RotationalVelocity; |
||
745 | |||
746 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. |
||
747 | if (PositionSanityCheck(true)) |
||
748 | { |
||
749 | DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition); |
||
750 | entprop.Position = RawPosition; |
||
751 | } |
||
752 | |||
753 | // remember the current and last set values |
||
754 | LastEntityProperties = CurrentEntityProperties; |
||
755 | CurrentEntityProperties = entprop; |
||
756 | |||
757 | // Tell the linkset about value changes |
||
758 | // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); |
||
759 | |||
760 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
||
761 | // PhysScene.PostUpdate(this); |
||
762 | |||
763 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
||
764 | LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity); |
||
765 | } |
||
766 | } |
||
767 | } |