clockwerk-opensim-stable – Blame information for rev 1
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1 | vero | 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 | |||
28 | using System; |
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29 | using System.Collections.Generic; |
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30 | using System.Linq; |
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31 | using System.Text; |
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32 | |||
33 | using OpenSim.Region.Physics.Manager; |
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34 | |||
35 | using OMV = OpenMetaverse; |
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36 | |||
37 | namespace OpenSim.Region.Physics.BulletSPlugin |
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38 | { |
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39 | public class BSActorMoveToTarget : BSActor |
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40 | { |
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41 | private BSVMotor m_targetMotor; |
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42 | |||
43 | public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName) |
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44 | : base(physicsScene, pObj, actorName) |
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45 | { |
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46 | m_targetMotor = null; |
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47 | m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID); |
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48 | } |
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49 | |||
50 | // BSActor.isActive |
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51 | public override bool isActive |
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52 | { |
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53 | // MoveToTarget only works on physical prims |
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54 | get { return Enabled && m_controllingPrim.IsPhysicallyActive; } |
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55 | } |
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56 | |||
57 | // Release any connections and resources used by the actor. |
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58 | // BSActor.Dispose() |
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59 | public override void Dispose() |
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60 | { |
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61 | Enabled = false; |
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62 | } |
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63 | |||
64 | // Called when physical parameters (properties set in Bullet) need to be re-applied. |
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65 | // Called at taint-time. |
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66 | // BSActor.Refresh() |
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67 | public override void Refresh() |
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68 | { |
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69 | m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}", |
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70 | m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive, |
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71 | m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau ); |
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72 | |||
73 | // If not active any more... |
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74 | if (!m_controllingPrim.MoveToTargetActive) |
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75 | { |
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76 | Enabled = false; |
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77 | } |
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78 | |||
79 | if (isActive) |
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80 | { |
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81 | ActivateMoveToTarget(); |
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82 | } |
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83 | else |
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84 | { |
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85 | DeactivateMoveToTarget(); |
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86 | } |
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87 | } |
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88 | |||
89 | // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). |
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90 | // Register a prestep action to restore physical requirements before the next simulation step. |
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91 | // Called at taint-time. |
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92 | // BSActor.RemoveDependencies() |
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93 | public override void RemoveDependencies() |
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94 | { |
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95 | // Nothing to do for the moveToTarget since it is all software at pre-step action time. |
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96 | } |
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97 | |||
98 | // If a hover motor has not been created, create one and start the hovering. |
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99 | private void ActivateMoveToTarget() |
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100 | { |
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101 | if (m_targetMotor == null) |
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102 | { |
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103 | // We're taking over after this. |
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104 | m_controllingPrim.ZeroMotion(true); |
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105 | |||
106 | /* Someday use the PID controller |
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107 | m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString()); |
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108 | m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau; |
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109 | m_targetMotor.Efficiency = 1f; |
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110 | */ |
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111 | m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(), |
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112 | m_controllingPrim.MoveToTargetTau, // timeScale |
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113 | BSMotor.Infinite, // decay time scale |
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114 | 1f // efficiency |
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115 | ); |
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116 | m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. |
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117 | m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); |
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118 | m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); |
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119 | |||
120 | // m_physicsScene.BeforeStep += Mover; |
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121 | m_physicsScene.BeforeStep += Mover2; |
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122 | } |
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123 | else |
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124 | { |
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125 | // If already allocated, make sure the target and other paramters are current |
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126 | m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); |
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127 | m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); |
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128 | } |
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129 | } |
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130 | |||
131 | private void DeactivateMoveToTarget() |
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132 | { |
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133 | if (m_targetMotor != null) |
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134 | { |
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135 | // m_physicsScene.BeforeStep -= Mover; |
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136 | m_physicsScene.BeforeStep -= Mover2; |
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137 | m_targetMotor = null; |
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138 | } |
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139 | } |
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140 | |||
141 | // Origional mover that set the objects position to move to the target. |
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142 | // The problem was that gravity would keep trying to push the object down so |
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143 | // the overall downward velocity would increase to infinity. |
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144 | // Called just before the simulation step. |
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145 | private void Mover(float timeStep) |
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146 | { |
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147 | // Don't do hovering while the object is selected. |
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148 | if (!isActive) |
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149 | return; |
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150 | |||
151 | OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) |
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152 | |||
153 | // 'movePosition' is where we'd like the prim to be at this moment. |
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154 | OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep); |
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155 | |||
156 | // If we are very close to our target, turn off the movement motor. |
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157 | if (m_targetMotor.ErrorIsZero()) |
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158 | { |
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159 | m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}", |
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160 | m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); |
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161 | m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; |
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162 | m_controllingPrim.ForceVelocity = OMV.Vector3.Zero; |
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163 | // Setting the position does not cause the physics engine to generate a property update. Force it. |
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164 | m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); |
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165 | } |
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166 | else |
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167 | { |
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168 | m_controllingPrim.ForcePosition = movePosition; |
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169 | // Setting the position does not cause the physics engine to generate a property update. Force it. |
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170 | m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); |
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171 | } |
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172 | m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", |
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173 | m_controllingPrim.LocalID, origPosition, movePosition); |
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174 | } |
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175 | |||
176 | // Version of mover that applies forces to move the physical object to the target. |
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177 | // Also overcomes gravity so the object doesn't just drop to the ground. |
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178 | // Called just before the simulation step. |
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179 | private void Mover2(float timeStep) |
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180 | { |
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181 | // Don't do hovering while the object is selected. |
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182 | if (!isActive) |
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183 | return; |
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184 | |||
185 | OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) |
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186 | OMV.Vector3 addedForce = OMV.Vector3.Zero; |
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187 | |||
188 | // CorrectionVector is the movement vector required this step |
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189 | OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition); |
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190 | |||
191 | // If we are very close to our target, turn off the movement motor. |
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192 | if (m_targetMotor.ErrorIsZero()) |
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193 | { |
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194 | m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}", |
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195 | m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass); |
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196 | m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; |
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197 | m_controllingPrim.ForceVelocity = OMV.Vector3.Zero; |
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198 | // Setting the position does not cause the physics engine to generate a property update. Force it. |
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199 | m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); |
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200 | } |
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201 | else |
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202 | { |
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203 | // First force to move us there -- the motor return a timestep scaled value. |
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204 | addedForce = correctionVector / timeStep; |
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205 | // Remove the existing velocity (only the moveToTarget force counts) |
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206 | addedForce -= m_controllingPrim.RawVelocity; |
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207 | // Overcome gravity. |
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208 | addedForce -= m_controllingPrim.Gravity; |
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209 | |||
210 | // Add enough force to overcome the mass of the object |
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211 | addedForce *= m_controllingPrim.Mass; |
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212 | |||
213 | m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */); |
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214 | } |
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215 | m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}", |
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216 | m_controllingPrim.LocalID, origPosition, addedForce); |
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217 | } |
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218 | } |
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219 | } |