opensim – Blame information for rev 1

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1 eva 1 /*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27  
28 using System;
29 using System.Collections.Generic;
30 using System.Linq;
31 using System.Text;
32  
33 using OpenSim.Region.Physics.Manager;
34  
35 using OMV = OpenMetaverse;
36  
37 namespace OpenSim.Region.Physics.BulletSPlugin
38 {
39 public class BSActorHover : BSActor
40 {
41 private BSFMotor m_hoverMotor;
42  
43 public BSActorHover(BSScene physicsScene, BSPhysObject pObj, string actorName)
44 : base(physicsScene, pObj, actorName)
45 {
46 m_hoverMotor = null;
47 m_physicsScene.DetailLog("{0},BSActorHover,constructor", m_controllingPrim.LocalID);
48 }
49  
50 // BSActor.isActive
51 public override bool isActive
52 {
53 get { return Enabled; }
54 }
55  
56 // Release any connections and resources used by the actor.
57 // BSActor.Dispose()
58 public override void Dispose()
59 {
60 Enabled = false;
61 }
62  
63 // Called when physical parameters (properties set in Bullet) need to be re-applied.
64 // Called at taint-time.
65 // BSActor.Refresh()
66 public override void Refresh()
67 {
68 m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID);
69  
70 // If not active any more, turn me off
71 if (!m_controllingPrim.HoverActive)
72 {
73 SetEnabled(false);
74 }
75  
76 // If the object is physically active, add the hoverer prestep action
77 if (isActive)
78 {
79 ActivateHover();
80 }
81 else
82 {
83 DeactivateHover();
84 }
85 }
86  
87 // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
88 // Register a prestep action to restore physical requirements before the next simulation step.
89 // Called at taint-time.
90 // BSActor.RemoveDependencies()
91 public override void RemoveDependencies()
92 {
93 // Nothing to do for the hoverer since it is all software at pre-step action time.
94 }
95  
96 // If a hover motor has not been created, create one and start the hovering.
97 private void ActivateHover()
98 {
99 if (m_hoverMotor == null)
100 {
101 // Turning the target on
102 m_hoverMotor = new BSFMotor("BSActorHover",
103 m_controllingPrim.HoverTau, // timeScale
104 BSMotor.Infinite, // decay time scale
105 1f // efficiency
106 );
107 m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
108 m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
109 m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
110  
111 m_physicsScene.BeforeStep += Hoverer;
112 }
113 }
114  
115 private void DeactivateHover()
116 {
117 if (m_hoverMotor != null)
118 {
119 m_physicsScene.BeforeStep -= Hoverer;
120 m_hoverMotor = null;
121 }
122 }
123  
124 // Called just before the simulation step. Update the vertical position for hoverness.
125 private void Hoverer(float timeStep)
126 {
127 // Don't do hovering while the object is selected.
128 if (!isActive)
129 return;
130  
131 m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
132 m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
133 float targetHeight = m_hoverMotor.Step(timeStep);
134  
135 // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
136 // Compute the amount of force to push us there.
137 float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass;
138 // Undo anything the object thinks it's doing at the moment
139 moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass;
140  
141 m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce));
142 m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}",
143 m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass);
144 }
145  
146 // Based on current position, determine what we should be hovering at now.
147 // Must recompute often. What if we walked offa cliff>
148 private float ComputeCurrentHoverHeight()
149 {
150 float ret = m_controllingPrim.HoverHeight;
151 float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition);
152  
153 switch (m_controllingPrim.HoverType)
154 {
155 case PIDHoverType.Ground:
156 ret = groundHeight + m_controllingPrim.HoverHeight;
157 break;
158 case PIDHoverType.GroundAndWater:
159 float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition);
160 if (groundHeight > waterHeight)
161 {
162 ret = groundHeight + m_controllingPrim.HoverHeight;
163 }
164 else
165 {
166 ret = waterHeight + m_controllingPrim.HoverHeight;
167 }
168 break;
169 }
170 return ret;
171 }
172 }
173 }