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 | |||
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 BSActorHover : BSActor |
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40 | { |
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41 | private BSFMotor m_hoverMotor; |
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42 | |||
43 | public BSActorHover(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_hoverMotor = null; |
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47 | m_physicsScene.DetailLog("{0},BSActorHover,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 | get { return Enabled; } |
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54 | } |
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55 | |||
56 | // Release any connections and resources used by the actor. |
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57 | // BSActor.Dispose() |
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58 | public override void Dispose() |
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59 | { |
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60 | Enabled = false; |
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61 | } |
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62 | |||
63 | // Called when physical parameters (properties set in Bullet) need to be re-applied. |
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64 | // Called at taint-time. |
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65 | // BSActor.Refresh() |
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66 | public override void Refresh() |
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67 | { |
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68 | m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID); |
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69 | |||
70 | // If not active any more, turn me off |
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71 | if (!m_controllingPrim.HoverActive) |
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72 | { |
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73 | SetEnabled(false); |
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74 | } |
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75 | |||
76 | // If the object is physically active, add the hoverer prestep action |
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77 | if (isActive) |
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78 | { |
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79 | ActivateHover(); |
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80 | } |
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81 | else |
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82 | { |
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83 | DeactivateHover(); |
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84 | } |
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85 | } |
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86 | |||
87 | // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). |
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88 | // Register a prestep action to restore physical requirements before the next simulation step. |
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89 | // Called at taint-time. |
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90 | // BSActor.RemoveDependencies() |
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91 | public override void RemoveDependencies() |
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92 | { |
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93 | // Nothing to do for the hoverer since it is all software at pre-step action time. |
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94 | } |
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95 | |||
96 | // If a hover motor has not been created, create one and start the hovering. |
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97 | private void ActivateHover() |
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98 | { |
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99 | if (m_hoverMotor == null) |
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100 | { |
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101 | // Turning the target on |
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102 | m_hoverMotor = new BSFMotor("BSActorHover", |
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103 | m_controllingPrim.HoverTau, // timeScale |
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104 | BSMotor.Infinite, // decay time scale |
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105 | 1f // efficiency |
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106 | ); |
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107 | m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); |
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108 | m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z); |
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109 | m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. |
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110 | |||
111 | m_physicsScene.BeforeStep += Hoverer; |
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112 | } |
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113 | } |
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114 | |||
115 | private void DeactivateHover() |
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116 | { |
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117 | if (m_hoverMotor != null) |
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118 | { |
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119 | m_physicsScene.BeforeStep -= Hoverer; |
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120 | m_hoverMotor = null; |
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121 | } |
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122 | } |
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123 | |||
124 | // Called just before the simulation step. Update the vertical position for hoverness. |
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125 | private void Hoverer(float timeStep) |
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126 | { |
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127 | // Don't do hovering while the object is selected. |
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128 | if (!isActive) |
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129 | return; |
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130 | |||
131 | m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z); |
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132 | m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); |
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133 | float targetHeight = m_hoverMotor.Step(timeStep); |
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134 | |||
135 | // 'targetHeight' is where we'd like the Z of the prim to be at this moment. |
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136 | // Compute the amount of force to push us there. |
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137 | float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass; |
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138 | // Undo anything the object thinks it's doing at the moment |
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139 | moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass; |
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140 | |||
141 | m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce)); |
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142 | m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", |
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143 | m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass); |
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144 | } |
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145 | |||
146 | // Based on current position, determine what we should be hovering at now. |
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147 | // Must recompute often. What if we walked offa cliff> |
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148 | private float ComputeCurrentHoverHeight() |
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149 | { |
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150 | float ret = m_controllingPrim.HoverHeight; |
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151 | float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition); |
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152 | |||
153 | switch (m_controllingPrim.HoverType) |
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154 | { |
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155 | case PIDHoverType.Ground: |
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156 | ret = groundHeight + m_controllingPrim.HoverHeight; |
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157 | break; |
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158 | case PIDHoverType.GroundAndWater: |
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159 | float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition); |
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160 | if (groundHeight > waterHeight) |
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161 | { |
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162 | ret = groundHeight + m_controllingPrim.HoverHeight; |
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163 | } |
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164 | else |
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165 | { |
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166 | ret = waterHeight + m_controllingPrim.HoverHeight; |
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167 | } |
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168 | break; |
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169 | } |
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170 | return ret; |
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171 | } |
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172 | } |
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173 | } |