clockwerk-opensim-stable – Rev 1
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/*
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
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* modification, are permitted provided that the following conditions are met:
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* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
* are Copyright (c) 2009 Linden Research, Inc and are used under their license
* of Creative Commons Attribution-Share Alike 3.0
* (http://creativecommons.org/licenses/by-sa/3.0/).
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSDynamics : BSActor
{
private static string LogHeader = "[BULLETSIM VEHICLE]";
// the prim this dynamic controller belongs to
private BSPrimLinkable ControllingPrim { get; set; }
private bool m_haveRegisteredForSceneEvents;
// mass of the vehicle fetched each time we're calles
private float m_vehicleMass;
// Vehicle properties
public Vehicle Type { get; set; }
// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
// HOVER_TERRAIN_ONLY
// HOVER_GLOBAL_HEIGHT
// NO_DEFLECTION_UP
// HOVER_WATER_ONLY
// HOVER_UP_ONLY
// LIMIT_MOTOR_UP
// LIMIT_ROLL_ONLY
private Vector3 m_BlockingEndPoint = Vector3.Zero;
private Quaternion m_RollreferenceFrame = Quaternion.Identity;
private Quaternion m_referenceFrame = Quaternion.Identity;
// Linear properties
private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
private Vector3 m_lastPositionVector = Vector3.Zero;
// private bool m_LinearMotorSetLastFrame = false;
// private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties
private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
// private int m_angularMotorApply = 0; // application frame counter
private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero;
private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
//Deflection properties
private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
private float m_angularDeflectionEfficiency = 0;
private float m_angularDeflectionTimescale = 0;
private float m_linearDeflectionEfficiency = 0;
private float m_linearDeflectionTimescale = 0;
//Banking properties
private float m_bankingEfficiency = 0;
private float m_bankingMix = 0;
private float m_bankingTimescale = 0;
//Hover and Buoyancy properties
private BSVMotor m_hoverMotor = new BSVMotor("Hover");
private float m_VhoverHeight = 0f;
private float m_VhoverEfficiency = 0f;
private float m_VhoverTimescale = 0f;
private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
private float m_VehicleBuoyancy = 0f;
private Vector3 m_VehicleGravity = Vector3.Zero; // Gravity computed when buoyancy set
//Attractor properties
private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionCutoff = 500f; // per the documentation
// Timescale > cutoff means no vert attractor.
private float m_verticalAttractionTimescale = 510f;
// Just some recomputed constants:
static readonly float PIOverFour = ((float)Math.PI) / 4f;
static readonly float PIOverTwo = ((float)Math.PI) / 2f;
public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
: base(myScene, myPrim, actorName)
{
Type = Vehicle.TYPE_NONE;
m_haveRegisteredForSceneEvents = false;
ControllingPrim = myPrim as BSPrimLinkable;
if (ControllingPrim == null)
{
// THIS CANNOT HAPPEN!!
}
VDetailLog("{0},Creation", ControllingPrim.LocalID);
}
// Return 'true' if this vehicle is doing vehicle things
public bool IsActive
{
get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); }
}
// Return 'true' if this a vehicle that should be sitting on the ground
public bool IsGroundVehicle
{
get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); }
}
#region Vehicle parameter setting
public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
switch (pParam)
{
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
m_angularMotorTimescale = Math.Max(pValue, 0.01f);
m_angularMotor.TimeScale = m_angularMotorTimescale;
break;
case Vehicle.BANKING_EFFICIENCY:
m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
break;
case Vehicle.BANKING_MIX:
m_bankingMix = Math.Max(pValue, 0.01f);
break;
case Vehicle.BANKING_TIMESCALE:
m_bankingTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.BUOYANCY:
m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
break;
case Vehicle.HOVER_EFFICIENCY:
m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
break;
case Vehicle.HOVER_HEIGHT:
m_VhoverHeight = pValue;
break;
case Vehicle.HOVER_TIMESCALE:
m_VhoverTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
m_linearMotorTimescale = Math.Max(pValue, 0.01f);
m_linearMotor.TimeScale = m_linearMotorTimescale;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
break;
// These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
m_angularMotor.Zero();
m_angularMotor.SetTarget(m_angularMotorDirection);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
m_linearMotor.SetTarget(m_linearMotorDirection);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
break;
}
}//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
// Limit requested angular speed to 2 rps= 4 pi rads/sec
pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_angularMotor.Zero();
m_angularMotor.SetTarget(m_angularMotorDirection);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotor.SetTarget(m_linearMotorDirection);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.BLOCK_EXIT:
m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
}
}//end ProcessVectorVehicleParam
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{
VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
switch (pParam)
{
case Vehicle.REFERENCE_FRAME:
m_referenceFrame = pValue;
break;
case Vehicle.ROLL_FRAME:
m_RollreferenceFrame = pValue;
break;
}
}//end ProcessRotationVehicleParam
internal void ProcessVehicleFlags(int pParam, bool remove)
{
VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", ControllingPrim.LocalID, pParam, remove);
VehicleFlag parm = (VehicleFlag)pParam;
if (pParam == -1)
m_flags = (VehicleFlag)0;
else
{
if (remove)
m_flags &= ~parm;
else
m_flags |= parm;
}
}
public void ProcessTypeChange(Vehicle pType)
{
VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.LocalID, pType);
// Set Defaults For Type
Type = pType;
switch (pType)
{
case Vehicle.TYPE_NONE:
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 0;
m_linearMotorDecayTimescale = 0;
m_linearFrictionTimescale = new Vector3(0, 0, 0);
m_angularMotorDirection = Vector3.Zero;
m_angularMotorDecayTimescale = 0;
m_angularMotorTimescale = 0;
m_angularFrictionTimescale = new Vector3(0, 0, 0);
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 0;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 1;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 1000;
m_verticalAttractionEfficiency = 0;
m_verticalAttractionTimescale = 0;
m_bankingEfficiency = 0;
m_bankingTimescale = 1000;
m_bankingMix = 1;
m_referenceFrame = Quaternion.Identity;
m_flags = (VehicleFlag)0;
break;
case Vehicle.TYPE_SLED:
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120;
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 120;
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_VhoverHeight = 0;
m_VhoverEfficiency = 10; // TODO: this looks wrong!!
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 1;
m_angularDeflectionEfficiency = 1;
m_angularDeflectionTimescale = 1000;
m_verticalAttractionEfficiency = 0;
m_verticalAttractionTimescale = 0;
m_bankingEfficiency = 0;
m_bankingTimescale = 10;
m_bankingMix = 1;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
| VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_CAR:
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60;
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 1;
m_angularMotorDecayTimescale = 0.8f;
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 2;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 10;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 10f;
m_bankingEfficiency = -0.2f;
m_bankingMix = 1;
m_bankingTimescale = 1;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
| VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.LIMIT_MOTOR_UP
| VehicleFlag.HOVER_UP_ONLY);
break;
case Vehicle.TYPE_BOAT:
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_angularFrictionTimescale = new Vector3(10,10,10);
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2;
m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0.5f;
m_linearDeflectionTimescale = 3;
m_angularDeflectionEfficiency = 0.5f;
m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0.5f;
m_verticalAttractionTimescale = 5f;
m_bankingEfficiency = -0.3f;
m_bankingMix = 0.8f;
m_bankingTimescale = 1;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_MOTOR_UP
| VehicleFlag.HOVER_WATER_ONLY);
break;
case Vehicle.TYPE_AIRPLANE:
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60;
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4;
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 0.5f;
m_linearDeflectionTimescale = 3;
m_angularDeflectionEfficiency = 1;
m_angularDeflectionTimescale = 2;
m_verticalAttractionEfficiency = 0.9f;
m_verticalAttractionTimescale = 2f;
m_bankingEfficiency = 1;
m_bankingMix = 0.7f;
m_bankingTimescale = 2;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
| VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.HOVER_UP_ONLY
| VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break;
case Vehicle.TYPE_BALLOON:
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorTimescale = 6;
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_angularMotorDecayTimescale = 10;
m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0;
m_linearDeflectionTimescale = 5;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 100f;
m_bankingEfficiency = 0;
m_bankingMix = 0.7f;
m_bankingTimescale = 5;
m_referenceFrame = Quaternion.Identity;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
| VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_UP_ONLY
| VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
// m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
// m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
/* Not implemented
m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
BSMotor.Infinite, BSMotor.InfiniteVector,
m_verticalAttractionEfficiency);
// Z goes away and we keep X and Y
m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
*/
if (this.Type == Vehicle.TYPE_NONE)
{
UnregisterForSceneEvents();
}
else
{
RegisterForSceneEvents();
}
// Update any physical parameters based on this type.
Refresh();
}
#endregion // Vehicle parameter setting
// BSActor.Refresh()
public override void Refresh()
{
// If asking for a refresh, reset the physical parameters before the next simulation step.
// Called whether active or not since the active state may be updated before the next step.
m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate()
{
SetPhysicalParameters();
});
}
// Some of the properties of this prim may have changed.
// Do any updating needed for a vehicle
private void SetPhysicalParameters()
{
if (IsActive)
{
// Remember the mass so we don't have to fetch it every step
m_vehicleMass = ControllingPrim.TotalMass;
// Friction affects are handled by this vehicle code
// m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
// m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
// Moderate angular movement introduced by Bullet.
// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
// Maybe compute linear and angular factor and damping from params.
m_physicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping);
m_physicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor);
m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
// Vehicles report collision events so we know when it's on the ground
// m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
// Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
// ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
// m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
// m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
// Set the gravity for the vehicle depending on the buoyancy
// TODO: what should be done if prim and vehicle buoyancy differ?
m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
// m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
);
}
else
{
if (ControllingPrim.PhysBody.HasPhysicalBody)
m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
// ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
}
}
// BSActor.RemoveBodyDependencies
public override void RemoveDependencies()
{
Refresh();
}
// BSActor.Release()
public override void Dispose()
{
VDetailLog("{0},Dispose", ControllingPrim.LocalID);
UnregisterForSceneEvents();
Type = Vehicle.TYPE_NONE;
Enabled = false;
return;
}
private void RegisterForSceneEvents()
{
if (!m_haveRegisteredForSceneEvents)
{
m_physicsScene.BeforeStep += this.Step;
m_physicsScene.AfterStep += this.PostStep;
ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty;
m_haveRegisteredForSceneEvents = true;
}
}
private void UnregisterForSceneEvents()
{
if (m_haveRegisteredForSceneEvents)
{
m_physicsScene.BeforeStep -= this.Step;
m_physicsScene.AfterStep -= this.PostStep;
ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty;
m_haveRegisteredForSceneEvents = false;
}
}
private void PreUpdateProperty(ref EntityProperties entprop)
{
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (IsActive)
{
entprop.RotationalVelocity = Vector3.Zero;
}
}
#region Known vehicle value functions
// Vehicle physical parameters that we buffer from constant getting and setting.
// The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
// Changing is remembered and the parameter is stored back into the physics engine only if updated.
// This does two things: 1) saves continuious calls into unmanaged code, and
// 2) signals when a physics property update must happen back to the simulator
// to update values modified for the vehicle.
private int m_knownChanged;
private int m_knownHas;
private float m_knownTerrainHeight;
private float m_knownWaterLevel;
private Vector3 m_knownPosition;
private Vector3 m_knownVelocity;
private Vector3 m_knownForce;
private Vector3 m_knownForceImpulse;
private Quaternion m_knownOrientation;
private Vector3 m_knownRotationalVelocity;
private Vector3 m_knownRotationalForce;
private Vector3 m_knownRotationalImpulse;
private const int m_knownChangedPosition = 1 << 0;
private const int m_knownChangedVelocity = 1 << 1;
private const int m_knownChangedForce = 1 << 2;
private const int m_knownChangedForceImpulse = 1 << 3;
private const int m_knownChangedOrientation = 1 << 4;
private const int m_knownChangedRotationalVelocity = 1 << 5;
private const int m_knownChangedRotationalForce = 1 << 6;
private const int m_knownChangedRotationalImpulse = 1 << 7;
private const int m_knownChangedTerrainHeight = 1 << 8;
private const int m_knownChangedWaterLevel = 1 << 9;
public void ForgetKnownVehicleProperties()
{
m_knownHas = 0;
m_knownChanged = 0;
}
// Push all the changed values back into the physics engine
public void PushKnownChanged()
{
if (m_knownChanged != 0)
{
if ((m_knownChanged & m_knownChangedPosition) != 0)
ControllingPrim.ForcePosition = m_knownPosition;
if ((m_knownChanged & m_knownChangedOrientation) != 0)
ControllingPrim.ForceOrientation = m_knownOrientation;
if ((m_knownChanged & m_knownChangedVelocity) != 0)
{
ControllingPrim.ForceVelocity = m_knownVelocity;
// Fake out Bullet by making it think the velocity is the same as last time.
// Bullet does a bunch of smoothing for changing parameters.
// Since the vehicle is demanding this setting, we override Bullet's smoothing
// by telling Bullet the value was the same last time.
// PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
}
if ((m_knownChanged & m_knownChangedForce) != 0)
ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
{
ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity;
// PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
}
if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
{
ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
}
// If we set one of the values (ie, the physics engine didn't do it) we must force
// an UpdateProperties event to send the changes up to the simulator.
m_physicsScene.PE.PushUpdate(ControllingPrim.PhysBody);
}
m_knownChanged = 0;
}
// Since the computation of terrain height can be a little involved, this routine
// is used to fetch the height only once for each vehicle simulation step.
Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1);
private float GetTerrainHeight(Vector3 pos)
{
if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
{
lastRememberedHeightPos = pos;
m_knownTerrainHeight = ControllingPrim.PhysScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
m_knownHas |= m_knownChangedTerrainHeight;
}
return m_knownTerrainHeight;
}
// Since the computation of water level can be a little involved, this routine
// is used ot fetch the level only once for each vehicle simulation step.
Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1);
private float GetWaterLevel(Vector3 pos)
{
if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos)
{
lastRememberedWaterHeightPos = pos;
m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos);
m_knownHas |= m_knownChangedWaterLevel;
}
return m_knownWaterLevel;
}
private Vector3 VehiclePosition
{
get
{
if ((m_knownHas & m_knownChangedPosition) == 0)
{
m_knownPosition = ControllingPrim.ForcePosition;
m_knownHas |= m_knownChangedPosition;
}
return m_knownPosition;
}
set
{
m_knownPosition = value;
m_knownChanged |= m_knownChangedPosition;
m_knownHas |= m_knownChangedPosition;
}
}
private Quaternion VehicleOrientation
{
get
{
if ((m_knownHas & m_knownChangedOrientation) == 0)
{
m_knownOrientation = ControllingPrim.ForceOrientation;
m_knownHas |= m_knownChangedOrientation;
}
return m_knownOrientation;
}
set
{
m_knownOrientation = value;
m_knownChanged |= m_knownChangedOrientation;
m_knownHas |= m_knownChangedOrientation;
}
}
private Vector3 VehicleVelocity
{
get
{
if ((m_knownHas & m_knownChangedVelocity) == 0)
{
m_knownVelocity = ControllingPrim.ForceVelocity;
m_knownHas |= m_knownChangedVelocity;
}
return m_knownVelocity;
}
set
{
m_knownVelocity = value;
m_knownChanged |= m_knownChangedVelocity;
m_knownHas |= m_knownChangedVelocity;
}
}
private void VehicleAddForce(Vector3 pForce)
{
if ((m_knownHas & m_knownChangedForce) == 0)
{
m_knownForce = Vector3.Zero;
m_knownHas |= m_knownChangedForce;
}
m_knownForce += pForce;
m_knownChanged |= m_knownChangedForce;
}
private void VehicleAddForceImpulse(Vector3 pImpulse)
{
if ((m_knownHas & m_knownChangedForceImpulse) == 0)
{
m_knownForceImpulse = Vector3.Zero;
m_knownHas |= m_knownChangedForceImpulse;
}
m_knownForceImpulse += pImpulse;
m_knownChanged |= m_knownChangedForceImpulse;
}
private Vector3 VehicleRotationalVelocity
{
get
{
if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
{
m_knownRotationalVelocity = ControllingPrim.ForceRotationalVelocity;
m_knownHas |= m_knownChangedRotationalVelocity;
}
return (Vector3)m_knownRotationalVelocity;
}
set
{
m_knownRotationalVelocity = value;
m_knownChanged |= m_knownChangedRotationalVelocity;
m_knownHas |= m_knownChangedRotationalVelocity;
}
}
private void VehicleAddAngularForce(Vector3 aForce)
{
if ((m_knownHas & m_knownChangedRotationalForce) == 0)
{
m_knownRotationalForce = Vector3.Zero;
}
m_knownRotationalForce += aForce;
m_knownChanged |= m_knownChangedRotationalForce;
m_knownHas |= m_knownChangedRotationalForce;
}
private void VehicleAddRotationalImpulse(Vector3 pImpulse)
{
if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
{
m_knownRotationalImpulse = Vector3.Zero;
m_knownHas |= m_knownChangedRotationalImpulse;
}
m_knownRotationalImpulse += pImpulse;
m_knownChanged |= m_knownChangedRotationalImpulse;
}
// Vehicle relative forward velocity
private Vector3 VehicleForwardVelocity
{
get
{
return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
}
}
private float VehicleForwardSpeed
{
get
{
return VehicleForwardVelocity.X;
}
}
#endregion // Known vehicle value functions
// One step of the vehicle properties for the next 'pTimestep' seconds.
internal void Step(float pTimestep)
{
if (!IsActive) return;
ForgetKnownVehicleProperties();
MoveLinear(pTimestep);
MoveAngular(pTimestep);
LimitRotation(pTimestep);
// remember the position so next step we can limit absolute movement effects
m_lastPositionVector = VehiclePosition;
// If we forced the changing of some vehicle parameters, update the values and
// for the physics engine to note the changes so an UpdateProperties event will happen.
PushKnownChanged();
if (m_physicsScene.VehiclePhysicalLoggingEnabled)
m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody);
VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
}
// Called after the simulation step
internal void PostStep(float pTimestep)
{
if (!IsActive) return;
if (m_physicsScene.VehiclePhysicalLoggingEnabled)
m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody);
}
// Apply the effect of the linear motor and other linear motions (like hover and float).
private void MoveLinear(float pTimestep)
{
ComputeLinearVelocity(pTimestep);
ComputeLinearDeflection(pTimestep);
ComputeLinearTerrainHeightCorrection(pTimestep);
ComputeLinearHover(pTimestep);
ComputeLinearBlockingEndPoint(pTimestep);
ComputeLinearMotorUp(pTimestep);
ApplyGravity(pTimestep);
// If not changing some axis, reduce out velocity
if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
{
Vector3 vel = VehicleVelocity;
if ((m_flags & (VehicleFlag.NO_X)) != 0)
{
vel.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{
vel.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{
vel.Z = 0;
}
VehicleVelocity = vel;
}
// ==================================================================
// Clamp high or low velocities
float newVelocityLengthSq = VehicleVelocity.LengthSquared();
if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySquared)
{
Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
VehicleVelocity /= VehicleVelocity.Length();
VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
}
else if (newVelocityLengthSq < 0.001f)
VehicleVelocity = Vector3.Zero;
VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
} // end MoveLinear()
public void ComputeLinearVelocity(float pTimestep)
{
// Step the motor from the current value. Get the correction needed this step.
Vector3 origVelW = VehicleVelocity; // DEBUG
Vector3 currentVelV = VehicleForwardVelocity;
Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
// Friction reduces vehicle motion based on absolute speed. Slow vehicle down by friction.
Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
linearMotorCorrectionV -= (currentVelV * frictionFactorV);
// Motor is vehicle coordinates. Rotate it to world coordinates
Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
// If we're a ground vehicle, don't add any upward Z movement
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
{
if (linearMotorVelocityW.Z > 0f)
linearMotorVelocityW.Z = 0f;
}
// Add this correction to the velocity to make it faster/slower.
VehicleVelocity += linearMotorVelocityW;
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
linearMotorVelocityW, VehicleVelocity, frictionFactorV);
}
//Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
//Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
private void ComputeLinearDeflection(float pTimestep)
{
Vector3 linearDeflectionV = Vector3.Zero;
Vector3 velocityV = VehicleForwardVelocity;
if (BSParam.VehicleEnableLinearDeflection)
{
// Velocity in Y and Z dimensions is movement to the side or turning.
// Compute deflection factor from the to the side and rotational velocity
linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y);
linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z);
// Velocity to the side and around is corrected and moved into the forward direction
linearDeflectionV.X += Math.Abs(linearDeflectionV.Y);
linearDeflectionV.X += Math.Abs(linearDeflectionV.Z);
// Scale the deflection to the fractional simulation time
linearDeflectionV *= pTimestep;
// Subtract the sideways and rotational velocity deflection factors while adding the correction forward
linearDeflectionV *= new Vector3(1, -1, -1);
// Correction is vehicle relative. Convert to world coordinates.
Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation;
// Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
{
linearDeflectionW.Z = 0f;
}
VehicleVelocity += linearDeflectionW;
VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}",
ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV);
}
}
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
{
// If below the terrain, move us above the ground a little.
// TODO: Consider taking the rotated size of the object or possibly casting a ray.
if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
{
// Force position because applying force won't get the vehicle through the terrain
Vector3 newPosition = VehiclePosition;
newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
VehiclePosition = newPosition;
VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
}
}
public void ComputeLinearHover(float pTimestep)
{
// m_VhoverEfficiency: 0=bouncy, 1=totally damped
// m_VhoverTimescale: time to achieve height
if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is already heigher, use its height as target height
if (VehiclePosition.Z > m_VhoverTargetHeight)
m_VhoverTargetHeight = VehiclePosition.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
{
Vector3 pos = VehiclePosition;
pos.Z = m_VhoverTargetHeight;
VehiclePosition = pos;
VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos);
}
}
else
{
// Error is positive if below the target and negative if above.
Vector3 hpos = VehiclePosition;
float verticalError = m_VhoverTargetHeight - hpos.Z;
float verticalCorrection = verticalError / m_VhoverTimescale;
verticalCorrection *= m_VhoverEfficiency;
hpos.Z += verticalCorrection;
VehiclePosition = hpos;
// Since we are hovering, we need to do the opposite of falling -- get rid of world Z
Vector3 vel = VehicleVelocity;
vel.Z = 0f;
VehicleVelocity = vel;
/*
float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
verticalCorrection *= m_vehicleMass;
// TODO: implement m_VhoverEfficiency correctly
VehicleAddForceImpulse(verticalCorrection);
*/
VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency,
m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
verticalError, verticalCorrection);
}
}
}
public bool ComputeLinearBlockingEndPoint(float pTimestep)
{
bool changed = false;
Vector3 pos = VehiclePosition;
Vector3 posChange = pos - m_lastPositionVector;
if (m_BlockingEndPoint != Vector3.Zero)
{
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{
pos.X -= posChange.X + 1;
changed = true;
}
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{
pos.Y -= posChange.Y + 1;
changed = true;
}
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{
pos.Z -= posChange.Z + 1;
changed = true;
}
if (pos.X <= 0)
{
pos.X += posChange.X + 1;
changed = true;
}
if (pos.Y <= 0)
{
pos.Y += posChange.Y + 1;
changed = true;
}
if (changed)
{
VehiclePosition = pos;
VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
ControllingPrim.LocalID, m_BlockingEndPoint, posChange, pos);
}
}
return changed;
}
// From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
// Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
// used with conjunction with banking: the strength of the banking will decay when the
// vehicle no longer experiences collisions. The decay timescale is the same as
// VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
// when they are in mid jump.
// TODO: this code is wrong. Also, what should it do for boats (height from water)?
// This is just using the ground and a general collision check. Should really be using
// a downward raycast to find what is below.
public void ComputeLinearMotorUp(float pTimestep)
{
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
// This code tries to decide if the object is not on the ground and then pushing down
/*
float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
distanceAboveGround = VehiclePosition.Z - targetHeight;
// Not colliding if the vehicle is off the ground
if (!Prim.HasSomeCollision)
{
// downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
}
// TODO: this calculation is wrong. From the description at
// (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
// has a decay factor. This says this force should
// be computed with a motor.
// TODO: add interaction with banking.
VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
*/
// Another approach is to measure if we're going up. If going up and not colliding,
// the vehicle is in the air. Fix that by pushing down.
if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
{
// Get rid of any of the velocity vector that is pushing us up.
float upVelocity = VehicleVelocity.Z;
VehicleVelocity += new Vector3(0, 0, -upVelocity);
/*
// If we're pointed up into the air, we should nose down
Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
// The rotation around the Y axis is pitch up or down
if (pointingDirection.Y > 0.01f)
{
float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y);
Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f);
// Rotate into world coordinates and apply to vehicle
angularCorrectionVector *= VehicleOrientation;
VehicleAddAngularForce(angularCorrectionVector);
VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
}
*/
VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
}
}
}
private void ApplyGravity(float pTimeStep)
{
Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
// Hack to reduce downward force if the vehicle is probably sitting on the ground
if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
appliedGravity *= BSParam.VehicleGroundGravityFudge;
VehicleAddForce(appliedGravity);
VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
ControllingPrim.LocalID, m_VehicleGravity,
ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
}
// =======================================================================
// =======================================================================
// Apply the effect of the angular motor.
// The 'contribution' is how much angular correction velocity each function wants.
// All the contributions are added together and the resulting velocity is
// set directly on the vehicle.
private void MoveAngular(float pTimestep)
{
ComputeAngularTurning(pTimestep);
ComputeAngularVerticalAttraction();
ComputeAngularDeflection();
ComputeAngularBanking();
// ==================================================================
if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
{
// The vehicle is not adding anything angular wise.
VehicleRotationalVelocity = Vector3.Zero;
VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID);
}
else
{
VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity);
}
// ==================================================================
//Offset section
if (m_linearMotorOffset != Vector3.Zero)
{
//Offset of linear velocity doesn't change the linear velocity,
// but causes a torque to be applied, for example...
//
// IIIII >>> IIIII
// IIIII >>> IIIII
// IIIII >>> IIIII
// ^
// | Applying a force at the arrow will cause the object to move forward, but also rotate
//
//
// The torque created is the linear velocity crossed with the offset
// TODO: this computation should be in the linear section
// because that is where we know the impulse being applied.
Vector3 torqueFromOffset = Vector3.Zero;
// torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
if (float.IsNaN(torqueFromOffset.X))
torqueFromOffset.X = 0;
if (float.IsNaN(torqueFromOffset.Y))
torqueFromOffset.Y = 0;
if (float.IsNaN(torqueFromOffset.Z))
torqueFromOffset.Z = 0;
VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID, torqueFromOffset);
}
}
private void ComputeAngularTurning(float pTimestep)
{
// The user wants this many radians per second angular change?
Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
// ==================================================================
// From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
// This flag prevents linear deflection parallel to world z-axis. This is useful
// for preventing ground vehicles with large linear deflection, like bumper cars,
// from climbing their linear deflection into the sky.
// That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
// TODO: This is here because this is where ODE put it but documentation says it
// is a linear effect. Where should this check go?
//if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
// {
// angularMotorContributionV.X = 0f;
// angularMotorContributionV.Y = 0f;
// }
// Reduce any velocity by friction.
Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
angularMotorContributionV -= (currentAngularV * frictionFactorW);
Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
VehicleRotationalVelocity += angularMotorContributionW;
VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
}
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
// Some vehicles, like boats, should always keep their up-side up. This can be done by
// enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
// the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
// VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
// and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
// efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
// efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
public void ComputeAngularVerticalAttraction()
{
// If vertical attaction timescale is reasonable
if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
{
case 0:
{
//Another formula to try got from :
//http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
// Flipping what was originally a timescale into a speed variable and then multiplying it by 2
// since only computing half the distance between the angles.
float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
// Make a prediction of where the up axis will be when this is applied rather then where it is now as
// this makes for a smoother adjustment and less fighting between the various forces.
Vector3 predictedUp = vehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
// This is only half the distance to the target so it will take 2 seconds to complete the turn.
Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
// Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
VehicleRotationalVelocity += vertContributionV;
VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
ControllingPrim.LocalID,
verticalAttractionSpeed,
vehicleUpAxis,
predictedUp,
torqueVector,
vertContributionV);
break;
}
case 1:
{
// Possible solution derived from a discussion at:
// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
// Create a rotation that is only the vehicle's rotation around Z
Vector3 currentEulerW = Vector3.Zero;
VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
// Create the axis that is perpendicular to the up vector and the rotated up vector.
Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
// Compute the angle between those to vectors.
double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
// 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
// Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
// TODO: add 'efficiency'.
// differenceAngle /= m_verticalAttractionTimescale;
// Create the quaterian representing the correction angle
Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
// Turn that quaternion into Euler values to make it into velocities to apply.
Vector3 vertContributionW = Vector3.Zero;
correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
vertContributionW *= -1f;
vertContributionW /= m_verticalAttractionTimescale;
VehicleRotationalVelocity += vertContributionW;
VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
ControllingPrim.LocalID,
vehicleUpAxis,
differenceAxisW,
differenceAngle,
correctionRotationW,
vertContributionW);
break;
}
case 2:
{
Vector3 vertContributionV = Vector3.Zero;
Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation);
// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
// is now:
// leaning to one side: rotated around the X axis with the Y value going
// from zero (nearly straight up) to one (completely to the side)) or
// leaning front-to-back: rotated around the Y axis with the value of X being between
// zero and one.
// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
// Y error means needed rotation around X axis and visa versa.
// Since the error goes from zero to one, the asin is the corresponding angle.
vertContributionV.X = (float)Math.Asin(verticalError.Y);
// (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
vertContributionV.Y = -(float)Math.Asin(verticalError.X);
// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
if (verticalError.Z < 0f)
{
vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
// vertContribution.Y -= PIOverFour;
}
// 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
// Correction happens over a number of seconds.
Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
// The correction happens over the user's time period
vertContributionV /= m_verticalAttractionTimescale;
// Rotate the vehicle rotation to the world coordinates.
VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
ControllingPrim.LocalID,
vehicleUpAxis,
origRotVelW,
verticalError,
unscaledContribVerticalErrorV,
m_verticalAttractionEfficiency,
m_verticalAttractionTimescale,
vertContributionV);
break;
}
default:
{
break;
}
}
}
}
// Angular correction to correct the direction the vehicle is pointing to be
// the direction is should want to be pointing.
// The vehicle is moving in some direction and correct its orientation to it is pointing
// in that direction.
// TODO: implement reference frame.
public void ComputeAngularDeflection()
{
if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
{
Vector3 deflectContributionV = Vector3.Zero;
// The direction the vehicle is moving
Vector3 movingDirection = VehicleVelocity;
movingDirection.Normalize();
// If the vehicle is going backward, it is still pointing forward
movingDirection *= Math.Sign(VehicleForwardSpeed);
// The direction the vehicle is pointing
Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
//Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
// from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
predictedPointingDirection.Normalize();
// The difference between what is and what should be.
// Vector3 deflectionError = movingDirection - predictedPointingDirection;
Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection);
// Don't try to correct very large errors (not our job)
// if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
// if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
// if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
// ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
// Scale the correction by recovery timescale and efficiency
// Not modeling a spring so clamp the scale to no more then the arc
deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f);
//deflectContributionV /= m_angularDeflectionTimescale;
// VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
VehicleRotationalVelocity += deflectContributionV;
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}",
ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection);
}
}
// Angular change to rotate the vehicle around the Z axis when the vehicle
// is tipped around the X axis.
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
// The vertical attractor feature must be enabled in order for the banking behavior to
// function. The way banking works is this: a rotation around the vehicle's roll-axis will
// produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
// of the yaw effect will be proportional to the
// VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
// velocity along its preferred axis of motion.
// The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
// positive rotation (by the right-hand rule) about the roll-axis will effect a
// (negative) torque around the yaw-axis, making it turn to the right--that is the
// vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
// Negating the banking coefficient will make it so that the vehicle leans to the
// outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
// The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
// banking vehicles do what you want rather than what the laws of physics allow.
// For example, consider a real motorcycle...it must be moving forward in order for
// it to turn while banking, however video-game motorcycles are often configured
// to turn in place when at a dead stop--because they are often easier to control
// that way using the limited interface of the keyboard or game controller. The
// VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
// banking by functioning as a slider between a banking that is correspondingly
// totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
// banking effect depends only on the vehicle's rotation about its roll-axis compared
// to "dynamic" where the banking is also proportional to its velocity along its
// roll-axis. Finding the best value of the "mixture" will probably require trial and error.
// The time it takes for the banking behavior to defeat a preexisting angular velocity about the
// world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
// bank quickly then give it a banking timescale of about a second or less, otherwise you can
// make a sluggish vehicle by giving it a timescale of several seconds.
public void ComputeAngularBanking()
{
if (BSParam.VehicleEnableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
Vector3 bankingContributionV = Vector3.Zero;
// Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
// As the vehicle rolls to the right or left, the Y value will increase from
// zero (straight up) to 1 or -1 (full tilt right or left)
Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
// Figure out the yaw value for this much roll.
float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
// actual error = static turn error + dynamic turn error
float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed);
// TODO: the banking effect should not go to infinity but what to limit it to?
// And what should happen when this is being added to a user defined yaw that is already PI*4?
mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12);
// Build the force vector to change rotation from what it is to what it should be
bankingContributionV.Z = -mixedYawAngle;
// Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4.
bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge;
//VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
VehicleRotationalVelocity += bankingContributionV;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
}
}
// This is from previous instantiations of XXXDynamics.cs.
// Applies roll reference frame.
// TODO: is this the right way to separate the code to do this operation?
// Should this be in MoveAngular()?
internal void LimitRotation(float timestep)
{
Quaternion rotq = VehicleOrientation;
Quaternion m_rot = rotq;
if (m_RollreferenceFrame != Quaternion.Identity)
{
if (rotq.X >= m_RollreferenceFrame.X)
{
m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
}
if (rotq.Y >= m_RollreferenceFrame.Y)
{
m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
}
if (rotq.X <= -m_RollreferenceFrame.X)
{
m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
}
if (rotq.Y <= -m_RollreferenceFrame.Y)
{
m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
}
}
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
m_rot.X = 0;
m_rot.Y = 0;
}
if (rotq != m_rot)
{
VehicleOrientation = m_rot;
VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", ControllingPrim.LocalID, rotq, m_rot);
}
}
// Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce
// some value by to apply this friction.
private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep)
{
Vector3 frictionFactor = Vector3.Zero;
if (friction != BSMotor.InfiniteVector)
{
// frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
// Individual friction components can be 'infinite' so compute each separately.
frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X);
frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y);
frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z);
frictionFactor *= pTimestep;
}
return frictionFactor;
}
private float SortedClampInRange(float clampa, float val, float clampb)
{
if (clampa > clampb)
{
float temp = clampa;
clampa = clampb;
clampb = temp;
}
return ClampInRange(clampa, val, clampb);
}
private float ClampInRange(float low, float val, float high)
{
return Math.Max(low, Math.Min(val, high));
// return Utils.Clamp(val, low, high);
}
// Invoke the detailed logger and output something if it's enabled.
private void VDetailLog(string msg, params Object[] args)
{
if (ControllingPrim.PhysScene.VehicleLoggingEnabled)
ControllingPrim.PhysScene.DetailLog(msg, args);
}
}
}