clockwerk-opensim-stable – Rev 1
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* 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
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using OpenMetaverse;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using log4net;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
/// </summary>
public enum dParam : int
{
LowStop = 0,
HiStop = 1,
Vel = 2,
FMax = 3,
FudgeFactor = 4,
Bounce = 5,
CFM = 6,
StopERP = 7,
StopCFM = 8,
LoStop2 = 256,
HiStop2 = 257,
Vel2 = 258,
FMax2 = 259,
StopERP2 = 7 + 256,
StopCFM2 = 8 + 256,
LoStop3 = 512,
HiStop3 = 513,
Vel3 = 514,
FMax3 = 515,
StopERP3 = 7 + 512,
StopCFM3 = 8 + 512
}
public class OdeCharacter : PhysicsActor
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private Vector3 _position;
private d.Vector3 _zeroPosition;
private bool _zeroFlag = false;
private bool m_lastUpdateSent = false;
private Vector3 _velocity;
private Vector3 m_taintTargetVelocity;
private Vector3 _target_velocity;
private Vector3 _acceleration;
private Vector3 m_rotationalVelocity;
private float m_mass = 80f;
private float m_density = 60f;
private bool m_pidControllerActive = true;
private float PID_D = 800.0f;
private float PID_P = 900.0f;
//private static float POSTURE_SERVO = 10000.0f;
private float CAPSULE_RADIUS = 0.37f;
private float CAPSULE_LENGTH = 2.140599f;
private float m_tensor = 3800000f;
// private float heightFudgeFactor = 0.52f;
private float walkDivisor = 1.3f;
private float runDivisor = 0.8f;
private bool flying = false;
private bool m_iscolliding = false;
private bool m_iscollidingGround = false;
private bool m_wascolliding = false;
private bool m_wascollidingGround = false;
private bool m_iscollidingObj = false;
private bool m_alwaysRun = false;
private bool m_hackSentFall = false;
private bool m_hackSentFly = false;
private int m_requestedUpdateFrequency = 0;
private Vector3 m_taintPosition;
internal bool m_avatarplanted = false;
/// <summary>
/// Hold set forces so we can process them outside physics calculations. This prevents race conditions if we set force
/// while calculatios are going on
/// </summary>
private Vector3 m_taintForce;
// taints and their non-tainted counterparts
private bool m_isPhysical = false; // the current physical status
private bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
internal float MinimumGroundFlightOffset = 3f;
private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
/// <summary>
/// Base movement for calculating tilt.
/// </summary>
private float m_tiltBaseMovement = (float)Math.Sqrt(2);
/// <summary>
/// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
/// </summary>
private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f;
private float m_buoyancy = 0f;
// private CollisionLocker ode;
private bool[] m_colliderarr = new bool[11];
private bool[] m_colliderGroundarr = new bool[11];
// Default we're a Character
private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
// Default, Collide with Other Geometries, spaces, bodies and characters.
private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
| CollisionCategories.Space
| CollisionCategories.Body
| CollisionCategories.Character
| CollisionCategories.Land);
/// <summary>
/// Body for dynamics simulation
/// </summary>
internal IntPtr Body { get; private set; }
private OdeScene _parent_scene;
/// <summary>
/// Collision geometry
/// </summary>
internal IntPtr Shell { get; private set; }
private IntPtr Amotor = IntPtr.Zero;
private d.Mass ShellMass;
private int m_eventsubscription = 0;
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
// unique UUID of this character object
internal UUID m_uuid { get; private set; }
internal bool bad = false;
/// <summary>
/// ODE Avatar.
/// </summary>
/// <param name="avName"></param>
/// <param name="parent_scene"></param>
/// <param name="pos"></param>
/// <param name="size"></param>
/// <param name="pid_d"></param>
/// <param name="pid_p"></param>
/// <param name="capsule_radius"></param>
/// <param name="tensor"></param>
/// <param name="density">
/// Only used right now to return information to LSL. Not actually used to set mass in ODE!
/// </param>
/// <param name="walk_divisor"></param>
/// <param name="rundivisor"></param>
public OdeCharacter(
String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p,
float capsule_radius, float tensor, float density,
float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
if (pos.IsFinite())
{
if (pos.Z > 9999999f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
_position = pos;
m_taintPosition = pos;
}
else
{
_position
= new Vector3(
(float)_parent_scene.WorldExtents.X * 0.5f,
(float)_parent_scene.WorldExtents.Y * 0.5f,
parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition = _position;
m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
}
_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_tensor = tensor;
m_density = density;
// heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
// We can set taint and actual to be the same here, since the entire character will be set up when the
// m_tainted_isPhysical is processed.
SetTaintedCapsuleLength(size);
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
Name = avName;
}
public override int PhysicsActorType
{
get { return (int) ActorTypes.Agent; }
set { return; }
}
/// <summary>
/// If this is set, the avatar will move faster
/// </summary>
public override bool SetAlwaysRun
{
get { return m_alwaysRun; }
set { m_alwaysRun = value; }
}
public override bool Grabbed
{
set { return; }
}
public override bool Selected
{
set { return; }
}
public override float Buoyancy
{
get { return m_buoyancy; }
set { m_buoyancy = value; }
}
public override bool FloatOnWater
{
set { return; }
}
public override bool IsPhysical
{
get { return false; }
set { return; }
}
public override bool ThrottleUpdates
{
get { return false; }
set { return; }
}
public override bool Flying
{
get { return flying; }
set
{
flying = value;
// m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying);
}
}
/// <summary>
/// Returns if the avatar is colliding in general.
/// This includes the ground and objects and avatar.
/// </summary>
public override bool IsColliding
{
get { return m_iscolliding; }
set
{
int i;
int truecount = 0;
int falsecount = 0;
if (m_colliderarr.Length >= 10)
{
for (i = 0; i < 10; i++)
{
m_colliderarr[i] = m_colliderarr[i + 1];
}
}
m_colliderarr[10] = value;
for (i = 0; i < 11; i++)
{
if (m_colliderarr[i])
{
truecount++;
}
else
{
falsecount++;
}
}
// Equal truecounts and false counts means we're colliding with something.
if (falsecount > 1.2*truecount)
{
m_iscolliding = false;
}
else
{
m_iscolliding = true;
}
if (m_wascolliding != m_iscolliding)
{
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
m_wascolliding = m_iscolliding;
}
}
/// <summary>
/// Returns if an avatar is colliding with the ground
/// </summary>
public override bool CollidingGround
{
get { return m_iscollidingGround; }
set
{
// Collisions against the ground are not really reliable
// So, to get a consistant value we have to average the current result over time
// Currently we use 1 second = 10 calls to this.
int i;
int truecount = 0;
int falsecount = 0;
if (m_colliderGroundarr.Length >= 10)
{
for (i = 0; i < 10; i++)
{
m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
}
}
m_colliderGroundarr[10] = value;
for (i = 0; i < 11; i++)
{
if (m_colliderGroundarr[i])
{
truecount++;
}
else
{
falsecount++;
}
}
// Equal truecounts and false counts means we're colliding with something.
if (falsecount > 1.2*truecount)
{
m_iscollidingGround = false;
}
else
{
m_iscollidingGround = true;
}
if (m_wascollidingGround != m_iscollidingGround)
{
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
m_wascollidingGround = m_iscollidingGround;
}
}
/// <summary>
/// Returns if the avatar is colliding with an object
/// </summary>
public override bool CollidingObj
{
get { return m_iscollidingObj; }
set
{
m_iscollidingObj = value;
if (value && !m_avatarplanted)
m_pidControllerActive = false;
else
m_pidControllerActive = true;
}
}
/// <summary>
/// turn the PID controller on or off.
/// The PID Controller will turn on all by itself in many situations
/// </summary>
/// <param name="status"></param>
public void SetPidStatus(bool status)
{
m_pidControllerActive = status;
}
public override bool Stopped
{
get { return _zeroFlag; }
}
/// <summary>
/// This 'puts' an avatar somewhere in the physics space.
/// Not really a good choice unless you 'know' it's a good
/// spot otherwise you're likely to orbit the avatar.
/// </summary>
public override Vector3 Position
{
get { return _position; }
set
{
if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
{
if (value.IsFinite())
{
if (value.Z > 9999999f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (value.Z < -90000f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
m_taintPosition = value;
_parent_scene.AddPhysicsActorTaint(this);
}
else
{
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Position from Scene on character {0}", Name);
}
}
}
}
public override Vector3 RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
}
/// <summary>
/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
/// and use it to offset landings properly
/// </summary>
public override Vector3 Size
{
get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
set
{
SetTaintedCapsuleLength(value);
// If we reset velocity here, then an avatar stalls when it crosses a border for the first time
// (as the height of the new root agent is set).
// Velocity = Vector3.Zero;
_parent_scene.AddPhysicsActorTaint(this);
}
}
private void SetTaintedCapsuleLength(Vector3 size)
{
if (size.IsFinite())
{
m_pidControllerActive = true;
m_tainted_CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
// m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH);
}
else
{
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.Name);
}
}
private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
{
movementVector.Z = 0f;
float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
if (magnitude < 0.1f) return;
// normalize the velocity vector
float invMagnitude = 1.0f / magnitude;
movementVector.X *= invMagnitude;
movementVector.Y *= invMagnitude;
// if we change the capsule heading too often, the capsule can fall down
// therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
// meaning only 4 possible capsule tilt orientations
if (movementVector.X > 0)
{
// east
if (movementVector.Y > 0)
{
// northeast
movementVector.X = m_tiltBaseMovement;
movementVector.Y = m_tiltBaseMovement;
}
else
{
// southeast
movementVector.X = m_tiltBaseMovement;
movementVector.Y = -m_tiltBaseMovement;
}
}
else
{
// west
if (movementVector.Y > 0)
{
// northwest
movementVector.X = -m_tiltBaseMovement;
movementVector.Y = m_tiltBaseMovement;
}
else
{
// southwest
movementVector.X = -m_tiltBaseMovement;
movementVector.Y = -m_tiltBaseMovement;
}
}
// movementVector.Z is zero
// calculate tilt components based on desired amount of tilt and current (snapped) heading.
// the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
//m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
}
/// <summary>
/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
/// This may be used in calculations in the scene/scenepresence
/// </summary>
public override float Mass
{
get
{
float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
return m_density * AVvolume;
}
}
public override void link(PhysicsActor obj) {}
public override void delink() {}
public override void LockAngularMotion(Vector3 axis) {}
// This code is very useful. Written by DanX0r. We're just not using it right now.
// Commented out to prevent a warning.
//
// private void standupStraight()
// {
// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
// // change appearance and when you enter the simulator
// // After this routine is done, the amotor stabilizes much quicker
// d.Vector3 feet;
// d.Vector3 head;
// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
// float posture = head.Z - feet.Z;
// // restoring force proportional to lack of posture:
// float servo = (2.5f - posture) * POSTURE_SERVO;
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyFArotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
// }
public override Vector3 Force
{
get { return _target_velocity; }
set { return; }
}
public override int VehicleType
{
get { return 0; }
set { return; }
}
public override void VehicleFloatParam(int param, float value)
{
}
public override void VehicleVectorParam(int param, Vector3 value)
{
}
public override void VehicleRotationParam(int param, Quaternion rotation)
{
}
public override void VehicleFlags(int param, bool remove)
{
}
public override void SetVolumeDetect(int param)
{
}
public override Vector3 CenterOfMass
{
get { return Vector3.Zero; }
}
public override Vector3 GeometricCenter
{
get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
{
set { return; }
}
public override Vector3 TargetVelocity
{
get
{
return m_taintTargetVelocity;
}
set
{
Velocity = value;
}
}
public override Vector3 Velocity
{
get
{
// There's a problem with Vector3.Zero! Don't Use it Here!
if (_zeroFlag)
return Vector3.Zero;
m_lastUpdateSent = false;
return _velocity;
}
set
{
if (value.IsFinite())
{
m_pidControllerActive = true;
m_taintTargetVelocity = value;
_parent_scene.AddPhysicsActorTaint(this);
}
else
{
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN velocity from Scene for {0}", Name);
}
// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity);
}
}
public override Vector3 Torque
{
get { return Vector3.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
set { }
}
public override bool Kinematic
{
get { return false; }
set { }
}
public override Quaternion Orientation
{
get { return Quaternion.Identity; }
set {
//Matrix3 or = Orientation.ToRotationMatrix();
//d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
//d.BodySetRotation(Body, ref ord);
}
}
public override Vector3 Acceleration
{
get { return _acceleration; }
set { _acceleration = value; }
}
/// <summary>
/// Adds the force supplied to the Target Velocity
/// The PID controller takes this target velocity and tries to make it a reality
/// </summary>
/// <param name="force"></param>
public override void AddForce(Vector3 force, bool pushforce)
{
if (force.IsFinite())
{
if (pushforce)
{
m_pidControllerActive = false;
force *= 100f;
m_taintForce += force;
_parent_scene.AddPhysicsActorTaint(this);
// If uncommented, things get pushed off world
//
// m_log.Debug("Push!");
// m_taintTargetVelocity.X += force.X;
// m_taintTargetVelocity.Y += force.Y;
// m_taintTargetVelocity.Z += force.Z;
}
else
{
m_pidControllerActive = true;
m_taintTargetVelocity += force;
}
}
else
{
m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name);
}
//m_lastUpdateSent = false;
}
public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
public override void SetMomentum(Vector3 momentum)
{
}
/// <summary>
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void Move(List<OdeCharacter> defects)
{
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero)
return;
if (m_pidControllerActive == false)
{
_zeroPosition = d.BodyGetPosition(Body);
}
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
if (!localPos.IsFinite())
{
m_log.WarnFormat(
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
localPos, Name);
defects.Add(this);
return;
}
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
// m_log.DebugFormat(
// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
// vel.X, vel.Y, vel.Z, _target_velocity, Name);
float movementdivisor = 1f;
if (!m_alwaysRun)
{
movementdivisor = walkDivisor;
}
else
{
movementdivisor = runDivisor;
}
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(Body);
}
if (m_pidControllerActive)
{
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
}
}
//PidStatus = true;
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding && !flying)
{
// We're standing on something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
}
else if (m_iscolliding && flying)
{
// We're flying and colliding with something
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
}
else if (!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
// m_log.DebugFormat(
// "[ODE CHARACTER]: !m_iscolliding && flying, vec {0}, _target_velocity {1}, movementdivisor {2}, vel {3}",
// vec, _target_velocity, movementdivisor, vel);
}
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
d.Vector3 pos = d.BodyGetPosition(Body);
vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
else if (!m_iscolliding && !flying)
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
if (_target_velocity.X > 0)
{
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
}
if (_target_velocity.Y > 0)
{
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
}
}
if (flying)
{
// This also acts as anti-gravity so that we hover when flying rather than fall.
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
}
}
if (flying)
{
// Anti-gravity so that we hover when flying rather than fall.
vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
//Added for auto fly height. Kitto Flora
//d.Vector3 pos = d.BodyGetPosition(Body);
float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
if (_position.Z < target_altitude)
{
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
}
// end add Kitto Flora
}
if (vec.IsFinite())
{
// Apply the total force acting on this avatar
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
if (!_zeroFlag)
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
else
{
m_log.WarnFormat(
"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
vec, Name);
defects.Add(this);
return;
}
d.Vector3 newVel = d.BodyGetLinearVel(Body);
if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
{
// m_log.DebugFormat(
// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name);
newVel.X = Util.Clamp<float>(newVel.X, -255f, 255f);
newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f);
if (!flying)
newVel.Z
= Util.Clamp<float>(
newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity);
else
newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
}
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 newPos;
try
{
newPos = d.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
defects.Add(this);
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
return;
}
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (newPos.X < 0.0f) newPos.X = 0.0f;
if (newPos.Y < 0.0f) newPos.Y = 0.0f;
if (newPos.X > (int)_parent_scene.WorldExtents.X - 0.05f) newPos.X = (int)_parent_scene.WorldExtents.X - 0.05f;
if (newPos.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) newPos.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
_position.X = newPos.X;
_position.Y = newPos.Y;
_position.Z = newPos.Z;
// I think we need to update the taintPosition too -- Diva 12/24/10
m_taintPosition = _position;
// Did we move last? = zeroflag
// This helps keep us from sliding all over
if (_zeroFlag)
{
_velocity = Vector3.Zero;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
//base.RequestPhysicsterseUpdate();
}
}
else
{
m_lastUpdateSent = false;
d.Vector3 newVelocity;
try
{
newVelocity = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
newVelocity.X = _velocity.X;
newVelocity.Y = _velocity.Y;
newVelocity.Z = _velocity.Z;
}
_velocity.X = newVelocity.X;
_velocity.Y = newVelocity.Y;
_velocity.Z = newVelocity.Z;
if (_velocity.Z < -6 && !m_hackSentFall)
{
m_hackSentFall = true;
m_pidControllerActive = false;
}
else if (flying && !m_hackSentFly)
{
//m_hackSentFly = true;
//base.SendCollisionUpdate(new CollisionEventUpdate());
}
else
{
m_hackSentFly = false;
m_hackSentFall = false;
}
}
}
/// <summary>
/// This creates the Avatar's physical Surrogate in ODE at the position supplied
/// </summary>
/// <remarks>
/// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
/// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
/// place that is safe to call this routine AvatarGeomAndBodyCreation.
/// </remarks>
/// <param name="npositionX"></param>
/// <param name="npositionY"></param>
/// <param name="npositionZ"></param>
/// <param name="tensor"></param>
private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
{
if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
{
m_log.ErrorFormat(
"[ODE CHARACTER]: Creating ODE structures for {0} even though some already exist. Shell = {1}, Body = {2}, Amotor = {3}",
Name, Shell, Body, Amotor);
}
int dAMotorEuler = 1;
// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (CAPSULE_LENGTH <= 0)
{
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f;
}
if (CAPSULE_RADIUS <= 0)
{
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f;
}
// lock (OdeScene.UniversalColliderSyncObject)
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = d.BodyCreate(_parent_scene.world);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
_position.X = npositionX;
_position.Y = npositionY;
_position.Z = npositionZ;
m_taintPosition = _position;
d.BodySetMass(Body, ref ShellMass);
d.Matrix3 m_caprot;
// 90 Stand up on the cap of the capped cyllinder
if (_parent_scene.IsAvCapsuleTilted)
{
d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
}
else
{
d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
}
d.GeomSetRotation(Shell, ref m_caprot);
d.BodySetRotation(Body, ref m_caprot);
d.GeomSetBody(Shell, Body);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
d.JointAttach(Amotor, Body, IntPtr.Zero);
d.JointSetAMotorMode(Amotor, dAMotorEuler);
d.JointSetAMotorNumAxes(Amotor, 3);
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
d.JointSetAMotorAngle(Amotor, 0, 0);
d.JointSetAMotorAngle(Amotor, 1, 0);
d.JointSetAMotorAngle(Amotor, 2, 0);
// These lowstops and high stops are effectively (no wiggle room)
if (_parent_scene.IsAvCapsuleTilted)
{
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
}
else
{
#region Documentation of capsule motor LowStop and HighStop parameters
// Intentionally introduce some tilt into the capsule by setting
// the motor stops to small epsilon values. This small tilt prevents
// the capsule from falling into the terrain; a straight-up capsule
// (with -0..0 motor stops) falls into the terrain for reasons yet
// to be comprehended in their entirety.
#endregion
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
}
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
// capped cyllinder will fall over
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//d.QfromR(
//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
//
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
//standupStraight();
_parent_scene.geom_name_map[Shell] = Name;
_parent_scene.actor_name_map[Shell] = this;
}
/// <summary>
/// Cleanup the things we use in the scene.
/// </summary>
internal void Destroy()
{
m_tainted_isPhysical = false;
_parent_scene.AddPhysicsActorTaint(this);
}
/// <summary>
/// Used internally to destroy the ODE structures associated with this character.
/// </summary>
internal void DestroyOdeStructures()
{
// Create avatar capsule and related ODE data
if (Shell == IntPtr.Zero || Body == IntPtr.Zero || Amotor == IntPtr.Zero)
{
m_log.ErrorFormat(
"[ODE CHARACTER]: Destroying ODE structures for {0} even though some are already null. Shell = {1}, Body = {2}, Amotor = {3}",
Name, Shell, Body, Amotor);
}
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
// lock (OdeScene.UniversalColliderSyncObject)
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
_parent_scene.actor_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
}
public override void CrossingFailure()
{
}
public override Vector3 PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override Quaternion APIDTarget{ set { return; } }
public override bool APIDActive{ set { return; } }
public override float APIDStrength{ set { return; } }
public override float APIDDamping{ set { return; } }
public override void SubscribeEvents(int ms)
{
m_requestedUpdateFrequency = ms;
m_eventsubscription = ms;
// Don't clear collision event reporting here. This is called directly from scene code and so can lead
// to a race condition with the simulate loop
_parent_scene.AddCollisionEventReporting(this);
}
public override void UnSubscribeEvents()
{
_parent_scene.RemoveCollisionEventReporting(this);
// Don't clear collision event reporting here. This is called directly from scene code and so can lead
// to a race condition with the simulate loop
m_requestedUpdateFrequency = 0;
m_eventsubscription = 0;
}
internal void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
{
if (m_eventsubscription > 0)
{
// m_log.DebugFormat(
// "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
}
}
internal void SendCollisions()
{
if (m_eventsubscription > m_requestedUpdateFrequency)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
CollisionEventsThisFrame.Clear();
m_eventsubscription = 0;
}
}
public override bool SubscribedEvents()
{
if (m_eventsubscription > 0)
return true;
return false;
}
internal void ProcessTaints()
{
if (m_taintPosition != _position)
{
if (Body != IntPtr.Zero)
{
d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
_position = m_taintPosition;
}
}
if (m_taintForce != Vector3.Zero)
{
if (Body != IntPtr.Zero)
{
// FIXME: This is not a good solution since it's subject to a race condition if a force is another
// thread sets a new force while we're in this loop (since it could be obliterated by
// m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
}
m_taintForce = Vector3.Zero;
}
if (m_taintTargetVelocity != _target_velocity)
_target_velocity = m_taintTargetVelocity;
if (m_tainted_isPhysical != m_isPhysical)
{
if (m_tainted_isPhysical)
{
CreateOdeStructures(_position.X, _position.Y, _position.Z, m_tensor);
_parent_scene.AddCharacter(this);
}
else
{
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
}
m_isPhysical = m_tainted_isPhysical;
}
if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
{
if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
{
// m_log.DebugFormat(
// "[ODE CHARACTER]: Changing capsule size from {0} to {1} for {2}",
// CAPSULE_LENGTH, m_tainted_CAPSULE_LENGTH, Name);
m_pidControllerActive = true;
// no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
DestroyOdeStructures();
float prevCapsule = CAPSULE_LENGTH;
CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
CreateOdeStructures(
_position.X,
_position.Y,
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
// As with Size, we reset velocity. However, this isn't strictly necessary since it doesn't
// appear to stall initial region crossings when done here. Being done for consistency.
// Velocity = Vector3.Zero;
}
else
{
m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - "
+ (Shell==IntPtr.Zero ? "Shell ":"")
+ (Body==IntPtr.Zero ? "Body ":"")
+ (Amotor==IntPtr.Zero ? "Amotor ":""));
}
}
}
internal void AddCollisionFrameTime(int p)
{
// protect it from overflow crashing
if (m_eventsubscription + p >= int.MaxValue)
m_eventsubscription = 0;
m_eventsubscription += p;
}
}
}