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BSActorHover.cs 6.6 KB

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