/* * 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: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyrightD * 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. */ using System; using System.Collections.Generic; using System.Reflection; using log4net; using OMV = OpenMetaverse; using OpenSim.Framework; using OpenSim.Region.PhysicsModules.SharedBase; namespace OpenSim.Region.PhysicsModule.BulletS { public sealed class BSCharacter : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; // private bool _stopped; private bool _grabbed; private bool _selected; private float _mass; private float _avatarVolume; private float _collisionScore; private OMV.Vector3 _acceleration; private int _physicsActorType; private bool _isPhysical; private bool _flying; private bool _setAlwaysRun; private bool _throttleUpdates; private bool _floatOnWater; private bool _kinematic; private float _buoyancy; private OMV.Vector3 _size; private float _footOffset; private BSActorAvatarMove m_moveActor; private const string AvatarMoveActorName = "BSCharacter.AvatarMove"; private OMV.Vector3 _PIDTarget; private float _PIDTau; // public override OMV.Vector3 RawVelocity // { get { return base.RawVelocity; } // set { // if (value != base.RawVelocity) // Util.PrintCallStack(); // Console.WriteLine("Set rawvel to {0}", value); // base.RawVelocity = value; } // } // Avatars are always complete (in the physics engine sense) public override bool IsIncomplete { get { return false; } } public BSCharacter( uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, float footOffset, bool isFlying) : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; RawPosition = pos; _flying = isFlying; RawOrientation = OMV.Quaternion.Identity; RawVelocity = vel; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity; _isPhysical = true; _footOffset = footOffset; // Adjustments for zero X and Y made in Size() // This also computes avatar scale, volume, and mass SetAvatarSize(size, footOffset, true /* initializing */); DetailLog( "{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}", LocalID, Size, Scale, Density, _avatarVolume, RawMass, pos, vel); // do actual creation in taint time PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this); // The avatar's movement is controlled by this motor that speeds up and slows down // the avatar seeking to reach the motor's target speed. // This motor runs as a prestep action for the avatar so it will keep the avatar // standing as well as moving. Destruction of the avatar will destroy the pre-step action. m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); PhysicalActors.Add(AvatarMoveActorName, m_moveActor); SetPhysicalProperties(); IsInitialized = true; }); return; } // called when this character is being destroyed and the resources should be released public override void Destroy() { IsInitialized = false; base.Destroy(); DetailLog("{0},BSCharacter.Destroy", LocalID); PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate() { PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); PhysShape.Dereference(PhysScene); PhysShape = new BSShapeNull(); }); } private void SetPhysicalProperties() { PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ForcePosition = RawPosition; // Set the velocity m_moveActor?.SetVelocityAndTarget(RawVelocity, RawVelocity, false); ForceVelocity = RawVelocity; TargetVelocity = RawVelocity; // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. Flying = _flying; PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin); PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); // The avatar mover sets some parameters. PhysicalActors.Refresh(); PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody); // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody); // Do this after the object has been added to the world if (BSParam.AvatarToAvatarCollisionsByDefault) PhysBody.collisionType = CollisionType.Avatar; else PhysBody.collisionType = CollisionType.PhantomToOthersAvatar; PhysBody.ApplyCollisionMask(PhysScene); } public override void RequestPhysicsterseUpdate() { base.RequestPhysicsterseUpdate(); } // No one calls this method so I don't know what it could possibly mean public override bool Stopped { get { return false; } } public override OMV.Vector3 Size { get { return _size; } set { setAvatarSize(value, _footOffset); } } // OpenSim 0.9 introduces a common avatar size computation public override void setAvatarSize(OMV.Vector3 size, float feetOffset) { SetAvatarSize(size, feetOffset, false /* initializing */); } // Internal version that, if initializing, doesn't do all the updating of the physics engine public void SetAvatarSize(OMV.Vector3 size, float feetOffset, bool initializing) { OMV.Vector3 newSize = size; if (newSize.IsFinite()) { // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. if (newSize.X == 0f) newSize.X = BSParam.AvatarCapsuleDepth; if (newSize.Y == 0f) newSize.Y = BSParam.AvatarCapsuleWidth; if (newSize.X < 0.01f) newSize.X = 0.01f; if (newSize.Y < 0.01f) newSize.Y = 0.01f; if (newSize.Z < 0.01f) newSize.Z = BSParam.AvatarCapsuleHeight; } else { newSize = new OMV.Vector3(BSParam.AvatarCapsuleDepth, BSParam.AvatarCapsuleWidth, BSParam.AvatarCapsuleHeight); } // This is how much the avatar size is changing. Positive means getting bigger. // The avatar altitude must be adjusted for this change. float heightChange = newSize.Z - Size.Z; _size = newSize; Scale = ComputeAvatarScale(Size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate() { if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); UpdatePhysicalMassProperties(RawMass, true); // Adjust the avatar's position to account for the increase/decrease in size ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f); // Make sure this change appears as a property update event PhysScene.PE.PushUpdate(PhysBody); } }); } public override PrimitiveBaseShape Shape { set { BaseShape = value; } } public override bool Grabbed { set { _grabbed = value; } } public override bool Selected { set { _selected = value; } } public override bool IsSelected { get { return _selected; } } public override void CrossingFailure() { return; } public override void link(PhysicsActor obj) { return; } public override void delink() { return; } // Set motion values to zero. // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. // Called at taint time! public override void ZeroMotion(bool inTaintTime) { RawVelocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; RawRotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) PhysScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) { RawRotationalVelocity = OMV.Vector3.Zero; PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) { PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. PhysScene.PE.ClearForces(PhysBody); } }); } public override void LockAngularMotion(byte axislocks) { return; } public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); return RawPosition; } set { RawPosition = value; PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); ForcePosition = RawPosition; }); } } public override OMV.Vector3 ForcePosition { get { RawPosition = PhysScene.PE.GetPosition(PhysBody); return RawPosition; } set { RawPosition = value; if (PhysBody.HasPhysicalBody) { PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain or on water. // Returns 'true' of the position was made sane by some action. private bool PositionSanityCheck() { bool ret = false; // TODO: check for out of bounds if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The character is out of the known/simulated area. // Force the avatar position to be within known. ScenePresence will use the position // plus the velocity to decide if the avatar is moving out of the region. RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition); return true; } // If below the ground, move the avatar up float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters); ret = true; } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); if (Position.Z < waterHeight) { RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight); ret = true; } } return ret; } // A version of the sanity check that also makes sure a new position value is // pushed back to the physics engine. This routine would be used by anyone // who is not already pushing the value. private bool PositionSanityCheck(bool inTaintTime) { bool ret = false; if (PositionSanityCheck()) { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); ForcePosition = RawPosition; }); ret = true; } return ret; } public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing public override float RawMass { get {return _mass; } } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia); } public override OMV.Vector3 Force { get { return RawForce; } set { RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) PhysScene.PE.SetObjectForce(PhysBody, RawForce); }); } } // Avatars don't do vehicles public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } public override void VehicleFloatParam(int param, float value) { } public override void VehicleVectorParam(int param, OMV.Vector3 value) {} public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } public override void VehicleFlags(int param, bool remove) { } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { return; } public override bool IsVolumeDetect { get { return false; } } public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } // PhysicsActor.TargetVelocity // Sets the target in the motor. This starts the changing of the avatar's velocity. public override OMV.Vector3 TargetVelocity { get { return base.m_targetVelocity; } set { DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); OMV.Vector3 targetVel = value; if (!_flying) { if (_setAlwaysRun) targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f); else if (BSParam.AvatarWalkVelocityFactor != 1f) targetVel *= new OMV.Vector3(BSParam.AvatarWalkVelocityFactor, BSParam.AvatarWalkVelocityFactor, 1f); } base.m_targetVelocity = targetVel; if (m_moveActor != null) m_moveActor.SetVelocityAndTarget(RawVelocity, base.m_targetVelocity, false /* inTaintTime */); } } // Directly setting velocity means this is what the user really wants now. public override OMV.Vector3 Velocity { get { return RawVelocity; } set { if (m_moveActor != null) { // m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */); m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */); } base.Velocity = value; } } // SetMomentum just sets the velocity without a target. We need to stop the movement actor if a character. public override void SetMomentum(OMV.Vector3 momentum) { if (m_moveActor != null) { // m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */); m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */); } base.SetMomentum(momentum); } public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { DetailLog("{0},BSCharacter.ForceVelocity.set={1}", LocalID, value); RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity); PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); PhysScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { get { return RawTorque; } set { RawTorque = value; } } public override float CollisionScore { get { return _collisionScore; } set { _collisionScore = value; } } public override OMV.Vector3 Acceleration { get { return _acceleration; } set { _acceleration = value; } } public override OMV.Quaternion Orientation { get { return RawOrientation; } set { // Orientation is set zillions of times when an avatar is walking. It's like // the viewer doesn't trust us. if (RawOrientation != value) { RawOrientation = value; PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate() { // Bullet assumes we know what we are doing when forcing orientation // so it lets us go against all the rules and just compensates for them later. // This forces rotation to be only around the Z axis and doesn't change any of the other axis. // This keeps us from flipping the capsule over which the veiwer does not understand. float oRoll, oPitch, oYaw; RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation, // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); ForceOrientation = trimmedOrientation; }); } } } // Go directly to Bullet to get/set the value. public override OMV.Quaternion ForceOrientation { get { RawOrientation = PhysScene.PE.GetOrientation(PhysBody); return RawOrientation; } set { RawOrientation = value; if (PhysBody.HasPhysicalBody) { // RawPosition = PhysicsScene.PE.GetPosition(BSBody); PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } public override int PhysicsActorType { get { return _physicsActorType; } set { _physicsActorType = value; } } public override bool IsPhysical { get { return _isPhysical; } set { _isPhysical = value; } } public override bool IsSolid { get { return true; } } public override bool IsStatic { get { return false; } } public override bool IsPhysicallyActive { get { return true; } } public override bool Flying { get { return _flying; } set { _flying = value; // simulate flying by changing the effect of gravity Buoyancy = ComputeBuoyancyFromFlying(_flying); } } // Flying is implimented by changing the avatar's buoyancy. // Would this be done better with a vehicle type? private float ComputeBuoyancyFromFlying(bool ifFlying) { return ifFlying ? 1f : 0f; } public override bool SetAlwaysRun { get { return _setAlwaysRun; } set { _setAlwaysRun = value; } } public override bool ThrottleUpdates { get { return _throttleUpdates; } set { _throttleUpdates = value; } } public override bool FloatOnWater { set { _floatOnWater = value; PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate() { if (PhysBody.HasPhysicalBody) { if (_floatOnWater) CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); } }); } } public override bool Kinematic { get { return _kinematic; } set { _kinematic = value; } } // neg=fall quickly, 0=1g, 1=0g, pos=float up public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); ForceBuoyancy = _buoyancy; }); } } public override float ForceBuoyancy { get { return _buoyancy; } set { _buoyancy = value; DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = BSParam.Gravity * (1f - _buoyancy); Gravity = new OMV.Vector3(0f, 0f, grav); if (PhysBody.HasPhysicalBody) PhysScene.PE.SetGravity(PhysBody, Gravity); } } // Used for MoveTo public override OMV.Vector3 PIDTarget { set { _PIDTarget = value; } } public override bool PIDActive { get; set; } public override float PIDTau { set { _PIDTau = value; } } public override void AvatarJump(float impulseZ) { AddForce(false, new OMV.Vector3(0, 0, 0.22f * Mass * impulseZ / PhysScene.m_fixedTimeStep)); } public override void AddForce(OMV.Vector3 force, bool pushforce) { // Since this force is being applied in only one step, make this a force per second. OMV.Vector3 addForce = force; // The interaction of this force with the simulator rate and collision occurance is tricky. // ODE multiplies the force by 100 // ubODE multiplies the force by 5.3 // BulletSim, after much in-world testing, thinks it gets a similar effect by multiplying mass*0.315f // This number could be a feature of friction or timing, but it seems to move avatars the same as ubODE addForce *= Mass * BSParam.AvatarAddForcePushFactor; DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass); AddForce(false, addForce); } public override void AddForce(bool inTaintTime, OMV.Vector3 force) { if (force.IsFinite()) { OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSCharacter.addForce,call,force={1},push={2},inTaint={3}", LocalID, addForce, pushforce, inTaintTime); PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { // Bullet adds this central force to the total force for this tick. // Deep down in Bullet: // linearVelocity += totalForce / mass * timeStep; PhysScene.PE.ApplyCentralForce(PhysBody, addForce); PhysScene.PE.Activate(PhysBody, true); } if (m_moveActor != null) { m_moveActor.SuppressStationayCheckUntilLowVelocity(BSParam.AvatarAddForceFrames); } }); } else { m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID); return; } } public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) { } // The avatar's physical shape (whether capsule or cube) is unit sized. BulletSim sets // the scale of that unit shape to create the avatars full size. private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) { OMV.Vector3 newScale = size; if (BSParam.AvatarUseBefore09SizeComputation) { // Bullet's capsule total height is the "passed height + radius * 2"; // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1) // The number we pass in for 'scaling' is the multiplier to get that base // shape to be the size desired. // So, when creating the scale for the avatar height, we take the passed height // (size.Z) and remove the caps. // An oddity of the Bullet capsule implementation is that it presumes the Y // dimension is the radius of the capsule. Even though some of the code allows // for a asymmetrical capsule, other parts of the code presume it is cylindrical. // Scale is multiplier of radius with one of "0.5" float heightAdjust = BSParam.AvatarHeightMidFudge; if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f) { const float AVATAR_LOW = 1.1f; const float AVATAR_MID = 1.775f; // 1.87f const float AVATAR_HI = 2.45f; // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m. float midHeightOffset = size.Z - AVATAR_MID; if (midHeightOffset < 0f) { // Small avatar. Add the adjustment based on the distance from midheight heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge; } else { // Large avatar. Add the adjustment based on the distance from midheight heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge; } } if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule) { newScale.X = size.X / 2f; newScale.Y = size.Y / 2f; // The total scale height is the central cylindar plus the caps on the two ends. newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f; } else { newScale.Z = size.Z + heightAdjust; } // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale); // If smaller than the endcaps, just fake like we're almost that small if (newScale.Z < 0) newScale.Z = 0.1f; DetailLog("{0},BSCharacter.ComputeAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}", LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale); } else { newScale.Z = size.Z + _footOffset; DetailLog("{0},BSCharacter.ComputeAvatarScale,using newScale={1}, footOffset={2}", LocalID, newScale, _footOffset); } return newScale; } // set _avatarVolume and _mass based on capsule size, _density and Scale private void ComputeAvatarVolumeAndMass() { if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule) { _avatarVolume = (float)( Math.PI * Size.X / 2f * Size.Y / 2f // the area of capsule cylinder * Size.Z // times height of capsule cylinder + 1.33333333f * Math.PI * Size.X / 2f * Math.Min(Size.X, Size.Y) / 2 * Size.Y / 2f // plus the volume of the capsule end caps ); } else { _avatarVolume = Size.X * Size.Y * Size.Z; } _mass = Density * BSParam.DensityScaleFactor * _avatarVolume; } // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. TriggerPreUpdatePropertyAction(ref entprop); RawPosition = entprop.Position; RawOrientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar // and will send agent updates to the clients if velocity changes by more than // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many // extra updates. // // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to // avatar movement rather than removes it. The larger the threshold, the bigger the jitter. // This is most noticeable in level flight and can be seen with // the "show updates" option in a viewer. With an update threshold, the RawVelocity cycles between a lower // bound and an upper bound, where the difference between the two is enough to trigger a large delta v update // and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients(). The cause of this cycle (feedback?) // has not yet been identified. // // If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra // updates are not triggered in ScenePresence.SendTerseUpdateToAllClients(). // if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f)) RawVelocity = entprop.Velocity; _acceleration = entprop.Acceleration; RawRotationalVelocity = entprop.RotationalVelocity; // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition); entprop.Position = RawPosition; } // remember the current and last set values LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; // Tell the linkset about value changes // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // PhysScene.PostUpdate(this); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, RawRotationalVelocity); } } }