123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351 |
- /*
- * 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.Linq;
- using System.Text;
- using OpenSim.Region.Physics.Manager;
- using OMV = OpenMetaverse;
- namespace OpenSim.Region.Physics.BulletSPlugin
- {
- public class BSActorAvatarMove : BSActor
- {
- BSVMotor m_velocityMotor;
- // Set to true if we think we're going up stairs.
- // This state is remembered because collisions will turn on and off as we go up stairs.
- int m_walkingUpStairs;
- float m_lastStepUp;
- public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_velocityMotor = null;
- m_walkingUpStairs = 0;
- m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
- }
- // BSActor.isActive
- public override bool isActive
- {
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
- }
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- Enabled = false;
- }
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID);
- // If the object is physically active, add the hoverer prestep action
- if (isActive)
- {
- ActivateAvatarMove();
- }
- else
- {
- DeactivateAvatarMove();
- }
- }
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- // Nothing to do for the hoverer since it is all software at pre-step action time.
- }
- // Usually called when target velocity changes to set the current velocity and the target
- // into the movement motor.
- public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime)
- {
- m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate()
- {
- if (m_velocityMotor != null)
- {
- m_velocityMotor.Reset();
- m_velocityMotor.SetTarget(targ);
- m_velocityMotor.SetCurrent(vel);
- m_velocityMotor.Enabled = true;
- }
- });
- }
- // If a hover motor has not been created, create one and start the hovering.
- private void ActivateAvatarMove()
- {
- if (m_velocityMotor == null)
- {
- // Infinite decay and timescale values so motor only changes current to target values.
- m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
- 0.2f, // time scale
- BSMotor.Infinite, // decay time scale
- 1f // efficiency
- );
- // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
- SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
- m_physicsScene.BeforeStep += Mover;
- m_walkingUpStairs = 0;
- }
- }
- private void DeactivateAvatarMove()
- {
- if (m_velocityMotor != null)
- {
- m_physicsScene.BeforeStep -= Mover;
- m_velocityMotor = null;
- }
- }
- // Called just before the simulation step. Update the vertical position for hoverness.
- private void Mover(float timeStep)
- {
- // Don't do movement while the object is selected.
- if (!isActive)
- return;
- // TODO: Decide if the step parameters should be changed depending on the avatar's
- // state (flying, colliding, ...). There is code in ODE to do this.
- // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
- // specified for the avatar is the one that should be used. For falling, if the avatar
- // is not flying and is not colliding then it is presumed to be falling and the Z
- // component is not fooled with (thus allowing gravity to do its thing).
- // When the avatar is standing, though, the user has specified a velocity of zero and
- // the avatar should be standing. But if the avatar is pushed by something in the world
- // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
- // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
- // errors can creap in and the avatar will slowly float off in some direction.
- // So, the problem is that, when an avatar is standing, we cannot tell creaping error
- // from real pushing.
- // The code below uses whether the collider is static or moving to decide whether to zero motion.
- m_velocityMotor.Step(timeStep);
- m_controllingPrim.IsStationary = false;
- // If we're not supposed to be moving, make sure things are zero.
- if (m_velocityMotor.ErrorIsZero() && m_velocityMotor.TargetValue == OMV.Vector3.Zero)
- {
- // The avatar shouldn't be moving
- m_velocityMotor.Zero();
- if (m_controllingPrim.IsColliding)
- {
- // If we are colliding with a stationary object, presume we're standing and don't move around
- if (!m_controllingPrim.ColliderIsMoving)
- {
- m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID);
- m_controllingPrim.IsStationary = true;
- m_controllingPrim.ZeroMotion(true /* inTaintTime */);
- }
- // Standing has more friction on the ground
- if (m_controllingPrim.Friction != BSParam.AvatarStandingFriction)
- {
- m_controllingPrim.Friction = BSParam.AvatarStandingFriction;
- m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
- }
- }
- else
- {
- if (m_controllingPrim.Flying)
- {
- // Flying and not collising and velocity nearly zero.
- m_controllingPrim.ZeroMotion(true /* inTaintTime */);
- }
- }
- m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}",
- m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding);
- }
- else
- {
- // Supposed to be moving.
- OMV.Vector3 stepVelocity = m_velocityMotor.CurrentValue;
- if (m_controllingPrim.Friction != BSParam.AvatarFriction)
- {
- // Probably starting up walking. Set friction to moving friction.
- m_controllingPrim.Friction = BSParam.AvatarFriction;
- m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
- }
- // If falling, we keep the world's downward vector no matter what the other axis specify.
- // The check for RawVelocity.Z < 0 makes jumping work (temporary upward force).
- if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
- {
- if (m_controllingPrim.RawVelocity.Z < 0)
- stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
- // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
- }
- // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
- OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass;
- // Add special movement force to allow avatars to walk up stepped surfaces.
- moveForce += WalkUpStairs();
- m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
- m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce);
- m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce);
- }
- }
- // Decide if the character is colliding with a low object and compute a force to pop the
- // avatar up so it can walk up and over the low objects.
- private OMV.Vector3 WalkUpStairs()
- {
- OMV.Vector3 ret = OMV.Vector3.Zero;
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4},avHeight={5}",
- m_controllingPrim.LocalID, m_controllingPrim.IsColliding, m_controllingPrim.Flying,
- m_controllingPrim.TargetVelocitySpeed, m_controllingPrim.CollisionsLastTick.Count, m_controllingPrim.Size.Z);
- // This test is done if moving forward, not flying and is colliding with something.
- // Check for stairs climbing if colliding, not flying and moving forward
- if ( m_controllingPrim.IsColliding
- && !m_controllingPrim.Flying
- && m_controllingPrim.TargetVelocitySpeed > 0.1f )
- {
- // The range near the character's feet where we will consider stairs
- // float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f;
- // Note: there is a problem with the computation of the capsule height. Thus RawPosition is off
- // from the height. Revisit size and this computation when height is scaled properly.
- float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - 0.05f;
- float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
- // Look for a collision point that is near the character's feet and is oriented the same as the charactor is.
- // Find the highest 'good' collision.
- OMV.Vector3 highestTouchPosition = OMV.Vector3.Zero;
- foreach (KeyValuePair<uint, ContactPoint> kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList)
- {
- // Don't care about collisions with the terrain
- if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID)
- {
- OMV.Vector3 touchPosition = kvp.Value.Position;
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
- m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
- if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
- {
- // This contact is within the 'near the feet' range.
- // The normal should be our contact point to the object so it is pointing away
- // thus the difference between our facing orientation and the normal should be small.
- OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation;
- OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
- float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
- if (diff < BSParam.AvatarStepApproachFactor)
- {
- if (highestTouchPosition.Z < touchPosition.Z)
- highestTouchPosition = touchPosition;
- }
- }
- }
- }
- m_walkingUpStairs = 0;
- // If there is a good step sensing, move the avatar over the step.
- if (highestTouchPosition != OMV.Vector3.Zero)
- {
- // Remember that we are going up stairs. This is needed because collisions
- // will stop when we move up so this smoothes out that effect.
- m_walkingUpStairs = BSParam.AvatarStepSmoothingSteps;
- m_lastStepUp = highestTouchPosition.Z - nearFeetHeightMin;
- ret = ComputeStairCorrection(m_lastStepUp);
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},ret={3}",
- m_controllingPrim.LocalID, highestTouchPosition, nearFeetHeightMin, ret);
- }
- }
- else
- {
- // If we used to be going up stairs but are not now, smooth the case where collision goes away while
- // we are bouncing up the stairs.
- if (m_walkingUpStairs > 0)
- {
- m_walkingUpStairs--;
- ret = ComputeStairCorrection(m_lastStepUp);
- }
- }
- return ret;
- }
- private OMV.Vector3 ComputeStairCorrection(float stepUp)
- {
- OMV.Vector3 ret = OMV.Vector3.Zero;
- OMV.Vector3 displacement = OMV.Vector3.Zero;
- if (stepUp > 0f)
- {
- // Found the stairs contact point. Push up a little to raise the character.
- if (BSParam.AvatarStepForceFactor > 0f)
- {
- float upForce = stepUp * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor;
- ret = new OMV.Vector3(0f, 0f, upForce);
- }
- // Also move the avatar up for the new height
- if (BSParam.AvatarStepUpCorrectionFactor > 0f)
- {
- // Move the avatar up related to the height of the collision
- displacement = new OMV.Vector3(0f, 0f, stepUp * BSParam.AvatarStepUpCorrectionFactor);
- m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
- }
- else
- {
- if (BSParam.AvatarStepUpCorrectionFactor < 0f)
- {
- // Move the avatar up about the specified step height
- displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight);
- m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
- }
- }
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,disp={1},force={2}",
- m_controllingPrim.LocalID, displacement, ret);
- }
- return ret;
- }
- }
- }
|