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- using System;
- using System.Collections.Generic;
- using System.Reflection;
- using System.Runtime.InteropServices;
- using log4net;
- using OpenMetaverse;
- using Ode.NET;
- using OpenSim.Framework;
- using OpenSim.Region.Physics.Manager;
- namespace OpenSim.Region.Physics.OdePlugin
- {
- public class ODEDynamics
- {
- public Vehicle Type
- {
- get { return m_type; }
- }
- public IntPtr Body
- {
- get { return m_body; }
- }
- private int frcount = 0;
-
-
- private IntPtr m_body = IntPtr.Zero;
-
- private Vehicle m_type = Vehicle.TYPE_NONE;
-
- private VehicleFlag m_flags = (VehicleFlag) 0;
-
-
-
-
-
-
-
- private VehicleFlag m_Hoverflags = (VehicleFlag)0;
- private Vector3 m_BlockingEndPoint = Vector3.Zero;
- private Quaternion m_RollreferenceFrame = Quaternion.Identity;
-
- private Vector3 m_linearMotorDirection = Vector3.Zero;
- private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;
- private Vector3 m_dir = Vector3.Zero;
- private Vector3 m_linearFrictionTimescale = Vector3.Zero;
- private float m_linearMotorDecayTimescale = 0;
- private float m_linearMotorTimescale = 0;
- private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
- private d.Vector3 m_lastPositionVector = new d.Vector3();
-
-
-
- private Vector3 m_angularMotorDirection = Vector3.Zero;
- private int m_angularMotorApply = 0;
- private Vector3 m_angularMotorVelocity = Vector3.Zero;
- private float m_angularMotorTimescale = 0;
- private float m_angularMotorDecayTimescale = 0;
- private Vector3 m_angularFrictionTimescale = Vector3.Zero;
- private Vector3 m_lastAngularVelocity = Vector3.Zero;
-
-
-
-
-
-
-
-
-
-
-
- private float m_VhoverHeight = 0f;
- private float m_VhoverTimescale = 0f;
- private float m_VhoverTargetHeight = -1.0f;
- private float m_VehicleBuoyancy = 0f;
-
-
-
-
- private float m_verticalAttractionEfficiency = 1.0f;
- private float m_verticalAttractionTimescale = 500f;
- internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
- {
- switch (pParam)
- {
- case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_angularMotorDecayTimescale = pValue;
- break;
- case Vehicle.ANGULAR_MOTOR_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_angularMotorTimescale = pValue;
- break;
- case Vehicle.BANKING_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.BANKING_MIX:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.BANKING_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.BUOYANCY:
- if (pValue < -1f) pValue = -1f;
- if (pValue > 1f) pValue = 1f;
- m_VehicleBuoyancy = pValue;
- break;
- case Vehicle.HOVER_HEIGHT:
- m_VhoverHeight = pValue;
- break;
- case Vehicle.HOVER_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_VhoverTimescale = pValue;
- break;
- case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
-
- break;
- case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_linearMotorDecayTimescale = pValue;
- break;
- case Vehicle.LINEAR_MOTOR_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_linearMotorTimescale = pValue;
- break;
- case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
- if (pValue < 0.1f) pValue = 0.1f;
- if (pValue > 1.0f) pValue = 1.0f;
- m_verticalAttractionEfficiency = pValue;
- break;
- case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_verticalAttractionTimescale = pValue;
- break;
-
-
- 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_angularMotorApply = 10;
- 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);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
-
- break;
- }
- }
- internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
- {
- switch (pParam)
- {
- case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-
- if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
- if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
- if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
- if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
- if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
- if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
- m_angularMotorApply = 10;
- 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);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
-
- break;
- case Vehicle.BLOCK_EXIT:
- m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- }
- }
- internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
- {
- switch (pParam)
- {
- case Vehicle.REFERENCE_FRAME:
-
- break;
- case Vehicle.ROLL_FRAME:
- m_RollreferenceFrame = pValue;
- break;
- }
- }
- internal void ProcessVehicleFlags(int pParam, bool remove)
- {
- if (remove)
- {
- if (pParam == -1)
- {
- m_flags = (VehicleFlag)0;
- m_Hoverflags = (VehicleFlag)0;
- return;
- }
- if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
- {
- if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
- m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
- }
- if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
- {
- if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
- m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
- }
- if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
- {
- if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
- m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
- }
- if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
- {
- if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
- m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
- }
- if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
- {
- if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
- }
- if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
- {
- if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
- }
- if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
- {
- if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
- }
- if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
- {
- if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
- }
- if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
- {
- if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
- }
- if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
- {
- if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
- }
- if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
- {
- if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.NO_X);
- }
- if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
- {
- if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.NO_Y);
- }
- if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
- {
- if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.NO_Z);
- }
- if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
- {
- if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
- m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
- }
- if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
- {
- if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.NO_DEFLECTION);
- }
- if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
- {
- if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
- m_flags &= ~(VehicleFlag.LOCK_ROTATION);
- }
- }
- else
- {
- if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
- {
- m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
- }
- if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
- {
- m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
- }
- if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
- {
- m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
- }
- if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
- {
- m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
- }
- if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
- {
- m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
- }
- if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
- {
- m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
- }
- if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
- {
- m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
- }
- if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
- {
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
- }
- if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
- {
- m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
- }
- if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
- {
- m_flags |= (VehicleFlag.NO_X);
- }
- if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
- {
- m_flags |= (VehicleFlag.NO_Y);
- }
- if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
- {
- m_flags |= (VehicleFlag.NO_Z);
- }
- if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
- {
- m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
- }
- if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
- {
- m_flags |= (VehicleFlag.NO_DEFLECTION);
- }
- if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
- {
- m_flags |= (VehicleFlag.LOCK_ROTATION);
- }
- }
- }
- internal void ProcessTypeChange(Vehicle pType)
- {
-
- m_type = pType;
- switch (pType)
- {
- case Vehicle.TYPE_NONE:
- m_linearFrictionTimescale = new Vector3(0, 0, 0);
- m_angularFrictionTimescale = new Vector3(0, 0, 0);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 0;
- m_linearMotorDecayTimescale = 0;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 0;
- m_angularMotorDecayTimescale = 0;
- m_VhoverHeight = 0;
- m_VhoverTimescale = 0;
- m_VehicleBuoyancy = 0;
- m_flags = (VehicleFlag)0;
- break;
- case Vehicle.TYPE_SLED:
- m_linearFrictionTimescale = new Vector3(30, 1, 1000);
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 120;
- m_VhoverHeight = 0;
- m_VhoverTimescale = 10;
- m_VehicleBuoyancy = 0;
-
-
-
-
-
-
-
-
- m_Hoverflags &=
- ~(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_linearFrictionTimescale = new Vector3(100, 2, 1000);
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1;
- m_angularMotorDecayTimescale = 0.8f;
- m_VhoverHeight = 0;
- m_VhoverTimescale = 1000;
- m_VehicleBuoyancy = 0;
-
-
-
-
- m_verticalAttractionEfficiency = 1f;
- m_verticalAttractionTimescale = 10f;
-
-
-
-
- m_Hoverflags &= ~(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);
- m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
- break;
- case Vehicle.TYPE_BOAT:
- m_linearFrictionTimescale = new Vector3(10, 3, 2);
- m_angularFrictionTimescale = new Vector3(10,10,10);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- m_VhoverHeight = 0;
- m_VhoverTimescale = 2;
- m_VehicleBuoyancy = 1;
-
-
-
-
- m_verticalAttractionEfficiency = 0.5f;
- m_verticalAttractionTimescale = 5f;
-
-
-
-
- m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
- VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
- m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
- VehicleFlag.LIMIT_MOTOR_UP);
- m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
- break;
- case Vehicle.TYPE_AIRPLANE:
- m_linearFrictionTimescale = new Vector3(200, 10, 5);
- m_angularFrictionTimescale = new Vector3(20, 20, 20);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 2;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- m_VhoverHeight = 0;
- m_VhoverTimescale = 1000;
- m_VehicleBuoyancy = 0;
-
-
-
-
- m_verticalAttractionEfficiency = 0.9f;
- m_verticalAttractionTimescale = 2f;
-
-
-
-
- m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
- VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
- m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
- break;
- case Vehicle.TYPE_BALLOON:
- m_linearFrictionTimescale = new Vector3(5, 5, 5);
- m_angularFrictionTimescale = new Vector3(10, 10, 10);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 6;
- m_angularMotorDecayTimescale = 10;
- m_VhoverHeight = 5;
- m_VhoverTimescale = 10;
- m_VehicleBuoyancy = 1;
-
-
-
-
- m_verticalAttractionEfficiency = 1f;
- m_verticalAttractionTimescale = 100f;
-
-
-
-
- m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
- VehicleFlag.HOVER_UP_ONLY);
- m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
- m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
- break;
- }
- }
- internal void Enable(IntPtr pBody, OdeScene pParentScene)
- {
- if (m_type == Vehicle.TYPE_NONE)
- return;
- m_body = pBody;
- }
- internal void Step(float pTimestep, OdeScene pParentScene)
- {
- if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
- return;
- frcount++;
- if (frcount > 100)
- frcount = 0;
- MoveLinear(pTimestep, pParentScene);
- MoveAngular(pTimestep);
- LimitRotation(pTimestep);
- }
- private void MoveLinear(float pTimestep, OdeScene _pParentScene)
- {
- if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
- {
- if (!d.BodyIsEnabled(Body))
- d.BodyEnable(Body);
-
- Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
- m_lastLinearVelocityVector += (addAmount*10);
-
-
- if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
- m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
- if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
- m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
- if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
- m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
-
- Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
-
- m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
-
- }
- else
- {
-
- if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
- m_lastLinearVelocityVector = Vector3.Zero;
- }
-
- m_dir = m_lastLinearVelocityVector;
- d.Quaternion rot = d.BodyGetQuaternion(Body);
- Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
- m_dir *= rotq;
-
-
-
-
- Vector3 grav = Vector3.Zero;
-
-
- d.Mass objMass;
- d.BodyGetMass(Body, out objMass);
-
- grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
-
- d.Vector3 vel_now = d.BodyGetLinearVel(Body);
- m_dir.Z = vel_now.Z;
- d.Vector3 pos = d.BodyGetPosition(Body);
- Vector3 posChange = new Vector3();
- posChange.X = pos.X - m_lastPositionVector.X;
- posChange.Y = pos.Y - m_lastPositionVector.Y;
- posChange.Z = pos.Z - m_lastPositionVector.Z;
- double Zchange = Math.Abs(posChange.Z);
- if (m_BlockingEndPoint != Vector3.Zero)
- {
- if (pos.X >= (m_BlockingEndPoint.X - (float)1))
- {
- pos.X -= posChange.X + 1;
- d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
- }
- if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
- {
- pos.Y -= posChange.Y + 1;
- d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
- }
- if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
- {
- pos.Z -= posChange.Z + 1;
- d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
- }
- if (pos.X <= 0)
- {
- pos.X += posChange.X + 1;
- d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
- }
- if (pos.Y <= 0)
- {
- pos.Y += posChange.Y + 1;
- d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
- }
- }
- if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
- {
- pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
- d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
- }
-
- if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
- {
-
- if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
- {
- m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
- }
- if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
- {
- m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
- }
- if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
- {
- m_VhoverTargetHeight = m_VhoverHeight;
- }
- if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
- {
-
- if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
- }
- if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
- {
- if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
- {
- d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
- }
- }
- else
- {
- float herr0 = pos.Z - m_VhoverTargetHeight;
-
- if (Math.Abs(herr0) > 0.01f)
- {
- m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
-
- }
- else
- {
- m_dir.Z = 0f;
- }
- }
- }
- if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
- {
-
- if (Zchange > .3)
- {
- grav.Z = (float)(grav.Z * 3);
- }
- if (Zchange > .15)
- {
- grav.Z = (float)(grav.Z * 2);
- }
- if (Zchange > .75)
- {
- grav.Z = (float)(grav.Z * 1.5);
- }
- if (Zchange > .05)
- {
- grav.Z = (float)(grav.Z * 1.25);
- }
- if (Zchange > .025)
- {
- grav.Z = (float)(grav.Z * 1.125);
- }
- float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
- float postemp = (pos.Z - terraintemp);
- if (postemp > 2.5f)
- {
- grav.Z = (float)(grav.Z * 1.037125);
- }
-
- }
- if ((m_flags & (VehicleFlag.NO_X)) != 0)
- {
- m_dir.X = 0;
- }
- if ((m_flags & (VehicleFlag.NO_Y)) != 0)
- {
- m_dir.Y = 0;
- }
- if ((m_flags & (VehicleFlag.NO_Z)) != 0)
- {
- m_dir.Z = 0;
- }
- m_lastPositionVector = d.BodyGetPosition(Body);
-
- d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
-
- d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
-
- Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
- m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
- }
- private void MoveAngular(float pTimestep)
- {
-
-
- d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
-
- if (m_angularMotorApply > 0)
- {
-
-
-
- m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
- m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
- m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
- m_angularMotorApply--;
-
- }
- else
- {
-
-
-
- m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
- }
-
- Vector3 vertattr = Vector3.Zero;
- if (m_verticalAttractionTimescale < 300)
- {
- float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
-
- d.Quaternion rot = d.BodyGetQuaternion(Body);
- Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
-
- Vector3 verterr = Vector3.Zero;
- verterr.Z = 1.0f;
-
- verterr = verterr * rotq;
-
-
-
- if (verterr.Z < 0.0f)
- {
- verterr.X = 2.0f - verterr.X;
- verterr.Y = 2.0f - verterr.Y;
- }
-
-
- verterr = verterr * VAservo;
-
-
- vertattr.X = verterr.Y;
- vertattr.Y = - verterr.X;
- vertattr.Z = 0f;
-
- float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
- vertattr.X += bounce * angularVelocity.X;
- vertattr.Y += bounce * angularVelocity.Y;
- }
-
-
-
-
- m_lastAngularVelocity = m_angularMotorVelocity + vertattr;
-
- if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
- {
- m_lastAngularVelocity.X = 0;
- m_lastAngularVelocity.Y = 0;
- }
- if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
- {
- if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
- }
- else
- {
- m_lastAngularVelocity = Vector3.Zero;
- }
-
- Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
- m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
-
- d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
- }
- internal void LimitRotation(float timestep)
- {
- d.Quaternion rot = d.BodyGetQuaternion(Body);
- Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
- d.Quaternion m_rot = new d.Quaternion();
- bool changed = false;
- m_rot.X = rotq.X;
- m_rot.Y = rotq.Y;
- m_rot.Z = rotq.Z;
- m_rot.W = rotq.W;
- 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);
- }
- changed = true;
- }
- if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
- {
- m_rot.X = 0;
- m_rot.Y = 0;
- changed = true;
- }
- if (changed)
- d.BodySetQuaternion(Body, ref m_rot);
- }
- }
- }
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