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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:
- * * 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 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
- * 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 OpenMetaverse;
- using OpenSim.Framework;
- using OpenSim.Region.PhysicsModules.SharedBase;
- using log4net;
- namespace OpenSim.Region.PhysicsModule.ODE
- {
- /// <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 OdeNative.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 OdeNative.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="vel"></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 vel, 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);
- }
- _velocity = vel;
- m_taintTargetVelocity = vel;
- _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 m_isPhysical; }
- 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 - CAPSULE_RADIUS * 2.0f;
- // m_log.InfoFormat("[ODE CHARACTER]: Size = {0}, Capsule Length = {1} (Capsule Radius = {2})",
- // size, m_tainted_CAPSULE_LENGTH, CAPSULE_RADIUS);
- }
- else
- {
- m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.PhysicsSceneName);
- }
- }
- 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");
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
- OdeNative.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(byte axislocks) {}
- // 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; }
- }
- public override void AvatarJump(float forceZ)
- {
- m_pidControllerActive = false;
- m_taintForce += new Vector3(0, 0, m_mass * forceZ / _parent_scene.ODE_STEPSIZE);
- _parent_scene.AddPhysicsActorTaint(this);
- }
- /// <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 = OdeNative.BodyGetPosition(Body);
- }
- //PidStatus = true;
- OdeNative.Vector3 localpos = OdeNative.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;
- OdeNative.Vector3 vel = OdeNative.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 = OdeNative.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
- OdeNative.Vector3 pos = OdeNative.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 (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);
- }
- else
- {
- if (m_iscolliding && _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.
- OdeNative.Vector3 pos = OdeNative.BodyGetPosition(Body);
- vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
- vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
- vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
- }
- else if (!m_iscolliding)
- {
- // we're not colliding and we're not flying so that means we're falling!
- // m_iscolliding includes collisions with the ground.
- vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
- vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * 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
- OdeNative.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;
- }
- OdeNative.Vector3 newVel = OdeNative.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);
- OdeNative.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!
- OdeNative.Vector3 newPos;
- try
- {
- newPos = OdeNative.BodyGetPosition(Body);
- }
- catch (NullReferenceException)
- {
- bad = true;
- defects.Add(this);
- newPos = new OdeNative.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;
- OdeNative.Vector3 newVelocity;
- try
- {
- newVelocity = OdeNative.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 = OdeNative.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
- OdeNative.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
- OdeNative.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
- OdeNative.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
- Body = OdeNative.BodyCreate(_parent_scene.world);
- OdeNative.BodySetPosition(Body, npositionX, npositionY, npositionZ);
- _position.X = npositionX;
- _position.Y = npositionY;
- _position.Z = npositionZ;
- m_taintPosition = _position;
- OdeNative.BodySetMass(Body, ref ShellMass);
- OdeNative.Matrix3 m_caprot;
- // 90 Stand up on the cap of the capped cyllinder
- if (_parent_scene.IsAvCapsuleTilted)
- {
- OdeNative.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
- }
- else
- {
- OdeNative.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
- }
- OdeNative.GeomSetRotation(Shell, ref m_caprot);
- OdeNative.BodySetRotation(Body, ref m_caprot);
- OdeNative.GeomSetBody(Shell, Body);
- // The purpose of the AMotor here is to keep the avatar's physical
- // surrogate from rotating while moving
- Amotor = OdeNative.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
- OdeNative.JointAttach(Amotor, Body, IntPtr.Zero);
- OdeNative.JointSetAMotorMode(Amotor, dAMotorEuler);
- OdeNative.JointSetAMotorNumAxes(Amotor, 3);
- OdeNative.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
- OdeNative.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
- OdeNative.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
- OdeNative.JointSetAMotorAngle(Amotor, 0, 0);
- OdeNative.JointSetAMotorAngle(Amotor, 1, 0);
- OdeNative.JointSetAMotorAngle(Amotor, 2, 0);
- // These lowstops and high stops are effectively (no wiggle room)
- if (_parent_scene.IsAvCapsuleTilted)
- {
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
- OdeNative.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);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
- OdeNative.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
- OdeNative.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
- OdeNative.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
- OdeNative.JointDestroy(Amotor);
- Amotor = IntPtr.Zero;
- }
- //kill the Geometry
- // _parent_scene.waitForSpaceUnlock(_parent_scene.space);
- if (Body != IntPtr.Zero)
- {
- //kill the body
- OdeNative.BodyDestroy(Body);
- Body = IntPtr.Zero;
- }
- if (Shell != IntPtr.Zero)
- {
- // lock (OdeScene.UniversalColliderSyncObject)
- OdeNative.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
- {
- get { return false; }
- set { return; }
- }
- public override float PIDTau { set { return; } }
- public override float PIDHoverHeight { set { return; } }
- public override bool PIDHoverActive {get {return false;} 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;
- }
- public override 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)
- {
- OdeNative.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.
- OdeNative.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;
- }
- }
- }
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