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authorMelanie Thielker2014-06-21 00:39:55 +0200
committerMelanie Thielker2014-06-21 00:39:55 +0200
commit159fcbf150b7da0e229b29aa7b94793484543d12 (patch)
treeb8c0ff3b4c758a3fba8315b556c923ef4c02a185 /OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
parentMerge commit '68c8633ba18f0a11cfc0ed04d1d0c7c59e6cec76' (diff)
parentMerge branch 'master' into careminster (diff)
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Merge branch 'master' of ssh://3dhosting.de/var/git/careminster
Conflicts: OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs121
1 files changed, 75 insertions, 46 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
index f1c3b5c..2eb1440 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -23,11 +23,6 @@
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 *
27 * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
28 * are Copyright (c) 2009 Linden Research, Inc and are used under their license
29 * of Creative Commons Attribution-Share Alike 3.0
30 * (http://creativecommons.org/licenses/by-sa/3.0/).
31 */ 26 */
32 27
33using System; 28using System;
@@ -44,14 +39,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
44{ 39{
45public class BSPrimDisplaced : BSPrim 40public class BSPrimDisplaced : BSPrim
46{ 41{
47 // The purpose of this module is to do any mapping between what the simulator thinks 42 // The purpose of this subclass is to do any mapping between what the simulator thinks
48 // the prim position and orientation is and what the physical position/orientation. 43 // the prim position and orientation is and what the physical position/orientation.
49 // This difference happens because Bullet assumes the center-of-mass is the <0,0,0> 44 // This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
50 // of the prim/linkset. The simulator tracks the location of the prim/linkset by 45 // of the prim/linkset. The simulator, on the other hand, tracks the location of
51 // the location of the root prim. So, if center-of-mass is anywhere but the origin 46 // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere
52 // of the root prim, the physical origin is displaced from the simulator origin. 47 // but the origin of the root prim, the physical origin is displaced from the simulator origin.
53 // 48 //
54 // This routine works by capturing the Force* setting of position/orientation/... and 49 // This routine works by capturing ForcePosition and
55 // adjusting the simulator values (being set) into the physical values. 50 // adjusting the simulator values (being set) into the physical values.
56 // The conversion is also done in the opposite direction (physical origin -> simulator origin). 51 // The conversion is also done in the opposite direction (physical origin -> simulator origin).
57 // 52 //
@@ -59,8 +54,8 @@ public class BSPrimDisplaced : BSPrim
59 // are converted into simulator origin values before being passed to the base 54 // are converted into simulator origin values before being passed to the base
60 // class. 55 // class.
61 56
57 // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass.
62 public virtual OMV.Vector3 PositionDisplacement { get; set; } 58 public virtual OMV.Vector3 PositionDisplacement { get; set; }
63 public virtual OMV.Quaternion OrientationDisplacement { get; set; }
64 59
65 public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, 60 public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
66 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) 61 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@@ -69,68 +64,96 @@ public class BSPrimDisplaced : BSPrim
69 ClearDisplacement(); 64 ClearDisplacement();
70 } 65 }
71 66
67 // Clears any center-of-mass displacement introduced by linksets, etc.
68 // Does not clear the displacement set by the user.
72 public void ClearDisplacement() 69 public void ClearDisplacement()
73 { 70 {
74 PositionDisplacement = OMV.Vector3.Zero; 71 if (UserSetCenterOfMassDisplacement.HasValue)
75 OrientationDisplacement = OMV.Quaternion.Identity; 72 PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement;
73 else
74 PositionDisplacement = OMV.Vector3.Zero;
76 } 75 }
77 76
78 // Set this sets and computes the displacement from the passed prim to the center-of-mass. 77 // Set this sets and computes the displacement from the passed prim to the center-of-mass.
79 // A user set value for center-of-mass overrides whatever might be passed in here. 78 // A user set value for center-of-mass overrides whatever might be passed in here.
80 // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). 79 // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
81 public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement) 80 // Returns the relative offset from the root position to the center-of-mass.
81 // Called at taint time.
82 public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
82 { 83 {
84 PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
83 Vector3 comDisp; 85 Vector3 comDisp;
84 if (UserSetCenterOfMass.HasValue) 86 if (UserSetCenterOfMassDisplacement.HasValue)
85 comDisp = (OMV.Vector3)UserSetCenterOfMass; 87 comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
86 else 88 else
87 comDisp = centerOfMassDisplacement; 89 comDisp = centerOfMassDisplacement;
88 90
89 if (comDisp == Vector3.Zero) 91 // Eliminate any jitter caused be very slight differences in masses and positions
90 { 92 if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
91 // If there is no diplacement. Things get reset. 93 comDisp = Vector3.Zero;
92 PositionDisplacement = OMV.Vector3.Zero; 94
93 OrientationDisplacement = OMV.Quaternion.Identity; 95 DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
94 } 96 LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
95 else 97 if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) )
96 { 98 {
97 // Remember the displacement from root as well as the origional rotation of the 99 // Displacement setting is changing.
98 // new center-of-mass. 100 // The relationship between the physical object and simulated object must be aligned.
99 PositionDisplacement = comDisp; 101 PositionDisplacement = comDisp;
100 OrientationDisplacement = OMV.Quaternion.Identity; 102 this.ForcePosition = RawPosition;
101 } 103 }
104
105 return PositionDisplacement;
102 } 106 }
103 107
108 // 'ForcePosition' is the one way to set the physical position of the body in the physics engine.
109 // Displace the simulator idea of position (center of root prim) to the physical position.
104 public override Vector3 ForcePosition 110 public override Vector3 ForcePosition
105 { 111 {
106 get { return base.ForcePosition; } 112 get {
113 OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody);
114 if (PositionDisplacement != OMV.Vector3.Zero)
115 {
116 // If there is some displacement, return the physical position (center-of-mass)
117 // location minus the displacement to give the center of the root prim.
118 OMV.Vector3 displacement = PositionDisplacement * ForceOrientation;
119 DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}",
120 LocalID, physPosition, displacement, physPosition - displacement);
121 physPosition -= displacement;
122 }
123 RawPosition = physPosition;
124 return physPosition;
125 }
107 set 126 set
108 { 127 {
109 if (PositionDisplacement != OMV.Vector3.Zero) 128 if (PositionDisplacement != OMV.Vector3.Zero)
110 base.ForcePosition = value - (PositionDisplacement * RawOrientation); 129 {
130 // This value is the simulator's idea of where the prim is: the center of the root prim
131 RawPosition = value;
132
133 // Move the passed root prim postion to the center-of-mass position and set in the physics engine.
134 OMV.Vector3 displacement = PositionDisplacement * RawOrientation;
135 OMV.Vector3 displacedPos = RawPosition + displacement;
136 DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}",
137 LocalID, RawPosition, displacement, displacedPos);
138 if (PhysBody.HasPhysicalBody)
139 {
140 PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation);
141 ActivateIfPhysical(false);
142 }
143 }
111 else 144 else
145 {
112 base.ForcePosition = value; 146 base.ForcePosition = value;
147 }
113 } 148 }
114 } 149 }
115 150
116 public override Quaternion ForceOrientation 151 // These are also overridden by BSPrimLinkable if the prim can be part of a linkset
117 {
118 get { return base.ForceOrientation; }
119 set
120 {
121 base.ForceOrientation = value;
122 }
123 }
124
125 // TODO: decide if this is the right place for these variables.
126 // Somehow incorporate the optional settability by the user.
127 // Is this used?
128 public override OMV.Vector3 CenterOfMass 152 public override OMV.Vector3 CenterOfMass
129 { 153 {
130 get { return RawPosition; } 154 get { return RawPosition; }
131 } 155 }
132 156
133 // Is this used?
134 public override OMV.Vector3 GeometricCenter 157 public override OMV.Vector3 GeometricCenter
135 { 158 {
136 get { return RawPosition; } 159 get { return RawPosition; }
@@ -139,12 +162,18 @@ public class BSPrimDisplaced : BSPrim
139 public override void UpdateProperties(EntityProperties entprop) 162 public override void UpdateProperties(EntityProperties entprop)
140 { 163 {
141 // Undo any center-of-mass displacement that might have been done. 164 // Undo any center-of-mass displacement that might have been done.
142 if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) 165 if (PositionDisplacement != OMV.Vector3.Zero)
143 { 166 {
144 // Correct for any rotation around the center-of-mass 167 // The origional shape was offset from 'zero' by PositionDisplacement.
145 // TODO!!! 168 // These physical location must be back converted to be centered around the displaced
146 entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); 169 // root shape.
147 // entprop.Rotation = something; 170
171 // Move the returned center-of-mass location to the root prim location.
172 OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
173 OMV.Vector3 displacedPos = entprop.Position - displacement;
174 DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
175 LocalID, entprop.Position, displacement, displacedPos);
176 entprop.Position = displacedPos;
148 } 177 }
149 178
150 base.UpdateProperties(entprop); 179 base.UpdateProperties(entprop);