diff options
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 78 |
1 files changed, 17 insertions, 61 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 30f6c8c..96626ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -35,62 +35,6 @@ using OMV = OpenMetaverse; | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin | 35 | namespace OpenSim.Region.Physics.BulletSPlugin |
36 | { | 36 | { |
37 | 37 | ||
38 | /* | ||
39 | // When a child is linked, the relationship position of the child to the parent | ||
40 | // is remembered so the child's world position can be recomputed when it is | ||
41 | // removed from the linkset. | ||
42 | sealed class BSLinksetCompoundInfo : BSLinksetInfo | ||
43 | { | ||
44 | public int Index; | ||
45 | public OMV.Vector3 OffsetFromRoot; | ||
46 | public OMV.Vector3 OffsetFromCenterOfMass; | ||
47 | public OMV.Quaternion OffsetRot; | ||
48 | public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r) | ||
49 | { | ||
50 | Index = indx; | ||
51 | OffsetFromRoot = p; | ||
52 | OffsetFromCenterOfMass = p; | ||
53 | OffsetRot = r; | ||
54 | } | ||
55 | // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) | ||
56 | public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement) | ||
57 | { | ||
58 | // Each child position and rotation is given relative to the center-of-mass. | ||
59 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); | ||
60 | OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; | ||
61 | OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; | ||
62 | OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; | ||
63 | |||
64 | // Save relative position for recomputing child's world position after moving linkset. | ||
65 | Index = indx; | ||
66 | OffsetFromRoot = displacementFromRoot; | ||
67 | OffsetFromCenterOfMass = displacementFromCOM; | ||
68 | OffsetRot = displacementRot; | ||
69 | } | ||
70 | public override void Clear() | ||
71 | { | ||
72 | Index = 0; | ||
73 | OffsetFromRoot = OMV.Vector3.Zero; | ||
74 | OffsetFromCenterOfMass = OMV.Vector3.Zero; | ||
75 | OffsetRot = OMV.Quaternion.Identity; | ||
76 | } | ||
77 | public override string ToString() | ||
78 | { | ||
79 | StringBuilder buff = new StringBuilder(); | ||
80 | buff.Append("<i="); | ||
81 | buff.Append(Index.ToString()); | ||
82 | buff.Append(",p="); | ||
83 | buff.Append(OffsetFromRoot.ToString()); | ||
84 | buff.Append(",m="); | ||
85 | buff.Append(OffsetFromCenterOfMass.ToString()); | ||
86 | buff.Append(",r="); | ||
87 | buff.Append(OffsetRot.ToString()); | ||
88 | buff.Append(">"); | ||
89 | return buff.ToString(); | ||
90 | } | ||
91 | }; | ||
92 | */ | ||
93 | |||
94 | public sealed class BSLinksetCompound : BSLinkset | 38 | public sealed class BSLinksetCompound : BSLinkset |
95 | { | 39 | { |
96 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; | 40 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; |
@@ -151,7 +95,9 @@ public sealed class BSLinksetCompound : BSLinkset | |||
151 | public override bool MakeStatic(BSPrimLinkable child) | 95 | public override bool MakeStatic(BSPrimLinkable child) |
152 | { | 96 | { |
153 | bool ret = false; | 97 | bool ret = false; |
98 | |||
154 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); | 99 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); |
100 | child.ClearDisplacement(); | ||
155 | if (IsRoot(child)) | 101 | if (IsRoot(child)) |
156 | { | 102 | { |
157 | // Schedule a rebuild to verify that the root shape is set to the real shape. | 103 | // Schedule a rebuild to verify that the root shape is set to the real shape. |
@@ -364,16 +310,28 @@ public sealed class BSLinksetCompound : BSLinkset | |||
364 | int memberIndex = 1; | 310 | int memberIndex = 1; |
365 | ForEachMember(delegate(BSPrimLinkable cPrim) | 311 | ForEachMember(delegate(BSPrimLinkable cPrim) |
366 | { | 312 | { |
367 | // Root shape is always index zero. | 313 | if (IsRoot(cPrim)) |
368 | cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex; | 314 | { |
315 | // Root shape is always index zero. | ||
316 | cPrim.LinksetChildIndex = 0; | ||
317 | } | ||
318 | else | ||
319 | { | ||
320 | cPrim.LinksetChildIndex = memberIndex; | ||
321 | memberIndex++; | ||
322 | } | ||
369 | 323 | ||
370 | // Get a reference to the shape of the child and add that shape to the linkset compound shape | 324 | // Get a reference to the shape of the child and add that shape to the linkset compound shape |
371 | BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); | 325 | BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); |
326 | |||
327 | // Offset the child shape from the center-of-mass and rotate it to vehicle relative | ||
372 | OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; | 328 | OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; |
373 | OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; | 329 | OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; |
330 | |||
331 | // Add the child shape to the compound shape being built | ||
374 | m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); | 332 | m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); |
375 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", | 333 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", |
376 | LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); | 334 | LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); |
377 | 335 | ||
378 | // Since we are borrowing the shape of the child, disable the origional child body | 336 | // Since we are borrowing the shape of the child, disable the origional child body |
379 | if (!IsRoot(cPrim)) | 337 | if (!IsRoot(cPrim)) |
@@ -385,8 +343,6 @@ public sealed class BSLinksetCompound : BSLinkset | |||
385 | cPrim.PhysBody.collisionType = CollisionType.LinksetChild; | 343 | cPrim.PhysBody.collisionType = CollisionType.LinksetChild; |
386 | } | 344 | } |
387 | 345 | ||
388 | memberIndex++; | ||
389 | |||
390 | return false; // 'false' says to move onto the next child in the list | 346 | return false; // 'false' says to move onto the next child in the list |
391 | }); | 347 | }); |
392 | 348 | ||