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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Linq;
30using System.Text;
31
32using OpenSim.Framework;
33
34using OMV = OpenMetaverse;
35
36namespace OpenSim.Region.Physics.BulletSPlugin
37{
38public class BSPrimLinkable : BSPrimDisplaced
39{
40 public BSLinkset Linkset { get; set; }
41 // The index of this child prim.
42 public int LinksetChildIndex { get; set; }
43
44 public BSLinksetInfo LinksetInfo { get; set; }
45
46 public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
47 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
48 : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
49 {
50 Linkset = BSLinkset.Factory(PhysicsScene, this);
51
52 PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
53 {
54 Linkset.Refresh(this);
55 });
56 }
57
58 public override void Destroy()
59 {
60 Linkset = Linkset.RemoveMeFromLinkset(this);
61 base.Destroy();
62 }
63
64 public override BSPhysicsShapeType PreferredPhysicalShape
65 { get { return Linkset.PreferredPhysicalShape(this); } }
66
67 public override void link(Manager.PhysicsActor obj)
68 {
69 BSPrimLinkable parent = obj as BSPrimLinkable;
70 if (parent != null)
71 {
72 BSPhysObject parentBefore = Linkset.LinksetRoot;
73 int childrenBefore = Linkset.NumberOfChildren;
74
75 Linkset = parent.Linkset.AddMeToLinkset(this);
76
77 DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
78 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
79 }
80 return;
81 }
82
83 public override void delink()
84 {
85 // TODO: decide if this parent checking needs to happen at taint time
86 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
87
88 BSPhysObject parentBefore = Linkset.LinksetRoot;
89 int childrenBefore = Linkset.NumberOfChildren;
90
91 Linkset = Linkset.RemoveMeFromLinkset(this);
92
93 DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
94 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
95 return;
96 }
97
98 // When simulator changes position, this might be moving a child of the linkset.
99 public override OMV.Vector3 Position
100 {
101 get { return base.Position; }
102 set
103 {
104 base.Position = value;
105 PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
106 {
107 Linkset.UpdateProperties(UpdatedProperties.Position, this);
108 });
109 }
110 }
111
112 // When simulator changes orientation, this might be moving a child of the linkset.
113 public override OMV.Quaternion Orientation
114 {
115 get { return base.Orientation; }
116 set
117 {
118 base.Orientation = value;
119 PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
120 {
121 Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
122 });
123 }
124 }
125
126 public override float TotalMass
127 {
128 get { return Linkset.LinksetMass; }
129 }
130
131 public override void UpdatePhysicalParameters()
132 {
133 base.UpdatePhysicalParameters();
134 // Recompute any linkset parameters.
135 // When going from non-physical to physical, this re-enables the constraints that
136 // had been automatically disabled when the mass was set to zero.
137 // For compound based linksets, this enables and disables interactions of the children.
138 if (Linkset != null) // null can happen during initialization
139 Linkset.Refresh(this);
140 }
141
142 protected override void MakeDynamic(bool makeStatic)
143 {
144 base.MakeDynamic(makeStatic);
145 if (makeStatic)
146 Linkset.MakeStatic(this);
147 else
148 Linkset.MakeDynamic(this);
149 }
150
151 // Body is being taken apart. Remove physical dependencies and schedule a rebuild.
152 protected override void RemoveBodyDependencies()
153 {
154 Linkset.RemoveBodyDependencies(this);
155 base.RemoveBodyDependencies();
156 }
157
158 public override void UpdateProperties(EntityProperties entprop)
159 {
160 if (Linkset.IsRoot(this))
161 {
162 // Properties are only updated for the roots of a linkset.
163 // TODO: this will have to change when linksets are articulated.
164 base.UpdateProperties(entprop);
165 }
166 // The linkset might like to know about changing locations
167 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
168 }
169
170 public override bool Collide(uint collidingWith, BSPhysObject collidee,
171 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
172 {
173 // prims in the same linkset cannot collide with each other
174 BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
175 if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
176 {
177 return false;
178 }
179 return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
180 }
181}
182}