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-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs1438
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs4300
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs384
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs48
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs3869
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs353
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs122
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs98
9 files changed, 10670 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d65929a
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
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 copyright
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 */
27
28using System.Reflection;
29using System.Runtime.InteropServices;
30
31// Information about this assembly is defined by the following
32// attributes.
33//
34// change them to the information which is associated with the assembly
35// you compile.
36
37[assembly : AssemblyTitle("OdePlugin")]
38[assembly : AssemblyDescription("")]
39[assembly : AssemblyConfiguration("")]
40[assembly : AssemblyCompany("http://opensimulator.org")]
41[assembly : AssemblyProduct("OdePlugin")]
42[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
43[assembly : AssemblyTrademark("")]
44[assembly : AssemblyCulture("")]
45
46// This sets the default COM visibility of types in the assembly to invisible.
47// If you need to expose a type to COM, use [ComVisible(true)] on that type.
48
49[assembly : ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..2945199
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -0,0 +1,1438 @@
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 copyright
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 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using OpenMetaverse;
32using Ode.NET;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using log4net;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 /// <summary>
40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
41 /// </summary>
42
43 public enum dParam : int
44 {
45 LowStop = 0,
46 HiStop = 1,
47 Vel = 2,
48 FMax = 3,
49 FudgeFactor = 4,
50 Bounce = 5,
51 CFM = 6,
52 StopERP = 7,
53 StopCFM = 8,
54 LoStop2 = 256,
55 HiStop2 = 257,
56 Vel2 = 258,
57 FMax2 = 259,
58 StopERP2 = 7 + 256,
59 StopCFM2 = 8 + 256,
60 LoStop3 = 512,
61 HiStop3 = 513,
62 Vel3 = 514,
63 FMax3 = 515,
64 StopERP3 = 7 + 512,
65 StopCFM3 = 8 + 512
66 }
67 public class OdeCharacter : PhysicsActor
68 {
69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
70
71 private Vector3 _position;
72 private d.Vector3 _zeroPosition;
73 // private d.Matrix3 m_StandUpRotation;
74 private bool _zeroFlag = false;
75 private bool m_lastUpdateSent = false;
76 private Vector3 _velocity;
77 private Vector3 _target_velocity;
78 private Vector3 _acceleration;
79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f;
81 public float m_density = 60f;
82 private bool m_pidControllerActive = true;
83 public float PID_D = 800.0f;
84 public float PID_P = 900.0f;
85 //private static float POSTURE_SERVO = 10000.0f;
86 public float CAPSULE_RADIUS = 0.37f;
87 public float CAPSULE_LENGTH = 2.140599f;
88 public float m_tensor = 3800000f;
89 public float heightFudgeFactor = 0.52f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool jumping = false; // add for jumping
94 private bool m_iscolliding = false;
95 private bool m_iscollidingGround = false;
96 private bool m_wascolliding = false;
97 private bool m_wascollidingGround = false;
98 private bool m_iscollidingObj = false;
99 private bool m_alwaysRun = false;
100 private bool m_hackSentFall = false;
101 private bool m_hackSentFly = false;
102 private int m_requestedUpdateFrequency = 0;
103 private Vector3 m_taintPosition = Vector3.Zero;
104 public uint m_localID = 0;
105 public bool m_returnCollisions = false;
106 // taints and their non-tainted counterparts
107 public bool m_isPhysical = false; // the current physical status
108 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
109 public float MinimumGroundFlightOffset = 3f;
110
111 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
112 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
113
114
115 private float m_buoyancy = 0f;
116
117 // private CollisionLocker ode;
118
119 private string m_name = String.Empty;
120
121 private bool[] m_colliderarr = new bool[11];
122 private bool[] m_colliderGroundarr = new bool[11];
123
124 // Default we're a Character
125 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
126
127 // Default, Collide with Other Geometries, spaces, bodies and characters.
128 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
129 | CollisionCategories.Space
130 | CollisionCategories.Body
131 | CollisionCategories.Character
132 | CollisionCategories.Land);
133 public IntPtr Body = IntPtr.Zero;
134 private OdeScene _parent_scene;
135 public IntPtr Shell = IntPtr.Zero;
136 public IntPtr Amotor = IntPtr.Zero;
137 public d.Mass ShellMass;
138 public bool collidelock = false;
139
140 public int m_eventsubscription = 0;
141 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
142
143 // unique UUID of this character object
144 public UUID m_uuid;
145 public bool bad = false;
146 private Object m_syncRoot = new Object();
147
148 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
149 {
150 m_uuid = UUID.Random();
151
152 if (pos.IsFinite())
153 {
154 if (pos.Z > 9999999f)
155 {
156 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
157 }
158 if (pos.Z < -90000f)
159 {
160 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
161 }
162 _position = pos;
163 m_taintPosition.X = pos.X;
164 m_taintPosition.Y = pos.Y;
165 m_taintPosition.Z = pos.Z;
166 }
167 else
168 {
169 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
170 m_taintPosition.X = _position.X;
171 m_taintPosition.Y = _position.Y;
172 m_taintPosition.Z = _position.Z;
173 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
174 }
175
176 _parent_scene = parent_scene;
177
178 PID_D = pid_d;
179 PID_P = pid_p;
180 CAPSULE_RADIUS = capsule_radius;
181 m_tensor = tensor;
182 m_density = density;
183 heightFudgeFactor = height_fudge_factor;
184 walkDivisor = walk_divisor;
185 runDivisor = rundivisor;
186
187 // m_StandUpRotation =
188 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
189 // 0.5f);
190
191 for (int i = 0; i < 11; i++)
192 {
193 m_colliderarr[i] = false;
194 }
195 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
196 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
197 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
198
199 m_isPhysical = false; // current status: no ODE information exists
200 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
201
202 _parent_scene.AddPhysicsActorTaint(this);
203
204 m_name = avName;
205 }
206
207 public override int PhysicsActorType
208 {
209 get { return (int) ActorTypes.Agent; }
210 set { return; }
211 }
212
213 /// <summary>
214 /// If this is set, the avatar will move faster
215 /// </summary>
216 public override bool SetAlwaysRun
217 {
218 get { return m_alwaysRun; }
219 set { m_alwaysRun = value; }
220 }
221
222 public override uint LocalID
223 {
224 set { m_localID = value; }
225 }
226
227 public override bool Grabbed
228 {
229 set { return; }
230 }
231
232 public override bool Selected
233 {
234// set { return; }
235 set { jumping = value; } // add for jumping flag
236 }
237
238 public override float Buoyancy
239 {
240 get { return m_buoyancy; }
241 set { m_buoyancy = value; }
242 }
243
244 public override bool FloatOnWater
245 {
246 set { return; }
247 }
248
249 public override bool IsPhysical
250 {
251 get { return false; }
252 set { return; }
253 }
254
255 public override bool ThrottleUpdates
256 {
257 get { return false; }
258 set { return; }
259 }
260
261 public override bool Flying
262 {
263 get { return flying; }
264 set { flying = value; }
265 }
266
267 /// <summary>
268 /// Returns if the avatar is colliding in general.
269 /// This includes the ground and objects and avatar.
270 /// </summary>
271 public override bool IsColliding
272 {
273//#@ get { return m_iscolliding; }
274 get { //##
275//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
276 return m_iscolliding; } //##
277 set
278 {
279 int i;
280 int truecount = 0;
281 int falsecount = 0;
282
283 if (m_colliderarr.Length >= 10)
284 {
285 for (i = 0; i < 10; i++)
286 {
287 m_colliderarr[i] = m_colliderarr[i + 1];
288 }
289 }
290 m_colliderarr[10] = value;
291
292 for (i = 0; i < 11; i++)
293 {
294 if (m_colliderarr[i])
295 {
296 truecount++;
297 }
298 else
299 {
300 falsecount++;
301 }
302 }
303
304 // Equal truecounts and false counts means we're colliding with something.
305
306 if (falsecount > 1.2*truecount)
307 {
308 m_iscolliding = false;
309 }
310 else
311 {
312 m_iscolliding = true;
313 }
314// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
315 if (m_wascolliding != m_iscolliding)
316 {
317 //base.SendCollisionUpdate(new CollisionEventUpdate());
318 }
319 m_wascolliding = m_iscolliding;
320 }
321 }
322
323 /// <summary>
324 /// Returns if an avatar is colliding with the ground
325 /// </summary>
326 public override bool CollidingGround
327 {
328 get { return m_iscollidingGround; }
329 set
330 {
331 // Collisions against the ground are not really reliable
332 // So, to get a consistant value we have to average the current result over time
333 // Currently we use 1 second = 10 calls to this.
334 int i;
335 int truecount = 0;
336 int falsecount = 0;
337
338 if (m_colliderGroundarr.Length >= 10)
339 {
340 for (i = 0; i < 10; i++)
341 {
342 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
343 }
344 }
345 m_colliderGroundarr[10] = value;
346
347 for (i = 0; i < 11; i++)
348 {
349 if (m_colliderGroundarr[i])
350 {
351 truecount++;
352 }
353 else
354 {
355 falsecount++;
356 }
357 }
358
359 // Equal truecounts and false counts means we're colliding with something.
360
361 if (falsecount > 1.2*truecount)
362 {
363 m_iscollidingGround = false;
364 }
365 else
366 {
367 m_iscollidingGround = true;
368 }
369 if (m_wascollidingGround != m_iscollidingGround)
370 {
371 //base.SendCollisionUpdate(new CollisionEventUpdate());
372 }
373 m_wascollidingGround = m_iscollidingGround;
374 }
375 }
376
377 /// <summary>
378 /// Returns if the avatar is colliding with an object
379 /// </summary>
380 public override bool CollidingObj
381 {
382 get { return m_iscollidingObj; }
383 set
384 {
385 m_iscollidingObj = value;
386 if (value)
387 m_pidControllerActive = false;
388 else
389 m_pidControllerActive = true;
390 }
391 }
392
393 /// <summary>
394 /// turn the PID controller on or off.
395 /// The PID Controller will turn on all by itself in many situations
396 /// </summary>
397 /// <param name="status"></param>
398 public void SetPidStatus(bool status)
399 {
400 m_pidControllerActive = status;
401 }
402
403 public override bool Stopped
404 {
405 get { return _zeroFlag; }
406 }
407
408 /// <summary>
409 /// This 'puts' an avatar somewhere in the physics space.
410 /// Not really a good choice unless you 'know' it's a good
411 /// spot otherwise you're likely to orbit the avatar.
412 /// </summary>
413 public override Vector3 Position
414 {
415 get { return _position; }
416 set
417 {
418 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
419 {
420 if (value.IsFinite())
421 {
422 if (value.Z > 9999999f)
423 {
424 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
425 }
426 if (value.Z < -90000f)
427 {
428 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
429 }
430
431 _position.X = value.X;
432 _position.Y = value.Y;
433 _position.Z = value.Z;
434
435 m_taintPosition.X = value.X;
436 m_taintPosition.Y = value.Y;
437 m_taintPosition.Z = value.Z;
438 _parent_scene.AddPhysicsActorTaint(this);
439 }
440 else
441 {
442 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
443 }
444 }
445 }
446 }
447
448 public override Vector3 RotationalVelocity
449 {
450 get { return m_rotationalVelocity; }
451 set { m_rotationalVelocity = value; }
452 }
453
454 /// <summary>
455 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
456 /// and use it to offset landings properly
457 /// </summary>
458 public override Vector3 Size
459 {
460 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
461 set
462 {
463 if (value.IsFinite())
464 {
465 m_pidControllerActive = true;
466
467 Vector3 SetSize = value;
468 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
469 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
470
471 Velocity = Vector3.Zero;
472 m_taintPosition = _position; // update the stale taint position
473 _parent_scene.AddPhysicsActorTaint(this);
474 }
475 else
476 {
477 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
478 }
479 }
480 }
481
482 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
483 {
484 movementVector.Z = 0f;
485 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
486 if (magnitude < 0.1f) return;
487
488 // normalize the velocity vector
489 float invMagnitude = 1.0f / magnitude;
490 movementVector.X *= invMagnitude;
491 movementVector.Y *= invMagnitude;
492
493 // if we change the capsule heading too often, the capsule can fall down
494 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
495 // meaning only 4 possible capsule tilt orientations
496 if (movementVector.X > 0)
497 {
498 // east
499 if (movementVector.Y > 0)
500 {
501 // northeast
502 movementVector.X = (float)Math.Sqrt(2.0);
503 movementVector.Y = (float)Math.Sqrt(2.0);
504 }
505 else
506 {
507 // southeast
508 movementVector.X = (float)Math.Sqrt(2.0);
509 movementVector.Y = -(float)Math.Sqrt(2.0);
510 }
511 }
512 else
513 {
514 // west
515 if (movementVector.Y > 0)
516 {
517 // northwest
518 movementVector.X = -(float)Math.Sqrt(2.0);
519 movementVector.Y = (float)Math.Sqrt(2.0);
520 }
521 else
522 {
523 // southwest
524 movementVector.X = -(float)Math.Sqrt(2.0);
525 movementVector.Y = -(float)Math.Sqrt(2.0);
526 }
527 }
528
529
530 // movementVector.Z is zero
531
532 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
533 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
534 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
535 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
536
537 //m_log.Debug("[PHYSICS] changing avatar tilt");
538 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
539 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
540 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
541 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
542 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
544 }
545
546 /// <summary>
547 /// This creates the Avatar's physical Surrogate at the position supplied
548 /// </summary>
549 /// <param name="npositionX"></param>
550 /// <param name="npositionY"></param>
551 /// <param name="npositionZ"></param>
552
553 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
554 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
555 // place that is safe to call this routine AvatarGeomAndBodyCreation.
556 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
557 {
558 //CAPSULE_LENGTH = -5;
559 //CAPSULE_RADIUS = -5;
560 int dAMotorEuler = 1;
561 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
562 if (CAPSULE_LENGTH <= 0)
563 {
564 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
565 CAPSULE_LENGTH = 0.01f;
566
567 }
568
569 if (CAPSULE_RADIUS <= 0)
570 {
571 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
572 CAPSULE_RADIUS = 0.01f;
573
574 }
575
576 if(Shell != IntPtr.Zero)
577 {
578 try
579 {
580 d.GeomDestroy(Shell);
581 }
582 catch (System.AccessViolationException)
583 {
584 m_log.Error("[PHYSICS]: PrimGeom dead");
585 }
586 // Remove any old entries
587//string tShell;
588//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
589//Console.WriteLine("**** Remove {0}", tShell);
590 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
591 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
592 }
593
594 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
595 _parent_scene.geom_name_map[Shell] = m_name;
596 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
597//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1} height={3} rad={4}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name, CAPSULE_LENGTH, CAPSULE_RADIUS);
598
599 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
600 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
601
602 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
603 Body = d.BodyCreate(_parent_scene.world);
604 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
605
606 _position.X = npositionX;
607 _position.Y = npositionY;
608 _position.Z = npositionZ;
609
610
611 m_taintPosition.X = npositionX;
612 m_taintPosition.Y = npositionY;
613 m_taintPosition.Z = npositionZ;
614
615 d.BodySetMass(Body, ref ShellMass);
616 d.Matrix3 m_caprot;
617 // 90 Stand up on the cap of the capped cyllinder
618 if (_parent_scene.IsAvCapsuleTilted)
619 {
620 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
621 }
622 else
623 {
624 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
625 }
626
627
628 d.GeomSetRotation(Shell, ref m_caprot);
629 d.BodySetRotation(Body, ref m_caprot);
630
631 d.GeomSetBody(Shell, Body);
632
633
634 // The purpose of the AMotor here is to keep the avatar's physical
635 // surrogate from rotating while moving
636 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
637 d.JointAttach(Amotor, Body, IntPtr.Zero);
638 d.JointSetAMotorMode(Amotor, dAMotorEuler);
639 d.JointSetAMotorNumAxes(Amotor, 3);
640 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
641 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
642 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
643 d.JointSetAMotorAngle(Amotor, 0, 0);
644 d.JointSetAMotorAngle(Amotor, 1, 0);
645 d.JointSetAMotorAngle(Amotor, 2, 0);
646
647 // These lowstops and high stops are effectively (no wiggle room)
648 if (_parent_scene.IsAvCapsuleTilted)
649 {
650 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
651 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
652 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
653 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
654 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
655 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
656 }
657 else
658 {
659 #region Documentation of capsule motor LowStop and HighStop parameters
660 // Intentionally introduce some tilt into the capsule by setting
661 // the motor stops to small epsilon values. This small tilt prevents
662 // the capsule from falling into the terrain; a straight-up capsule
663 // (with -0..0 motor stops) falls into the terrain for reasons yet
664 // to be comprehended in their entirety.
665 #endregion
666 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
667 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
668 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
669 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
670 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
671 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
672 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
673 }
674
675 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
676 // capped cyllinder will fall over
677 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
678 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
679
680 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
681 //d.QfromR(
682 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
683 //
684 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
685 //standupStraight();
686 }
687
688 //
689 /// <summary>
690 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
691 /// This may be used in calculations in the scene/scenepresence
692 /// </summary>
693 public override float Mass
694 {
695 get
696 {
697 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
698 return m_density*AVvolume;
699 }
700 }
701 public override void link(PhysicsActor obj)
702 {
703
704 }
705
706 public override void delink()
707 {
708
709 }
710
711 public override void LockAngularMotion(Vector3 axis)
712 {
713
714 }
715
716// This code is very useful. Written by DanX0r. We're just not using it right now.
717// Commented out to prevent a warning.
718//
719// private void standupStraight()
720// {
721// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
722// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
723// // change appearance and when you enter the simulator
724// // After this routine is done, the amotor stabilizes much quicker
725// d.Vector3 feet;
726// d.Vector3 head;
727// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
728// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
729// float posture = head.Z - feet.Z;
730
731// // restoring force proportional to lack of posture:
732// float servo = (2.5f - posture) * POSTURE_SERVO;
733// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
734// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
735// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
736// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
737// }
738
739 public override Vector3 Force
740 {
741 get { return _target_velocity; }
742 set { return; }
743 }
744
745 public override int VehicleType
746 {
747 get { return 0; }
748 set { return; }
749 }
750
751 public override void VehicleFloatParam(int param, float value)
752 {
753
754 }
755
756 public override void VehicleVectorParam(int param, Vector3 value)
757 {
758
759 }
760
761 public override void VehicleRotationParam(int param, Quaternion rotation)
762 {
763
764 }
765
766 public override void VehicleFlags(int flags, bool remove)
767 {
768 }
769
770 public override void SetVolumeDetect(int param)
771 {
772
773 }
774
775 public override Vector3 CenterOfMass
776 {
777 get { return Vector3.Zero; }
778 }
779
780 public override Vector3 GeometricCenter
781 {
782 get { return Vector3.Zero; }
783 }
784
785 public override PrimitiveBaseShape Shape
786 {
787 set { return; }
788 }
789
790 public override Vector3 Velocity
791 {
792 get {
793 // There's a problem with Vector3.Zero! Don't Use it Here!
794 if (_zeroFlag)
795 return Vector3.Zero;
796 m_lastUpdateSent = false;
797 return _velocity;
798 }
799 set
800 {
801 if (value.IsFinite())
802 {
803 m_pidControllerActive = true;
804 _target_velocity = value;
805 }
806 else
807 {
808 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
809 }
810 }
811 }
812
813 public override Vector3 Torque
814 {
815 get { return Vector3.Zero; }
816 set { return; }
817 }
818
819 public override float CollisionScore
820 {
821 get { return 0f; }
822 set { }
823 }
824
825 public override bool Kinematic
826 {
827 get { return false; }
828 set { }
829 }
830
831 public override Quaternion Orientation
832 {
833 get { return Quaternion.Identity; }
834 set {
835 //Matrix3 or = Orientation.ToRotationMatrix();
836 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
837 //d.BodySetRotation(Body, ref ord);
838 }
839 }
840
841 public override Vector3 Acceleration
842 {
843 get { return _acceleration; }
844 set { _acceleration = value; }
845 }
846
847 public void SetAcceleration(Vector3 accel)
848 {
849 m_pidControllerActive = true;
850 _acceleration = accel;
851 }
852
853 /// <summary>
854 /// Adds the force supplied to the Target Velocity
855 /// The PID controller takes this target velocity and tries to make it a reality
856 /// </summary>
857 /// <param name="force"></param>
858 public override void AddForce(Vector3 force, bool pushforce)
859 {
860 if (force.IsFinite())
861 {
862 if (pushforce)
863 {
864 m_pidControllerActive = false;
865 force *= 100f;
866//Console.WriteLine("DF 1"); // ##
867 if (!force.ApproxEquals(Vector3.Zero, 0.01f))
868 doForce(force);
869 // If uncommented, things get pushed off world
870 //
871 // m_log.Debug("Push!");
872 // _target_velocity.X += force.X;
873 // _target_velocity.Y += force.Y;
874 // _target_velocity.Z += force.Z;
875 }
876 else
877 {
878 m_pidControllerActive = true;
879 _target_velocity.X += force.X;
880 _target_velocity.Y += force.Y;
881 _target_velocity.Z += force.Z;
882 }
883 }
884 else
885 {
886 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
887 }
888 //m_lastUpdateSent = false;
889 }
890
891 public override void AddAngularForce(Vector3 force, bool pushforce)
892 {
893
894 }
895
896 /// <summary>
897 /// After all of the forces add up with 'add force' we apply them with doForce
898 /// </summary>
899 /// <param name="force"></param>
900 public void doForce(Vector3 force)
901 {
902 if (!collidelock)
903 {
904 d.BodyAddForce(Body, force.X, force.Y, force.Z);
905 //d.BodySetRotation(Body, ref m_StandUpRotation);
906 //standupStraight();
907 d.Vector3 vel = d.BodyGetLinearVel(Body); //##
908//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
909 }
910 }
911
912 public override void SetMomentum(Vector3 momentum)
913 {
914 }
915
916
917 /// <summary>
918 /// Called from Simulate
919 /// This is the avatar's movement control + PID Controller
920 /// </summary>
921 /// <param name="timeStep"></param>
922 public void Move(float timeStep, List<OdeCharacter> defects)
923 {
924 // no lock; for now it's only called from within Simulate()
925
926 // If the PID Controller isn't active then we set our force
927 // calculating base velocity to the current position
928
929 if (Body == IntPtr.Zero)
930 return;
931
932 if (m_pidControllerActive == false)
933 {
934 _zeroPosition = d.BodyGetPosition(Body);
935 }
936 //PidStatus = true;
937
938 d.Vector3 localpos = d.BodyGetPosition(Body);
939 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
940
941 if (!localPos.IsFinite())
942 {
943
944 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
945 defects.Add(this);
946 // _parent_scene.RemoveCharacter(this);
947
948 // destroy avatar capsule and related ODE data
949 if (Amotor != IntPtr.Zero)
950 {
951 // Kill the Amotor
952 d.JointDestroy(Amotor);
953 Amotor = IntPtr.Zero;
954 }
955
956 //kill the Geometry
957 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
958
959 if (Body != IntPtr.Zero)
960 {
961 //kill the body
962 d.BodyDestroy(Body);
963
964 Body = IntPtr.Zero;
965 }
966
967 if(Shell != IntPtr.Zero)
968 {
969 try
970 {
971 d.GeomDestroy(Shell);
972 }
973 catch (System.AccessViolationException)
974 {
975 m_log.Error("[PHYSICS]: PrimGeom dead");
976 }
977 // Remove any old entries
978//string tShell;
979//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
980//Console.WriteLine("**** Remove {0}", tShell);
981
982 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
983 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
984 Shell = IntPtr.Zero;
985 }
986
987 return;
988 }
989
990 Vector3 vec = Vector3.Zero;
991 d.Vector3 vel = d.BodyGetLinearVel(Body);
992
993 float movementdivisor = 1f;
994
995 if (!m_alwaysRun)
996 {
997 movementdivisor = walkDivisor;
998 }
999 else
1000 {
1001 movementdivisor = runDivisor;
1002 }
1003
1004 // if velocity is zero, use position control; otherwise, velocity control
1005 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
1006 {
1007 // keep track of where we stopped. No more slippin' & slidin'
1008 if (!_zeroFlag)
1009 {
1010 _zeroFlag = true;
1011 _zeroPosition = d.BodyGetPosition(Body);
1012 }
1013 if (m_pidControllerActive)
1014 {
1015 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1016 // react to the physics scene by moving it's position.
1017 // Avatar to Avatar collisions
1018 // Prim to avatar collisions
1019
1020 d.Vector3 pos = d.BodyGetPosition(Body);
1021 float errX = _zeroPosition.X - pos.X;
1022 float errY = _zeroPosition.Y - pos.Y;
1023 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1024 {
1025 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1026 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1027 }
1028 else
1029 { // close, jump to lateral destination
1030 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1031 }
1032// if (flying)
1033 if (flying || jumping) // add for jumping
1034 {
1035 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1036 }
1037 }
1038 //PidStatus = true;
1039 }
1040 else
1041 {
1042 m_pidControllerActive = true;
1043 _zeroFlag = false;
1044 if (m_iscolliding && !flying)
1045 {
1046 // We're standing on something
1047 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1048 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1049 }
1050 else if (m_iscolliding && flying)
1051 {
1052 // We're flying and colliding with something
1053 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1054 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1055 }
1056 else if (!m_iscolliding && flying)
1057 {
1058 // we're in mid air suspended
1059 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1060 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1061 }
1062
1063 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1064 {
1065 // We're colliding with something and we're not flying but we're moving
1066 // This means we're walking or running.
1067 d.Vector3 pos = d.BodyGetPosition(Body);
1068 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1069 if (_target_velocity.X > 0)
1070 {
1071 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1072 }
1073 if (_target_velocity.Y > 0)
1074 {
1075 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1076 }
1077 }
1078 else if (!m_iscolliding && !flying)
1079 {
1080 // we're not colliding and we're not flying so that means we're falling!
1081 // m_iscolliding includes collisions with the ground.
1082
1083 // d.Vector3 pos = d.BodyGetPosition(Body);
1084 if (Math.Abs(_target_velocity.X) > 0)
1085 {
1086 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1087 }
1088 if (Math.Abs(_target_velocity.Y) > 0)
1089 {
1090 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1091 }
1092 }
1093
1094 if (flying)
1095 {
1096 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1097 }
1098 }
1099 if (flying)
1100 {
1101 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1102
1103 //Added for auto fly height. Kitto Flora
1104 //d.Vector3 pos = d.BodyGetPosition(Body);
1105 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1106
1107 if (_position.Z < target_altitude)
1108 {
1109 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1110 }
1111 // end add Kitto Flora
1112 }
1113 if (vec.IsFinite())
1114 {
1115 if (!vec.ApproxEquals(Vector3.Zero, 0.02f)) // 0.01 allows 0.002 !!
1116 {
1117//Console.WriteLine("DF 2"); // ##
1118
1119 doForce(vec);
1120 if (!_zeroFlag)
1121 {
1122// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1123 }
1124 }
1125 }
1126 else
1127 {
1128 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1129 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1130 defects.Add(this);
1131 // _parent_scene.RemoveCharacter(this);
1132 // destroy avatar capsule and related ODE data
1133 if (Amotor != IntPtr.Zero)
1134 {
1135 // Kill the Amotor
1136 d.JointDestroy(Amotor);
1137 Amotor = IntPtr.Zero;
1138 }
1139 //kill the Geometry
1140 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1141
1142 if (Body != IntPtr.Zero)
1143 {
1144 //kill the body
1145 d.BodyDestroy(Body);
1146
1147 Body = IntPtr.Zero;
1148 }
1149
1150 if(Shell != IntPtr.Zero)
1151 {
1152 try
1153 {
1154 d.GeomDestroy(Shell);
1155 }
1156 catch (System.AccessViolationException)
1157 {
1158 m_log.Error("[PHYSICS]: PrimGeom dead");
1159 }
1160 // Remove any old entries
1161//string tShell;
1162//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1163//Console.WriteLine("**** Remove {0}", tShell);
1164
1165 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1166 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1167 Shell = IntPtr.Zero;
1168 }
1169 }
1170 }
1171
1172 /// <summary>
1173 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1174 /// </summary>
1175 public void UpdatePositionAndVelocity()
1176 {
1177 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1178 d.Vector3 vec;
1179 try
1180 {
1181 vec = d.BodyGetPosition(Body);
1182 }
1183 catch (NullReferenceException)
1184 {
1185 bad = true;
1186 _parent_scene.BadCharacter(this);
1187 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1188 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1189 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1190 }
1191
1192
1193 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1194 if (vec.X < 0.0f) vec.X = 0.0f;
1195 if (vec.Y < 0.0f) vec.Y = 0.0f;
1196 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1197 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1198
1199 _position.X = vec.X;
1200 _position.Y = vec.Y;
1201 _position.Z = vec.Z;
1202
1203 // Did we move last? = zeroflag
1204 // This helps keep us from sliding all over
1205
1206 if (_zeroFlag)
1207 {
1208 _velocity.X = 0.0f;
1209 _velocity.Y = 0.0f;
1210 _velocity.Z = 0.0f;
1211
1212 // Did we send out the 'stopped' message?
1213 if (!m_lastUpdateSent)
1214 {
1215 m_lastUpdateSent = true;
1216 //base.RequestPhysicsterseUpdate();
1217
1218 }
1219 }
1220 else
1221 {
1222 m_lastUpdateSent = false;
1223 try
1224 {
1225 vec = d.BodyGetLinearVel(Body);
1226 }
1227 catch (NullReferenceException)
1228 {
1229 vec.X = _velocity.X;
1230 vec.Y = _velocity.Y;
1231 vec.Z = _velocity.Z;
1232 }
1233 _velocity.X = (vec.X);
1234 _velocity.Y = (vec.Y);
1235
1236 _velocity.Z = (vec.Z);
1237
1238 if (_velocity.Z < -6 && !m_hackSentFall)
1239 {
1240 m_hackSentFall = true;
1241 m_pidControllerActive = false;
1242 }
1243 else if (flying && !m_hackSentFly)
1244 {
1245 //m_hackSentFly = true;
1246 //base.SendCollisionUpdate(new CollisionEventUpdate());
1247 }
1248 else
1249 {
1250 m_hackSentFly = false;
1251 m_hackSentFall = false;
1252 }
1253 }
1254 }
1255
1256 /// <summary>
1257 /// Cleanup the things we use in the scene.
1258 /// </summary>
1259 public void Destroy()
1260 {
1261 m_tainted_isPhysical = false;
1262 _parent_scene.AddPhysicsActorTaint(this);
1263 }
1264
1265 public override void CrossingFailure()
1266 {
1267 }
1268
1269 public override Vector3 PIDTarget { set { return; } }
1270 public override bool PIDActive { set { return; } }
1271 public override float PIDTau { set { return; } }
1272
1273 public override float PIDHoverHeight { set { return; } }
1274 public override bool PIDHoverActive { set { return; } }
1275 public override PIDHoverType PIDHoverType { set { return; } }
1276 public override float PIDHoverTau { set { return; } }
1277
1278 public override Quaternion APIDTarget{ set { return; } }
1279
1280 public override bool APIDActive{ set { return; } }
1281
1282 public override float APIDStrength{ set { return; } }
1283
1284 public override float APIDDamping{ set { return; } }
1285
1286
1287 public override void SubscribeEvents(int ms)
1288 {
1289 m_requestedUpdateFrequency = ms;
1290 m_eventsubscription = ms;
1291 _parent_scene.addCollisionEventReporting(this);
1292 }
1293 public override void UnSubscribeEvents()
1294 {
1295 _parent_scene.remCollisionEventReporting(this);
1296 m_requestedUpdateFrequency = 0;
1297 m_eventsubscription = 0;
1298 }
1299 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1300 {
1301 if (m_eventsubscription > 0)
1302 {
1303 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1304 }
1305 }
1306
1307 public void SendCollisions()
1308 {
1309 if (m_eventsubscription > m_requestedUpdateFrequency)
1310 {
1311 if (CollisionEventsThisFrame != null)
1312 {
1313 base.SendCollisionUpdate(CollisionEventsThisFrame);
1314 }
1315 CollisionEventsThisFrame = new CollisionEventUpdate();
1316 m_eventsubscription = 0;
1317 }
1318 }
1319 public override bool SubscribedEvents()
1320 {
1321 if (m_eventsubscription > 0)
1322 return true;
1323 return false;
1324 }
1325
1326 public void ProcessTaints(float timestep)
1327 {
1328 lock (m_syncRoot)
1329 {
1330
1331 if (m_tainted_isPhysical != m_isPhysical)
1332 {
1333 if (m_tainted_isPhysical)
1334 {
1335 // Create avatar capsule and related ODE data
1336 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1337 {
1338 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1339 + (Shell!=IntPtr.Zero ? "Shell ":"")
1340 + (Body!=IntPtr.Zero ? "Body ":"")
1341 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1342 }
1343 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1344 _parent_scene.AddCharacter(this);
1345 }
1346 else
1347 {
1348 _parent_scene.RemoveCharacter(this);
1349 // destroy avatar capsule and related ODE data
1350 if (Amotor != IntPtr.Zero)
1351 {
1352 // Kill the Amotor
1353 d.JointDestroy(Amotor);
1354 Amotor = IntPtr.Zero;
1355 }
1356 //kill the Geometry
1357 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1358
1359 if (Body != IntPtr.Zero)
1360 {
1361 //kill the body
1362 d.BodyDestroy(Body);
1363 Body = IntPtr.Zero;
1364 }
1365
1366 if(Shell != IntPtr.Zero)
1367 {
1368 try
1369 {
1370 d.GeomDestroy(Shell);
1371 }
1372 catch (System.AccessViolationException)
1373 {
1374 m_log.Error("[PHYSICS]: PrimGeom dead");
1375 }
1376 // Remove any old entries
1377 //string tShell;
1378 //_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1379 //Console.WriteLine("**** Remove {0}", tShell);
1380
1381 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1382 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1383 Shell = IntPtr.Zero;
1384 }
1385 }
1386
1387 m_isPhysical = m_tainted_isPhysical;
1388 }
1389
1390 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1391 {
1392 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1393 {
1394
1395 m_pidControllerActive = true;
1396 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1397 d.JointDestroy(Amotor);
1398 float prevCapsule = CAPSULE_LENGTH;
1399 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1400 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1401 d.BodyDestroy(Body);
1402 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1403 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1404 Velocity = Vector3.Zero;
1405 }
1406 else
1407 {
1408 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1409 + (Shell==IntPtr.Zero ? "Shell ":"")
1410 + (Body==IntPtr.Zero ? "Body ":"")
1411 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1412 }
1413 }
1414
1415 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1416 {
1417 if (Body != IntPtr.Zero)
1418 {
1419 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1420
1421 _position.X = m_taintPosition.X;
1422 _position.Y = m_taintPosition.Y;
1423 _position.Z = m_taintPosition.Z;
1424 }
1425 }
1426
1427 }
1428 }
1429
1430 internal void AddCollisionFrameTime(int p)
1431 {
1432 // protect it from overflow crashing
1433 if (m_eventsubscription + p >= int.MaxValue)
1434 m_eventsubscription = 0;
1435 m_eventsubscription += p;
1436 }
1437 }
1438}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..80c1277
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -0,0 +1,4300 @@
1/* Copyright (c) Contributors, http://opensimulator.org/
2 * See CONTRIBUTORS.TXT for a full list of copyright holders.
3 * Redistribution and use in source and binary forms, with or without
4 * modification, are permitted provided that the following conditions are met:
5 * * Redistributions of source code must retain the above copyright
6 * notice, this list of conditions and the following disclaimer.
7 * * Redistributions in binary form must reproduce the above copyright
8 * notice, this list of conditions and the following disclaimer in the
9 * documentation and/or other materials provided with the distribution.
10 * * Neither the name of the OpenSimulator Project nor the
11 * names of its contributors may be used to endorse or promote products
12 * derived from this software without specific prior written permission.
13 *
14 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
15 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
16 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
17 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
18 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
19 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
20 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
21 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
22 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
23 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 *
25 * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs
26 * Ubit 2012
27 * rolled into ODEPrim.cs
28 */
29
30using System;
31using System.IO;
32using System.Collections.Generic;
33using System.Reflection;
34using System.Runtime.InteropServices;
35using System.Threading;
36using log4net;
37using OpenMetaverse;
38using Ode.NET;
39using OpenSim.Framework;
40using OpenSim.Region.Physics.Manager;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
46 /// </summary>
47
48 public class OdePrim : PhysicsActor
49 {
50 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
51
52 public class SerialControl
53 {
54 public object alock = new object();
55 public byte[] data = new byte[0];
56 }
57 private Vector3 _position;
58 private Vector3 _velocity;
59 private Vector3 _torque;
60 private Vector3 m_lastVelocity;
61 private Vector3 m_lastposition;
62 private Quaternion m_lastorientation = new Quaternion();
63 private Vector3 m_rotationalVelocity;
64 private Vector3 _size;
65 private Vector3 _acceleration;
66 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
67 private Quaternion _orientation;
68 private Vector3 m_taintposition;
69 private Vector3 m_taintsize;
70 private Vector3 m_taintVelocity;
71 private Vector3 m_taintTorque;
72 private Quaternion m_taintrot;
73 private Vector3 m_rotateEnable = Vector3.One; // Current setting
74 private Vector3 m_rotateEnableRequest = Vector3.One; // Request from LSL
75 private bool m_rotateEnableUpdate = false;
76 private Vector3 m_lockX;
77 private Vector3 m_lockY;
78 private Vector3 m_lockZ;
79 private IntPtr Amotor = IntPtr.Zero;
80 private IntPtr AmotorX = IntPtr.Zero;
81 private IntPtr AmotorY = IntPtr.Zero;
82 private IntPtr AmotorZ = IntPtr.Zero;
83
84 private Vector3 m_PIDTarget;
85 private float m_PIDTau;
86 private float PID_D = 35f;
87 private float PID_G = 25f;
88 private bool m_usePID = false;
89
90 private Quaternion m_APIDTarget = new Quaternion();
91 private float m_APIDStrength = 0.5f;
92 private float m_APIDDamping = 0.5f;
93 private bool m_useAPID = false;
94 private float m_APIDdamper = 1.0f;
95
96 // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
97 // do not confuse with VEHICLE HOVER
98
99 private float m_PIDHoverHeight;
100 private float m_PIDHoverTau;
101 private bool m_useHoverPID;
102 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
103 private float m_targetHoverHeight;
104 private float m_groundHeight;
105 private float m_waterHeight;
106 private float m_buoyancy; //m_buoyancy set by llSetBuoyancy()
107
108 // private float m_tensor = 5f;
109 private int body_autodisable_frames = 20;
110
111
112 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
113 | CollisionCategories.Space
114 | CollisionCategories.Body
115 | CollisionCategories.Character
116 );
117 private bool m_taintshape;
118 private bool m_taintPhysics;
119 private bool m_collidesLand = true;
120 private bool m_collidesWater;
121 // public bool m_returnCollisions;
122
123 // Default we're a Geometry
124 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
125
126 // Default, Collide with Other Geometries, spaces and Bodies
127 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
128
129 public bool m_taintremove;
130 public bool m_taintdisable;
131 public bool m_disabled;
132 public bool m_taintadd;
133 public bool m_taintselected;
134 public bool m_taintCollidesWater;
135
136 public uint m_localID;
137
138 //public GCHandle gc;
139 private CollisionLocker ode;
140
141 private bool m_meshfailed = false;
142 private bool m_taintforce = false;
143 private bool m_taintaddangularforce = false;
144 private Vector3 m_force;
145 private List<Vector3> m_forcelist = new List<Vector3>();
146 private List<Vector3> m_angularforcelist = new List<Vector3>();
147
148 private IMesh _mesh;
149 private PrimitiveBaseShape _pbs;
150 private OdeScene _parent_scene;
151 public IntPtr m_targetSpace = IntPtr.Zero;
152 public IntPtr prim_geom;
153 // public IntPtr prev_geom;
154 public IntPtr _triMeshData;
155
156 private IntPtr _linkJointGroup = IntPtr.Zero;
157 private PhysicsActor _parent;
158 private PhysicsActor m_taintparent;
159
160 private List<OdePrim> childrenPrim = new List<OdePrim>();
161
162 private bool iscolliding;
163 private bool m_isphysical;
164 private bool m_isSelected;
165
166 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
167
168 private bool m_throttleUpdates;
169 private int throttleCounter;
170 public int m_interpenetrationcount;
171 public float m_collisionscore;
172 // public int m_roundsUnderMotionThreshold;
173 // private int m_crossingfailures;
174
175 public bool m_outofBounds;
176 private float m_density = 10.000006836f; // Aluminum g/cm3;
177
178 public bool _zeroFlag; // if body has been stopped
179 private bool m_lastUpdateSent;
180
181 public IntPtr Body = IntPtr.Zero;
182 public String m_primName;
183 private Vector3 _target_velocity;
184 public d.Mass pMass;
185
186 public int m_eventsubscription;
187 private CollisionEventUpdate CollisionEventsThisFrame;
188
189 private IntPtr m_linkJoint = IntPtr.Zero;
190
191 public volatile bool childPrim;
192
193 internal int m_material = (int)Material.Wood;
194
195 private IntPtr m_body = IntPtr.Zero;
196
197 // Vehicle properties ============================================================================================
198 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
199 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
200 private VehicleFlag m_flags = (VehicleFlag)0; // Bit settings:
201 // HOVER_TERRAIN_ONLY
202 // HOVER_GLOBAL_HEIGHT
203 // NO_DEFLECTION_UP
204 // HOVER_WATER_ONLY
205 // HOVER_UP_ONLY
206 // LIMIT_MOTOR_UP
207 // LIMIT_ROLL_ONLY
208
209 // Linear properties
210 private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity
211 //requested by LSL
212 private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL
213 private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL
214 private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL
215
216 private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor
217 private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity
218 private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity
219
220 //Angular properties
221 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
222
223 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
224 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
225 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
226
227 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
228 // private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
229 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
230
231 //Deflection properties
232 // private float m_angularDeflectionEfficiency = 0;
233 // private float m_angularDeflectionTimescale = 0;
234 // private float m_linearDeflectionEfficiency = 0;
235 // private float m_linearDeflectionTimescale = 0;
236
237 //Banking properties
238 // private float m_bankingEfficiency = 0;
239 // private float m_bankingMix = 0;
240 // private float m_bankingTimescale = 0;
241
242 //Hover and Buoyancy properties
243 private float m_VhoverHeight = 0f;
244 // private float m_VhoverEfficiency = 0f;
245 private float m_VhoverTimescale = 0f;
246 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
247 private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle.
248 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
249 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
250 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
251
252 //Attractor properties
253 private float m_verticalAttractionEfficiency = 1.0f; // damped
254 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
255
256 SerialControl m_taintserial = null;
257 object m_taintvehicledata = null;
258
259 public void DoSetVehicle()
260 {
261 VehicleData vd = (VehicleData)m_taintvehicledata;
262
263 m_type = vd.m_type;
264 m_flags = vd.m_flags;
265
266 // Linear properties
267 m_linearMotorDirection = vd.m_linearMotorDirection;
268 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
269 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
270 m_linearMotorTimescale = vd.m_linearMotorTimescale;
271// m_linearMotorOffset = vd.m_linearMotorOffset;
272
273 //Angular properties
274 m_angularMotorDirection = vd.m_angularMotorDirection;
275 m_angularMotorTimescale = vd.m_angularMotorTimescale;
276 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
277 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
278
279 //Deflection properties
280// m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
281// m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
282// m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
283// m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
284
285 //Banking properties
286// m_bankingEfficiency = vd.m_bankingEfficiency;
287// m_bankingMix = vd.m_bankingMix;
288// m_bankingTimescale = vd.m_bankingTimescale;
289
290 //Hover and Buoyancy properties
291 m_VhoverHeight = vd.m_VhoverHeight;
292// m_VhoverEfficiency = vd.m_VhoverEfficiency;
293 m_VhoverTimescale = vd.m_VhoverTimescale;
294 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
295
296 //Attractor properties
297 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
298 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
299
300 // Axis
301// m_referenceFrame = vd.m_referenceFrame;
302
303
304 m_taintvehicledata = null;
305 }
306
307 public override void SetVehicle(object vdata)
308 {
309 m_taintvehicledata = vdata;
310 _parent_scene.AddPhysicsActorTaint(this);
311 }
312
313 public override byte[] Serialize(bool PhysIsRunning)
314 {
315 SerialControl sc = new SerialControl();
316
317 lock (sc.alock)
318 {
319 if (PhysIsRunning)
320 {
321 m_taintserial = sc;
322
323 if (!Monitor.Wait(sc.alock, 1000))
324 {
325 m_log.Error("[chOde] prim data serialization timed out");
326 m_taintserial = null;
327 return new byte[0];
328 }
329 }
330 else
331 DoSerialize(sc);
332 }
333
334 return sc.data;
335 }
336
337 public void DoSerialize(SerialControl sc)
338 {
339 wstreamer st = new wstreamer();
340 Vector3 vtmp;
341
342 ushort version = 2;
343 if (!BitConverter.IsLittleEndian)
344 version |= 1;
345 st.Wushort(version); //version lower bit codes endian type for future use
346
347 // compact booleans in a ushort
348 ushort flags = 0;
349
350 if (m_isphysical) // this should be true for now
351 flags |= 1;
352 if (m_isSelected)
353 flags |= 2;
354 if (m_isVolumeDetect)
355 flags |= 4;
356 if (m_disabled)
357 flags |= 8;
358 if (m_collidesWater)
359 flags |= 16;
360 if (m_collidesLand)
361 flags |= 32;
362 if (m_usePID)
363 flags |= 64;
364 if (m_useAPID)
365 flags |= 128;
366 if (m_useHoverPID)
367 flags |= 256;
368 if (m_throttleUpdates)
369 flags |= 512;
370
371 st.Wushort(flags);
372
373 st.Wvector3(_size);
374 st.Wint(m_material);
375 st.Wfloat(m_density);
376 st.Wfloat(0); // future gravity mod V3
377 st.Wfloat(0); // future friction V3
378 st.Wfloat(0); // future bounce V3
379
380// st.Wuint((uint)m_collisionCategories);
381// st.Wuint((uint)m_collisionFlags);
382
383 if (_parent == null)
384 {
385 st.Wvector3(_position); // ??
386 st.Wquat(_orientation);
387 }
388 else // for childs save offsets
389 {
390 Quaternion to;
391 Quaternion ipo = Quaternion.Inverse(_parent.Orientation);
392
393 if (m_isphysical && prim_geom != IntPtr.Zero)
394 {
395 d.Vector3 dvt;
396 d.GeomCopyPosition(prim_geom, out dvt);
397
398 vtmp.X = dvt.X;
399 vtmp.Y = dvt.Y;
400 vtmp.Z = dvt.Z;
401
402 d.Quaternion dqt;
403 d.GeomCopyQuaternion(prim_geom, out dqt);
404
405 to.X = dqt.X;
406 to.Y = dqt.Y;
407 to.Z = dqt.Z;
408 to.W = dqt.W; // rotation in world
409 }
410 else
411 {
412 vtmp = _position;
413 to = _orientation;
414 }
415
416 vtmp -= _parent.Position; // offset in world
417 vtmp *= ipo; // offset in local
418 st.Wvector3(vtmp);
419
420 ipo *= to; // own rotation
421 st.Wquat(ipo);
422 }
423
424 st.Wvector3(_velocity);
425 st.Wvector3(m_rotationalVelocity);
426 st.Wvector3(_acceleration);
427 st.Wvector3(m_rotateEnable);
428
429 vtmp = Vector3.Zero;
430 for (int i = 0; i < m_forcelist.Count; i++)
431 {
432
433 vtmp += (m_forcelist[i] * 100);
434 }
435
436 st.Wvector3(vtmp); // force acc
437
438 vtmp = Vector3.Zero;
439 for (int i = 0; i < m_angularforcelist.Count; i++)
440 {
441 vtmp += (m_angularforcelist[i] * 100);
442 }
443
444 st.Wvector3(vtmp); // angular force acc
445
446 st.Wvector3(m_PIDTarget);
447 st.Wfloat(m_PIDTau);
448 st.Wfloat(PID_D);
449 st.Wfloat(PID_G);
450 st.Wquat(m_APIDTarget);
451 st.Wfloat(m_APIDStrength);
452 st.Wfloat(m_APIDDamping);
453 st.Wfloat(m_APIDdamper);
454
455 st.Wint((int)m_PIDHoverType);
456 st.Wfloat(m_PIDHoverHeight);
457 st.Wfloat(m_PIDHoverTau);
458 st.Wfloat(m_targetHoverHeight);
459
460 st.Wfloat(m_groundHeight);
461 st.Wfloat(m_waterHeight);
462
463 st.Wfloat(m_buoyancy);
464
465 // this must be last since type none ends stream
466 if (m_type == Vehicle.TYPE_NONE)
467 st.Wint((int)Vehicle.TYPE_NONE);
468 else
469 {
470 st.Wint((int)m_type);
471
472 st.Wquat(Quaternion.Identity); //m_referenceFrame
473
474 st.Wint((int)m_flags);
475
476 st.Wvector3(m_linearMotorDirection);
477 st.Wfloat(
478 (float)Math.Sqrt(m_lLinMotorDVel.LengthSquared() / m_linearMotorDirection.LengthSquared()));
479
480 st.Wvector3(m_linearFrictionTimescale);
481 st.Wfloat(m_linearMotorDecayTimescale);
482 st.Wfloat(m_linearMotorTimescale);
483 st.Wvector3(new Vector3(0, 0, 0)); //m_linearMotorOffset);
484
485 st.Wvector3(m_angularMotorDirection);
486 st.Wfloat((float)Math.Sqrt(m_angularMotorDVel.LengthSquared() / m_angularMotorDirection.LengthSquared()));
487
488 st.Wvector3(m_angularFrictionTimescale);
489 st.Wfloat(m_angularMotorDecayTimescale);
490 st.Wfloat(m_angularMotorTimescale);
491
492 st.Wfloat(0); //m_linearDeflectionEfficiency);
493 st.Wfloat(1000); //m_linearDeflectionTimescale);
494
495 st.Wfloat(0); //m_angularDeflectionEfficiency);
496 st.Wfloat(120); //m_angularDeflectionTimescale);
497
498 st.Wfloat(0); // m_bankingEfficiency);
499 st.Wfloat(0); //m_bankingMix);
500 st.Wfloat(1000); //m_bankingTimescale);
501
502 st.Wfloat(m_VhoverHeight);
503 st.Wfloat(0.5f); //m_VhoverEfficiency);
504 st.Wfloat(m_VhoverTimescale);
505
506 st.Wfloat(m_VehicleBuoyancy);
507
508 st.Wfloat(m_verticalAttractionEfficiency);
509 st.Wfloat(m_verticalAttractionTimescale);
510 }
511 sc.data = st.close();
512 m_taintserial = null;
513 Monitor.PulseAll(sc.alock);
514 }
515
516 public bool DeSerialize(byte[] data)
517 {
518 rstreamer st = new rstreamer(data);
519
520 int version =st.Rushort(); //version
521
522 // merge booleans in a ushort
523 ushort flags = st.Rushort();
524 if ((flags & 1) != 0)
525 m_isphysical = true;
526 if ((flags & 2) != 0)
527 m_taintselected = true;
528 if ((flags & 4) != 0)
529 m_isVolumeDetect = true;
530 if ((flags & 8) != 0)
531 m_taintdisable = true;
532 if ((flags & 16) != 0)
533 m_taintCollidesWater = true;
534 if ((flags & 32) != 0)
535 m_collidesLand = true;
536 if ((flags & 64) != 0)
537 m_usePID = true;
538 if ((flags & 128) != 0)
539 m_useAPID = true;
540 if ((flags & 256) != 0)
541 m_useHoverPID = true;
542 if ((flags & 512) != 0)
543 m_throttleUpdates = true;
544
545 _size = st.Rvector3();
546 m_taintsize = _size;
547
548 m_material= st.Rint();
549 m_density = st.Rfloat();
550 st.Rfloat(); // future gravity mod V3
551 st.Rfloat(); // future friction V3
552 st.Rfloat(); // future bounce V3
553
554// m_collisionCategories = (CollisionCategories)st.Ruint();
555// m_collisionFlags = (CollisionCategories) st.Ruint();
556
557 if (m_taintparent == null)
558 {
559 st.Rvector3(); // ignore old position sop/sog as to tell the new one
560 m_taintrot = st.Rquat(); //
561 _orientation = m_taintrot;
562 }
563 else
564 {
565 m_taintrot = _parent.Orientation;
566 m_taintposition = st.Rvector3(); // ??
567 _position = m_taintposition;
568
569 m_taintposition *= m_taintrot;
570 m_taintposition += _parent.Position;
571
572 m_taintrot *= st.Rquat(); //
573 _orientation = m_taintrot;
574 }
575
576 m_taintVelocity = st.Rvector3();
577 m_rotationalVelocity = st.Rvector3();
578
579 _acceleration = st.Rvector3();
580 m_rotateEnableRequest = st.Rvector3();
581 m_rotateEnableUpdate = true;
582
583 Vector3 vtmp;
584
585 vtmp = st.Rvector3(); // forces acc
586 m_forcelist.Add(vtmp);
587 m_taintforce = true;
588
589 vtmp = st.Rvector3(); // angular forces acc
590 m_angularforcelist.Add(vtmp);
591 m_taintaddangularforce = true;
592
593 m_PIDTarget = st.Rvector3();
594 m_PIDTau = st.Rfloat();
595 PID_D = st.Rfloat();
596 PID_G = st.Rfloat();
597
598 m_APIDTarget = st.Rquat();
599 m_APIDStrength = st.Rfloat();
600 m_APIDDamping = st.Rfloat();
601 m_APIDdamper = st.Rfloat();
602
603 m_PIDHoverType = (PIDHoverType) st.Rint();
604 m_PIDHoverHeight = st.Rfloat();
605 m_PIDHoverTau = st.Rfloat();
606 m_targetHoverHeight = st.Rfloat();
607
608 m_groundHeight = st.Rfloat();
609 m_waterHeight = st.Rfloat();
610
611 m_buoyancy = st.Rfloat();
612
613
614 // this must be last since type none ends stream
615
616 m_type = (Vehicle) st.Rint();
617
618 if (m_type != Vehicle.TYPE_NONE)
619 {
620 float ftmp;
621
622 st.Rquat(); //m_referenceFrame
623
624 m_flags = (VehicleFlag) st.Rint();
625
626 m_linearMotorDirection = st.Rvector3();
627
628 ftmp = st.Rfloat();
629 m_lLinMotorDVel = m_linearMotorDirection * ftmp;
630
631 m_linearFrictionTimescale = st.Rvector3();
632 m_linearMotorDecayTimescale = st.Rfloat();
633 m_linearMotorTimescale = st.Rfloat();
634 st.Rvector3(); //m_linearMotorOffset);
635
636 m_angularMotorDirection = st.Rvector3();
637 ftmp = st.Rfloat();
638 m_angularMotorDVel = m_angularMotorDirection * ftmp;
639
640 m_angularFrictionTimescale = st.Rvector3();
641 m_angularMotorDecayTimescale = st.Rfloat();
642 m_angularMotorTimescale = st.Rfloat();
643
644 st.Rfloat(); //m_linearDeflectionEfficiency);
645 st.Rfloat(); //m_linearDeflectionTimescale);
646
647 st.Rfloat(); //m_angularDeflectionEfficiency);
648 st.Rfloat(); //m_angularDeflectionTimescale);
649
650 st.Rfloat(); // m_bankingEfficiency);
651 st.Rfloat(); //m_bankingMix);
652 st.Rfloat(); //m_bankingTimescale);
653
654 m_VhoverHeight = st.Rfloat();
655 st.Rfloat(); //m_VhoverEfficiency);
656 m_VhoverTimescale = st.Rfloat();
657
658 m_VehicleBuoyancy = st.Rfloat();
659
660 m_verticalAttractionEfficiency = st.Rfloat();
661 m_verticalAttractionTimescale = st.Rfloat();
662 }
663 st.close();
664 return true;
665 }
666
667 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, PhysicsActor parent,
668 PrimitiveBaseShape pbs, CollisionLocker dode, uint localid, byte[] sdata)
669 {
670 m_localID = localid;
671 ode = dode;
672
673 if (parent == null)
674 {
675 m_taintparent = null;
676
677 if (!pos.IsFinite())
678 {
679 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
680 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
681 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
682 }
683
684 _position = pos;
685 m_taintposition = pos;
686 }
687 else
688 m_taintparent = parent;
689
690 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
691
692 prim_geom = IntPtr.Zero;
693
694 _mesh = null;
695 m_meshfailed = false;
696 _pbs = pbs;
697
698 _parent_scene = parent_scene;
699 m_targetSpace = (IntPtr)0;
700
701 if(sdata != null && sdata.Length > 1)
702 DeSerialize(sdata);
703
704 if (m_isphysical)
705 m_targetSpace = _parent_scene.space;
706
707 m_primName = primName;
708 m_taintserial = null;
709 m_taintadd = true;
710 _parent_scene.AddPhysicsActorTaint(this);
711 // don't do .add() here; old geoms get recycled with the same hash
712 }
713
714 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
715 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode, uint localid)
716 {
717 m_localID = localid;
718 ode = dode;
719 if (!pos.IsFinite())
720 {
721 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
722 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
723 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
724 }
725
726 _position = pos;
727 m_taintposition = pos;
728 PID_D = parent_scene.bodyPIDD;
729 PID_G = parent_scene.bodyPIDG;
730 m_density = parent_scene.geomDefaultDensity;
731 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
732 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
733
734 prim_geom = IntPtr.Zero;
735 // prev_geom = IntPtr.Zero;
736
737 if (!pos.IsFinite())
738 {
739 size = new Vector3(0.5f, 0.5f, 0.5f);
740 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
741 }
742
743 if (size.X <= 0) size.X = 0.01f;
744 if (size.Y <= 0) size.Y = 0.01f;
745 if (size.Z <= 0) size.Z = 0.01f;
746
747 _size = size;
748 m_taintsize = _size;
749
750 if (!QuaternionIsFinite(rotation))
751 {
752 rotation = Quaternion.Identity;
753 m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
754 }
755
756 _orientation = rotation;
757 m_taintrot = _orientation;
758 _mesh = mesh;
759 _pbs = pbs;
760
761 _parent_scene = parent_scene;
762 m_targetSpace = (IntPtr)0;
763
764 // if (pos.Z < 0)
765 if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y))
766 m_isphysical = false;
767 else
768 {
769 m_isphysical = pisPhysical;
770 // If we're physical, we need to be in the master space for now.
771 // linksets *should* be in a space together.. but are not currently
772 if (m_isphysical)
773 m_targetSpace = _parent_scene.space;
774 }
775
776 m_taintserial = null;
777 m_primName = primName;
778 m_taintadd = true;
779 _parent_scene.AddPhysicsActorTaint(this);
780 // don't do .add() here; old geoms get recycled with the same hash
781 }
782
783 public override int PhysicsActorType
784 {
785 get { return (int)ActorTypes.Prim; }
786 set { return; }
787 }
788
789 public override bool SetAlwaysRun
790 {
791 get { return false; }
792 set { return; }
793 }
794
795 public override uint LocalID
796 {
797 set
798 {
799 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
800 m_localID = value;
801 }
802 }
803
804 public override bool Grabbed
805 {
806 set { return; }
807 }
808
809 public override bool Selected
810 {
811 set
812 {
813
814 //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
815 // This only makes the object not collidable if the object
816 // is physical or the object is modified somehow *IN THE FUTURE*
817 // without this, if an avatar selects prim, they can walk right
818 // through it while it's selected
819 m_collisionscore = 0;
820 if ((m_isphysical && !_zeroFlag) || !value)
821 {
822 m_taintselected = value;
823 _parent_scene.AddPhysicsActorTaint(this);
824 }
825 else
826 {
827 m_taintselected = value;
828 m_isSelected = value;
829 }
830 if (m_isSelected) disableBodySoft();
831 }
832 }
833
834 public override bool IsPhysical
835 {
836 get { return m_isphysical; }
837 set
838 {
839 m_isphysical = value;
840 if (!m_isphysical)
841 { // Zero the remembered last velocity
842 m_lastVelocity = Vector3.Zero;
843 if (m_type != Vehicle.TYPE_NONE) Halt();
844 }
845 }
846 }
847
848 public void setPrimForRemoval()
849 {
850 m_taintremove = true;
851 }
852
853 public override bool Flying
854 {
855 // no flying prims for you
856 get { return false; }
857 set { }
858 }
859
860 public override bool IsColliding
861 {
862 get { return iscolliding; }
863 set { iscolliding = value; }
864 }
865
866 public override bool CollidingGround
867 {
868 get { return false; }
869 set { return; }
870 }
871
872 public override bool CollidingObj
873 {
874 get { return false; }
875 set { return; }
876 }
877
878 public override bool ThrottleUpdates
879 {
880 get { return m_throttleUpdates; }
881 set { m_throttleUpdates = value; }
882 }
883
884 public override bool Stopped
885 {
886 get { return _zeroFlag; }
887 }
888
889 public override Vector3 Position
890 {
891 get { return _position; }
892
893 set
894 {
895 _position = value;
896 //m_log.Info("[PHYSICS]: " + _position.ToString());
897 }
898 }
899
900 public override Vector3 Size
901 {
902 get { return _size; }
903 set
904 {
905 if (value.IsFinite())
906 {
907 _size = value;
908 }
909 else
910 {
911 m_log.Warn("[PHYSICS]: Got NaN Size on object");
912 }
913 }
914 }
915
916 public override float Mass
917 {
918 get { return CalculateMass(); }
919 }
920
921 public override Vector3 Force
922 {
923 //get { return Vector3.Zero; }
924 get { return m_force; }
925 set
926 {
927 if (value.IsFinite())
928 {
929 m_force = value;
930 }
931 else
932 {
933 m_log.Warn("[PHYSICS]: NaN in Force Applied to an Object");
934 }
935 }
936 }
937
938 public override int VehicleType
939 {
940 get { return (int)m_type; }
941 set { ProcessTypeChange((Vehicle)value); }
942 }
943
944 public override void VehicleFloatParam(int param, float value)
945 {
946 ProcessFloatVehicleParam((Vehicle)param, value);
947 }
948
949 public override void VehicleVectorParam(int param, Vector3 value)
950 {
951 ProcessVectorVehicleParam((Vehicle)param, value);
952 }
953
954 public override void VehicleRotationParam(int param, Quaternion rotation)
955 {
956 ProcessRotationVehicleParam((Vehicle)param, rotation);
957 }
958
959 public override void VehicleFlags(int param, bool remove)
960 {
961 ProcessVehicleFlags(param, remove);
962 }
963
964 public override void SetVolumeDetect(int param)
965 {
966 lock (_parent_scene.OdeLock)
967 {
968 m_isVolumeDetect = (param != 0);
969 }
970 }
971
972 public override Vector3 CenterOfMass
973 {
974 get { return Vector3.Zero; }
975 }
976
977 public override Vector3 GeometricCenter
978 {
979 get { return Vector3.Zero; }
980 }
981
982 public override PrimitiveBaseShape Shape
983 {
984 set
985 {
986 _pbs = value;
987 m_taintshape = true;
988 }
989 }
990
991 public override Vector3 Velocity
992 {
993 get
994 {
995 // Averate previous velocity with the new one so
996 // client object interpolation works a 'little' better
997 if (_zeroFlag)
998 return Vector3.Zero;
999
1000 Vector3 returnVelocity = Vector3.Zero;
1001 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
1002 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
1003 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
1004 return returnVelocity;
1005 }
1006 set
1007 {
1008 if (value.IsFinite())
1009 {
1010 _velocity = value;
1011 if (_velocity.ApproxEquals(Vector3.Zero, 0.001f))
1012 _acceleration = Vector3.Zero;
1013
1014 m_taintVelocity = value;
1015 _parent_scene.AddPhysicsActorTaint(this);
1016 }
1017 else
1018 {
1019 m_log.Warn("[PHYSICS]: Got NaN Velocity in Object");
1020 }
1021
1022 }
1023 }
1024
1025 public override Vector3 Torque
1026 {
1027 get
1028 {
1029 if (!m_isphysical || Body == IntPtr.Zero)
1030 return Vector3.Zero;
1031
1032 return _torque;
1033 }
1034
1035 set
1036 {
1037 if (value.IsFinite())
1038 {
1039 m_taintTorque = value;
1040 _parent_scene.AddPhysicsActorTaint(this);
1041 }
1042 else
1043 {
1044 m_log.Warn("[PHYSICS]: Got NaN Torque in Object");
1045 }
1046 }
1047 }
1048
1049 public override float CollisionScore
1050 {
1051 get { return m_collisionscore; }
1052 set { m_collisionscore = value; }
1053 }
1054
1055 public override bool Kinematic
1056 {
1057 get { return false; }
1058 set { }
1059 }
1060
1061 public override Quaternion Orientation
1062 {
1063 get { return _orientation; }
1064 set
1065 {
1066 if (QuaternionIsFinite(value))
1067 {
1068 _orientation = value;
1069 }
1070 else
1071 m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
1072
1073 }
1074 }
1075
1076
1077 public override bool FloatOnWater
1078 {
1079 set
1080 {
1081 m_taintCollidesWater = value;
1082 _parent_scene.AddPhysicsActorTaint(this);
1083 }
1084 }
1085
1086 public override void SetMomentum(Vector3 momentum)
1087 {
1088 }
1089
1090 public override Vector3 PIDTarget
1091 {
1092 set
1093 {
1094 if (value.IsFinite())
1095 {
1096 m_PIDTarget = value;
1097 }
1098 else
1099 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
1100 }
1101 }
1102 public override bool PIDActive { set { m_usePID = value; } }
1103 public override float PIDTau { set { m_PIDTau = value; } }
1104
1105 // For RotLookAt
1106 public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
1107 public override bool APIDActive { set { m_useAPID = value; } }
1108 public override float APIDStrength { set { m_APIDStrength = value; } }
1109 public override float APIDDamping { set { m_APIDDamping = value; } }
1110
1111 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
1112 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
1113 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
1114 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
1115
1116 internal static bool QuaternionIsFinite(Quaternion q)
1117 {
1118 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
1119 return false;
1120 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
1121 return false;
1122 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
1123 return false;
1124 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
1125 return false;
1126 return true;
1127 }
1128
1129 public override Vector3 Acceleration // client updates read data via here
1130 {
1131 get
1132 {
1133 if (_zeroFlag)
1134 {
1135 return Vector3.Zero;
1136 }
1137 return _acceleration;
1138 }
1139 set { _acceleration = value; }
1140 }
1141
1142
1143 public void SetAcceleration(Vector3 accel) // No one calls this, and it would not do anything.
1144 {
1145 _acceleration = accel;
1146 }
1147
1148 public override void AddForce(Vector3 force, bool pushforce)
1149 {
1150 if (force.IsFinite())
1151 {
1152 lock (m_forcelist)
1153 m_forcelist.Add(force);
1154
1155 m_taintforce = true;
1156 }
1157 else
1158 {
1159 m_log.Warn("[PHYSICS]: Got Invalid linear force vector from Scene in Object");
1160 }
1161 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
1162 }
1163
1164 public override void AddAngularForce(Vector3 force, bool pushforce)
1165 {
1166 if (force.IsFinite())
1167 {
1168 m_angularforcelist.Add(force);
1169 m_taintaddangularforce = true;
1170 }
1171 else
1172 {
1173 m_log.Warn("[PHYSICS]: Got Invalid Angular force vector from Scene in Object");
1174 }
1175 }
1176
1177 public override Vector3 RotationalVelocity
1178 {
1179 get
1180 {
1181 return m_rotationalVelocity;
1182 }
1183 set
1184 {
1185 if (value.IsFinite())
1186 {
1187 m_rotationalVelocity = value;
1188 }
1189 else
1190 {
1191 m_log.Warn("[PHYSICS]: Got NaN RotationalVelocity in Object");
1192 }
1193 }
1194 }
1195
1196 public override void CrossingFailure()
1197 {
1198 if (m_outofBounds)
1199 {
1200 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
1201 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
1202 _position.Z = Util.Clip(_position.Z, -100f, 50000f);
1203 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1204
1205 m_lastposition = _position;
1206
1207 _velocity = Vector3.Zero;
1208 m_lastVelocity = _velocity;
1209
1210
1211 if (m_type != Vehicle.TYPE_NONE)
1212 Halt();
1213
1214 d.BodySetLinearVel(Body, 0, 0, 0);
1215 base.RequestPhysicsterseUpdate();
1216 m_outofBounds = false;
1217 }
1218 /*
1219 int tmp = Interlocked.Increment(ref m_crossingfailures);
1220 if (tmp > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
1221 {
1222 base.RaiseOutOfBounds(_position);
1223 return;
1224 }
1225 else if (tmp == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
1226 {
1227 m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
1228 }
1229 */
1230 }
1231
1232 public override float Buoyancy
1233 {
1234 get { return m_buoyancy; }
1235 set { m_buoyancy = value; }
1236 }
1237
1238 public override void link(PhysicsActor obj)
1239 {
1240 m_taintparent = obj;
1241 }
1242
1243 public override void delink()
1244 {
1245 m_taintparent = null;
1246 }
1247
1248 public override void LockAngularMotion(Vector3 axis)
1249 {
1250 // This is actually ROTATION ENABLE, not a lock.
1251 // default is <1,1,1> which is all enabled.
1252 // The lock value is updated inside Move(), no point in using the taint system.
1253 // OS 'm_taintAngularLock' etc change to m_rotateEnable.
1254 if (axis.IsFinite())
1255 {
1256 axis.X = (axis.X > 0) ? 1f : 0f;
1257 axis.Y = (axis.Y > 0) ? 1f : 0f;
1258 axis.Z = (axis.Z > 0) ? 1f : 0f;
1259 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
1260 m_rotateEnableRequest = axis;
1261 m_rotateEnableUpdate = true;
1262 }
1263 else
1264 {
1265 m_log.Warn("[PHYSICS]: Got NaN locking axis from Scene on Object");
1266 }
1267 }
1268
1269
1270 public void SetGeom(IntPtr geom)
1271 {
1272 if (prim_geom != IntPtr.Zero)
1273 {
1274 // Remove any old entries
1275 //string tPA;
1276 //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA);
1277 //Console.WriteLine("**** Remove {0}", tPA);
1278 if (_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom);
1279 if (_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom);
1280 d.GeomDestroy(prim_geom);
1281 }
1282
1283 prim_geom = geom;
1284 //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);
1285 if (prim_geom != IntPtr.Zero)
1286 {
1287 _parent_scene.geom_name_map[prim_geom] = this.m_primName;
1288 _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
1289 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1290 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1291 //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
1292 }
1293
1294 if (childPrim)
1295 {
1296 if (_parent != null && _parent is OdePrim)
1297 {
1298 OdePrim parent = (OdePrim)_parent;
1299 //Console.WriteLine("SetGeom calls ChildSetGeom");
1300 parent.ChildSetGeom(this);
1301 }
1302 }
1303 //m_log.Warn("Setting Geom to: " + prim_geom);
1304 }
1305
1306 public void enableBodySoft()
1307 {
1308 if (!childPrim)
1309 {
1310 if (m_isphysical && Body != IntPtr.Zero)
1311 {
1312 d.BodyEnable(Body);
1313 if (m_type != Vehicle.TYPE_NONE)
1314 Enable(Body, _parent_scene);
1315 }
1316
1317 m_disabled = false;
1318 }
1319 }
1320
1321 public void disableBodySoft()
1322 {
1323 m_disabled = true;
1324
1325 if (m_isphysical && Body != IntPtr.Zero)
1326 {
1327 d.BodyDisable(Body);
1328 Halt();
1329 }
1330 }
1331
1332 public void enableBody()
1333 {
1334 // Don't enable this body if we're a child prim
1335 // this should be taken care of in the parent function not here
1336 if (!childPrim)
1337 {
1338 // Sets the geom to a body
1339 Body = d.BodyCreate(_parent_scene.world);
1340
1341 setMass();
1342 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1343 d.Quaternion myrot = new d.Quaternion();
1344 myrot.X = _orientation.X;
1345 myrot.Y = _orientation.Y;
1346 myrot.Z = _orientation.Z;
1347 myrot.W = _orientation.W;
1348 d.BodySetQuaternion(Body, ref myrot);
1349 d.GeomSetBody(prim_geom, Body);
1350 m_collisionCategories |= CollisionCategories.Body;
1351 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1352
1353 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1354 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1355
1356 d.BodySetAutoDisableFlag(Body, true);
1357 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1358
1359 // disconnect from world gravity so we can apply buoyancy
1360 d.BodySetGravityMode(Body, false);
1361
1362 m_interpenetrationcount = 0;
1363 m_collisionscore = 0;
1364 m_disabled = false;
1365
1366 if (m_type != Vehicle.TYPE_NONE)
1367 {
1368 Enable(Body, _parent_scene);
1369 }
1370
1371 _parent_scene.addActivePrim(this);
1372 }
1373 }
1374
1375 #region Mass Calculation
1376
1377 private float CalculateMass()
1378 {
1379 float volume = _size.X * _size.Y * _size.Z; // default
1380 float tmp;
1381
1382 float returnMass = 0;
1383 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
1384 float hollowVolume = hollowAmount * hollowAmount;
1385
1386 switch (_pbs.ProfileShape)
1387 {
1388 case ProfileShape.Square:
1389 // default box
1390
1391 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1392 {
1393 if (hollowAmount > 0.0)
1394 {
1395 switch (_pbs.HollowShape)
1396 {
1397 case HollowShape.Square:
1398 case HollowShape.Same:
1399 break;
1400
1401 case HollowShape.Circle:
1402
1403 hollowVolume *= 0.78539816339f;
1404 break;
1405
1406 case HollowShape.Triangle:
1407
1408 hollowVolume *= (0.5f * .5f);
1409 break;
1410
1411 default:
1412 hollowVolume = 0;
1413 break;
1414 }
1415 volume *= (1.0f - hollowVolume);
1416 }
1417 }
1418
1419 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1420 {
1421 //a tube
1422
1423 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
1424 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
1425 volume -= volume * tmp * tmp;
1426
1427 if (hollowAmount > 0.0)
1428 {
1429 hollowVolume *= hollowAmount;
1430
1431 switch (_pbs.HollowShape)
1432 {
1433 case HollowShape.Square:
1434 case HollowShape.Same:
1435 break;
1436
1437 case HollowShape.Circle:
1438 hollowVolume *= 0.78539816339f; ;
1439 break;
1440
1441 case HollowShape.Triangle:
1442 hollowVolume *= 0.5f * 0.5f;
1443 break;
1444 default:
1445 hollowVolume = 0;
1446 break;
1447 }
1448 volume *= (1.0f - hollowVolume);
1449 }
1450 }
1451
1452 break;
1453
1454 case ProfileShape.Circle:
1455
1456 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1457 {
1458 volume *= 0.78539816339f; // elipse base
1459
1460 if (hollowAmount > 0.0)
1461 {
1462 switch (_pbs.HollowShape)
1463 {
1464 case HollowShape.Same:
1465 case HollowShape.Circle:
1466 break;
1467
1468 case HollowShape.Square:
1469 hollowVolume *= 0.5f * 2.5984480504799f;
1470 break;
1471
1472 case HollowShape.Triangle:
1473 hollowVolume *= .5f * 1.27323954473516f;
1474 break;
1475
1476 default:
1477 hollowVolume = 0;
1478 break;
1479 }
1480 volume *= (1.0f - hollowVolume);
1481 }
1482 }
1483
1484 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1485 {
1486 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
1487 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1488 volume *= (1.0f - tmp * tmp);
1489
1490 if (hollowAmount > 0.0)
1491 {
1492
1493 // calculate the hollow volume by it's shape compared to the prim shape
1494 hollowVolume *= hollowAmount;
1495
1496 switch (_pbs.HollowShape)
1497 {
1498 case HollowShape.Same:
1499 case HollowShape.Circle:
1500 break;
1501
1502 case HollowShape.Square:
1503 hollowVolume *= 0.5f * 2.5984480504799f;
1504 break;
1505
1506 case HollowShape.Triangle:
1507 hollowVolume *= .5f * 1.27323954473516f;
1508 break;
1509
1510 default:
1511 hollowVolume = 0;
1512 break;
1513 }
1514 volume *= (1.0f - hollowVolume);
1515 }
1516 }
1517 break;
1518
1519 case ProfileShape.HalfCircle:
1520 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1521 {
1522 volume *= 0.52359877559829887307710723054658f;
1523 }
1524 break;
1525
1526 case ProfileShape.EquilateralTriangle:
1527
1528 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1529 {
1530 volume *= 0.32475953f;
1531
1532 if (hollowAmount > 0.0)
1533 {
1534
1535 // calculate the hollow volume by it's shape compared to the prim shape
1536 switch (_pbs.HollowShape)
1537 {
1538 case HollowShape.Same:
1539 case HollowShape.Triangle:
1540 hollowVolume *= .25f;
1541 break;
1542
1543 case HollowShape.Square:
1544 hollowVolume *= 0.499849f * 3.07920140172638f;
1545 break;
1546
1547 case HollowShape.Circle:
1548 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1549 // Cyllinder hollow volume calculation
1550
1551 hollowVolume *= 0.1963495f * 3.07920140172638f;
1552 break;
1553
1554 default:
1555 hollowVolume = 0;
1556 break;
1557 }
1558 volume *= (1.0f - hollowVolume);
1559 }
1560 }
1561 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1562 {
1563 volume *= 0.32475953f;
1564 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
1565 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1566 volume *= (1.0f - tmp * tmp);
1567
1568 if (hollowAmount > 0.0)
1569 {
1570
1571 hollowVolume *= hollowAmount;
1572
1573 switch (_pbs.HollowShape)
1574 {
1575 case HollowShape.Same:
1576 case HollowShape.Triangle:
1577 hollowVolume *= .25f;
1578 break;
1579
1580 case HollowShape.Square:
1581 hollowVolume *= 0.499849f * 3.07920140172638f;
1582 break;
1583
1584 case HollowShape.Circle:
1585
1586 hollowVolume *= 0.1963495f * 3.07920140172638f;
1587 break;
1588
1589 default:
1590 hollowVolume = 0;
1591 break;
1592 }
1593 volume *= (1.0f - hollowVolume);
1594 }
1595 }
1596 break;
1597
1598 default:
1599 break;
1600 }
1601
1602
1603
1604 float taperX1;
1605 float taperY1;
1606 float taperX;
1607 float taperY;
1608 float pathBegin;
1609 float pathEnd;
1610 float profileBegin;
1611 float profileEnd;
1612
1613 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
1614 {
1615 taperX1 = _pbs.PathScaleX * 0.01f;
1616 if (taperX1 > 1.0f)
1617 taperX1 = 2.0f - taperX1;
1618 taperX = 1.0f - taperX1;
1619
1620 taperY1 = _pbs.PathScaleY * 0.01f;
1621 if (taperY1 > 1.0f)
1622 taperY1 = 2.0f - taperY1;
1623 taperY = 1.0f - taperY1;
1624 }
1625 else
1626 {
1627 taperX = _pbs.PathTaperX * 0.01f;
1628 if (taperX < 0.0f)
1629 taperX = -taperX;
1630 taperX1 = 1.0f - taperX;
1631
1632 taperY = _pbs.PathTaperY * 0.01f;
1633 if (taperY < 0.0f)
1634 taperY = -taperY;
1635 taperY1 = 1.0f - taperY;
1636
1637 }
1638
1639
1640 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1641
1642 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
1643 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
1644 volume *= (pathEnd - pathBegin);
1645
1646 // this is crude aproximation
1647 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
1648 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
1649 volume *= (profileEnd - profileBegin);
1650
1651 returnMass = m_density * volume;
1652
1653 if (returnMass <= 0)
1654 returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
1655 // else if (returnMass > _parent_scene.maximumMassObject)
1656 // returnMass = _parent_scene.maximumMassObject;
1657
1658
1659
1660
1661 // Recursively calculate mass
1662 bool HasChildPrim = false;
1663 lock (childrenPrim)
1664 {
1665 if (childrenPrim.Count > 0)
1666 {
1667 HasChildPrim = true;
1668 }
1669
1670 }
1671 if (HasChildPrim)
1672 {
1673 OdePrim[] childPrimArr = new OdePrim[0];
1674
1675 lock (childrenPrim)
1676 childPrimArr = childrenPrim.ToArray();
1677
1678 for (int i = 0; i < childPrimArr.Length; i++)
1679 {
1680 if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
1681 returnMass += childPrimArr[i].CalculateMass();
1682 // failsafe, this shouldn't happen but with OpenSim, you never know :)
1683 if (i > 256)
1684 break;
1685 }
1686 }
1687 if (returnMass > _parent_scene.maximumMassObject)
1688 returnMass = _parent_scene.maximumMassObject;
1689 return returnMass;
1690 }// end CalculateMass
1691
1692 #endregion
1693
1694 public void setMass()
1695 {
1696 if (Body != (IntPtr)0)
1697 {
1698 float newmass = CalculateMass();
1699
1700 //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
1701
1702 d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
1703 d.BodySetMass(Body, ref pMass);
1704 }
1705 }
1706
1707 public void disableBody()
1708 {
1709 //this kills the body so things like 'mesh' can re-create it.
1710 lock (this)
1711 {
1712 if (!childPrim)
1713 {
1714 if (Body != IntPtr.Zero)
1715 {
1716 _parent_scene.remActivePrim(this);
1717 m_collisionCategories &= ~CollisionCategories.Body;
1718 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1719
1720 if (prim_geom != IntPtr.Zero)
1721 {
1722 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1723 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1724 }
1725
1726
1727 d.BodyDestroy(Body);
1728 lock (childrenPrim)
1729 {
1730 if (childrenPrim.Count > 0)
1731 {
1732 foreach (OdePrim prm in childrenPrim)
1733 {
1734 _parent_scene.remActivePrim(prm);
1735 prm.Body = IntPtr.Zero;
1736 }
1737 }
1738 }
1739 Body = IntPtr.Zero;
1740 }
1741 }
1742 else
1743 {
1744 _parent_scene.remActivePrim(this);
1745
1746 m_collisionCategories &= ~CollisionCategories.Body;
1747 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1748
1749 if (prim_geom != IntPtr.Zero)
1750 {
1751 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1752 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1753 }
1754
1755
1756 Body = IntPtr.Zero;
1757 }
1758 }
1759 m_disabled = true;
1760 m_collisionscore = 0;
1761 }
1762
1763 private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
1764
1765 public void setMesh(OdeScene parent_scene, IMesh mesh)
1766 {
1767 // This sleeper is there to moderate how long it takes between
1768 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
1769
1770 //Thread.Sleep(10);
1771
1772 //Kill Body so that mesh can re-make the geom
1773 if (IsPhysical && Body != IntPtr.Zero)
1774 {
1775 if (childPrim)
1776 {
1777 if (_parent != null)
1778 {
1779 OdePrim parent = (OdePrim)_parent;
1780 parent.ChildDelink(this);
1781 }
1782 }
1783 else
1784 {
1785 disableBody();
1786 }
1787 }
1788 IntPtr vertices, indices;
1789 int vertexCount, indexCount;
1790 int vertexStride, triStride;
1791 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1792 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1793
1794 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
1795 if (m_MeshToTriMeshMap.ContainsKey(mesh))
1796 {
1797 _triMeshData = m_MeshToTriMeshMap[mesh];
1798 }
1799 else
1800 {
1801 _triMeshData = d.GeomTriMeshDataCreate();
1802
1803 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1804 d.GeomTriMeshDataPreprocess(_triMeshData);
1805 m_MeshToTriMeshMap[mesh] = _triMeshData;
1806 }
1807
1808 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1809 try
1810 {
1811 // if (prim_geom == IntPtr.Zero) // setGeom takes care of phys engine recreate and prim_geom pointer
1812 // {
1813 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
1814 // }
1815 }
1816 catch (AccessViolationException)
1817 {
1818 m_log.Error("[PHYSICS]: MESH LOCKED");
1819 return;
1820 }
1821
1822
1823 // if (IsPhysical && Body == (IntPtr) 0)
1824 // {
1825 // Recreate the body
1826 // m_interpenetrationcount = 0;
1827 // m_collisionscore = 0;
1828
1829 // enableBody();
1830 // }
1831 }
1832
1833 public void ProcessTaints(float timestep) //=============================================================================
1834 {
1835 if (m_taintadd)
1836 {
1837 changeadd(timestep);
1838 }
1839
1840 if (prim_geom != IntPtr.Zero)
1841 {
1842 if (!_position.ApproxEquals(m_taintposition, 0f))
1843 {
1844 changemove(timestep);
1845 }
1846 if (m_taintrot != _orientation)
1847 {
1848 if (childPrim && IsPhysical) // For physical child prim...
1849 {
1850 rotate(timestep);
1851 // KF: ODE will also rotate the parent prim!
1852 // so rotate the root back to where it was
1853 OdePrim parent = (OdePrim)_parent;
1854 parent.rotate(timestep);
1855 }
1856 else
1857 {
1858 //Just rotate the prim
1859 rotate(timestep);
1860 }
1861 }
1862 //
1863
1864 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
1865 {
1866 changePhysicsStatus(timestep);
1867 }//
1868
1869 if (!_size.ApproxEquals(m_taintsize, 0f))
1870 changesize(timestep);
1871 //
1872
1873 if (m_taintshape)
1874 changeshape(timestep);
1875 //
1876
1877 if (m_taintforce)
1878 changeAddForce(timestep);
1879
1880 if (m_taintaddangularforce)
1881 changeAddAngularForce(timestep);
1882
1883 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
1884 changeSetTorque(timestep);
1885
1886 if (m_taintdisable)
1887 changedisable(timestep);
1888
1889 if (m_taintselected != m_isSelected)
1890 changeSelectedStatus(timestep);
1891
1892 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
1893 changevelocity(timestep);
1894
1895 if (m_taintparent != _parent)
1896 changelink(timestep);
1897
1898 if (m_taintCollidesWater != m_collidesWater)
1899 changefloatonwater(timestep);
1900
1901 if (m_taintvehicledata != null)
1902 DoSetVehicle();
1903
1904 if (m_taintserial != null)
1905 DoSerialize(m_taintserial);
1906
1907 /* obsolete
1908 if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
1909 changeAngularLock(timestep);
1910 */
1911 }
1912 else
1913 {
1914 m_log.Error("[PHYSICS]: The scene reused a disposed PhysActor! *waves finger*, Don't be evil. A couple of things can cause this. An improper prim breakdown(be sure to set prim_geom to zero after d.GeomDestroy! An improper buildup (creating the geom failed). Or, the Scene Reused a physics actor after disposing it.)");
1915 }
1916 }
1917
1918 /* obsolete
1919 private void changeAngularLock(float timestep)
1920 {
1921 if (_parent == null)
1922 {
1923 m_angularLock = m_taintAngularLock;
1924 m_angularLockSet = true;
1925 }
1926 }
1927 */
1928 private void changelink(float timestep)
1929 {
1930 // If the newly set parent is not null
1931 // create link
1932 if (_parent == null && m_taintparent != null)
1933 {
1934 if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
1935 {
1936 OdePrim obj = (OdePrim)m_taintparent;
1937 //obj.disableBody();
1938 obj.ParentPrim(this);
1939
1940 /*
1941 if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body)
1942 {
1943 _linkJointGroup = d.JointGroupCreate(0);
1944 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
1945 d.JointAttach(m_linkJoint, obj.Body, Body);
1946 d.JointSetFixed(m_linkJoint);
1947 }
1948 */
1949 }
1950 }
1951 // If the newly set parent is null
1952 // destroy link
1953 else if (_parent != null && m_taintparent == null)
1954 {
1955 if (_parent is OdePrim)
1956 {
1957 OdePrim obj = (OdePrim)_parent;
1958 obj.ChildDelink(this);
1959 childPrim = false;
1960 //_parent = null;
1961 }
1962
1963 /*
1964 if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0)
1965 d.JointGroupDestroy(_linkJointGroup);
1966
1967 _linkJointGroup = (IntPtr)0;
1968 m_linkJoint = (IntPtr)0;
1969 */
1970 }
1971
1972 _parent = m_taintparent;
1973 m_taintPhysics = m_isphysical;
1974 }
1975
1976 // I'm the parent
1977 // prim is the child
1978 public void ParentPrim(OdePrim prim)
1979 {
1980 if (this.m_localID != prim.m_localID)
1981 {
1982 if (Body == IntPtr.Zero)
1983 {
1984 Body = d.BodyCreate(_parent_scene.world);
1985 // disconnect from world gravity so we can apply buoyancy
1986 d.BodySetGravityMode(Body, false);
1987
1988 setMass();
1989 }
1990 if (Body != IntPtr.Zero)
1991 {
1992 lock (childrenPrim)
1993 {
1994 if (!childrenPrim.Contains(prim))
1995 {
1996 childrenPrim.Add(prim);
1997
1998 foreach (OdePrim prm in childrenPrim)
1999 {
2000 d.Mass m2;
2001 d.MassSetZero(out m2);
2002 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
2003
2004
2005 d.Quaternion quat = new d.Quaternion();
2006 quat.W = prm._orientation.W;
2007 quat.X = prm._orientation.X;
2008 quat.Y = prm._orientation.Y;
2009 quat.Z = prm._orientation.Z;
2010
2011 d.Matrix3 mat = new d.Matrix3();
2012 d.RfromQ(out mat, ref quat);
2013 d.MassRotate(ref m2, ref mat);
2014 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
2015 d.MassAdd(ref pMass, ref m2);
2016 }
2017 foreach (OdePrim prm in childrenPrim)
2018 {
2019
2020 prm.m_collisionCategories |= CollisionCategories.Body;
2021 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
2022
2023 if (prm.prim_geom == IntPtr.Zero)
2024 {
2025 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
2026 continue;
2027 }
2028 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
2029 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
2030
2031
2032 d.Quaternion quat = new d.Quaternion();
2033 quat.W = prm._orientation.W;
2034 quat.X = prm._orientation.X;
2035 quat.Y = prm._orientation.Y;
2036 quat.Z = prm._orientation.Z;
2037
2038 d.Matrix3 mat = new d.Matrix3();
2039 d.RfromQ(out mat, ref quat);
2040 if (Body != IntPtr.Zero)
2041 {
2042 d.GeomSetBody(prm.prim_geom, Body);
2043 prm.childPrim = true;
2044 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X, prm.Position.Y, prm.Position.Z);
2045 //d.GeomSetOffsetPosition(prim.prim_geom,
2046 // (Position.X - prm.Position.X) - pMass.c.X,
2047 // (Position.Y - prm.Position.Y) - pMass.c.Y,
2048 // (Position.Z - prm.Position.Z) - pMass.c.Z);
2049 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
2050 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
2051 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
2052 d.BodySetMass(Body, ref pMass);
2053 }
2054 else
2055 {
2056 m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
2057 }
2058
2059
2060 prm.m_interpenetrationcount = 0;
2061 prm.m_collisionscore = 0;
2062 prm.m_disabled = false;
2063
2064 prm.Body = Body;
2065 _parent_scene.addActivePrim(prm);
2066 }
2067 m_collisionCategories |= CollisionCategories.Body;
2068 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
2069
2070 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2071 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2072
2073
2074 d.Quaternion quat2 = new d.Quaternion();
2075 quat2.W = _orientation.W;
2076 quat2.X = _orientation.X;
2077 quat2.Y = _orientation.Y;
2078 quat2.Z = _orientation.Z;
2079
2080 d.Matrix3 mat2 = new d.Matrix3();
2081 d.RfromQ(out mat2, ref quat2);
2082 d.GeomSetBody(prim_geom, Body);
2083 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
2084 //d.GeomSetOffsetPosition(prim.prim_geom,
2085 // (Position.X - prm.Position.X) - pMass.c.X,
2086 // (Position.Y - prm.Position.Y) - pMass.c.Y,
2087 // (Position.Z - prm.Position.Z) - pMass.c.Z);
2088 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
2089 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
2090 d.BodySetMass(Body, ref pMass);
2091
2092 d.BodySetAutoDisableFlag(Body, true);
2093 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
2094
2095
2096 m_interpenetrationcount = 0;
2097 m_collisionscore = 0;
2098 m_disabled = false;
2099
2100 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
2101 if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
2102 _parent_scene.addActivePrim(this);
2103 }
2104 }
2105 }
2106 }
2107
2108 }
2109
2110 private void ChildSetGeom(OdePrim odePrim)
2111 {
2112 //if (m_isphysical && Body != IntPtr.Zero)
2113 lock (childrenPrim)
2114 {
2115 foreach (OdePrim prm in childrenPrim)
2116 {
2117 //prm.childPrim = true;
2118 prm.disableBody();
2119 //prm.m_taintparent = null;
2120 //prm._parent = null;
2121 //prm.m_taintPhysics = false;
2122 //prm.m_disabled = true;
2123 //prm.childPrim = false;
2124 }
2125 }
2126 disableBody();
2127
2128
2129 if (Body != IntPtr.Zero)
2130 {
2131 _parent_scene.remActivePrim(this);
2132 }
2133
2134 lock (childrenPrim)
2135 {
2136 foreach (OdePrim prm in childrenPrim)
2137 {
2138 ParentPrim(prm);
2139 }
2140 }
2141
2142 }
2143
2144 private void ChildDelink(OdePrim odePrim)
2145 {
2146 // Okay, we have a delinked child.. need to rebuild the body.
2147 lock (childrenPrim)
2148 {
2149 foreach (OdePrim prm in childrenPrim)
2150 {
2151 prm.childPrim = true;
2152 prm.disableBody();
2153 //prm.m_taintparent = null;
2154 //prm._parent = null;
2155 //prm.m_taintPhysics = false;
2156 //prm.m_disabled = true;
2157 //prm.childPrim = false;
2158 }
2159 }
2160 disableBody();
2161
2162 lock (childrenPrim)
2163 {
2164 childrenPrim.Remove(odePrim);
2165 }
2166
2167 if (Body != IntPtr.Zero)
2168 {
2169 _parent_scene.remActivePrim(this);
2170 }
2171
2172 lock (childrenPrim)
2173 {
2174 foreach (OdePrim prm in childrenPrim)
2175 {
2176 ParentPrim(prm);
2177 }
2178 }
2179 }
2180
2181 private void changeSelectedStatus(float timestep)
2182 {
2183 if (m_taintselected)
2184 {
2185 m_collisionCategories = CollisionCategories.Selected;
2186 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2187
2188 // We do the body disable soft twice because 'in theory' a collision could have happened
2189 // in between the disabling and the collision properties setting
2190 // which would wake the physical body up from a soft disabling and potentially cause it to fall
2191 // through the ground.
2192
2193 // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
2194 // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
2195 // so that causes the selected part to wake up and continue moving.
2196
2197 // even if you select all parts of a jointed assembly, it is not guaranteed that the entire
2198 // assembly will stop simulating during the selection, because of the lack of atomicity
2199 // of select operations (their processing could be interrupted by a thread switch, causing
2200 // simulation to continue before all of the selected object notifications trickle down to
2201 // the physics engine).
2202
2203 // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
2204 // selected and disabled. then, due to a thread switch, the selection processing is
2205 // interrupted and the physics engine continues to simulate, so the last 50 items, whose
2206 // selection was not yet processed, continues to simulate. this wakes up ALL of the
2207 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
2208 // up, start simulating again, which in turn wakes up the last 50.
2209
2210 if (m_isphysical)
2211 {
2212 disableBodySoft();
2213 }
2214
2215 if (prim_geom != IntPtr.Zero)
2216 {
2217 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2218 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2219 }
2220
2221 if (m_isphysical)
2222 {
2223 disableBodySoft();
2224 }
2225 if (Body != IntPtr.Zero)
2226 {
2227 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2228 d.BodySetForce(Body, 0f, 0f, 0f);
2229 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
2230 d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
2231 }
2232
2233 }
2234 else
2235 {
2236 m_collisionCategories = CollisionCategories.Geom;
2237
2238 if (m_isphysical)
2239 m_collisionCategories |= CollisionCategories.Body;
2240
2241 m_collisionFlags = m_default_collisionFlags;
2242
2243 if (m_collidesLand)
2244 m_collisionFlags |= CollisionCategories.Land;
2245 if (m_collidesWater)
2246 m_collisionFlags |= CollisionCategories.Water;
2247
2248 if (prim_geom != IntPtr.Zero)
2249 {
2250 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2251 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2252 }
2253 if (Body != IntPtr.Zero)
2254 {
2255 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2256 d.BodySetForce(Body, 0f, 0f, 0f);
2257 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
2258 d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
2259 }
2260
2261 if (m_isphysical)
2262 {
2263 if (Body != IntPtr.Zero)
2264 {
2265 enableBodySoft();
2266 }
2267 }
2268 }
2269
2270 resetCollisionAccounting();
2271 m_isSelected = m_taintselected;
2272 }//end changeSelectedStatus
2273
2274 public void ResetTaints()
2275 {
2276 m_taintposition = _position;
2277 m_taintrot = _orientation;
2278 m_taintPhysics = m_isphysical;
2279 m_taintselected = m_isSelected;
2280 m_taintsize = _size;
2281 m_taintshape = false;
2282 m_taintforce = false;
2283 m_taintdisable = false;
2284 m_taintVelocity = Vector3.Zero;
2285 }
2286
2287 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
2288 {
2289 if (_mesh != null) // Special - make mesh
2290 {
2291 setMesh(_parent_scene, _mesh);
2292 }
2293 else // not a mesh
2294 {
2295 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) // special profile??
2296 {
2297 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) // Equi-size
2298 {
2299 if (((_size.X / 2f) > 0f)) // Has size
2300 {
2301 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2302 try
2303 {
2304 SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
2305 }
2306 catch (AccessViolationException)
2307 {
2308 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
2309 ode.dunlock(_parent_scene.world);
2310 return;
2311 }
2312 }
2313 else
2314 {
2315 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2316 try
2317 {
2318 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
2319 }
2320 catch (AccessViolationException)
2321 {
2322 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
2323 ode.dunlock(_parent_scene.world);
2324 return;
2325 }
2326 }
2327 }
2328 else // not equi-size
2329 {
2330 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2331 try
2332 {
2333 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
2334 }
2335 catch (AccessViolationException)
2336 {
2337 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
2338 ode.dunlock(_parent_scene.world);
2339 return;
2340 }
2341 }
2342 }
2343
2344 else // not special profile
2345 {
2346 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2347 try
2348 {
2349 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
2350 }
2351 catch (AccessViolationException)
2352 {
2353 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
2354 ode.dunlock(_parent_scene.world);
2355 return;
2356 }
2357 }
2358 }
2359 }
2360
2361 public void changeadd(float timestep)
2362 {
2363 int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2364 IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
2365
2366 if (targetspace == IntPtr.Zero)
2367 targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2368
2369 m_targetSpace = targetspace;
2370
2371 if (_mesh == null && m_meshfailed == false)
2372 {
2373 if (_parent_scene.needsMeshing(_pbs))
2374 {
2375 // Don't need to re-enable body.. it's done in SetMesh
2376 try
2377 {
2378 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
2379 }
2380 catch
2381 {
2382 //Don't continuously try to mesh prims when meshing has failed
2383 m_meshfailed = true;
2384 }
2385 // createmesh returns null when it's a shape that isn't a cube.
2386 // m_log.Debug(m_localID);
2387 }
2388 }
2389
2390
2391 lock (_parent_scene.OdeLock)
2392 {
2393 CreateGeom(m_targetSpace, _mesh);
2394
2395 if (prim_geom != IntPtr.Zero)
2396 {
2397 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2398 d.Quaternion myrot = new d.Quaternion();
2399 myrot.X = _orientation.X;
2400 myrot.Y = _orientation.Y;
2401 myrot.Z = _orientation.Z;
2402 myrot.W = _orientation.W;
2403 d.GeomSetQuaternion(prim_geom, ref myrot);
2404 }
2405
2406 if (m_isphysical && Body == IntPtr.Zero)
2407 {
2408 enableBody();
2409 }
2410 }
2411
2412 changeSelectedStatus(timestep);
2413
2414 m_taintadd = false;
2415 }
2416
2417 public void changemove(float timestep)
2418 {
2419 if (m_isphysical)
2420 {
2421 // if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
2422 if (!m_taintremove && !childPrim)
2423 {
2424 if (Body == IntPtr.Zero)
2425 enableBody();
2426 //Prim auto disable after 20 frames,
2427 //if you move it, re-enable the prim manually.
2428 if (_parent != null)
2429 {
2430 if (m_linkJoint != IntPtr.Zero)
2431 {
2432 d.JointDestroy(m_linkJoint);
2433 m_linkJoint = IntPtr.Zero;
2434 }
2435 }
2436 if (Body != IntPtr.Zero)
2437 {
2438 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
2439
2440 if (_parent != null)
2441 {
2442 OdePrim odParent = (OdePrim)_parent;
2443 if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
2444 {
2445 // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
2446 Console.WriteLine("ODEPrim JointCreateFixed !!!");
2447 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
2448 d.JointAttach(m_linkJoint, Body, odParent.Body);
2449 d.JointSetFixed(m_linkJoint);
2450 }
2451 }
2452 d.BodyEnable(Body);
2453 if (m_type != Vehicle.TYPE_NONE)
2454 {
2455 Enable(Body, _parent_scene);
2456 }
2457 }
2458 else
2459 {
2460 m_log.Warn("[PHYSICS]: Body Still null after enableBody(). This is a crash scenario.");
2461 }
2462 }
2463 //else
2464 // {
2465 //m_log.Debug("[BUG]: race!");
2466 //}
2467 }
2468 else
2469 {
2470 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2471 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2472 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2473
2474 IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
2475 m_targetSpace = tempspace;
2476
2477 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2478 if (prim_geom != IntPtr.Zero)
2479 {
2480 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2481
2482 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2483 d.SpaceAdd(m_targetSpace, prim_geom);
2484 }
2485 }
2486
2487 changeSelectedStatus(timestep);
2488
2489 resetCollisionAccounting();
2490 m_taintposition = _position;
2491 }
2492
2493
2494
2495 public void rotate(float timestep)
2496 {
2497 d.Quaternion myrot = new d.Quaternion();
2498 myrot.X = _orientation.X;
2499 myrot.Y = _orientation.Y;
2500 myrot.Z = _orientation.Z;
2501 myrot.W = _orientation.W;
2502 if (Body != IntPtr.Zero)
2503 {
2504 // KF: If this is a root prim do BodySet
2505 d.BodySetQuaternion(Body, ref myrot);
2506 }
2507 else
2508 {
2509 // daughter prim, do Geom set
2510 d.GeomSetQuaternion(prim_geom, ref myrot);
2511 }
2512
2513 resetCollisionAccounting();
2514 m_taintrot = _orientation;
2515 }
2516
2517 private void resetCollisionAccounting()
2518 {
2519 m_collisionscore = 0;
2520 m_interpenetrationcount = 0;
2521 m_disabled = false;
2522 }
2523
2524 public void changedisable(float timestep)
2525 {
2526 m_disabled = true;
2527 if (Body != IntPtr.Zero)
2528 {
2529 d.BodyDisable(Body);
2530 Body = IntPtr.Zero;
2531 }
2532
2533 m_taintdisable = false;
2534 }
2535
2536 public void changePhysicsStatus(float timestep)
2537 {
2538 if (m_isphysical == true)
2539 {
2540 if (Body == IntPtr.Zero)
2541 {
2542 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2543 {
2544 changeshape(2f);
2545 }
2546 else
2547 {
2548 enableBody();
2549 }
2550 }
2551 }
2552 else
2553 {
2554 if (Body != IntPtr.Zero)
2555 {
2556 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2557 {
2558 _mesh = null;
2559 changeadd(2f);
2560 }
2561 if (childPrim)
2562 {
2563 if (_parent != null)
2564 {
2565 OdePrim parent = (OdePrim)_parent;
2566 parent.ChildDelink(this);
2567 }
2568 }
2569 else
2570 {
2571 disableBody();
2572 }
2573 }
2574 }
2575
2576 changeSelectedStatus(timestep);
2577
2578 resetCollisionAccounting();
2579 m_taintPhysics = m_isphysical;
2580 }
2581
2582 public void changesize(float timestamp)
2583 {
2584
2585 string oldname = _parent_scene.geom_name_map[prim_geom];
2586
2587 if (_size.X <= 0) _size.X = 0.01f;
2588 if (_size.Y <= 0) _size.Y = 0.01f;
2589 if (_size.Z <= 0) _size.Z = 0.01f;
2590
2591 // Cleanup of old prim geometry
2592 if (_mesh != null)
2593 {
2594 // Cleanup meshing here
2595 }
2596 //kill body to rebuild
2597 if (IsPhysical && Body != IntPtr.Zero)
2598 {
2599 if (childPrim)
2600 {
2601 if (_parent != null)
2602 {
2603 OdePrim parent = (OdePrim)_parent;
2604 parent.ChildDelink(this);
2605 }
2606 }
2607 else
2608 {
2609 disableBody();
2610 }
2611 }
2612 if (d.SpaceQuery(m_targetSpace, prim_geom))
2613 {
2614 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2615 d.SpaceRemove(m_targetSpace, prim_geom);
2616 }
2617 // we don't need to do space calculation because the client sends a position update also.
2618
2619 // Construction of new prim
2620 if (_parent_scene.needsMeshing(_pbs) && m_meshfailed == false)
2621 {
2622 float meshlod = _parent_scene.meshSculptLOD;
2623
2624 if (IsPhysical)
2625 meshlod = _parent_scene.MeshSculptphysicalLOD;
2626 // Don't need to re-enable body.. it's done in SetMesh
2627
2628 IMesh mesh = null;
2629
2630 try
2631 {
2632 if (_parent_scene.needsMeshing(_pbs))
2633 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2634 }
2635 catch
2636 {
2637 m_meshfailed = true;
2638 }
2639
2640 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2641 CreateGeom(m_targetSpace, mesh);
2642
2643
2644 }
2645 else
2646 {
2647 _mesh = null;
2648 CreateGeom(m_targetSpace, _mesh);
2649 }
2650
2651 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2652 d.Quaternion myrot = new d.Quaternion();
2653 myrot.X = _orientation.X;
2654 myrot.Y = _orientation.Y;
2655 myrot.Z = _orientation.Z;
2656 myrot.W = _orientation.W;
2657 d.GeomSetQuaternion(prim_geom, ref myrot);
2658
2659 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2660 if (IsPhysical && Body == IntPtr.Zero && !childPrim)
2661 {
2662 // Re creates body on size.
2663 // EnableBody also does setMass()
2664 enableBody();
2665 d.BodyEnable(Body);
2666 }
2667
2668 _parent_scene.geom_name_map[prim_geom] = oldname;
2669
2670 changeSelectedStatus(timestamp);
2671 if (childPrim)
2672 {
2673 if (_parent is OdePrim)
2674 {
2675 OdePrim parent = (OdePrim)_parent;
2676 parent.ChildSetGeom(this);
2677 }
2678 }
2679 resetCollisionAccounting();
2680 m_taintsize = _size;
2681 }
2682
2683
2684
2685 public void changefloatonwater(float timestep)
2686 {
2687 m_collidesWater = m_taintCollidesWater;
2688
2689 if (prim_geom != IntPtr.Zero)
2690 {
2691 if (m_collidesWater)
2692 {
2693 m_collisionFlags |= CollisionCategories.Water;
2694 }
2695 else
2696 {
2697 m_collisionFlags &= ~CollisionCategories.Water;
2698 }
2699 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2700 }
2701 }
2702
2703 public void changeshape(float timestamp)
2704 {
2705 string oldname = _parent_scene.geom_name_map[prim_geom];
2706
2707 // Cleanup of old prim geometry and Bodies
2708 if (IsPhysical && Body != IntPtr.Zero)
2709 {
2710 if (childPrim)
2711 {
2712 if (_parent != null)
2713 {
2714 OdePrim parent = (OdePrim)_parent;
2715 parent.ChildDelink(this);
2716 }
2717 }
2718 else
2719 {
2720 disableBody();
2721 }
2722 }
2723
2724
2725 // we don't need to do space calculation because the client sends a position update also.
2726 if (_size.X <= 0) _size.X = 0.01f;
2727 if (_size.Y <= 0) _size.Y = 0.01f;
2728 if (_size.Z <= 0) _size.Z = 0.01f;
2729 // Construction of new prim
2730
2731 if (_parent_scene.needsMeshing(_pbs) && m_meshfailed == false)
2732 {
2733 // Don't need to re-enable body.. it's done in SetMesh
2734 float meshlod = _parent_scene.meshSculptLOD;
2735
2736 if (IsPhysical)
2737 meshlod = _parent_scene.MeshSculptphysicalLOD;
2738 try
2739 {
2740 IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2741 CreateGeom(m_targetSpace, mesh);
2742 }
2743 catch
2744 {
2745 m_meshfailed = true;
2746 }
2747 // createmesh returns null when it doesn't mesh.
2748 }
2749 else
2750 {
2751 _mesh = null;
2752 CreateGeom(m_targetSpace, null);
2753 }
2754
2755 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2756 d.Quaternion myrot = new d.Quaternion();
2757 //myrot.W = _orientation.w;
2758 myrot.W = _orientation.W;
2759 myrot.X = _orientation.X;
2760 myrot.Y = _orientation.Y;
2761 myrot.Z = _orientation.Z;
2762 d.GeomSetQuaternion(prim_geom, ref myrot);
2763
2764 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2765 if (IsPhysical && Body == IntPtr.Zero)
2766 {
2767 // Re creates body on size.
2768 // EnableBody also does setMass()
2769 enableBody();
2770 if (Body != IntPtr.Zero)
2771 {
2772 d.BodyEnable(Body);
2773 }
2774 }
2775 _parent_scene.geom_name_map[prim_geom] = oldname;
2776
2777 changeSelectedStatus(timestamp);
2778 if (childPrim)
2779 {
2780 if (_parent is OdePrim)
2781 {
2782 OdePrim parent = (OdePrim)_parent;
2783 parent.ChildSetGeom(this);
2784 }
2785 }
2786 resetCollisionAccounting();
2787 m_taintshape = false;
2788 }
2789
2790 public void changeAddForce(float timestamp)
2791 {
2792 if (!m_isSelected)
2793 {
2794 lock (m_forcelist)
2795 {
2796 //m_log.Info("[PHYSICS]: dequeing forcelist");
2797 if (IsPhysical)
2798 {
2799 Vector3 iforce = Vector3.Zero;
2800 int i = 0;
2801 try
2802 {
2803 for (i = 0; i < m_forcelist.Count; i++)
2804 {
2805
2806 iforce = iforce + (m_forcelist[i] * 100);
2807 }
2808 }
2809 catch (IndexOutOfRangeException)
2810 {
2811 m_forcelist = new List<Vector3>();
2812 m_collisionscore = 0;
2813 m_interpenetrationcount = 0;
2814 m_taintforce = false;
2815 return;
2816 }
2817 catch (ArgumentOutOfRangeException)
2818 {
2819 m_forcelist = new List<Vector3>();
2820 m_collisionscore = 0;
2821 m_interpenetrationcount = 0;
2822 m_taintforce = false;
2823 return;
2824 }
2825 d.BodyEnable(Body);
2826
2827 d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
2828 }
2829 m_forcelist.Clear();
2830 }
2831
2832 m_collisionscore = 0;
2833 m_interpenetrationcount = 0;
2834 }
2835
2836 m_taintforce = false;
2837
2838 }
2839
2840
2841
2842 public void changeSetTorque(float timestamp)
2843 {
2844 if (!m_isSelected)
2845 {
2846 if (IsPhysical && Body != IntPtr.Zero)
2847 {
2848 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
2849 }
2850 }
2851
2852 m_taintTorque = Vector3.Zero;
2853 }
2854
2855 public void changeAddAngularForce(float timestamp)
2856 {
2857 if (!m_isSelected)
2858 {
2859 lock (m_angularforcelist)
2860 {
2861 //m_log.Info("[PHYSICS]: dequeing forcelist");
2862 if (IsPhysical)
2863 {
2864 Vector3 iforce = Vector3.Zero;
2865 for (int i = 0; i < m_angularforcelist.Count; i++)
2866 {
2867 iforce = iforce + (m_angularforcelist[i] * 100);
2868 }
2869 d.BodyEnable(Body);
2870 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
2871
2872 }
2873 m_angularforcelist.Clear();
2874 }
2875
2876 m_collisionscore = 0;
2877 m_interpenetrationcount = 0;
2878 }
2879
2880 m_taintaddangularforce = false;
2881 }
2882
2883 private void changevelocity(float timestep)
2884 {
2885 if (!m_isSelected)
2886 {
2887 Thread.Sleep(20);
2888 if (IsPhysical)
2889 {
2890 if (Body != IntPtr.Zero)
2891 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2892 }
2893
2894 //resetCollisionAccounting();
2895 }
2896 m_taintVelocity = Vector3.Zero;
2897 }
2898
2899 public void UpdatePositionAndVelocity()
2900 {
2901 return; // moved to the Move () method
2902 }
2903
2904 public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
2905 {
2906 obj.I.M00 = pMat[0, 0];
2907 obj.I.M01 = pMat[0, 1];
2908 obj.I.M02 = pMat[0, 2];
2909 obj.I.M10 = pMat[1, 0];
2910 obj.I.M11 = pMat[1, 1];
2911 obj.I.M12 = pMat[1, 2];
2912 obj.I.M20 = pMat[2, 0];
2913 obj.I.M21 = pMat[2, 1];
2914 obj.I.M22 = pMat[2, 2];
2915 return obj;
2916 }
2917
2918 public override void SubscribeEvents(int ms)
2919 {
2920 m_eventsubscription = ms;
2921 _parent_scene.addCollisionEventReporting(this);
2922 }
2923
2924 public override void UnSubscribeEvents()
2925 {
2926 _parent_scene.remCollisionEventReporting(this);
2927 m_eventsubscription = 0;
2928 }
2929
2930 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
2931 {
2932 if (CollisionEventsThisFrame == null)
2933 CollisionEventsThisFrame = new CollisionEventUpdate();
2934 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
2935 }
2936
2937 public void SendCollisions()
2938 {
2939 if (CollisionEventsThisFrame == null)
2940 return;
2941
2942 base.SendCollisionUpdate(CollisionEventsThisFrame);
2943
2944 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
2945 CollisionEventsThisFrame = null;
2946 else
2947 CollisionEventsThisFrame = new CollisionEventUpdate();
2948 }
2949
2950 public override bool SubscribedEvents()
2951 {
2952 if (m_eventsubscription > 0)
2953 return true;
2954 return false;
2955 }
2956
2957 public static Matrix4 Inverse(Matrix4 pMat)
2958 {
2959 if (determinant3x3(pMat) == 0)
2960 {
2961 return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
2962 }
2963
2964
2965
2966 return (Adjoint(pMat) / determinant3x3(pMat));
2967 }
2968
2969 public static Matrix4 Adjoint(Matrix4 pMat)
2970 {
2971 Matrix4 adjointMatrix = new Matrix4();
2972 for (int i = 0; i < 4; i++)
2973 {
2974 for (int j = 0; j < 4; j++)
2975 {
2976 Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
2977 }
2978 }
2979
2980 adjointMatrix = Transpose(adjointMatrix);
2981 return adjointMatrix;
2982 }
2983
2984 public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
2985 {
2986 Matrix4 minor = new Matrix4();
2987 int m = 0, n = 0;
2988 for (int i = 0; i < 4; i++)
2989 {
2990 if (i == iRow)
2991 continue;
2992 n = 0;
2993 for (int j = 0; j < 4; j++)
2994 {
2995 if (j == iCol)
2996 continue;
2997 Matrix4SetValue(ref minor, m, n, matrix[i, j]);
2998 n++;
2999 }
3000 m++;
3001 }
3002 return minor;
3003 }
3004
3005 public static Matrix4 Transpose(Matrix4 pMat)
3006 {
3007 Matrix4 transposeMatrix = new Matrix4();
3008 for (int i = 0; i < 4; i++)
3009 for (int j = 0; j < 4; j++)
3010 Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]);
3011 return transposeMatrix;
3012 }
3013
3014 public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
3015 {
3016 switch (r)
3017 {
3018 case 0:
3019 switch (c)
3020 {
3021 case 0:
3022 pMat.M11 = val;
3023 break;
3024 case 1:
3025 pMat.M12 = val;
3026 break;
3027 case 2:
3028 pMat.M13 = val;
3029 break;
3030 case 3:
3031 pMat.M14 = val;
3032 break;
3033 }
3034
3035 break;
3036 case 1:
3037 switch (c)
3038 {
3039 case 0:
3040 pMat.M21 = val;
3041 break;
3042 case 1:
3043 pMat.M22 = val;
3044 break;
3045 case 2:
3046 pMat.M23 = val;
3047 break;
3048 case 3:
3049 pMat.M24 = val;
3050 break;
3051 }
3052
3053 break;
3054 case 2:
3055 switch (c)
3056 {
3057 case 0:
3058 pMat.M31 = val;
3059 break;
3060 case 1:
3061 pMat.M32 = val;
3062 break;
3063 case 2:
3064 pMat.M33 = val;
3065 break;
3066 case 3:
3067 pMat.M34 = val;
3068 break;
3069 }
3070
3071 break;
3072 case 3:
3073 switch (c)
3074 {
3075 case 0:
3076 pMat.M41 = val;
3077 break;
3078 case 1:
3079 pMat.M42 = val;
3080 break;
3081 case 2:
3082 pMat.M43 = val;
3083 break;
3084 case 3:
3085 pMat.M44 = val;
3086 break;
3087 }
3088
3089 break;
3090 }
3091 }
3092 private static float determinant3x3(Matrix4 pMat)
3093 {
3094 float det = 0;
3095 float diag1 = pMat[0, 0] * pMat[1, 1] * pMat[2, 2];
3096 float diag2 = pMat[0, 1] * pMat[2, 1] * pMat[2, 0];
3097 float diag3 = pMat[0, 2] * pMat[1, 0] * pMat[2, 1];
3098 float diag4 = pMat[2, 0] * pMat[1, 1] * pMat[0, 2];
3099 float diag5 = pMat[2, 1] * pMat[1, 2] * pMat[0, 0];
3100 float diag6 = pMat[2, 2] * pMat[1, 0] * pMat[0, 1];
3101
3102 det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
3103 return det;
3104
3105 }
3106
3107 private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3108 {
3109 dst.c.W = src.c.W;
3110 dst.c.X = src.c.X;
3111 dst.c.Y = src.c.Y;
3112 dst.c.Z = src.c.Z;
3113 dst.mass = src.mass;
3114 dst.I.M00 = src.I.M00;
3115 dst.I.M01 = src.I.M01;
3116 dst.I.M02 = src.I.M02;
3117 dst.I.M10 = src.I.M10;
3118 dst.I.M11 = src.I.M11;
3119 dst.I.M12 = src.I.M12;
3120 dst.I.M20 = src.I.M20;
3121 dst.I.M21 = src.I.M21;
3122 dst.I.M22 = src.I.M22;
3123 }
3124
3125 public override void SetMaterial(int pMaterial)
3126 {
3127 m_material = pMaterial;
3128 }
3129
3130 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
3131 {
3132 switch (pParam)
3133 {
3134 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
3135 if (pValue < 0.01f) pValue = 0.01f;
3136 // m_angularDeflectionEfficiency = pValue;
3137 break;
3138 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
3139 if (pValue < 0.1f) pValue = 0.1f;
3140 // m_angularDeflectionTimescale = pValue;
3141 break;
3142 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
3143 if (pValue < 0.3f) pValue = 0.3f;
3144 m_angularMotorDecayTimescale = pValue;
3145 break;
3146 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
3147 if (pValue < 0.3f) pValue = 0.3f;
3148 m_angularMotorTimescale = pValue;
3149 break;
3150 case Vehicle.BANKING_EFFICIENCY:
3151 if (pValue < 0.01f) pValue = 0.01f;
3152 // m_bankingEfficiency = pValue;
3153 break;
3154 case Vehicle.BANKING_MIX:
3155 if (pValue < 0.01f) pValue = 0.01f;
3156 // m_bankingMix = pValue;
3157 break;
3158 case Vehicle.BANKING_TIMESCALE:
3159 if (pValue < 0.01f) pValue = 0.01f;
3160 // m_bankingTimescale = pValue;
3161 break;
3162 case Vehicle.BUOYANCY:
3163 if (pValue < -1f) pValue = -1f;
3164 if (pValue > 1f) pValue = 1f;
3165 m_VehicleBuoyancy = pValue;
3166 break;
3167 // case Vehicle.HOVER_EFFICIENCY:
3168 // if (pValue < 0f) pValue = 0f;
3169 // if (pValue > 1f) pValue = 1f;
3170 // m_VhoverEfficiency = pValue;
3171 // break;
3172 case Vehicle.HOVER_HEIGHT:
3173 m_VhoverHeight = pValue;
3174 break;
3175 case Vehicle.HOVER_TIMESCALE:
3176 if (pValue < 0.1f) pValue = 0.1f;
3177 m_VhoverTimescale = pValue;
3178 break;
3179 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
3180 if (pValue < 0.01f) pValue = 0.01f;
3181 // m_linearDeflectionEfficiency = pValue;
3182 break;
3183 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
3184 if (pValue < 0.01f) pValue = 0.01f;
3185 // m_linearDeflectionTimescale = pValue;
3186 break;
3187 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
3188 if (pValue < 0.3f) pValue = 0.3f;
3189 m_linearMotorDecayTimescale = pValue;
3190 break;
3191 case Vehicle.LINEAR_MOTOR_TIMESCALE:
3192 if (pValue < 0.1f) pValue = 0.1f;
3193 m_linearMotorTimescale = pValue;
3194 break;
3195 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
3196 if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
3197 if (pValue > 1.0f) pValue = 1.0f;
3198 m_verticalAttractionEfficiency = pValue;
3199 break;
3200 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
3201 if (pValue < 0.1f) pValue = 0.1f;
3202 m_verticalAttractionTimescale = pValue;
3203 break;
3204
3205 // These are vector properties but the engine lets you use a single float value to
3206 // set all of the components to the same value
3207 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
3208 if (pValue > 30f) pValue = 30f;
3209 if (pValue < 0.1f) pValue = 0.1f;
3210 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
3211 break;
3212 case Vehicle.ANGULAR_MOTOR_DIRECTION:
3213 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
3214 UpdateAngDecay();
3215 break;
3216 case Vehicle.LINEAR_FRICTION_TIMESCALE:
3217 if (pValue < 0.1f) pValue = 0.1f;
3218 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
3219 break;
3220 case Vehicle.LINEAR_MOTOR_DIRECTION:
3221 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
3222 UpdateLinDecay();
3223 break;
3224 case Vehicle.LINEAR_MOTOR_OFFSET:
3225 // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
3226 break;
3227
3228 }
3229
3230 }//end ProcessFloatVehicleParam
3231
3232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
3233 {
3234 switch (pParam)
3235 {
3236 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
3237 if (pValue.X > 30f) pValue.X = 30f;
3238 if (pValue.X < 0.1f) pValue.X = 0.1f;
3239 if (pValue.Y > 30f) pValue.Y = 30f;
3240 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
3241 if (pValue.Z > 30f) pValue.Z = 30f;
3242 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
3243 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
3244 break;
3245 case Vehicle.ANGULAR_MOTOR_DIRECTION:
3246 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
3247 // Limit requested angular speed to 2 rps= 4 pi rads/sec
3248 if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
3249 if (m_angularMotorDirection.X < -12.56f) m_angularMotorDirection.X = -12.56f;
3250 if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
3251 if (m_angularMotorDirection.Y < -12.56f) m_angularMotorDirection.Y = -12.56f;
3252 if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
3253 if (m_angularMotorDirection.Z < -12.56f) m_angularMotorDirection.Z = -12.56f;
3254 UpdateAngDecay();
3255 break;
3256 case Vehicle.LINEAR_FRICTION_TIMESCALE:
3257 if (pValue.X < 0.1f) pValue.X = 0.1f;
3258 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
3259 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
3260 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
3261 break;
3262 case Vehicle.LINEAR_MOTOR_DIRECTION:
3263 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
3264 UpdateLinDecay();
3265 break;
3266 case Vehicle.LINEAR_MOTOR_OFFSET:
3267 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
3268 break;
3269 }
3270
3271 }//end ProcessVectorVehicleParam
3272
3273 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
3274 {
3275 switch (pParam)
3276 {
3277 case Vehicle.REFERENCE_FRAME:
3278 // m_referenceFrame = pValue;
3279 break;
3280 }
3281
3282 }//end ProcessRotationVehicleParam
3283
3284 internal void ProcessVehicleFlags(int pParam, bool remove)
3285 {
3286 if (remove)
3287 {
3288 m_flags &= ~((VehicleFlag)pParam);
3289 }
3290 else
3291 {
3292 m_flags |= (VehicleFlag)pParam;
3293 }
3294 }
3295
3296 internal void ProcessTypeChange(Vehicle pType)
3297 {
3298 // Set Defaults For Type
3299 m_type = pType;
3300 switch (pType)
3301 {
3302 case Vehicle.TYPE_SLED:
3303 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
3304 m_angularFrictionTimescale = new Vector3(30, 30, 30);
3305 // m_lLinMotorVel = Vector3.Zero;
3306 m_linearMotorTimescale = 1000;
3307 m_linearMotorDecayTimescale = 120;
3308 m_angularMotorDirection = Vector3.Zero;
3309 m_angularMotorDVel = Vector3.Zero;
3310 m_angularMotorTimescale = 1000;
3311 m_angularMotorDecayTimescale = 120;
3312 m_VhoverHeight = 0;
3313 // m_VhoverEfficiency = 1;
3314 m_VhoverTimescale = 10;
3315 m_VehicleBuoyancy = 0;
3316 // m_linearDeflectionEfficiency = 1;
3317 // m_linearDeflectionTimescale = 1;
3318 // m_angularDeflectionEfficiency = 1;
3319 // m_angularDeflectionTimescale = 1000;
3320 // m_bankingEfficiency = 0;
3321 // m_bankingMix = 1;
3322 // m_bankingTimescale = 10;
3323 // m_referenceFrame = Quaternion.Identity;
3324 m_flags &=
3325 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3326 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
3327 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3328 break;
3329 case Vehicle.TYPE_CAR:
3330 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
3331 m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
3332 // m_lLinMotorVel = Vector3.Zero;
3333 m_linearMotorTimescale = 1;
3334 m_linearMotorDecayTimescale = 60;
3335 m_angularMotorDirection = Vector3.Zero;
3336 m_angularMotorDVel = Vector3.Zero;
3337 m_angularMotorTimescale = 1;
3338 m_angularMotorDecayTimescale = 0.8f;
3339 m_VhoverHeight = 0;
3340 // m_VhoverEfficiency = 0;
3341 m_VhoverTimescale = 1000;
3342 m_VehicleBuoyancy = 0;
3343 // // m_linearDeflectionEfficiency = 1;
3344 // // m_linearDeflectionTimescale = 2;
3345 // // m_angularDeflectionEfficiency = 0;
3346 // m_angularDeflectionTimescale = 10;
3347 m_verticalAttractionEfficiency = 1f;
3348 m_verticalAttractionTimescale = 10f;
3349 // m_bankingEfficiency = -0.2f;
3350 // m_bankingMix = 1;
3351 // m_bankingTimescale = 1;
3352 // m_referenceFrame = Quaternion.Identity;
3353 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
3354 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
3355 VehicleFlag.LIMIT_MOTOR_UP);
3356 break;
3357 case Vehicle.TYPE_BOAT:
3358 m_linearFrictionTimescale = new Vector3(10, 3, 2);
3359 m_angularFrictionTimescale = new Vector3(10, 10, 10);
3360 // m_lLinMotorVel = Vector3.Zero;
3361 m_linearMotorTimescale = 5;
3362 m_linearMotorDecayTimescale = 60;
3363 m_angularMotorDirection = Vector3.Zero;
3364 m_angularMotorDVel = Vector3.Zero;
3365 m_angularMotorTimescale = 4;
3366 m_angularMotorDecayTimescale = 4;
3367 m_VhoverHeight = 0;
3368 // m_VhoverEfficiency = 0.5f;
3369 m_VhoverTimescale = 2;
3370 m_VehicleBuoyancy = 1;
3371 // m_linearDeflectionEfficiency = 0.5f;
3372 // m_linearDeflectionTimescale = 3;
3373 // m_angularDeflectionEfficiency = 0.5f;
3374 // m_angularDeflectionTimescale = 5;
3375 m_verticalAttractionEfficiency = 0.5f;
3376 m_verticalAttractionTimescale = 5f;
3377 // m_bankingEfficiency = -0.3f;
3378 // m_bankingMix = 0.8f;
3379 // m_bankingTimescale = 1;
3380 // m_referenceFrame = Quaternion.Identity;
3381 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
3382 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
3383 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
3384 VehicleFlag.LIMIT_MOTOR_UP);
3385 break;
3386 case Vehicle.TYPE_AIRPLANE:
3387 m_linearFrictionTimescale = new Vector3(200, 10, 5);
3388 m_angularFrictionTimescale = new Vector3(20, 20, 20);
3389 // m_lLinMotorVel = Vector3.Zero;
3390 m_linearMotorTimescale = 2;
3391 m_linearMotorDecayTimescale = 60;
3392 m_angularMotorDirection = Vector3.Zero;
3393 m_angularMotorDVel = Vector3.Zero;
3394 m_angularMotorTimescale = 4;
3395 m_angularMotorDecayTimescale = 4;
3396 m_VhoverHeight = 0;
3397 // m_VhoverEfficiency = 0.5f;
3398 m_VhoverTimescale = 1000;
3399 m_VehicleBuoyancy = 0;
3400 // m_linearDeflectionEfficiency = 0.5f;
3401 // m_linearDeflectionTimescale = 3;
3402 // m_angularDeflectionEfficiency = 1;
3403 // m_angularDeflectionTimescale = 2;
3404 m_verticalAttractionEfficiency = 0.9f;
3405 m_verticalAttractionTimescale = 2f;
3406 // m_bankingEfficiency = 1;
3407 // m_bankingMix = 0.7f;
3408 // m_bankingTimescale = 2;
3409 // m_referenceFrame = Quaternion.Identity;
3410 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3411 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3412 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
3413 break;
3414 case Vehicle.TYPE_BALLOON:
3415 m_linearFrictionTimescale = new Vector3(5, 5, 5);
3416 m_angularFrictionTimescale = new Vector3(10, 10, 10);
3417 m_linearMotorTimescale = 5;
3418 m_linearMotorDecayTimescale = 60;
3419 m_angularMotorDirection = Vector3.Zero;
3420 m_angularMotorDVel = Vector3.Zero;
3421 m_angularMotorTimescale = 6;
3422 m_angularMotorDecayTimescale = 10;
3423 m_VhoverHeight = 5;
3424 // m_VhoverEfficiency = 0.8f;
3425 m_VhoverTimescale = 10;
3426 m_VehicleBuoyancy = 1;
3427 // m_linearDeflectionEfficiency = 0;
3428 // m_linearDeflectionTimescale = 5;
3429 // m_angularDeflectionEfficiency = 0;
3430 // m_angularDeflectionTimescale = 5;
3431 m_verticalAttractionEfficiency = 1f;
3432 m_verticalAttractionTimescale = 100f;
3433 // m_bankingEfficiency = 0;
3434 // m_bankingMix = 0.7f;
3435 // m_bankingTimescale = 5;
3436 // m_referenceFrame = Quaternion.Identity;
3437 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3438 VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3439 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
3440 break;
3441
3442 }
3443 }//end SetDefaultsForType
3444
3445 internal void Enable(IntPtr pBody, OdeScene pParentScene)
3446 {
3447 if (m_type == Vehicle.TYPE_NONE)
3448 return;
3449
3450 m_body = pBody;
3451 }
3452
3453
3454 internal void Halt()
3455 { // Kill all motions, when non-physical
3456 // m_linearMotorDirection = Vector3.Zero;
3457 m_lLinMotorDVel = Vector3.Zero;
3458 m_lLinObjectVel = Vector3.Zero;
3459 m_wLinObjectVel = Vector3.Zero;
3460 m_angularMotorDirection = Vector3.Zero;
3461 m_lastAngularVelocity = Vector3.Zero;
3462 m_angularMotorDVel = Vector3.Zero;
3463 _acceleration = Vector3.Zero;
3464 }
3465
3466 private void UpdateLinDecay()
3467 {
3468 m_lLinMotorDVel.X = m_linearMotorDirection.X;
3469 m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
3470 m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
3471 } // else let the motor decay on its own
3472
3473 private void UpdateAngDecay()
3474 {
3475 m_angularMotorDVel.X = m_angularMotorDirection.X;
3476 m_angularMotorDVel.Y = m_angularMotorDirection.Y;
3477 m_angularMotorDVel.Z = m_angularMotorDirection.Z;
3478 } // else let the motor decay on its own
3479
3480 public void Move(float timestep)
3481 {
3482 float fx = 0;
3483 float fy = 0;
3484 float fz = 0;
3485 Vector3 linvel; // velocity applied, including any reversal
3486
3487 // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
3488 // This is a temp patch until proper region crossing is developed.
3489
3490
3491 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim && !m_outofBounds) // Only move root prims.
3492 {
3493 // Old public void UpdatePositionAndVelocity(), more accuratley calculated here
3494 bool lastZeroFlag = _zeroFlag; // was it stopped
3495
3496 d.Vector3 vec = d.BodyGetPosition(Body);
3497 Vector3 l_position = Vector3.Zero;
3498 l_position.X = vec.X;
3499 l_position.Y = vec.Y;
3500 l_position.Z = vec.Z;
3501 m_lastposition = _position;
3502 _position = l_position;
3503
3504 d.Quaternion ori = d.BodyGetQuaternion(Body);
3505 // Quaternion l_orientation = Quaternion.Identity;
3506 _orientation.X = ori.X;
3507 _orientation.Y = ori.Y;
3508 _orientation.Z = ori.Z;
3509 _orientation.W = ori.W;
3510 m_lastorientation = _orientation;
3511
3512 d.Vector3 vel = d.BodyGetLinearVel(Body);
3513 m_lastVelocity = _velocity;
3514 _velocity.X = vel.X;
3515 _velocity.Y = vel.Y;
3516 _velocity.Z = vel.Z;
3517 _acceleration = ((_velocity - m_lastVelocity) / timestep);
3518
3519 d.Vector3 torque = d.BodyGetTorque(Body);
3520 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3521
3522
3523 if (_position.X < 0f || _position.X > _parent_scene.WorldExtents.X
3524 || _position.Y < 0f || _position.Y > _parent_scene.WorldExtents.Y
3525 )
3526 {
3527 // we are outside current region
3528 // clip position to a stop just outside region and stop it only internally
3529 // do it only once using m_crossingfailures as control
3530 _position.X = Util.Clip(l_position.X, -0.2f, _parent_scene.WorldExtents.X + .2f);
3531 _position.Y = Util.Clip(l_position.Y, -0.2f, _parent_scene.WorldExtents.Y + .2f);
3532 _position.Z = Util.Clip(l_position.Z, -100f, 50000f);
3533 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
3534 d.BodySetLinearVel(Body, 0, 0, 0);
3535 m_outofBounds = true;
3536 base.RequestPhysicsterseUpdate();
3537 return;
3538 }
3539
3540 base.RequestPhysicsterseUpdate();
3541
3542 if (l_position.Z < 0)
3543 {
3544 // This is so prim that get lost underground don't fall forever and suck up
3545 //
3546 // Sim resources and memory.
3547 // Disables the prim's movement physics....
3548 // It's a hack and will generate a console message if it fails.
3549
3550 //IsPhysical = false;
3551 if (_parent == null) base.RaiseOutOfBounds(_position);
3552
3553
3554 _acceleration.X = 0; // This stuff may stop client display but it has no
3555 _acceleration.Y = 0; // effect on the object in phys engine!
3556 _acceleration.Z = 0;
3557
3558 _velocity.X = 0;
3559 _velocity.Y = 0;
3560 _velocity.Z = 0;
3561 m_lastVelocity = Vector3.Zero;
3562 m_rotationalVelocity.X = 0;
3563 m_rotationalVelocity.Y = 0;
3564 m_rotationalVelocity.Z = 0;
3565
3566 if (_parent == null) base.RequestPhysicsterseUpdate();
3567
3568 m_throttleUpdates = false;
3569 throttleCounter = 0;
3570 _zeroFlag = true;
3571 //outofBounds = true;
3572 } // end neg Z check
3573
3574 // Is it moving?
3575 /* if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
3576 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
3577 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */
3578 if ((Vector3.Mag(_velocity) < 0.01) && // moving very slowly
3579 (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) && // decelerating
3580 (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // spinning very slowly
3581 {
3582 _zeroFlag = true;
3583 m_throttleUpdates = false;
3584 }
3585 else
3586 {
3587 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3588 _zeroFlag = false;
3589 m_lastUpdateSent = false;
3590 //m_throttleUpdates = false;
3591 }
3592
3593 if (_zeroFlag)
3594 { // Its stopped
3595 _velocity.X = 0.0f;
3596 _velocity.Y = 0.0f;
3597 // _velocity.Z = 0.0f;
3598
3599 _acceleration.X = 0;
3600 _acceleration.Y = 0;
3601 // _acceleration.Z = 0;
3602
3603 m_rotationalVelocity.X = 0;
3604 m_rotationalVelocity.Y = 0;
3605 m_rotationalVelocity.Z = 0;
3606 // Stop it in the phys engine
3607 d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z);
3608 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
3609 d.BodySetForce(Body, 0f, 0f, 0f);
3610
3611 if (!m_lastUpdateSent)
3612 {
3613 m_throttleUpdates = false;
3614 throttleCounter = 0;
3615 if (_parent == null)
3616 {
3617 base.RequestPhysicsterseUpdate();
3618 }
3619
3620 m_lastUpdateSent = true;
3621 }
3622 }
3623 else
3624 { // Its moving
3625 if (lastZeroFlag != _zeroFlag)
3626 {
3627 if (_parent == null)
3628 {
3629 base.RequestPhysicsterseUpdate();
3630 }
3631 }
3632 m_lastUpdateSent = false;
3633 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3634 {
3635 if (_parent == null)
3636 {
3637 base.RequestPhysicsterseUpdate();
3638 }
3639 }
3640 else
3641 {
3642 throttleCounter++;
3643 }
3644 }
3645 m_lastposition = l_position;
3646
3647 /// End UpdatePositionAndVelocity insert
3648
3649
3650 // Rotation lock =====================================
3651 if (m_rotateEnableUpdate)
3652 {
3653 // Snapshot current angles, set up Amotor(s)
3654 m_rotateEnableUpdate = false;
3655 m_rotateEnable = m_rotateEnableRequest;
3656 //Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
3657
3658 if (Amotor != IntPtr.Zero)
3659 {
3660 d.JointDestroy(Amotor);
3661 Amotor = IntPtr.Zero;
3662 //Console.WriteLine("Old Amotor Destroyed");
3663 }
3664
3665 if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
3666 { // not all are enabled
3667 d.Quaternion r = d.BodyGetQuaternion(Body);
3668 Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
3669 // extract the axes vectors
3670 Vector3 vX = new Vector3(1f, 0f, 0f);
3671 Vector3 vY = new Vector3(0f, 1f, 0f);
3672 Vector3 vZ = new Vector3(0f, 0f, 1f);
3673 vX = vX * locrot;
3674 vY = vY * locrot;
3675 vZ = vZ * locrot;
3676 // snapshot the current angle vectors
3677 m_lockX = vX;
3678 m_lockY = vY;
3679 m_lockZ = vZ;
3680 // m_lockRot = locrot;
3681 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
3682 d.JointAttach(Amotor, Body, IntPtr.Zero);
3683 d.JointSetAMotorMode(Amotor, 0); // User mode??
3684 //Console.WriteLine("New Amotor Created for {0}", m_primName);
3685
3686 float axisnum = 3; // how many to lock
3687 axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
3688 d.JointSetAMotorNumAxes(Amotor, (int)axisnum);
3689 //Console.WriteLine("AxisNum={0}",(int)axisnum);
3690
3691 int i = 0;
3692
3693 if (m_rotateEnable.X == 0)
3694 {
3695 d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
3696 //Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
3697 i++;
3698 }
3699
3700 if (m_rotateEnable.Y == 0)
3701 {
3702 d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
3703 //Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
3704 i++;
3705 }
3706
3707 if (m_rotateEnable.Z == 0)
3708 {
3709 d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
3710 //Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
3711 i++;
3712 }
3713
3714 // These lowstops and high stops are effectively (no wiggle room)
3715 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
3716 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
3717 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
3718 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
3719 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
3720 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
3721 d.JointSetAMotorParam(Amotor, (int)dParam.Vel, 0f);
3722 d.JointSetAMotorParam(Amotor, (int)dParam.Vel3, 0f);
3723 d.JointSetAMotorParam(Amotor, (int)dParam.Vel2, 0f);
3724 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
3725 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
3726 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
3727 } // else none are locked
3728 } // end Rotation Update
3729
3730
3731 // VEHICLE processing ==========================================
3732 if (m_type != Vehicle.TYPE_NONE)
3733 {
3734 // get body attitude
3735 d.Quaternion rot = d.BodyGetQuaternion(Body);
3736 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
3737 Quaternion irotq = Quaternion.Inverse(rotq);
3738
3739 // VEHICLE Linear Motion
3740 d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
3741 Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
3742 m_lLinObjectVel = vel_now * irotq;
3743 if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
3744 {
3745 if (Vector3.Mag(m_lLinMotorDVel) < 1.0f)
3746 {
3747 float decayfactor = m_linearMotorDecayTimescale / timestep;
3748 Vector3 decayAmount = (m_lLinMotorDVel / decayfactor);
3749 m_lLinMotorDVel -= decayAmount;
3750 }
3751 else
3752 {
3753 float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
3754 Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep;
3755 m_lLinMotorDVel -= decel;
3756 }
3757 if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3758 {
3759 m_lLinMotorDVel = Vector3.Zero;
3760 }
3761
3762 /* else
3763 {
3764 if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
3765 if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
3766 if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
3767 } */
3768 } // end linear motor decay
3769
3770 if ((!m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
3771 {
3772 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
3773 if (m_linearMotorTimescale < 300.0f)
3774 {
3775 Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
3776 float linfactor = m_linearMotorTimescale / timestep;
3777 Vector3 attackAmount = (attack_error / linfactor) * 1.3f;
3778 m_lLinObjectVel += attackAmount;
3779 }
3780 if (m_linearFrictionTimescale.X < 300.0f)
3781 {
3782 float fricfactor = m_linearFrictionTimescale.X / timestep;
3783 float fricX = m_lLinObjectVel.X / fricfactor;
3784 m_lLinObjectVel.X -= fricX;
3785 }
3786 if (m_linearFrictionTimescale.Y < 300.0f)
3787 {
3788 float fricfactor = m_linearFrictionTimescale.Y / timestep;
3789 float fricY = m_lLinObjectVel.Y / fricfactor;
3790 m_lLinObjectVel.Y -= fricY;
3791 }
3792 if (m_linearFrictionTimescale.Z < 300.0f)
3793 {
3794 float fricfactor = m_linearFrictionTimescale.Z / timestep;
3795 float fricZ = m_lLinObjectVel.Z / fricfactor;
3796 m_lLinObjectVel.Z -= fricZ;
3797 }
3798 }
3799 m_wLinObjectVel = m_lLinObjectVel * rotq;
3800
3801 // Gravity and Buoyancy
3802 Vector3 grav = Vector3.Zero;
3803 if (m_VehicleBuoyancy < 1.0f)
3804 {
3805 // There is some gravity, make a gravity force vector
3806 // that is applied after object velocity.
3807 d.Mass objMass;
3808 d.BodyGetMass(Body, out objMass);
3809 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
3810 grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
3811 } // else its 1.0, no gravity.
3812
3813 // Hovering
3814 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
3815 {
3816 // We should hover, get the target height
3817 d.Vector3 pos = d.BodyGetPosition(Body);
3818 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
3819 {
3820 m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight;
3821 }
3822 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
3823 {
3824 m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
3825 }
3826 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
3827 {
3828 m_VhoverTargetHeight = m_VhoverHeight;
3829 }
3830
3831 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
3832 {
3833 // If body is aready heigher, use its height as target height
3834 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
3835 }
3836
3837 // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
3838 // m_VhoverTimescale = 0f; // time to acheive height
3839 // timestep is time since last frame,in secs
3840 float herr0 = pos.Z - m_VhoverTargetHeight;
3841 // Replace Vertical speed with correction figure if significant
3842 if (Math.Abs(herr0) > 0.01f)
3843 {
3844 //? d.Mass objMass;
3845 //? d.BodyGetMass(Body, out objMass);
3846 m_wLinObjectVel.Z = -((herr0 * timestep * 50.0f) / m_VhoverTimescale);
3847 //KF: m_VhoverEfficiency is not yet implemented
3848 }
3849 else
3850 {
3851 m_wLinObjectVel.Z = 0f;
3852 }
3853 }
3854 else
3855 { // not hovering
3856 if (m_wLinObjectVel.Z == 0f)
3857 { // Gravity rules
3858 m_wLinObjectVel.Z = vel_now.Z;
3859 } // else the motor has it
3860 }
3861 linvel = m_wLinObjectVel;
3862
3863 // Vehicle Linear Motion done =======================================
3864 // Apply velocity
3865 d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
3866 // apply gravity force
3867 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
3868 //if(frcount == 0) Console.WriteLine("Vel={0} Force={1}",linvel , grav);
3869 // end MoveLinear()
3870
3871
3872 // MoveAngular
3873 /*
3874 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
3875
3876 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
3877 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
3878 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
3879
3880 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
3881 private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
3882 */
3883 //if(frcount == 0) Console.WriteLine("MoveAngular ");
3884
3885 d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
3886 Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
3887 angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation
3888
3889 //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
3890
3891 // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
3892 float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep);
3893 m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
3894 // Decay Angular Motor 2.
3895 if (m_angularMotorDecayTimescale < 300.0f)
3896 {
3897 if (Vector3.Mag(m_angularMotorDVel) < 1.0f)
3898 {
3899 float decayfactor = (m_angularMotorDecayTimescale) / timestep;
3900 Vector3 decayAmount = (m_angularMotorDVel / decayfactor);
3901 m_angularMotorDVel -= decayAmount;
3902 }
3903 else
3904 {
3905 Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale;
3906 m_angularMotorDVel -= decel;
3907 }
3908
3909 if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3910 {
3911 m_angularMotorDVel = Vector3.Zero;
3912 }
3913 else
3914 {
3915 if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
3916 if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
3917 if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
3918 }
3919 } // end decay angular motor
3920 //if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3921
3922 //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
3923
3924 if ((!m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
3925 { // if motor or object have motion
3926 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
3927
3928 if (m_angularMotorTimescale < 300.0f)
3929 {
3930 Vector3 attack_error = m_angularMotorDVel - angObjectVel;
3931 float angfactor = m_angularMotorTimescale / timestep;
3932 Vector3 attackAmount = (attack_error / angfactor);
3933 angObjectVel += attackAmount;
3934 //if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
3935 //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
3936 }
3937
3938 angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
3939 angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
3940 angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
3941 } // else no signif. motion
3942
3943 //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3944 // Bank section tba
3945 // Deflection section tba
3946 //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
3947
3948
3949 /* // Rotation Axis Disables:
3950 if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
3951 {
3952 if (m_angularEnable.X == 0)
3953 angObjectVel.X = 0f;
3954 if (m_angularEnable.Y == 0)
3955 angObjectVel.Y = 0f;
3956 if (m_angularEnable.Z == 0)
3957 angObjectVel.Z = 0f;
3958 }
3959 */
3960 angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
3961
3962 // Vertical attractor section
3963 Vector3 vertattr = Vector3.Zero;
3964
3965 if (m_verticalAttractionTimescale < 300)
3966 {
3967 float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep);
3968 // make a vector pointing up
3969 Vector3 verterr = Vector3.Zero;
3970 verterr.Z = 1.0f;
3971 // rotate it to Body Angle
3972 verterr = verterr * rotq;
3973 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
3974 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
3975 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
3976
3977 if (verterr.Z < 0.0f)
3978 { // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
3979 // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
3980 //Console.WriteLine("InvertFlip");
3981 verterr.X = 2.0f - verterr.X;
3982 verterr.Y = 2.0f - verterr.Y;
3983 }
3984 verterr *= 0.5f;
3985 // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
3986 Vector3 xyav = angObjectVel;
3987 xyav.Z = 0.0f;
3988 if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
3989 {
3990 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
3991 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
3992 vertattr.X = verterr.Y;
3993 vertattr.Y = -verterr.X;
3994 vertattr.Z = 0f;
3995 //if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
3996
3997 // scaling appears better usingsquare-law
3998 float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
3999 float bounce = 1.0f - damped;
4000 // 0 = crit damp, 1 = bouncy
4001 float oavz = angObjectVel.Z; // retain z velocity
4002 // time-scaled correction, which sums, therefore is bouncy:
4003 angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce;
4004 // damped, good @ < 90:
4005 angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped);
4006 angObjectVel.Z = oavz;
4007 //if(frcount == 0) Console.WriteLine("VA+");
4008 //Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
4009 }
4010 else
4011 {
4012 // else error is very small
4013 angObjectVel.X = 0f;
4014 angObjectVel.Y = 0f;
4015 //if(frcount == 0) Console.WriteLine("VA0");
4016 }
4017 } // else vertical attractor is off
4018 //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
4019
4020
4021 m_lastAngularVelocity = angObjectVel;
4022 // apply Angular Velocity to body
4023 d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
4024 //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
4025
4026 } // end VEHICLES
4027 else
4028 {
4029 // Dyamics (NON-'VEHICLES') are dealt with here ================================================================
4030
4031 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
4032
4033 /// Dynamics Buoyancy
4034 //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
4035 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
4036 // NB Prims in ODE are no subject to global gravity
4037 // This should only affect gravity operations
4038
4039 float m_mass = CalculateMass();
4040 // calculate z-force due togravity on object.
4041 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
4042 if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
4043 {
4044 fz = 0; // llMoveToTarget ignores gravity.
4045 // it also ignores mass of object, and any physical resting on it.
4046 // Vector3 m_PIDTarget is where we are going
4047 // float m_PIDTau is time to get there
4048 fx = 0;
4049 fy = 0;
4050 d.Vector3 pos = d.BodyGetPosition(Body);
4051 Vector3 error = new Vector3(
4052 (m_PIDTarget.X - pos.X),
4053 (m_PIDTarget.Y - pos.Y),
4054 (m_PIDTarget.Z - pos.Z));
4055 if (error.ApproxEquals(Vector3.Zero, 0.01f))
4056 { // Very close, Jump there and quit move
4057
4058 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
4059 _target_velocity = Vector3.Zero;
4060 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
4061 d.BodySetForce(Body, 0f, 0f, 0f);
4062 }
4063 else
4064 {
4065 float scale = 50.0f * timestep / m_PIDTau;
4066 if ((error.ApproxEquals(Vector3.Zero, 0.5f)) && (_target_velocity != Vector3.Zero))
4067 {
4068 // Nearby, quit update of velocity
4069 }
4070 else
4071 { // Far, calc damped velocity
4072 _target_velocity = error * scale;
4073 }
4074 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
4075 }
4076 } // end PID MoveToTarget
4077
4078
4079 /// Dynamics Hover ===================================================================================
4080 // Hover PID Controller can only run if the PIDcontroller is not in use.
4081 if (m_useHoverPID && !m_usePID)
4082 {
4083 //Console.WriteLine("Hover " + m_primName);
4084
4085 // If we're using the PID controller, then we have no gravity
4086 fz = (-1 * _parent_scene.gravityz) * m_mass;
4087
4088 // no lock; for now it's only called from within Simulate()
4089
4090 // If the PID Controller isn't active then we set our force
4091 // calculating base velocity to the current position
4092
4093 if ((m_PIDTau < 1))
4094 {
4095 PID_G = PID_G / m_PIDTau;
4096 }
4097
4098 if ((PID_G - m_PIDTau) <= 0)
4099 {
4100 PID_G = m_PIDTau + 1;
4101 }
4102
4103
4104 // Where are we, and where are we headed?
4105 d.Vector3 pos = d.BodyGetPosition(Body);
4106 // d.Vector3 vel = d.BodyGetLinearVel(Body);
4107
4108
4109 // Non-Vehicles have a limited set of Hover options.
4110 // determine what our target height really is based on HoverType
4111 switch (m_PIDHoverType)
4112 {
4113 case PIDHoverType.Ground:
4114 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
4115 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
4116 break;
4117 case PIDHoverType.GroundAndWater:
4118 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
4119 m_waterHeight = _parent_scene.GetWaterLevel();
4120 if (m_groundHeight > m_waterHeight)
4121 {
4122 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
4123 }
4124 else
4125 {
4126 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
4127 }
4128 break;
4129
4130 } // end switch (m_PIDHoverType)
4131
4132
4133 _target_velocity =
4134 new Vector3(0.0f, 0.0f,
4135 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
4136 );
4137
4138 // if velocity is zero, use position control; otherwise, velocity control
4139
4140 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
4141 {
4142 // keep track of where we stopped. No more slippin' & slidin'
4143
4144 // We only want to deactivate the PID Controller if we think we want to have our surrogate
4145 // react to the physics scene by moving it's position.
4146 // Avatar to Avatar collisions
4147 // Prim to avatar collisions
4148 d.Vector3 dlinvel = vel;
4149 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
4150 d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
4151 d.BodyAddForce(Body, 0, 0, fz);
4152 //KF this prevents furthur motions return;
4153 }
4154 else
4155 {
4156 _zeroFlag = false;
4157
4158 // We're flying and colliding with something
4159 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
4160 }
4161 } // end m_useHoverPID && !m_usePID
4162
4163
4164 /// Dynamics Apply Forces ===================================================================================
4165 fx *= m_mass;
4166 fy *= m_mass;
4167 //fz *= m_mass;
4168 fx += m_force.X;
4169 fy += m_force.Y;
4170 fz += m_force.Z;
4171
4172 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
4173 if (fx != 0 || fy != 0 || fz != 0)
4174 {
4175 //m_taintdisable = true;
4176 //base.RaiseOutOfBounds(Position);
4177 //d.BodySetLinearVel(Body, fx, fy, 0f);
4178 if (!d.BodyIsEnabled(Body))
4179 {
4180 // A physical body at rest on a surface will auto-disable after a while,
4181 // this appears to re-enable it incase the surface it is upon vanishes,
4182 // and the body should fall again.
4183 d.BodySetLinearVel(Body, 0f, 0f, 0f);
4184 d.BodySetForce(Body, 0f, 0f, 0f);
4185 enableBodySoft();
4186 }
4187
4188 // 35x10 = 350n times the mass per second applied maximum.
4189 float nmax = 35f * m_mass;
4190 float nmin = -35f * m_mass;
4191
4192
4193 if (fx > nmax)
4194 fx = nmax;
4195 if (fx < nmin)
4196 fx = nmin;
4197 if (fy > nmax)
4198 fy = nmax;
4199 if (fy < nmin)
4200 fy = nmin;
4201 d.BodyAddForce(Body, fx, fy, fz);
4202 } // end apply forces
4203 } // end Vehicle/Dynamics
4204
4205 /// RotLookAt / LookAt =================================================================================
4206 if (m_useAPID)
4207 {
4208 // RotLookAt, apparently overrides all other rotation sources. Inputs:
4209 // Quaternion m_APIDTarget
4210 // float m_APIDStrength // From SL experiments, this is the time to get there
4211 // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
4212 // Also in SL the mass of the object has no effect on time to get there.
4213 // Factors:
4214 // get present body rotation
4215 float limit = 1.0f;
4216 float rscaler = 50f; // adjusts rotation damping time
4217 float lscaler = 10f; // adjusts linear damping time in llLookAt
4218 float RLAservo = 0f;
4219 Vector3 diff_axis;
4220 float diff_angle;
4221 d.Quaternion rot = d.BodyGetQuaternion(Body); // prim present rotation
4222 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
4223 Quaternion rtarget = new Quaternion();
4224
4225 if (m_APIDTarget.W == -99.9f)
4226 {
4227 // this is really a llLookAt(), x,y,z is the target vector
4228 Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z);
4229 Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq;
4230 Vector3 error = new Vector3(0.0f, 0.0f, 0.0f);
4231 float twopi = 2.0f * (float)Math.PI;
4232 Vector3 dir = target - _position;
4233 dir.Normalize();
4234 float tzrot = (float)Math.Atan2(dir.Y, dir.X);
4235 float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y));
4236 float terot = (float)Math.Atan2(dir.Z, txy);
4237 float ozrot = (float)Math.Atan2(ospin.Y, ospin.X);
4238 float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y));
4239 float oerot = (float)Math.Atan2(ospin.Z, oxy);
4240 float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z));
4241 float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y) + (rotq.X * rotq.X));
4242 float roll = (float)Math.Atan2(ra, rb);
4243 float errorz = tzrot - ozrot;
4244 if (errorz > (float)Math.PI) errorz -= twopi;
4245 else if (errorz < -(float)Math.PI) errorz += twopi;
4246 float errory = oerot - terot;
4247 if (errory > (float)Math.PI) errory -= twopi;
4248 else if (errory < -(float)Math.PI) errory += twopi;
4249 diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll);
4250 if (diff_angle > 0.01f * m_APIDdamper)
4251 {
4252 m_APIDdamper = 1.0f;
4253 RLAservo = timestep / m_APIDStrength * rscaler;
4254 errorz *= RLAservo;
4255 errory *= RLAservo;
4256 error.X = -roll * 8.0f;
4257 error.Y = errory;
4258 error.Z = errorz;
4259 error *= rotq;
4260 d.BodySetAngularVel(Body, error.X, error.Y, error.Z);
4261 }
4262 else
4263 {
4264 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
4265 m_APIDdamper = 2.0f;
4266 }
4267 }
4268 else
4269 {
4270 // this is a llRotLookAt()
4271 rtarget = m_APIDTarget;
4272
4273 Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget; // difference to desired rot
4274 rot_diff.GetAxisAngle(out diff_axis, out diff_angle); // convert to axis to point at & error angle
4275 //if(frcount == 0) Console.WriteLine("axis {0} angle {1}",diff_axis * 57.3f, diff_angle);
4276
4277 // diff_axis.Normalize(); it already is!
4278 if (diff_angle > 0.01f * m_APIDdamper) // diff_angle is always +ve // if there is enough error
4279 {
4280 m_APIDdamper = 1.0f;
4281 Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
4282 rotforce = rotforce * rotq;
4283 if (diff_angle > limit) diff_angle = limit; // cap the rotate rate
4284 RLAservo = timestep / m_APIDStrength * lscaler;
4285 rotforce = rotforce * RLAservo * diff_angle;
4286 d.BodySetAngularVel(Body, rotforce.X, rotforce.Y, rotforce.Z);
4287 //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
4288 }
4289 else
4290 { // close enough
4291 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
4292 m_APIDdamper = 2.0f;
4293 }
4294 } // end llLookAt/llRotLookAt
4295 //if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
4296 } // end m_useAPID
4297 } // end root prims
4298 } // end Move()
4299 } // end class
4300}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..712029e
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,384 @@
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 copyright
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 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using Ode.NET;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending Raycast Requests
49 /// </summary>
50 protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 /// <summary>
58 /// ODE contact array to be filled by the collision testing
59 /// </summary>
60 d.ContactGeom[] contacts = new d.ContactGeom[5];
61
62 /// <summary>
63 /// ODE near callback delegate
64 /// </summary>
65 private d.NearCallback nearCallback;
66 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
67 private List<ContactResult> m_contactResults = new List<ContactResult>();
68
69
70 public ODERayCastRequestManager(OdeScene pScene)
71 {
72 m_scene = pScene;
73 nearCallback = near;
74
75 }
76
77 /// <summary>
78 /// Queues a raycast
79 /// </summary>
80 /// <param name="position">Origin of Ray</param>
81 /// <param name="direction">Ray normal</param>
82 /// <param name="length">Ray length</param>
83 /// <param name="retMethod">Return method to send the results</param>
84 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
85 {
86 lock (m_PendingRequests)
87 {
88 ODERayCastRequest req = new ODERayCastRequest();
89 req.callbackMethod = retMethod;
90 req.length = length;
91 req.Normal = direction;
92 req.Origin = position;
93
94 m_PendingRequests.Add(req);
95 }
96 }
97
98 /// <summary>
99 /// Process all queued raycast requests
100 /// </summary>
101 /// <returns>Time in MS the raycasts took to process.</returns>
102 public int ProcessQueuedRequests()
103 {
104 int time = System.Environment.TickCount;
105 lock (m_PendingRequests)
106 {
107 if (m_PendingRequests.Count > 0)
108 {
109 ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
110 for (int i = 0; i < reqs.Length; i++)
111 {
112 try
113 {
114 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
115 RayCast(reqs[i]); // if there isn't anyone to send results
116 }
117 catch
118 {
119 //Fail silently
120 //This can genuinely happen because raycast requests are queued, and the actor may have
121 //been removed from the scene since it was queued
122 }
123 }
124 /*
125 foreach (ODERayCastRequest req in m_PendingRequests)
126 {
127 if (req.callbackMethod != null) // quick optimization here, don't raycast
128 RayCast(req); // if there isn't anyone to send results to
129
130 }
131 */
132 m_PendingRequests.Clear();
133 }
134 }
135
136 lock (m_contactResults)
137 m_contactResults.Clear();
138
139 return System.Environment.TickCount - time;
140 }
141
142 /// <summary>
143 /// Method that actually initiates the raycast
144 /// </summary>
145 /// <param name="req"></param>
146 private void RayCast(ODERayCastRequest req)
147 {
148 // Create the ray
149 IntPtr ray = d.CreateRay(m_scene.space, req.length);
150 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
151
152 // Collide test
153 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
154
155 // Remove Ray
156 d.GeomDestroy(ray);
157
158
159 // Define default results
160 bool hitYN = false;
161 uint hitConsumerID = 0;
162 float distance = 999999999999f;
163 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
164 Vector3 snormal = Vector3.Zero;
165
166 // Find closest contact and object.
167 lock (m_contactResults)
168 {
169 foreach (ContactResult cResult in m_contactResults)
170 {
171 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
172 {
173 closestcontact = cResult.Pos;
174 hitConsumerID = cResult.ConsumerID;
175 distance = cResult.Depth;
176 hitYN = true;
177 snormal = cResult.Normal;
178 }
179 }
180
181 m_contactResults.Clear();
182 }
183
184 // Return results
185 if (req.callbackMethod != null)
186 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
187 }
188
189 // This is the standard Near. Uses space AABBs to speed up detection.
190 private void near(IntPtr space, IntPtr g1, IntPtr g2)
191 {
192
193 //Don't test against heightfield Geom, or you'll be sorry!
194
195 /*
196 terminate called after throwing an instance of 'std::bad_alloc'
197 what(): std::bad_alloc
198 Stacktrace:
199
200 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
201 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
202 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
203 at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
204 fffff>
205 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
206 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
207 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
208 0x00114>
209 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
210 at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
211 at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
212 at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
213 at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
214 at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
215
216 Native stacktrace:
217
218 mono [0x80d2a42]
219 [0xb7f5840c]
220 /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
221 /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
222 /usr/lib/libstdc++.so.6 [0xb45fa865]
223 /usr/lib/libstdc++.so.6 [0xb45fa8a2]
224 /usr/lib/libstdc++.so.6 [0xb45fa9da]
225 /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
226 /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
227 libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
228 libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
229 libode.so(dCollide+0x102) [0xb46571b2]
230 [0x95cfdec9]
231 [0x8ea07fe1]
232 [0xab260146]
233 libode.so [0xb465a5c4]
234 libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
235 libode.so(dSpaceCollide2+0x177) [0xb465ac67]
236 [0x95cf978e]
237 [0x8ea07945]
238 [0x95cf2bbc]
239 [0xab2787e7]
240 [0xab419fb3]
241 [0xab416657]
242 [0xab415bda]
243 [0xb609b08e]
244 mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
245 mono [0x81a2f0f]
246 mono [0x81d28b6]
247 mono [0x81ea2c6]
248 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
249 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
250 */
251
252 // Exclude heightfield geom
253
254 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
255 return;
256 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
257 return;
258
259 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
260 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
261 {
262 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
263 return;
264
265 // Separating static prim geometry spaces.
266 // We'll be calling near recursivly if one
267 // of them is a space to find all of the
268 // contact points in the space
269 try
270 {
271 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
272 }
273 catch (AccessViolationException)
274 {
275 m_log.Warn("[PHYSICS]: Unable to collide test a space");
276 return;
277 }
278 //Colliding a space or a geom with a space or a geom. so drill down
279
280 //Collide all geoms in each space..
281 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
282 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
283 return;
284 }
285
286 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
287 return;
288
289 int count = 0;
290 try
291 {
292
293 if (g1 == g2)
294 return; // Can't collide with yourself
295
296 lock (contacts)
297 {
298 count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
299 }
300 }
301 catch (SEHException)
302 {
303 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
304 }
305 catch (Exception e)
306 {
307 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
308 return;
309 }
310
311 PhysicsActor p1 = null;
312 PhysicsActor p2 = null;
313
314 if (g1 != IntPtr.Zero)
315 m_scene.actor_name_map.TryGetValue(g1, out p1);
316
317 if (g2 != IntPtr.Zero)
318 m_scene.actor_name_map.TryGetValue(g1, out p2);
319
320 // Loop over contacts, build results.
321 for (int i = 0; i < count; i++)
322 {
323 if (p1 != null) {
324 if (p1 is OdePrim)
325 {
326 ContactResult collisionresult = new ContactResult();
327
328 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
329 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
330 collisionresult.Depth = contacts[i].depth;
331 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
332 contacts[i].normal.Z);
333 lock (m_contactResults)
334 m_contactResults.Add(collisionresult);
335 }
336 }
337
338 if (p2 != null)
339 {
340 if (p2 is OdePrim)
341 {
342 ContactResult collisionresult = new ContactResult();
343
344 collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
345 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
346 collisionresult.Depth = contacts[i].depth;
347 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
348 contacts[i].normal.Z);
349
350 lock (m_contactResults)
351 m_contactResults.Add(collisionresult);
352 }
353 }
354
355
356 }
357
358 }
359
360 /// <summary>
361 /// Dereference the creator scene so that it can be garbage collected if needed.
362 /// </summary>
363 internal void Dispose()
364 {
365 m_scene = null;
366 }
367 }
368
369 public struct ODERayCastRequest
370 {
371 public Vector3 Origin;
372 public Vector3 Normal;
373 public float length;
374 public RaycastCallback callbackMethod;
375 }
376
377 public struct ContactResult
378 {
379 public Vector3 Pos;
380 public float Depth;
381 public uint ConsumerID;
382 public Vector3 Normal;
383 }
384}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
new file mode 100644
index 0000000..b4a3c48
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
@@ -0,0 +1,48 @@
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 copyright
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 */
27
28using System;
29using OpenMetaverse;
30using Ode.NET;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using OpenSim.Region.Physics.OdePlugin;
34
35namespace OpenSim.Region.Physics.OdePlugin
36{
37 class OdePhysicsJoint : PhysicsJoint
38 {
39 public override bool IsInPhysicsEngine
40 {
41 get
42 {
43 return (jointID != IntPtr.Zero);
44 }
45 }
46 public IntPtr jointID;
47 }
48}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..b5b30ee
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -0,0 +1,3869 @@
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 copyright
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 */
27
28//#define USE_DRAWSTUFF
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using Ode.NET;
40#if USE_DRAWSTUFF
41using Drawstuff.NET;
42#endif
43using OpenSim.Framework;
44using OpenSim.Region.Physics.Manager;
45using OpenMetaverse;
46
47//using OpenSim.Region.Physics.OdePlugin.Meshing;
48
49namespace OpenSim.Region.Physics.OdePlugin
50{
51 /// <summary>
52 /// ODE plugin
53 /// </summary>
54 public class OdePlugin : IPhysicsPlugin
55 {
56 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
57
58 private CollisionLocker ode;
59 private OdeScene _mScene;
60
61 public OdePlugin()
62 {
63 ode = new CollisionLocker();
64 }
65
66 public bool Init()
67 {
68 return true;
69 }
70
71 public PhysicsScene GetScene(String sceneIdentifier)
72 {
73 if (_mScene == null)
74 {
75 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
76 // http://opensimulator.org/mantis/view.php?id=2750).
77 d.InitODE();
78
79 _mScene = new OdeScene(ode, sceneIdentifier);
80 }
81 return (_mScene);
82 }
83
84 public string GetName()
85 {
86 return ("ChODE");
87 }
88
89 public void Dispose()
90 {
91 }
92 }
93
94 public enum StatusIndicators : int
95 {
96 Generic = 0,
97 Start = 1,
98 End = 2
99 }
100
101 public struct sCollisionData
102 {
103 public uint ColliderLocalId;
104 public uint CollidedWithLocalId;
105 public int NumberOfCollisions;
106 public int CollisionType;
107 public int StatusIndicator;
108 public int lastframe;
109 }
110
111 [Flags]
112 public enum CollisionCategories : int
113 {
114 Disabled = 0,
115 Geom = 0x00000001,
116 Body = 0x00000002,
117 Space = 0x00000004,
118 Character = 0x00000008,
119 Land = 0x00000010,
120 Water = 0x00000020,
121 Wind = 0x00000040,
122 Sensor = 0x00000080,
123 Selected = 0x00000100
124 }
125
126 /// <summary>
127 /// Material type for a primitive
128 /// </summary>
129 public enum Material : int
130 {
131 /// <summary></summary>
132 Stone = 0,
133 /// <summary></summary>
134 Metal = 1,
135 /// <summary></summary>
136 Glass = 2,
137 /// <summary></summary>
138 Wood = 3,
139 /// <summary></summary>
140 Flesh = 4,
141 /// <summary></summary>
142 Plastic = 5,
143 /// <summary></summary>
144 Rubber = 6
145
146 }
147
148 public sealed class OdeScene : PhysicsScene
149 {
150 private readonly ILog m_log;
151 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
152
153 CollisionLocker ode;
154
155 private Random fluidRandomizer = new Random(Environment.TickCount);
156
157 private const uint m_regionWidth = Constants.RegionSize;
158 private const uint m_regionHeight = Constants.RegionSize;
159
160 private float ODE_STEPSIZE = 0.020f;
161 private float metersInSpace = 29.9f;
162 private float m_timeDilation = 1.0f;
163
164 public float gravityx = 0f;
165 public float gravityy = 0f;
166 public float gravityz = -9.8f;
167
168 private float contactsurfacelayer = 0.001f;
169
170 private int worldHashspaceLow = -4;
171 private int worldHashspaceHigh = 128;
172
173 private int smallHashspaceLow = -4;
174 private int smallHashspaceHigh = 66;
175
176 private float waterlevel = 0f;
177 private int framecount = 0;
178 //private int m_returncollisions = 10;
179
180 private readonly IntPtr contactgroup;
181
182 internal IntPtr LandGeom;
183 internal IntPtr WaterGeom;
184
185 private float nmTerrainContactFriction = 255.0f;
186 private float nmTerrainContactBounce = 0.1f;
187 private float nmTerrainContactERP = 0.1025f;
188
189 private float mTerrainContactFriction = 75f;
190 private float mTerrainContactBounce = 0.1f;
191 private float mTerrainContactERP = 0.05025f;
192
193 private float nmAvatarObjectContactFriction = 250f;
194 private float nmAvatarObjectContactBounce = 0.1f;
195
196 private float mAvatarObjectContactFriction = 75f;
197 private float mAvatarObjectContactBounce = 0.1f;
198
199 private float avPIDD = 3200f;
200 private float avPIDP = 1400f;
201 private float avCapRadius = 0.37f;
202 private float avStandupTensor = 2000000f;
203 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
204 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
205 private float avDensity = 80f;
206 private float avHeightFudgeFactor = 0.52f;
207 private float avMovementDivisorWalk = 1.3f;
208 private float avMovementDivisorRun = 0.8f;
209 private float minimumGroundFlightOffset = 3f;
210 public float maximumMassObject = 10000.01f;
211
212 public bool meshSculptedPrim = true;
213 public bool forceSimplePrimMeshing = false;
214
215 public float meshSculptLOD = 32;
216 public float MeshSculptphysicalLOD = 16;
217
218 public float geomDefaultDensity = 10.000006836f;
219
220 public int geomContactPointsStartthrottle = 3;
221 public int geomUpdatesPerThrottledUpdate = 15;
222
223 public float bodyPIDD = 35f;
224 public float bodyPIDG = 25;
225
226 public int geomCrossingFailuresBeforeOutofbounds = 5;
227 public float geomRegionFence = 0.0f;
228
229 public float bodyMotorJointMaxforceTensor = 2;
230
231 public int bodyFramesAutoDisable = 20;
232
233 private DateTime m_lastframe = DateTime.UtcNow;
234
235 private float[] _watermap;
236 private bool m_filterCollisions = true;
237
238 private d.NearCallback nearCallback;
239 public d.TriCallback triCallback;
240 public d.TriArrayCallback triArrayCallback;
241 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
242 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
243 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
244 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
245 private readonly Object _taintedPrimLock = new Object();
246 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
247 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
248 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
249 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
250 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
251 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
252 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
253 private bool m_NINJA_physics_joints_enabled = false;
254 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
255 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
256 private d.ContactGeom[] contacts;
257 private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
258 private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
259 private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
260 private readonly List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
261 private Object externalJointRequestsLock = new Object();
262 private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
263 private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
264 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
265 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
266
267 private d.Contact ContactCopy; // local copy that can be modified
268 private d.Contact TerrainContact;
269 private d.Contact AvatarStaticprimContact; // was 'contact'
270 private d.Contact AvatarMovementprimContact;
271 private d.Contact AvatarMovementTerrainContact;
272 private d.Contact WaterContact;
273 private d.Contact[,] m_materialContacts;
274
275//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
276//Ckrinke private int m_randomizeWater = 200;
277 private int m_physicsiterations = 10;
278 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
279 private readonly PhysicsActor PANull = new NullPhysicsActor();
280 private float step_time = 0.0f;
281//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
282//Ckrinke private int ms = 0;
283 public IntPtr world;
284 //private bool returncollisions = false;
285 // private uint obj1LocalID = 0;
286 private uint obj2LocalID = 0;
287 //private int ctype = 0;
288 private OdeCharacter cc1;
289 private OdePrim cp1;
290 private OdeCharacter cc2;
291 private OdePrim cp2;
292 //private int cStartStop = 0;
293 //private string cDictKey = "";
294
295 public IntPtr space;
296
297 //private IntPtr tmpSpace;
298 // split static geometry collision handling into spaces of 30 meters
299 public IntPtr[,] staticPrimspace;
300
301 public Object OdeLock;
302
303 public IMesher mesher;
304
305 private IConfigSource m_config;
306
307 public bool physics_logging = false;
308 public int physics_logging_interval = 0;
309 public bool physics_logging_append_existing_logfile = false;
310
311 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
312 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
313
314 // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
315 // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
316 // TODO: unused: private uint heightmapWidthSamples;
317 // TODO: unused: private uint heightmapHeightSamples;
318
319 private volatile int m_global_contactcount = 0;
320
321 private Vector3 m_worldOffset = Vector3.Zero;
322 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
323 private PhysicsScene m_parentScene = null;
324
325 private ODERayCastRequestManager m_rayCastManager;
326
327 /// <summary>
328 /// Initiailizes the scene
329 /// Sets many properties that ODE requires to be stable
330 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
331 /// </summary>
332 public OdeScene(CollisionLocker dode, string sceneIdentifier)
333 {
334 m_log
335 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
336
337 OdeLock = new Object();
338 ode = dode;
339 nearCallback = near;
340 triCallback = TriCallback;
341 triArrayCallback = TriArrayCallback;
342 m_rayCastManager = new ODERayCastRequestManager(this);
343 lock (OdeLock)
344 {
345 // Create the world and the first space
346 world = d.WorldCreate();
347 space = d.HashSpaceCreate(IntPtr.Zero);
348
349
350 contactgroup = d.JointGroupCreate(0);
351 //contactgroup
352
353 d.WorldSetAutoDisableFlag(world, false);
354 #if USE_DRAWSTUFF
355
356 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
357 viewthread.Start();
358 #endif
359 }
360
361
362 _watermap = new float[258 * 258];
363
364 // Zero out the prim spaces array (we split our space into smaller spaces so
365 // we can hit test less.
366 }
367
368#if USE_DRAWSTUFF
369 public void startvisualization(object o)
370 {
371 ds.Functions fn;
372 fn.version = ds.VERSION;
373 fn.start = new ds.CallbackFunction(start);
374 fn.step = new ds.CallbackFunction(step);
375 fn.command = new ds.CallbackFunction(command);
376 fn.stop = null;
377 fn.path_to_textures = "./textures";
378 string[] args = new string[0];
379 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
380 }
381#endif
382
383 // Initialize the mesh plugin
384 public override void Initialise(IMesher meshmerizer, IConfigSource config)
385 {
386 mesher = meshmerizer;
387 m_config = config;
388 // Defaults
389
390 if (Environment.OSVersion.Platform == PlatformID.Unix)
391 {
392 avPIDD = 3200.0f;
393 avPIDP = 1400.0f;
394 avStandupTensor = 2000000f;
395 }
396 else
397 {
398 avPIDD = 2200.0f;
399 avPIDP = 900.0f;
400 avStandupTensor = 550000f;
401 }
402
403 int contactsPerCollision = 80;
404
405 if (m_config != null)
406 {
407 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
408 if (physicsconfig != null)
409 {
410 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
411 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
412 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
413
414 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
415 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
416
417 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
418 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
419 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
420
421 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
422
423 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
424 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
425 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
426
427 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
428 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
429 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
430
431 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
432 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
433
434 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
435 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
436
437 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
438 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
439
440 avDensity = physicsconfig.GetFloat("av_density", 80f);
441 avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
442 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
443 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
444 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
445 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
446
447 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
448
449 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
450 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
451 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
452 geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
453
454 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
455 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
456
457 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
458 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
459
460 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
461 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
462 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
463 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
464 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
465
466 if (Environment.OSVersion.Platform == PlatformID.Unix)
467 {
468 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
469 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
470 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
471 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
472 }
473 else
474 {
475 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
476 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
477 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
478 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
479 }
480
481 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
482 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
483 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
484
485 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
486 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
487 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
488 }
489 }
490
491 contacts = new d.ContactGeom[contactsPerCollision];
492
493 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
494
495 // Avatar static on a Prim parameters
496 AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
497 AvatarStaticprimContact.surface.mu = 255.0f;
498 AvatarStaticprimContact.surface.bounce = 0.0f;
499 AvatarStaticprimContact.surface.soft_cfm = 0.0f;
500 AvatarStaticprimContact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
501
502 // Avatar moving on a Prim parameters
503 AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
504 AvatarMovementprimContact.surface.mu = 255.0f;
505 AvatarMovementprimContact.surface.bounce = 0.0f;
506 AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
507 AvatarMovementprimContact.surface.soft_erp = 0.3f;
508
509 // Static Avatar on Terrain parameters
510 // Keeps Avatar in place better
511 TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
512 TerrainContact.surface.mu = 255.0f;
513 TerrainContact.surface.bounce = 0.0f;
514 TerrainContact.surface.soft_cfm = 0.0f;
515 TerrainContact.surface.soft_erp = 0.05f;
516
517 // Moving Avatar on Terrain parameters
518 AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
519 AvatarMovementTerrainContact.surface.mu = 75f;
520 AvatarMovementTerrainContact.surface.bounce = 0.0f;
521 AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
522 AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
523
524 // Avatar or prim the the water, this may not be used, possibly water is same as air?
525 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
526 WaterContact.surface.mu = 0.0f; // No friction
527 WaterContact.surface.bounce = 0.0f; // No bounce
528 WaterContact.surface.soft_cfm = 0.010f;
529 WaterContact.surface.soft_erp = 0.010f;
530
531
532 // Prim static or moving on a prim, depends on material type
533 m_materialContacts = new d.Contact[7,2];
534 // V 1 = Sliding; 0 = static or fell onto
535 m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
536 m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
537 m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f; // friction, 1 = slippery, 255 = no slip
538 m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;
539 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
540 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; // erp also changes friction, more erp=less friction
541
542 m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
543 m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
544 m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
545 m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
546 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
547 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
548
549 m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
550 m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
551 m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
552 m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
553 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
554 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
555
556 m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
557 m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
558 m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
559 m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
560 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
561 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
562
563 m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
564 m_materialContacts[(int)Material.Glass, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
565 m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
566 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
567 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
568 m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
569
570 m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
571 m_materialContacts[(int)Material.Glass, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
572 m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
573 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
574 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
575 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
576
577 m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
578 m_materialContacts[(int)Material.Wood, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
579 m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
580 m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
581 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
582 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
583
584 m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
585 m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
586 m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
587 m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
588 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
589 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
590
591 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
592 m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
593 m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
594 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
595 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
596 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
597
598 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
599 m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
600 m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
601 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
602 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
603 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
604
605 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
606 m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
607 m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
608 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
609 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
610 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
611
612 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
613 m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
614 m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
615 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
616 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
617 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
618
619 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
620 m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
621 m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
622 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
623 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
624 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
625
626 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
627 m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
628 m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
629 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
630 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
631 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
632
633 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
634
635 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
636
637 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
638 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
639
640
641 d.WorldSetLinearDampingThreshold(world, 256f);
642 d.WorldSetLinearDamping(world, 256f);
643// d.WorldSetLinearDampingThreshold(world, 0.01f);
644// d.WorldSetLinearDamping(world, 0.1f);
645 d.WorldSetAngularDampingThreshold(world, 256f);
646 d.WorldSetAngularDamping(world, 256f);
647 d.WorldSetMaxAngularSpeed(world, 256f);
648
649 // Set how many steps we go without running collision testing
650 // This is in addition to the step size.
651 // Essentially Steps * m_physicsiterations
652 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
653 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
654
655
656
657 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
658 {
659 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
660 {
661 staticPrimspace[i, j] = IntPtr.Zero;
662 }
663 }
664 }
665
666 internal void waitForSpaceUnlock(IntPtr space)
667 {
668 //if (space != IntPtr.Zero)
669 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
670 }
671
672 /// <summary>
673 /// Debug space message for printing the space that a prim/avatar is in.
674 /// </summary>
675 /// <param name="pos"></param>
676 /// <returns>Returns which split up space the given position is in.</returns>
677 public string whichspaceamIin(Vector3 pos)
678 {
679 return calculateSpaceForGeom(pos).ToString();
680 }
681
682 #region Collision Detection
683
684 /// <summary>
685 /// This is our near callback. A geometry is near a body
686 /// </summary>
687 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
688 /// <param name="g1">a geometry or space</param>
689 /// <param name="g2">another geometry or space</param>
690 private void near(IntPtr space, IntPtr g1, IntPtr g2)
691 {
692 // no lock here! It's invoked from within Simulate(), which is thread-locked
693
694 // Test if we're colliding a geom with a space.
695 // If so we have to drill down into the space recursively
696//Console.WriteLine("near -----------"); //##
697 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
698 {
699 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
700 return;
701
702 // Separating static prim geometry spaces.
703 // We'll be calling near recursivly if one
704 // of them is a space to find all of the
705 // contact points in the space
706 try
707 {
708 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
709 }
710 catch (AccessViolationException)
711 {
712 m_log.Warn("[PHYSICS]: Unable to collide test a space");
713 return;
714 }
715 //Colliding a space or a geom with a space or a geom. so drill down
716
717 //Collide all geoms in each space..
718 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
719 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
720 return;
721 }
722
723 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
724 return;
725
726 IntPtr b1 = d.GeomGetBody(g1);
727 IntPtr b2 = d.GeomGetBody(g2);
728
729 // d.GeomClassID id = d.GeomGetClass(g1);
730
731 String name1 = null;
732 String name2 = null;
733
734 if (!geom_name_map.TryGetValue(g1, out name1))
735 {
736 name1 = "null";
737 }
738 if (!geom_name_map.TryGetValue(g2, out name2))
739 {
740 name2 = "null";
741 }
742
743 //if (id == d.GeomClassId.TriMeshClass)
744 //{
745 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
746 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
747 //}
748
749 // Figure out how many contact points we have
750 int count = 0;
751 try
752 {
753 // Colliding Geom To Geom
754 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
755
756 if (g1 == g2)
757 return; // Can't collide with yourself
758
759 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
760 return;
761
762 lock (contacts)
763 {
764 count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
765 if (count > contacts.Length)
766 m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
767 }
768 }
769 catch (SEHException)
770 {
771 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
772 ode.drelease(world);
773 base.TriggerPhysicsBasedRestart();
774 }
775 catch (Exception e)
776 {
777 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
778 return;
779 }
780
781 PhysicsActor p1;
782 PhysicsActor p2;
783
784 if (!actor_name_map.TryGetValue(g1, out p1))
785 {
786 p1 = PANull;
787 }
788
789 if (!actor_name_map.TryGetValue(g2, out p2))
790 {
791 p2 = PANull;
792 }
793
794 ContactPoint maxDepthContact = new ContactPoint();
795 if (p1.CollisionScore + count >= float.MaxValue)
796 p1.CollisionScore = 0;
797 p1.CollisionScore += count;
798
799 if (p2.CollisionScore + count >= float.MaxValue)
800 p2.CollisionScore = 0;
801 p2.CollisionScore += count;
802 for (int i = 0; i < count; i++)
803 {
804 d.ContactGeom curContact = contacts[i];
805
806 if (curContact.depth > maxDepthContact.PenetrationDepth)
807 {
808 maxDepthContact = new ContactPoint(
809 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
810 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
811 curContact.depth
812 );
813 }
814
815 //m_log.Warn("[CCOUNT]: " + count);
816 IntPtr joint;
817 // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
818 // allows us to have different settings
819
820 // We only need to test p2 for 'jump crouch purposes'
821 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
822 {
823 // Testing if the collision is at the feet of the avatar
824
825 //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
826//#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
827//#@ p2.IsColliding = true;
828 if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //##
829 p2.IsColliding = true; //##
830 }else{
831
832 } //##
833 }
834 else
835 {
836 p2.IsColliding = true;
837 }
838
839 //if ((framecount % m_returncollisions) == 0)
840
841 switch (p1.PhysicsActorType)
842 {
843 case (int)ActorTypes.Agent:
844 p2.CollidingObj = true;
845 break;
846 case (int)ActorTypes.Prim:
847 if (p2.Velocity.LengthSquared() > 0.0f)
848 p2.CollidingObj = true;
849 break;
850 case (int)ActorTypes.Unknown:
851 p2.CollidingGround = true;
852 break;
853 default:
854 p2.CollidingGround = true;
855 break;
856 }
857
858 // we don't want prim or avatar to explode
859
860 #region InterPenetration Handling - Unintended physics explosions
861# region disabled code1
862
863 if (curContact.depth >= 0.08f)
864 {
865 //This is disabled at the moment only because it needs more tweaking
866 //It will eventually be uncommented
867 /*
868 if (AvatarStaticprimContact.depth >= 1.00f)
869 {
870 //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
871 }
872
873 //If you interpenetrate a prim with an agent
874 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
875 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
876 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
877 p2.PhysicsActorType == (int) ActorTypes.Prim))
878 {
879
880 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
881 /*
882 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
883 {
884 p2.CollidingObj = true;
885 AvatarStaticprimContact.depth = 0.003f;
886 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
887 OdeCharacter character = (OdeCharacter) p2;
888 character.SetPidStatus(true);
889 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
890
891 }
892 else
893 {
894
895 //AvatarStaticprimContact.depth = 0.0000000f;
896 }
897 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
898 {
899
900 p1.CollidingObj = true;
901 AvatarStaticprimContact.depth = 0.003f;
902 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
903 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
904 OdeCharacter character = (OdeCharacter)p1;
905 character.SetPidStatus(true);
906 }
907 else
908 {
909
910 //AvatarStaticprimContact.depth = 0.0000000f;
911 }
912
913
914
915 }
916*/
917 // If you interpenetrate a prim with another prim
918 /*
919 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
920 {
921 #region disabledcode2
922 //OdePrim op1 = (OdePrim)p1;
923 //OdePrim op2 = (OdePrim)p2;
924 //op1.m_collisionscore++;
925 //op2.m_collisionscore++;
926
927 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
928 //{
929 //op1.m_taintdisable = true;
930 //AddPhysicsActorTaint(p1);
931 //op2.m_taintdisable = true;
932 //AddPhysicsActorTaint(p2);
933 //}
934
935 //if (AvatarStaticprimContact.depth >= 0.25f)
936 //{
937 // Don't collide, one or both prim will expld.
938
939 //op1.m_interpenetrationcount++;
940 //op2.m_interpenetrationcount++;
941 //interpenetrations_before_disable = 200;
942 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
943 //{
944 //op1.m_taintdisable = true;
945 //AddPhysicsActorTaint(p1);
946 //}
947 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
948 //{
949 // op2.m_taintdisable = true;
950 //AddPhysicsActorTaint(p2);
951 //}
952
953 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
954 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
955 //}
956 //if (op1.m_disabled || op2.m_disabled)
957 //{
958 //Manually disabled objects stay disabled
959 //AvatarStaticprimContact.depth = 0f;
960 //}
961 #endregion
962 }
963 */
964#endregion
965 if (curContact.depth >= 1.00f)
966 {
967 //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
968 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
969 p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
970 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
971 p2.PhysicsActorType == (int) ActorTypes.Unknown))
972 {
973 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
974 {
975 if (p2 is OdeCharacter)
976 {
977 OdeCharacter character = (OdeCharacter) p2;
978
979 //p2.CollidingObj = true;
980 curContact.depth = 0.00000003f;
981 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
982 curContact.pos =
983 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
984 curContact.pos.Y + (p1.Size.Y/2),
985 curContact.pos.Z + (p1.Size.Z/2));
986 character.SetPidStatus(true);
987 }
988 }
989
990
991 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
992 {
993 if (p1 is OdeCharacter)
994 {
995 OdeCharacter character = (OdeCharacter) p1;
996
997 //p2.CollidingObj = true;
998 curContact.depth = 0.00000003f;
999 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1000 curContact.pos =
1001 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1002 curContact.pos.Y + (p1.Size.Y/2),
1003 curContact.pos.Z + (p1.Size.Z/2));
1004 character.SetPidStatus(true);
1005 }
1006 }
1007 }
1008 }
1009 }
1010
1011 #endregion
1012
1013 // Logic for collision handling
1014 // Note, that if *all* contacts are skipped (VolumeDetect)
1015 // The prim still detects (and forwards) collision events but
1016 // appears to be phantom for the world
1017 Boolean skipThisContact = false;
1018
1019 if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
1020 skipThisContact = true; // No collision on volume detect prims
1021
1022 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
1023 skipThisContact = true; // No collision on volume detect prims
1024
1025 if (!skipThisContact && curContact.depth < 0f)
1026 skipThisContact = true;
1027
1028 if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
1029 skipThisContact = true;
1030
1031 const int maxContactsbeforedeath = 4000;
1032 joint = IntPtr.Zero;
1033
1034 if (!skipThisContact)
1035 {
1036 // Add contact joints with materials params----------------------------------
1037 // p1 is what is being hit, p2 is the physical object doing the hitting
1038 int material = (int) Material.Wood;
1039 int movintYN = 0; // 1 = Sliding; 0 = static or fell onto
1040 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
1041
1042 // If we're colliding against terrain
1043 if (name1 == "Terrain" || name2 == "Terrain")
1044 {
1045 // If we're moving
1046 if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
1047 {
1048 //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
1049 AvatarMovementTerrainContact.geom = curContact;
1050 _perloopContact.Add(curContact);
1051 if (m_global_contactcount < maxContactsbeforedeath)
1052 {
1053 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1054 m_global_contactcount++;
1055 }
1056 }
1057 else
1058 {
1059 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
1060 {
1061 //$ Av standing on terrain, Use the non moving Avata terrain contact
1062 TerrainContact.geom = curContact;
1063 _perloopContact.Add(curContact);
1064 if (m_global_contactcount < maxContactsbeforedeath)
1065 {
1066 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
1067 m_global_contactcount++;
1068 }
1069 }
1070 else
1071 {
1072 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
1073 {
1074 //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
1075 // int pj294950 = 0;
1076 // prim terrain contact
1077
1078 if (p2 is OdePrim)
1079 material = ((OdePrim)p2).m_material;
1080 //m_log.DebugFormat("Material: {0}", material);
1081 m_materialContacts[material, movintYN].geom = curContact;
1082 _perloopContact.Add(curContact);
1083
1084 if (m_global_contactcount < maxContactsbeforedeath)
1085 {
1086 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1087 m_global_contactcount++;
1088
1089 }
1090
1091 }
1092 else
1093 {
1094 //$ prim on terrain contact
1095 if (p2 is OdePrim)
1096 material = ((OdePrim)p2).m_material;
1097 //m_log.DebugFormat("Material: {0}", material);
1098 m_materialContacts[material, movintYN].geom = curContact;
1099 _perloopContact.Add(curContact);
1100
1101 ContactCopy = m_materialContacts[material, movintYN];
1102 if(movintYN == 1)
1103 {
1104 // prevent excessive slide on terrain
1105 ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
1106 }
1107
1108 if (m_global_contactcount < maxContactsbeforedeath)
1109 {
1110 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1111 m_global_contactcount++;
1112 }
1113 }
1114 }
1115 }
1116 }
1117 else if (name1 == "Water" || name2 == "Water")
1118 {
1119 //$ This never happens! Perhaps water is treated like air?
1120 /*
1121 if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
1122 {
1123 }
1124 else
1125 {
1126 }
1127 */
1128 //WaterContact.surface.soft_cfm = 0.0000f;
1129 //WaterContact.surface.soft_erp = 0.00000f;
1130 if (curContact.depth > 0.1f)
1131 {
1132 curContact.depth *= 52;
1133 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
1134 //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
1135 }
1136 WaterContact.geom = curContact;
1137 _perloopContact.Add(curContact);
1138 if (m_global_contactcount < maxContactsbeforedeath)
1139 {
1140 joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
1141 m_global_contactcount++;
1142 }
1143 //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
1144 }
1145 else
1146 {
1147
1148 // no terrain and no water, we're colliding with prim or avatar
1149 // check if we're moving
1150 if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
1151 {
1152 //$ Avatar on Prim or other Avatar
1153 if (movintYN == 1)
1154 {
1155 // Use the AV Movement / prim contact
1156 AvatarMovementprimContact.geom = curContact;
1157 _perloopContact.Add(curContact);
1158 if (m_global_contactcount < maxContactsbeforedeath)
1159 {
1160 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1161 m_global_contactcount++;
1162 }
1163 }
1164 else
1165 {
1166 // Use the Av non movement / prim contact
1167 AvatarStaticprimContact.geom = curContact;
1168 _perloopContact.Add(curContact);
1169 ContactCopy = AvatarStaticprimContact; // local copy so we can change locally
1170
1171 if (m_global_contactcount < maxContactsbeforedeath)
1172 {
1173 if (curContact.depth > 0.2)
1174 { // embedded, eject slowly
1175 ContactCopy.surface.soft_erp = 0.1f;
1176 ContactCopy.surface.soft_cfm = 0.1f;
1177 }
1178 else
1179 { // keep on the surface
1180 ContactCopy.surface.soft_erp = 0.3f;
1181 ContactCopy.surface.soft_cfm = 0.0f;
1182 }
1183 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1184 m_global_contactcount++;
1185 }
1186 }
1187 }
1188 else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1189 {
1190 //$ Prim on Prim
1191 //p1.PhysicsActorType
1192
1193 if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
1194 //m_log.DebugFormat("Material: {0}", material);
1195
1196 m_materialContacts[material, movintYN].geom = curContact;
1197 _perloopContact.Add(curContact);
1198
1199 if (m_global_contactcount < maxContactsbeforedeath)
1200 {
1201 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1202 m_global_contactcount++;
1203 }
1204 }
1205 }
1206
1207 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1208 {
1209 d.JointAttach(joint, b1, b2);
1210 m_global_contactcount++;
1211 }
1212
1213 }
1214 collision_accounting_events(p1, p2, maxDepthContact);
1215 if (count > geomContactPointsStartthrottle)
1216 {
1217 // If there are more then 3 contact points, it's likely
1218 // that we've got a pile of objects, so ...
1219 // We don't want to send out hundreds of terse updates over and over again
1220 // so lets throttle them and send them again after it's somewhat sorted out.
1221 p2.ThrottleUpdates = true;
1222 }
1223 //m_log.Debug(count.ToString());
1224 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1225 } // end for i.. loop
1226 } // end near
1227
1228 private bool checkDupe(d.ContactGeom contactGeom, int atype)
1229 {
1230 bool result = false;
1231 //return result;
1232 if (!m_filterCollisions)
1233 return false;
1234
1235 ActorTypes at = (ActorTypes)atype;
1236 lock (_perloopContact)
1237 {
1238 foreach (d.ContactGeom contact in _perloopContact)
1239 {
1240 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1241 //{
1242 // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
1243 if (at == ActorTypes.Agent)
1244 {
1245 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1246 {
1247
1248 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1249 {
1250 //contactGeom.depth *= .00005f;
1251 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1252 // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1253 result = true;
1254 break;
1255 }
1256 else
1257 {
1258 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1259 }
1260 }
1261 else
1262 {
1263 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1264 //int i = 0;
1265 }
1266 }
1267 else if (at == ActorTypes.Prim)
1268 {
1269 //d.AABB aabb1 = new d.AABB();
1270 //d.AABB aabb2 = new d.AABB();
1271
1272 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1273 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1274 //aabb1.
1275 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1276 {
1277 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
1278 {
1279 if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
1280 {
1281 result = true;
1282 break;
1283 }
1284 }
1285 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1286 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1287 }
1288
1289 }
1290
1291 //}
1292
1293 }
1294 }
1295 return result;
1296 }
1297
1298 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1299 {
1300 // obj1LocalID = 0;
1301 //returncollisions = false;
1302 obj2LocalID = 0;
1303 //ctype = 0;
1304 //cStartStop = 0;
1305 if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1306 return;
1307
1308 switch ((ActorTypes)p2.PhysicsActorType)
1309 {
1310 case ActorTypes.Agent:
1311 cc2 = (OdeCharacter)p2;
1312
1313 // obj1LocalID = cc2.m_localID;
1314 switch ((ActorTypes)p1.PhysicsActorType)
1315 {
1316 case ActorTypes.Agent:
1317 cc1 = (OdeCharacter)p1;
1318 obj2LocalID = cc1.m_localID;
1319 cc1.AddCollisionEvent(cc2.m_localID, contact);
1320 //ctype = (int)CollisionCategories.Character;
1321
1322 //if (cc1.CollidingObj)
1323 //cStartStop = (int)StatusIndicators.Generic;
1324 //else
1325 //cStartStop = (int)StatusIndicators.Start;
1326
1327 //returncollisions = true;
1328 break;
1329 case ActorTypes.Prim:
1330 if (p1 is OdePrim)
1331 {
1332 cp1 = (OdePrim) p1;
1333 obj2LocalID = cp1.m_localID;
1334 cp1.AddCollisionEvent(cc2.m_localID, contact);
1335 }
1336 //ctype = (int)CollisionCategories.Geom;
1337
1338 //if (cp1.CollidingObj)
1339 //cStartStop = (int)StatusIndicators.Generic;
1340 //else
1341 //cStartStop = (int)StatusIndicators.Start;
1342
1343 //returncollisions = true;
1344 break;
1345
1346 case ActorTypes.Ground:
1347 case ActorTypes.Unknown:
1348 obj2LocalID = 0;
1349 //ctype = (int)CollisionCategories.Land;
1350 //returncollisions = true;
1351 break;
1352 }
1353
1354 cc2.AddCollisionEvent(obj2LocalID, contact);
1355 break;
1356 case ActorTypes.Prim:
1357
1358 if (p2 is OdePrim)
1359 {
1360 cp2 = (OdePrim) p2;
1361
1362 // obj1LocalID = cp2.m_localID;
1363 switch ((ActorTypes) p1.PhysicsActorType)
1364 {
1365 case ActorTypes.Agent:
1366 if (p1 is OdeCharacter)
1367 {
1368 cc1 = (OdeCharacter) p1;
1369 obj2LocalID = cc1.m_localID;
1370 cc1.AddCollisionEvent(cp2.m_localID, contact);
1371 //ctype = (int)CollisionCategories.Character;
1372
1373 //if (cc1.CollidingObj)
1374 //cStartStop = (int)StatusIndicators.Generic;
1375 //else
1376 //cStartStop = (int)StatusIndicators.Start;
1377 //returncollisions = true;
1378 }
1379 break;
1380 case ActorTypes.Prim:
1381
1382 if (p1 is OdePrim)
1383 {
1384 cp1 = (OdePrim) p1;
1385 obj2LocalID = cp1.m_localID;
1386 cp1.AddCollisionEvent(cp2.m_localID, contact);
1387 //ctype = (int)CollisionCategories.Geom;
1388
1389 //if (cp1.CollidingObj)
1390 //cStartStop = (int)StatusIndicators.Generic;
1391 //else
1392 //cStartStop = (int)StatusIndicators.Start;
1393
1394 //returncollisions = true;
1395 }
1396 break;
1397
1398 case ActorTypes.Ground:
1399 case ActorTypes.Unknown:
1400 obj2LocalID = 0;
1401 //ctype = (int)CollisionCategories.Land;
1402
1403 //returncollisions = true;
1404 break;
1405 }
1406
1407 cp2.AddCollisionEvent(obj2LocalID, contact);
1408 }
1409 break;
1410 }
1411 //if (returncollisions)
1412 //{
1413
1414 //lock (m_storedCollisions)
1415 //{
1416 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1417 //if (m_storedCollisions.ContainsKey(cDictKey))
1418 //{
1419 //sCollisionData objd = m_storedCollisions[cDictKey];
1420 //objd.NumberOfCollisions += 1;
1421 //objd.lastframe = framecount;
1422 //m_storedCollisions[cDictKey] = objd;
1423 //}
1424 //else
1425 //{
1426 //sCollisionData objd = new sCollisionData();
1427 //objd.ColliderLocalId = obj1LocalID;
1428 //objd.CollidedWithLocalId = obj2LocalID;
1429 //objd.CollisionType = ctype;
1430 //objd.NumberOfCollisions = 1;
1431 //objd.lastframe = framecount;
1432 //objd.StatusIndicator = cStartStop;
1433 //m_storedCollisions.Add(cDictKey, objd);
1434 //}
1435 //}
1436 // }
1437 }
1438
1439 public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1440 {
1441 /* String name1 = null;
1442 String name2 = null;
1443
1444 if (!geom_name_map.TryGetValue(trimesh, out name1))
1445 {
1446 name1 = "null";
1447 }
1448 if (!geom_name_map.TryGetValue(refObject, out name2))
1449 {
1450 name2 = "null";
1451 }
1452
1453 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1454 */
1455 return 1;
1456 }
1457
1458 public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1459 {
1460 String name1 = null;
1461 String name2 = null;
1462
1463 if (!geom_name_map.TryGetValue(trimesh, out name1))
1464 {
1465 name1 = "null";
1466 }
1467
1468 if (!geom_name_map.TryGetValue(refObject, out name2))
1469 {
1470 name2 = "null";
1471 }
1472
1473 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1474
1475 d.Vector3 v0 = new d.Vector3();
1476 d.Vector3 v1 = new d.Vector3();
1477 d.Vector3 v2 = new d.Vector3();
1478
1479 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1480 // m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
1481
1482 return 1;
1483 }
1484
1485 /// <summary>
1486 /// This is our collision testing routine in ODE
1487 /// </summary>
1488 /// <param name="timeStep"></param>
1489 private void collision_optimized(float timeStep)
1490 {
1491 _perloopContact.Clear();
1492
1493 lock (_characters)
1494 {
1495 foreach (OdeCharacter chr in _characters)
1496 {
1497 // Reset the collision values to false
1498 // since we don't know if we're colliding yet
1499
1500 // For some reason this can happen. Don't ask...
1501 //
1502 if (chr == null)
1503 continue;
1504
1505 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1506 continue;
1507
1508 chr.IsColliding = false;
1509 chr.CollidingGround = false;
1510 chr.CollidingObj = false;
1511
1512 // test the avatar's geometry for collision with the space
1513 // This will return near and the space that they are the closest to
1514 // And we'll run this again against the avatar and the space segment
1515 // This will return with a bunch of possible objects in the space segment
1516 // and we'll run it again on all of them.
1517 try
1518 {
1519 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
1520 }
1521 catch (AccessViolationException)
1522 {
1523 m_log.Warn("[PHYSICS]: Unable to space collide");
1524 }
1525 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1526 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1527 //{
1528 //chr.Position.Z = terrainheight + 10.0f;
1529 //forcedZ = true;
1530 //}
1531 }
1532 }
1533
1534 lock (_activeprims)
1535 {
1536 List<OdePrim> removeprims = null;
1537 foreach (OdePrim chr in _activeprims)
1538 {
1539 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled) && !chr.m_outofBounds)
1540 {
1541 try
1542 {
1543 lock (chr)
1544 {
1545 if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
1546 {
1547 d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
1548 }
1549 else
1550 {
1551 if (removeprims == null)
1552 {
1553 removeprims = new List<OdePrim>();
1554 }
1555 removeprims.Add(chr);
1556 /// Commented this because it triggers on every bullet
1557 //m_log.Debug("[PHYSICS]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!");
1558 }
1559 }
1560 }
1561 catch (AccessViolationException)
1562 {
1563 m_log.Warn("[PHYSICS]: Unable to space collide");
1564 }
1565 }
1566 }
1567 if (removeprims != null)
1568 {
1569 foreach (OdePrim chr in removeprims)
1570 {
1571 _activeprims.Remove(chr);
1572 }
1573 }
1574 }
1575
1576 _perloopContact.Clear();
1577 }
1578
1579 #endregion
1580
1581 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
1582 {
1583 m_worldOffset = offset;
1584 WorldExtents = new Vector2(extents.X, extents.Y);
1585 m_parentScene = pScene;
1586
1587 }
1588
1589 // Recovered for use by fly height. Kitto Flora
1590 public float GetTerrainHeightAtXY(float x, float y)
1591 {
1592
1593 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1594 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1595
1596 IntPtr heightFieldGeom = IntPtr.Zero;
1597
1598 if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
1599 {
1600 if (heightFieldGeom != IntPtr.Zero)
1601 {
1602 if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1603 {
1604
1605 int index;
1606
1607
1608 if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
1609 (int)x < 0.001f || (int)y < 0.001f)
1610 return 0;
1611
1612 x = x - offsetX;
1613 y = y - offsetY;
1614
1615 index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
1616
1617 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
1618 {
1619 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1620 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1621 }
1622
1623 else
1624 return 0f;
1625 }
1626 else
1627 {
1628 return 0f;
1629 }
1630
1631 }
1632 else
1633 {
1634 return 0f;
1635 }
1636
1637 }
1638 else
1639 {
1640 return 0f;
1641 }
1642
1643
1644 }
1645// End recovered. Kitto Flora
1646
1647 public void addCollisionEventReporting(PhysicsActor obj)
1648 {
1649 lock (_collisionEventPrim)
1650 {
1651 if (!_collisionEventPrim.Contains(obj))
1652 _collisionEventPrim.Add(obj);
1653 }
1654 }
1655
1656 public void remCollisionEventReporting(PhysicsActor obj)
1657 {
1658 lock (_collisionEventPrim)
1659 {
1660 if (!_collisionEventPrim.Contains(obj))
1661 _collisionEventPrim.Remove(obj);
1662 }
1663 }
1664
1665 #region Add/Remove Entities
1666
1667 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1668 {
1669 Vector3 pos;
1670 pos.X = position.X;
1671 pos.Y = position.Y;
1672 pos.Z = position.Z;
1673 OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
1674 newAv.Flying = isFlying;
1675 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1676
1677 return newAv;
1678 }
1679
1680 public void AddCharacter(OdeCharacter chr)
1681 {
1682 lock (_characters)
1683 {
1684 if (!_characters.Contains(chr))
1685 {
1686 _characters.Add(chr);
1687 if (chr.bad)
1688 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1689 }
1690 }
1691 }
1692
1693 public void RemoveCharacter(OdeCharacter chr)
1694 {
1695 lock (_characters)
1696 {
1697 if (_characters.Contains(chr))
1698 {
1699 _characters.Remove(chr);
1700 }
1701 }
1702 }
1703 public void BadCharacter(OdeCharacter chr)
1704 {
1705 lock (_badCharacter)
1706 {
1707 if (!_badCharacter.Contains(chr))
1708 _badCharacter.Add(chr);
1709 }
1710 }
1711
1712 public override void RemoveAvatar(PhysicsActor actor)
1713 {
1714 //m_log.Debug("[PHYSICS]:ODELOCK");
1715 ((OdeCharacter) actor).Destroy();
1716
1717 }
1718
1719 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1720 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, uint localid)
1721 {
1722
1723 Vector3 pos = position;
1724 Vector3 siz = size;
1725 Quaternion rot = rotation;
1726
1727 OdePrim newPrim;
1728 lock (OdeLock)
1729 {
1730 newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode, localid);
1731
1732 lock (_prims)
1733 _prims.Add(newPrim);
1734 }
1735
1736 return newPrim;
1737 }
1738
1739 private PhysicsActor AddPrim(String name, Vector3 position, PhysicsActor parent,
1740 PrimitiveBaseShape pbs, uint localid, byte[] sdata)
1741 {
1742 Vector3 pos = position;
1743
1744 OdePrim newPrim;
1745 lock (OdeLock)
1746 {
1747 newPrim = new OdePrim(name, this, pos, parent, pbs, ode, localid, sdata);
1748 lock (_prims)
1749 _prims.Add(newPrim);
1750 }
1751
1752 return newPrim;
1753 }
1754
1755
1756 public void addActivePrim(OdePrim activatePrim)
1757 {
1758 // adds active prim.. (ones that should be iterated over in collisions_optimized
1759 lock (_activeprims)
1760 {
1761 if (!_activeprims.Contains(activatePrim))
1762 _activeprims.Add(activatePrim);
1763 //else
1764 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
1765 }
1766 }
1767
1768 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1769 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1770 {
1771 PhysicsActor result;
1772 IMesh mesh = null;
1773
1774 if (needsMeshing(pbs))
1775 mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
1776
1777 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, localid);
1778
1779 return result;
1780 }
1781
1782 public override PhysicsActor AddPrimShape(string primName, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position,
1783 uint localid, byte[] sdata)
1784 {
1785 PhysicsActor result;
1786
1787 result = AddPrim(primName, position, parent,
1788 pbs, localid, sdata);
1789
1790 return result;
1791 }
1792
1793 public override float TimeDilation
1794 {
1795 get { return m_timeDilation; }
1796 }
1797
1798 public override bool SupportsNINJAJoints
1799 {
1800 get { return m_NINJA_physics_joints_enabled; }
1801 }
1802
1803 // internal utility function: must be called within a lock (OdeLock)
1804 private void InternalAddActiveJoint(PhysicsJoint joint)
1805 {
1806 activeJoints.Add(joint);
1807 SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
1808 }
1809
1810 // internal utility function: must be called within a lock (OdeLock)
1811 private void InternalAddPendingJoint(OdePhysicsJoint joint)
1812 {
1813 pendingJoints.Add(joint);
1814 SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
1815 }
1816
1817 // internal utility function: must be called within a lock (OdeLock)
1818 private void InternalRemovePendingJoint(PhysicsJoint joint)
1819 {
1820 pendingJoints.Remove(joint);
1821 SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
1822 }
1823
1824 // internal utility function: must be called within a lock (OdeLock)
1825 private void InternalRemoveActiveJoint(PhysicsJoint joint)
1826 {
1827 activeJoints.Remove(joint);
1828 SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
1829 }
1830
1831 public override void DumpJointInfo()
1832 {
1833 string hdr = "[NINJA] JOINTINFO: ";
1834 foreach (PhysicsJoint j in pendingJoints)
1835 {
1836 m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1837 }
1838 m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
1839 foreach (string jointName in SOPName_to_pendingJoint.Keys)
1840 {
1841 m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
1842 }
1843 m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
1844 foreach (PhysicsJoint j in activeJoints)
1845 {
1846 m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1847 }
1848 m_log.Debug(hdr + activeJoints.Count + " total active joints");
1849 foreach (string jointName in SOPName_to_activeJoint.Keys)
1850 {
1851 m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
1852 }
1853 m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
1854
1855 m_log.Debug(hdr + " Per-body joint connectivity information follows.");
1856 m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
1857 foreach (string actorName in joints_connecting_actor.Keys)
1858 {
1859 m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
1860 foreach (PhysicsJoint j in joints_connecting_actor[actorName])
1861 {
1862 m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1863 }
1864 m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
1865 }
1866 }
1867
1868 public override void RequestJointDeletion(string ObjectNameInScene)
1869 {
1870 lock (externalJointRequestsLock)
1871 {
1872 if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
1873 {
1874 requestedJointsToBeDeleted.Add(ObjectNameInScene);
1875 }
1876 }
1877 }
1878
1879 private void DeleteRequestedJoints()
1880 {
1881 List<string> myRequestedJointsToBeDeleted;
1882 lock (externalJointRequestsLock)
1883 {
1884 // make a local copy of the shared list for processing (threading issues)
1885 myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
1886 }
1887
1888 foreach (string jointName in myRequestedJointsToBeDeleted)
1889 {
1890 lock (OdeLock)
1891 {
1892 //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
1893 if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
1894 {
1895 OdePhysicsJoint joint = null;
1896 if (SOPName_to_activeJoint.ContainsKey(jointName))
1897 {
1898 joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
1899 InternalRemoveActiveJoint(joint);
1900 }
1901 else if (SOPName_to_pendingJoint.ContainsKey(jointName))
1902 {
1903 joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
1904 InternalRemovePendingJoint(joint);
1905 }
1906
1907 if (joint != null)
1908 {
1909 //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
1910 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1911 {
1912 string bodyName = joint.BodyNames[iBodyName];
1913 if (bodyName != "NULL")
1914 {
1915 joints_connecting_actor[bodyName].Remove(joint);
1916 if (joints_connecting_actor[bodyName].Count == 0)
1917 {
1918 joints_connecting_actor.Remove(bodyName);
1919 }
1920 }
1921 }
1922
1923 DoJointDeactivated(joint);
1924 if (joint.jointID != IntPtr.Zero)
1925 {
1926 d.JointDestroy(joint.jointID);
1927 joint.jointID = IntPtr.Zero;
1928 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1929 }
1930 else
1931 {
1932 //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
1933 }
1934 }
1935 else
1936 {
1937 // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
1938 }
1939 }
1940 else
1941 {
1942 // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
1943 }
1944 }
1945 }
1946
1947 // remove processed joints from the shared list
1948 lock (externalJointRequestsLock)
1949 {
1950 foreach (string jointName in myRequestedJointsToBeDeleted)
1951 {
1952 requestedJointsToBeDeleted.Remove(jointName);
1953 }
1954 }
1955 }
1956
1957 // for pending joints we don't know if their associated bodies exist yet or not.
1958 // the joint is actually created during processing of the taints
1959 private void CreateRequestedJoints()
1960 {
1961 List<PhysicsJoint> myRequestedJointsToBeCreated;
1962 lock (externalJointRequestsLock)
1963 {
1964 // make a local copy of the shared list for processing (threading issues)
1965 myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
1966 }
1967
1968 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1969 {
1970 lock (OdeLock)
1971 {
1972 if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
1973 {
1974 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1975 continue;
1976 }
1977 if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
1978 {
1979 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1980 continue;
1981 }
1982
1983 InternalAddPendingJoint(joint as OdePhysicsJoint);
1984
1985 if (joint.BodyNames.Count >= 2)
1986 {
1987 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1988 {
1989 string bodyName = joint.BodyNames[iBodyName];
1990 if (bodyName != "NULL")
1991 {
1992 if (!joints_connecting_actor.ContainsKey(bodyName))
1993 {
1994 joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
1995 }
1996 joints_connecting_actor[bodyName].Add(joint);
1997 }
1998 }
1999 }
2000 }
2001 }
2002
2003 // remove processed joints from shared list
2004 lock (externalJointRequestsLock)
2005 {
2006 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
2007 {
2008 requestedJointsToBeCreated.Remove(joint);
2009 }
2010 }
2011
2012 }
2013
2014 // public function to add an request for joint creation
2015 // this joint will just be added to a waiting list that is NOT processed during the main
2016 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
2017
2018 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
2019 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
2020
2021 {
2022
2023 OdePhysicsJoint joint = new OdePhysicsJoint();
2024 joint.ObjectNameInScene = objectNameInScene;
2025 joint.Type = jointType;
2026 joint.Position = position;
2027 joint.Rotation = rotation;
2028 joint.RawParams = parms;
2029 joint.BodyNames = new List<string>(bodyNames);
2030 joint.TrackedBodyName = trackedBodyName;
2031 joint.LocalRotation = localRotation;
2032 joint.jointID = IntPtr.Zero;
2033 joint.ErrorMessageCount = 0;
2034
2035 lock (externalJointRequestsLock)
2036 {
2037 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2038 {
2039 requestedJointsToBeCreated.Add(joint);
2040 }
2041 }
2042 return joint;
2043 }
2044
2045 private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
2046 {
2047 //m_log.Debug("RemoveAllJointsConnectedToActor: start");
2048 if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
2049 {
2050
2051 List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
2052 //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
2053 foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
2054 {
2055 jointsToRemove.Add(j);
2056 }
2057 foreach (PhysicsJoint j in jointsToRemove)
2058 {
2059 //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
2060 RequestJointDeletion(j.ObjectNameInScene);
2061 //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
2062 j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
2063 }
2064 }
2065 }
2066
2067 public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
2068 {
2069 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
2070 lock (OdeLock)
2071 {
2072 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
2073 RemoveAllJointsConnectedToActor(actor);
2074 }
2075 }
2076
2077 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2078 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2079 {
2080 Debug.Assert(joint.IsInPhysicsEngine);
2081 d.Vector3 pos = new d.Vector3();
2082
2083 if (!(joint is OdePhysicsJoint))
2084 {
2085 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2086 }
2087 else
2088 {
2089 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2090 switch (odeJoint.Type)
2091 {
2092 case PhysicsJointType.Ball:
2093 d.JointGetBallAnchor(odeJoint.jointID, out pos);
2094 break;
2095 case PhysicsJointType.Hinge:
2096 d.JointGetHingeAnchor(odeJoint.jointID, out pos);
2097 break;
2098 }
2099 }
2100 return new Vector3(pos.X, pos.Y, pos.Z);
2101 }
2102
2103 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2104 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2105 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2106 // keeping track of the joint's original orientation relative to one of the involved bodies.
2107 public override Vector3 GetJointAxis(PhysicsJoint joint)
2108 {
2109 Debug.Assert(joint.IsInPhysicsEngine);
2110 d.Vector3 axis = new d.Vector3();
2111
2112 if (!(joint is OdePhysicsJoint))
2113 {
2114 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2115 }
2116 else
2117 {
2118 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2119 switch (odeJoint.Type)
2120 {
2121 case PhysicsJointType.Ball:
2122 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2123 break;
2124 case PhysicsJointType.Hinge:
2125 d.JointGetHingeAxis(odeJoint.jointID, out axis);
2126 break;
2127 }
2128 }
2129 return new Vector3(axis.X, axis.Y, axis.Z);
2130 }
2131
2132
2133 public void remActivePrim(OdePrim deactivatePrim)
2134 {
2135 lock (_activeprims)
2136 {
2137 _activeprims.Remove(deactivatePrim);
2138 }
2139 }
2140
2141 public override void RemovePrim(PhysicsActor prim)
2142 {
2143 if (prim is OdePrim)
2144 {
2145 lock (OdeLock)
2146 {
2147 OdePrim p = (OdePrim) prim;
2148
2149 p.setPrimForRemoval();
2150 AddPhysicsActorTaint(prim);
2151 //RemovePrimThreadLocked(p);
2152 }
2153 }
2154 }
2155
2156 /// <summary>
2157 /// This is called from within simulate but outside the locked portion
2158 /// We need to do our own locking here
2159 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
2160 ///
2161 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
2162 /// that the space was using.
2163 /// </summary>
2164 /// <param name="prim"></param>
2165 public void RemovePrimThreadLocked(OdePrim prim)
2166 {
2167//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
2168 lock (prim)
2169 {
2170 remCollisionEventReporting(prim);
2171 lock (ode)
2172 {
2173 if (prim.prim_geom != IntPtr.Zero)
2174 {
2175 prim.ResetTaints();
2176
2177 if (prim.IsPhysical)
2178 {
2179 prim.disableBody();
2180 if (prim.childPrim)
2181 {
2182 prim.childPrim = false;
2183 prim.Body = IntPtr.Zero;
2184 prim.m_disabled = true;
2185 prim.IsPhysical = false;
2186 }
2187
2188
2189 }
2190 // we don't want to remove the main space
2191
2192 // If the geometry is in the targetspace, remove it from the target space
2193 //m_log.Warn(prim.m_targetSpace);
2194
2195 //if (prim.m_targetSpace != IntPtr.Zero)
2196 //{
2197 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2198 //{
2199
2200 //if (d.GeomIsSpace(prim.m_targetSpace))
2201 //{
2202 //waitForSpaceUnlock(prim.m_targetSpace);
2203 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2204 prim.m_targetSpace = IntPtr.Zero;
2205 //}
2206 //else
2207 //{
2208 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2209 //((OdePrim)prim).m_targetSpace.ToString());
2210 //}
2211
2212 //}
2213 //}
2214 //m_log.Warn(prim.prim_geom);
2215 try
2216 {
2217 if (prim.prim_geom != IntPtr.Zero)
2218 {
2219
2220//string tPA;
2221//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
2222//Console.WriteLine("**** Remove {0}", tPA);
2223 if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
2224 if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
2225 d.GeomDestroy(prim.prim_geom);
2226 prim.prim_geom = IntPtr.Zero;
2227 }
2228 else
2229 {
2230 m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
2231 }
2232 }
2233 catch (AccessViolationException)
2234 {
2235 m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
2236 }
2237 lock (_prims)
2238 _prims.Remove(prim);
2239
2240 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2241 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2242 //{
2243 //if (prim.m_targetSpace != null)
2244 //{
2245 //if (d.GeomIsSpace(prim.m_targetSpace))
2246 //{
2247 //waitForSpaceUnlock(prim.m_targetSpace);
2248 //d.SpaceRemove(space, prim.m_targetSpace);
2249 // free up memory used by the space.
2250 //d.SpaceDestroy(prim.m_targetSpace);
2251 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2252 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2253 //}
2254 //else
2255 //{
2256 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2257 //((OdePrim) prim).m_targetSpace.ToString());
2258 //}
2259 //}
2260 //}
2261
2262 if (SupportsNINJAJoints)
2263 {
2264 RemoveAllJointsConnectedToActorThreadLocked(prim);
2265 }
2266 }
2267 }
2268 }
2269 }
2270
2271 #endregion
2272
2273 #region Space Separation Calculation
2274
2275 /// <summary>
2276 /// Takes a space pointer and zeros out the array we're using to hold the spaces
2277 /// </summary>
2278 /// <param name="pSpace"></param>
2279 public void resetSpaceArrayItemToZero(IntPtr pSpace)
2280 {
2281 for (int x = 0; x < staticPrimspace.GetLength(0); x++)
2282 {
2283 for (int y = 0; y < staticPrimspace.GetLength(1); y++)
2284 {
2285 if (staticPrimspace[x, y] == pSpace)
2286 staticPrimspace[x, y] = IntPtr.Zero;
2287 }
2288 }
2289 }
2290
2291 public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
2292 {
2293 staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
2294 }
2295
2296 /// <summary>
2297 /// Called when a static prim moves. Allocates a space for the prim based on its position
2298 /// </summary>
2299 /// <param name="geom">the pointer to the geom that moved</param>
2300 /// <param name="pos">the position that the geom moved to</param>
2301 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2302 /// <returns>a pointer to the new space it's in</returns>
2303 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2304 {
2305 // Called from setting the Position and Size of an ODEPrim so
2306 // it's already in locked space.
2307
2308 // we don't want to remove the main space
2309 // we don't need to test physical here because this function should
2310 // never be called if the prim is physical(active)
2311
2312 // All physical prim end up in the root space
2313 //Thread.Sleep(20);
2314 if (currentspace != space)
2315 {
2316 //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
2317 //if (currentspace == IntPtr.Zero)
2318 //{
2319 //int adfadf = 0;
2320 //}
2321 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2322 {
2323 if (d.GeomIsSpace(currentspace))
2324 {
2325 waitForSpaceUnlock(currentspace);
2326 d.SpaceRemove(currentspace, geom);
2327 }
2328 else
2329 {
2330 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
2331 " Geom:" + geom);
2332 }
2333 }
2334 else
2335 {
2336 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2337 if (sGeomIsIn != IntPtr.Zero)
2338 {
2339 if (d.GeomIsSpace(currentspace))
2340 {
2341 waitForSpaceUnlock(sGeomIsIn);
2342 d.SpaceRemove(sGeomIsIn, geom);
2343 }
2344 else
2345 {
2346 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2347 sGeomIsIn + " Geom:" + geom);
2348 }
2349 }
2350 }
2351
2352 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2353 if (d.SpaceGetNumGeoms(currentspace) == 0)
2354 {
2355 if (currentspace != IntPtr.Zero)
2356 {
2357 if (d.GeomIsSpace(currentspace))
2358 {
2359 waitForSpaceUnlock(currentspace);
2360 waitForSpaceUnlock(space);
2361 d.SpaceRemove(space, currentspace);
2362 // free up memory used by the space.
2363
2364 //d.SpaceDestroy(currentspace);
2365 resetSpaceArrayItemToZero(currentspace);
2366 }
2367 else
2368 {
2369 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2370 currentspace + " Geom:" + geom);
2371 }
2372 }
2373 }
2374 }
2375 else
2376 {
2377 // this is a physical object that got disabled. ;.;
2378 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2379 {
2380 if (d.SpaceQuery(currentspace, geom))
2381 {
2382 if (d.GeomIsSpace(currentspace))
2383 {
2384 waitForSpaceUnlock(currentspace);
2385 d.SpaceRemove(currentspace, geom);
2386 }
2387 else
2388 {
2389 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2390 currentspace + " Geom:" + geom);
2391 }
2392 }
2393 else
2394 {
2395 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2396 if (sGeomIsIn != IntPtr.Zero)
2397 {
2398 if (d.GeomIsSpace(sGeomIsIn))
2399 {
2400 waitForSpaceUnlock(sGeomIsIn);
2401 d.SpaceRemove(sGeomIsIn, geom);
2402 }
2403 else
2404 {
2405 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2406 sGeomIsIn + " Geom:" + geom);
2407 }
2408 }
2409 }
2410 }
2411 }
2412
2413 // The routines in the Position and Size sections do the 'inserting' into the space,
2414 // so all we have to do is make sure that the space that we're putting the prim into
2415 // is in the 'main' space.
2416 int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
2417 IntPtr newspace = calculateSpaceForGeom(pos);
2418
2419 if (newspace == IntPtr.Zero)
2420 {
2421 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2422 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
2423 }
2424
2425 return newspace;
2426 }
2427
2428 /// <summary>
2429 /// Creates a new space at X Y
2430 /// </summary>
2431 /// <param name="iprimspaceArrItemX"></param>
2432 /// <param name="iprimspaceArrItemY"></param>
2433 /// <returns>A pointer to the created space</returns>
2434 public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2435 {
2436 // creating a new space for prim and inserting it into main space.
2437 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
2438 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2439 waitForSpaceUnlock(space);
2440 d.SpaceSetSublevel(space, 1);
2441 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2442 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2443 }
2444
2445 /// <summary>
2446 /// Calculates the space the prim should be in by its position
2447 /// </summary>
2448 /// <param name="pos"></param>
2449 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2450 public IntPtr calculateSpaceForGeom(Vector3 pos)
2451 {
2452 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2453 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
2454 return staticPrimspace[xyspace[0], xyspace[1]];
2455 }
2456
2457 /// <summary>
2458 /// Holds the space allocation logic
2459 /// </summary>
2460 /// <param name="pos"></param>
2461 /// <returns>an array item based on the position</returns>
2462 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2463 {
2464 int[] returnint = new int[2];
2465
2466 returnint[0] = (int) (pos.X/metersInSpace);
2467
2468 if (returnint[0] > ((int) (259f/metersInSpace)))
2469 returnint[0] = ((int) (259f/metersInSpace));
2470 if (returnint[0] < 0)
2471 returnint[0] = 0;
2472
2473 returnint[1] = (int) (pos.Y/metersInSpace);
2474 if (returnint[1] > ((int) (259f/metersInSpace)))
2475 returnint[1] = ((int) (259f/metersInSpace));
2476 if (returnint[1] < 0)
2477 returnint[1] = 0;
2478
2479 return returnint;
2480 }
2481
2482 #endregion
2483
2484 /// <summary>
2485 /// Routine to figure out if we need to mesh this prim with our mesher
2486 /// </summary>
2487 /// <param name="pbs"></param>
2488 /// <returns></returns>
2489 public bool needsMeshing(PrimitiveBaseShape pbs)
2490 {
2491 // most of this is redundant now as the mesher will return null if it cant mesh a prim
2492 // but we still need to check for sculptie meshing being enabled so this is the most
2493 // convenient place to do it for now...
2494
2495 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
2496 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
2497 int iPropertiesNotSupportedDefault = 0;
2498
2499 if (pbs.SculptEntry && !meshSculptedPrim)
2500 {
2501#if SPAM
2502 m_log.Warn("NonMesh");
2503#endif
2504 return false;
2505 }
2506
2507 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
2508 if (!forceSimplePrimMeshing)
2509 {
2510 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
2511 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
2512 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
2513 {
2514
2515 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
2516 && pbs.ProfileHollow == 0
2517 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
2518 && pbs.PathBegin == 0 && pbs.PathEnd == 0
2519 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
2520 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
2521 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
2522 {
2523#if SPAM
2524 m_log.Warn("NonMesh");
2525#endif
2526 return false;
2527 }
2528 }
2529 }
2530
2531 if (pbs.ProfileHollow != 0)
2532 iPropertiesNotSupportedDefault++;
2533
2534 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2535 iPropertiesNotSupportedDefault++;
2536
2537 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2538 iPropertiesNotSupportedDefault++;
2539
2540 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
2541 iPropertiesNotSupportedDefault++;
2542
2543 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
2544 iPropertiesNotSupportedDefault++;
2545
2546 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
2547 iPropertiesNotSupportedDefault++;
2548
2549 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
2550 iPropertiesNotSupportedDefault++;
2551
2552 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
2553 iPropertiesNotSupportedDefault++;
2554
2555 // test for torus
2556 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
2557 {
2558 if (pbs.PathCurve == (byte)Extrusion.Curve1)
2559 {
2560 iPropertiesNotSupportedDefault++;
2561 }
2562 }
2563 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
2564 {
2565 if (pbs.PathCurve == (byte)Extrusion.Straight)
2566 {
2567 iPropertiesNotSupportedDefault++;
2568 }
2569
2570 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
2571 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2572 {
2573 iPropertiesNotSupportedDefault++;
2574 }
2575 }
2576 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
2577 {
2578 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
2579 {
2580 iPropertiesNotSupportedDefault++;
2581 }
2582 }
2583 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
2584 {
2585 if (pbs.PathCurve == (byte)Extrusion.Straight)
2586 {
2587 iPropertiesNotSupportedDefault++;
2588 }
2589 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2590 {
2591 iPropertiesNotSupportedDefault++;
2592 }
2593 }
2594
2595
2596 if (iPropertiesNotSupportedDefault == 0)
2597 {
2598#if SPAM
2599 m_log.Warn("NonMesh");
2600#endif
2601 return false;
2602 }
2603#if SPAM
2604 m_log.Debug("Mesh");
2605#endif
2606 return true;
2607 }
2608
2609 /// <summary>
2610 /// Called after our prim properties are set Scale, position etc.
2611 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
2612 /// This assures us that we have no race conditions
2613 /// </summary>
2614 /// <param name="prim"></param>
2615 public override void AddPhysicsActorTaint(PhysicsActor prim)
2616 {
2617
2618 if (prim is OdePrim)
2619 {
2620 OdePrim taintedprim = ((OdePrim) prim);
2621 lock (_taintedPrimLock)
2622 {
2623 if (!(_taintedPrimH.Contains(taintedprim)))
2624 {
2625//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
2626 _taintedPrimH.Add(taintedprim); // HashSet for searching
2627 _taintedPrimL.Add(taintedprim); // List for ordered readout
2628 }
2629 }
2630 return;
2631 }
2632 else if (prim is OdeCharacter)
2633 {
2634 OdeCharacter taintedchar = ((OdeCharacter)prim);
2635 lock (_taintedActors)
2636 {
2637 if (!(_taintedActors.Contains(taintedchar)))
2638 {
2639 _taintedActors.Add(taintedchar);
2640 if (taintedchar.bad)
2641 m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
2642 }
2643 }
2644 }
2645 }
2646
2647 /// <summary>
2648 /// This is our main simulate loop
2649 /// It's thread locked by a Mutex in the scene.
2650 /// It holds Collisions, it instructs ODE to step through the physical reactions
2651 /// It moves the objects around in memory
2652 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
2653 /// </summary>
2654 /// <param name="timeStep"></param>
2655 /// <returns></returns>
2656 public override float Simulate(float timeStep)
2657 {
2658 if (framecount >= int.MaxValue)
2659 framecount = 0;
2660 //if (m_worldOffset != Vector3.Zero)
2661 // return 0;
2662
2663 framecount++;
2664
2665 DateTime now = DateTime.UtcNow;
2666 TimeSpan SinceLastFrame = now - m_lastframe;
2667 m_lastframe = now;
2668 float realtime = (float)SinceLastFrame.TotalSeconds;
2669// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
2670 timeStep = realtime;
2671
2672 // float fps = 1.0f / realtime;
2673 float fps = 0.0f; // number of ODE steps in this Simulate step
2674 //m_log.Info(timeStep.ToString());
2675 step_time += timeStep;
2676
2677 // If We're loaded down by something else,
2678 // or debugging with the Visual Studio project on pause
2679 // skip a few frames to catch up gracefully.
2680 // without shooting the physicsactors all over the place
2681
2682 if (step_time >= m_SkipFramesAtms)
2683 {
2684 // Instead of trying to catch up, it'll do 5 physics frames only
2685 step_time = ODE_STEPSIZE;
2686 m_physicsiterations = 5;
2687 }
2688 else
2689 {
2690 m_physicsiterations = 10;
2691 }
2692
2693 if (SupportsNINJAJoints)
2694 {
2695 DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2696 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2697 }
2698
2699 lock (OdeLock)
2700 {
2701 // Process 10 frames if the sim is running normal..
2702 // process 5 frames if the sim is running slow
2703 //try
2704 //{
2705 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2706 //}
2707 //catch (StackOverflowException)
2708 //{
2709 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
2710 // ode.drelease(world);
2711 //base.TriggerPhysicsBasedRestart();
2712 //}
2713
2714 int i = 0;
2715
2716 // Figure out the Frames Per Second we're going at.
2717 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
2718
2719 // fps = (step_time / ODE_STEPSIZE) * 1000;
2720 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
2721 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
2722
2723 // step_time = 0.09375f;
2724
2725 while (step_time > 0.0f)
2726 {
2727 //lock (ode)
2728 //{
2729 //if (!ode.lockquery())
2730 //{
2731 // ode.dlock(world);
2732 try
2733 {
2734 // Insert, remove Characters
2735 bool processedtaints = false;
2736
2737 lock (_taintedActors)
2738 {
2739 if (_taintedActors.Count > 0)
2740 {
2741 foreach (OdeCharacter character in _taintedActors)
2742 {
2743
2744 character.ProcessTaints(ODE_STEPSIZE);
2745
2746 processedtaints = true;
2747 //character.m_collisionscore = 0;
2748 }
2749
2750 if (processedtaints)
2751 _taintedActors.Clear();
2752 }
2753 } // end lock _taintedActors
2754
2755 // Modify other objects in the scene.
2756 processedtaints = false;
2757
2758 lock (_taintedPrimLock)
2759 {
2760 foreach (OdePrim prim in _taintedPrimL)
2761 {
2762 if (prim.m_taintremove)
2763 {
2764 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2765 RemovePrimThreadLocked(prim);
2766 }
2767 else
2768 {
2769 //Console.WriteLine("Simulate calls ProcessTaints");
2770 prim.ProcessTaints(ODE_STEPSIZE);
2771 }
2772 processedtaints = true;
2773 prim.m_collisionscore = 0;
2774
2775 // This loop can block up the Heartbeat for a very long time on large regions.
2776 // We need to let the Watchdog know that the Heartbeat is not dead
2777 // NOTE: This is currently commented out, but if things like OAR loading are
2778 // timing the heartbeat out we will need to uncomment it
2779 //Watchdog.UpdateThread();
2780 }
2781
2782 if (SupportsNINJAJoints)
2783 {
2784 // Create pending joints, if possible
2785
2786 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2787 // a joint requires specifying the body id of both involved bodies
2788 if (pendingJoints.Count > 0)
2789 {
2790 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2791 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2792 foreach (PhysicsJoint joint in pendingJoints)
2793 {
2794 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2795 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
2796 System.StringSplitOptions.RemoveEmptyEntries);
2797 List<IntPtr> jointBodies = new List<IntPtr>();
2798 bool allJointBodiesAreReady = true;
2799 foreach (string jointParam in jointParams)
2800 {
2801 if (jointParam == "NULL")
2802 {
2803 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2804 jointBodies.Add(IntPtr.Zero);
2805 }
2806 else
2807 {
2808 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2809 bool foundPrim = false;
2810 lock (_prims)
2811 {
2812 foreach (OdePrim prim in _prims) // FIXME: inefficient
2813 {
2814 if (prim.SOPName == jointParam)
2815 {
2816 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2817 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2818 {
2819 jointBodies.Add(prim.Body);
2820 foundPrim = true;
2821 break;
2822 }
2823 else
2824 {
2825 DoJointErrorMessage(joint, "prim name " + jointParam +
2826 " exists but is not (yet) physical; deferring joint creation. " +
2827 "IsPhysical property is " + prim.IsPhysical +
2828 " and body is " + prim.Body);
2829 foundPrim = false;
2830 break;
2831 }
2832 }
2833 }
2834 }
2835 if (foundPrim)
2836 {
2837 // all is fine
2838 }
2839 else
2840 {
2841 allJointBodiesAreReady = false;
2842 break;
2843 }
2844 }
2845 }
2846 if (allJointBodiesAreReady)
2847 {
2848 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2849 if (jointBodies[0] == jointBodies[1])
2850 {
2851 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2852 }
2853 else
2854 {
2855 switch (joint.Type)
2856 {
2857 case PhysicsJointType.Ball:
2858 {
2859 IntPtr odeJoint;
2860 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2861 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2862 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2863 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2864 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2865 d.JointSetBallAnchor(odeJoint,
2866 joint.Position.X,
2867 joint.Position.Y,
2868 joint.Position.Z);
2869 //DoJointErrorMessage(joint, "ODE joint setting OK");
2870 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2871 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2872 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2873 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2874
2875 if (joint is OdePhysicsJoint)
2876 {
2877 ((OdePhysicsJoint)joint).jointID = odeJoint;
2878 }
2879 else
2880 {
2881 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2882 }
2883 }
2884 break;
2885 case PhysicsJointType.Hinge:
2886 {
2887 IntPtr odeJoint;
2888 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2889 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2890 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2891 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2892 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2893 d.JointSetHingeAnchor(odeJoint,
2894 joint.Position.X,
2895 joint.Position.Y,
2896 joint.Position.Z);
2897 // We use the orientation of the x-axis of the joint's coordinate frame
2898 // as the axis for the hinge.
2899
2900 // Therefore, we must get the joint's coordinate frame based on the
2901 // joint.Rotation field, which originates from the orientation of the
2902 // joint's proxy object in the scene.
2903
2904 // The joint's coordinate frame is defined as the transformation matrix
2905 // that converts a vector from joint-local coordinates into world coordinates.
2906 // World coordinates are defined as the XYZ coordinate system of the sim,
2907 // as shown in the top status-bar of the viewer.
2908
2909 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2910 // and use that as the hinge axis.
2911
2912 //joint.Rotation.Normalize();
2913 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2914
2915 // Now extract the X axis of the joint's coordinate frame.
2916
2917 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2918 // tar pit of transposed, inverted, and generally messed-up orientations.
2919 // (In other words, Matrix4.AtAxis() is borked.)
2920 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2921
2922 // Instead, compute the X axis of the coordinate frame by transforming
2923 // the (1,0,0) vector. At least that works.
2924
2925 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2926 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2927 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2928 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2929 d.JointSetHingeAxis(odeJoint,
2930 jointAxis.X,
2931 jointAxis.Y,
2932 jointAxis.Z);
2933 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2934 if (joint is OdePhysicsJoint)
2935 {
2936 ((OdePhysicsJoint)joint).jointID = odeJoint;
2937 }
2938 else
2939 {
2940 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2941 }
2942 }
2943 break;
2944 }
2945 successfullyProcessedPendingJoints.Add(joint);
2946 }
2947 }
2948 else
2949 {
2950 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2951 }
2952 }
2953 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2954 {
2955 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2956 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2957 InternalRemovePendingJoint(successfullyProcessedJoint);
2958 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2959 InternalAddActiveJoint(successfullyProcessedJoint);
2960 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2961 }
2962 }
2963 } // end SupportsNINJAJoints
2964
2965 if (processedtaints)
2966//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2967 _taintedPrimH.Clear(); // ??? if this only ???
2968 _taintedPrimL.Clear();
2969 } // end lock _taintedPrimLock
2970
2971 // Move characters
2972 lock (_characters)
2973 {
2974 List<OdeCharacter> defects = new List<OdeCharacter>();
2975 foreach (OdeCharacter actor in _characters)
2976 {
2977 if (actor != null)
2978 actor.Move(ODE_STEPSIZE, defects);
2979 }
2980 if (0 != defects.Count)
2981 {
2982 foreach (OdeCharacter defect in defects)
2983 {
2984 RemoveCharacter(defect);
2985 }
2986 }
2987 } // end lock _characters
2988
2989 // Move other active objects
2990 lock (_activeprims)
2991 {
2992 foreach (OdePrim prim in _activeprims)
2993 {
2994 prim.m_collisionscore = 0;
2995 prim.Move(ODE_STEPSIZE);
2996 }
2997 } // end lock _activeprims
2998
2999 //if ((framecount % m_randomizeWater) == 0)
3000 // randomizeWater(waterlevel);
3001
3002 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3003 m_rayCastManager.ProcessQueuedRequests();
3004
3005 collision_optimized(ODE_STEPSIZE);
3006
3007 lock (_collisionEventPrim)
3008 {
3009 foreach (PhysicsActor obj in _collisionEventPrim)
3010 {
3011 if (obj == null)
3012 continue;
3013
3014 switch ((ActorTypes)obj.PhysicsActorType)
3015 {
3016 case ActorTypes.Agent:
3017 OdeCharacter cobj = (OdeCharacter)obj;
3018 cobj.AddCollisionFrameTime(100);
3019 cobj.SendCollisions();
3020 break;
3021 case ActorTypes.Prim:
3022 OdePrim pobj = (OdePrim)obj;
3023 pobj.SendCollisions();
3024 break;
3025 }
3026 }
3027 } // end lock _collisionEventPrim
3028
3029 //if (m_global_contactcount > 5)
3030 //{
3031 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
3032 //}
3033
3034 m_global_contactcount = 0;
3035
3036 d.WorldQuickStep(world, ODE_STEPSIZE);
3037 d.JointGroupEmpty(contactgroup);
3038 fps++;
3039 //ode.dunlock(world);
3040 } // end try
3041 catch (Exception e)
3042 {
3043 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3044 ode.dunlock(world);
3045 }
3046
3047 step_time -= ODE_STEPSIZE;
3048 i++;
3049 //}
3050 //else
3051 //{
3052 //fps = 0;
3053 //}
3054 //}
3055 } // end while (step_time > 0.0f)
3056
3057 lock (_characters)
3058 {
3059 foreach (OdeCharacter actor in _characters)
3060 {
3061 if (actor != null)
3062 {
3063 if (actor.bad)
3064 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
3065 actor.UpdatePositionAndVelocity();
3066 }
3067 }
3068 }
3069
3070 lock (_badCharacter)
3071 {
3072 if (_badCharacter.Count > 0)
3073 {
3074 foreach (OdeCharacter chr in _badCharacter)
3075 {
3076 RemoveCharacter(chr);
3077 }
3078 _badCharacter.Clear();
3079 }
3080 }
3081
3082 lock (_activeprims)
3083 {
3084 //if (timeStep < 0.2f)
3085 {
3086 foreach (OdePrim actor in _activeprims)
3087 {
3088 if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
3089 {
3090 actor.UpdatePositionAndVelocity();
3091
3092 if (SupportsNINJAJoints)
3093 {
3094 // If an actor moved, move its joint proxy objects as well.
3095 // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
3096 // for this purpose but it is never called! So we just do the joint
3097 // movement code here.
3098
3099 if (actor.SOPName != null &&
3100 joints_connecting_actor.ContainsKey(actor.SOPName) &&
3101 joints_connecting_actor[actor.SOPName] != null &&
3102 joints_connecting_actor[actor.SOPName].Count > 0)
3103 {
3104 foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
3105 {
3106 if (affectedJoint.IsInPhysicsEngine)
3107 {
3108 DoJointMoved(affectedJoint);
3109 }
3110 else
3111 {
3112 DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
3113 }
3114 }
3115 }
3116 }
3117 }
3118 }
3119 }
3120 } // end lock _activeprims
3121
3122 //DumpJointInfo();
3123
3124 // Finished with all sim stepping. If requested, dump world state to file for debugging.
3125 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
3126 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
3127 if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
3128 {
3129 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
3130 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
3131
3132 if (physics_logging_append_existing_logfile)
3133 {
3134 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
3135 TextWriter fwriter = File.AppendText(fname);
3136 fwriter.WriteLine(header);
3137 fwriter.Close();
3138 }
3139 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3140 }
3141 } // end lock OdeLock
3142
3143 return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
3144 } // end Simulate
3145
3146 public override void GetResults()
3147 {
3148 }
3149
3150 public override bool IsThreaded
3151 {
3152 // for now we won't be multithreaded
3153 get { return (false); }
3154 }
3155
3156 #region ODE Specific Terrain Fixes
3157 public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
3158 {
3159 float[] returnarr = new float[262144];
3160 float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
3161
3162 // Filling out the array into its multi-dimensional components
3163 for (int y = 0; y < WorldExtents.Y; y++)
3164 {
3165 for (int x = 0; x < WorldExtents.X; x++)
3166 {
3167 resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
3168 }
3169 }
3170
3171 // Resize using Nearest Neighbour
3172
3173 // This particular way is quick but it only works on a multiple of the original
3174
3175 // The idea behind this method can be described with the following diagrams
3176 // second pass and third pass happen in the same loop really.. just separated
3177 // them to show what this does.
3178
3179 // First Pass
3180 // ResultArr:
3181 // 1,1,1,1,1,1
3182 // 1,1,1,1,1,1
3183 // 1,1,1,1,1,1
3184 // 1,1,1,1,1,1
3185 // 1,1,1,1,1,1
3186 // 1,1,1,1,1,1
3187
3188 // Second Pass
3189 // ResultArr2:
3190 // 1,,1,,1,,1,,1,,1,
3191 // ,,,,,,,,,,
3192 // 1,,1,,1,,1,,1,,1,
3193 // ,,,,,,,,,,
3194 // 1,,1,,1,,1,,1,,1,
3195 // ,,,,,,,,,,
3196 // 1,,1,,1,,1,,1,,1,
3197 // ,,,,,,,,,,
3198 // 1,,1,,1,,1,,1,,1,
3199 // ,,,,,,,,,,
3200 // 1,,1,,1,,1,,1,,1,
3201
3202 // Third pass fills in the blanks
3203 // ResultArr2:
3204 // 1,1,1,1,1,1,1,1,1,1,1,1
3205 // 1,1,1,1,1,1,1,1,1,1,1,1
3206 // 1,1,1,1,1,1,1,1,1,1,1,1
3207 // 1,1,1,1,1,1,1,1,1,1,1,1
3208 // 1,1,1,1,1,1,1,1,1,1,1,1
3209 // 1,1,1,1,1,1,1,1,1,1,1,1
3210 // 1,1,1,1,1,1,1,1,1,1,1,1
3211 // 1,1,1,1,1,1,1,1,1,1,1,1
3212 // 1,1,1,1,1,1,1,1,1,1,1,1
3213 // 1,1,1,1,1,1,1,1,1,1,1,1
3214 // 1,1,1,1,1,1,1,1,1,1,1,1
3215
3216 // X,Y = .
3217 // X+1,y = ^
3218 // X,Y+1 = *
3219 // X+1,Y+1 = #
3220
3221 // Filling in like this;
3222 // .*
3223 // ^#
3224 // 1st .
3225 // 2nd *
3226 // 3rd ^
3227 // 4th #
3228 // on single loop.
3229
3230 float[,] resultarr2 = new float[512, 512];
3231 for (int y = 0; y < WorldExtents.Y; y++)
3232 {
3233 for (int x = 0; x < WorldExtents.X; x++)
3234 {
3235 resultarr2[y * 2, x * 2] = resultarr[y, x];
3236
3237 if (y < WorldExtents.Y)
3238 {
3239 resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
3240 }
3241 if (x < WorldExtents.X)
3242 {
3243 resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
3244 }
3245 if (x < WorldExtents.X && y < WorldExtents.Y)
3246 {
3247 resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
3248 }
3249 }
3250 }
3251
3252 //Flatten out the array
3253 int i = 0;
3254 for (int y = 0; y < 512; y++)
3255 {
3256 for (int x = 0; x < 512; x++)
3257 {
3258 if (resultarr2[y, x] <= 0)
3259 returnarr[i] = 0.0000001f;
3260 else
3261 returnarr[i] = resultarr2[y, x];
3262
3263 i++;
3264 }
3265 }
3266
3267 return returnarr;
3268 }
3269
3270 public float[] ResizeTerrain512Interpolation(float[] heightMap)
3271 {
3272 float[] returnarr = new float[262144];
3273 float[,] resultarr = new float[512,512];
3274
3275 // Filling out the array into its multi-dimensional components
3276 for (int y = 0; y < 256; y++)
3277 {
3278 for (int x = 0; x < 256; x++)
3279 {
3280 resultarr[y, x] = heightMap[y * 256 + x];
3281 }
3282 }
3283
3284 // Resize using interpolation
3285
3286 // This particular way is quick but it only works on a multiple of the original
3287
3288 // The idea behind this method can be described with the following diagrams
3289 // second pass and third pass happen in the same loop really.. just separated
3290 // them to show what this does.
3291
3292 // First Pass
3293 // ResultArr:
3294 // 1,1,1,1,1,1
3295 // 1,1,1,1,1,1
3296 // 1,1,1,1,1,1
3297 // 1,1,1,1,1,1
3298 // 1,1,1,1,1,1
3299 // 1,1,1,1,1,1
3300
3301 // Second Pass
3302 // ResultArr2:
3303 // 1,,1,,1,,1,,1,,1,
3304 // ,,,,,,,,,,
3305 // 1,,1,,1,,1,,1,,1,
3306 // ,,,,,,,,,,
3307 // 1,,1,,1,,1,,1,,1,
3308 // ,,,,,,,,,,
3309 // 1,,1,,1,,1,,1,,1,
3310 // ,,,,,,,,,,
3311 // 1,,1,,1,,1,,1,,1,
3312 // ,,,,,,,,,,
3313 // 1,,1,,1,,1,,1,,1,
3314
3315 // Third pass fills in the blanks
3316 // ResultArr2:
3317 // 1,1,1,1,1,1,1,1,1,1,1,1
3318 // 1,1,1,1,1,1,1,1,1,1,1,1
3319 // 1,1,1,1,1,1,1,1,1,1,1,1
3320 // 1,1,1,1,1,1,1,1,1,1,1,1
3321 // 1,1,1,1,1,1,1,1,1,1,1,1
3322 // 1,1,1,1,1,1,1,1,1,1,1,1
3323 // 1,1,1,1,1,1,1,1,1,1,1,1
3324 // 1,1,1,1,1,1,1,1,1,1,1,1
3325 // 1,1,1,1,1,1,1,1,1,1,1,1
3326 // 1,1,1,1,1,1,1,1,1,1,1,1
3327 // 1,1,1,1,1,1,1,1,1,1,1,1
3328
3329 // X,Y = .
3330 // X+1,y = ^
3331 // X,Y+1 = *
3332 // X+1,Y+1 = #
3333
3334 // Filling in like this;
3335 // .*
3336 // ^#
3337 // 1st .
3338 // 2nd *
3339 // 3rd ^
3340 // 4th #
3341 // on single loop.
3342
3343 float[,] resultarr2 = new float[512,512];
3344 for (int y = 0; y < (int)Constants.RegionSize; y++)
3345 {
3346 for (int x = 0; x < (int)Constants.RegionSize; x++)
3347 {
3348 resultarr2[y*2, x*2] = resultarr[y, x];
3349
3350 if (y < (int)Constants.RegionSize)
3351 {
3352 if (y + 1 < (int)Constants.RegionSize)
3353 {
3354 if (x + 1 < (int)Constants.RegionSize)
3355 {
3356 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
3357 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3358 }
3359 else
3360 {
3361 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
3362 }
3363 }
3364 else
3365 {
3366 resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
3367 }
3368 }
3369 if (x < (int)Constants.RegionSize)
3370 {
3371 if (x + 1 < (int)Constants.RegionSize)
3372 {
3373 if (y + 1 < (int)Constants.RegionSize)
3374 {
3375 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3376 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3377 }
3378 else
3379 {
3380 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
3381 }
3382 }
3383 else
3384 {
3385 resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
3386 }
3387 }
3388 if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
3389 {
3390 if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
3391 {
3392 resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3393 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3394 }
3395 else
3396 {
3397 resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
3398 }
3399 }
3400 }
3401 }
3402 //Flatten out the array
3403 int i = 0;
3404 for (int y = 0; y < 512; y++)
3405 {
3406 for (int x = 0; x < 512; x++)
3407 {
3408 if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
3409 {
3410 m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
3411 resultarr2[y, x] = 0;
3412 }
3413 returnarr[i] = resultarr2[y, x];
3414 i++;
3415 }
3416 }
3417
3418 return returnarr;
3419 }
3420
3421 #endregion
3422
3423 public override void SetTerrain(float[] heightMap)
3424 {
3425 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
3426 {
3427 if (m_parentScene is OdeScene)
3428 {
3429 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
3430 }
3431 }
3432 else
3433 {
3434 SetTerrain(heightMap, m_worldOffset);
3435 }
3436 }
3437
3438 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3439 {
3440
3441 int regionsize = (int) Constants.RegionSize; // visible region size eg. 256(M)
3442
3443 int heightmapWidth = regionsize + 2; // ODE map size 258 x 258 (Meters) (1 extra each side)
3444 int heightmapHeight = regionsize + 2;
3445
3446 int heightmapWidthSamples = (int)regionsize + 3; // to have 258m we need 259 samples
3447 int heightmapHeightSamples = (int)regionsize + 3;
3448
3449 // Array of height samples for ODE
3450 float[] _heightmap;
3451 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 259 x 259
3452
3453 // Other ODE parameters
3454 const float scale = 1.0f;
3455 const float offset = 0.0f;
3456 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3457 const int wrap = 0;
3458
3459 float hfmin = 2000f;
3460 float hfmax = -2000f;
3461 float minele = 0.0f; // Dont allow -ve heights
3462
3463 int x = 0;
3464 int y = 0;
3465 int xx = 0;
3466 int yy = 0;
3467
3468 // load the height samples array from the heightMap
3469 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3470 {
3471 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3472 {
3473 xx = x - 1;
3474 if (xx < 0) xx = 0;
3475 if (xx > (regionsize - 1)) xx = regionsize - 1;
3476
3477 yy = y - 1;
3478 if (yy < 0) yy = 0;
3479 if (yy > (regionsize - 1)) yy = regionsize - 1;
3480 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3481 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3482 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3483 if (val < minele) val = minele;
3484 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3485 hfmin = (val < hfmin) ? val : hfmin;
3486 hfmax = (val > hfmax) ? val : hfmax;
3487 }
3488 }
3489
3490 lock (OdeLock)
3491 {
3492 IntPtr GroundGeom = IntPtr.Zero;
3493 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3494 {
3495 RegionTerrain.Remove(pOffset);
3496 if (GroundGeom != IntPtr.Zero)
3497 {
3498 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3499 {
3500 TerrainHeightFieldHeights.Remove(GroundGeom);
3501 }
3502 d.SpaceRemove(space, GroundGeom);
3503 d.GeomDestroy(GroundGeom);
3504 }
3505 }
3506 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3507 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3508 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3509 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3510 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3511 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3512 if (GroundGeom != IntPtr.Zero)
3513 {
3514 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3515 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3516 }
3517 geom_name_map[GroundGeom] = "Terrain";
3518
3519 d.Matrix3 R = new d.Matrix3();
3520
3521 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3522 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3523 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3524
3525 q1 = q1 * q2;
3526 //q1 = q1 * q3;
3527 Vector3 v3;
3528 float angle;
3529 q1.GetAxisAngle(out v3, out angle);
3530
3531 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3532 d.GeomSetRotation(GroundGeom, ref R);
3533 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3534 IntPtr testGround = IntPtr.Zero;
3535 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3536 {
3537 RegionTerrain.Remove(pOffset);
3538 }
3539 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3540 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3541 }
3542 }
3543
3544 public override void DeleteTerrain()
3545 {
3546 }
3547
3548 public float GetWaterLevel()
3549 {
3550 return waterlevel;
3551 }
3552
3553 public override bool SupportsCombining()
3554 {
3555 return true;
3556 }
3557
3558 public override void UnCombine(PhysicsScene pScene)
3559 {
3560 IntPtr localGround = IntPtr.Zero;
3561// float[] localHeightfield;
3562 bool proceed = false;
3563 List<IntPtr> geomDestroyList = new List<IntPtr>();
3564
3565 lock (OdeLock)
3566 {
3567 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
3568 {
3569 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
3570 {
3571 if (geom == localGround)
3572 {
3573// localHeightfield = TerrainHeightFieldHeights[geom];
3574 proceed = true;
3575 }
3576 else
3577 {
3578 geomDestroyList.Add(geom);
3579 }
3580 }
3581
3582 if (proceed)
3583 {
3584 m_worldOffset = Vector3.Zero;
3585 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
3586 m_parentScene = null;
3587
3588 foreach (IntPtr g in geomDestroyList)
3589 {
3590 // removingHeightField needs to be done or the garbage collector will
3591 // collect the terrain data before we tell ODE to destroy it causing
3592 // memory corruption
3593 if (TerrainHeightFieldHeights.ContainsKey(g))
3594 {
3595// float[] removingHeightField = TerrainHeightFieldHeights[g];
3596 TerrainHeightFieldHeights.Remove(g);
3597
3598 if (RegionTerrain.ContainsKey(g))
3599 {
3600 RegionTerrain.Remove(g);
3601 }
3602
3603 d.GeomDestroy(g);
3604 //removingHeightField = new float[0];
3605 }
3606 }
3607
3608 }
3609 else
3610 {
3611 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3612
3613 }
3614 }
3615 }
3616 }
3617
3618 public override void SetWaterLevel(float baseheight)
3619 {
3620 waterlevel = baseheight;
3621 randomizeWater(waterlevel);
3622 }
3623
3624 public void randomizeWater(float baseheight)
3625 {
3626 const uint heightmapWidth = m_regionWidth + 2;
3627 const uint heightmapHeight = m_regionHeight + 2;
3628 const uint heightmapWidthSamples = m_regionWidth + 2;
3629 const uint heightmapHeightSamples = m_regionHeight + 2;
3630 const float scale = 1.0f;
3631 const float offset = 0.0f;
3632 const float thickness = 2.9f;
3633 const int wrap = 0;
3634
3635 for (int i = 0; i < (258 * 258); i++)
3636 {
3637 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3638 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3639 }
3640
3641 lock (OdeLock)
3642 {
3643 if (WaterGeom != IntPtr.Zero)
3644 {
3645 d.SpaceRemove(space, WaterGeom);
3646 }
3647 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3648 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3649 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3650 offset, thickness, wrap);
3651 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3652 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3653 if (WaterGeom != IntPtr.Zero)
3654 {
3655 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3656 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3657
3658 }
3659 geom_name_map[WaterGeom] = "Water";
3660
3661 d.Matrix3 R = new d.Matrix3();
3662
3663 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3664 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3665 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3666
3667 q1 = q1 * q2;
3668 //q1 = q1 * q3;
3669 Vector3 v3;
3670 float angle;
3671 q1.GetAxisAngle(out v3, out angle);
3672
3673 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3674 d.GeomSetRotation(WaterGeom, ref R);
3675 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3676
3677 }
3678
3679 }
3680
3681 public override void Dispose()
3682 {
3683 m_rayCastManager.Dispose();
3684 m_rayCastManager = null;
3685
3686 lock (OdeLock)
3687 {
3688 lock (_prims)
3689 {
3690 foreach (OdePrim prm in _prims)
3691 {
3692 RemovePrim(prm);
3693 }
3694 }
3695
3696 //foreach (OdeCharacter act in _characters)
3697 //{
3698 //RemoveAvatar(act);
3699 //}
3700 d.WorldDestroy(world);
3701 //d.CloseODE();
3702 }
3703 }
3704 public override Dictionary<uint, float> GetTopColliders()
3705 {
3706 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
3707 int cnt = 0;
3708 lock (_prims)
3709 {
3710 foreach (OdePrim prm in _prims)
3711 {
3712 if (prm.CollisionScore > 0)
3713 {
3714 returncolliders.Add(prm.m_localID, prm.CollisionScore);
3715 cnt++;
3716 prm.CollisionScore = 0f;
3717 if (cnt > 25)
3718 {
3719 break;
3720 }
3721 }
3722 }
3723 }
3724 return returncolliders;
3725 }
3726
3727 public override bool SupportsRayCast()
3728 {
3729 return true;
3730 }
3731
3732 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
3733 {
3734 if (retMethod != null)
3735 {
3736 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
3737 }
3738 }
3739
3740#if USE_DRAWSTUFF
3741 // Keyboard callback
3742 public void command(int cmd)
3743 {
3744 IntPtr geom;
3745 d.Mass mass;
3746 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3747
3748
3749
3750 Char ch = Char.ToLower((Char)cmd);
3751 switch ((Char)ch)
3752 {
3753 case 'w':
3754 try
3755 {
3756 Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3757
3758 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3759 ds.SetViewpoint(ref xyz, ref hpr);
3760 }
3761 catch (ArgumentException)
3762 { hpr.X = 0; }
3763 break;
3764
3765 case 'a':
3766 hpr.X++;
3767 ds.SetViewpoint(ref xyz, ref hpr);
3768 break;
3769
3770 case 's':
3771 try
3772 {
3773 Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3774
3775 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3776 ds.SetViewpoint(ref xyz, ref hpr);
3777 }
3778 catch (ArgumentException)
3779 { hpr.X = 0; }
3780 break;
3781 case 'd':
3782 hpr.X--;
3783 ds.SetViewpoint(ref xyz, ref hpr);
3784 break;
3785 case 'r':
3786 xyz.Z++;
3787 ds.SetViewpoint(ref xyz, ref hpr);
3788 break;
3789 case 'f':
3790 xyz.Z--;
3791 ds.SetViewpoint(ref xyz, ref hpr);
3792 break;
3793 case 'e':
3794 xyz.Y++;
3795 ds.SetViewpoint(ref xyz, ref hpr);
3796 break;
3797 case 'q':
3798 xyz.Y--;
3799 ds.SetViewpoint(ref xyz, ref hpr);
3800 break;
3801 }
3802 }
3803
3804 public void step(int pause)
3805 {
3806
3807 ds.SetColor(1.0f, 1.0f, 0.0f);
3808 ds.SetTexture(ds.Texture.Wood);
3809 lock (_prims)
3810 {
3811 foreach (OdePrim prm in _prims)
3812 {
3813 //IntPtr body = d.GeomGetBody(prm.prim_geom);
3814 if (prm.prim_geom != IntPtr.Zero)
3815 {
3816 d.Vector3 pos;
3817 d.GeomCopyPosition(prm.prim_geom, out pos);
3818 //d.BodyCopyPosition(body, out pos);
3819
3820 d.Matrix3 R;
3821 d.GeomCopyRotation(prm.prim_geom, out R);
3822 //d.BodyCopyRotation(body, out R);
3823
3824
3825 d.Vector3 sides = new d.Vector3();
3826 sides.X = prm.Size.X;
3827 sides.Y = prm.Size.Y;
3828 sides.Z = prm.Size.Z;
3829
3830 ds.DrawBox(ref pos, ref R, ref sides);
3831 }
3832 }
3833 }
3834 ds.SetColor(1.0f, 0.0f, 0.0f);
3835 lock (_characters)
3836 {
3837 foreach (OdeCharacter chr in _characters)
3838 {
3839 if (chr.Shell != IntPtr.Zero)
3840 {
3841 IntPtr body = d.GeomGetBody(chr.Shell);
3842
3843 d.Vector3 pos;
3844 d.GeomCopyPosition(chr.Shell, out pos);
3845 //d.BodyCopyPosition(body, out pos);
3846
3847 d.Matrix3 R;
3848 d.GeomCopyRotation(chr.Shell, out R);
3849 //d.BodyCopyRotation(body, out R);
3850
3851 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
3852 d.Vector3 sides = new d.Vector3();
3853 sides.X = 0.5f;
3854 sides.Y = 0.5f;
3855 sides.Z = 0.5f;
3856
3857 ds.DrawBox(ref pos, ref R, ref sides);
3858 }
3859 }
3860 }
3861 }
3862
3863 public void start(int unused)
3864 {
3865 ds.SetViewpoint(ref xyz, ref hpr);
3866 }
3867#endif
3868 }
3869}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs
new file mode 100644
index 0000000..e7e7bb3
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs
@@ -0,0 +1,353 @@
1/* Ubit 2012
2 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
3 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
4 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
5 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
6 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
7 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
8 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
9 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
10 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
11 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
12*/
13
14// no endian conversion. So can't be use to pass information around diferent cpus with diferent endian
15
16using System;
17using System.IO;
18using OpenMetaverse;
19
20namespace OpenSim.Region.Physics.OdePlugin
21{
22
23 unsafe public class wstreamer
24 {
25 byte[] buf;
26 int index;
27 byte* src;
28
29 public wstreamer()
30 {
31 buf = new byte[1024];
32 index = 0;
33 }
34 public wstreamer(int size)
35 {
36 buf = new byte[size];
37 index = 0;
38 }
39
40 public byte[] close()
41 {
42 byte[] data = new byte[index];
43 Buffer.BlockCopy(buf, 0, data, 0, index);
44 return data;
45 }
46
47 public void Seek(int pos)
48 {
49 index = pos;
50 }
51
52 public void Seekrel(int pos)
53 {
54 index += pos;
55 }
56
57 public void Wbyte(byte value)
58 {
59 buf[index++] = value;
60 }
61 public void Wshort(short value)
62 {
63 src = (byte*)&value;
64 buf[index++] = *src++;
65 buf[index++] = *src;
66 }
67 public void Wushort(ushort value)
68 {
69 src = (byte*)&value;
70 buf[index++] = *src++;
71 buf[index++] = *src;
72 }
73 public void Wint(int value)
74 {
75 src = (byte*)&value;
76 buf[index++] = *src++;
77 buf[index++] = *src++;
78 buf[index++] = *src++;
79 buf[index++] = *src;
80 }
81 public void Wuint(uint value)
82 {
83 src = (byte*)&value;
84 buf[index++] = *src++;
85 buf[index++] = *src++;
86 buf[index++] = *src++;
87 buf[index++] = *src;
88 }
89 public void Wlong(long value)
90 {
91 src = (byte*)&value;
92 buf[index++] = *src++;
93 buf[index++] = *src++;
94 buf[index++] = *src++;
95 buf[index++] = *src++;
96 buf[index++] = *src++;
97 buf[index++] = *src++;
98 buf[index++] = *src++;
99 buf[index++] = *src;
100 }
101 public void Wulong(ulong value)
102 {
103 src = (byte*)&value;
104 buf[index++] = *src++;
105 buf[index++] = *src++;
106 buf[index++] = *src++;
107 buf[index++] = *src++;
108 buf[index++] = *src++;
109 buf[index++] = *src++;
110 buf[index++] = *src++;
111 buf[index++] = *src;
112 }
113
114 public void Wfloat(float value)
115 {
116 src = (byte*)&value;
117 buf[index++] = *src++;
118 buf[index++] = *src++;
119 buf[index++] = *src++;
120 buf[index++] = *src;
121 }
122
123 public void Wdouble(double value)
124 {
125 src = (byte*)&value;
126 buf[index++] = *src++;
127 buf[index++] = *src++;
128 buf[index++] = *src++;
129 buf[index++] = *src++;
130 buf[index++] = *src++;
131 buf[index++] = *src++;
132 buf[index++] = *src++;
133 buf[index++] = *src;
134 }
135
136 public void Wvector3(Vector3 value)
137 {
138 src = (byte*)&value.X;
139 buf[index++] = *src++;
140 buf[index++] = *src++;
141 buf[index++] = *src++;
142 buf[index++] = *src;
143 src = (byte*)&value.Y; // it may have padding ??
144 buf[index++] = *src++;
145 buf[index++] = *src++;
146 buf[index++] = *src++;
147 buf[index++] = *src;
148 src = (byte*)&value.Z;
149 buf[index++] = *src++;
150 buf[index++] = *src++;
151 buf[index++] = *src++;
152 buf[index++] = *src;
153 }
154 public void Wquat(Quaternion value)
155 {
156 src = (byte*)&value.X;
157 buf[index++] = *src++;
158 buf[index++] = *src++;
159 buf[index++] = *src++;
160 buf[index++] = *src;
161 src = (byte*)&value.Y; // it may have padding ??
162 buf[index++] = *src++;
163 buf[index++] = *src++;
164 buf[index++] = *src++;
165 buf[index++] = *src;
166 src = (byte*)&value.Z;
167 buf[index++] = *src++;
168 buf[index++] = *src++;
169 buf[index++] = *src++;
170 buf[index++] = *src;
171 src = (byte*)&value.W;
172 buf[index++] = *src++;
173 buf[index++] = *src++;
174 buf[index++] = *src++;
175 buf[index++] = *src;
176 }
177 }
178
179 unsafe public class rstreamer
180 {
181 private byte[] rbuf;
182 private int ptr;
183 private byte* dst;
184
185 public rstreamer(byte[] data)
186 {
187 rbuf = data;
188 ptr = 0;
189 }
190
191 public void close()
192 {
193 }
194
195 public void Seek(int pos)
196 {
197 ptr = pos;
198 }
199
200 public void Seekrel(int pos)
201 {
202 ptr += pos;
203 }
204
205 public byte Rbyte()
206 {
207 return (byte)rbuf[ptr++];
208 }
209
210 public short Rshort()
211 {
212 short v;
213 dst = (byte*)&v;
214 *dst++ = rbuf[ptr++];
215 *dst = rbuf[ptr++];
216 return v;
217 }
218 public ushort Rushort()
219 {
220 ushort v;
221 dst = (byte*)&v;
222 *dst++ = rbuf[ptr++];
223 *dst = rbuf[ptr++];
224 return v;
225 }
226 public int Rint()
227 {
228 int v;
229 dst = (byte*)&v;
230 *dst++ = rbuf[ptr++];
231 *dst++ = rbuf[ptr++];
232 *dst++ = rbuf[ptr++];
233 *dst = rbuf[ptr++];
234 return v;
235 }
236 public uint Ruint()
237 {
238 uint v;
239 dst = (byte*)&v;
240 *dst++ = rbuf[ptr++];
241 *dst++ = rbuf[ptr++];
242 *dst++ = rbuf[ptr++];
243 *dst = rbuf[ptr++];
244 return v;
245 }
246 public long Rlong()
247 {
248 long v;
249 dst = (byte*)&v;
250 *dst++ = rbuf[ptr++];
251 *dst++ = rbuf[ptr++];
252 *dst++ = rbuf[ptr++];
253 *dst++ = rbuf[ptr++];
254 *dst++ = rbuf[ptr++];
255 *dst++ = rbuf[ptr++];
256 *dst++ = rbuf[ptr++];
257 *dst = rbuf[ptr++];
258 return v;
259 }
260 public ulong Rulong()
261 {
262 ulong v;
263 dst = (byte*)&v;
264 *dst++ = rbuf[ptr++];
265 *dst++ = rbuf[ptr++];
266 *dst++ = rbuf[ptr++];
267 *dst++ = rbuf[ptr++];
268 *dst++ = rbuf[ptr++];
269 *dst++ = rbuf[ptr++];
270 *dst++ = rbuf[ptr++];
271 *dst = rbuf[ptr++];
272 return v;
273 }
274 public float Rfloat()
275 {
276 float v;
277 dst = (byte*)&v;
278 *dst++ = rbuf[ptr++];
279 *dst++ = rbuf[ptr++];
280 *dst++ = rbuf[ptr++];
281 *dst = rbuf[ptr++];
282 return v;
283 }
284
285 public double Rdouble()
286 {
287 double v;
288 dst = (byte*)&v;
289 *dst++ = rbuf[ptr++];
290 *dst++ = rbuf[ptr++];
291 *dst++ = rbuf[ptr++];
292 *dst++ = rbuf[ptr++];
293 *dst++ = rbuf[ptr++];
294 *dst++ = rbuf[ptr++];
295 *dst++ = rbuf[ptr++];
296 *dst = rbuf[ptr++];
297 return v;
298 }
299
300 public Vector3 Rvector3()
301 {
302 Vector3 v;
303 dst = (byte*)&v.X;
304 *dst++ = rbuf[ptr++];
305 *dst++ = rbuf[ptr++];
306 *dst++ = rbuf[ptr++];
307 *dst = rbuf[ptr++];
308
309 dst = (byte*)&v.Y;
310 *dst++ = rbuf[ptr++];
311 *dst++ = rbuf[ptr++];
312 *dst++ = rbuf[ptr++];
313 *dst = rbuf[ptr++];
314
315 dst = (byte*)&v.Z;
316 *dst++ = rbuf[ptr++];
317 *dst++ = rbuf[ptr++];
318 *dst++ = rbuf[ptr++];
319 *dst = rbuf[ptr++];
320 return v;
321 }
322
323 public Quaternion Rquat()
324 {
325 Quaternion v;
326 dst = (byte*)&v.X;
327 *dst++ = rbuf[ptr++];
328 *dst++ = rbuf[ptr++];
329 *dst++ = rbuf[ptr++];
330 *dst = rbuf[ptr++];
331
332 dst = (byte*)&v.Y;
333 *dst++ = rbuf[ptr++];
334 *dst++ = rbuf[ptr++];
335 *dst++ = rbuf[ptr++];
336 *dst = rbuf[ptr++];
337
338 dst = (byte*)&v.Z;
339 *dst++ = rbuf[ptr++];
340 *dst++ = rbuf[ptr++];
341 *dst++ = rbuf[ptr++];
342 *dst = rbuf[ptr++];
343
344 dst = (byte*)&v.W;
345 *dst++ = rbuf[ptr++];
346 *dst++ = rbuf[ptr++];
347 *dst++ = rbuf[ptr++];
348 *dst = rbuf[ptr++];
349
350 return v;
351 }
352 }
353}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
new file mode 100644
index 0000000..69e2d03
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
@@ -0,0 +1,122 @@
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 copyright
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 */
27
28using System;
29using Nini.Config;
30using NUnit.Framework;
31using OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34using log4net;
35using System.Reflection;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 [TestFixture]
40 public class ODETestClass
41 {
42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
43
44 private OdePlugin cbt;
45 private PhysicsScene ps;
46 private IMeshingPlugin imp;
47
48 [SetUp]
49 public void Initialize()
50 {
51 // Loading ODEPlugin
52 cbt = new OdePlugin();
53 // Loading Zero Mesher
54 imp = new ZeroMesherPlugin();
55 // Getting Physics Scene
56 ps = cbt.GetScene("test");
57 // Initializing Physics Scene.
58 ps.Initialise(imp.GetMesher(),null);
59 float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
60 for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
61 {
62 _heightmap[i] = 21f;
63 }
64 ps.SetTerrain(_heightmap);
65 }
66
67 [TearDown]
68 public void Terminate()
69 {
70 ps.DeleteTerrain();
71 ps.Dispose();
72
73 }
74
75 [Test]
76 public void CreateAndDropPhysicalCube()
77 {
78 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
79 Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
80 Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
81 Quaternion rot = Quaternion.Identity;
82 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
83 OdePrim oprim = (OdePrim)prim;
84 OdeScene pscene = (OdeScene) ps;
85
86 Assert.That(oprim.m_taintadd);
87
88 prim.LocalID = 5;
89
90 for (int i = 0; i < 58; i++)
91 {
92 ps.Simulate(0.133f);
93
94 Assert.That(oprim.prim_geom != (IntPtr)0);
95
96 Assert.That(oprim.m_targetSpace != (IntPtr)0);
97
98 //Assert.That(oprim.m_targetSpace == pscene.space);
99 m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);
100
101 Assert.That(!oprim.m_taintadd);
102 m_log.Info("Prim Position (" + oprim.m_localID + "): " + prim.Position.ToString());
103
104 // Make sure we're above the ground
105 //Assert.That(prim.Position.Z > 20f);
106 //m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);
107
108 // Make sure we've got a Body
109 Assert.That(oprim.Body != (IntPtr)0);
110 //m_log.Info(
111 }
112
113 // Make sure we're not somewhere above the ground
114 Assert.That(prim.Position.Z < 21.5f);
115
116 ps.RemovePrim(prim);
117 Assert.That(oprim.m_taintremove);
118 ps.Simulate(0.133f);
119 Assert.That(oprim.Body == (IntPtr)0);
120 }
121 }
122}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
new file mode 100644
index 0000000..87ca446
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
@@ -0,0 +1,98 @@
1/*
2 * Copyright ODE
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 *
39 */
40
41using System;
42using System.Runtime.InteropServices;
43using Ode.NET;
44
45namespace Drawstuff.NET
46{
47#if dDOUBLE
48 using dReal = System.Double;
49#else
50 using dReal = System.Single;
51#endif
52
53 public static class ds
54 {
55 public const int VERSION = 2;
56
57 public enum Texture
58 {
59 None,
60 Wood
61 }
62
63 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
64 public delegate void CallbackFunction(int arg);
65
66 [StructLayout(LayoutKind.Sequential)]
67 public struct Functions
68 {
69 public int version;
70 public CallbackFunction start;
71 public CallbackFunction step;
72 public CallbackFunction command;
73 public CallbackFunction stop;
74 public string path_to_textures;
75 }
76
77 [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
78 public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
79
80 [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
81 public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
82
83 [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
84 public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
85
86 [DllImport("drawstuff", EntryPoint = "dsSetColor")]
87 public static extern void SetColor(float red, float green, float blue);
88
89 [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
90 public static extern void SetTexture(Texture texture);
91
92 [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
93 public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
94
95 [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
96 public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
97 }
98}
generated by cgit v1.1 at 2024-11-18 20:18:21 +0000