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-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs1467
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs4124
-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.cs3887
-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, 10541 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..ec717d7
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -0,0 +1,1467 @@
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 private Vector3 m_taintMomentum = Vector3.Zero;
144 private bool m_haveTaintMomentum = false;
145
146
147 // unique UUID of this character object
148 public UUID m_uuid;
149 public bool bad = false;
150 private Object m_syncRoot = new Object();
151
152 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)
153 {
154 m_uuid = UUID.Random();
155
156 if (pos.IsFinite())
157 {
158 if (pos.Z > 9999999f)
159 {
160 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
161 }
162 if (pos.Z < -90000f)
163 {
164 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
165 }
166 _position = pos;
167 m_taintPosition.X = pos.X;
168 m_taintPosition.Y = pos.Y;
169 m_taintPosition.Z = pos.Z;
170 }
171 else
172 {
173 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
174 m_taintPosition.X = _position.X;
175 m_taintPosition.Y = _position.Y;
176 m_taintPosition.Z = _position.Z;
177 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
178 }
179
180 _parent_scene = parent_scene;
181
182 PID_D = pid_d;
183 PID_P = pid_p;
184 CAPSULE_RADIUS = capsule_radius;
185 m_tensor = tensor;
186 m_density = density;
187 heightFudgeFactor = height_fudge_factor;
188 walkDivisor = walk_divisor;
189 runDivisor = rundivisor;
190
191 // m_StandUpRotation =
192 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
193 // 0.5f);
194
195 for (int i = 0; i < 11; i++)
196 {
197 m_colliderarr[i] = false;
198 }
199 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
200 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
201 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
202
203 m_isPhysical = false; // current status: no ODE information exists
204 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
205
206 _parent_scene.AddPhysicsActorTaint(this);
207
208 m_name = avName;
209 }
210
211 public override int PhysicsActorType
212 {
213 get { return (int) ActorTypes.Agent; }
214 set { return; }
215 }
216
217 /// <summary>
218 /// If this is set, the avatar will move faster
219 /// </summary>
220 public override bool SetAlwaysRun
221 {
222 get { return m_alwaysRun; }
223 set { m_alwaysRun = value; }
224 }
225
226 public override uint LocalID
227 {
228 set { m_localID = value; }
229 }
230
231 public override bool Grabbed
232 {
233 set { return; }
234 }
235
236 public override bool Selected
237 {
238// set { return; }
239 set { jumping = value; } // add for jumping flag
240 }
241
242 public override float Buoyancy
243 {
244 get { return m_buoyancy; }
245 set { m_buoyancy = value; }
246 }
247
248 public override bool FloatOnWater
249 {
250 set { return; }
251 }
252
253 public override bool IsPhysical
254 {
255 get { return false; }
256 set { return; }
257 }
258
259 public override bool ThrottleUpdates
260 {
261 get { return false; }
262 set { return; }
263 }
264
265 public override bool Flying
266 {
267 get { return flying; }
268 set { flying = value; }
269 }
270
271 /// <summary>
272 /// Returns if the avatar is colliding in general.
273 /// This includes the ground and objects and avatar.
274 /// </summary>
275 public override bool IsColliding
276 {
277//#@ get { return m_iscolliding; }
278 get { //##
279//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
280 return m_iscolliding; } //##
281 set
282 {
283 int i;
284 int truecount = 0;
285 int falsecount = 0;
286
287 if (m_colliderarr.Length >= 10)
288 {
289 for (i = 0; i < 10; i++)
290 {
291 m_colliderarr[i] = m_colliderarr[i + 1];
292 }
293 }
294 m_colliderarr[10] = value;
295
296 for (i = 0; i < 11; i++)
297 {
298 if (m_colliderarr[i])
299 {
300 truecount++;
301 }
302 else
303 {
304 falsecount++;
305 }
306 }
307
308 // Equal truecounts and false counts means we're colliding with something.
309
310 if (falsecount > 1.2*truecount)
311 {
312 m_iscolliding = false;
313 }
314 else
315 {
316 m_iscolliding = true;
317 }
318// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
319 if (m_wascolliding != m_iscolliding)
320 {
321 //base.SendCollisionUpdate(new CollisionEventUpdate());
322 }
323 m_wascolliding = m_iscolliding;
324 }
325 }
326
327 /// <summary>
328 /// Returns if an avatar is colliding with the ground
329 /// </summary>
330 public override bool CollidingGround
331 {
332 get { return m_iscollidingGround; }
333 set
334 {
335 // Collisions against the ground are not really reliable
336 // So, to get a consistant value we have to average the current result over time
337 // Currently we use 1 second = 10 calls to this.
338 int i;
339 int truecount = 0;
340 int falsecount = 0;
341
342 if (m_colliderGroundarr.Length >= 10)
343 {
344 for (i = 0; i < 10; i++)
345 {
346 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
347 }
348 }
349 m_colliderGroundarr[10] = value;
350
351 for (i = 0; i < 11; i++)
352 {
353 if (m_colliderGroundarr[i])
354 {
355 truecount++;
356 }
357 else
358 {
359 falsecount++;
360 }
361 }
362
363 // Equal truecounts and false counts means we're colliding with something.
364
365 if (falsecount > 1.2*truecount)
366 {
367 m_iscollidingGround = false;
368 }
369 else
370 {
371 m_iscollidingGround = true;
372 }
373 if (m_wascollidingGround != m_iscollidingGround)
374 {
375 //base.SendCollisionUpdate(new CollisionEventUpdate());
376 }
377 m_wascollidingGround = m_iscollidingGround;
378 }
379 }
380
381 /// <summary>
382 /// Returns if the avatar is colliding with an object
383 /// </summary>
384 public override bool CollidingObj
385 {
386 get { return m_iscollidingObj; }
387 set
388 {
389 m_iscollidingObj = value;
390 if (value)
391 m_pidControllerActive = false;
392 else
393 m_pidControllerActive = true;
394 }
395 }
396
397 /// <summary>
398 /// turn the PID controller on or off.
399 /// The PID Controller will turn on all by itself in many situations
400 /// </summary>
401 /// <param name="status"></param>
402 public void SetPidStatus(bool status)
403 {
404 m_pidControllerActive = status;
405 }
406
407 public override bool Stopped
408 {
409 get { return _zeroFlag; }
410 }
411
412 /// <summary>
413 /// This 'puts' an avatar somewhere in the physics space.
414 /// Not really a good choice unless you 'know' it's a good
415 /// spot otherwise you're likely to orbit the avatar.
416 /// </summary>
417 public override Vector3 Position
418 {
419 get { return _position; }
420 set
421 {
422 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
423 {
424 if (value.IsFinite())
425 {
426 if (value.Z > 9999999f)
427 {
428 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
429 }
430 if (value.Z < -90000f)
431 {
432 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
433 }
434
435 _position.X = value.X;
436 _position.Y = value.Y;
437 _position.Z = value.Z;
438
439 m_taintPosition.X = value.X;
440 m_taintPosition.Y = value.Y;
441 m_taintPosition.Z = value.Z;
442 _parent_scene.AddPhysicsActorTaint(this);
443 }
444 else
445 {
446 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
447 }
448 }
449 }
450 }
451
452 public override Vector3 RotationalVelocity
453 {
454 get { return m_rotationalVelocity; }
455 set { m_rotationalVelocity = value; }
456 }
457
458 /// <summary>
459 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
460 /// and use it to offset landings properly
461 /// </summary>
462 public override Vector3 Size
463 {
464 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
465 set
466 {
467 if (value.IsFinite())
468 {
469 m_pidControllerActive = true;
470
471 Vector3 SetSize = value;
472 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
473 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
474
475 Velocity = Vector3.Zero;
476 m_taintPosition = _position; // update the stale taint position
477 _parent_scene.AddPhysicsActorTaint(this);
478 }
479 else
480 {
481 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
482 }
483 }
484 }
485
486 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
487 {
488 movementVector.Z = 0f;
489 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
490 if (magnitude < 0.1f) return;
491
492 // normalize the velocity vector
493 float invMagnitude = 1.0f / magnitude;
494 movementVector.X *= invMagnitude;
495 movementVector.Y *= invMagnitude;
496
497 // if we change the capsule heading too often, the capsule can fall down
498 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
499 // meaning only 4 possible capsule tilt orientations
500 if (movementVector.X > 0)
501 {
502 // east
503 if (movementVector.Y > 0)
504 {
505 // northeast
506 movementVector.X = (float)Math.Sqrt(2.0);
507 movementVector.Y = (float)Math.Sqrt(2.0);
508 }
509 else
510 {
511 // southeast
512 movementVector.X = (float)Math.Sqrt(2.0);
513 movementVector.Y = -(float)Math.Sqrt(2.0);
514 }
515 }
516 else
517 {
518 // west
519 if (movementVector.Y > 0)
520 {
521 // northwest
522 movementVector.X = -(float)Math.Sqrt(2.0);
523 movementVector.Y = (float)Math.Sqrt(2.0);
524 }
525 else
526 {
527 // southwest
528 movementVector.X = -(float)Math.Sqrt(2.0);
529 movementVector.Y = -(float)Math.Sqrt(2.0);
530 }
531 }
532
533
534 // movementVector.Z is zero
535
536 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
537 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
538 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
539 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
540
541 //m_log.Debug("[PHYSICS] changing avatar tilt");
542 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
544 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
545 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
546 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
547 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
548 }
549
550 /// <summary>
551 /// This creates the Avatar's physical Surrogate at the position supplied
552 /// </summary>
553 /// <param name="npositionX"></param>
554 /// <param name="npositionY"></param>
555 /// <param name="npositionZ"></param>
556
557 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
558 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
559 // place that is safe to call this routine AvatarGeomAndBodyCreation.
560 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
561 {
562 //CAPSULE_LENGTH = -5;
563 //CAPSULE_RADIUS = -5;
564 int dAMotorEuler = 1;
565 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
566 if (CAPSULE_LENGTH <= 0)
567 {
568 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
569 CAPSULE_LENGTH = 0.01f;
570
571 }
572
573 if (CAPSULE_RADIUS <= 0)
574 {
575 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
576 CAPSULE_RADIUS = 0.01f;
577
578 }
579
580 if(Shell != IntPtr.Zero)
581 {
582 try
583 {
584 d.GeomDestroy(Shell);
585 }
586 catch (System.AccessViolationException)
587 {
588 m_log.Error("[PHYSICS]: PrimGeom dead");
589 }
590 // Remove any old entries
591//string tShell;
592//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
593//Console.WriteLine("**** Remove {0}", tShell);
594 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
595 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
596 }
597
598 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
599 _parent_scene.geom_name_map[Shell] = m_name;
600 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
601//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);
602
603 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
604 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
605
606 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
607 Body = d.BodyCreate(_parent_scene.world);
608 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
609
610 _position.X = npositionX;
611 _position.Y = npositionY;
612 _position.Z = npositionZ;
613
614
615 m_taintPosition.X = npositionX;
616 m_taintPosition.Y = npositionY;
617 m_taintPosition.Z = npositionZ;
618
619 d.BodySetMass(Body, ref ShellMass);
620 d.Matrix3 m_caprot;
621 // 90 Stand up on the cap of the capped cyllinder
622 if (_parent_scene.IsAvCapsuleTilted)
623 {
624 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
625 }
626 else
627 {
628 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
629 }
630
631
632 d.GeomSetRotation(Shell, ref m_caprot);
633 d.BodySetRotation(Body, ref m_caprot);
634
635 d.GeomSetBody(Shell, Body);
636
637
638 // The purpose of the AMotor here is to keep the avatar's physical
639 // surrogate from rotating while moving
640 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
641 d.JointAttach(Amotor, Body, IntPtr.Zero);
642 d.JointSetAMotorMode(Amotor, dAMotorEuler);
643 d.JointSetAMotorNumAxes(Amotor, 3);
644 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
645 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
646 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
647 d.JointSetAMotorAngle(Amotor, 0, 0);
648 d.JointSetAMotorAngle(Amotor, 1, 0);
649 d.JointSetAMotorAngle(Amotor, 2, 0);
650
651 // These lowstops and high stops are effectively (no wiggle room)
652 if (_parent_scene.IsAvCapsuleTilted)
653 {
654 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
655 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
656 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
657 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
658 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
659 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
660 }
661 else
662 {
663 #region Documentation of capsule motor LowStop and HighStop parameters
664 // Intentionally introduce some tilt into the capsule by setting
665 // the motor stops to small epsilon values. This small tilt prevents
666 // the capsule from falling into the terrain; a straight-up capsule
667 // (with -0..0 motor stops) falls into the terrain for reasons yet
668 // to be comprehended in their entirety.
669 #endregion
670 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
671 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
672 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
673 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
674 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
675 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
676 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
677 }
678
679 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
680 // capped cyllinder will fall over
681 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
682 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
683
684 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
685 //d.QfromR(
686 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
687 //
688 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
689 //standupStraight();
690 }
691
692 //
693 /// <summary>
694 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
695 /// This may be used in calculations in the scene/scenepresence
696 /// </summary>
697 public override float Mass
698 {
699 get
700 {
701 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
702 return m_density*AVvolume;
703 }
704 }
705 public override void link(PhysicsActor obj)
706 {
707
708 }
709
710 public override void delink()
711 {
712
713 }
714
715 public override void LockAngularMotion(Vector3 axis)
716 {
717
718 }
719
720// This code is very useful. Written by DanX0r. We're just not using it right now.
721// Commented out to prevent a warning.
722//
723// private void standupStraight()
724// {
725// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
726// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
727// // change appearance and when you enter the simulator
728// // After this routine is done, the amotor stabilizes much quicker
729// d.Vector3 feet;
730// d.Vector3 head;
731// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
732// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
733// float posture = head.Z - feet.Z;
734
735// // restoring force proportional to lack of posture:
736// float servo = (2.5f - posture) * POSTURE_SERVO;
737// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
738// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
739// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
740// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
741// }
742
743 public override Vector3 Force
744 {
745 get { return _target_velocity; }
746 set { return; }
747 }
748
749 public override int VehicleType
750 {
751 get { return 0; }
752 set { return; }
753 }
754
755 public override void VehicleFloatParam(int param, float value)
756 {
757
758 }
759
760 public override void VehicleVectorParam(int param, Vector3 value)
761 {
762
763 }
764
765 public override void VehicleRotationParam(int param, Quaternion rotation)
766 {
767
768 }
769
770 public override void VehicleFlags(int flags, bool remove)
771 {
772 }
773
774 public override void SetVolumeDetect(int param)
775 {
776
777 }
778
779 public override Vector3 CenterOfMass
780 {
781 get { return Vector3.Zero; }
782 }
783
784 public override Vector3 GeometricCenter
785 {
786 get { return Vector3.Zero; }
787 }
788
789 public override PrimitiveBaseShape Shape
790 {
791 set { return; }
792 }
793
794 public override Vector3 Velocity
795 {
796 get {
797 // There's a problem with Vector3.Zero! Don't Use it Here!
798 if (_zeroFlag)
799 return Vector3.Zero;
800 m_lastUpdateSent = false;
801 return _velocity;
802 }
803 set
804 {
805 if (value.IsFinite())
806 {
807 _target_velocity = value;
808 m_pidControllerActive = true;
809 }
810 else
811 {
812 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
813 }
814 }
815 }
816
817 public override Vector3 Torque
818 {
819 get { return Vector3.Zero; }
820 set { return; }
821 }
822
823 public override float CollisionScore
824 {
825 get { return 0f; }
826 set { }
827 }
828
829 public override bool Kinematic
830 {
831 get { return false; }
832 set { }
833 }
834
835 public override Quaternion Orientation
836 {
837 get { return Quaternion.Identity; }
838 set {
839 //Matrix3 or = Orientation.ToRotationMatrix();
840 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
841 //d.BodySetRotation(Body, ref ord);
842 }
843 }
844
845 public override Vector3 Acceleration
846 {
847 get { return _acceleration; }
848 set { _acceleration = value; }
849 }
850
851 public void SetAcceleration(Vector3 accel)
852 {
853 m_pidControllerActive = true;
854 _acceleration = accel;
855 }
856
857 /// <summary>
858 /// Adds the force supplied to the Target Velocity
859 /// The PID controller takes this target velocity and tries to make it a reality
860 /// </summary>
861 /// <param name="force"></param>
862 public override void AddForce(Vector3 force, bool pushforce)
863 {
864 if (force.IsFinite())
865 {
866 if (pushforce)
867 {
868 m_pidControllerActive = false;
869 force *= 100f;
870//Console.WriteLine("DF 1"); // ##
871 if (!force.ApproxEquals(Vector3.Zero, 0.01f))
872 doForce(force);
873 // If uncommented, things get pushed off world
874 //
875 // m_log.Debug("Push!");
876 // _target_velocity.X += force.X;
877 // _target_velocity.Y += force.Y;
878 // _target_velocity.Z += force.Z;
879 }
880 else
881 {
882 m_pidControllerActive = true;
883 _target_velocity.X += force.X;
884 _target_velocity.Y += force.Y;
885 _target_velocity.Z += force.Z;
886 }
887 }
888 else
889 {
890 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
891 }
892 //m_lastUpdateSent = false;
893 }
894
895 public override void AddAngularForce(Vector3 force, bool pushforce)
896 {
897
898 }
899
900 /// <summary>
901 /// After all of the forces add up with 'add force' we apply them with doForce
902 /// </summary>
903 /// <param name="force"></param>
904 public void doForce(Vector3 force)
905 {
906 if (!collidelock)
907 {
908 d.BodyAddForce(Body, force.X, force.Y, force.Z);
909 //d.BodySetRotation(Body, ref m_StandUpRotation);
910 //standupStraight();
911 d.Vector3 vel = d.BodyGetLinearVel(Body); //##
912//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
913 }
914 }
915
916 public override void SetMomentum(Vector3 momentum)
917 {
918 if (momentum.IsFinite())
919 {
920 m_taintMomentum = momentum;
921 m_haveTaintMomentum = true;
922 _parent_scene.AddPhysicsActorTaint(this);
923 }
924 else
925 m_log.Warn("[PHYSICS] !isFinite momentum");
926 }
927
928
929 /// <summary>
930 /// Called from Simulate
931 /// This is the avatar's movement control + PID Controller
932 /// </summary>
933 /// <param name="timeStep"></param>
934 public void Move(float timeStep, List<OdeCharacter> defects)
935 {
936 // no lock; for now it's only called from within Simulate()
937
938 // If the PID Controller isn't active then we set our force
939 // calculating base velocity to the current position
940
941 if (Body == IntPtr.Zero)
942 return;
943
944 if (m_pidControllerActive == false)
945 {
946 _zeroPosition = d.BodyGetPosition(Body);
947 }
948 //PidStatus = true;
949
950 d.Vector3 localpos = d.BodyGetPosition(Body);
951 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
952
953 if (!localPos.IsFinite())
954 {
955
956 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
957 defects.Add(this);
958 // _parent_scene.RemoveCharacter(this);
959
960 // destroy avatar capsule and related ODE data
961 if (Amotor != IntPtr.Zero)
962 {
963 // Kill the Amotor
964 d.JointDestroy(Amotor);
965 Amotor = IntPtr.Zero;
966 }
967
968 //kill the Geometry
969 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
970
971 if (Body != IntPtr.Zero)
972 {
973 //kill the body
974 d.BodyDestroy(Body);
975
976 Body = IntPtr.Zero;
977 }
978
979 if(Shell != IntPtr.Zero)
980 {
981 try
982 {
983 d.GeomDestroy(Shell);
984 }
985 catch (System.AccessViolationException)
986 {
987 m_log.Error("[PHYSICS]: PrimGeom dead");
988 }
989 // Remove any old entries
990//string tShell;
991//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
992//Console.WriteLine("**** Remove {0}", tShell);
993
994 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
995 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
996 Shell = IntPtr.Zero;
997 }
998
999 return;
1000 }
1001
1002 Vector3 vec = Vector3.Zero;
1003 d.Vector3 vel = d.BodyGetLinearVel(Body);
1004
1005 float movementdivisor = 1f;
1006
1007 if (!m_alwaysRun)
1008 {
1009 movementdivisor = walkDivisor;
1010 }
1011 else
1012 {
1013 movementdivisor = runDivisor;
1014 }
1015
1016 // if velocity is zero, use position control; otherwise, velocity control
1017 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
1018 {
1019 // keep track of where we stopped. No more slippin' & slidin'
1020 if (!_zeroFlag)
1021 {
1022 _zeroFlag = true;
1023 _zeroPosition = d.BodyGetPosition(Body);
1024 }
1025 if (m_pidControllerActive)
1026 {
1027 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1028 // react to the physics scene by moving it's position.
1029 // Avatar to Avatar collisions
1030 // Prim to avatar collisions
1031
1032 d.Vector3 pos = d.BodyGetPosition(Body);
1033 float errX = _zeroPosition.X - pos.X;
1034 float errY = _zeroPosition.Y - pos.Y;
1035 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1036 {
1037 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1038 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1039 }
1040 else
1041 { // close, jump to lateral destination
1042 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1043 }
1044// if (flying)
1045 if (flying || jumping) // add for jumping
1046 {
1047 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1048 }
1049 }
1050 //PidStatus = true;
1051 }
1052 else
1053 {
1054 m_pidControllerActive = true;
1055 _zeroFlag = false;
1056 if (m_iscolliding && !flying)
1057 {
1058 // We're standing on something
1059 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1060 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1061 }
1062 else if (m_iscolliding && flying)
1063 {
1064 // We're flying and colliding with something
1065 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1066 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1067 }
1068 else if (!m_iscolliding && flying)
1069 {
1070 // we're in mid air suspended
1071 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1072 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1073 }
1074
1075 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1076 {
1077 // We're colliding with something and we're not flying but we're moving
1078 // This means we're walking or running.
1079 d.Vector3 pos = d.BodyGetPosition(Body);
1080 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1081 if (_target_velocity.X > 0)
1082 {
1083 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1084 }
1085 if (_target_velocity.Y > 0)
1086 {
1087 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1088 }
1089 }
1090 else if (!m_iscolliding && !flying)
1091 {
1092 // we're not colliding and we're not flying so that means we're falling!
1093 // m_iscolliding includes collisions with the ground.
1094
1095 // d.Vector3 pos = d.BodyGetPosition(Body);
1096 if (Math.Abs(_target_velocity.X) > 0)
1097 {
1098 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1099 }
1100 if (Math.Abs(_target_velocity.Y) > 0)
1101 {
1102 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1103 }
1104 }
1105
1106 if (flying)
1107 {
1108 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1109 }
1110 }
1111 if (flying)
1112 {
1113 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1114
1115 //Added for auto fly height. Kitto Flora
1116 //d.Vector3 pos = d.BodyGetPosition(Body);
1117 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1118
1119 if (_position.Z < target_altitude)
1120 {
1121 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1122 }
1123 // end add Kitto Flora
1124 }
1125
1126 if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50ms apply breaks
1127 {
1128 float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall
1129 vec.X -= breakfactor * vel.X;
1130 vec.Y -= breakfactor * vel.Y;
1131 vec.Z -= breakfactor * vel.Z;
1132 }
1133
1134 if (vec.IsFinite())
1135 {
1136 if (vec.LengthSquared() > 0.0004f) // 0.01 allows 0.002 !!
1137 {
1138//Console.WriteLine("DF 2"); // ##
1139
1140 doForce(vec);
1141 if (!_zeroFlag)
1142 {
1143// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1144 }
1145 }
1146 }
1147 else
1148 {
1149 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1150 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1151 defects.Add(this);
1152 // _parent_scene.RemoveCharacter(this);
1153 // destroy avatar capsule and related ODE data
1154 if (Amotor != IntPtr.Zero)
1155 {
1156 // Kill the Amotor
1157 d.JointDestroy(Amotor);
1158 Amotor = IntPtr.Zero;
1159 }
1160 //kill the Geometry
1161 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1162
1163 if (Body != IntPtr.Zero)
1164 {
1165 //kill the body
1166 d.BodyDestroy(Body);
1167
1168 Body = IntPtr.Zero;
1169 }
1170
1171 if(Shell != IntPtr.Zero)
1172 {
1173 try
1174 {
1175 d.GeomDestroy(Shell);
1176 }
1177 catch (System.AccessViolationException)
1178 {
1179 m_log.Error("[PHYSICS]: PrimGeom dead");
1180 }
1181 // Remove any old entries
1182//string tShell;
1183//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1184//Console.WriteLine("**** Remove {0}", tShell);
1185
1186 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1187 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1188 Shell = IntPtr.Zero;
1189 }
1190 }
1191 }
1192
1193 /// <summary>
1194 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1195 /// </summary>
1196 public void UpdatePositionAndVelocity()
1197 {
1198 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1199 d.Vector3 vec;
1200 try
1201 {
1202 vec = d.BodyGetPosition(Body);
1203 }
1204 catch (NullReferenceException)
1205 {
1206 bad = true;
1207 _parent_scene.BadCharacter(this);
1208 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1209 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1210 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1211 }
1212
1213
1214 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1215 if (vec.X < 0.0f) vec.X = 0.0f;
1216 if (vec.Y < 0.0f) vec.Y = 0.0f;
1217 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1218 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1219
1220 _position.X = vec.X;
1221 _position.Y = vec.Y;
1222 _position.Z = vec.Z;
1223
1224 // Did we move last? = zeroflag
1225 // This helps keep us from sliding all over
1226
1227 if (_zeroFlag)
1228 {
1229 _velocity.X = 0.0f;
1230 _velocity.Y = 0.0f;
1231 _velocity.Z = 0.0f;
1232
1233 // Did we send out the 'stopped' message?
1234 if (!m_lastUpdateSent)
1235 {
1236 m_lastUpdateSent = true;
1237 //base.RequestPhysicsterseUpdate();
1238
1239 }
1240 }
1241 else
1242 {
1243 m_lastUpdateSent = false;
1244 try
1245 {
1246 vec = d.BodyGetLinearVel(Body);
1247 }
1248 catch (NullReferenceException)
1249 {
1250 vec.X = _velocity.X;
1251 vec.Y = _velocity.Y;
1252 vec.Z = _velocity.Z;
1253 }
1254 _velocity.X = (vec.X);
1255 _velocity.Y = (vec.Y);
1256
1257 _velocity.Z = (vec.Z);
1258
1259 if (_velocity.Z < -6 && !m_hackSentFall)
1260 {
1261 m_hackSentFall = true;
1262 m_pidControllerActive = false;
1263 }
1264 else if (flying && !m_hackSentFly)
1265 {
1266 //m_hackSentFly = true;
1267 //base.SendCollisionUpdate(new CollisionEventUpdate());
1268 }
1269 else
1270 {
1271 m_hackSentFly = false;
1272 m_hackSentFall = false;
1273 }
1274 }
1275 }
1276
1277 /// <summary>
1278 /// Cleanup the things we use in the scene.
1279 /// </summary>
1280 public void Destroy()
1281 {
1282 m_tainted_isPhysical = false;
1283 _parent_scene.AddPhysicsActorTaint(this);
1284 }
1285
1286 public override void CrossingFailure()
1287 {
1288 }
1289
1290 public override Vector3 PIDTarget { set { return; } }
1291 public override bool PIDActive { set { return; } }
1292 public override float PIDTau { set { return; } }
1293
1294 public override float PIDHoverHeight { set { return; } }
1295 public override bool PIDHoverActive { set { return; } }
1296 public override PIDHoverType PIDHoverType { set { return; } }
1297 public override float PIDHoverTau { set { return; } }
1298
1299 public override Quaternion APIDTarget{ set { return; } }
1300
1301 public override bool APIDActive{ set { return; } }
1302
1303 public override float APIDStrength{ set { return; } }
1304
1305 public override float APIDDamping{ set { return; } }
1306
1307
1308 public override void SubscribeEvents(int ms)
1309 {
1310 m_requestedUpdateFrequency = ms;
1311 m_eventsubscription = ms;
1312 _parent_scene.addCollisionEventReporting(this);
1313 }
1314 public override void UnSubscribeEvents()
1315 {
1316 _parent_scene.remCollisionEventReporting(this);
1317 m_requestedUpdateFrequency = 0;
1318 m_eventsubscription = 0;
1319 }
1320 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1321 {
1322 if (m_eventsubscription > 0)
1323 {
1324 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1325 }
1326 }
1327
1328 public void SendCollisions()
1329 {
1330 if (m_eventsubscription > m_requestedUpdateFrequency)
1331 {
1332 if (CollisionEventsThisFrame != null)
1333 {
1334 base.SendCollisionUpdate(CollisionEventsThisFrame);
1335 }
1336 CollisionEventsThisFrame = new CollisionEventUpdate();
1337 m_eventsubscription = 0;
1338 }
1339 }
1340 public override bool SubscribedEvents()
1341 {
1342 if (m_eventsubscription > 0)
1343 return true;
1344 return false;
1345 }
1346
1347 public void ProcessTaints(float timestep)
1348 {
1349 lock (m_syncRoot)
1350 {
1351 if (m_tainted_isPhysical != m_isPhysical)
1352 {
1353 if (m_tainted_isPhysical)
1354 {
1355 // Create avatar capsule and related ODE data
1356 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1357 {
1358 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1359 + (Shell!=IntPtr.Zero ? "Shell ":"")
1360 + (Body!=IntPtr.Zero ? "Body ":"")
1361 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1362 }
1363 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1364 _parent_scene.AddCharacter(this);
1365 }
1366 else
1367 {
1368 _parent_scene.RemoveCharacter(this);
1369 // destroy avatar capsule and related ODE data
1370 if (Amotor != IntPtr.Zero)
1371 {
1372 // Kill the Amotor
1373 d.JointDestroy(Amotor);
1374 Amotor = IntPtr.Zero;
1375 }
1376 //kill the Geometry
1377 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1378
1379 if (Body != IntPtr.Zero)
1380 {
1381 //kill the body
1382 d.BodyDestroy(Body);
1383 Body = IntPtr.Zero;
1384 }
1385
1386 if(Shell != IntPtr.Zero)
1387 {
1388 try
1389 {
1390 d.GeomDestroy(Shell);
1391 }
1392 catch (Exception e)
1393 {
1394 m_log.ErrorFormat("[PHYSICS]: Failed to destroy character shell {0}",e.Message);
1395 }
1396 // Remove any old entries
1397 //string tShell;
1398 //_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1399 //Console.WriteLine("**** Remove {0}", tShell);
1400
1401 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1402 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1403 Shell = IntPtr.Zero;
1404 }
1405 }
1406
1407 m_isPhysical = m_tainted_isPhysical;
1408 }
1409
1410 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1411 {
1412 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1413 {
1414
1415 m_pidControllerActive = true;
1416 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1417 d.JointDestroy(Amotor);
1418 float prevCapsule = CAPSULE_LENGTH;
1419 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1420 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1421 d.BodyDestroy(Body);
1422 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1423 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1424 Velocity = Vector3.Zero;
1425 }
1426 else
1427 {
1428 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1429 + (Shell==IntPtr.Zero ? "Shell ":"")
1430 + (Body==IntPtr.Zero ? "Body ":"")
1431 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1432 }
1433 }
1434
1435 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1436 {
1437 if (Body != IntPtr.Zero)
1438 {
1439 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1440
1441 }
1442 _position.X = m_taintPosition.X;
1443 _position.Y = m_taintPosition.Y;
1444 _position.Z = m_taintPosition.Z;
1445 }
1446
1447 if (m_haveTaintMomentum)
1448 {
1449 m_haveTaintMomentum = false;
1450 _velocity = m_taintMomentum;
1451 _target_velocity = m_taintMomentum;
1452 m_pidControllerActive = true;
1453 if (Body != IntPtr.Zero)
1454 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1455 }
1456 }
1457 }
1458
1459 internal void AddCollisionFrameTime(int p)
1460 {
1461 // protect it from overflow crashing
1462 if (m_eventsubscription + p >= int.MaxValue)
1463 m_eventsubscription = 0;
1464 m_eventsubscription += p;
1465 }
1466 }
1467}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..ba24aa7
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -0,0 +1,4124 @@
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_taintphantom;
135 public bool m_taintCollidesWater;
136
137 public uint m_localID;
138
139 //public GCHandle gc;
140 private CollisionLocker ode;
141
142 private bool m_meshfailed = false;
143 private bool m_taintforce = false;
144 private bool m_taintaddangularforce = false;
145 private Vector3 m_force;
146 private List<Vector3> m_forcelist = new List<Vector3>();
147 private List<Vector3> m_angularforcelist = new List<Vector3>();
148
149 private IMesh _mesh;
150 private PrimitiveBaseShape _pbs;
151 private OdeScene _parent_scene;
152 public IntPtr m_targetSpace = IntPtr.Zero;
153 public IntPtr prim_geom;
154 // public IntPtr prev_geom;
155 public IntPtr _triMeshData;
156
157 private IntPtr _linkJointGroup = IntPtr.Zero;
158 private PhysicsActor _parent;
159 private PhysicsActor m_taintparent;
160
161 private List<OdePrim> childrenPrim = new List<OdePrim>();
162
163 private bool iscolliding;
164 private bool m_isphysical;
165 private bool m_isphantom;
166 private bool m_isSelected;
167
168 private bool m_NoColide; // for now only for internal use for bad meshs
169
170 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
171
172 private bool m_throttleUpdates;
173 private int throttleCounter;
174 public int m_interpenetrationcount;
175 public float m_collisionscore;
176 // public int m_roundsUnderMotionThreshold;
177 // private int m_crossingfailures;
178
179 public bool m_outofBounds;
180 private float m_density = 10.000006836f; // Aluminum g/cm3;
181
182 private float m_primMass = 10.000006836f; // Aluminum g/cm3;
183
184 private byte m_shapetype;
185 private byte m_taintshapetype;
186
187 public bool _zeroFlag; // if body has been stopped
188 private bool m_lastUpdateSent;
189
190 public IntPtr Body = IntPtr.Zero;
191 public String m_primName;
192 private Vector3 _target_velocity;
193 public d.Mass pMass;
194
195 public int m_eventsubscription;
196 private CollisionEventUpdate CollisionEventsThisFrame;
197
198 private IntPtr m_linkJoint = IntPtr.Zero;
199
200 public volatile bool childPrim;
201
202 internal int m_material = (int)Material.Wood;
203
204 private IntPtr m_body = IntPtr.Zero;
205
206 // Vehicle properties ============================================================================================
207 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
208 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
209 private VehicleFlag m_flags = (VehicleFlag)0; // Bit settings:
210 // HOVER_TERRAIN_ONLY
211 // HOVER_GLOBAL_HEIGHT
212 // NO_DEFLECTION_UP
213 // HOVER_WATER_ONLY
214 // HOVER_UP_ONLY
215 // LIMIT_MOTOR_UP
216 // LIMIT_ROLL_ONLY
217
218 // Linear properties
219 private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity
220 //requested by LSL
221 private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL
222 private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL
223 private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL
224
225 private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor
226 private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity
227 private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity
228
229 //Angular properties
230 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
231
232 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
233 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
234 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
235
236 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
237 // private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
238 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
239
240 //Deflection properties
241 // private float m_angularDeflectionEfficiency = 0;
242 // private float m_angularDeflectionTimescale = 0;
243 // private float m_linearDeflectionEfficiency = 0;
244 // private float m_linearDeflectionTimescale = 0;
245
246 //Banking properties
247 // private float m_bankingEfficiency = 0;
248 // private float m_bankingMix = 0;
249 // private float m_bankingTimescale = 0;
250
251 //Hover and Buoyancy properties
252 private float m_VhoverHeight = 0f;
253 // private float m_VhoverEfficiency = 0f;
254 private float m_VhoverTimescale = 0f;
255 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
256 private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle.
257 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
258 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
259 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
260
261 //Attractor properties
262 private float m_verticalAttractionEfficiency = 1.0f; // damped
263 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
264
265// SerialControl m_taintserial = null;
266 object m_taintvehicledata = null;
267
268 public void DoSetVehicle()
269 {
270 VehicleData vd = (VehicleData)m_taintvehicledata;
271
272 m_type = vd.m_type;
273 m_flags = vd.m_flags;
274
275 // Linear properties
276 m_linearMotorDirection = vd.m_linearMotorDirection;
277 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
278 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
279 m_linearMotorTimescale = vd.m_linearMotorTimescale;
280// m_linearMotorOffset = vd.m_linearMotorOffset;
281
282 //Angular properties
283 m_angularMotorDirection = vd.m_angularMotorDirection;
284 m_angularMotorTimescale = vd.m_angularMotorTimescale;
285 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
286 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
287
288 //Deflection properties
289// m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
290// m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
291// m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
292// m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
293
294 //Banking properties
295// m_bankingEfficiency = vd.m_bankingEfficiency;
296// m_bankingMix = vd.m_bankingMix;
297// m_bankingTimescale = vd.m_bankingTimescale;
298
299 //Hover and Buoyancy properties
300 m_VhoverHeight = vd.m_VhoverHeight;
301// m_VhoverEfficiency = vd.m_VhoverEfficiency;
302 m_VhoverTimescale = vd.m_VhoverTimescale;
303 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
304
305 //Attractor properties
306 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
307 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
308
309 // Axis
310// m_referenceFrame = vd.m_referenceFrame;
311
312
313 m_taintvehicledata = null;
314 }
315
316 public override void SetVehicle(object vdata)
317 {
318 m_taintvehicledata = vdata;
319 _parent_scene.AddPhysicsActorTaint(this);
320 }
321
322 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
323 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical,
324 bool pisPhantom,byte shapetype, CollisionLocker dode, uint localid)
325 {
326 m_localID = localid;
327 ode = dode;
328 if (!pos.IsFinite())
329 {
330 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
331 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
332 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
333 }
334
335 _position = pos;
336 m_taintposition = pos;
337 PID_D = parent_scene.bodyPIDD;
338 PID_G = parent_scene.bodyPIDG;
339 m_density = parent_scene.geomDefaultDensity;
340 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
341 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
342
343 prim_geom = IntPtr.Zero;
344 // prev_geom = IntPtr.Zero;
345
346 if (!pos.IsFinite())
347 {
348 size = new Vector3(0.5f, 0.5f, 0.5f);
349 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
350 }
351
352 if (size.X <= 0) size.X = 0.01f;
353 if (size.Y <= 0) size.Y = 0.01f;
354 if (size.Z <= 0) size.Z = 0.01f;
355
356 _size = size;
357 m_taintsize = _size;
358
359 if (!QuaternionIsFinite(rotation))
360 {
361 rotation = Quaternion.Identity;
362 m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
363 }
364
365 _orientation = rotation;
366 m_taintrot = _orientation;
367 _mesh = mesh;
368 _pbs = pbs;
369 m_shapetype = shapetype;
370 m_taintshapetype = shapetype;
371
372 _parent_scene = parent_scene;
373 m_targetSpace = (IntPtr)0;
374
375 // if (pos.Z < 0)
376 if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y))
377 m_isphysical = false;
378 else
379 {
380 m_isphysical = pisPhysical;
381 // If we're physical, we need to be in the master space for now.
382 // linksets *should* be in a space together.. but are not currently
383 if (m_isphysical)
384 m_targetSpace = _parent_scene.space;
385 }
386
387 m_isphantom = pisPhantom;
388 m_taintphantom = pisPhantom;
389
390 _triMeshData = IntPtr.Zero;
391 m_NoColide = false;
392
393// m_taintserial = null;
394 m_primName = primName;
395 m_taintadd = true;
396 _parent_scene.AddPhysicsActorTaint(this);
397 // don't do .add() here; old geoms get recycled with the same hash
398 }
399
400 public override int PhysicsActorType
401 {
402 get { return (int)ActorTypes.Prim; }
403 set { return; }
404 }
405
406 public override bool SetAlwaysRun
407 {
408 get { return false; }
409 set { return; }
410 }
411
412 public override uint LocalID
413 {
414 set
415 {
416 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
417 m_localID = value;
418 }
419 }
420
421 public override bool Grabbed
422 {
423 set { return; }
424 }
425
426 public override bool Selected
427 {
428 set
429 {
430 //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
431 // This only makes the object not collidable if the object
432 // is physical or the object is modified somehow *IN THE FUTURE*
433 // without this, if an avatar selects prim, they can walk right
434 // through it while it's selected
435 m_collisionscore = 0;
436 if ((m_isphysical && !_zeroFlag) || !value)
437 {
438 m_taintselected = value;
439 _parent_scene.AddPhysicsActorTaint(this);
440 }
441 else
442 {
443 m_taintselected = value;
444 m_isSelected = value;
445 }
446 if (m_isSelected) disableBodySoft();
447 }
448 }
449
450 public override bool IsPhysical
451 {
452 get { return m_isphysical; }
453 set
454 {
455 m_isphysical = value;
456 if (!m_isphysical)
457 { // Zero the remembered last velocity
458 m_lastVelocity = Vector3.Zero;
459 if (m_type != Vehicle.TYPE_NONE) Halt();
460 }
461 }
462 }
463
464 public override bool IsVolumeDtc
465 {
466 set { return; }
467 get { return m_isVolumeDetect; }
468
469 }
470
471 public override bool Phantom
472 {
473 get { return m_isphantom; }
474 set
475 {
476 m_isphantom = value;
477 }
478 }
479
480 public void setPrimForRemoval()
481 {
482 m_taintremove = true;
483 }
484
485 public override bool Flying
486 {
487 // no flying prims for you
488 get { return false; }
489 set { }
490 }
491
492 public override bool IsColliding
493 {
494 get { return iscolliding; }
495 set { iscolliding = value; }
496 }
497
498 public override bool CollidingGround
499 {
500 get { return false; }
501 set { return; }
502 }
503
504 public override bool CollidingObj
505 {
506 get { return false; }
507 set { return; }
508 }
509
510 public override bool ThrottleUpdates
511 {
512 get { return m_throttleUpdates; }
513 set { m_throttleUpdates = value; }
514 }
515
516 public override bool Stopped
517 {
518 get { return _zeroFlag; }
519 }
520
521 public override Vector3 Position
522 {
523 get { return _position; }
524
525 set
526 {
527 _position = value;
528 //m_log.Info("[PHYSICS]: " + _position.ToString());
529 }
530 }
531
532 public override Vector3 Size
533 {
534 get { return _size; }
535 set
536 {
537 if (value.IsFinite())
538 {
539 _size = value;
540 }
541 else
542 {
543 m_log.Warn("[PHYSICS]: Got NaN Size on object");
544 }
545 }
546 }
547
548 public override float Mass
549 {
550 get
551 {
552 CalculateMass();
553 return m_primMass;
554 }
555 }
556
557 public override Vector3 Force
558 {
559 //get { return Vector3.Zero; }
560 get { return m_force; }
561 set
562 {
563 if (value.IsFinite())
564 {
565 m_force = value;
566 }
567 else
568 {
569 m_log.Warn("[PHYSICS]: NaN in Force Applied to an Object");
570 }
571 }
572 }
573
574 public override int VehicleType
575 {
576 get { return (int)m_type; }
577 set { ProcessTypeChange((Vehicle)value); }
578 }
579
580 public override void VehicleFloatParam(int param, float value)
581 {
582 ProcessFloatVehicleParam((Vehicle)param, value);
583 }
584
585 public override void VehicleVectorParam(int param, Vector3 value)
586 {
587 ProcessVectorVehicleParam((Vehicle)param, value);
588 }
589
590 public override void VehicleRotationParam(int param, Quaternion rotation)
591 {
592 ProcessRotationVehicleParam((Vehicle)param, rotation);
593 }
594
595 public override void VehicleFlags(int param, bool remove)
596 {
597 ProcessVehicleFlags(param, remove);
598 }
599
600 public override void SetVolumeDetect(int param)
601 {
602 lock (_parent_scene.OdeLock)
603 {
604 m_isVolumeDetect = (param != 0);
605 }
606 }
607
608
609 public override Vector3 CenterOfMass
610 {
611 get { return Vector3.Zero; }
612 }
613
614 public override Vector3 GeometricCenter
615 {
616 get { return Vector3.Zero; }
617 }
618
619 public override PrimitiveBaseShape Shape
620 {
621 set
622 {
623 _pbs = value;
624 m_taintshape = true;
625 }
626 }
627
628 public override byte PhysicsShapeType
629 {
630 get
631 {
632 return m_shapetype;
633 }
634 set
635 {
636 m_taintshapetype = value;
637 _parent_scene.AddPhysicsActorTaint(this);
638 }
639 }
640
641 public override Vector3 Velocity
642 {
643 get
644 {
645 // Averate previous velocity with the new one so
646 // client object interpolation works a 'little' better
647 if (_zeroFlag)
648 return Vector3.Zero;
649
650 Vector3 returnVelocity = Vector3.Zero;
651 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
652 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
653 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
654 return returnVelocity;
655 }
656 set
657 {
658 if (value.IsFinite())
659 {
660 _velocity = value;
661 if (_velocity.ApproxEquals(Vector3.Zero, 0.001f))
662 _acceleration = Vector3.Zero;
663
664 m_taintVelocity = value;
665 _parent_scene.AddPhysicsActorTaint(this);
666 }
667 else
668 {
669 m_log.Warn("[PHYSICS]: Got NaN Velocity in Object");
670 }
671
672 }
673 }
674
675 public override Vector3 Torque
676 {
677 get
678 {
679 if (!m_isphysical || Body == IntPtr.Zero)
680 return Vector3.Zero;
681
682 return _torque;
683 }
684
685 set
686 {
687 if (value.IsFinite())
688 {
689 m_taintTorque = value;
690 _parent_scene.AddPhysicsActorTaint(this);
691 }
692 else
693 {
694 m_log.Warn("[PHYSICS]: Got NaN Torque in Object");
695 }
696 }
697 }
698
699 public override float CollisionScore
700 {
701 get { return m_collisionscore; }
702 set { m_collisionscore = value; }
703 }
704
705 public override bool Kinematic
706 {
707 get { return false; }
708 set { }
709 }
710
711 public override Quaternion Orientation
712 {
713 get { return _orientation; }
714 set
715 {
716 if (QuaternionIsFinite(value))
717 {
718 _orientation = value;
719 }
720 else
721 m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
722
723 }
724 }
725
726 public override bool FloatOnWater
727 {
728 set
729 {
730 m_taintCollidesWater = value;
731 _parent_scene.AddPhysicsActorTaint(this);
732 }
733 }
734
735 public override void SetMomentum(Vector3 momentum)
736 {
737 }
738
739 public override Vector3 PIDTarget
740 {
741 set
742 {
743 if (value.IsFinite())
744 {
745 m_PIDTarget = value;
746 }
747 else
748 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
749 }
750 }
751 public override bool PIDActive { set { m_usePID = value; } }
752 public override float PIDTau { set { m_PIDTau = value; } }
753
754 // For RotLookAt
755 public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
756 public override bool APIDActive { set { m_useAPID = value; } }
757 public override float APIDStrength { set { m_APIDStrength = value; } }
758 public override float APIDDamping { set { m_APIDDamping = value; } }
759
760 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
761 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
762 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
763 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
764
765 internal static bool QuaternionIsFinite(Quaternion q)
766 {
767 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
768 return false;
769 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
770 return false;
771 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
772 return false;
773 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
774 return false;
775 return true;
776 }
777
778 public override Vector3 Acceleration // client updates read data via here
779 {
780 get
781 {
782 if (_zeroFlag)
783 {
784 return Vector3.Zero;
785 }
786 return _acceleration;
787 }
788 set { _acceleration = value; }
789 }
790
791
792 public void SetAcceleration(Vector3 accel) // No one calls this, and it would not do anything.
793 {
794 _acceleration = accel;
795 }
796
797 public override void AddForce(Vector3 force, bool pushforce)
798 {
799 if (force.IsFinite())
800 {
801 lock (m_forcelist)
802 m_forcelist.Add(force);
803
804 m_taintforce = true;
805 }
806 else
807 {
808 m_log.Warn("[PHYSICS]: Got Invalid linear force vector from Scene in Object");
809 }
810 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
811 }
812
813 public override void AddAngularForce(Vector3 force, bool pushforce)
814 {
815 if (force.IsFinite())
816 {
817 m_angularforcelist.Add(force);
818 m_taintaddangularforce = true;
819 }
820 else
821 {
822 m_log.Warn("[PHYSICS]: Got Invalid Angular force vector from Scene in Object");
823 }
824 }
825
826 public override Vector3 RotationalVelocity
827 {
828 get
829 {
830 return m_rotationalVelocity;
831 }
832 set
833 {
834 if (value.IsFinite())
835 {
836 m_rotationalVelocity = value;
837 }
838 else
839 {
840 m_log.Warn("[PHYSICS]: Got NaN RotationalVelocity in Object");
841 }
842 }
843 }
844
845 public override void CrossingFailure()
846 {
847 if (m_outofBounds)
848 {
849 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
850 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
851 _position.Z = Util.Clip(_position.Z, -100f, 50000f);
852 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
853
854 m_lastposition = _position;
855
856 _velocity = Vector3.Zero;
857 m_lastVelocity = _velocity;
858
859
860 if (m_type != Vehicle.TYPE_NONE)
861 Halt();
862
863 d.BodySetLinearVel(Body, 0, 0, 0);
864 base.RequestPhysicsterseUpdate();
865 m_outofBounds = false;
866 }
867 /*
868 int tmp = Interlocked.Increment(ref m_crossingfailures);
869 if (tmp > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
870 {
871 base.RaiseOutOfBounds(_position);
872 return;
873 }
874 else if (tmp == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
875 {
876 m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
877 }
878 */
879 }
880
881 public override float Buoyancy
882 {
883 get { return m_buoyancy; }
884 set { m_buoyancy = value; }
885 }
886
887 public override void link(PhysicsActor obj)
888 {
889 m_taintparent = obj;
890 }
891
892 public override void delink()
893 {
894 m_taintparent = null;
895 }
896
897 public override void LockAngularMotion(Vector3 axis)
898 {
899 // This is actually ROTATION ENABLE, not a lock.
900 // default is <1,1,1> which is all enabled.
901 // The lock value is updated inside Move(), no point in using the taint system.
902 // OS 'm_taintAngularLock' etc change to m_rotateEnable.
903 if (axis.IsFinite())
904 {
905 axis.X = (axis.X > 0) ? 1f : 0f;
906 axis.Y = (axis.Y > 0) ? 1f : 0f;
907 axis.Z = (axis.Z > 0) ? 1f : 0f;
908 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
909 m_rotateEnableRequest = axis;
910 m_rotateEnableUpdate = true;
911 }
912 else
913 {
914 m_log.Warn("[PHYSICS]: Got NaN locking axis from Scene on Object");
915 }
916 }
917
918 public void SetGeom(IntPtr geom)
919 {
920 if (prim_geom != IntPtr.Zero)
921 {
922 // Remove any old entries
923 //string tPA;
924 //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA);
925 //Console.WriteLine("**** Remove {0}", tPA);
926 if (_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom);
927 if (_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom);
928 d.GeomDestroy(prim_geom);
929 }
930
931 prim_geom = geom;
932 //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);
933 if (prim_geom != IntPtr.Zero)
934 {
935 _parent_scene.geom_name_map[prim_geom] = this.m_primName;
936 _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
937 //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
938 if (m_NoColide)
939 {
940 d.GeomSetCategoryBits(prim_geom, 0);
941 if (m_isphysical && !m_isVolumeDetect)
942 {
943 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
944 }
945 else
946 {
947 d.GeomSetCollideBits(prim_geom, 0);
948 d.GeomDisable(prim_geom);
949 }
950 }
951 else
952 {
953 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
954 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
955 }
956 }
957
958 if (childPrim)
959 {
960 if (_parent != null && _parent is OdePrim)
961 {
962 OdePrim parent = (OdePrim)_parent;
963 //Console.WriteLine("SetGeom calls ChildSetGeom");
964 parent.ChildSetGeom(this);
965 }
966 }
967 //m_log.Warn("Setting Geom to: " + prim_geom);
968 }
969
970 public void enableBodySoft()
971 {
972 if (!childPrim)
973 {
974 if (m_isphysical && Body != IntPtr.Zero)
975 {
976 d.BodyEnable(Body);
977 if (m_type != Vehicle.TYPE_NONE)
978 Enable(Body, _parent_scene);
979 }
980
981 m_disabled = false;
982 }
983 }
984
985 public void disableBodySoft()
986 {
987 m_disabled = true;
988
989 if (m_isphysical && Body != IntPtr.Zero)
990 {
991 d.BodyDisable(Body);
992 Halt();
993 }
994 }
995
996 public void enableBody()
997 {
998 // Don't enable this body if we're a child prim
999 // this should be taken care of in the parent function not here
1000 if (!childPrim)
1001 {
1002 // Sets the geom to a body
1003 Body = d.BodyCreate(_parent_scene.world);
1004
1005 setMass();
1006 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1007 d.Quaternion myrot = new d.Quaternion();
1008 myrot.X = _orientation.X;
1009 myrot.Y = _orientation.Y;
1010 myrot.Z = _orientation.Z;
1011 myrot.W = _orientation.W;
1012 d.BodySetQuaternion(Body, ref myrot);
1013 d.GeomSetBody(prim_geom, Body);
1014
1015 m_collisionCategories |= CollisionCategories.Body;
1016 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1017
1018 if (m_NoColide)
1019 {
1020 d.GeomSetCategoryBits(prim_geom, 0);
1021 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1022 }
1023 else
1024 {
1025 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1026 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1027 }
1028
1029 d.BodySetAutoDisableFlag(Body, true);
1030 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1031
1032 // disconnect from world gravity so we can apply buoyancy
1033 d.BodySetGravityMode(Body, false);
1034
1035 m_interpenetrationcount = 0;
1036 m_collisionscore = 0;
1037 m_disabled = false;
1038
1039 if (m_type != Vehicle.TYPE_NONE)
1040 {
1041 Enable(Body, _parent_scene);
1042 }
1043
1044 _parent_scene.addActivePrim(this);
1045 }
1046 }
1047
1048 #region Mass Calculation
1049
1050 private float CalculateMass()
1051 {
1052 float volume = _size.X * _size.Y * _size.Z; // default
1053 float tmp;
1054
1055 float returnMass = 0;
1056 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
1057 float hollowVolume = hollowAmount * hollowAmount;
1058
1059 switch (_pbs.ProfileShape)
1060 {
1061 case ProfileShape.Square:
1062 // default box
1063
1064 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1065 {
1066 if (hollowAmount > 0.0)
1067 {
1068 switch (_pbs.HollowShape)
1069 {
1070 case HollowShape.Square:
1071 case HollowShape.Same:
1072 break;
1073
1074 case HollowShape.Circle:
1075
1076 hollowVolume *= 0.78539816339f;
1077 break;
1078
1079 case HollowShape.Triangle:
1080
1081 hollowVolume *= (0.5f * .5f);
1082 break;
1083
1084 default:
1085 hollowVolume = 0;
1086 break;
1087 }
1088 volume *= (1.0f - hollowVolume);
1089 }
1090 }
1091
1092 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1093 {
1094 //a tube
1095
1096 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
1097 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
1098 volume -= volume * tmp * tmp;
1099
1100 if (hollowAmount > 0.0)
1101 {
1102 hollowVolume *= hollowAmount;
1103
1104 switch (_pbs.HollowShape)
1105 {
1106 case HollowShape.Square:
1107 case HollowShape.Same:
1108 break;
1109
1110 case HollowShape.Circle:
1111 hollowVolume *= 0.78539816339f; ;
1112 break;
1113
1114 case HollowShape.Triangle:
1115 hollowVolume *= 0.5f * 0.5f;
1116 break;
1117 default:
1118 hollowVolume = 0;
1119 break;
1120 }
1121 volume *= (1.0f - hollowVolume);
1122 }
1123 }
1124
1125 break;
1126
1127 case ProfileShape.Circle:
1128
1129 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1130 {
1131 volume *= 0.78539816339f; // elipse base
1132
1133 if (hollowAmount > 0.0)
1134 {
1135 switch (_pbs.HollowShape)
1136 {
1137 case HollowShape.Same:
1138 case HollowShape.Circle:
1139 break;
1140
1141 case HollowShape.Square:
1142 hollowVolume *= 0.5f * 2.5984480504799f;
1143 break;
1144
1145 case HollowShape.Triangle:
1146 hollowVolume *= .5f * 1.27323954473516f;
1147 break;
1148
1149 default:
1150 hollowVolume = 0;
1151 break;
1152 }
1153 volume *= (1.0f - hollowVolume);
1154 }
1155 }
1156
1157 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1158 {
1159 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
1160 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1161 volume *= (1.0f - tmp * tmp);
1162
1163 if (hollowAmount > 0.0)
1164 {
1165
1166 // calculate the hollow volume by it's shape compared to the prim shape
1167 hollowVolume *= hollowAmount;
1168
1169 switch (_pbs.HollowShape)
1170 {
1171 case HollowShape.Same:
1172 case HollowShape.Circle:
1173 break;
1174
1175 case HollowShape.Square:
1176 hollowVolume *= 0.5f * 2.5984480504799f;
1177 break;
1178
1179 case HollowShape.Triangle:
1180 hollowVolume *= .5f * 1.27323954473516f;
1181 break;
1182
1183 default:
1184 hollowVolume = 0;
1185 break;
1186 }
1187 volume *= (1.0f - hollowVolume);
1188 }
1189 }
1190 break;
1191
1192 case ProfileShape.HalfCircle:
1193 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1194 {
1195 volume *= 0.52359877559829887307710723054658f;
1196 }
1197 break;
1198
1199 case ProfileShape.EquilateralTriangle:
1200
1201 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1202 {
1203 volume *= 0.32475953f;
1204
1205 if (hollowAmount > 0.0)
1206 {
1207
1208 // calculate the hollow volume by it's shape compared to the prim shape
1209 switch (_pbs.HollowShape)
1210 {
1211 case HollowShape.Same:
1212 case HollowShape.Triangle:
1213 hollowVolume *= .25f;
1214 break;
1215
1216 case HollowShape.Square:
1217 hollowVolume *= 0.499849f * 3.07920140172638f;
1218 break;
1219
1220 case HollowShape.Circle:
1221 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1222 // Cyllinder hollow volume calculation
1223
1224 hollowVolume *= 0.1963495f * 3.07920140172638f;
1225 break;
1226
1227 default:
1228 hollowVolume = 0;
1229 break;
1230 }
1231 volume *= (1.0f - hollowVolume);
1232 }
1233 }
1234 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1235 {
1236 volume *= 0.32475953f;
1237 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
1238 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1239 volume *= (1.0f - tmp * tmp);
1240
1241 if (hollowAmount > 0.0)
1242 {
1243
1244 hollowVolume *= hollowAmount;
1245
1246 switch (_pbs.HollowShape)
1247 {
1248 case HollowShape.Same:
1249 case HollowShape.Triangle:
1250 hollowVolume *= .25f;
1251 break;
1252
1253 case HollowShape.Square:
1254 hollowVolume *= 0.499849f * 3.07920140172638f;
1255 break;
1256
1257 case HollowShape.Circle:
1258
1259 hollowVolume *= 0.1963495f * 3.07920140172638f;
1260 break;
1261
1262 default:
1263 hollowVolume = 0;
1264 break;
1265 }
1266 volume *= (1.0f - hollowVolume);
1267 }
1268 }
1269 break;
1270
1271 default:
1272 break;
1273 }
1274
1275
1276
1277 float taperX1;
1278 float taperY1;
1279 float taperX;
1280 float taperY;
1281 float pathBegin;
1282 float pathEnd;
1283 float profileBegin;
1284 float profileEnd;
1285
1286 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
1287 {
1288 taperX1 = _pbs.PathScaleX * 0.01f;
1289 if (taperX1 > 1.0f)
1290 taperX1 = 2.0f - taperX1;
1291 taperX = 1.0f - taperX1;
1292
1293 taperY1 = _pbs.PathScaleY * 0.01f;
1294 if (taperY1 > 1.0f)
1295 taperY1 = 2.0f - taperY1;
1296 taperY = 1.0f - taperY1;
1297 }
1298 else
1299 {
1300 taperX = _pbs.PathTaperX * 0.01f;
1301 if (taperX < 0.0f)
1302 taperX = -taperX;
1303 taperX1 = 1.0f - taperX;
1304
1305 taperY = _pbs.PathTaperY * 0.01f;
1306 if (taperY < 0.0f)
1307 taperY = -taperY;
1308 taperY1 = 1.0f - taperY;
1309
1310 }
1311
1312
1313 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1314
1315 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
1316 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
1317 volume *= (pathEnd - pathBegin);
1318
1319 // this is crude aproximation
1320 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
1321 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
1322 volume *= (profileEnd - profileBegin);
1323
1324 returnMass = m_density * volume;
1325
1326 if (returnMass <= 0)
1327 returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
1328 // else if (returnMass > _parent_scene.maximumMassObject)
1329 // returnMass = _parent_scene.maximumMassObject;
1330
1331
1332
1333 m_primMass = returnMass;
1334 if (m_primMass > _parent_scene.maximumMassObject)
1335 m_primMass = _parent_scene.maximumMassObject;
1336
1337 // Recursively calculate mass
1338 bool HasChildPrim = false;
1339 lock (childrenPrim)
1340 {
1341 if (childrenPrim.Count > 0)
1342 {
1343 HasChildPrim = true;
1344 }
1345
1346 }
1347 if (HasChildPrim)
1348 {
1349 OdePrim[] childPrimArr = new OdePrim[0];
1350
1351 lock (childrenPrim)
1352 childPrimArr = childrenPrim.ToArray();
1353
1354 for (int i = 0; i < childPrimArr.Length; i++)
1355 {
1356 if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
1357 returnMass += childPrimArr[i].CalculateMass();
1358 // failsafe, this shouldn't happen but with OpenSim, you never know :)
1359 if (i > 256)
1360 break;
1361 }
1362 }
1363 if (returnMass > _parent_scene.maximumMassObject)
1364 returnMass = _parent_scene.maximumMassObject;
1365 return returnMass;
1366 }// end CalculateMass
1367
1368 #endregion
1369
1370 public void setMass()
1371 {
1372 if (Body != (IntPtr)0)
1373 {
1374 float newmass = CalculateMass();
1375
1376 //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
1377
1378 d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
1379 d.BodySetMass(Body, ref pMass);
1380 }
1381 }
1382
1383
1384 private void UpdateDataFromGeom()
1385 {
1386 if (prim_geom != IntPtr.Zero)
1387 {
1388 d.Quaternion qtmp;
1389 d.GeomCopyQuaternion(prim_geom, out qtmp);
1390 _orientation.W = qtmp.W;
1391 _orientation.X = qtmp.X;
1392 _orientation.Y = qtmp.Y;
1393 _orientation.Z = qtmp.Z;
1394
1395 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
1396 _position.X = lpos.X;
1397 _position.Y = lpos.Y;
1398 _position.Z = lpos.Z;
1399 }
1400 }
1401
1402 public void disableBody()
1403 {
1404 //this kills the body so things like 'mesh' can re-create it.
1405 lock (this)
1406 {
1407 if (!childPrim)
1408 {
1409 if (Body != IntPtr.Zero)
1410 {
1411 _parent_scene.remActivePrim(this);
1412 m_collisionCategories &= ~CollisionCategories.Body;
1413 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1414
1415 if (prim_geom != IntPtr.Zero)
1416 {
1417 if (m_NoColide)
1418 {
1419 d.GeomSetCategoryBits(prim_geom, 0);
1420 d.GeomSetCollideBits(prim_geom, 0);
1421 d.GeomDisable(prim_geom);
1422 }
1423 else
1424 {
1425 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1426 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1427 }
1428 }
1429
1430 UpdateDataFromGeom();
1431
1432 lock (childrenPrim)
1433 {
1434 if (childrenPrim.Count > 0)
1435 {
1436 foreach (OdePrim prm in childrenPrim)
1437 {
1438 if (prm.prim_geom != IntPtr.Zero)
1439 {
1440 if (prm.m_NoColide)
1441 {
1442 d.GeomSetCategoryBits(prm.prim_geom, 0);
1443 d.GeomSetCollideBits(prm.prim_geom, 0);
1444 d.GeomDisable(prm.prim_geom);
1445
1446 }
1447 prm.UpdateDataFromGeom();
1448 }
1449 _parent_scene.remActivePrim(prm);
1450 prm.Body = IntPtr.Zero;
1451 }
1452 }
1453 }
1454 d.BodyDestroy(Body);
1455 Body = IntPtr.Zero;
1456 }
1457 }
1458 else
1459 {
1460 _parent_scene.remActivePrim(this);
1461
1462 m_collisionCategories &= ~CollisionCategories.Body;
1463 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1464
1465 if (prim_geom != IntPtr.Zero)
1466 {
1467 if (m_NoColide)
1468 {
1469 d.GeomSetCategoryBits(prim_geom, 0);
1470 d.GeomSetCollideBits(prim_geom, 0);
1471 d.GeomDisable(prim_geom);
1472 }
1473 else
1474 {
1475 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1476 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1477 }
1478 }
1479
1480 Body = IntPtr.Zero;
1481 }
1482 }
1483 m_disabled = true;
1484 m_collisionscore = 0;
1485 }
1486
1487// private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
1488
1489 public bool setMesh(OdeScene parent_scene, IMesh mesh)
1490 {
1491 //Kill Body so that mesh can re-make the geom
1492 if (IsPhysical && Body != IntPtr.Zero)
1493 {
1494 if (childPrim)
1495 {
1496 if (_parent != null)
1497 {
1498 OdePrim parent = (OdePrim)_parent;
1499 parent.ChildDelink(this);
1500 }
1501 }
1502 else
1503 {
1504 disableBody();
1505 }
1506 }
1507
1508 IntPtr vertices, indices;
1509 int vertexCount, indexCount;
1510 int vertexStride, triStride;
1511 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1512 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1513
1514 // warning this destroys the mesh for eventual future use. Only pinned float arrays stay valid
1515 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
1516
1517 if (vertexCount == 0 || indexCount == 0)
1518 {
1519 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1520 return false;
1521 }
1522
1523 IntPtr geo = IntPtr.Zero;
1524 try
1525 {
1526 _triMeshData = d.GeomTriMeshDataCreate();
1527 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1528 d.GeomTriMeshDataPreprocess(_triMeshData);
1529
1530 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1531
1532 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1533 }
1534 catch (Exception e)
1535 {
1536 m_log.ErrorFormat("[PHYSICS]: Create trimesh failed on prim {0} : {1}",Name,e.Message);
1537
1538 if (_triMeshData != IntPtr.Zero)
1539 {
1540 d.GeomTriMeshDataDestroy(_triMeshData);
1541 _triMeshData = IntPtr.Zero;
1542 }
1543 return false;
1544 }
1545
1546 SetGeom(geo);
1547
1548 return true;
1549 }
1550
1551 public void ProcessTaints(float timestep) //=============================================================================
1552 {
1553 if (m_taintadd)
1554 {
1555 changeadd(timestep);
1556 }
1557
1558 if (m_taintremove)
1559 return;
1560
1561 if (prim_geom != IntPtr.Zero)
1562 {
1563 if (!_position.ApproxEquals(m_taintposition, 0f))
1564 {
1565 changemove(timestep);
1566 }
1567 if (m_taintrot != _orientation)
1568 {
1569 if (childPrim && IsPhysical) // For physical child prim...
1570 {
1571 rotate(timestep);
1572 // KF: ODE will also rotate the parent prim!
1573 // so rotate the root back to where it was
1574 OdePrim parent = (OdePrim)_parent;
1575 parent.rotate(timestep);
1576 }
1577 else
1578 {
1579 //Just rotate the prim
1580 rotate(timestep);
1581 }
1582 }
1583 //
1584 if (m_taintphantom != m_isphantom )
1585 {
1586 changePhantomStatus();
1587 }//
1588
1589 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
1590 {
1591 changePhysicsStatus(timestep);
1592 }//
1593
1594
1595 if (!_size.ApproxEquals(m_taintsize, 0f))
1596 changesize(timestep);
1597 //
1598
1599 if(m_taintshapetype != m_shapetype)
1600 {
1601 m_shapetype = m_taintshapetype;
1602 changeshape(timestep);
1603 }
1604
1605 if (m_taintshape)
1606 changeshape(timestep);
1607 //
1608
1609 if (m_taintforce)
1610 changeAddForce(timestep);
1611
1612 if (m_taintaddangularforce)
1613 changeAddAngularForce(timestep);
1614
1615 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
1616 changeSetTorque(timestep);
1617
1618 if (m_taintdisable)
1619 changedisable(timestep);
1620
1621 if (m_taintselected != m_isSelected)
1622 changeSelectedStatus();
1623
1624 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
1625 changevelocity(timestep);
1626
1627 if (m_taintparent != _parent)
1628 changelink(timestep);
1629
1630 if (m_taintCollidesWater != m_collidesWater)
1631 changefloatonwater(timestep);
1632
1633 if (m_taintvehicledata != null)
1634 DoSetVehicle();
1635
1636 /* obsolete
1637 if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
1638 changeAngularLock(timestep);
1639 */
1640 }
1641
1642 else
1643 {
1644 m_log.Error("[PHYSICS]: prim {0} at <{1},{2},{3}> as invalid geom");
1645
1646 // not sure this will not flame...
1647 m_taintremove = true;
1648 _parent_scene.AddPhysicsActorTaint(this);
1649 }
1650
1651 }
1652
1653 private void changelink(float timestep)
1654 {
1655 // If the newly set parent is not null
1656 // create link
1657 if (_parent == null && m_taintparent != null)
1658 {
1659 if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
1660 {
1661 OdePrim obj = (OdePrim)m_taintparent;
1662 obj.ParentPrim(this);
1663 }
1664 }
1665 // If the newly set parent is null
1666 // destroy link
1667 else if (_parent != null && m_taintparent == null)
1668 {
1669 if (_parent is OdePrim)
1670 {
1671 OdePrim obj = (OdePrim)_parent;
1672 obj.ChildDelink(this);
1673 childPrim = false;
1674 }
1675 }
1676
1677 _parent = m_taintparent;
1678 m_taintPhysics = m_isphysical;
1679 }
1680
1681 // I'm the parent
1682 // prim is the child
1683 public void ParentPrim(OdePrim prim)
1684 {
1685 if (this.m_localID != prim.m_localID)
1686 {
1687 if (Body == IntPtr.Zero)
1688 {
1689 Body = d.BodyCreate(_parent_scene.world);
1690 // disconnect from world gravity so we can apply buoyancy
1691 d.BodySetGravityMode(Body, false);
1692
1693 setMass();
1694 }
1695 if (Body != IntPtr.Zero)
1696 {
1697 lock (childrenPrim)
1698 {
1699 if (!childrenPrim.Contains(prim))
1700 {
1701 childrenPrim.Add(prim);
1702
1703 foreach (OdePrim prm in childrenPrim)
1704 {
1705 d.Mass m2;
1706 d.MassSetZero(out m2);
1707 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
1708
1709
1710 d.Quaternion quat = new d.Quaternion();
1711 quat.W = prm._orientation.W;
1712 quat.X = prm._orientation.X;
1713 quat.Y = prm._orientation.Y;
1714 quat.Z = prm._orientation.Z;
1715
1716 d.Matrix3 mat = new d.Matrix3();
1717 d.RfromQ(out mat, ref quat);
1718 d.MassRotate(ref m2, ref mat);
1719 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
1720 d.MassAdd(ref pMass, ref m2);
1721 }
1722 foreach (OdePrim prm in childrenPrim)
1723 {
1724 if (m_isphantom && !prm.m_isVolumeDetect)
1725 {
1726 prm.m_collisionCategories = 0;
1727 prm.m_collisionFlags = CollisionCategories.Land;
1728 }
1729 else
1730 {
1731 prm.m_collisionCategories |= CollisionCategories.Body;
1732 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1733 }
1734 if (prm.prim_geom == IntPtr.Zero)
1735 {
1736 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
1737 continue;
1738 }
1739
1740 if (prm.m_NoColide)
1741 {
1742 d.GeomSetCategoryBits(prm.prim_geom, 0);
1743 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1744 }
1745 else
1746 {
1747 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1748 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1749 }
1750
1751 d.Quaternion quat = new d.Quaternion();
1752 quat.W = prm._orientation.W;
1753 quat.X = prm._orientation.X;
1754 quat.Y = prm._orientation.Y;
1755 quat.Z = prm._orientation.Z;
1756
1757 d.Matrix3 mat = new d.Matrix3();
1758 d.RfromQ(out mat, ref quat);
1759 if (Body != IntPtr.Zero)
1760 {
1761 d.GeomSetBody(prm.prim_geom, Body);
1762 prm.childPrim = true;
1763 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X, prm.Position.Y, prm.Position.Z);
1764 //d.GeomSetOffsetPosition(prim.prim_geom,
1765 // (Position.X - prm.Position.X) - pMass.c.X,
1766 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1767 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1768 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
1769 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
1770 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1771 d.BodySetMass(Body, ref pMass);
1772 }
1773 else
1774 {
1775 m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
1776 }
1777
1778 prm.m_interpenetrationcount = 0;
1779 prm.m_collisionscore = 0;
1780 prm.m_disabled = false;
1781
1782 prm.Body = Body;
1783
1784 _parent_scene.addActivePrim(prm);
1785 }
1786
1787 if (m_isphantom && !m_isVolumeDetect)
1788 {
1789 m_collisionCategories = 0;
1790 m_collisionFlags = CollisionCategories.Land;
1791 }
1792 else
1793 {
1794 m_collisionCategories |= CollisionCategories.Body;
1795 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1796 }
1797
1798 if (m_NoColide)
1799 {
1800 d.GeomSetCategoryBits(prim_geom, 0);
1801 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1802 }
1803 else
1804 {
1805 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1806 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1807 }
1808
1809 d.Quaternion quat2 = new d.Quaternion();
1810 quat2.W = _orientation.W;
1811 quat2.X = _orientation.X;
1812 quat2.Y = _orientation.Y;
1813 quat2.Z = _orientation.Z;
1814
1815 d.Matrix3 mat2 = new d.Matrix3();
1816 d.RfromQ(out mat2, ref quat2);
1817 d.GeomSetBody(prim_geom, Body);
1818 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
1819 //d.GeomSetOffsetPosition(prim.prim_geom,
1820 // (Position.X - prm.Position.X) - pMass.c.X,
1821 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1822 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1823 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
1824 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1825 d.BodySetMass(Body, ref pMass);
1826
1827 d.BodySetAutoDisableFlag(Body, true);
1828 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1829
1830 m_interpenetrationcount = 0;
1831 m_collisionscore = 0;
1832 m_disabled = false;
1833
1834 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
1835 if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
1836
1837 _parent_scene.addActivePrim(this);
1838 }
1839 }
1840 }
1841 }
1842 }
1843
1844 private void ChildSetGeom(OdePrim odePrim)
1845 {
1846 lock (childrenPrim)
1847 {
1848 foreach (OdePrim prm in childrenPrim)
1849 {
1850 prm.disableBody();
1851 }
1852 }
1853 disableBody();
1854
1855 if (Body != IntPtr.Zero)
1856 {
1857 _parent_scene.remActivePrim(this);
1858 }
1859
1860 lock (childrenPrim)
1861 {
1862 foreach (OdePrim prm in childrenPrim)
1863 {
1864 ParentPrim(prm);
1865 }
1866 }
1867 }
1868
1869 private void ChildDelink(OdePrim odePrim)
1870 {
1871 // Okay, we have a delinked child.. need to rebuild the body.
1872 lock (childrenPrim)
1873 {
1874 foreach (OdePrim prm in childrenPrim)
1875 {
1876 prm.childPrim = true;
1877 prm.disableBody();
1878 }
1879 }
1880 disableBody();
1881
1882 lock (childrenPrim)
1883 {
1884 childrenPrim.Remove(odePrim);
1885 }
1886
1887 if (Body != IntPtr.Zero)
1888 {
1889 _parent_scene.remActivePrim(this);
1890 }
1891
1892 lock (childrenPrim)
1893 {
1894 foreach (OdePrim prm in childrenPrim)
1895 {
1896 ParentPrim(prm);
1897 }
1898 }
1899 }
1900
1901 private void changePhantomStatus()
1902 {
1903 m_taintphantom = m_isphantom;
1904 changeSelectedStatus();
1905 }
1906
1907/* not in use
1908 private void SetCollider()
1909 {
1910 SetCollider(m_isSelected, m_isphysical, m_isphantom, m_isSelected);
1911 }
1912
1913 private void SetCollider(bool sel, bool phys, bool phan, bool vdtc)
1914 {
1915 if (sel)
1916 {
1917 m_collisionCategories = CollisionCategories.Selected;
1918 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
1919 }
1920 else
1921 {
1922 if (phan && !vdtc)
1923 {
1924 m_collisionCategories = 0;
1925 if (phys)
1926 m_collisionFlags = CollisionCategories.Land;
1927 else
1928 m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
1929 }
1930 else
1931 {
1932 m_collisionCategories = CollisionCategories.Geom;
1933 if (phys)
1934 m_collisionCategories |= CollisionCategories.Body;
1935
1936 m_collisionFlags = m_default_collisionFlags;
1937
1938 if (m_collidesLand)
1939 m_collisionFlags |= CollisionCategories.Land;
1940 if (m_collidesWater)
1941 m_collisionFlags |= CollisionCategories.Water;
1942 }
1943 }
1944
1945 if (prim_geom != IntPtr.Zero)
1946 {
1947 if (m_NoColide)
1948 {
1949 d.GeomSetCategoryBits(prim_geom, 0);
1950 if (phys)
1951 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1952 else
1953 {
1954 d.GeomSetCollideBits(prim_geom, 0);
1955 d.GeomDisable(prim_geom);
1956 }
1957 }
1958 else
1959 {
1960 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1961 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1962 }
1963 }
1964 }
1965*/
1966
1967 private void changeSelectedStatus()
1968 {
1969 if (m_taintselected)
1970 {
1971 m_collisionCategories = CollisionCategories.Selected;
1972 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
1973
1974 // We do the body disable soft twice because 'in theory' a collision could have happened
1975 // in between the disabling and the collision properties setting
1976 // which would wake the physical body up from a soft disabling and potentially cause it to fall
1977 // through the ground.
1978
1979 // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
1980 // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
1981 // so that causes the selected part to wake up and continue moving.
1982
1983 // even if you select all parts of a jointed assembly, it is not guaranteed that the entire
1984 // assembly will stop simulating during the selection, because of the lack of atomicity
1985 // of select operations (their processing could be interrupted by a thread switch, causing
1986 // simulation to continue before all of the selected object notifications trickle down to
1987 // the physics engine).
1988
1989 // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
1990 // selected and disabled. then, due to a thread switch, the selection processing is
1991 // interrupted and the physics engine continues to simulate, so the last 50 items, whose
1992 // selection was not yet processed, continues to simulate. this wakes up ALL of the
1993 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
1994 // up, start simulating again, which in turn wakes up the last 50.
1995
1996 if (m_isphysical)
1997 {
1998 disableBodySoft();
1999 }
2000
2001 if (prim_geom != IntPtr.Zero)
2002 {
2003 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2004 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2005 if (m_NoColide)
2006 d.GeomDisable(prim_geom);
2007 }
2008
2009 if (m_isphysical)
2010 {
2011 disableBodySoft();
2012 }
2013 if (Body != IntPtr.Zero)
2014 {
2015 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2016 d.BodySetForce(Body, 0f, 0f, 0f);
2017 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
2018 d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
2019 }
2020 }
2021 else
2022 {
2023 if (m_isphantom && !m_isVolumeDetect)
2024 {
2025 m_collisionCategories = 0;
2026 if (m_isphysical)
2027 m_collisionFlags = CollisionCategories.Land;
2028 else
2029 m_collisionFlags = 0; // this case should not happen non physical phantoms should not have physics
2030 }
2031 else
2032 {
2033 m_collisionCategories = CollisionCategories.Geom;
2034 if (m_isphysical)
2035 m_collisionCategories |= CollisionCategories.Body;
2036
2037 m_collisionFlags = m_default_collisionFlags;
2038
2039 if (m_collidesLand)
2040 m_collisionFlags |= CollisionCategories.Land;
2041 if (m_collidesWater)
2042 m_collisionFlags |= CollisionCategories.Water;
2043 }
2044
2045 if (prim_geom != IntPtr.Zero)
2046 {
2047 if (m_NoColide)
2048 {
2049 d.GeomSetCategoryBits(prim_geom, 0);
2050 if (m_isphysical)
2051 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2052 else
2053 {
2054 d.GeomSetCollideBits(prim_geom, 0);
2055 d.GeomDisable(prim_geom);
2056 }
2057 }
2058 else
2059 {
2060 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2061 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2062 }
2063 }
2064 if (Body != IntPtr.Zero)
2065 {
2066 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2067 d.BodySetForce(Body, 0f, 0f, 0f);
2068 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
2069 d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f);
2070 }
2071
2072 if (m_isphysical)
2073 {
2074 if (Body != IntPtr.Zero)
2075 {
2076 enableBodySoft();
2077 }
2078 }
2079 }
2080
2081 resetCollisionAccounting();
2082 m_isSelected = m_taintselected;
2083 }//end changeSelectedStatus
2084
2085 public void ResetTaints()
2086 {
2087 m_taintposition = _position;
2088 m_taintrot = _orientation;
2089 m_taintPhysics = m_isphysical;
2090 m_taintselected = m_isSelected;
2091 m_taintsize = _size;
2092 m_taintshape = false;
2093 m_taintforce = false;
2094 m_taintdisable = false;
2095 m_taintVelocity = Vector3.Zero;
2096 }
2097
2098 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
2099 {
2100 bool gottrimesh = false;
2101
2102 m_NoColide = false; // assume all will go well
2103
2104 if (_triMeshData != IntPtr.Zero)
2105 {
2106 d.GeomTriMeshDataDestroy(_triMeshData);
2107 _triMeshData = IntPtr.Zero;
2108 }
2109
2110 if (_mesh != null)
2111 {
2112 gottrimesh = setMesh(_parent_scene, _mesh);
2113 if (!gottrimesh)
2114 {
2115 // getting a mesh failed,
2116 // lets go on having a basic box or sphere, with prim size but not coliding
2117 // physical colides with land, non with nothing
2118
2119 m_NoColide = true;
2120 }
2121 }
2122
2123 if (!gottrimesh)
2124 { // we will have a basic box or sphere
2125 IntPtr geo = IntPtr.Zero;
2126
2127 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
2128 && _size.X == _size.Y && _size.X == _size.Z)
2129 {
2130 // its a sphere
2131 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2132 try
2133 {
2134 geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f);
2135 }
2136 catch (Exception e)
2137 {
2138 m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
2139 geo = IntPtr.Zero;
2140 ode.dunlock(_parent_scene.world);
2141 }
2142 }
2143 else // make it a box
2144 {
2145 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2146 try
2147 {
2148 geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
2149 }
2150 catch (Exception e)
2151 {
2152 m_log.WarnFormat("[PHYSICS]: Unable to create basic sphere for object {0}", e.Message);
2153 geo = IntPtr.Zero;
2154 ode.dunlock(_parent_scene.world);
2155 }
2156 }
2157
2158 if (geo == IntPtr.Zero) // if this happens it must be fixed
2159 {
2160 // if it does lets stop what we can
2161 // not sure this will not flame...
2162
2163 m_taintremove = true;
2164 _parent_scene.AddPhysicsActorTaint(this);
2165 return;
2166 }
2167
2168 SetGeom(geo); // this processes the m_NoColide
2169 }
2170 }
2171
2172 public void changeadd(float timestep)
2173 {
2174 int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2175 IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
2176
2177 if (targetspace == IntPtr.Zero)
2178 targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2179
2180 m_targetSpace = targetspace;
2181
2182 if (_mesh == null) // && m_meshfailed == false)
2183 {
2184 if (_parent_scene.needsMeshing(_pbs))
2185 {
2186 bool convex;
2187 if (m_shapetype == 2)
2188 convex = true;
2189 else
2190 convex = false;
2191 try
2192 {
2193 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,false,convex,false);
2194 }
2195 catch
2196 {
2197 //Don't continuously try to mesh prims when meshing has failed
2198 m_meshfailed = true;
2199 _mesh = null;
2200 m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
2201 }
2202 }
2203 }
2204
2205 lock (_parent_scene.OdeLock)
2206 {
2207 CreateGeom(m_targetSpace, _mesh);
2208
2209 if (prim_geom != IntPtr.Zero)
2210 {
2211 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2212 d.Quaternion myrot = new d.Quaternion();
2213 myrot.X = _orientation.X;
2214 myrot.Y = _orientation.Y;
2215 myrot.Z = _orientation.Z;
2216 myrot.W = _orientation.W;
2217 d.GeomSetQuaternion(prim_geom, ref myrot);
2218 }
2219
2220 if (m_isphysical && Body == IntPtr.Zero)
2221 {
2222 enableBody();
2223 }
2224 }
2225
2226 changeSelectedStatus();
2227
2228 m_taintadd = false;
2229 }
2230
2231 public void changemove(float timestep)
2232 {
2233 if (m_isphysical)
2234 {
2235 // if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
2236 if (!m_taintremove && !childPrim)
2237 {
2238 if (Body == IntPtr.Zero)
2239 enableBody();
2240 //Prim auto disable after 20 frames,
2241 //if you move it, re-enable the prim manually.
2242 if (_parent != null)
2243 {
2244 if (m_linkJoint != IntPtr.Zero)
2245 {
2246 d.JointDestroy(m_linkJoint);
2247 m_linkJoint = IntPtr.Zero;
2248 }
2249 }
2250 if (Body != IntPtr.Zero)
2251 {
2252 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
2253
2254 if (_parent != null)
2255 {
2256 OdePrim odParent = (OdePrim)_parent;
2257 if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
2258 {
2259 // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
2260 Console.WriteLine("ODEPrim JointCreateFixed !!!");
2261 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
2262 d.JointAttach(m_linkJoint, Body, odParent.Body);
2263 d.JointSetFixed(m_linkJoint);
2264 }
2265 }
2266 d.BodyEnable(Body);
2267 if (m_type != Vehicle.TYPE_NONE)
2268 {
2269 Enable(Body, _parent_scene);
2270 }
2271 }
2272 else
2273 {
2274 m_log.Warn("[PHYSICS]: Body Still null after enableBody(). This is a crash scenario.");
2275 }
2276 }
2277 //else
2278 // {
2279 //m_log.Debug("[BUG]: race!");
2280 //}
2281 }
2282 else
2283 {
2284 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2285 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2286 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2287
2288 IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
2289 m_targetSpace = tempspace;
2290
2291 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2292 if (prim_geom != IntPtr.Zero)
2293 {
2294 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2295
2296 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2297 d.SpaceAdd(m_targetSpace, prim_geom);
2298 }
2299 }
2300
2301 changeSelectedStatus();
2302
2303 resetCollisionAccounting();
2304 m_taintposition = _position;
2305 }
2306
2307 public void rotate(float timestep)
2308 {
2309 d.Quaternion myrot = new d.Quaternion();
2310 myrot.X = _orientation.X;
2311 myrot.Y = _orientation.Y;
2312 myrot.Z = _orientation.Z;
2313 myrot.W = _orientation.W;
2314 if (Body != IntPtr.Zero)
2315 {
2316 // KF: If this is a root prim do BodySet
2317 d.BodySetQuaternion(Body, ref myrot);
2318 }
2319 else
2320 {
2321 // daughter prim, do Geom set
2322 d.GeomSetQuaternion(prim_geom, ref myrot);
2323 }
2324
2325 resetCollisionAccounting();
2326 m_taintrot = _orientation;
2327 }
2328
2329 private void resetCollisionAccounting()
2330 {
2331 m_collisionscore = 0;
2332 m_interpenetrationcount = 0;
2333 m_disabled = false;
2334 }
2335
2336 public void changedisable(float timestep)
2337 {
2338 m_disabled = true;
2339 if (Body != IntPtr.Zero)
2340 {
2341 d.BodyDisable(Body);
2342 Body = IntPtr.Zero;
2343 }
2344
2345 m_taintdisable = false;
2346 }
2347
2348 public void changePhysicsStatus(float timestep)
2349 {
2350 if (m_isphysical == true)
2351 {
2352 if (Body == IntPtr.Zero)
2353 {
2354 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2355 {
2356 changeshape(2f);
2357 }
2358 else
2359 {
2360 enableBody();
2361 }
2362 }
2363 }
2364 else
2365 {
2366 if (Body != IntPtr.Zero)
2367 {
2368 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2369 {
2370 _mesh = null;
2371 changeadd(2f);
2372 }
2373 if (childPrim)
2374 {
2375 if (_parent != null)
2376 {
2377 OdePrim parent = (OdePrim)_parent;
2378 parent.ChildDelink(this);
2379 }
2380 }
2381 else
2382 {
2383 disableBody();
2384 }
2385 }
2386 }
2387
2388 changeSelectedStatus();
2389
2390 resetCollisionAccounting();
2391 m_taintPhysics = m_isphysical;
2392 }
2393
2394 public void changesize(float timestamp)
2395 {
2396
2397 string oldname = _parent_scene.geom_name_map[prim_geom];
2398
2399 if (_size.X <= 0) _size.X = 0.01f;
2400 if (_size.Y <= 0) _size.Y = 0.01f;
2401 if (_size.Z <= 0) _size.Z = 0.01f;
2402
2403 // Cleanup of old prim geometry
2404 if (_mesh != null)
2405 {
2406 // Cleanup meshing here
2407 }
2408 //kill body to rebuild
2409 if (IsPhysical && Body != IntPtr.Zero)
2410 {
2411 if (childPrim)
2412 {
2413 if (_parent != null)
2414 {
2415 OdePrim parent = (OdePrim)_parent;
2416 parent.ChildDelink(this);
2417 }
2418 }
2419 else
2420 {
2421 disableBody();
2422 }
2423 }
2424 if (d.SpaceQuery(m_targetSpace, prim_geom))
2425 {
2426 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2427 d.SpaceRemove(m_targetSpace, prim_geom);
2428 }
2429 // we don't need to do space calculation because the client sends a position update also.
2430
2431 // Construction of new prim
2432 if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
2433 {
2434 float meshlod = _parent_scene.meshSculptLOD;
2435
2436 if (IsPhysical)
2437 meshlod = _parent_scene.MeshSculptphysicalLOD;
2438 // Don't need to re-enable body.. it's done in SetMesh
2439
2440 IMesh mesh = null;
2441
2442 try
2443 {
2444 if (_parent_scene.needsMeshing(_pbs))
2445 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true);
2446 }
2447 catch
2448 {
2449 m_meshfailed = true;
2450 mesh = null;
2451 m_log.WarnFormat("[PHYSICS]: changeSize CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
2452 }
2453
2454 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2455 CreateGeom(m_targetSpace, mesh);
2456 }
2457 else
2458 {
2459 _mesh = null;
2460 CreateGeom(m_targetSpace, _mesh);
2461 }
2462
2463 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2464 d.Quaternion myrot = new d.Quaternion();
2465 myrot.X = _orientation.X;
2466 myrot.Y = _orientation.Y;
2467 myrot.Z = _orientation.Z;
2468 myrot.W = _orientation.W;
2469 d.GeomSetQuaternion(prim_geom, ref myrot);
2470
2471 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2472 if (IsPhysical && Body == IntPtr.Zero && !childPrim)
2473 {
2474 // Re creates body on size.
2475 // EnableBody also does setMass()
2476 enableBody();
2477 d.BodyEnable(Body);
2478 }
2479
2480 _parent_scene.geom_name_map[prim_geom] = oldname;
2481
2482 changeSelectedStatus();
2483 if (childPrim)
2484 {
2485 if (_parent is OdePrim)
2486 {
2487 OdePrim parent = (OdePrim)_parent;
2488 parent.ChildSetGeom(this);
2489 }
2490 }
2491 resetCollisionAccounting();
2492 m_taintsize = _size;
2493 }
2494
2495
2496
2497 public void changefloatonwater(float timestep)
2498 {
2499 m_collidesWater = m_taintCollidesWater;
2500
2501 if (prim_geom != IntPtr.Zero)
2502 {
2503 if (m_collidesWater)
2504 {
2505 m_collisionFlags |= CollisionCategories.Water;
2506 }
2507 else
2508 {
2509 m_collisionFlags &= ~CollisionCategories.Water;
2510 }
2511 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2512 }
2513 }
2514
2515 public void changeshape(float timestamp)
2516 {
2517 string oldname = _parent_scene.geom_name_map[prim_geom];
2518
2519 // Cleanup of old prim geometry and Bodies
2520 if (IsPhysical && Body != IntPtr.Zero)
2521 {
2522 if (childPrim)
2523 {
2524 if (_parent != null)
2525 {
2526 OdePrim parent = (OdePrim)_parent;
2527 parent.ChildDelink(this);
2528 }
2529 }
2530 else
2531 {
2532 disableBody();
2533 }
2534 }
2535
2536
2537 // we don't need to do space calculation because the client sends a position update also.
2538 if (_size.X <= 0) _size.X = 0.01f;
2539 if (_size.Y <= 0) _size.Y = 0.01f;
2540 if (_size.Z <= 0) _size.Z = 0.01f;
2541 // Construction of new prim
2542
2543 if (_parent_scene.needsMeshing(_pbs))// && m_meshfailed == false)
2544 {
2545 // Don't need to re-enable body.. it's done in SetMesh
2546 float meshlod = _parent_scene.meshSculptLOD;
2547 IMesh mesh;
2548
2549 if (IsPhysical)
2550 meshlod = _parent_scene.MeshSculptphysicalLOD;
2551
2552 bool convex;
2553 if (m_shapetype == 2)
2554 convex = true;
2555 else
2556 convex = false;
2557
2558 try
2559 {
2560 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, false,convex,false);
2561 }
2562 catch
2563 {
2564 mesh = null;
2565 m_meshfailed = true;
2566 m_log.WarnFormat("[PHYSICS]: changeAdd CreateMesh fail on prim {0} at <{1},{2},{3}>", Name, _position.X, _position.Y, _position.Z);
2567 }
2568
2569 CreateGeom(m_targetSpace, mesh);
2570
2571 // createmesh returns null when it doesn't mesh.
2572 }
2573 else
2574 {
2575 _mesh = null;
2576 CreateGeom(m_targetSpace, null);
2577 }
2578
2579 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2580 d.Quaternion myrot = new d.Quaternion();
2581 //myrot.W = _orientation.w;
2582 myrot.W = _orientation.W;
2583 myrot.X = _orientation.X;
2584 myrot.Y = _orientation.Y;
2585 myrot.Z = _orientation.Z;
2586 d.GeomSetQuaternion(prim_geom, ref myrot);
2587
2588 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2589 if (IsPhysical && Body == IntPtr.Zero)
2590 {
2591 // Re creates body on size.
2592 // EnableBody also does setMass()
2593 enableBody();
2594 if (Body != IntPtr.Zero)
2595 {
2596 d.BodyEnable(Body);
2597 }
2598 }
2599 _parent_scene.geom_name_map[prim_geom] = oldname;
2600
2601 changeSelectedStatus();
2602 if (childPrim)
2603 {
2604 if (_parent is OdePrim)
2605 {
2606 OdePrim parent = (OdePrim)_parent;
2607 parent.ChildSetGeom(this);
2608 }
2609 }
2610 resetCollisionAccounting();
2611 m_taintshape = false;
2612 }
2613
2614 public void changeAddForce(float timestamp)
2615 {
2616 if (!m_isSelected)
2617 {
2618 lock (m_forcelist)
2619 {
2620 //m_log.Info("[PHYSICS]: dequeing forcelist");
2621 if (IsPhysical)
2622 {
2623 Vector3 iforce = Vector3.Zero;
2624 int i = 0;
2625 try
2626 {
2627 for (i = 0; i < m_forcelist.Count; i++)
2628 {
2629
2630 iforce = iforce + (m_forcelist[i] * 100);
2631 }
2632 }
2633 catch (IndexOutOfRangeException)
2634 {
2635 m_forcelist = new List<Vector3>();
2636 m_collisionscore = 0;
2637 m_interpenetrationcount = 0;
2638 m_taintforce = false;
2639 return;
2640 }
2641 catch (ArgumentOutOfRangeException)
2642 {
2643 m_forcelist = new List<Vector3>();
2644 m_collisionscore = 0;
2645 m_interpenetrationcount = 0;
2646 m_taintforce = false;
2647 return;
2648 }
2649 d.BodyEnable(Body);
2650
2651 d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
2652 }
2653 m_forcelist.Clear();
2654 }
2655
2656 m_collisionscore = 0;
2657 m_interpenetrationcount = 0;
2658 }
2659
2660 m_taintforce = false;
2661
2662 }
2663
2664
2665
2666 public void changeSetTorque(float timestamp)
2667 {
2668 if (!m_isSelected)
2669 {
2670 if (IsPhysical && Body != IntPtr.Zero)
2671 {
2672 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
2673 }
2674 }
2675
2676 m_taintTorque = Vector3.Zero;
2677 }
2678
2679 public void changeAddAngularForce(float timestamp)
2680 {
2681 if (!m_isSelected)
2682 {
2683 lock (m_angularforcelist)
2684 {
2685 //m_log.Info("[PHYSICS]: dequeing forcelist");
2686 if (IsPhysical)
2687 {
2688 Vector3 iforce = Vector3.Zero;
2689 for (int i = 0; i < m_angularforcelist.Count; i++)
2690 {
2691 iforce = iforce + (m_angularforcelist[i] * 100);
2692 }
2693 d.BodyEnable(Body);
2694 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
2695
2696 }
2697 m_angularforcelist.Clear();
2698 }
2699
2700 m_collisionscore = 0;
2701 m_interpenetrationcount = 0;
2702 }
2703
2704 m_taintaddangularforce = false;
2705 }
2706
2707 private void changevelocity(float timestep)
2708 {
2709 if (!m_isSelected)
2710 {
2711 Thread.Sleep(20);
2712 if (IsPhysical)
2713 {
2714 if (Body != IntPtr.Zero)
2715 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2716 }
2717
2718 //resetCollisionAccounting();
2719 }
2720 m_taintVelocity = Vector3.Zero;
2721 }
2722
2723 public void UpdatePositionAndVelocity()
2724 {
2725 return; // moved to the Move () method
2726 }
2727
2728 public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
2729 {
2730 obj.I.M00 = pMat[0, 0];
2731 obj.I.M01 = pMat[0, 1];
2732 obj.I.M02 = pMat[0, 2];
2733 obj.I.M10 = pMat[1, 0];
2734 obj.I.M11 = pMat[1, 1];
2735 obj.I.M12 = pMat[1, 2];
2736 obj.I.M20 = pMat[2, 0];
2737 obj.I.M21 = pMat[2, 1];
2738 obj.I.M22 = pMat[2, 2];
2739 return obj;
2740 }
2741
2742 public override void SubscribeEvents(int ms)
2743 {
2744 m_eventsubscription = ms;
2745 _parent_scene.addCollisionEventReporting(this);
2746 }
2747
2748 public override void UnSubscribeEvents()
2749 {
2750 _parent_scene.remCollisionEventReporting(this);
2751 m_eventsubscription = 0;
2752 }
2753
2754 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
2755 {
2756 if (CollisionEventsThisFrame == null)
2757 CollisionEventsThisFrame = new CollisionEventUpdate();
2758 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
2759 }
2760
2761 public void SendCollisions()
2762 {
2763 if (CollisionEventsThisFrame == null)
2764 return;
2765
2766 base.SendCollisionUpdate(CollisionEventsThisFrame);
2767
2768 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
2769 CollisionEventsThisFrame = null;
2770 else
2771 CollisionEventsThisFrame = new CollisionEventUpdate();
2772 }
2773
2774 public override bool SubscribedEvents()
2775 {
2776 if (m_eventsubscription > 0)
2777 return true;
2778 return false;
2779 }
2780
2781 public static Matrix4 Inverse(Matrix4 pMat)
2782 {
2783 if (determinant3x3(pMat) == 0)
2784 {
2785 return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
2786 }
2787
2788
2789
2790 return (Adjoint(pMat) / determinant3x3(pMat));
2791 }
2792
2793 public static Matrix4 Adjoint(Matrix4 pMat)
2794 {
2795 Matrix4 adjointMatrix = new Matrix4();
2796 for (int i = 0; i < 4; i++)
2797 {
2798 for (int j = 0; j < 4; j++)
2799 {
2800 Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
2801 }
2802 }
2803
2804 adjointMatrix = Transpose(adjointMatrix);
2805 return adjointMatrix;
2806 }
2807
2808 public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
2809 {
2810 Matrix4 minor = new Matrix4();
2811 int m = 0, n = 0;
2812 for (int i = 0; i < 4; i++)
2813 {
2814 if (i == iRow)
2815 continue;
2816 n = 0;
2817 for (int j = 0; j < 4; j++)
2818 {
2819 if (j == iCol)
2820 continue;
2821 Matrix4SetValue(ref minor, m, n, matrix[i, j]);
2822 n++;
2823 }
2824 m++;
2825 }
2826 return minor;
2827 }
2828
2829 public static Matrix4 Transpose(Matrix4 pMat)
2830 {
2831 Matrix4 transposeMatrix = new Matrix4();
2832 for (int i = 0; i < 4; i++)
2833 for (int j = 0; j < 4; j++)
2834 Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]);
2835 return transposeMatrix;
2836 }
2837
2838 public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
2839 {
2840 switch (r)
2841 {
2842 case 0:
2843 switch (c)
2844 {
2845 case 0:
2846 pMat.M11 = val;
2847 break;
2848 case 1:
2849 pMat.M12 = val;
2850 break;
2851 case 2:
2852 pMat.M13 = val;
2853 break;
2854 case 3:
2855 pMat.M14 = val;
2856 break;
2857 }
2858
2859 break;
2860 case 1:
2861 switch (c)
2862 {
2863 case 0:
2864 pMat.M21 = val;
2865 break;
2866 case 1:
2867 pMat.M22 = val;
2868 break;
2869 case 2:
2870 pMat.M23 = val;
2871 break;
2872 case 3:
2873 pMat.M24 = val;
2874 break;
2875 }
2876
2877 break;
2878 case 2:
2879 switch (c)
2880 {
2881 case 0:
2882 pMat.M31 = val;
2883 break;
2884 case 1:
2885 pMat.M32 = val;
2886 break;
2887 case 2:
2888 pMat.M33 = val;
2889 break;
2890 case 3:
2891 pMat.M34 = val;
2892 break;
2893 }
2894
2895 break;
2896 case 3:
2897 switch (c)
2898 {
2899 case 0:
2900 pMat.M41 = val;
2901 break;
2902 case 1:
2903 pMat.M42 = val;
2904 break;
2905 case 2:
2906 pMat.M43 = val;
2907 break;
2908 case 3:
2909 pMat.M44 = val;
2910 break;
2911 }
2912
2913 break;
2914 }
2915 }
2916 private static float determinant3x3(Matrix4 pMat)
2917 {
2918 float det = 0;
2919 float diag1 = pMat[0, 0] * pMat[1, 1] * pMat[2, 2];
2920 float diag2 = pMat[0, 1] * pMat[2, 1] * pMat[2, 0];
2921 float diag3 = pMat[0, 2] * pMat[1, 0] * pMat[2, 1];
2922 float diag4 = pMat[2, 0] * pMat[1, 1] * pMat[0, 2];
2923 float diag5 = pMat[2, 1] * pMat[1, 2] * pMat[0, 0];
2924 float diag6 = pMat[2, 2] * pMat[1, 0] * pMat[0, 1];
2925
2926 det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
2927 return det;
2928
2929 }
2930
2931 private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
2932 {
2933 dst.c.W = src.c.W;
2934 dst.c.X = src.c.X;
2935 dst.c.Y = src.c.Y;
2936 dst.c.Z = src.c.Z;
2937 dst.mass = src.mass;
2938 dst.I.M00 = src.I.M00;
2939 dst.I.M01 = src.I.M01;
2940 dst.I.M02 = src.I.M02;
2941 dst.I.M10 = src.I.M10;
2942 dst.I.M11 = src.I.M11;
2943 dst.I.M12 = src.I.M12;
2944 dst.I.M20 = src.I.M20;
2945 dst.I.M21 = src.I.M21;
2946 dst.I.M22 = src.I.M22;
2947 }
2948
2949 public override void SetMaterial(int pMaterial)
2950 {
2951 m_material = pMaterial;
2952 }
2953
2954 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
2955 {
2956 switch (pParam)
2957 {
2958 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
2959 if (pValue < 0.01f) pValue = 0.01f;
2960 // m_angularDeflectionEfficiency = pValue;
2961 break;
2962 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
2963 if (pValue < 0.1f) pValue = 0.1f;
2964 // m_angularDeflectionTimescale = pValue;
2965 break;
2966 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
2967 if (pValue < 0.3f) pValue = 0.3f;
2968 m_angularMotorDecayTimescale = pValue;
2969 break;
2970 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
2971 if (pValue < 0.3f) pValue = 0.3f;
2972 m_angularMotorTimescale = pValue;
2973 break;
2974 case Vehicle.BANKING_EFFICIENCY:
2975 if (pValue < 0.01f) pValue = 0.01f;
2976 // m_bankingEfficiency = pValue;
2977 break;
2978 case Vehicle.BANKING_MIX:
2979 if (pValue < 0.01f) pValue = 0.01f;
2980 // m_bankingMix = pValue;
2981 break;
2982 case Vehicle.BANKING_TIMESCALE:
2983 if (pValue < 0.01f) pValue = 0.01f;
2984 // m_bankingTimescale = pValue;
2985 break;
2986 case Vehicle.BUOYANCY:
2987 if (pValue < -1f) pValue = -1f;
2988 if (pValue > 1f) pValue = 1f;
2989 m_VehicleBuoyancy = pValue;
2990 break;
2991 // case Vehicle.HOVER_EFFICIENCY:
2992 // if (pValue < 0f) pValue = 0f;
2993 // if (pValue > 1f) pValue = 1f;
2994 // m_VhoverEfficiency = pValue;
2995 // break;
2996 case Vehicle.HOVER_HEIGHT:
2997 m_VhoverHeight = pValue;
2998 break;
2999 case Vehicle.HOVER_TIMESCALE:
3000 if (pValue < 0.1f) pValue = 0.1f;
3001 m_VhoverTimescale = pValue;
3002 break;
3003 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
3004 if (pValue < 0.01f) pValue = 0.01f;
3005 // m_linearDeflectionEfficiency = pValue;
3006 break;
3007 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
3008 if (pValue < 0.01f) pValue = 0.01f;
3009 // m_linearDeflectionTimescale = pValue;
3010 break;
3011 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
3012 if (pValue < 0.3f) pValue = 0.3f;
3013 m_linearMotorDecayTimescale = pValue;
3014 break;
3015 case Vehicle.LINEAR_MOTOR_TIMESCALE:
3016 if (pValue < 0.1f) pValue = 0.1f;
3017 m_linearMotorTimescale = pValue;
3018 break;
3019 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
3020 if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
3021 if (pValue > 1.0f) pValue = 1.0f;
3022 m_verticalAttractionEfficiency = pValue;
3023 break;
3024 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
3025 if (pValue < 0.1f) pValue = 0.1f;
3026 m_verticalAttractionTimescale = pValue;
3027 break;
3028
3029 // These are vector properties but the engine lets you use a single float value to
3030 // set all of the components to the same value
3031 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
3032 if (pValue > 30f) pValue = 30f;
3033 if (pValue < 0.1f) pValue = 0.1f;
3034 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
3035 break;
3036 case Vehicle.ANGULAR_MOTOR_DIRECTION:
3037 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
3038 UpdateAngDecay();
3039 break;
3040 case Vehicle.LINEAR_FRICTION_TIMESCALE:
3041 if (pValue < 0.1f) pValue = 0.1f;
3042 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
3043 break;
3044 case Vehicle.LINEAR_MOTOR_DIRECTION:
3045 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
3046 UpdateLinDecay();
3047 break;
3048 case Vehicle.LINEAR_MOTOR_OFFSET:
3049 // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
3050 break;
3051
3052 }
3053
3054 }//end ProcessFloatVehicleParam
3055
3056 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
3057 {
3058 switch (pParam)
3059 {
3060 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
3061 if (pValue.X > 30f) pValue.X = 30f;
3062 if (pValue.X < 0.1f) pValue.X = 0.1f;
3063 if (pValue.Y > 30f) pValue.Y = 30f;
3064 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
3065 if (pValue.Z > 30f) pValue.Z = 30f;
3066 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
3067 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
3068 break;
3069 case Vehicle.ANGULAR_MOTOR_DIRECTION:
3070 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
3071 // Limit requested angular speed to 2 rps= 4 pi rads/sec
3072 if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
3073 if (m_angularMotorDirection.X < -12.56f) m_angularMotorDirection.X = -12.56f;
3074 if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
3075 if (m_angularMotorDirection.Y < -12.56f) m_angularMotorDirection.Y = -12.56f;
3076 if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
3077 if (m_angularMotorDirection.Z < -12.56f) m_angularMotorDirection.Z = -12.56f;
3078 UpdateAngDecay();
3079 break;
3080 case Vehicle.LINEAR_FRICTION_TIMESCALE:
3081 if (pValue.X < 0.1f) pValue.X = 0.1f;
3082 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
3083 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
3084 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
3085 break;
3086 case Vehicle.LINEAR_MOTOR_DIRECTION:
3087 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
3088 UpdateLinDecay();
3089 break;
3090 case Vehicle.LINEAR_MOTOR_OFFSET:
3091 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
3092 break;
3093 }
3094
3095 }//end ProcessVectorVehicleParam
3096
3097 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
3098 {
3099 switch (pParam)
3100 {
3101 case Vehicle.REFERENCE_FRAME:
3102 // m_referenceFrame = pValue;
3103 break;
3104 }
3105
3106 }//end ProcessRotationVehicleParam
3107
3108 internal void ProcessVehicleFlags(int pParam, bool remove)
3109 {
3110 if (remove)
3111 {
3112 m_flags &= ~((VehicleFlag)pParam);
3113 }
3114 else
3115 {
3116 m_flags |= (VehicleFlag)pParam;
3117 }
3118 }
3119
3120 internal void ProcessTypeChange(Vehicle pType)
3121 {
3122 // Set Defaults For Type
3123 m_type = pType;
3124 switch (pType)
3125 {
3126 case Vehicle.TYPE_SLED:
3127 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
3128 m_angularFrictionTimescale = new Vector3(30, 30, 30);
3129 // m_lLinMotorVel = Vector3.Zero;
3130 m_linearMotorTimescale = 1000;
3131 m_linearMotorDecayTimescale = 120;
3132 m_angularMotorDirection = Vector3.Zero;
3133 m_angularMotorDVel = Vector3.Zero;
3134 m_angularMotorTimescale = 1000;
3135 m_angularMotorDecayTimescale = 120;
3136 m_VhoverHeight = 0;
3137 // m_VhoverEfficiency = 1;
3138 m_VhoverTimescale = 10;
3139 m_VehicleBuoyancy = 0;
3140 // m_linearDeflectionEfficiency = 1;
3141 // m_linearDeflectionTimescale = 1;
3142 // m_angularDeflectionEfficiency = 1;
3143 // m_angularDeflectionTimescale = 1000;
3144 // m_bankingEfficiency = 0;
3145 // m_bankingMix = 1;
3146 // m_bankingTimescale = 10;
3147 // m_referenceFrame = Quaternion.Identity;
3148 m_flags &=
3149 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3150 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
3151 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3152 break;
3153 case Vehicle.TYPE_CAR:
3154 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
3155 m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
3156 // m_lLinMotorVel = Vector3.Zero;
3157 m_linearMotorTimescale = 1;
3158 m_linearMotorDecayTimescale = 60;
3159 m_angularMotorDirection = Vector3.Zero;
3160 m_angularMotorDVel = Vector3.Zero;
3161 m_angularMotorTimescale = 1;
3162 m_angularMotorDecayTimescale = 0.8f;
3163 m_VhoverHeight = 0;
3164 // m_VhoverEfficiency = 0;
3165 m_VhoverTimescale = 1000;
3166 m_VehicleBuoyancy = 0;
3167 // // m_linearDeflectionEfficiency = 1;
3168 // // m_linearDeflectionTimescale = 2;
3169 // // m_angularDeflectionEfficiency = 0;
3170 // m_angularDeflectionTimescale = 10;
3171 m_verticalAttractionEfficiency = 1f;
3172 m_verticalAttractionTimescale = 10f;
3173 // m_bankingEfficiency = -0.2f;
3174 // m_bankingMix = 1;
3175 // m_bankingTimescale = 1;
3176 // m_referenceFrame = Quaternion.Identity;
3177 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
3178 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
3179 VehicleFlag.LIMIT_MOTOR_UP);
3180 break;
3181 case Vehicle.TYPE_BOAT:
3182 m_linearFrictionTimescale = new Vector3(10, 3, 2);
3183 m_angularFrictionTimescale = new Vector3(10, 10, 10);
3184 // m_lLinMotorVel = Vector3.Zero;
3185 m_linearMotorTimescale = 5;
3186 m_linearMotorDecayTimescale = 60;
3187 m_angularMotorDirection = Vector3.Zero;
3188 m_angularMotorDVel = Vector3.Zero;
3189 m_angularMotorTimescale = 4;
3190 m_angularMotorDecayTimescale = 4;
3191 m_VhoverHeight = 0;
3192 // m_VhoverEfficiency = 0.5f;
3193 m_VhoverTimescale = 2;
3194 m_VehicleBuoyancy = 1;
3195 // m_linearDeflectionEfficiency = 0.5f;
3196 // m_linearDeflectionTimescale = 3;
3197 // m_angularDeflectionEfficiency = 0.5f;
3198 // m_angularDeflectionTimescale = 5;
3199 m_verticalAttractionEfficiency = 0.5f;
3200 m_verticalAttractionTimescale = 5f;
3201 // m_bankingEfficiency = -0.3f;
3202 // m_bankingMix = 0.8f;
3203 // m_bankingTimescale = 1;
3204 // m_referenceFrame = Quaternion.Identity;
3205 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
3206 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
3207 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
3208 VehicleFlag.LIMIT_MOTOR_UP);
3209 break;
3210 case Vehicle.TYPE_AIRPLANE:
3211 m_linearFrictionTimescale = new Vector3(200, 10, 5);
3212 m_angularFrictionTimescale = new Vector3(20, 20, 20);
3213 // m_lLinMotorVel = Vector3.Zero;
3214 m_linearMotorTimescale = 2;
3215 m_linearMotorDecayTimescale = 60;
3216 m_angularMotorDirection = Vector3.Zero;
3217 m_angularMotorDVel = Vector3.Zero;
3218 m_angularMotorTimescale = 4;
3219 m_angularMotorDecayTimescale = 4;
3220 m_VhoverHeight = 0;
3221 // m_VhoverEfficiency = 0.5f;
3222 m_VhoverTimescale = 1000;
3223 m_VehicleBuoyancy = 0;
3224 // m_linearDeflectionEfficiency = 0.5f;
3225 // m_linearDeflectionTimescale = 3;
3226 // m_angularDeflectionEfficiency = 1;
3227 // m_angularDeflectionTimescale = 2;
3228 m_verticalAttractionEfficiency = 0.9f;
3229 m_verticalAttractionTimescale = 2f;
3230 // m_bankingEfficiency = 1;
3231 // m_bankingMix = 0.7f;
3232 // m_bankingTimescale = 2;
3233 // m_referenceFrame = Quaternion.Identity;
3234 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3235 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3236 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
3237 break;
3238 case Vehicle.TYPE_BALLOON:
3239 m_linearFrictionTimescale = new Vector3(5, 5, 5);
3240 m_angularFrictionTimescale = new Vector3(10, 10, 10);
3241 m_linearMotorTimescale = 5;
3242 m_linearMotorDecayTimescale = 60;
3243 m_angularMotorDirection = Vector3.Zero;
3244 m_angularMotorDVel = Vector3.Zero;
3245 m_angularMotorTimescale = 6;
3246 m_angularMotorDecayTimescale = 10;
3247 m_VhoverHeight = 5;
3248 // m_VhoverEfficiency = 0.8f;
3249 m_VhoverTimescale = 10;
3250 m_VehicleBuoyancy = 1;
3251 // m_linearDeflectionEfficiency = 0;
3252 // m_linearDeflectionTimescale = 5;
3253 // m_angularDeflectionEfficiency = 0;
3254 // m_angularDeflectionTimescale = 5;
3255 m_verticalAttractionEfficiency = 1f;
3256 m_verticalAttractionTimescale = 100f;
3257 // m_bankingEfficiency = 0;
3258 // m_bankingMix = 0.7f;
3259 // m_bankingTimescale = 5;
3260 // m_referenceFrame = Quaternion.Identity;
3261 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
3262 VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
3263 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
3264 break;
3265
3266 }
3267 }//end SetDefaultsForType
3268
3269 internal void Enable(IntPtr pBody, OdeScene pParentScene)
3270 {
3271 if (m_type == Vehicle.TYPE_NONE)
3272 return;
3273
3274 m_body = pBody;
3275 }
3276
3277
3278 internal void Halt()
3279 { // Kill all motions, when non-physical
3280 // m_linearMotorDirection = Vector3.Zero;
3281 m_lLinMotorDVel = Vector3.Zero;
3282 m_lLinObjectVel = Vector3.Zero;
3283 m_wLinObjectVel = Vector3.Zero;
3284 m_angularMotorDirection = Vector3.Zero;
3285 m_lastAngularVelocity = Vector3.Zero;
3286 m_angularMotorDVel = Vector3.Zero;
3287 _acceleration = Vector3.Zero;
3288 }
3289
3290 private void UpdateLinDecay()
3291 {
3292 m_lLinMotorDVel.X = m_linearMotorDirection.X;
3293 m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
3294 m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
3295 } // else let the motor decay on its own
3296
3297 private void UpdateAngDecay()
3298 {
3299 m_angularMotorDVel.X = m_angularMotorDirection.X;
3300 m_angularMotorDVel.Y = m_angularMotorDirection.Y;
3301 m_angularMotorDVel.Z = m_angularMotorDirection.Z;
3302 } // else let the motor decay on its own
3303
3304 public void Move(float timestep)
3305 {
3306 float fx = 0;
3307 float fy = 0;
3308 float fz = 0;
3309 Vector3 linvel; // velocity applied, including any reversal
3310
3311 // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
3312 // This is a temp patch until proper region crossing is developed.
3313
3314
3315 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim && !m_outofBounds) // Only move root prims.
3316 {
3317 // Old public void UpdatePositionAndVelocity(), more accuratley calculated here
3318 bool lastZeroFlag = _zeroFlag; // was it stopped
3319
3320 d.Vector3 vec = d.BodyGetPosition(Body);
3321 Vector3 l_position = Vector3.Zero;
3322 l_position.X = vec.X;
3323 l_position.Y = vec.Y;
3324 l_position.Z = vec.Z;
3325 m_lastposition = _position;
3326 _position = l_position;
3327
3328 d.Quaternion ori = d.BodyGetQuaternion(Body);
3329 // Quaternion l_orientation = Quaternion.Identity;
3330 _orientation.X = ori.X;
3331 _orientation.Y = ori.Y;
3332 _orientation.Z = ori.Z;
3333 _orientation.W = ori.W;
3334 m_lastorientation = _orientation;
3335
3336 d.Vector3 vel = d.BodyGetLinearVel(Body);
3337 m_lastVelocity = _velocity;
3338 _velocity.X = vel.X;
3339 _velocity.Y = vel.Y;
3340 _velocity.Z = vel.Z;
3341 _acceleration = ((_velocity - m_lastVelocity) / timestep);
3342
3343 d.Vector3 torque = d.BodyGetTorque(Body);
3344 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3345
3346
3347 if (_position.X < 0f || _position.X > _parent_scene.WorldExtents.X
3348 || _position.Y < 0f || _position.Y > _parent_scene.WorldExtents.Y
3349 )
3350 {
3351 // we are outside current region
3352 // clip position to a stop just outside region and stop it only internally
3353 // do it only once using m_crossingfailures as control
3354 _position.X = Util.Clip(l_position.X, -0.2f, _parent_scene.WorldExtents.X + .2f);
3355 _position.Y = Util.Clip(l_position.Y, -0.2f, _parent_scene.WorldExtents.Y + .2f);
3356 _position.Z = Util.Clip(l_position.Z, -100f, 50000f);
3357 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
3358 d.BodySetLinearVel(Body, 0, 0, 0);
3359 m_outofBounds = true;
3360 base.RequestPhysicsterseUpdate();
3361 return;
3362 }
3363
3364 base.RequestPhysicsterseUpdate();
3365
3366 if (l_position.Z < 0)
3367 {
3368 // This is so prim that get lost underground don't fall forever and suck up
3369 //
3370 // Sim resources and memory.
3371 // Disables the prim's movement physics....
3372 // It's a hack and will generate a console message if it fails.
3373
3374 //IsPhysical = false;
3375 if (_parent == null) base.RaiseOutOfBounds(_position);
3376
3377
3378 _acceleration.X = 0; // This stuff may stop client display but it has no
3379 _acceleration.Y = 0; // effect on the object in phys engine!
3380 _acceleration.Z = 0;
3381
3382 _velocity.X = 0;
3383 _velocity.Y = 0;
3384 _velocity.Z = 0;
3385 m_lastVelocity = Vector3.Zero;
3386 m_rotationalVelocity.X = 0;
3387 m_rotationalVelocity.Y = 0;
3388 m_rotationalVelocity.Z = 0;
3389
3390 if (_parent == null) base.RequestPhysicsterseUpdate();
3391
3392 m_throttleUpdates = false;
3393 throttleCounter = 0;
3394 _zeroFlag = true;
3395 //outofBounds = true;
3396 } // end neg Z check
3397
3398 // Is it moving?
3399 /* if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
3400 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
3401 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */
3402 if ((Vector3.Mag(_velocity) < 0.01) && // moving very slowly
3403 (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) && // decelerating
3404 (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // spinning very slowly
3405 {
3406 _zeroFlag = true;
3407 m_throttleUpdates = false;
3408 }
3409 else
3410 {
3411 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3412 _zeroFlag = false;
3413 m_lastUpdateSent = false;
3414 //m_throttleUpdates = false;
3415 }
3416
3417 if (_zeroFlag)
3418 { // Its stopped
3419 _velocity.X = 0.0f;
3420 _velocity.Y = 0.0f;
3421 // _velocity.Z = 0.0f;
3422
3423 _acceleration.X = 0;
3424 _acceleration.Y = 0;
3425 // _acceleration.Z = 0;
3426
3427 m_rotationalVelocity.X = 0;
3428 m_rotationalVelocity.Y = 0;
3429 m_rotationalVelocity.Z = 0;
3430 // Stop it in the phys engine
3431 d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z);
3432 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
3433 d.BodySetForce(Body, 0f, 0f, 0f);
3434
3435 if (!m_lastUpdateSent)
3436 {
3437 m_throttleUpdates = false;
3438 throttleCounter = 0;
3439 if (_parent == null)
3440 {
3441 base.RequestPhysicsterseUpdate();
3442 }
3443
3444 m_lastUpdateSent = true;
3445 }
3446 }
3447 else
3448 { // Its moving
3449 if (lastZeroFlag != _zeroFlag)
3450 {
3451 if (_parent == null)
3452 {
3453 base.RequestPhysicsterseUpdate();
3454 }
3455 }
3456 m_lastUpdateSent = false;
3457 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3458 {
3459 if (_parent == null)
3460 {
3461 base.RequestPhysicsterseUpdate();
3462 }
3463 }
3464 else
3465 {
3466 throttleCounter++;
3467 }
3468 }
3469 m_lastposition = l_position;
3470
3471 /// End UpdatePositionAndVelocity insert
3472
3473
3474 // Rotation lock =====================================
3475 if (m_rotateEnableUpdate)
3476 {
3477 // Snapshot current angles, set up Amotor(s)
3478 m_rotateEnableUpdate = false;
3479 m_rotateEnable = m_rotateEnableRequest;
3480 //Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
3481
3482 if (Amotor != IntPtr.Zero)
3483 {
3484 d.JointDestroy(Amotor);
3485 Amotor = IntPtr.Zero;
3486 //Console.WriteLine("Old Amotor Destroyed");
3487 }
3488
3489 if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
3490 { // not all are enabled
3491 d.Quaternion r = d.BodyGetQuaternion(Body);
3492 Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
3493 // extract the axes vectors
3494 Vector3 vX = new Vector3(1f, 0f, 0f);
3495 Vector3 vY = new Vector3(0f, 1f, 0f);
3496 Vector3 vZ = new Vector3(0f, 0f, 1f);
3497 vX = vX * locrot;
3498 vY = vY * locrot;
3499 vZ = vZ * locrot;
3500 // snapshot the current angle vectors
3501 m_lockX = vX;
3502 m_lockY = vY;
3503 m_lockZ = vZ;
3504 // m_lockRot = locrot;
3505 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
3506 d.JointAttach(Amotor, Body, IntPtr.Zero);
3507 d.JointSetAMotorMode(Amotor, 0); // User mode??
3508 //Console.WriteLine("New Amotor Created for {0}", m_primName);
3509
3510 float axisnum = 3; // how many to lock
3511 axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
3512 d.JointSetAMotorNumAxes(Amotor, (int)axisnum);
3513 //Console.WriteLine("AxisNum={0}",(int)axisnum);
3514
3515 int i = 0;
3516
3517 if (m_rotateEnable.X == 0)
3518 {
3519 d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
3520 //Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
3521 i++;
3522 }
3523
3524 if (m_rotateEnable.Y == 0)
3525 {
3526 d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
3527 //Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
3528 i++;
3529 }
3530
3531 if (m_rotateEnable.Z == 0)
3532 {
3533 d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
3534 //Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
3535 i++;
3536 }
3537
3538 // These lowstops and high stops are effectively (no wiggle room)
3539 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
3540 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
3541 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
3542 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
3543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
3544 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
3545 d.JointSetAMotorParam(Amotor, (int)dParam.Vel, 0f);
3546 d.JointSetAMotorParam(Amotor, (int)dParam.Vel3, 0f);
3547 d.JointSetAMotorParam(Amotor, (int)dParam.Vel2, 0f);
3548 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
3549 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
3550 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
3551 } // else none are locked
3552 } // end Rotation Update
3553
3554
3555 // VEHICLE processing ==========================================
3556 if (m_type != Vehicle.TYPE_NONE)
3557 {
3558 // get body attitude
3559 d.Quaternion rot = d.BodyGetQuaternion(Body);
3560 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
3561 Quaternion irotq = Quaternion.Inverse(rotq);
3562
3563 // VEHICLE Linear Motion
3564 d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
3565 Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
3566 m_lLinObjectVel = vel_now * irotq;
3567 if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
3568 {
3569 if (Vector3.Mag(m_lLinMotorDVel) < 1.0f)
3570 {
3571 float decayfactor = m_linearMotorDecayTimescale / timestep;
3572 Vector3 decayAmount = (m_lLinMotorDVel / decayfactor);
3573 m_lLinMotorDVel -= decayAmount;
3574 }
3575 else
3576 {
3577 float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
3578 Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep;
3579 m_lLinMotorDVel -= decel;
3580 }
3581 if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3582 {
3583 m_lLinMotorDVel = Vector3.Zero;
3584 }
3585
3586 /* else
3587 {
3588 if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
3589 if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
3590 if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
3591 } */
3592 } // end linear motor decay
3593
3594 if ((!m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
3595 {
3596 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
3597 if (m_linearMotorTimescale < 300.0f)
3598 {
3599 Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
3600 float linfactor = m_linearMotorTimescale / timestep;
3601 Vector3 attackAmount = (attack_error / linfactor) * 1.3f;
3602 m_lLinObjectVel += attackAmount;
3603 }
3604 if (m_linearFrictionTimescale.X < 300.0f)
3605 {
3606 float fricfactor = m_linearFrictionTimescale.X / timestep;
3607 float fricX = m_lLinObjectVel.X / fricfactor;
3608 m_lLinObjectVel.X -= fricX;
3609 }
3610 if (m_linearFrictionTimescale.Y < 300.0f)
3611 {
3612 float fricfactor = m_linearFrictionTimescale.Y / timestep;
3613 float fricY = m_lLinObjectVel.Y / fricfactor;
3614 m_lLinObjectVel.Y -= fricY;
3615 }
3616 if (m_linearFrictionTimescale.Z < 300.0f)
3617 {
3618 float fricfactor = m_linearFrictionTimescale.Z / timestep;
3619 float fricZ = m_lLinObjectVel.Z / fricfactor;
3620 m_lLinObjectVel.Z -= fricZ;
3621 }
3622 }
3623 m_wLinObjectVel = m_lLinObjectVel * rotq;
3624
3625 // Gravity and Buoyancy
3626 Vector3 grav = Vector3.Zero;
3627 if (m_VehicleBuoyancy < 1.0f)
3628 {
3629 // There is some gravity, make a gravity force vector
3630 // that is applied after object velocity.
3631 d.Mass objMass;
3632 d.BodyGetMass(Body, out objMass);
3633 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
3634 grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
3635 } // else its 1.0, no gravity.
3636
3637 // Hovering
3638 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
3639 {
3640 // We should hover, get the target height
3641 d.Vector3 pos = d.BodyGetPosition(Body);
3642 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
3643 {
3644 m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight;
3645 }
3646 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
3647 {
3648 m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
3649 }
3650 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
3651 {
3652 m_VhoverTargetHeight = m_VhoverHeight;
3653 }
3654
3655 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
3656 {
3657 // If body is aready heigher, use its height as target height
3658 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
3659 }
3660
3661 // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
3662 // m_VhoverTimescale = 0f; // time to acheive height
3663 // timestep is time since last frame,in secs
3664 float herr0 = pos.Z - m_VhoverTargetHeight;
3665 // Replace Vertical speed with correction figure if significant
3666 if (Math.Abs(herr0) > 0.01f)
3667 {
3668 //? d.Mass objMass;
3669 //? d.BodyGetMass(Body, out objMass);
3670 m_wLinObjectVel.Z = -((herr0 * timestep * 50.0f) / m_VhoverTimescale);
3671 //KF: m_VhoverEfficiency is not yet implemented
3672 }
3673 else
3674 {
3675 m_wLinObjectVel.Z = 0f;
3676 }
3677 }
3678 else
3679 { // not hovering
3680 if (m_wLinObjectVel.Z == 0f)
3681 { // Gravity rules
3682 m_wLinObjectVel.Z = vel_now.Z;
3683 } // else the motor has it
3684 }
3685 linvel = m_wLinObjectVel;
3686
3687 // Vehicle Linear Motion done =======================================
3688 // Apply velocity
3689 d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
3690 // apply gravity force
3691 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
3692 //if(frcount == 0) Console.WriteLine("Vel={0} Force={1}",linvel , grav);
3693 // end MoveLinear()
3694
3695
3696 // MoveAngular
3697 /*
3698 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
3699
3700 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
3701 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
3702 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
3703
3704 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
3705 private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
3706 */
3707 //if(frcount == 0) Console.WriteLine("MoveAngular ");
3708
3709 d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
3710 Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
3711 angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation
3712
3713 //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
3714
3715 // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
3716 float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep);
3717 m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
3718 // Decay Angular Motor 2.
3719 if (m_angularMotorDecayTimescale < 300.0f)
3720 {
3721 if (Vector3.Mag(m_angularMotorDVel) < 1.0f)
3722 {
3723 float decayfactor = (m_angularMotorDecayTimescale) / timestep;
3724 Vector3 decayAmount = (m_angularMotorDVel / decayfactor);
3725 m_angularMotorDVel -= decayAmount;
3726 }
3727 else
3728 {
3729 Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale;
3730 m_angularMotorDVel -= decel;
3731 }
3732
3733 if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3734 {
3735 m_angularMotorDVel = Vector3.Zero;
3736 }
3737 else
3738 {
3739 if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
3740 if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
3741 if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
3742 }
3743 } // end decay angular motor
3744 //if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3745
3746 //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
3747
3748 if ((!m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)))
3749 { // if motor or object have motion
3750 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body);
3751
3752 if (m_angularMotorTimescale < 300.0f)
3753 {
3754 Vector3 attack_error = m_angularMotorDVel - angObjectVel;
3755 float angfactor = m_angularMotorTimescale / timestep;
3756 Vector3 attackAmount = (attack_error / angfactor);
3757 angObjectVel += attackAmount;
3758 //if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
3759 //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
3760 }
3761
3762 angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
3763 angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
3764 angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
3765 } // else no signif. motion
3766
3767 //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3768 // Bank section tba
3769 // Deflection section tba
3770 //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
3771
3772
3773 /* // Rotation Axis Disables:
3774 if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
3775 {
3776 if (m_angularEnable.X == 0)
3777 angObjectVel.X = 0f;
3778 if (m_angularEnable.Y == 0)
3779 angObjectVel.Y = 0f;
3780 if (m_angularEnable.Z == 0)
3781 angObjectVel.Z = 0f;
3782 }
3783 */
3784 angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
3785
3786 // Vertical attractor section
3787 Vector3 vertattr = Vector3.Zero;
3788
3789 if (m_verticalAttractionTimescale < 300)
3790 {
3791 float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep);
3792 // make a vector pointing up
3793 Vector3 verterr = Vector3.Zero;
3794 verterr.Z = 1.0f;
3795 // rotate it to Body Angle
3796 verterr = verterr * rotq;
3797 // 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.
3798 // 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
3799 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
3800
3801 if (verterr.Z < 0.0f)
3802 { // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
3803 // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
3804 //Console.WriteLine("InvertFlip");
3805 verterr.X = 2.0f - verterr.X;
3806 verterr.Y = 2.0f - verterr.Y;
3807 }
3808 verterr *= 0.5f;
3809 // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
3810 Vector3 xyav = angObjectVel;
3811 xyav.Z = 0.0f;
3812 if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
3813 {
3814 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
3815 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
3816 vertattr.X = verterr.Y;
3817 vertattr.Y = -verterr.X;
3818 vertattr.Z = 0f;
3819 //if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
3820
3821 // scaling appears better usingsquare-law
3822 float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
3823 float bounce = 1.0f - damped;
3824 // 0 = crit damp, 1 = bouncy
3825 float oavz = angObjectVel.Z; // retain z velocity
3826 // time-scaled correction, which sums, therefore is bouncy:
3827 angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce;
3828 // damped, good @ < 90:
3829 angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped);
3830 angObjectVel.Z = oavz;
3831 //if(frcount == 0) Console.WriteLine("VA+");
3832 //Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
3833 }
3834 else
3835 {
3836 // else error is very small
3837 angObjectVel.X = 0f;
3838 angObjectVel.Y = 0f;
3839 //if(frcount == 0) Console.WriteLine("VA0");
3840 }
3841 } // else vertical attractor is off
3842 //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
3843
3844
3845 m_lastAngularVelocity = angObjectVel;
3846 // apply Angular Velocity to body
3847 d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
3848 //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
3849
3850 } // end VEHICLES
3851 else
3852 {
3853 // Dyamics (NON-'VEHICLES') are dealt with here ================================================================
3854
3855 if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
3856
3857 /// Dynamics Buoyancy
3858 //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
3859 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
3860 // NB Prims in ODE are no subject to global gravity
3861 // This should only affect gravity operations
3862
3863 float m_mass = CalculateMass();
3864 // calculate z-force due togravity on object.
3865 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
3866 if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
3867 {
3868 fz = 0; // llMoveToTarget ignores gravity.
3869 // it also ignores mass of object, and any physical resting on it.
3870 // Vector3 m_PIDTarget is where we are going
3871 // float m_PIDTau is time to get there
3872 fx = 0;
3873 fy = 0;
3874 d.Vector3 pos = d.BodyGetPosition(Body);
3875 Vector3 error = new Vector3(
3876 (m_PIDTarget.X - pos.X),
3877 (m_PIDTarget.Y - pos.Y),
3878 (m_PIDTarget.Z - pos.Z));
3879 if (error.ApproxEquals(Vector3.Zero, 0.01f))
3880 { // Very close, Jump there and quit move
3881
3882 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3883 _target_velocity = Vector3.Zero;
3884 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3885 d.BodySetForce(Body, 0f, 0f, 0f);
3886 }
3887 else
3888 {
3889 float scale = 50.0f * timestep / m_PIDTau;
3890 if ((error.ApproxEquals(Vector3.Zero, 0.5f)) && (_target_velocity != Vector3.Zero))
3891 {
3892 // Nearby, quit update of velocity
3893 }
3894 else
3895 { // Far, calc damped velocity
3896 _target_velocity = error * scale;
3897 }
3898 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3899 }
3900 } // end PID MoveToTarget
3901
3902
3903 /// Dynamics Hover ===================================================================================
3904 // Hover PID Controller can only run if the PIDcontroller is not in use.
3905 if (m_useHoverPID && !m_usePID)
3906 {
3907 //Console.WriteLine("Hover " + m_primName);
3908
3909 // If we're using the PID controller, then we have no gravity
3910 fz = (-1 * _parent_scene.gravityz) * m_mass;
3911
3912 // no lock; for now it's only called from within Simulate()
3913
3914 // If the PID Controller isn't active then we set our force
3915 // calculating base velocity to the current position
3916
3917 if ((m_PIDTau < 1))
3918 {
3919 PID_G = PID_G / m_PIDTau;
3920 }
3921
3922 if ((PID_G - m_PIDTau) <= 0)
3923 {
3924 PID_G = m_PIDTau + 1;
3925 }
3926
3927
3928 // Where are we, and where are we headed?
3929 d.Vector3 pos = d.BodyGetPosition(Body);
3930 // d.Vector3 vel = d.BodyGetLinearVel(Body);
3931
3932
3933 // Non-Vehicles have a limited set of Hover options.
3934 // determine what our target height really is based on HoverType
3935 switch (m_PIDHoverType)
3936 {
3937 case PIDHoverType.Ground:
3938 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3939 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3940 break;
3941 case PIDHoverType.GroundAndWater:
3942 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3943 m_waterHeight = _parent_scene.GetWaterLevel();
3944 if (m_groundHeight > m_waterHeight)
3945 {
3946 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3947 }
3948 else
3949 {
3950 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3951 }
3952 break;
3953
3954 } // end switch (m_PIDHoverType)
3955
3956
3957 _target_velocity =
3958 new Vector3(0.0f, 0.0f,
3959 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3960 );
3961
3962 // if velocity is zero, use position control; otherwise, velocity control
3963
3964 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3965 {
3966 // keep track of where we stopped. No more slippin' & slidin'
3967
3968 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3969 // react to the physics scene by moving it's position.
3970 // Avatar to Avatar collisions
3971 // Prim to avatar collisions
3972 d.Vector3 dlinvel = vel;
3973 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3974 d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
3975 d.BodyAddForce(Body, 0, 0, fz);
3976 //KF this prevents furthur motions return;
3977 }
3978 else
3979 {
3980 _zeroFlag = false;
3981
3982 // We're flying and colliding with something
3983 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
3984 }
3985 } // end m_useHoverPID && !m_usePID
3986
3987
3988 /// Dynamics Apply Forces ===================================================================================
3989 fx *= m_mass;
3990 fy *= m_mass;
3991 //fz *= m_mass;
3992 fx += m_force.X;
3993 fy += m_force.Y;
3994 fz += m_force.Z;
3995
3996 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3997 if (fx != 0 || fy != 0 || fz != 0)
3998 {
3999 //m_taintdisable = true;
4000 //base.RaiseOutOfBounds(Position);
4001 //d.BodySetLinearVel(Body, fx, fy, 0f);
4002 if (!d.BodyIsEnabled(Body))
4003 {
4004 // A physical body at rest on a surface will auto-disable after a while,
4005 // this appears to re-enable it incase the surface it is upon vanishes,
4006 // and the body should fall again.
4007 d.BodySetLinearVel(Body, 0f, 0f, 0f);
4008 d.BodySetForce(Body, 0f, 0f, 0f);
4009 enableBodySoft();
4010 }
4011
4012 // 35x10 = 350n times the mass per second applied maximum.
4013 float nmax = 35f * m_mass;
4014 float nmin = -35f * m_mass;
4015
4016
4017 if (fx > nmax)
4018 fx = nmax;
4019 if (fx < nmin)
4020 fx = nmin;
4021 if (fy > nmax)
4022 fy = nmax;
4023 if (fy < nmin)
4024 fy = nmin;
4025 d.BodyAddForce(Body, fx, fy, fz);
4026 } // end apply forces
4027 } // end Vehicle/Dynamics
4028
4029 /// RotLookAt / LookAt =================================================================================
4030 if (m_useAPID)
4031 {
4032 // RotLookAt, apparently overrides all other rotation sources. Inputs:
4033 // Quaternion m_APIDTarget
4034 // float m_APIDStrength // From SL experiments, this is the time to get there
4035 // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
4036 // Also in SL the mass of the object has no effect on time to get there.
4037 // Factors:
4038 // get present body rotation
4039 float limit = 1.0f;
4040 float rscaler = 50f; // adjusts rotation damping time
4041 float lscaler = 10f; // adjusts linear damping time in llLookAt
4042 float RLAservo = 0f;
4043 Vector3 diff_axis;
4044 float diff_angle;
4045 d.Quaternion rot = d.BodyGetQuaternion(Body); // prim present rotation
4046 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
4047 Quaternion rtarget = new Quaternion();
4048
4049 if (m_APIDTarget.W == -99.9f)
4050 {
4051 // this is really a llLookAt(), x,y,z is the target vector
4052 Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z);
4053 Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq;
4054 Vector3 error = new Vector3(0.0f, 0.0f, 0.0f);
4055 float twopi = 2.0f * (float)Math.PI;
4056 Vector3 dir = target - _position;
4057 dir.Normalize();
4058 float tzrot = (float)Math.Atan2(dir.Y, dir.X);
4059 float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y));
4060 float terot = (float)Math.Atan2(dir.Z, txy);
4061 float ozrot = (float)Math.Atan2(ospin.Y, ospin.X);
4062 float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y));
4063 float oerot = (float)Math.Atan2(ospin.Z, oxy);
4064 float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z));
4065 float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y) + (rotq.X * rotq.X));
4066 float roll = (float)Math.Atan2(ra, rb);
4067 float errorz = tzrot - ozrot;
4068 if (errorz > (float)Math.PI) errorz -= twopi;
4069 else if (errorz < -(float)Math.PI) errorz += twopi;
4070 float errory = oerot - terot;
4071 if (errory > (float)Math.PI) errory -= twopi;
4072 else if (errory < -(float)Math.PI) errory += twopi;
4073 diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll);
4074 if (diff_angle > 0.01f * m_APIDdamper)
4075 {
4076 m_APIDdamper = 1.0f;
4077 RLAservo = timestep / m_APIDStrength * rscaler;
4078 errorz *= RLAservo;
4079 errory *= RLAservo;
4080 error.X = -roll * 8.0f;
4081 error.Y = errory;
4082 error.Z = errorz;
4083 error *= rotq;
4084 d.BodySetAngularVel(Body, error.X, error.Y, error.Z);
4085 }
4086 else
4087 {
4088 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
4089 m_APIDdamper = 2.0f;
4090 }
4091 }
4092 else
4093 {
4094 // this is a llRotLookAt()
4095 rtarget = m_APIDTarget;
4096
4097 Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget; // difference to desired rot
4098 rot_diff.GetAxisAngle(out diff_axis, out diff_angle); // convert to axis to point at & error angle
4099 //if(frcount == 0) Console.WriteLine("axis {0} angle {1}",diff_axis * 57.3f, diff_angle);
4100
4101 // diff_axis.Normalize(); it already is!
4102 if (diff_angle > 0.01f * m_APIDdamper) // diff_angle is always +ve // if there is enough error
4103 {
4104 m_APIDdamper = 1.0f;
4105 Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
4106 rotforce = rotforce * rotq;
4107 if (diff_angle > limit) diff_angle = limit; // cap the rotate rate
4108 RLAservo = timestep / m_APIDStrength * lscaler;
4109 rotforce = rotforce * RLAservo * diff_angle;
4110 d.BodySetAngularVel(Body, rotforce.X, rotforce.Y, rotforce.Z);
4111 //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
4112 }
4113 else
4114 { // close enough
4115 d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f);
4116 m_APIDdamper = 2.0f;
4117 }
4118 } // end llLookAt/llRotLookAt
4119 //if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
4120 } // end m_useAPID
4121 } // end root prims
4122 } // end Move()
4123 } // end class
4124}
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..00f5122
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -0,0 +1,3887 @@
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 if (Util.IsWindows())
76 Util.LoadArchSpecificWindowsDll("ode.dll");
77
78 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
79 // http://opensimulator.org/mantis/view.php?id=2750).
80 d.InitODE();
81
82 _mScene = new OdeScene(ode, sceneIdentifier);
83 }
84 return (_mScene);
85 }
86
87 public string GetName()
88 {
89 return ("ChODE");
90 }
91
92 public void Dispose()
93 {
94 }
95 }
96
97 public enum StatusIndicators : int
98 {
99 Generic = 0,
100 Start = 1,
101 End = 2
102 }
103
104 public struct sCollisionData
105 {
106 public uint ColliderLocalId;
107 public uint CollidedWithLocalId;
108 public int NumberOfCollisions;
109 public int CollisionType;
110 public int StatusIndicator;
111 public int lastframe;
112 }
113
114 [Flags]
115 public enum CollisionCategories : int
116 {
117 Disabled = 0,
118 Geom = 0x00000001,
119 Body = 0x00000002,
120 Space = 0x00000004,
121 Character = 0x00000008,
122 Land = 0x00000010,
123 Water = 0x00000020,
124 Wind = 0x00000040,
125 Sensor = 0x00000080,
126 Selected = 0x00000100
127 }
128
129 /// <summary>
130 /// Material type for a primitive
131 /// </summary>
132 public enum Material : int
133 {
134 /// <summary></summary>
135 Stone = 0,
136 /// <summary></summary>
137 Metal = 1,
138 /// <summary></summary>
139 Glass = 2,
140 /// <summary></summary>
141 Wood = 3,
142 /// <summary></summary>
143 Flesh = 4,
144 /// <summary></summary>
145 Plastic = 5,
146 /// <summary></summary>
147 Rubber = 6
148
149 }
150
151 public sealed class OdeScene : PhysicsScene
152 {
153 private readonly ILog m_log;
154 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
155
156 CollisionLocker ode;
157
158 private Random fluidRandomizer = new Random(Environment.TickCount);
159
160 private const uint m_regionWidth = Constants.RegionSize;
161 private const uint m_regionHeight = Constants.RegionSize;
162
163 private float ODE_STEPSIZE = 0.020f;
164 private float metersInSpace = 29.9f;
165 private float m_timeDilation = 1.0f;
166
167 public float gravityx = 0f;
168 public float gravityy = 0f;
169 public float gravityz = -9.8f;
170
171 private float contactsurfacelayer = 0.001f;
172
173 private int worldHashspaceLow = -4;
174 private int worldHashspaceHigh = 128;
175
176 private int smallHashspaceLow = -4;
177 private int smallHashspaceHigh = 66;
178
179 private float waterlevel = 0f;
180 private int framecount = 0;
181 //private int m_returncollisions = 10;
182
183 private readonly IntPtr contactgroup;
184
185 internal IntPtr LandGeom;
186 internal IntPtr WaterGeom;
187
188 private float nmTerrainContactFriction = 255.0f;
189 private float nmTerrainContactBounce = 0.1f;
190 private float nmTerrainContactERP = 0.1025f;
191
192 private float mTerrainContactFriction = 75f;
193 private float mTerrainContactBounce = 0.1f;
194 private float mTerrainContactERP = 0.05025f;
195
196 private float nmAvatarObjectContactFriction = 250f;
197 private float nmAvatarObjectContactBounce = 0.1f;
198
199 private float mAvatarObjectContactFriction = 75f;
200 private float mAvatarObjectContactBounce = 0.1f;
201
202 private float avPIDD = 3200f;
203 private float avPIDP = 1400f;
204 private float avCapRadius = 0.37f;
205 private float avStandupTensor = 2000000f;
206 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
207 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
208 private float avDensity = 80f;
209 private float avHeightFudgeFactor = 0.52f;
210 private float avMovementDivisorWalk = 1.3f;
211 private float avMovementDivisorRun = 0.8f;
212 private float minimumGroundFlightOffset = 3f;
213 public float maximumMassObject = 10000.01f;
214
215 public bool meshSculptedPrim = true;
216 public bool forceSimplePrimMeshing = false;
217
218 public float meshSculptLOD = 32;
219 public float MeshSculptphysicalLOD = 16;
220
221 public float geomDefaultDensity = 10.000006836f;
222
223 public int geomContactPointsStartthrottle = 3;
224 public int geomUpdatesPerThrottledUpdate = 15;
225
226 public float bodyPIDD = 35f;
227 public float bodyPIDG = 25;
228
229 public int geomCrossingFailuresBeforeOutofbounds = 5;
230 public float geomRegionFence = 0.0f;
231
232 public float bodyMotorJointMaxforceTensor = 2;
233
234 public int bodyFramesAutoDisable = 20;
235
236 private DateTime m_lastframe = DateTime.UtcNow;
237
238 private float[] _watermap;
239 private bool m_filterCollisions = true;
240
241 private d.NearCallback nearCallback;
242 public d.TriCallback triCallback;
243 public d.TriArrayCallback triArrayCallback;
244 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
245 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
246 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
247 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
248 private readonly Object _taintedPrimLock = new Object();
249 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
250 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
251 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
252 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
253 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
254 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
255 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
256 private bool m_NINJA_physics_joints_enabled = false;
257 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
258 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
259 private d.ContactGeom[] contacts;
260 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
261 private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
262 private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
263 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
264 private Object externalJointRequestsLock = new Object();
265 private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
266 private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
267 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
268 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
269
270 private d.Contact ContactCopy; // local copy that can be modified
271 private d.Contact TerrainContact;
272 private d.Contact AvatarStaticprimContact; // was 'contact'
273 private d.Contact AvatarMovementprimContact;
274 private d.Contact AvatarMovementTerrainContact;
275 private d.Contact WaterContact;
276 private d.Contact[,] m_materialContacts;
277
278//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
279//Ckrinke private int m_randomizeWater = 200;
280 private int m_physicsiterations = 10;
281 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
282 private readonly PhysicsActor PANull = new NullPhysicsActor();
283 private float step_time = 0.0f;
284//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
285//Ckrinke private int ms = 0;
286 public IntPtr world;
287 //private bool returncollisions = false;
288 // private uint obj1LocalID = 0;
289 private uint obj2LocalID = 0;
290 //private int ctype = 0;
291 private OdeCharacter cc1;
292 private OdePrim cp1;
293 private OdeCharacter cc2;
294 private OdePrim cp2;
295 //private int cStartStop = 0;
296 //private string cDictKey = "";
297
298 public IntPtr space;
299
300 //private IntPtr tmpSpace;
301 // split static geometry collision handling into spaces of 30 meters
302 public IntPtr[,] staticPrimspace;
303
304 public Object OdeLock;
305
306 public IMesher mesher;
307
308 private IConfigSource m_config;
309
310 public bool physics_logging = false;
311 public int physics_logging_interval = 0;
312 public bool physics_logging_append_existing_logfile = false;
313
314 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
315 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
316
317 // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
318 // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
319 // TODO: unused: private uint heightmapWidthSamples;
320 // TODO: unused: private uint heightmapHeightSamples;
321
322 private volatile int m_global_contactcount = 0;
323
324 private Vector3 m_worldOffset = Vector3.Zero;
325 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
326 private PhysicsScene m_parentScene = null;
327
328 private ODERayCastRequestManager m_rayCastManager;
329
330 /// <summary>
331 /// Initiailizes the scene
332 /// Sets many properties that ODE requires to be stable
333 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
334 /// </summary>
335 public OdeScene(CollisionLocker dode, string sceneIdentifier)
336 {
337 m_log
338 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
339
340 OdeLock = new Object();
341 ode = dode;
342 nearCallback = near;
343 triCallback = TriCallback;
344 triArrayCallback = TriArrayCallback;
345 m_rayCastManager = new ODERayCastRequestManager(this);
346 lock (OdeLock)
347 {
348 // Create the world and the first space
349 world = d.WorldCreate();
350 space = d.HashSpaceCreate(IntPtr.Zero);
351
352
353 contactgroup = d.JointGroupCreate(0);
354 //contactgroup
355
356 d.WorldSetAutoDisableFlag(world, false);
357 #if USE_DRAWSTUFF
358
359 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
360 viewthread.Start();
361 #endif
362 }
363
364
365 _watermap = new float[258 * 258];
366
367 // Zero out the prim spaces array (we split our space into smaller spaces so
368 // we can hit test less.
369 }
370
371#if USE_DRAWSTUFF
372 public void startvisualization(object o)
373 {
374 ds.Functions fn;
375 fn.version = ds.VERSION;
376 fn.start = new ds.CallbackFunction(start);
377 fn.step = new ds.CallbackFunction(step);
378 fn.command = new ds.CallbackFunction(command);
379 fn.stop = null;
380 fn.path_to_textures = "./textures";
381 string[] args = new string[0];
382 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
383 }
384#endif
385
386 // Initialize the mesh plugin
387 public override void Initialise(IMesher meshmerizer, IConfigSource config)
388 {
389 mesher = meshmerizer;
390 m_config = config;
391 // Defaults
392
393 if (Environment.OSVersion.Platform == PlatformID.Unix)
394 {
395 avPIDD = 3200.0f;
396 avPIDP = 1400.0f;
397 avStandupTensor = 2000000f;
398 }
399 else
400 {
401 avPIDD = 2200.0f;
402 avPIDP = 900.0f;
403 avStandupTensor = 550000f;
404 }
405
406 int contactsPerCollision = 80;
407
408 if (m_config != null)
409 {
410 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
411 if (physicsconfig != null)
412 {
413 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
414 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
415 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
416
417 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
418 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
419
420 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
421 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
422 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
423
424 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
425
426 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
427 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
428 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
429
430 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
431 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
432 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
433
434 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
435 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
436
437 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
438 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
439
440 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
441 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
442
443 avDensity = physicsconfig.GetFloat("av_density", 80f);
444 avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
445 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
446 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
447 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
448 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
449
450 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
451
452 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
453 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
454 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
455 geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
456
457 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
458 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
459
460 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
461 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
462
463 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
464 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
465 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
466 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
467 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
468
469 if (Environment.OSVersion.Platform == PlatformID.Unix)
470 {
471 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
472 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
473 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
474 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
475 }
476 else
477 {
478 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
479 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
480 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
481 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
482 }
483
484 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
485 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
486 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
487
488 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
489 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
490 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
491 }
492 }
493
494 contacts = new d.ContactGeom[contactsPerCollision];
495
496 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
497
498 // Avatar static on a Prim parameters
499 AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
500 AvatarStaticprimContact.surface.mu = 255.0f;
501 AvatarStaticprimContact.surface.bounce = 0.0f;
502 AvatarStaticprimContact.surface.soft_cfm = 0.0f;
503 AvatarStaticprimContact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
504
505 // Avatar moving on a Prim parameters
506 AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
507 AvatarMovementprimContact.surface.mu = 255.0f;
508 AvatarMovementprimContact.surface.bounce = 0.0f;
509 AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
510 AvatarMovementprimContact.surface.soft_erp = 0.3f;
511
512 // Static Avatar on Terrain parameters
513 // Keeps Avatar in place better
514 TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
515 TerrainContact.surface.mu = 255.0f;
516 TerrainContact.surface.bounce = 0.0f;
517 TerrainContact.surface.soft_cfm = 0.0f;
518 TerrainContact.surface.soft_erp = 0.05f;
519
520 // Moving Avatar on Terrain parameters
521 AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
522 AvatarMovementTerrainContact.surface.mu = 75f;
523 AvatarMovementTerrainContact.surface.bounce = 0.0f;
524 AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
525 AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
526
527 // Avatar or prim the the water, this may not be used, possibly water is same as air?
528 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
529 WaterContact.surface.mu = 0.0f; // No friction
530 WaterContact.surface.bounce = 0.0f; // No bounce
531 WaterContact.surface.soft_cfm = 0.010f;
532 WaterContact.surface.soft_erp = 0.010f;
533
534
535 // Prim static or moving on a prim, depends on material type
536 m_materialContacts = new d.Contact[7,2];
537 // V 1 = Sliding; 0 = static or fell onto
538 m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
539 m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
540 m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f; // friction, 1 = slippery, 255 = no slip
541 m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;
542 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
543 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; // erp also changes friction, more erp=less friction
544
545 m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
546 m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
547 m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
548 m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
549 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
550 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
551
552 m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
553 m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
554 m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
555 m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
556 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
557 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
558
559 m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
560 m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
561 m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
562 m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
563 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
564 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
565
566 m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
567 m_materialContacts[(int)Material.Glass, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
568 m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
569 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
570 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
571 m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
572
573 m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
574 m_materialContacts[(int)Material.Glass, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
575 m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
576 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
577 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
578 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
579
580 m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
581 m_materialContacts[(int)Material.Wood, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
582 m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
583 m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
584 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
585 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
586
587 m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
588 m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
589 m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
590 m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
591 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
592 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
593
594 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
595 m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
596 m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
597 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
598 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
599 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
600
601 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
602 m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
603 m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
604 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
605 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
606 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
607
608 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
609 m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
610 m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
611 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
612 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
613 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
614
615 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
616 m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
617 m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
618 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
619 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
620 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
621
622 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
623 m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
624 m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
625 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
626 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
627 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
628
629 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
630 m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
631 m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
632 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
633 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
634 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
635
636 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
637
638 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
639
640 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
641 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
642
643
644 d.WorldSetLinearDampingThreshold(world, 256f);
645 d.WorldSetLinearDamping(world, 256f);
646// d.WorldSetLinearDampingThreshold(world, 0.01f);
647// d.WorldSetLinearDamping(world, 0.1f);
648 d.WorldSetAngularDampingThreshold(world, 256f);
649 d.WorldSetAngularDamping(world, 256f);
650 d.WorldSetMaxAngularSpeed(world, 256f);
651
652 // Set how many steps we go without running collision testing
653 // This is in addition to the step size.
654 // Essentially Steps * m_physicsiterations
655 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
656 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
657
658
659
660 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
661 {
662 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
663 {
664 staticPrimspace[i, j] = IntPtr.Zero;
665 }
666 }
667 }
668
669 internal void waitForSpaceUnlock(IntPtr space)
670 {
671 //if (space != IntPtr.Zero)
672 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
673 }
674
675 /// <summary>
676 /// Debug space message for printing the space that a prim/avatar is in.
677 /// </summary>
678 /// <param name="pos"></param>
679 /// <returns>Returns which split up space the given position is in.</returns>
680 public string whichspaceamIin(Vector3 pos)
681 {
682 return calculateSpaceForGeom(pos).ToString();
683 }
684
685 #region Collision Detection
686
687 /// <summary>
688 /// This is our near callback. A geometry is near a body
689 /// </summary>
690 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
691 /// <param name="g1">a geometry or space</param>
692 /// <param name="g2">another geometry or space</param>
693 private void near(IntPtr space, IntPtr g1, IntPtr g2)
694 {
695 // no lock here! It's invoked from within Simulate(), which is thread-locked
696
697 // Test if we're colliding a geom with a space.
698 // If so we have to drill down into the space recursively
699//Console.WriteLine("near -----------"); //##
700 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
701 {
702 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
703 return;
704
705 // Separating static prim geometry spaces.
706 // We'll be calling near recursivly if one
707 // of them is a space to find all of the
708 // contact points in the space
709 try
710 {
711 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
712 }
713 catch (AccessViolationException)
714 {
715 m_log.Warn("[PHYSICS]: Unable to collide test a space");
716 return;
717 }
718 //Colliding a space or a geom with a space or a geom. so drill down
719
720 //Collide all geoms in each space..
721 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
722 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
723 return;
724 }
725
726 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
727 return;
728
729 IntPtr b1 = d.GeomGetBody(g1);
730 IntPtr b2 = d.GeomGetBody(g2);
731
732 // d.GeomClassID id = d.GeomGetClass(g1);
733
734 String name1 = null;
735 String name2 = null;
736
737 if (!geom_name_map.TryGetValue(g1, out name1))
738 {
739 name1 = "null";
740 }
741 if (!geom_name_map.TryGetValue(g2, out name2))
742 {
743 name2 = "null";
744 }
745
746 //if (id == d.GeomClassId.TriMeshClass)
747 //{
748 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
749 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
750 //}
751
752 // Figure out how many contact points we have
753 int count = 0;
754 try
755 {
756 // Colliding Geom To Geom
757 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
758
759 if (g1 == g2)
760 return; // Can't collide with yourself
761
762 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
763 return;
764
765 lock (contacts)
766 {
767 count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
768 if (count > contacts.Length)
769 m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
770 }
771 }
772 catch (SEHException)
773 {
774 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.");
775 ode.drelease(world);
776 base.TriggerPhysicsBasedRestart();
777 }
778 catch (Exception e)
779 {
780 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
781 return;
782 }
783
784 PhysicsActor p1;
785 PhysicsActor p2;
786
787 if (!actor_name_map.TryGetValue(g1, out p1))
788 {
789 p1 = PANull;
790 }
791
792 if (!actor_name_map.TryGetValue(g2, out p2))
793 {
794 p2 = PANull;
795 }
796
797 ContactPoint maxDepthContact = new ContactPoint();
798 if (p1.CollisionScore + count >= float.MaxValue)
799 p1.CollisionScore = 0;
800 p1.CollisionScore += count;
801
802 if (p2.CollisionScore + count >= float.MaxValue)
803 p2.CollisionScore = 0;
804 p2.CollisionScore += count;
805 for (int i = 0; i < count; i++)
806 {
807 d.ContactGeom curContact = contacts[i];
808
809 if (curContact.depth > maxDepthContact.PenetrationDepth)
810 {
811 maxDepthContact = new ContactPoint(
812 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
813 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
814 curContact.depth
815 );
816 }
817
818 //m_log.Warn("[CCOUNT]: " + count);
819 IntPtr joint;
820 // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
821 // allows us to have different settings
822
823 // We only need to test p2 for 'jump crouch purposes'
824 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
825 {
826 // Testing if the collision is at the feet of the avatar
827
828 //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));
829//#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
830//#@ p2.IsColliding = true;
831 if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //##
832 p2.IsColliding = true; //##
833 }else{
834
835 } //##
836 }
837 else
838 {
839 p2.IsColliding = true;
840 }
841
842 //if ((framecount % m_returncollisions) == 0)
843
844 switch (p1.PhysicsActorType)
845 {
846 case (int)ActorTypes.Agent:
847 p2.CollidingObj = true;
848 break;
849 case (int)ActorTypes.Prim:
850 if (p2.Velocity.LengthSquared() > 0.0f)
851 p2.CollidingObj = true;
852 break;
853 case (int)ActorTypes.Unknown:
854 p2.CollidingGround = true;
855 break;
856 default:
857 p2.CollidingGround = true;
858 break;
859 }
860
861 // we don't want prim or avatar to explode
862
863 #region InterPenetration Handling - Unintended physics explosions
864# region disabled code1
865
866 if (curContact.depth >= 0.08f)
867 {
868 //This is disabled at the moment only because it needs more tweaking
869 //It will eventually be uncommented
870 /*
871 if (AvatarStaticprimContact.depth >= 1.00f)
872 {
873 //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
874 }
875
876 //If you interpenetrate a prim with an agent
877 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
878 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
879 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
880 p2.PhysicsActorType == (int) ActorTypes.Prim))
881 {
882
883 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
884 /*
885 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
886 {
887 p2.CollidingObj = true;
888 AvatarStaticprimContact.depth = 0.003f;
889 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
890 OdeCharacter character = (OdeCharacter) p2;
891 character.SetPidStatus(true);
892 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));
893
894 }
895 else
896 {
897
898 //AvatarStaticprimContact.depth = 0.0000000f;
899 }
900 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
901 {
902
903 p1.CollidingObj = true;
904 AvatarStaticprimContact.depth = 0.003f;
905 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
906 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));
907 OdeCharacter character = (OdeCharacter)p1;
908 character.SetPidStatus(true);
909 }
910 else
911 {
912
913 //AvatarStaticprimContact.depth = 0.0000000f;
914 }
915
916
917
918 }
919*/
920 // If you interpenetrate a prim with another prim
921 /*
922 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
923 {
924 #region disabledcode2
925 //OdePrim op1 = (OdePrim)p1;
926 //OdePrim op2 = (OdePrim)p2;
927 //op1.m_collisionscore++;
928 //op2.m_collisionscore++;
929
930 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
931 //{
932 //op1.m_taintdisable = true;
933 //AddPhysicsActorTaint(p1);
934 //op2.m_taintdisable = true;
935 //AddPhysicsActorTaint(p2);
936 //}
937
938 //if (AvatarStaticprimContact.depth >= 0.25f)
939 //{
940 // Don't collide, one or both prim will expld.
941
942 //op1.m_interpenetrationcount++;
943 //op2.m_interpenetrationcount++;
944 //interpenetrations_before_disable = 200;
945 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
946 //{
947 //op1.m_taintdisable = true;
948 //AddPhysicsActorTaint(p1);
949 //}
950 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
951 //{
952 // op2.m_taintdisable = true;
953 //AddPhysicsActorTaint(p2);
954 //}
955
956 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
957 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
958 //}
959 //if (op1.m_disabled || op2.m_disabled)
960 //{
961 //Manually disabled objects stay disabled
962 //AvatarStaticprimContact.depth = 0f;
963 //}
964 #endregion
965 }
966 */
967#endregion
968 if (curContact.depth >= 1.00f)
969 {
970 //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
971 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
972 p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
973 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
974 p2.PhysicsActorType == (int) ActorTypes.Unknown))
975 {
976 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
977 {
978 if (p2 is OdeCharacter)
979 {
980 OdeCharacter character = (OdeCharacter) p2;
981
982 //p2.CollidingObj = true;
983 curContact.depth = 0.00000003f;
984 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
985 curContact.pos =
986 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
987 curContact.pos.Y + (p1.Size.Y/2),
988 curContact.pos.Z + (p1.Size.Z/2));
989 character.SetPidStatus(true);
990 }
991 }
992
993
994 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
995 {
996 if (p1 is OdeCharacter)
997 {
998 OdeCharacter character = (OdeCharacter) p1;
999
1000 //p2.CollidingObj = true;
1001 curContact.depth = 0.00000003f;
1002 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1003 curContact.pos =
1004 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1005 curContact.pos.Y + (p1.Size.Y/2),
1006 curContact.pos.Z + (p1.Size.Z/2));
1007 character.SetPidStatus(true);
1008 }
1009 }
1010 }
1011 }
1012 }
1013
1014 #endregion
1015
1016 // Logic for collision handling
1017 // Note, that if *all* contacts are skipped (VolumeDetect)
1018 // The prim still detects (and forwards) collision events but
1019 // appears to be phantom for the world
1020 Boolean skipThisContact = false;
1021
1022 if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
1023 skipThisContact = true; // No collision on volume detect prims
1024
1025 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
1026 skipThisContact = true; // No collision on volume detect prims
1027
1028 if (!skipThisContact && curContact.depth < 0f)
1029 skipThisContact = true;
1030
1031 if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
1032 skipThisContact = true;
1033
1034 const int maxContactsbeforedeath = 4000;
1035 joint = IntPtr.Zero;
1036
1037 if (!skipThisContact)
1038 {
1039 // Add contact joints with materials params----------------------------------
1040 // p1 is what is being hit, p2 is the physical object doing the hitting
1041 int material = (int) Material.Wood;
1042 int movintYN = 0; // 1 = Sliding; 0 = static or fell onto
1043 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
1044
1045 // If we're colliding against terrain
1046 if (name1 == "Terrain" || name2 == "Terrain")
1047 {
1048 // If we're moving
1049 if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
1050 {
1051 //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
1052 AvatarMovementTerrainContact.geom = curContact;
1053 _perloopContact.Add(curContact);
1054 if (m_global_contactcount < maxContactsbeforedeath)
1055 {
1056 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1057 m_global_contactcount++;
1058 }
1059 }
1060 else
1061 {
1062 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
1063 {
1064 //$ Av standing on terrain, Use the non moving Avata terrain contact
1065 TerrainContact.geom = curContact;
1066 _perloopContact.Add(curContact);
1067 if (m_global_contactcount < maxContactsbeforedeath)
1068 {
1069 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
1070 m_global_contactcount++;
1071 }
1072 }
1073 else
1074 {
1075 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
1076 {
1077 //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
1078 // int pj294950 = 0;
1079 // prim terrain contact
1080
1081 if (p2 is OdePrim)
1082 material = ((OdePrim)p2).m_material;
1083 //m_log.DebugFormat("Material: {0}", material);
1084 m_materialContacts[material, movintYN].geom = curContact;
1085 _perloopContact.Add(curContact);
1086
1087 if (m_global_contactcount < maxContactsbeforedeath)
1088 {
1089 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1090 m_global_contactcount++;
1091
1092 }
1093
1094 }
1095 else
1096 {
1097 //$ prim on terrain contact
1098 if (p2 is OdePrim)
1099 material = ((OdePrim)p2).m_material;
1100 //m_log.DebugFormat("Material: {0}", material);
1101 m_materialContacts[material, movintYN].geom = curContact;
1102 _perloopContact.Add(curContact);
1103
1104 ContactCopy = m_materialContacts[material, movintYN];
1105 if(movintYN == 1)
1106 {
1107 // prevent excessive slide on terrain
1108 ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
1109 }
1110
1111 if (m_global_contactcount < maxContactsbeforedeath)
1112 {
1113 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1114 m_global_contactcount++;
1115 }
1116 }
1117 }
1118 }
1119 }
1120 else if (name1 == "Water" || name2 == "Water")
1121 {
1122 //$ This never happens! Perhaps water is treated like air?
1123 /*
1124 if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
1125 {
1126 }
1127 else
1128 {
1129 }
1130 */
1131 //WaterContact.surface.soft_cfm = 0.0000f;
1132 //WaterContact.surface.soft_erp = 0.00000f;
1133 if (curContact.depth > 0.1f)
1134 {
1135 curContact.depth *= 52;
1136 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
1137 //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
1138 }
1139 WaterContact.geom = curContact;
1140 _perloopContact.Add(curContact);
1141 if (m_global_contactcount < maxContactsbeforedeath)
1142 {
1143 joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
1144 m_global_contactcount++;
1145 }
1146 //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
1147 }
1148 else
1149 {
1150
1151 // no terrain and no water, we're colliding with prim or avatar
1152 // check if we're moving
1153 if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
1154 {
1155 //$ Avatar on Prim or other Avatar
1156 if (movintYN == 1)
1157 {
1158 // Use the AV Movement / prim contact
1159 AvatarMovementprimContact.geom = curContact;
1160 _perloopContact.Add(curContact);
1161 if (m_global_contactcount < maxContactsbeforedeath)
1162 {
1163 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1164 m_global_contactcount++;
1165 }
1166 }
1167 else
1168 {
1169 // Use the Av non movement / prim contact
1170 AvatarStaticprimContact.geom = curContact;
1171 _perloopContact.Add(curContact);
1172 ContactCopy = AvatarStaticprimContact; // local copy so we can change locally
1173
1174 if (m_global_contactcount < maxContactsbeforedeath)
1175 {
1176 if (curContact.depth > 0.2)
1177 { // embedded, eject slowly
1178 ContactCopy.surface.soft_erp = 0.1f;
1179 ContactCopy.surface.soft_cfm = 0.1f;
1180 }
1181 else
1182 { // keep on the surface
1183 ContactCopy.surface.soft_erp = 0.3f;
1184 ContactCopy.surface.soft_cfm = 0.0f;
1185 }
1186 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1187 m_global_contactcount++;
1188 }
1189 }
1190 }
1191 else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1192 {
1193 //$ Prim on Prim
1194 //p1.PhysicsActorType
1195
1196 if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
1197 //m_log.DebugFormat("Material: {0}", material);
1198
1199 m_materialContacts[material, movintYN].geom = curContact;
1200 _perloopContact.Add(curContact);
1201
1202 if (m_global_contactcount < maxContactsbeforedeath)
1203 {
1204 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1205 m_global_contactcount++;
1206 }
1207 }
1208 }
1209
1210 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1211 {
1212 d.JointAttach(joint, b1, b2);
1213 m_global_contactcount++;
1214 }
1215
1216 }
1217 collision_accounting_events(p1, p2, maxDepthContact);
1218 if (count > geomContactPointsStartthrottle)
1219 {
1220 // If there are more then 3 contact points, it's likely
1221 // that we've got a pile of objects, so ...
1222 // We don't want to send out hundreds of terse updates over and over again
1223 // so lets throttle them and send them again after it's somewhat sorted out.
1224 p2.ThrottleUpdates = true;
1225 }
1226 //m_log.Debug(count.ToString());
1227 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1228 } // end for i.. loop
1229 } // end near
1230
1231 private bool checkDupe(d.ContactGeom contactGeom, int atype)
1232 {
1233 bool result = false;
1234 //return result;
1235 if (!m_filterCollisions)
1236 return false;
1237
1238 ActorTypes at = (ActorTypes)atype;
1239 lock (_perloopContact)
1240 {
1241 foreach (d.ContactGeom contact in _perloopContact)
1242 {
1243 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1244 //{
1245 // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
1246 if (at == ActorTypes.Agent)
1247 {
1248 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)
1249 {
1250
1251 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1252 {
1253 //contactGeom.depth *= .00005f;
1254 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1255 // 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));
1256 result = true;
1257 break;
1258 }
1259 else
1260 {
1261 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1262 }
1263 }
1264 else
1265 {
1266 //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));
1267 //int i = 0;
1268 }
1269 }
1270 else if (at == ActorTypes.Prim)
1271 {
1272 //d.AABB aabb1 = new d.AABB();
1273 //d.AABB aabb2 = new d.AABB();
1274
1275 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1276 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1277 //aabb1.
1278 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)
1279 {
1280 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
1281 {
1282 if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
1283 {
1284 result = true;
1285 break;
1286 }
1287 }
1288 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1289 //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));
1290 }
1291
1292 }
1293
1294 //}
1295
1296 }
1297 }
1298 return result;
1299 }
1300
1301 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1302 {
1303 // obj1LocalID = 0;
1304 //returncollisions = false;
1305 obj2LocalID = 0;
1306 //ctype = 0;
1307 //cStartStop = 0;
1308 if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1309 return;
1310
1311 switch ((ActorTypes)p2.PhysicsActorType)
1312 {
1313 case ActorTypes.Agent:
1314 cc2 = (OdeCharacter)p2;
1315
1316 // obj1LocalID = cc2.m_localID;
1317 switch ((ActorTypes)p1.PhysicsActorType)
1318 {
1319 case ActorTypes.Agent:
1320 cc1 = (OdeCharacter)p1;
1321 obj2LocalID = cc1.m_localID;
1322 cc1.AddCollisionEvent(cc2.m_localID, contact);
1323 //ctype = (int)CollisionCategories.Character;
1324
1325 //if (cc1.CollidingObj)
1326 //cStartStop = (int)StatusIndicators.Generic;
1327 //else
1328 //cStartStop = (int)StatusIndicators.Start;
1329
1330 //returncollisions = true;
1331 break;
1332 case ActorTypes.Prim:
1333 if (p1 is OdePrim)
1334 {
1335 cp1 = (OdePrim) p1;
1336 obj2LocalID = cp1.m_localID;
1337 cp1.AddCollisionEvent(cc2.m_localID, contact);
1338 }
1339 //ctype = (int)CollisionCategories.Geom;
1340
1341 //if (cp1.CollidingObj)
1342 //cStartStop = (int)StatusIndicators.Generic;
1343 //else
1344 //cStartStop = (int)StatusIndicators.Start;
1345
1346 //returncollisions = true;
1347 break;
1348
1349 case ActorTypes.Ground:
1350 case ActorTypes.Unknown:
1351 obj2LocalID = 0;
1352 //ctype = (int)CollisionCategories.Land;
1353 //returncollisions = true;
1354 break;
1355 }
1356
1357 cc2.AddCollisionEvent(obj2LocalID, contact);
1358 break;
1359 case ActorTypes.Prim:
1360
1361 if (p2 is OdePrim)
1362 {
1363 cp2 = (OdePrim) p2;
1364
1365 // obj1LocalID = cp2.m_localID;
1366 switch ((ActorTypes) p1.PhysicsActorType)
1367 {
1368 case ActorTypes.Agent:
1369 if (p1 is OdeCharacter)
1370 {
1371 cc1 = (OdeCharacter) p1;
1372 obj2LocalID = cc1.m_localID;
1373 cc1.AddCollisionEvent(cp2.m_localID, contact);
1374 //ctype = (int)CollisionCategories.Character;
1375
1376 //if (cc1.CollidingObj)
1377 //cStartStop = (int)StatusIndicators.Generic;
1378 //else
1379 //cStartStop = (int)StatusIndicators.Start;
1380 //returncollisions = true;
1381 }
1382 break;
1383 case ActorTypes.Prim:
1384
1385 if (p1 is OdePrim)
1386 {
1387 cp1 = (OdePrim) p1;
1388 obj2LocalID = cp1.m_localID;
1389 cp1.AddCollisionEvent(cp2.m_localID, contact);
1390 //ctype = (int)CollisionCategories.Geom;
1391
1392 //if (cp1.CollidingObj)
1393 //cStartStop = (int)StatusIndicators.Generic;
1394 //else
1395 //cStartStop = (int)StatusIndicators.Start;
1396
1397 //returncollisions = true;
1398 }
1399 break;
1400
1401 case ActorTypes.Ground:
1402 case ActorTypes.Unknown:
1403 obj2LocalID = 0;
1404 //ctype = (int)CollisionCategories.Land;
1405
1406 //returncollisions = true;
1407 break;
1408 }
1409
1410 cp2.AddCollisionEvent(obj2LocalID, contact);
1411 }
1412 break;
1413 }
1414 //if (returncollisions)
1415 //{
1416
1417 //lock (m_storedCollisions)
1418 //{
1419 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1420 //if (m_storedCollisions.ContainsKey(cDictKey))
1421 //{
1422 //sCollisionData objd = m_storedCollisions[cDictKey];
1423 //objd.NumberOfCollisions += 1;
1424 //objd.lastframe = framecount;
1425 //m_storedCollisions[cDictKey] = objd;
1426 //}
1427 //else
1428 //{
1429 //sCollisionData objd = new sCollisionData();
1430 //objd.ColliderLocalId = obj1LocalID;
1431 //objd.CollidedWithLocalId = obj2LocalID;
1432 //objd.CollisionType = ctype;
1433 //objd.NumberOfCollisions = 1;
1434 //objd.lastframe = framecount;
1435 //objd.StatusIndicator = cStartStop;
1436 //m_storedCollisions.Add(cDictKey, objd);
1437 //}
1438 //}
1439 // }
1440 }
1441
1442 public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1443 {
1444 /* String name1 = null;
1445 String name2 = null;
1446
1447 if (!geom_name_map.TryGetValue(trimesh, out name1))
1448 {
1449 name1 = "null";
1450 }
1451 if (!geom_name_map.TryGetValue(refObject, out name2))
1452 {
1453 name2 = "null";
1454 }
1455
1456 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1457 */
1458 return 1;
1459 }
1460
1461 public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1462 {
1463 String name1 = null;
1464 String name2 = null;
1465
1466 if (!geom_name_map.TryGetValue(trimesh, out name1))
1467 {
1468 name1 = "null";
1469 }
1470
1471 if (!geom_name_map.TryGetValue(refObject, out name2))
1472 {
1473 name2 = "null";
1474 }
1475
1476 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1477
1478 d.Vector3 v0 = new d.Vector3();
1479 d.Vector3 v1 = new d.Vector3();
1480 d.Vector3 v2 = new d.Vector3();
1481
1482 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1483 // 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);
1484
1485 return 1;
1486 }
1487
1488 /// <summary>
1489 /// This is our collision testing routine in ODE
1490 /// </summary>
1491 /// <param name="timeStep"></param>
1492 private void collision_optimized(float timeStep)
1493 {
1494 _perloopContact.Clear();
1495
1496 lock (_characters)
1497 {
1498 foreach (OdeCharacter chr in _characters)
1499 {
1500 // Reset the collision values to false
1501 // since we don't know if we're colliding yet
1502
1503 // For some reason this can happen. Don't ask...
1504 //
1505 if (chr == null)
1506 continue;
1507
1508 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1509 continue;
1510
1511 chr.IsColliding = false;
1512 chr.CollidingGround = false;
1513 chr.CollidingObj = false;
1514
1515 // test the avatar's geometry for collision with the space
1516 // This will return near and the space that they are the closest to
1517 // And we'll run this again against the avatar and the space segment
1518 // This will return with a bunch of possible objects in the space segment
1519 // and we'll run it again on all of them.
1520 try
1521 {
1522 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
1523 }
1524 catch (AccessViolationException)
1525 {
1526 m_log.Warn("[PHYSICS]: Unable to space collide");
1527 }
1528 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1529 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1530 //{
1531 //chr.Position.Z = terrainheight + 10.0f;
1532 //forcedZ = true;
1533 //}
1534 }
1535 }
1536
1537 lock (_activeprims)
1538 {
1539 List<OdePrim> removeprims = null;
1540 foreach (OdePrim chr in _activeprims)
1541 {
1542 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled) && !chr.m_outofBounds)
1543 {
1544 try
1545 {
1546 lock (chr)
1547 {
1548 if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
1549 {
1550 d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
1551 }
1552 else
1553 {
1554 if (removeprims == null)
1555 {
1556 removeprims = new List<OdePrim>();
1557 }
1558 removeprims.Add(chr);
1559 /// Commented this because it triggers on every bullet
1560 //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!");
1561 }
1562 }
1563 }
1564 catch (AccessViolationException)
1565 {
1566 m_log.Warn("[PHYSICS]: Unable to space collide");
1567 }
1568 }
1569 }
1570 if (removeprims != null)
1571 {
1572 foreach (OdePrim chr in removeprims)
1573 {
1574 _activeprims.Remove(chr);
1575 }
1576 }
1577 }
1578
1579 _perloopContact.Clear();
1580 }
1581
1582 #endregion
1583
1584 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
1585 {
1586 m_worldOffset = offset;
1587 WorldExtents = new Vector2(extents.X, extents.Y);
1588 m_parentScene = pScene;
1589
1590 }
1591
1592 // Recovered for use by fly height. Kitto Flora
1593 public float GetTerrainHeightAtXY(float x, float y)
1594 {
1595
1596 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1597 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1598
1599 IntPtr heightFieldGeom = IntPtr.Zero;
1600
1601 if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
1602 {
1603 if (heightFieldGeom != IntPtr.Zero)
1604 {
1605 if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1606 {
1607
1608 int index;
1609
1610
1611 if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
1612 (int)x < 0.001f || (int)y < 0.001f)
1613 return 0;
1614
1615 x = x - offsetX;
1616 y = y - offsetY;
1617
1618 index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
1619
1620 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
1621 {
1622 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1623 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1624 }
1625
1626 else
1627 return 0f;
1628 }
1629 else
1630 {
1631 return 0f;
1632 }
1633
1634 }
1635 else
1636 {
1637 return 0f;
1638 }
1639
1640 }
1641 else
1642 {
1643 return 0f;
1644 }
1645
1646
1647 }
1648// End recovered. Kitto Flora
1649
1650 public void addCollisionEventReporting(PhysicsActor obj)
1651 {
1652 lock (_collisionEventPrim)
1653 {
1654 if (!_collisionEventPrim.Contains(obj))
1655 _collisionEventPrim.Add(obj);
1656 }
1657 }
1658
1659 public void remCollisionEventReporting(PhysicsActor obj)
1660 {
1661 lock (_collisionEventPrim)
1662 {
1663 if (!_collisionEventPrim.Contains(obj))
1664 _collisionEventPrim.Remove(obj);
1665 }
1666 }
1667
1668 #region Add/Remove Entities
1669
1670 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1671 {
1672 Vector3 pos;
1673 pos.X = position.X;
1674 pos.Y = position.Y;
1675 pos.Z = position.Z;
1676 OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
1677 newAv.Flying = isFlying;
1678 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1679
1680 return newAv;
1681 }
1682
1683 public void AddCharacter(OdeCharacter chr)
1684 {
1685 lock (_characters)
1686 {
1687 if (!_characters.Contains(chr))
1688 {
1689 _characters.Add(chr);
1690 if (chr.bad)
1691 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1692 }
1693 }
1694 }
1695
1696 public void RemoveCharacter(OdeCharacter chr)
1697 {
1698 lock (_characters)
1699 {
1700 if (_characters.Contains(chr))
1701 {
1702 _characters.Remove(chr);
1703 }
1704 }
1705 }
1706 public void BadCharacter(OdeCharacter chr)
1707 {
1708 lock (_badCharacter)
1709 {
1710 if (!_badCharacter.Contains(chr))
1711 _badCharacter.Add(chr);
1712 }
1713 }
1714
1715 public override void RemoveAvatar(PhysicsActor actor)
1716 {
1717 //m_log.Debug("[PHYSICS]:ODELOCK");
1718 ((OdeCharacter) actor).Destroy();
1719
1720 }
1721
1722 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1723 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, bool isphantom, byte shapetype, uint localid)
1724 {
1725
1726 Vector3 pos = position;
1727 Vector3 siz = size;
1728 Quaternion rot = rotation;
1729
1730 OdePrim newPrim;
1731 lock (OdeLock)
1732 {
1733 newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, isphantom, shapetype, ode, localid);
1734
1735 lock (_prims)
1736 _prims.Add(newPrim);
1737 }
1738
1739 return newPrim;
1740 }
1741
1742
1743 public void addActivePrim(OdePrim activatePrim)
1744 {
1745 // adds active prim.. (ones that should be iterated over in collisions_optimized
1746 lock (_activeprims)
1747 {
1748 if (!_activeprims.Contains(activatePrim))
1749 _activeprims.Add(activatePrim);
1750 //else
1751 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
1752 }
1753 }
1754
1755 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1756 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1757 {
1758 PhysicsActor result;
1759 IMesh mesh = null;
1760
1761 if (needsMeshing(pbs))
1762 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1763
1764 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical,false,0, localid);
1765
1766 return result;
1767 }
1768
1769 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1770 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1771 {
1772 PhysicsActor result;
1773 IMesh mesh = null;
1774
1775 if (needsMeshing(pbs))
1776 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1777
1778 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom,0, localid);
1779
1780 return result;
1781 }
1782
1783 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1784 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
1785 {
1786 PhysicsActor result;
1787 IMesh mesh = null;
1788
1789 if (needsMeshing(pbs))
1790 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1791
1792 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom, shapetype, localid);
1793
1794 return result;
1795 }
1796
1797 public override float TimeDilation
1798 {
1799 get { return m_timeDilation; }
1800 }
1801
1802 public override bool SupportsNINJAJoints
1803 {
1804 get { return m_NINJA_physics_joints_enabled; }
1805 }
1806
1807 // internal utility function: must be called within a lock (OdeLock)
1808 private void InternalAddActiveJoint(PhysicsJoint joint)
1809 {
1810 activeJoints.Add(joint);
1811 SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
1812 }
1813
1814 // internal utility function: must be called within a lock (OdeLock)
1815 private void InternalAddPendingJoint(OdePhysicsJoint joint)
1816 {
1817 pendingJoints.Add(joint);
1818 SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
1819 }
1820
1821 // internal utility function: must be called within a lock (OdeLock)
1822 private void InternalRemovePendingJoint(PhysicsJoint joint)
1823 {
1824 pendingJoints.Remove(joint);
1825 SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
1826 }
1827
1828 // internal utility function: must be called within a lock (OdeLock)
1829 private void InternalRemoveActiveJoint(PhysicsJoint joint)
1830 {
1831 activeJoints.Remove(joint);
1832 SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
1833 }
1834
1835 public override void DumpJointInfo()
1836 {
1837 string hdr = "[NINJA] JOINTINFO: ";
1838 foreach (PhysicsJoint j in pendingJoints)
1839 {
1840 m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1841 }
1842 m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
1843 foreach (string jointName in SOPName_to_pendingJoint.Keys)
1844 {
1845 m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
1846 }
1847 m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
1848 foreach (PhysicsJoint j in activeJoints)
1849 {
1850 m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1851 }
1852 m_log.Debug(hdr + activeJoints.Count + " total active joints");
1853 foreach (string jointName in SOPName_to_activeJoint.Keys)
1854 {
1855 m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
1856 }
1857 m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
1858
1859 m_log.Debug(hdr + " Per-body joint connectivity information follows.");
1860 m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
1861 foreach (string actorName in joints_connecting_actor.Keys)
1862 {
1863 m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
1864 foreach (PhysicsJoint j in joints_connecting_actor[actorName])
1865 {
1866 m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1867 }
1868 m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
1869 }
1870 }
1871
1872 public override void RequestJointDeletion(string ObjectNameInScene)
1873 {
1874 lock (externalJointRequestsLock)
1875 {
1876 if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
1877 {
1878 requestedJointsToBeDeleted.Add(ObjectNameInScene);
1879 }
1880 }
1881 }
1882
1883 private void DeleteRequestedJoints()
1884 {
1885 List<string> myRequestedJointsToBeDeleted;
1886 lock (externalJointRequestsLock)
1887 {
1888 // make a local copy of the shared list for processing (threading issues)
1889 myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
1890 }
1891
1892 foreach (string jointName in myRequestedJointsToBeDeleted)
1893 {
1894 lock (OdeLock)
1895 {
1896 //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
1897 if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
1898 {
1899 OdePhysicsJoint joint = null;
1900 if (SOPName_to_activeJoint.ContainsKey(jointName))
1901 {
1902 joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
1903 InternalRemoveActiveJoint(joint);
1904 }
1905 else if (SOPName_to_pendingJoint.ContainsKey(jointName))
1906 {
1907 joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
1908 InternalRemovePendingJoint(joint);
1909 }
1910
1911 if (joint != null)
1912 {
1913 //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
1914 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1915 {
1916 string bodyName = joint.BodyNames[iBodyName];
1917 if (bodyName != "NULL")
1918 {
1919 joints_connecting_actor[bodyName].Remove(joint);
1920 if (joints_connecting_actor[bodyName].Count == 0)
1921 {
1922 joints_connecting_actor.Remove(bodyName);
1923 }
1924 }
1925 }
1926
1927 DoJointDeactivated(joint);
1928 if (joint.jointID != IntPtr.Zero)
1929 {
1930 d.JointDestroy(joint.jointID);
1931 joint.jointID = IntPtr.Zero;
1932 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1933 }
1934 else
1935 {
1936 //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
1937 }
1938 }
1939 else
1940 {
1941 // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
1942 }
1943 }
1944 else
1945 {
1946 // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
1947 }
1948 }
1949 }
1950
1951 // remove processed joints from the shared list
1952 lock (externalJointRequestsLock)
1953 {
1954 foreach (string jointName in myRequestedJointsToBeDeleted)
1955 {
1956 requestedJointsToBeDeleted.Remove(jointName);
1957 }
1958 }
1959 }
1960
1961 // for pending joints we don't know if their associated bodies exist yet or not.
1962 // the joint is actually created during processing of the taints
1963 private void CreateRequestedJoints()
1964 {
1965 List<PhysicsJoint> myRequestedJointsToBeCreated;
1966 lock (externalJointRequestsLock)
1967 {
1968 // make a local copy of the shared list for processing (threading issues)
1969 myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
1970 }
1971
1972 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1973 {
1974 lock (OdeLock)
1975 {
1976 if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
1977 {
1978 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);
1979 continue;
1980 }
1981 if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
1982 {
1983 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);
1984 continue;
1985 }
1986
1987 InternalAddPendingJoint(joint as OdePhysicsJoint);
1988
1989 if (joint.BodyNames.Count >= 2)
1990 {
1991 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1992 {
1993 string bodyName = joint.BodyNames[iBodyName];
1994 if (bodyName != "NULL")
1995 {
1996 if (!joints_connecting_actor.ContainsKey(bodyName))
1997 {
1998 joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
1999 }
2000 joints_connecting_actor[bodyName].Add(joint);
2001 }
2002 }
2003 }
2004 }
2005 }
2006
2007 // remove processed joints from shared list
2008 lock (externalJointRequestsLock)
2009 {
2010 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
2011 {
2012 requestedJointsToBeCreated.Remove(joint);
2013 }
2014 }
2015
2016 }
2017
2018 // public function to add an request for joint creation
2019 // this joint will just be added to a waiting list that is NOT processed during the main
2020 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
2021
2022 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
2023 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
2024
2025 {
2026
2027 OdePhysicsJoint joint = new OdePhysicsJoint();
2028 joint.ObjectNameInScene = objectNameInScene;
2029 joint.Type = jointType;
2030 joint.Position = position;
2031 joint.Rotation = rotation;
2032 joint.RawParams = parms;
2033 joint.BodyNames = new List<string>(bodyNames);
2034 joint.TrackedBodyName = trackedBodyName;
2035 joint.LocalRotation = localRotation;
2036 joint.jointID = IntPtr.Zero;
2037 joint.ErrorMessageCount = 0;
2038
2039 lock (externalJointRequestsLock)
2040 {
2041 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2042 {
2043 requestedJointsToBeCreated.Add(joint);
2044 }
2045 }
2046 return joint;
2047 }
2048
2049 private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
2050 {
2051 //m_log.Debug("RemoveAllJointsConnectedToActor: start");
2052 if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
2053 {
2054
2055 List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
2056 //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)
2057 foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
2058 {
2059 jointsToRemove.Add(j);
2060 }
2061 foreach (PhysicsJoint j in jointsToRemove)
2062 {
2063 //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
2064 RequestJointDeletion(j.ObjectNameInScene);
2065 //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
2066 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)
2067 }
2068 }
2069 }
2070
2071 public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
2072 {
2073 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
2074 lock (OdeLock)
2075 {
2076 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
2077 RemoveAllJointsConnectedToActor(actor);
2078 }
2079 }
2080
2081 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2082 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2083 {
2084 Debug.Assert(joint.IsInPhysicsEngine);
2085 d.Vector3 pos = new d.Vector3();
2086
2087 if (!(joint is OdePhysicsJoint))
2088 {
2089 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2090 }
2091 else
2092 {
2093 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2094 switch (odeJoint.Type)
2095 {
2096 case PhysicsJointType.Ball:
2097 d.JointGetBallAnchor(odeJoint.jointID, out pos);
2098 break;
2099 case PhysicsJointType.Hinge:
2100 d.JointGetHingeAnchor(odeJoint.jointID, out pos);
2101 break;
2102 }
2103 }
2104 return new Vector3(pos.X, pos.Y, pos.Z);
2105 }
2106
2107 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2108 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2109 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2110 // keeping track of the joint's original orientation relative to one of the involved bodies.
2111 public override Vector3 GetJointAxis(PhysicsJoint joint)
2112 {
2113 Debug.Assert(joint.IsInPhysicsEngine);
2114 d.Vector3 axis = new d.Vector3();
2115
2116 if (!(joint is OdePhysicsJoint))
2117 {
2118 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2119 }
2120 else
2121 {
2122 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2123 switch (odeJoint.Type)
2124 {
2125 case PhysicsJointType.Ball:
2126 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2127 break;
2128 case PhysicsJointType.Hinge:
2129 d.JointGetHingeAxis(odeJoint.jointID, out axis);
2130 break;
2131 }
2132 }
2133 return new Vector3(axis.X, axis.Y, axis.Z);
2134 }
2135
2136
2137 public void remActivePrim(OdePrim deactivatePrim)
2138 {
2139 lock (_activeprims)
2140 {
2141 _activeprims.Remove(deactivatePrim);
2142 }
2143 }
2144
2145 public override void RemovePrim(PhysicsActor prim)
2146 {
2147 if (prim is OdePrim)
2148 {
2149 lock (OdeLock)
2150 {
2151 OdePrim p = (OdePrim) prim;
2152
2153 p.setPrimForRemoval();
2154 AddPhysicsActorTaint(prim);
2155 //RemovePrimThreadLocked(p);
2156 }
2157 }
2158 }
2159
2160 /// <summary>
2161 /// This is called from within simulate but outside the locked portion
2162 /// We need to do our own locking here
2163 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
2164 ///
2165 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
2166 /// that the space was using.
2167 /// </summary>
2168 /// <param name="prim"></param>
2169 public void RemovePrimThreadLocked(OdePrim prim)
2170 {
2171//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
2172 lock (prim)
2173 {
2174 remCollisionEventReporting(prim);
2175 lock (ode)
2176 {
2177 if (prim.prim_geom != IntPtr.Zero)
2178 {
2179 prim.ResetTaints();
2180
2181 try
2182 {
2183 if (prim._triMeshData != IntPtr.Zero)
2184 {
2185 d.GeomTriMeshDataDestroy(prim._triMeshData);
2186 prim._triMeshData = IntPtr.Zero;
2187 }
2188 }
2189 catch { };
2190
2191 if (prim.IsPhysical)
2192 {
2193 prim.disableBody();
2194 if (prim.childPrim)
2195 {
2196 prim.childPrim = false;
2197 prim.Body = IntPtr.Zero;
2198 prim.m_disabled = true;
2199 prim.IsPhysical = false;
2200 }
2201
2202 }
2203 // we don't want to remove the main space
2204
2205 // If the geometry is in the targetspace, remove it from the target space
2206 //m_log.Warn(prim.m_targetSpace);
2207
2208 //if (prim.m_targetSpace != IntPtr.Zero)
2209 //{
2210 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2211 //{
2212
2213 //if (d.GeomIsSpace(prim.m_targetSpace))
2214 //{
2215 //waitForSpaceUnlock(prim.m_targetSpace);
2216 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2217 prim.m_targetSpace = IntPtr.Zero;
2218 //}
2219 //else
2220 //{
2221 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2222 //((OdePrim)prim).m_targetSpace.ToString());
2223 //}
2224
2225 //}
2226 //}
2227 //m_log.Warn(prim.prim_geom);
2228 try
2229 {
2230 if (prim.prim_geom != IntPtr.Zero)
2231 {
2232
2233//string tPA;
2234//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
2235//Console.WriteLine("**** Remove {0}", tPA);
2236 if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
2237 if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
2238 d.GeomDestroy(prim.prim_geom);
2239 prim.prim_geom = IntPtr.Zero;
2240 }
2241 else
2242 {
2243 m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
2244 }
2245 }
2246 catch (AccessViolationException)
2247 {
2248 m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
2249 }
2250 lock (_prims)
2251 _prims.Remove(prim);
2252
2253 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2254 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2255 //{
2256 //if (prim.m_targetSpace != null)
2257 //{
2258 //if (d.GeomIsSpace(prim.m_targetSpace))
2259 //{
2260 //waitForSpaceUnlock(prim.m_targetSpace);
2261 //d.SpaceRemove(space, prim.m_targetSpace);
2262 // free up memory used by the space.
2263 //d.SpaceDestroy(prim.m_targetSpace);
2264 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2265 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2266 //}
2267 //else
2268 //{
2269 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2270 //((OdePrim) prim).m_targetSpace.ToString());
2271 //}
2272 //}
2273 //}
2274
2275 if (SupportsNINJAJoints)
2276 {
2277 RemoveAllJointsConnectedToActorThreadLocked(prim);
2278 }
2279 }
2280 }
2281 }
2282 }
2283
2284 #endregion
2285
2286 #region Space Separation Calculation
2287
2288 /// <summary>
2289 /// Takes a space pointer and zeros out the array we're using to hold the spaces
2290 /// </summary>
2291 /// <param name="pSpace"></param>
2292 public void resetSpaceArrayItemToZero(IntPtr pSpace)
2293 {
2294 for (int x = 0; x < staticPrimspace.GetLength(0); x++)
2295 {
2296 for (int y = 0; y < staticPrimspace.GetLength(1); y++)
2297 {
2298 if (staticPrimspace[x, y] == pSpace)
2299 staticPrimspace[x, y] = IntPtr.Zero;
2300 }
2301 }
2302 }
2303
2304 public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
2305 {
2306 staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
2307 }
2308
2309 /// <summary>
2310 /// Called when a static prim moves. Allocates a space for the prim based on its position
2311 /// </summary>
2312 /// <param name="geom">the pointer to the geom that moved</param>
2313 /// <param name="pos">the position that the geom moved to</param>
2314 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2315 /// <returns>a pointer to the new space it's in</returns>
2316 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2317 {
2318 // Called from setting the Position and Size of an ODEPrim so
2319 // it's already in locked space.
2320
2321 // we don't want to remove the main space
2322 // we don't need to test physical here because this function should
2323 // never be called if the prim is physical(active)
2324
2325 // All physical prim end up in the root space
2326 //Thread.Sleep(20);
2327 if (currentspace != space)
2328 {
2329 //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
2330 //if (currentspace == IntPtr.Zero)
2331 //{
2332 //int adfadf = 0;
2333 //}
2334 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2335 {
2336 if (d.GeomIsSpace(currentspace))
2337 {
2338 waitForSpaceUnlock(currentspace);
2339 d.SpaceRemove(currentspace, geom);
2340 }
2341 else
2342 {
2343 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
2344 " Geom:" + geom);
2345 }
2346 }
2347 else
2348 {
2349 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2350 if (sGeomIsIn != IntPtr.Zero)
2351 {
2352 if (d.GeomIsSpace(currentspace))
2353 {
2354 waitForSpaceUnlock(sGeomIsIn);
2355 d.SpaceRemove(sGeomIsIn, geom);
2356 }
2357 else
2358 {
2359 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2360 sGeomIsIn + " Geom:" + geom);
2361 }
2362 }
2363 }
2364
2365 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2366 if (d.SpaceGetNumGeoms(currentspace) == 0)
2367 {
2368 if (currentspace != IntPtr.Zero)
2369 {
2370 if (d.GeomIsSpace(currentspace))
2371 {
2372 waitForSpaceUnlock(currentspace);
2373 waitForSpaceUnlock(space);
2374 d.SpaceRemove(space, currentspace);
2375 // free up memory used by the space.
2376
2377 //d.SpaceDestroy(currentspace);
2378 resetSpaceArrayItemToZero(currentspace);
2379 }
2380 else
2381 {
2382 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2383 currentspace + " Geom:" + geom);
2384 }
2385 }
2386 }
2387 }
2388 else
2389 {
2390 // this is a physical object that got disabled. ;.;
2391 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2392 {
2393 if (d.SpaceQuery(currentspace, geom))
2394 {
2395 if (d.GeomIsSpace(currentspace))
2396 {
2397 waitForSpaceUnlock(currentspace);
2398 d.SpaceRemove(currentspace, geom);
2399 }
2400 else
2401 {
2402 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2403 currentspace + " Geom:" + geom);
2404 }
2405 }
2406 else
2407 {
2408 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2409 if (sGeomIsIn != IntPtr.Zero)
2410 {
2411 if (d.GeomIsSpace(sGeomIsIn))
2412 {
2413 waitForSpaceUnlock(sGeomIsIn);
2414 d.SpaceRemove(sGeomIsIn, geom);
2415 }
2416 else
2417 {
2418 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2419 sGeomIsIn + " Geom:" + geom);
2420 }
2421 }
2422 }
2423 }
2424 }
2425
2426 // The routines in the Position and Size sections do the 'inserting' into the space,
2427 // so all we have to do is make sure that the space that we're putting the prim into
2428 // is in the 'main' space.
2429 int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
2430 IntPtr newspace = calculateSpaceForGeom(pos);
2431
2432 if (newspace == IntPtr.Zero)
2433 {
2434 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2435 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
2436 }
2437
2438 return newspace;
2439 }
2440
2441 /// <summary>
2442 /// Creates a new space at X Y
2443 /// </summary>
2444 /// <param name="iprimspaceArrItemX"></param>
2445 /// <param name="iprimspaceArrItemY"></param>
2446 /// <returns>A pointer to the created space</returns>
2447 public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2448 {
2449 // creating a new space for prim and inserting it into main space.
2450 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
2451 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2452 waitForSpaceUnlock(space);
2453 d.SpaceSetSublevel(space, 1);
2454 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2455 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2456 }
2457
2458 /// <summary>
2459 /// Calculates the space the prim should be in by its position
2460 /// </summary>
2461 /// <param name="pos"></param>
2462 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2463 public IntPtr calculateSpaceForGeom(Vector3 pos)
2464 {
2465 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2466 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
2467 return staticPrimspace[xyspace[0], xyspace[1]];
2468 }
2469
2470 /// <summary>
2471 /// Holds the space allocation logic
2472 /// </summary>
2473 /// <param name="pos"></param>
2474 /// <returns>an array item based on the position</returns>
2475 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2476 {
2477 int[] returnint = new int[2];
2478
2479 returnint[0] = (int) (pos.X/metersInSpace);
2480
2481 if (returnint[0] > ((int) (259f/metersInSpace)))
2482 returnint[0] = ((int) (259f/metersInSpace));
2483 if (returnint[0] < 0)
2484 returnint[0] = 0;
2485
2486 returnint[1] = (int) (pos.Y/metersInSpace);
2487 if (returnint[1] > ((int) (259f/metersInSpace)))
2488 returnint[1] = ((int) (259f/metersInSpace));
2489 if (returnint[1] < 0)
2490 returnint[1] = 0;
2491
2492 return returnint;
2493 }
2494
2495 #endregion
2496
2497 /// <summary>
2498 /// Routine to figure out if we need to mesh this prim with our mesher
2499 /// </summary>
2500 /// <param name="pbs"></param>
2501 /// <returns></returns>
2502 public bool needsMeshing(PrimitiveBaseShape pbs)
2503 {
2504 // most of this is redundant now as the mesher will return null if it cant mesh a prim
2505 // but we still need to check for sculptie meshing being enabled so this is the most
2506 // convenient place to do it for now...
2507
2508 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
2509 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
2510 int iPropertiesNotSupportedDefault = 0;
2511
2512 if (pbs.SculptEntry && !meshSculptedPrim)
2513 {
2514#if SPAM
2515 m_log.Warn("NonMesh");
2516#endif
2517 return false;
2518 }
2519
2520 // 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
2521 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
2522 {
2523 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
2524 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
2525 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
2526 {
2527
2528 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
2529 && pbs.ProfileHollow == 0
2530 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
2531 && pbs.PathBegin == 0 && pbs.PathEnd == 0
2532 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
2533 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
2534 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
2535 {
2536#if SPAM
2537 m_log.Warn("NonMesh");
2538#endif
2539 return false;
2540 }
2541 }
2542 }
2543
2544 if (forceSimplePrimMeshing)
2545 return true;
2546
2547 if (pbs.ProfileHollow != 0)
2548 iPropertiesNotSupportedDefault++;
2549
2550 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2551 iPropertiesNotSupportedDefault++;
2552
2553 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2554 iPropertiesNotSupportedDefault++;
2555
2556 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
2557 iPropertiesNotSupportedDefault++;
2558
2559 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
2560 iPropertiesNotSupportedDefault++;
2561
2562 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
2563 iPropertiesNotSupportedDefault++;
2564
2565 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))
2566 iPropertiesNotSupportedDefault++;
2567
2568 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
2569 iPropertiesNotSupportedDefault++;
2570
2571 // test for torus
2572 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
2573 {
2574 if (pbs.PathCurve == (byte)Extrusion.Curve1)
2575 {
2576 iPropertiesNotSupportedDefault++;
2577 }
2578 }
2579 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
2580 {
2581 if (pbs.PathCurve == (byte)Extrusion.Straight)
2582 {
2583 iPropertiesNotSupportedDefault++;
2584 }
2585
2586 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
2587 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2588 {
2589 iPropertiesNotSupportedDefault++;
2590 }
2591 }
2592 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
2593 {
2594 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
2595 {
2596 iPropertiesNotSupportedDefault++;
2597 }
2598 }
2599 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
2600 {
2601 if (pbs.PathCurve == (byte)Extrusion.Straight)
2602 {
2603 iPropertiesNotSupportedDefault++;
2604 }
2605 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2606 {
2607 iPropertiesNotSupportedDefault++;
2608 }
2609 }
2610
2611 if (pbs.SculptEntry && meshSculptedPrim)
2612 iPropertiesNotSupportedDefault++;
2613
2614 if (iPropertiesNotSupportedDefault == 0)
2615 {
2616#if SPAM
2617 m_log.Warn("NonMesh");
2618#endif
2619 return false;
2620 }
2621#if SPAM
2622 m_log.Debug("Mesh");
2623#endif
2624 return true;
2625 }
2626
2627 /// <summary>
2628 /// Called after our prim properties are set Scale, position etc.
2629 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
2630 /// This assures us that we have no race conditions
2631 /// </summary>
2632 /// <param name="prim"></param>
2633 public override void AddPhysicsActorTaint(PhysicsActor prim)
2634 {
2635
2636 if (prim is OdePrim)
2637 {
2638 OdePrim taintedprim = ((OdePrim) prim);
2639 lock (_taintedPrimLock)
2640 {
2641 if (!(_taintedPrimH.Contains(taintedprim)))
2642 {
2643//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
2644 _taintedPrimH.Add(taintedprim); // HashSet for searching
2645 _taintedPrimL.Add(taintedprim); // List for ordered readout
2646 }
2647 }
2648 return;
2649 }
2650 else if (prim is OdeCharacter)
2651 {
2652 OdeCharacter taintedchar = ((OdeCharacter)prim);
2653 lock (_taintedActors)
2654 {
2655 if (!(_taintedActors.Contains(taintedchar)))
2656 {
2657 _taintedActors.Add(taintedchar);
2658 if (taintedchar.bad)
2659 m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
2660 }
2661 }
2662 }
2663 }
2664
2665 /// <summary>
2666 /// This is our main simulate loop
2667 /// It's thread locked by a Mutex in the scene.
2668 /// It holds Collisions, it instructs ODE to step through the physical reactions
2669 /// It moves the objects around in memory
2670 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
2671 /// </summary>
2672 /// <param name="timeStep"></param>
2673 /// <returns></returns>
2674 public override float Simulate(float timeStep)
2675 {
2676 if (framecount >= int.MaxValue)
2677 framecount = 0;
2678 //if (m_worldOffset != Vector3.Zero)
2679 // return 0;
2680
2681 framecount++;
2682
2683 DateTime now = DateTime.UtcNow;
2684 TimeSpan SinceLastFrame = now - m_lastframe;
2685 m_lastframe = now;
2686 float realtime = (float)SinceLastFrame.TotalSeconds;
2687// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
2688 timeStep = realtime;
2689
2690 // float fps = 1.0f / realtime;
2691 float fps = 0.0f; // number of ODE steps in this Simulate step
2692 //m_log.Info(timeStep.ToString());
2693 step_time += timeStep;
2694
2695 // If We're loaded down by something else,
2696 // or debugging with the Visual Studio project on pause
2697 // skip a few frames to catch up gracefully.
2698 // without shooting the physicsactors all over the place
2699
2700 if (step_time >= m_SkipFramesAtms)
2701 {
2702 // Instead of trying to catch up, it'll do 5 physics frames only
2703 step_time = ODE_STEPSIZE;
2704 m_physicsiterations = 5;
2705 }
2706 else
2707 {
2708 m_physicsiterations = 10;
2709 }
2710
2711 if (SupportsNINJAJoints)
2712 {
2713 DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2714 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2715 }
2716
2717 lock (OdeLock)
2718 {
2719 // Process 10 frames if the sim is running normal..
2720 // process 5 frames if the sim is running slow
2721 //try
2722 //{
2723 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2724 //}
2725 //catch (StackOverflowException)
2726 //{
2727 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
2728 // ode.drelease(world);
2729 //base.TriggerPhysicsBasedRestart();
2730 //}
2731
2732 int i = 0;
2733
2734 // Figure out the Frames Per Second we're going at.
2735 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
2736
2737 // fps = (step_time / ODE_STEPSIZE) * 1000;
2738 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
2739 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
2740
2741 // step_time = 0.09375f;
2742
2743 while (step_time > 0.0f)
2744 {
2745 //lock (ode)
2746 //{
2747 //if (!ode.lockquery())
2748 //{
2749 // ode.dlock(world);
2750 try
2751 {
2752 // Insert, remove Characters
2753 bool processedtaints = false;
2754
2755 lock (_taintedActors)
2756 {
2757 if (_taintedActors.Count > 0)
2758 {
2759 foreach (OdeCharacter character in _taintedActors)
2760 {
2761
2762 character.ProcessTaints(ODE_STEPSIZE);
2763
2764 processedtaints = true;
2765 //character.m_collisionscore = 0;
2766 }
2767
2768 if (processedtaints)
2769 _taintedActors.Clear();
2770 }
2771 } // end lock _taintedActors
2772
2773 // Modify other objects in the scene.
2774 processedtaints = false;
2775
2776 lock (_taintedPrimLock)
2777 {
2778 foreach (OdePrim prim in _taintedPrimL)
2779 {
2780 if (prim.m_taintremove)
2781 {
2782 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2783 RemovePrimThreadLocked(prim);
2784 }
2785 else
2786 {
2787 //Console.WriteLine("Simulate calls ProcessTaints");
2788 prim.ProcessTaints(ODE_STEPSIZE);
2789 }
2790 processedtaints = true;
2791 prim.m_collisionscore = 0;
2792
2793 // This loop can block up the Heartbeat for a very long time on large regions.
2794 // We need to let the Watchdog know that the Heartbeat is not dead
2795 // NOTE: This is currently commented out, but if things like OAR loading are
2796 // timing the heartbeat out we will need to uncomment it
2797 //Watchdog.UpdateThread();
2798 }
2799
2800 if (SupportsNINJAJoints)
2801 {
2802 // Create pending joints, if possible
2803
2804 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2805 // a joint requires specifying the body id of both involved bodies
2806 if (pendingJoints.Count > 0)
2807 {
2808 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2809 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2810 foreach (PhysicsJoint joint in pendingJoints)
2811 {
2812 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2813 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
2814 System.StringSplitOptions.RemoveEmptyEntries);
2815 List<IntPtr> jointBodies = new List<IntPtr>();
2816 bool allJointBodiesAreReady = true;
2817 foreach (string jointParam in jointParams)
2818 {
2819 if (jointParam == "NULL")
2820 {
2821 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2822 jointBodies.Add(IntPtr.Zero);
2823 }
2824 else
2825 {
2826 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2827 bool foundPrim = false;
2828 lock (_prims)
2829 {
2830 foreach (OdePrim prim in _prims) // FIXME: inefficient
2831 {
2832 if (prim.SOPName == jointParam)
2833 {
2834 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2835 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2836 {
2837 jointBodies.Add(prim.Body);
2838 foundPrim = true;
2839 break;
2840 }
2841 else
2842 {
2843 DoJointErrorMessage(joint, "prim name " + jointParam +
2844 " exists but is not (yet) physical; deferring joint creation. " +
2845 "IsPhysical property is " + prim.IsPhysical +
2846 " and body is " + prim.Body);
2847 foundPrim = false;
2848 break;
2849 }
2850 }
2851 }
2852 }
2853 if (foundPrim)
2854 {
2855 // all is fine
2856 }
2857 else
2858 {
2859 allJointBodiesAreReady = false;
2860 break;
2861 }
2862 }
2863 }
2864 if (allJointBodiesAreReady)
2865 {
2866 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2867 if (jointBodies[0] == jointBodies[1])
2868 {
2869 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2870 }
2871 else
2872 {
2873 switch (joint.Type)
2874 {
2875 case PhysicsJointType.Ball:
2876 {
2877 IntPtr odeJoint;
2878 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2879 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2880 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2881 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2882 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2883 d.JointSetBallAnchor(odeJoint,
2884 joint.Position.X,
2885 joint.Position.Y,
2886 joint.Position.Z);
2887 //DoJointErrorMessage(joint, "ODE joint setting OK");
2888 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2889 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2890 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2891 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2892
2893 if (joint is OdePhysicsJoint)
2894 {
2895 ((OdePhysicsJoint)joint).jointID = odeJoint;
2896 }
2897 else
2898 {
2899 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2900 }
2901 }
2902 break;
2903 case PhysicsJointType.Hinge:
2904 {
2905 IntPtr odeJoint;
2906 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2907 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2908 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2909 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2910 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2911 d.JointSetHingeAnchor(odeJoint,
2912 joint.Position.X,
2913 joint.Position.Y,
2914 joint.Position.Z);
2915 // We use the orientation of the x-axis of the joint's coordinate frame
2916 // as the axis for the hinge.
2917
2918 // Therefore, we must get the joint's coordinate frame based on the
2919 // joint.Rotation field, which originates from the orientation of the
2920 // joint's proxy object in the scene.
2921
2922 // The joint's coordinate frame is defined as the transformation matrix
2923 // that converts a vector from joint-local coordinates into world coordinates.
2924 // World coordinates are defined as the XYZ coordinate system of the sim,
2925 // as shown in the top status-bar of the viewer.
2926
2927 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2928 // and use that as the hinge axis.
2929
2930 //joint.Rotation.Normalize();
2931 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2932
2933 // Now extract the X axis of the joint's coordinate frame.
2934
2935 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2936 // tar pit of transposed, inverted, and generally messed-up orientations.
2937 // (In other words, Matrix4.AtAxis() is borked.)
2938 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2939
2940 // Instead, compute the X axis of the coordinate frame by transforming
2941 // the (1,0,0) vector. At least that works.
2942
2943 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2944 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2945 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2946 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2947 d.JointSetHingeAxis(odeJoint,
2948 jointAxis.X,
2949 jointAxis.Y,
2950 jointAxis.Z);
2951 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2952 if (joint is OdePhysicsJoint)
2953 {
2954 ((OdePhysicsJoint)joint).jointID = odeJoint;
2955 }
2956 else
2957 {
2958 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2959 }
2960 }
2961 break;
2962 }
2963 successfullyProcessedPendingJoints.Add(joint);
2964 }
2965 }
2966 else
2967 {
2968 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2969 }
2970 }
2971 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2972 {
2973 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2974 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2975 InternalRemovePendingJoint(successfullyProcessedJoint);
2976 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2977 InternalAddActiveJoint(successfullyProcessedJoint);
2978 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2979 }
2980 }
2981 } // end SupportsNINJAJoints
2982
2983 if (processedtaints)
2984//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2985 _taintedPrimH.Clear(); // ??? if this only ???
2986 _taintedPrimL.Clear();
2987 } // end lock _taintedPrimLock
2988
2989 // Move characters
2990 lock (_characters)
2991 {
2992 List<OdeCharacter> defects = new List<OdeCharacter>();
2993 foreach (OdeCharacter actor in _characters)
2994 {
2995 if (actor != null)
2996 actor.Move(ODE_STEPSIZE, defects);
2997 }
2998 if (0 != defects.Count)
2999 {
3000 foreach (OdeCharacter defect in defects)
3001 {
3002 RemoveCharacter(defect);
3003 }
3004 }
3005 } // end lock _characters
3006
3007 // Move other active objects
3008 lock (_activeprims)
3009 {
3010 foreach (OdePrim prim in _activeprims)
3011 {
3012 prim.m_collisionscore = 0;
3013 prim.Move(ODE_STEPSIZE);
3014 }
3015 } // end lock _activeprims
3016
3017 //if ((framecount % m_randomizeWater) == 0)
3018 // randomizeWater(waterlevel);
3019
3020 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3021 m_rayCastManager.ProcessQueuedRequests();
3022
3023 collision_optimized(ODE_STEPSIZE);
3024
3025 lock (_collisionEventPrim)
3026 {
3027 foreach (PhysicsActor obj in _collisionEventPrim)
3028 {
3029 if (obj == null)
3030 continue;
3031
3032 switch ((ActorTypes)obj.PhysicsActorType)
3033 {
3034 case ActorTypes.Agent:
3035 OdeCharacter cobj = (OdeCharacter)obj;
3036 cobj.AddCollisionFrameTime(100);
3037 cobj.SendCollisions();
3038 break;
3039 case ActorTypes.Prim:
3040 OdePrim pobj = (OdePrim)obj;
3041 pobj.SendCollisions();
3042 break;
3043 }
3044 }
3045 } // end lock _collisionEventPrim
3046
3047 //if (m_global_contactcount > 5)
3048 //{
3049 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
3050 //}
3051
3052 m_global_contactcount = 0;
3053
3054 d.WorldQuickStep(world, ODE_STEPSIZE);
3055 d.JointGroupEmpty(contactgroup);
3056 fps++;
3057 //ode.dunlock(world);
3058 } // end try
3059 catch (Exception e)
3060 {
3061 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3062 ode.dunlock(world);
3063 }
3064
3065 step_time -= ODE_STEPSIZE;
3066 i++;
3067 //}
3068 //else
3069 //{
3070 //fps = 0;
3071 //}
3072 //}
3073 } // end while (step_time > 0.0f)
3074
3075 lock (_characters)
3076 {
3077 foreach (OdeCharacter actor in _characters)
3078 {
3079 if (actor != null)
3080 {
3081 if (actor.bad)
3082 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
3083 actor.UpdatePositionAndVelocity();
3084 }
3085 }
3086 }
3087
3088 lock (_badCharacter)
3089 {
3090 if (_badCharacter.Count > 0)
3091 {
3092 foreach (OdeCharacter chr in _badCharacter)
3093 {
3094 RemoveCharacter(chr);
3095 }
3096 _badCharacter.Clear();
3097 }
3098 }
3099
3100 lock (_activeprims)
3101 {
3102 //if (timeStep < 0.2f)
3103 {
3104 foreach (OdePrim actor in _activeprims)
3105 {
3106 if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
3107 {
3108 actor.UpdatePositionAndVelocity();
3109
3110 if (SupportsNINJAJoints)
3111 {
3112 // If an actor moved, move its joint proxy objects as well.
3113 // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
3114 // for this purpose but it is never called! So we just do the joint
3115 // movement code here.
3116
3117 if (actor.SOPName != null &&
3118 joints_connecting_actor.ContainsKey(actor.SOPName) &&
3119 joints_connecting_actor[actor.SOPName] != null &&
3120 joints_connecting_actor[actor.SOPName].Count > 0)
3121 {
3122 foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
3123 {
3124 if (affectedJoint.IsInPhysicsEngine)
3125 {
3126 DoJointMoved(affectedJoint);
3127 }
3128 else
3129 {
3130 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);
3131 }
3132 }
3133 }
3134 }
3135 }
3136 }
3137 }
3138 } // end lock _activeprims
3139
3140 //DumpJointInfo();
3141
3142 // Finished with all sim stepping. If requested, dump world state to file for debugging.
3143 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
3144 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
3145 if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
3146 {
3147 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
3148 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
3149
3150 if (physics_logging_append_existing_logfile)
3151 {
3152 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
3153 TextWriter fwriter = File.AppendText(fname);
3154 fwriter.WriteLine(header);
3155 fwriter.Close();
3156 }
3157 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3158 }
3159 } // end lock OdeLock
3160
3161 return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
3162 } // end Simulate
3163
3164 public override void GetResults()
3165 {
3166 }
3167
3168 public override bool IsThreaded
3169 {
3170 // for now we won't be multithreaded
3171 get { return (false); }
3172 }
3173
3174 #region ODE Specific Terrain Fixes
3175 public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
3176 {
3177 float[] returnarr = new float[262144];
3178 float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
3179
3180 // Filling out the array into its multi-dimensional components
3181 for (int y = 0; y < WorldExtents.Y; y++)
3182 {
3183 for (int x = 0; x < WorldExtents.X; x++)
3184 {
3185 resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
3186 }
3187 }
3188
3189 // Resize using Nearest Neighbour
3190
3191 // This particular way is quick but it only works on a multiple of the original
3192
3193 // The idea behind this method can be described with the following diagrams
3194 // second pass and third pass happen in the same loop really.. just separated
3195 // them to show what this does.
3196
3197 // First Pass
3198 // ResultArr:
3199 // 1,1,1,1,1,1
3200 // 1,1,1,1,1,1
3201 // 1,1,1,1,1,1
3202 // 1,1,1,1,1,1
3203 // 1,1,1,1,1,1
3204 // 1,1,1,1,1,1
3205
3206 // Second Pass
3207 // ResultArr2:
3208 // 1,,1,,1,,1,,1,,1,
3209 // ,,,,,,,,,,
3210 // 1,,1,,1,,1,,1,,1,
3211 // ,,,,,,,,,,
3212 // 1,,1,,1,,1,,1,,1,
3213 // ,,,,,,,,,,
3214 // 1,,1,,1,,1,,1,,1,
3215 // ,,,,,,,,,,
3216 // 1,,1,,1,,1,,1,,1,
3217 // ,,,,,,,,,,
3218 // 1,,1,,1,,1,,1,,1,
3219
3220 // Third pass fills in the blanks
3221 // ResultArr2:
3222 // 1,1,1,1,1,1,1,1,1,1,1,1
3223 // 1,1,1,1,1,1,1,1,1,1,1,1
3224 // 1,1,1,1,1,1,1,1,1,1,1,1
3225 // 1,1,1,1,1,1,1,1,1,1,1,1
3226 // 1,1,1,1,1,1,1,1,1,1,1,1
3227 // 1,1,1,1,1,1,1,1,1,1,1,1
3228 // 1,1,1,1,1,1,1,1,1,1,1,1
3229 // 1,1,1,1,1,1,1,1,1,1,1,1
3230 // 1,1,1,1,1,1,1,1,1,1,1,1
3231 // 1,1,1,1,1,1,1,1,1,1,1,1
3232 // 1,1,1,1,1,1,1,1,1,1,1,1
3233
3234 // X,Y = .
3235 // X+1,y = ^
3236 // X,Y+1 = *
3237 // X+1,Y+1 = #
3238
3239 // Filling in like this;
3240 // .*
3241 // ^#
3242 // 1st .
3243 // 2nd *
3244 // 3rd ^
3245 // 4th #
3246 // on single loop.
3247
3248 float[,] resultarr2 = new float[512, 512];
3249 for (int y = 0; y < WorldExtents.Y; y++)
3250 {
3251 for (int x = 0; x < WorldExtents.X; x++)
3252 {
3253 resultarr2[y * 2, x * 2] = resultarr[y, x];
3254
3255 if (y < WorldExtents.Y)
3256 {
3257 resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
3258 }
3259 if (x < WorldExtents.X)
3260 {
3261 resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
3262 }
3263 if (x < WorldExtents.X && y < WorldExtents.Y)
3264 {
3265 resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
3266 }
3267 }
3268 }
3269
3270 //Flatten out the array
3271 int i = 0;
3272 for (int y = 0; y < 512; y++)
3273 {
3274 for (int x = 0; x < 512; x++)
3275 {
3276 if (resultarr2[y, x] <= 0)
3277 returnarr[i] = 0.0000001f;
3278 else
3279 returnarr[i] = resultarr2[y, x];
3280
3281 i++;
3282 }
3283 }
3284
3285 return returnarr;
3286 }
3287
3288 public float[] ResizeTerrain512Interpolation(float[] heightMap)
3289 {
3290 float[] returnarr = new float[262144];
3291 float[,] resultarr = new float[512,512];
3292
3293 // Filling out the array into its multi-dimensional components
3294 for (int y = 0; y < 256; y++)
3295 {
3296 for (int x = 0; x < 256; x++)
3297 {
3298 resultarr[y, x] = heightMap[y * 256 + x];
3299 }
3300 }
3301
3302 // Resize using interpolation
3303
3304 // This particular way is quick but it only works on a multiple of the original
3305
3306 // The idea behind this method can be described with the following diagrams
3307 // second pass and third pass happen in the same loop really.. just separated
3308 // them to show what this does.
3309
3310 // First Pass
3311 // ResultArr:
3312 // 1,1,1,1,1,1
3313 // 1,1,1,1,1,1
3314 // 1,1,1,1,1,1
3315 // 1,1,1,1,1,1
3316 // 1,1,1,1,1,1
3317 // 1,1,1,1,1,1
3318
3319 // Second Pass
3320 // ResultArr2:
3321 // 1,,1,,1,,1,,1,,1,
3322 // ,,,,,,,,,,
3323 // 1,,1,,1,,1,,1,,1,
3324 // ,,,,,,,,,,
3325 // 1,,1,,1,,1,,1,,1,
3326 // ,,,,,,,,,,
3327 // 1,,1,,1,,1,,1,,1,
3328 // ,,,,,,,,,,
3329 // 1,,1,,1,,1,,1,,1,
3330 // ,,,,,,,,,,
3331 // 1,,1,,1,,1,,1,,1,
3332
3333 // Third pass fills in the blanks
3334 // ResultArr2:
3335 // 1,1,1,1,1,1,1,1,1,1,1,1
3336 // 1,1,1,1,1,1,1,1,1,1,1,1
3337 // 1,1,1,1,1,1,1,1,1,1,1,1
3338 // 1,1,1,1,1,1,1,1,1,1,1,1
3339 // 1,1,1,1,1,1,1,1,1,1,1,1
3340 // 1,1,1,1,1,1,1,1,1,1,1,1
3341 // 1,1,1,1,1,1,1,1,1,1,1,1
3342 // 1,1,1,1,1,1,1,1,1,1,1,1
3343 // 1,1,1,1,1,1,1,1,1,1,1,1
3344 // 1,1,1,1,1,1,1,1,1,1,1,1
3345 // 1,1,1,1,1,1,1,1,1,1,1,1
3346
3347 // X,Y = .
3348 // X+1,y = ^
3349 // X,Y+1 = *
3350 // X+1,Y+1 = #
3351
3352 // Filling in like this;
3353 // .*
3354 // ^#
3355 // 1st .
3356 // 2nd *
3357 // 3rd ^
3358 // 4th #
3359 // on single loop.
3360
3361 float[,] resultarr2 = new float[512,512];
3362 for (int y = 0; y < (int)Constants.RegionSize; y++)
3363 {
3364 for (int x = 0; x < (int)Constants.RegionSize; x++)
3365 {
3366 resultarr2[y*2, x*2] = resultarr[y, x];
3367
3368 if (y < (int)Constants.RegionSize)
3369 {
3370 if (y + 1 < (int)Constants.RegionSize)
3371 {
3372 if (x + 1 < (int)Constants.RegionSize)
3373 {
3374 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
3375 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3376 }
3377 else
3378 {
3379 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
3380 }
3381 }
3382 else
3383 {
3384 resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
3385 }
3386 }
3387 if (x < (int)Constants.RegionSize)
3388 {
3389 if (x + 1 < (int)Constants.RegionSize)
3390 {
3391 if (y + 1 < (int)Constants.RegionSize)
3392 {
3393 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3394 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3395 }
3396 else
3397 {
3398 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
3399 }
3400 }
3401 else
3402 {
3403 resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
3404 }
3405 }
3406 if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
3407 {
3408 if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
3409 {
3410 resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3411 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3412 }
3413 else
3414 {
3415 resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
3416 }
3417 }
3418 }
3419 }
3420 //Flatten out the array
3421 int i = 0;
3422 for (int y = 0; y < 512; y++)
3423 {
3424 for (int x = 0; x < 512; x++)
3425 {
3426 if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
3427 {
3428 m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
3429 resultarr2[y, x] = 0;
3430 }
3431 returnarr[i] = resultarr2[y, x];
3432 i++;
3433 }
3434 }
3435
3436 return returnarr;
3437 }
3438
3439 #endregion
3440
3441 public override void SetTerrain(float[] heightMap)
3442 {
3443 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
3444 {
3445 if (m_parentScene is OdeScene)
3446 {
3447 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
3448 }
3449 }
3450 else
3451 {
3452 SetTerrain(heightMap, m_worldOffset);
3453 }
3454 }
3455
3456 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3457 {
3458
3459 int regionsize = (int) Constants.RegionSize; // visible region size eg. 256(M)
3460
3461 int heightmapWidth = regionsize + 2; // ODE map size 257 x 257 (Meters) (1 extra
3462 int heightmapHeight = regionsize + 2;
3463
3464 int heightmapWidthSamples = (int)regionsize + 2; // Sample file size, 258 x 258 samples
3465 int heightmapHeightSamples = (int)regionsize + 2;
3466
3467 // Array of height samples for ODE
3468 float[] _heightmap;
3469 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
3470
3471 // Other ODE parameters
3472 const float scale = 1.0f;
3473 const float offset = 0.0f;
3474 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3475 const int wrap = 0;
3476
3477 float hfmin = 2000f;
3478 float hfmax = -2000f;
3479 float minele = 0.0f; // Dont allow -ve heights
3480
3481 int x = 0;
3482 int y = 0;
3483 int xx = 0;
3484 int yy = 0;
3485
3486 // load the height samples array from the heightMap
3487 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3488 {
3489 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3490 {
3491 xx = x - 1;
3492 if (xx < 0) xx = 0;
3493 if (xx > (regionsize - 1)) xx = regionsize - 1;
3494
3495 yy = y - 1;
3496 if (yy < 0) yy = 0;
3497 if (yy > (regionsize - 1)) yy = regionsize - 1;
3498 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3499 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3500 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3501 if (val < minele) val = minele;
3502 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3503 hfmin = (val < hfmin) ? val : hfmin;
3504 hfmax = (val > hfmax) ? val : hfmax;
3505 }
3506 }
3507
3508 lock (OdeLock)
3509 {
3510 IntPtr GroundGeom = IntPtr.Zero;
3511 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3512 {
3513 RegionTerrain.Remove(pOffset);
3514 if (GroundGeom != IntPtr.Zero)
3515 {
3516 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3517 {
3518 TerrainHeightFieldHeights.Remove(GroundGeom);
3519 }
3520 d.SpaceRemove(space, GroundGeom);
3521 d.GeomDestroy(GroundGeom);
3522 }
3523 }
3524 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3525 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3526 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3527 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3528 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3529 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3530 if (GroundGeom != IntPtr.Zero)
3531 {
3532 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3533 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3534 }
3535 geom_name_map[GroundGeom] = "Terrain";
3536
3537 d.Matrix3 R = new d.Matrix3();
3538
3539 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3540 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3541 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3542
3543 q1 = q1 * q2;
3544 //q1 = q1 * q3;
3545 Vector3 v3;
3546 float angle;
3547 q1.GetAxisAngle(out v3, out angle);
3548
3549 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3550 d.GeomSetRotation(GroundGeom, ref R);
3551 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3552 IntPtr testGround = IntPtr.Zero;
3553 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3554 {
3555 RegionTerrain.Remove(pOffset);
3556 }
3557 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3558 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3559 }
3560 }
3561
3562 public override void DeleteTerrain()
3563 {
3564 }
3565
3566 public float GetWaterLevel()
3567 {
3568 return waterlevel;
3569 }
3570
3571 public override bool SupportsCombining()
3572 {
3573 return true;
3574 }
3575
3576 public override void UnCombine(PhysicsScene pScene)
3577 {
3578 IntPtr localGround = IntPtr.Zero;
3579// float[] localHeightfield;
3580 bool proceed = false;
3581 List<IntPtr> geomDestroyList = new List<IntPtr>();
3582
3583 lock (OdeLock)
3584 {
3585 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
3586 {
3587 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
3588 {
3589 if (geom == localGround)
3590 {
3591// localHeightfield = TerrainHeightFieldHeights[geom];
3592 proceed = true;
3593 }
3594 else
3595 {
3596 geomDestroyList.Add(geom);
3597 }
3598 }
3599
3600 if (proceed)
3601 {
3602 m_worldOffset = Vector3.Zero;
3603 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
3604 m_parentScene = null;
3605
3606 foreach (IntPtr g in geomDestroyList)
3607 {
3608 // removingHeightField needs to be done or the garbage collector will
3609 // collect the terrain data before we tell ODE to destroy it causing
3610 // memory corruption
3611 if (TerrainHeightFieldHeights.ContainsKey(g))
3612 {
3613// float[] removingHeightField = TerrainHeightFieldHeights[g];
3614 TerrainHeightFieldHeights.Remove(g);
3615
3616 if (RegionTerrain.ContainsKey(g))
3617 {
3618 RegionTerrain.Remove(g);
3619 }
3620
3621 d.GeomDestroy(g);
3622 //removingHeightField = new float[0];
3623 }
3624 }
3625
3626 }
3627 else
3628 {
3629 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3630
3631 }
3632 }
3633 }
3634 }
3635
3636 public override void SetWaterLevel(float baseheight)
3637 {
3638 waterlevel = baseheight;
3639 randomizeWater(waterlevel);
3640 }
3641
3642 public void randomizeWater(float baseheight)
3643 {
3644 const uint heightmapWidth = m_regionWidth + 2;
3645 const uint heightmapHeight = m_regionHeight + 2;
3646 const uint heightmapWidthSamples = m_regionWidth + 2;
3647 const uint heightmapHeightSamples = m_regionHeight + 2;
3648 const float scale = 1.0f;
3649 const float offset = 0.0f;
3650 const float thickness = 2.9f;
3651 const int wrap = 0;
3652
3653 for (int i = 0; i < (258 * 258); i++)
3654 {
3655 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3656 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3657 }
3658
3659 lock (OdeLock)
3660 {
3661 if (WaterGeom != IntPtr.Zero)
3662 {
3663 d.SpaceRemove(space, WaterGeom);
3664 }
3665 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3666 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3667 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3668 offset, thickness, wrap);
3669 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3670 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3671 if (WaterGeom != IntPtr.Zero)
3672 {
3673 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3674 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3675
3676 }
3677 geom_name_map[WaterGeom] = "Water";
3678
3679 d.Matrix3 R = new d.Matrix3();
3680
3681 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3682 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3683 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3684
3685 q1 = q1 * q2;
3686 //q1 = q1 * q3;
3687 Vector3 v3;
3688 float angle;
3689 q1.GetAxisAngle(out v3, out angle);
3690
3691 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3692 d.GeomSetRotation(WaterGeom, ref R);
3693 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3694
3695 }
3696
3697 }
3698
3699 public override void Dispose()
3700 {
3701 m_rayCastManager.Dispose();
3702 m_rayCastManager = null;
3703
3704 lock (OdeLock)
3705 {
3706 lock (_prims)
3707 {
3708 foreach (OdePrim prm in _prims)
3709 {
3710 RemovePrim(prm);
3711 }
3712 }
3713
3714 //foreach (OdeCharacter act in _characters)
3715 //{
3716 //RemoveAvatar(act);
3717 //}
3718 d.WorldDestroy(world);
3719 //d.CloseODE();
3720 }
3721 }
3722 public override Dictionary<uint, float> GetTopColliders()
3723 {
3724 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
3725 int cnt = 0;
3726 lock (_prims)
3727 {
3728 foreach (OdePrim prm in _prims)
3729 {
3730 if (prm.CollisionScore > 0)
3731 {
3732 returncolliders.Add(prm.m_localID, prm.CollisionScore);
3733 cnt++;
3734 prm.CollisionScore = 0f;
3735 if (cnt > 25)
3736 {
3737 break;
3738 }
3739 }
3740 }
3741 }
3742 return returncolliders;
3743 }
3744
3745 public override bool SupportsRayCast()
3746 {
3747 return true;
3748 }
3749
3750 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
3751 {
3752 if (retMethod != null)
3753 {
3754 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
3755 }
3756 }
3757
3758#if USE_DRAWSTUFF
3759 // Keyboard callback
3760 public void command(int cmd)
3761 {
3762 IntPtr geom;
3763 d.Mass mass;
3764 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3765
3766
3767
3768 Char ch = Char.ToLower((Char)cmd);
3769 switch ((Char)ch)
3770 {
3771 case 'w':
3772 try
3773 {
3774 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));
3775
3776 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3777 ds.SetViewpoint(ref xyz, ref hpr);
3778 }
3779 catch (ArgumentException)
3780 { hpr.X = 0; }
3781 break;
3782
3783 case 'a':
3784 hpr.X++;
3785 ds.SetViewpoint(ref xyz, ref hpr);
3786 break;
3787
3788 case 's':
3789 try
3790 {
3791 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));
3792
3793 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3794 ds.SetViewpoint(ref xyz, ref hpr);
3795 }
3796 catch (ArgumentException)
3797 { hpr.X = 0; }
3798 break;
3799 case 'd':
3800 hpr.X--;
3801 ds.SetViewpoint(ref xyz, ref hpr);
3802 break;
3803 case 'r':
3804 xyz.Z++;
3805 ds.SetViewpoint(ref xyz, ref hpr);
3806 break;
3807 case 'f':
3808 xyz.Z--;
3809 ds.SetViewpoint(ref xyz, ref hpr);
3810 break;
3811 case 'e':
3812 xyz.Y++;
3813 ds.SetViewpoint(ref xyz, ref hpr);
3814 break;
3815 case 'q':
3816 xyz.Y--;
3817 ds.SetViewpoint(ref xyz, ref hpr);
3818 break;
3819 }
3820 }
3821
3822 public void step(int pause)
3823 {
3824
3825 ds.SetColor(1.0f, 1.0f, 0.0f);
3826 ds.SetTexture(ds.Texture.Wood);
3827 lock (_prims)
3828 {
3829 foreach (OdePrim prm in _prims)
3830 {
3831 //IntPtr body = d.GeomGetBody(prm.prim_geom);
3832 if (prm.prim_geom != IntPtr.Zero)
3833 {
3834 d.Vector3 pos;
3835 d.GeomCopyPosition(prm.prim_geom, out pos);
3836 //d.BodyCopyPosition(body, out pos);
3837
3838 d.Matrix3 R;
3839 d.GeomCopyRotation(prm.prim_geom, out R);
3840 //d.BodyCopyRotation(body, out R);
3841
3842
3843 d.Vector3 sides = new d.Vector3();
3844 sides.X = prm.Size.X;
3845 sides.Y = prm.Size.Y;
3846 sides.Z = prm.Size.Z;
3847
3848 ds.DrawBox(ref pos, ref R, ref sides);
3849 }
3850 }
3851 }
3852 ds.SetColor(1.0f, 0.0f, 0.0f);
3853 lock (_characters)
3854 {
3855 foreach (OdeCharacter chr in _characters)
3856 {
3857 if (chr.Shell != IntPtr.Zero)
3858 {
3859 IntPtr body = d.GeomGetBody(chr.Shell);
3860
3861 d.Vector3 pos;
3862 d.GeomCopyPosition(chr.Shell, out pos);
3863 //d.BodyCopyPosition(body, out pos);
3864
3865 d.Matrix3 R;
3866 d.GeomCopyRotation(chr.Shell, out R);
3867 //d.BodyCopyRotation(body, out R);
3868
3869 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
3870 d.Vector3 sides = new d.Vector3();
3871 sides.X = 0.5f;
3872 sides.Y = 0.5f;
3873 sides.Z = 0.5f;
3874
3875 ds.DrawBox(ref pos, ref R, ref sides);
3876 }
3877 }
3878 }
3879 }
3880
3881 public void start(int unused)
3882 {
3883 ds.SetViewpoint(ref xyz, ref hpr);
3884 }
3885#endif
3886 }
3887}
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 2024-11-16 22:55:22 +0000