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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above 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/* Revision 2011/12 by Ubit Umarov
29 *
30 *
31 */
32
33/*
34 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
35 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
36 * ODEPrim.cs contains methods dealing with Prim editing, Prim
37 * characteristics and Kinetic motion.
38 * ODEDynamics.cs contains methods dealing with Prim Physical motion
39 * (dynamics) and the associated settings. Old Linear and angular
40 * motors for dynamic motion have been replace with MoveLinear()
41 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
42 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
43 * switch between 'VEHICLE' parameter use and general dynamics
44 * settings use.
45 */
46
47//#define SPAM
48
49using System;
50using System.Collections.Generic;
51using System.Reflection;
52using System.Runtime.InteropServices;
53using System.Threading;
54using log4net;
55using OpenMetaverse;
56using OdeAPI;
57using OpenSim.Framework;
58using OpenSim.Region.Physics.Manager;
59
60
61namespace OpenSim.Region.Physics.OdePlugin
62{
63 public class OdePrim : PhysicsActor
64 {
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66
67 private bool m_isphysical;
68 private bool m_fakeisphysical;
69 private bool m_isphantom;
70 private bool m_fakeisphantom;
71 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
72 private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
73
74 protected bool m_building;
75 protected bool m_forcePosOrRotation;
76 private bool m_iscolliding;
77
78 internal bool m_isSelected;
79 private bool m_delaySelect;
80 private bool m_lastdoneSelected;
81 internal bool m_outbounds;
82
83 private Quaternion m_lastorientation = new Quaternion();
84 private Quaternion _orientation;
85
86 private Vector3 _position;
87 private Vector3 _velocity;
88 private Vector3 _torque;
89 private Vector3 m_lastVelocity;
90 private Vector3 m_lastposition;
91 private Vector3 m_rotationalVelocity;
92 private Vector3 _size;
93 private Vector3 _acceleration;
94 private Vector3 m_angularlock = Vector3.One;
95 private IntPtr Amotor = IntPtr.Zero;
96
97 private Vector3 m_force;
98 private Vector3 m_forceacc;
99 private Vector3 m_angularForceacc;
100
101 private float m_invTimeStep = 50.0f;
102 private float m_timeStep = .02f;
103
104
105 private Vector3 m_PIDTarget;
106 private float m_PIDTau;
107 private bool m_usePID;
108
109 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
110 // and are for non-VEHICLES only.
111
112 private float m_PIDHoverHeight;
113 private float m_PIDHoverTau;
114 private bool m_useHoverPID;
115 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
116 private float m_targetHoverHeight;
117 private float m_groundHeight;
118 private float m_waterHeight;
119 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
120
121 private int body_autodisable_frames = 5;
122 private int bodydisablecontrol = 0;
123
124
125 // Default we're a Geometry
126 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
127 // Default colide nonphysical don't try to colide with anything
128 private const CollisionCategories m_default_collisionFlagsNotPhysical = 0;
129
130 private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom |
131 CollisionCategories.Character |
132 CollisionCategories.Land |
133 CollisionCategories.VolumeDtc);
134
135// private bool m_collidesLand = true;
136 private bool m_collidesWater;
137 public bool m_returnCollisions;
138
139 private bool m_NoColide; // for now only for internal use for bad meshs
140
141
142 // Default, Collide with Other Geometries, spaces and Bodies
143 private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical;
144
145 public bool m_disabled;
146
147 public uint m_localID;
148
149 private IMesh m_mesh;
150 private object m_meshlock = new object();
151 private PrimitiveBaseShape _pbs;
152 public OdeScene _parent_scene;
153
154 /// <summary>
155 /// The physics space which contains prim geometry
156 /// </summary>
157 public IntPtr m_targetSpace = IntPtr.Zero;
158
159 public IntPtr prim_geom;
160 public IntPtr _triMeshData;
161
162 private PhysicsActor _parent;
163
164 private List<OdePrim> childrenPrim = new List<OdePrim>();
165
166
167 private bool m_throttleUpdates;
168 private int throttleCounter;
169 public float m_collisionscore;
170 int m_colliderfilter = 0;
171
172 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
173
174 private float m_density = 10.000006836f; // Aluminum g/cm3;
175 private byte m_shapetype;
176 public bool _zeroFlag;
177 private bool m_lastUpdateSent;
178
179 public IntPtr Body = IntPtr.Zero;
180 public String Name { get; private set; }
181 private Vector3 _target_velocity;
182
183 public Vector3 primOOBsize; // prim real dimensions from mesh
184 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
185 public float primOOBradiusSQ;
186 public d.Mass primdMass; // prim inertia information on it's own referencial
187 float primMass; // prim own mass
188 float primVolume; // prim own volume;
189 float _mass; // object mass acording to case
190 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
191
192 public int givefakepos = 0;
193 private Vector3 fakepos;
194 public int givefakeori = 0;
195 private Quaternion fakeori;
196
197 private int m_eventsubscription;
198 private int m_cureventsubscription;
199 private CollisionEventUpdate CollisionEventsThisFrame = null;
200 private bool SentEmptyCollisionsEvent;
201
202 public volatile bool childPrim;
203
204 public ODEDynamics m_vehicle;
205
206 internal int m_material = (int)Material.Wood;
207 private float mu;
208 private float bounce;
209
210 /// <summary>
211 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
212 /// </summary>
213 public override bool IsPhysical // this is not reliable for internal use
214 {
215 get { return m_fakeisphysical; }
216 set
217 {
218 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
219 // and also to stop imediatly some updates
220 // but real change will only happen in taintprocessing
221
222 if (!value) // Zero the remembered last velocity
223 m_lastVelocity = Vector3.Zero;
224 AddChange(changes.Physical, value);
225 }
226 }
227
228 public override bool IsVolumeDtc
229 {
230 get { return m_fakeisVolumeDetect; }
231 set
232 {
233 m_fakeisVolumeDetect = value;
234 AddChange(changes.VolumeDtc, value);
235 }
236 }
237
238
239 public override bool Phantom // this is not reliable for internal use
240 {
241 get { return m_fakeisphantom; }
242 set
243 {
244 m_fakeisphantom = value;
245 AddChange(changes.Phantom, value);
246 }
247 }
248
249 public override bool Building // this is not reliable for internal use
250 {
251 get { return m_building; }
252 set
253 {
254 if (value)
255 m_building = true;
256 AddChange(changes.building, value);
257 }
258 }
259
260 public override void getContactData(ref ContactData cdata)
261 {
262 cdata.mu = mu;
263 cdata.bounce = bounce;
264
265 // cdata.softcolide = m_softcolide;
266 cdata.softcolide = false;
267
268 if (m_isphysical)
269 {
270 ODEDynamics veh;
271 if (_parent != null)
272 veh = ((OdePrim)_parent).m_vehicle;
273 else
274 veh = m_vehicle;
275
276 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
277 cdata.mu *= veh.FrictionFactor;
278 }
279 }
280
281 public override int PhysicsActorType
282 {
283 get { return (int)ActorTypes.Prim; }
284 set { return; }
285 }
286
287 public override bool SetAlwaysRun
288 {
289 get { return false; }
290 set { return; }
291 }
292
293 public override uint LocalID
294 {
295 get
296 {
297 return m_localID;
298 }
299 set
300 {
301 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
302 m_localID = value;
303 }
304 }
305
306 public override bool Grabbed
307 {
308 set { return; }
309 }
310
311 public override bool Selected
312 {
313 set
314 {
315 if (value)
316 m_isSelected = value; // if true set imediatly to stop moves etc
317 AddChange(changes.Selected, value);
318 }
319 }
320
321 public override bool Flying
322 {
323 // no flying prims for you
324 get { return false; }
325 set { }
326 }
327
328 public override bool IsColliding
329 {
330 get { return m_iscolliding; }
331 set
332 {
333 if (value)
334 {
335 m_colliderfilter += 2;
336 if (m_colliderfilter > 2)
337 m_colliderfilter = 2;
338 }
339 else
340 {
341 m_colliderfilter--;
342 if (m_colliderfilter < 0)
343 m_colliderfilter = 0;
344 }
345
346 if (m_colliderfilter == 0)
347 m_iscolliding = false;
348 else
349 m_iscolliding = true;
350 }
351 }
352
353 public override bool CollidingGround
354 {
355 get { return false; }
356 set { return; }
357 }
358
359 public override bool CollidingObj
360 {
361 get { return false; }
362 set { return; }
363 }
364
365 public override bool ThrottleUpdates
366 {
367 get { return m_throttleUpdates; }
368 set { m_throttleUpdates = value; }
369 }
370
371 public override bool Stopped
372 {
373 get { return _zeroFlag; }
374 }
375
376 public override Vector3 Position
377 {
378 get
379 {
380 if (givefakepos > 0)
381 return fakepos;
382 else
383 return _position;
384 }
385
386 set
387 {
388 fakepos = value;
389 givefakepos++;
390 AddChange(changes.Position, value);
391 }
392 }
393
394 public override Vector3 Size
395 {
396 get { return _size; }
397 set
398 {
399 if (value.IsFinite())
400 {
401 AddChange(changes.Size, value);
402 }
403 else
404 {
405 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
406 }
407 }
408 }
409
410 public override float Mass
411 {
412 get { return primMass; }
413 }
414
415 public override Vector3 Force
416 {
417 //get { return Vector3.Zero; }
418 get { return m_force; }
419 set
420 {
421 if (value.IsFinite())
422 {
423 AddChange(changes.Force, value);
424 }
425 else
426 {
427 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
428 }
429 }
430 }
431
432 public override void SetVolumeDetect(int param)
433 {
434 m_fakeisVolumeDetect = (param != 0);
435 AddChange(changes.VolumeDtc, m_fakeisVolumeDetect);
436 }
437
438 public override Vector3 GeometricCenter
439 {
440 // this is not real geometric center but a average of positions relative to root prim acording to
441 // http://wiki.secondlife.com/wiki/llGetGeometricCenter
442 // ignoring tortured prims details since sl also seems to ignore
443 // so no real use in doing it on physics
444 get
445 {
446 return Vector3.Zero;
447 }
448 }
449
450 public override Vector3 CenterOfMass
451 {
452 get
453 {
454 lock (_parent_scene.OdeLock)
455 {
456 d.Vector3 dtmp;
457 if (!childPrim && Body != IntPtr.Zero)
458 {
459 dtmp = d.BodyGetPosition(Body);
460 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
461 }
462 else if (prim_geom != IntPtr.Zero)
463 {
464 d.Quaternion dq;
465 d.GeomCopyQuaternion(prim_geom, out dq);
466 Quaternion q;
467 q.X = dq.X;
468 q.Y = dq.Y;
469 q.Z = dq.Z;
470 q.W = dq.W;
471
472 Vector3 Ptot = primOOBoffset * q;
473 dtmp = d.GeomGetPosition(prim_geom);
474 Ptot.X += dtmp.X;
475 Ptot.Y += dtmp.Y;
476 Ptot.Z += dtmp.Z;
477
478 // if(childPrim) we only know about physical linksets
479 return Ptot;
480/*
481 float tmass = _mass;
482 Ptot *= tmass;
483
484 float m;
485
486 foreach (OdePrim prm in childrenPrim)
487 {
488 m = prm._mass;
489 Ptot += prm.CenterOfMass * m;
490 tmass += m;
491 }
492
493 if (tmass == 0)
494 tmass = 0;
495 else
496 tmass = 1.0f / tmass;
497
498 Ptot *= tmass;
499 return Ptot;
500*/
501 }
502 else
503 return _position;
504 }
505 }
506 }
507
508 public override Vector3 OOBsize
509 {
510 get
511 {
512 return primOOBsize;
513 }
514 }
515
516 public override Vector3 OOBoffset
517 {
518 get
519 {
520 return primOOBoffset;
521 }
522 }
523
524 public override float OOBRadiusSQ
525 {
526 get
527 {
528 return primOOBradiusSQ;
529 }
530 }
531
532 public override PrimitiveBaseShape Shape
533 {
534 set
535 {
536/*
537 IMesh mesh = null;
538 if (_parent_scene.needsMeshing(value))
539 {
540 bool convex;
541 if (m_shapetype == 0)
542 convex = false;
543 else
544 convex = true;
545 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
546 }
547
548 if (mesh != null)
549 {
550 lock (m_meshlock)
551 m_mesh = mesh;
552 }
553*/
554 AddChange(changes.Shape, value);
555 }
556 }
557
558 public override byte PhysicsShapeType
559 {
560 get
561 {
562 return m_shapetype;
563 }
564 set
565 {
566 m_shapetype = value;
567 AddChange(changes.Shape, null);
568 }
569 }
570
571
572 public override Vector3 Velocity
573 {
574 get
575 {
576 if (_zeroFlag)
577 return Vector3.Zero;
578 return _velocity;
579 }
580 set
581 {
582 if (value.IsFinite())
583 {
584 AddChange(changes.Velocity, value);
585// _velocity = value;
586
587 }
588 else
589 {
590 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
591 }
592
593 }
594 }
595
596 public override Vector3 Torque
597 {
598 get
599 {
600 if (!IsPhysical || Body == IntPtr.Zero)
601 return Vector3.Zero;
602
603 return _torque;
604 }
605
606 set
607 {
608 if (value.IsFinite())
609 {
610 AddChange(changes.Torque, value);
611 }
612 else
613 {
614 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
615 }
616 }
617 }
618
619 public override float CollisionScore
620 {
621 get { return m_collisionscore; }
622 set { m_collisionscore = value; }
623 }
624
625 public override bool Kinematic
626 {
627 get { return false; }
628 set { }
629 }
630
631 public override Quaternion Orientation
632 {
633 get
634 {
635 if (givefakeori > 0)
636 return fakeori;
637 else
638
639 return _orientation;
640 }
641 set
642 {
643 if (QuaternionIsFinite(value))
644 {
645 fakeori = value;
646 givefakeori++;
647 AddChange(changes.Orientation, value);
648 }
649 else
650 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
651
652 }
653 }
654
655 public override Vector3 Acceleration
656 {
657 get { return _acceleration; }
658 set { }
659 }
660
661 public override Vector3 RotationalVelocity
662 {
663 get
664 {
665 Vector3 pv = Vector3.Zero;
666 if (_zeroFlag)
667 return pv;
668
669 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
670 return pv;
671
672 return m_rotationalVelocity;
673 }
674 set
675 {
676 if (value.IsFinite())
677 {
678 m_rotationalVelocity = value;
679 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
680 d.BodyEnable(Body);
681 }
682 else
683 {
684 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
685 }
686 }
687 }
688
689
690 public override float Buoyancy
691 {
692 get { return m_buoyancy; }
693 set
694 {
695 m_buoyancy = value;
696 }
697 }
698
699 public override bool FloatOnWater
700 {
701 set
702 {
703 AddChange(changes.CollidesWater, value);
704 }
705 }
706
707 public override Vector3 PIDTarget
708 {
709 set
710 {
711 if (value.IsFinite())
712 {
713 m_PIDTarget = value;
714 }
715 else
716 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
717 }
718 }
719
720 public override bool PIDActive { set { m_usePID = value; } }
721 public override float PIDTau
722 {
723 set
724 {
725 if (value <= 0)
726 m_PIDTau = 0;
727 else
728 {
729 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
730 if (value < mint)
731 m_PIDTau = mint;
732 else
733 m_PIDTau = value;
734 }
735 }
736 }
737
738 public override float PIDHoverHeight
739 {
740 set
741 {
742 m_PIDHoverHeight = value;
743 if (value == 0)
744 m_useHoverPID = false;
745 }
746 }
747 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
748 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
749 public override float PIDHoverTau
750 {
751 set
752 {
753 if (value <= 0)
754 m_PIDHoverTau = 0;
755 else
756 {
757 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
758 if (value < mint)
759 m_PIDHoverTau = mint;
760 else
761 m_PIDHoverTau = value;
762 }
763 }
764 }
765
766 public override Quaternion APIDTarget { set { return; } }
767
768 public override bool APIDActive { set { return; } }
769
770 public override float APIDStrength { set { return; } }
771
772 public override float APIDDamping { set { return; } }
773
774 public override int VehicleType
775 {
776 // we may need to put a fake on this
777 get
778 {
779 if (m_vehicle == null)
780 return (int)Vehicle.TYPE_NONE;
781 else
782 return (int)m_vehicle.Type;
783 }
784 set
785 {
786 AddChange(changes.VehicleType, value);
787 }
788 }
789
790 public override void VehicleFloatParam(int param, float value)
791 {
792 strVehicleFloatParam fp = new strVehicleFloatParam();
793 fp.param = param;
794 fp.value = value;
795 AddChange(changes.VehicleFloatParam, fp);
796 }
797
798 public override void VehicleVectorParam(int param, Vector3 value)
799 {
800 strVehicleVectorParam fp = new strVehicleVectorParam();
801 fp.param = param;
802 fp.value = value;
803 AddChange(changes.VehicleVectorParam, fp);
804 }
805
806 public override void VehicleRotationParam(int param, Quaternion value)
807 {
808 strVehicleQuatParam fp = new strVehicleQuatParam();
809 fp.param = param;
810 fp.value = value;
811 AddChange(changes.VehicleRotationParam, fp);
812 }
813
814 public override void VehicleFlags(int param, bool value)
815 {
816 strVehicleBoolParam bp = new strVehicleBoolParam();
817 bp.param = param;
818 bp.value = value;
819 AddChange(changes.VehicleFlags, bp);
820 }
821
822 public override void SetVehicle(object vdata)
823 {
824 AddChange(changes.SetVehicle, vdata);
825 }
826 public void SetAcceleration(Vector3 accel)
827 {
828 _acceleration = accel;
829 }
830
831 public override void AddForce(Vector3 force, bool pushforce)
832 {
833 if (force.IsFinite())
834 {
835 if(pushforce)
836 AddChange(changes.AddForce, force);
837 else // a impulse
838 AddChange(changes.AddForce, force * m_invTimeStep);
839 }
840 else
841 {
842 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
843 }
844 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
845 }
846
847 public override void AddAngularForce(Vector3 force, bool pushforce)
848 {
849 if (force.IsFinite())
850 {
851// if(pushforce) for now applyrotationimpulse seems more happy applied as a force
852 AddChange(changes.AddAngForce, force);
853// else // a impulse
854// AddChange(changes.AddAngForce, force * m_invTimeStep);
855 }
856 else
857 {
858 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
859 }
860 }
861
862 public override void CrossingFailure()
863 {
864 if (m_outbounds)
865 {
866 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
867 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
868 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
869
870 m_lastposition = _position;
871 _velocity.X = 0;
872 _velocity.Y = 0;
873 _velocity.Z = 0;
874
875 m_lastVelocity = _velocity;
876 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
877 m_vehicle.Stop();
878
879 if(Body != IntPtr.Zero)
880 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
881 if (prim_geom != IntPtr.Zero)
882 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
883
884 m_outbounds = false;
885 changeDisable(false);
886 base.RequestPhysicsterseUpdate();
887 }
888 }
889
890 public override void SetMomentum(Vector3 momentum)
891 {
892 }
893
894 public override void SetMaterial(int pMaterial)
895 {
896 m_material = pMaterial;
897 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
898 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
899 }
900
901 public void setPrimForRemoval()
902 {
903 AddChange(changes.Remove, null);
904 }
905
906 public override void link(PhysicsActor obj)
907 {
908 AddChange(changes.Link, obj);
909 }
910
911 public override void delink()
912 {
913 AddChange(changes.DeLink, null);
914 }
915
916 public override void LockAngularMotion(Vector3 axis)
917 {
918 // reverse the zero/non zero values for ODE.
919 if (axis.IsFinite())
920 {
921 axis.X = (axis.X > 0) ? 1f : 0f;
922 axis.Y = (axis.Y > 0) ? 1f : 0f;
923 axis.Z = (axis.Z > 0) ? 1f : 0f;
924 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
925 AddChange(changes.AngLock, axis);
926 }
927 else
928 {
929 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
930 }
931 }
932
933 public override void SubscribeEvents(int ms)
934 {
935 m_eventsubscription = ms;
936 m_cureventsubscription = 0;
937 if (CollisionEventsThisFrame == null)
938 CollisionEventsThisFrame = new CollisionEventUpdate();
939 SentEmptyCollisionsEvent = false;
940 }
941
942 public override void UnSubscribeEvents()
943 {
944 if (CollisionEventsThisFrame != null)
945 {
946 CollisionEventsThisFrame.Clear();
947 CollisionEventsThisFrame = null;
948 }
949 m_eventsubscription = 0;
950 }
951
952 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
953 {
954 if (CollisionEventsThisFrame == null)
955 CollisionEventsThisFrame = new CollisionEventUpdate();
956 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
957 }
958
959 public void SendCollisions()
960 {
961 if (CollisionEventsThisFrame == null)
962 return;
963
964 if (m_cureventsubscription < m_eventsubscription)
965 return;
966
967 m_cureventsubscription = 0;
968
969 int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
970
971 if (!SentEmptyCollisionsEvent || ncolisions > 0)
972 {
973 base.SendCollisionUpdate(CollisionEventsThisFrame);
974
975 if (ncolisions == 0)
976 {
977 SentEmptyCollisionsEvent = true;
978 _parent_scene.RemoveCollisionEventReporting(this);
979 }
980 else
981 {
982 SentEmptyCollisionsEvent = false;
983 CollisionEventsThisFrame.Clear();
984 }
985 }
986 }
987
988 internal void AddCollisionFrameTime(int t)
989 {
990 if (m_cureventsubscription < 50000)
991 m_cureventsubscription += t;
992 }
993
994 public override bool SubscribedEvents()
995 {
996 if (m_eventsubscription > 0)
997 return true;
998 return false;
999 }
1000
1001
1002 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
1003 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
1004 {
1005 Name = primName;
1006 LocalID = plocalID;
1007
1008 m_vehicle = null;
1009
1010 if (!pos.IsFinite())
1011 {
1012 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
1013 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
1014 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
1015 }
1016 _position = pos;
1017 givefakepos = 0;
1018
1019 m_timeStep = parent_scene.ODE_STEPSIZE;
1020 m_invTimeStep = 1f / m_timeStep;
1021
1022 m_density = parent_scene.geomDefaultDensity;
1023 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
1024 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
1025
1026 prim_geom = IntPtr.Zero;
1027 collide_geom = IntPtr.Zero;
1028 Body = IntPtr.Zero;
1029
1030 if (!size.IsFinite())
1031 {
1032 size = new Vector3(0.5f, 0.5f, 0.5f);
1033 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
1034 }
1035
1036 if (size.X <= 0) size.X = 0.01f;
1037 if (size.Y <= 0) size.Y = 0.01f;
1038 if (size.Z <= 0) size.Z = 0.01f;
1039
1040 _size = size;
1041
1042 if (!QuaternionIsFinite(rotation))
1043 {
1044 rotation = Quaternion.Identity;
1045 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
1046 }
1047
1048 _orientation = rotation;
1049 givefakeori = 0;
1050
1051 _pbs = pbs;
1052
1053 _parent_scene = parent_scene;
1054 m_targetSpace = IntPtr.Zero;
1055
1056 if (pos.Z < 0)
1057 {
1058 m_isphysical = false;
1059 }
1060 else
1061 {
1062 m_isphysical = pisPhysical;
1063 }
1064 m_fakeisphysical = m_isphysical;
1065
1066 m_isVolumeDetect = false;
1067 m_fakeisVolumeDetect = false;
1068
1069 m_force = Vector3.Zero;
1070
1071 m_iscolliding = false;
1072 m_colliderfilter = 0;
1073 m_NoColide = false;
1074
1075 hasOOBoffsetFromMesh = false;
1076 _triMeshData = IntPtr.Zero;
1077
1078 m_shapetype = _shapeType;
1079
1080 m_lastdoneSelected = false;
1081 m_isSelected = false;
1082 m_delaySelect = false;
1083
1084 m_isphantom = pisPhantom;
1085 m_fakeisphantom = pisPhantom;
1086
1087 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
1088 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
1089
1090 CalcPrimBodyData();
1091
1092 m_mesh = null;
1093 if (_parent_scene.needsMeshing(pbs))
1094 {
1095 bool convex;
1096 if (m_shapetype == 0)
1097 convex = false;
1098 else
1099 convex = true;
1100
1101 m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1102 }
1103
1104
1105 m_building = true; // control must set this to false when done
1106
1107 AddChange(changes.Add, null);
1108 }
1109
1110 private void resetCollisionAccounting()
1111 {
1112 m_collisionscore = 0;
1113 }
1114
1115 private void UpdateCollisionCatFlags()
1116 {
1117 if(m_isphysical && m_disabled)
1118 {
1119 m_collisionCategories = 0;
1120 m_collisionFlags = 0;
1121 }
1122
1123 else if (m_isSelected)
1124 {
1125 m_collisionCategories = CollisionCategories.Selected;
1126 m_collisionFlags = 0;
1127 }
1128
1129 else if (m_isVolumeDetect)
1130 {
1131 m_collisionCategories = CollisionCategories.VolumeDtc;
1132 if (m_isphysical)
1133 m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1134 else
1135 m_collisionFlags = 0;
1136 }
1137 else if (m_isphantom)
1138 {
1139 m_collisionCategories = CollisionCategories.Phantom;
1140 if (m_isphysical)
1141 m_collisionFlags = CollisionCategories.Land;
1142 else
1143 m_collisionFlags = 0;
1144 }
1145 else
1146 {
1147 m_collisionCategories = CollisionCategories.Geom;
1148 if (m_isphysical)
1149 m_collisionFlags = m_default_collisionFlagsPhysical;
1150 else
1151 m_collisionFlags = m_default_collisionFlagsNotPhysical;
1152 }
1153 }
1154
1155 private void ApplyCollisionCatFlags()
1156 {
1157 if (prim_geom != IntPtr.Zero)
1158 {
1159 if (!childPrim && childrenPrim.Count > 0)
1160 {
1161 foreach (OdePrim prm in childrenPrim)
1162 {
1163 if (m_isphysical && m_disabled)
1164 {
1165 prm.m_collisionCategories = 0;
1166 prm.m_collisionFlags = 0;
1167 }
1168 else
1169 {
1170 // preserve some
1171 if (prm.m_isSelected)
1172 {
1173 prm.m_collisionCategories = CollisionCategories.Selected;
1174 prm.m_collisionFlags = 0;
1175 }
1176 else if (prm.m_isVolumeDetect)
1177 {
1178 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1179 if (m_isphysical)
1180 prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1181 else
1182 prm.m_collisionFlags = 0;
1183 }
1184 else if (prm.m_isphantom)
1185 {
1186 prm.m_collisionCategories = CollisionCategories.Phantom;
1187 if (m_isphysical)
1188 prm.m_collisionFlags = CollisionCategories.Land;
1189 else
1190 prm.m_collisionFlags = 0;
1191 }
1192 else
1193 {
1194 prm.m_collisionCategories = m_collisionCategories;
1195 prm.m_collisionFlags = m_collisionFlags;
1196 }
1197 }
1198
1199 if (prm.prim_geom != IntPtr.Zero)
1200 {
1201 if (prm.m_NoColide)
1202 {
1203 d.GeomSetCategoryBits(prm.prim_geom, 0);
1204 if (m_isphysical)
1205 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1206 else
1207 d.GeomSetCollideBits(prm.prim_geom, 0);
1208 }
1209 else
1210 {
1211 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1212 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1213 }
1214 }
1215 }
1216 }
1217
1218 if (m_NoColide)
1219 {
1220 d.GeomSetCategoryBits(prim_geom, 0);
1221 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1222 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1223 {
1224 d.GeomSetCategoryBits(collide_geom, 0);
1225 d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land);
1226 }
1227 }
1228 else
1229 {
1230 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1231 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1232 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1233 {
1234 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
1235 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
1236 }
1237 }
1238 }
1239 }
1240
1241 private void createAMotor(Vector3 axis)
1242 {
1243 if (Body == IntPtr.Zero)
1244 return;
1245
1246 if (Amotor != IntPtr.Zero)
1247 {
1248 d.JointDestroy(Amotor);
1249 Amotor = IntPtr.Zero;
1250 }
1251
1252 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
1253
1254 if (axisnum <= 0)
1255 return;
1256
1257 // stop it
1258 d.BodySetTorque(Body, 0, 0, 0);
1259 d.BodySetAngularVel(Body, 0, 0, 0);
1260
1261 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1262 d.JointAttach(Amotor, Body, IntPtr.Zero);
1263
1264 d.JointSetAMotorMode(Amotor, 0);
1265
1266 d.JointSetAMotorNumAxes(Amotor, axisnum);
1267
1268 // get current orientation to lock
1269
1270 d.Quaternion dcur = d.BodyGetQuaternion(Body);
1271 Quaternion curr; // crap convertion between identical things
1272 curr.X = dcur.X;
1273 curr.Y = dcur.Y;
1274 curr.Z = dcur.Z;
1275 curr.W = dcur.W;
1276 Vector3 ax;
1277
1278 int i = 0;
1279 int j = 0;
1280 if (axis.X == 0)
1281 {
1282 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
1283 // ODE should do this with axis relative to body 1 but seems to fail
1284 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
1285 d.JointSetAMotorAngle(Amotor, 0, 0);
1286 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
1287 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
1288 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
1289 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
1290 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
1291 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
1292 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
1293 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
1294 i++;
1295 j = 256; // move to next axis set
1296 }
1297
1298 if (axis.Y == 0)
1299 {
1300 ax = (new Vector3(0, 1, 0)) * curr;
1301 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1302 d.JointSetAMotorAngle(Amotor, i, 0);
1303 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1304 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1305 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1306 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1307 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1308 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1309 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1310 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1311 i++;
1312 j += 256;
1313 }
1314
1315 if (axis.Z == 0)
1316 {
1317 ax = (new Vector3(0, 0, 1)) * curr;
1318 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1319 d.JointSetAMotorAngle(Amotor, i, 0);
1320 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1321 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1322 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1323 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1324 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1325 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1326 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1327 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1328 }
1329 }
1330
1331 private bool setMesh(OdeScene parent_scene)
1332 {
1333 IntPtr vertices, indices;
1334 int vertexCount, indexCount;
1335 int vertexStride, triStride;
1336
1337 if (Body != IntPtr.Zero)
1338 {
1339 if (childPrim)
1340 {
1341 if (_parent != null)
1342 {
1343 OdePrim parent = (OdePrim)_parent;
1344 parent.ChildDelink(this, false);
1345 }
1346 }
1347 else
1348 {
1349 DestroyBody();
1350 }
1351 }
1352
1353 IMesh mesh = null;
1354
1355
1356 lock (m_meshlock)
1357 {
1358 if (m_mesh == null)
1359 {
1360 bool convex;
1361 if (m_shapetype == 0)
1362 convex = false;
1363 else
1364 convex = true;
1365
1366 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1367 }
1368 else
1369 {
1370 mesh = m_mesh;
1371 }
1372
1373 if (mesh == null)
1374 {
1375 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1376 return false;
1377 }
1378
1379
1380 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1381 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1382
1383 if (vertexCount == 0 || indexCount == 0)
1384 {
1385 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1386 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1387 mesh.releaseSourceMeshData();
1388 return false;
1389 }
1390
1391 primOOBoffset = mesh.GetCentroid();
1392 hasOOBoffsetFromMesh = true;
1393
1394 mesh.releaseSourceMeshData();
1395 m_mesh = null;
1396 }
1397
1398 IntPtr geo = IntPtr.Zero;
1399
1400 try
1401 {
1402 _triMeshData = d.GeomTriMeshDataCreate();
1403
1404 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1405 d.GeomTriMeshDataPreprocess(_triMeshData);
1406
1407 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1408 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1409 }
1410
1411 catch (Exception e)
1412 {
1413 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1414 if (_triMeshData != IntPtr.Zero)
1415 {
1416 d.GeomTriMeshDataDestroy(_triMeshData);
1417 _triMeshData = IntPtr.Zero;
1418 }
1419 return false;
1420 }
1421
1422 SetGeom(geo);
1423 return true;
1424 }
1425
1426 private void SetGeom(IntPtr geom)
1427 {
1428 prim_geom = geom;
1429 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1430 if (prim_geom != IntPtr.Zero)
1431 {
1432 if (m_NoColide)
1433 {
1434 d.GeomSetCategoryBits(prim_geom, 0);
1435 if (m_isphysical)
1436 {
1437 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1438 }
1439 else
1440 {
1441 d.GeomSetCollideBits(prim_geom, 0);
1442 d.GeomDisable(prim_geom);
1443 }
1444 }
1445 else
1446 {
1447 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1448 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1449 }
1450
1451 CalcPrimBodyData();
1452
1453 _parent_scene.geom_name_map[prim_geom] = Name;
1454 _parent_scene.actor_name_map[prim_geom] = this;
1455
1456 }
1457 else
1458 m_log.Warn("Setting bad Geom");
1459 }
1460
1461
1462 /// <summary>
1463 /// Create a geometry for the given mesh in the given target space.
1464 /// </summary>
1465 /// <param name="m_targetSpace"></param>
1466 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1467 private void CreateGeom()
1468 {
1469 if (_triMeshData != IntPtr.Zero)
1470 {
1471 d.GeomTriMeshDataDestroy(_triMeshData);
1472 _triMeshData = IntPtr.Zero;
1473 }
1474
1475 bool haveMesh = false;
1476 hasOOBoffsetFromMesh = false;
1477 m_NoColide = false;
1478
1479 if (_parent_scene.needsMeshing(_pbs))
1480 {
1481 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1482 if (!haveMesh)
1483 m_NoColide = true;
1484 }
1485
1486 if (!haveMesh)
1487 {
1488 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1489 && _size.X == _size.Y && _size.Y == _size.Z)
1490 { // it's a sphere
1491 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1492 try
1493 {
1494 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1495 }
1496 catch (Exception e)
1497 {
1498 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1499 return;
1500 }
1501 }
1502 else
1503 {// do it as a box
1504 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1505 try
1506 {
1507 //Console.WriteLine(" CreateGeom 4");
1508 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1509 }
1510 catch (Exception e)
1511 {
1512 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1513 return;
1514 }
1515 }
1516 }
1517 }
1518
1519 /// <summary>
1520 /// Set a new geometry for this prim.
1521 /// </summary>
1522 /// <param name="geom"></param>
1523 private void RemoveGeom()
1524 {
1525 if (prim_geom != IntPtr.Zero)
1526 {
1527 _parent_scene.geom_name_map.Remove(prim_geom);
1528 _parent_scene.actor_name_map.Remove(prim_geom);
1529 try
1530 {
1531 d.GeomDestroy(prim_geom);
1532 if (_triMeshData != IntPtr.Zero)
1533 {
1534 d.GeomTriMeshDataDestroy(_triMeshData);
1535 _triMeshData = IntPtr.Zero;
1536 }
1537 }
1538 // catch (System.AccessViolationException)
1539 catch (Exception e)
1540 {
1541 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1542 }
1543
1544 prim_geom = IntPtr.Zero;
1545 collide_geom = IntPtr.Zero;
1546 }
1547 else
1548 {
1549 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1550 }
1551 Body = IntPtr.Zero;
1552 hasOOBoffsetFromMesh = false;
1553 }
1554/*
1555 private void ChildSetGeom(OdePrim odePrim)
1556 {
1557 // well..
1558 DestroyBody();
1559 MakeBody();
1560 }
1561*/
1562 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1563 // should only be called for non physical prims unless they are becoming non physical
1564 private void SetInStaticSpace(OdePrim prim)
1565 {
1566 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1567 prim.m_targetSpace = targetSpace;
1568 collide_geom = IntPtr.Zero;
1569 }
1570
1571 public void enableBodySoft()
1572 {
1573 m_disabled = false;
1574 if (!childPrim && !m_isSelected)
1575 {
1576 if (m_isphysical && Body != IntPtr.Zero)
1577 {
1578 UpdateCollisionCatFlags();
1579 ApplyCollisionCatFlags();
1580
1581 d.BodyEnable(Body);
1582 }
1583 }
1584 resetCollisionAccounting();
1585 }
1586
1587 private void disableBodySoft()
1588 {
1589 m_disabled = true;
1590 if (!childPrim)
1591 {
1592 if (m_isphysical && Body != IntPtr.Zero)
1593 {
1594 if (m_isSelected)
1595 m_collisionFlags = CollisionCategories.Selected;
1596 else
1597 m_collisionCategories = 0;
1598 m_collisionFlags = 0;
1599 ApplyCollisionCatFlags();
1600 d.BodyDisable(Body);
1601 }
1602 }
1603 }
1604
1605 private void MakeBody()
1606 {
1607 if (!m_isphysical) // only physical get bodies
1608 return;
1609
1610 if (childPrim) // child prims don't get bodies;
1611 return;
1612
1613 if (m_building)
1614 return;
1615
1616 if (prim_geom == IntPtr.Zero)
1617 {
1618 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1619 return;
1620 }
1621
1622 if (Body != IntPtr.Zero)
1623 {
1624// d.BodyDestroy(Body);
1625// Body = IntPtr.Zero;
1626 // do a more complet destruction
1627 DestroyBody();
1628 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1629 }
1630
1631 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1632 {
1633 d.GeomSetBody(prim_geom, IntPtr.Zero);
1634 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1635 }
1636
1637 d.Matrix3 mymat = new d.Matrix3();
1638 d.Quaternion myrot = new d.Quaternion();
1639 d.Mass objdmass = new d.Mass { };
1640
1641 Body = d.BodyCreate(_parent_scene.world);
1642
1643 objdmass = primdMass;
1644
1645 // rotate inertia
1646 myrot.X = _orientation.X;
1647 myrot.Y = _orientation.Y;
1648 myrot.Z = _orientation.Z;
1649 myrot.W = _orientation.W;
1650
1651 d.RfromQ(out mymat, ref myrot);
1652 d.MassRotate(ref objdmass, ref mymat);
1653
1654 // set the body rotation
1655 d.BodySetRotation(Body, ref mymat);
1656
1657 // recompute full object inertia if needed
1658 if (childrenPrim.Count > 0)
1659 {
1660 d.Matrix3 mat = new d.Matrix3();
1661 d.Quaternion quat = new d.Quaternion();
1662 d.Mass tmpdmass = new d.Mass { };
1663 Vector3 rcm;
1664
1665 rcm.X = _position.X;
1666 rcm.Y = _position.Y;
1667 rcm.Z = _position.Z;
1668
1669 lock (childrenPrim)
1670 {
1671 foreach (OdePrim prm in childrenPrim)
1672 {
1673 if (prm.prim_geom == IntPtr.Zero)
1674 {
1675 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1676 continue;
1677 }
1678
1679 tmpdmass = prm.primdMass;
1680
1681 // apply prim current rotation to inertia
1682 quat.X = prm._orientation.X;
1683 quat.Y = prm._orientation.Y;
1684 quat.Z = prm._orientation.Z;
1685 quat.W = prm._orientation.W;
1686 d.RfromQ(out mat, ref quat);
1687 d.MassRotate(ref tmpdmass, ref mat);
1688
1689 Vector3 ppos = prm._position;
1690 ppos.X -= rcm.X;
1691 ppos.Y -= rcm.Y;
1692 ppos.Z -= rcm.Z;
1693 // refer inertia to root prim center of mass position
1694 d.MassTranslate(ref tmpdmass,
1695 ppos.X,
1696 ppos.Y,
1697 ppos.Z);
1698
1699 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1700 // fix prim colision cats
1701
1702 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1703 {
1704 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1705 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1706 }
1707
1708 d.GeomClearOffset(prm.prim_geom);
1709 d.GeomSetBody(prm.prim_geom, Body);
1710 prm.Body = Body;
1711 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1712 }
1713 }
1714 }
1715
1716 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1717 // associate root geom with body
1718 d.GeomSetBody(prim_geom, Body);
1719
1720 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1721 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1722
1723 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1724 myrot.X = -myrot.X;
1725 myrot.Y = -myrot.Y;
1726 myrot.Z = -myrot.Z;
1727
1728 d.RfromQ(out mymat, ref myrot);
1729 d.MassRotate(ref objdmass, ref mymat);
1730
1731 d.BodySetMass(Body, ref objdmass);
1732 _mass = objdmass.mass;
1733
1734 // disconnect from world gravity so we can apply buoyancy
1735 d.BodySetGravityMode(Body, false);
1736
1737 d.BodySetAutoDisableFlag(Body, true);
1738 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1739// d.BodySetLinearDampingThreshold(Body, 0.01f);
1740// d.BodySetAngularDampingThreshold(Body, 0.001f);
1741 d.BodySetDamping(Body, .002f, .002f);
1742
1743 if (m_targetSpace != IntPtr.Zero)
1744 {
1745 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1746 if (d.SpaceQuery(m_targetSpace, prim_geom))
1747 d.SpaceRemove(m_targetSpace, prim_geom);
1748 }
1749
1750
1751 if (childrenPrim.Count == 0)
1752 {
1753 collide_geom = prim_geom;
1754 m_targetSpace = _parent_scene.ActiveSpace;
1755 d.SpaceAdd(m_targetSpace, prim_geom);
1756 }
1757 else
1758 {
1759 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1760 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1761 d.SpaceSetSublevel(m_targetSpace, 3);
1762 d.SpaceSetCleanup(m_targetSpace, false);
1763 d.SpaceAdd(m_targetSpace, prim_geom);
1764
1765 d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space |
1766 CollisionCategories.Geom |
1767 CollisionCategories.Phantom |
1768 CollisionCategories.VolumeDtc
1769 ));
1770 d.GeomSetCollideBits(m_targetSpace, 0);
1771 collide_geom = m_targetSpace;
1772 }
1773
1774 if (m_delaySelect)
1775 {
1776 m_isSelected = true;
1777 m_delaySelect = false;
1778 }
1779
1780 lock (childrenPrim)
1781 {
1782 foreach (OdePrim prm in childrenPrim)
1783 {
1784 if (prm.prim_geom == IntPtr.Zero)
1785 continue;
1786
1787 Vector3 ppos = prm._position;
1788 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1789
1790 if (prm.m_targetSpace != m_targetSpace)
1791 {
1792 if (prm.m_targetSpace != IntPtr.Zero)
1793 {
1794 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1795 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1796 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1797 }
1798 prm.m_targetSpace = m_targetSpace;
1799 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1800 }
1801
1802 prm.m_collisionscore = 0;
1803
1804 if(!m_disabled)
1805 prm.m_disabled = false;
1806
1807 _parent_scene.addActivePrim(prm);
1808 }
1809 }
1810
1811 // The body doesn't already have a finite rotation mode set here
1812 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1813 {
1814 createAMotor(m_angularlock);
1815 }
1816
1817 m_collisionscore = 0;
1818
1819 UpdateCollisionCatFlags();
1820 ApplyCollisionCatFlags();
1821
1822 if (m_isSelected || m_disabled)
1823 {
1824 d.BodyDisable(Body);
1825 }
1826 else
1827 {
1828 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1829 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1830 }
1831
1832 _parent_scene.addActivePrim(this);
1833 _parent_scene.addActiveGroups(this);
1834 }
1835
1836 private void DestroyBody()
1837 {
1838 if (Body != IntPtr.Zero)
1839 {
1840 _parent_scene.remActivePrim(this);
1841
1842 collide_geom = IntPtr.Zero;
1843
1844 if (m_disabled)
1845 m_collisionCategories = 0;
1846 else if (m_isSelected)
1847 m_collisionCategories = CollisionCategories.Selected;
1848 else if (m_isVolumeDetect)
1849 m_collisionCategories = CollisionCategories.VolumeDtc;
1850 else if (m_isphantom)
1851 m_collisionCategories = CollisionCategories.Phantom;
1852 else
1853 m_collisionCategories = CollisionCategories.Geom;
1854
1855 m_collisionFlags = 0;
1856
1857 if (prim_geom != IntPtr.Zero)
1858 {
1859 if (m_NoColide)
1860 {
1861 d.GeomSetCategoryBits(prim_geom, 0);
1862 d.GeomSetCollideBits(prim_geom, 0);
1863 }
1864 else
1865 {
1866 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1867 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1868 }
1869 UpdateDataFromGeom();
1870 d.GeomSetBody(prim_geom, IntPtr.Zero);
1871 SetInStaticSpace(this);
1872 }
1873
1874 if (!childPrim)
1875 {
1876 lock (childrenPrim)
1877 {
1878 foreach (OdePrim prm in childrenPrim)
1879 {
1880 _parent_scene.remActivePrim(prm);
1881
1882 if (prm.m_isSelected)
1883 prm.m_collisionCategories = CollisionCategories.Selected;
1884 else if (prm.m_isVolumeDetect)
1885 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1886 else if (prm.m_isphantom)
1887 prm.m_collisionCategories = CollisionCategories.Phantom;
1888 else
1889 prm.m_collisionCategories = CollisionCategories.Geom;
1890
1891 prm.m_collisionFlags = 0;
1892
1893 if (prm.prim_geom != IntPtr.Zero)
1894 {
1895 if (prm.m_NoColide)
1896 {
1897 d.GeomSetCategoryBits(prm.prim_geom, 0);
1898 d.GeomSetCollideBits(prm.prim_geom, 0);
1899 }
1900 else
1901 {
1902 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1903 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1904 }
1905 prm.UpdateDataFromGeom();
1906 SetInStaticSpace(prm);
1907 }
1908 prm.Body = IntPtr.Zero;
1909 prm._mass = prm.primMass;
1910 prm.m_collisionscore = 0;
1911 }
1912 }
1913 if (Amotor != IntPtr.Zero)
1914 {
1915 d.JointDestroy(Amotor);
1916 Amotor = IntPtr.Zero;
1917 }
1918 _parent_scene.remActiveGroup(this);
1919 d.BodyDestroy(Body);
1920 }
1921 Body = IntPtr.Zero;
1922 }
1923 _mass = primMass;
1924 m_collisionscore = 0;
1925 }
1926
1927 private void FixInertia(Vector3 NewPos,Quaternion newrot)
1928 {
1929 d.Matrix3 mat = new d.Matrix3();
1930 d.Quaternion quat = new d.Quaternion();
1931
1932 d.Mass tmpdmass = new d.Mass { };
1933 d.Mass objdmass = new d.Mass { };
1934
1935 d.BodyGetMass(Body, out tmpdmass);
1936 objdmass = tmpdmass;
1937
1938 d.Vector3 dobjpos;
1939 d.Vector3 thispos;
1940
1941 // get current object position and rotation
1942 dobjpos = d.BodyGetPosition(Body);
1943
1944 // get prim own inertia in its local frame
1945 tmpdmass = primdMass;
1946
1947 // transform to object frame
1948 mat = d.GeomGetOffsetRotation(prim_geom);
1949 d.MassRotate(ref tmpdmass, ref mat);
1950
1951 thispos = d.GeomGetOffsetPosition(prim_geom);
1952 d.MassTranslate(ref tmpdmass,
1953 thispos.X,
1954 thispos.Y,
1955 thispos.Z);
1956
1957 // subtract current prim inertia from object
1958 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1959
1960 // back prim own inertia
1961 tmpdmass = primdMass;
1962
1963 // update to new position and orientation
1964 _position = NewPos;
1965 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1966 _orientation = newrot;
1967 quat.X = newrot.X;
1968 quat.Y = newrot.Y;
1969 quat.Z = newrot.Z;
1970 quat.W = newrot.W;
1971 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1972
1973 mat = d.GeomGetOffsetRotation(prim_geom);
1974 d.MassRotate(ref tmpdmass, ref mat);
1975
1976 thispos = d.GeomGetOffsetPosition(prim_geom);
1977 d.MassTranslate(ref tmpdmass,
1978 thispos.X,
1979 thispos.Y,
1980 thispos.Z);
1981
1982 d.MassAdd(ref objdmass, ref tmpdmass);
1983
1984 // fix all positions
1985 IntPtr g = d.BodyGetFirstGeom(Body);
1986 while (g != IntPtr.Zero)
1987 {
1988 thispos = d.GeomGetOffsetPosition(g);
1989 thispos.X -= objdmass.c.X;
1990 thispos.Y -= objdmass.c.Y;
1991 thispos.Z -= objdmass.c.Z;
1992 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1993 g = d.dBodyGetNextGeom(g);
1994 }
1995 d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
1996
1997 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1998 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1999 d.BodySetMass(Body, ref objdmass);
2000 _mass = objdmass.mass;
2001 }
2002
2003
2004
2005 private void FixInertia(Vector3 NewPos)
2006 {
2007 d.Matrix3 primmat = new d.Matrix3();
2008 d.Mass tmpdmass = new d.Mass { };
2009 d.Mass objdmass = new d.Mass { };
2010 d.Mass primmass = new d.Mass { };
2011
2012 d.Vector3 dobjpos;
2013 d.Vector3 thispos;
2014
2015 d.BodyGetMass(Body, out objdmass);
2016
2017 // get prim own inertia in its local frame
2018 primmass = primdMass;
2019 // transform to object frame
2020 primmat = d.GeomGetOffsetRotation(prim_geom);
2021 d.MassRotate(ref primmass, ref primmat);
2022
2023 tmpdmass = primmass;
2024
2025 thispos = d.GeomGetOffsetPosition(prim_geom);
2026 d.MassTranslate(ref tmpdmass,
2027 thispos.X,
2028 thispos.Y,
2029 thispos.Z);
2030
2031 // subtract current prim inertia from object
2032 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2033
2034 // update to new position
2035 _position = NewPos;
2036 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
2037
2038 thispos = d.GeomGetOffsetPosition(prim_geom);
2039 d.MassTranslate(ref primmass,
2040 thispos.X,
2041 thispos.Y,
2042 thispos.Z);
2043
2044 d.MassAdd(ref objdmass, ref primmass);
2045
2046 // fix all positions
2047 IntPtr g = d.BodyGetFirstGeom(Body);
2048 while (g != IntPtr.Zero)
2049 {
2050 thispos = d.GeomGetOffsetPosition(g);
2051 thispos.X -= objdmass.c.X;
2052 thispos.Y -= objdmass.c.Y;
2053 thispos.Z -= objdmass.c.Z;
2054 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2055 g = d.dBodyGetNextGeom(g);
2056 }
2057
2058 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2059
2060 // get current object position and rotation
2061 dobjpos = d.BodyGetPosition(Body);
2062
2063 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2064 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2065 d.BodySetMass(Body, ref objdmass);
2066 _mass = objdmass.mass;
2067 }
2068
2069 private void FixInertia(Quaternion newrot)
2070 {
2071 d.Matrix3 mat = new d.Matrix3();
2072 d.Quaternion quat = new d.Quaternion();
2073
2074 d.Mass tmpdmass = new d.Mass { };
2075 d.Mass objdmass = new d.Mass { };
2076 d.Vector3 dobjpos;
2077 d.Vector3 thispos;
2078
2079 d.BodyGetMass(Body, out objdmass);
2080
2081 // get prim own inertia in its local frame
2082 tmpdmass = primdMass;
2083 mat = d.GeomGetOffsetRotation(prim_geom);
2084 d.MassRotate(ref tmpdmass, ref mat);
2085 // transform to object frame
2086 thispos = d.GeomGetOffsetPosition(prim_geom);
2087 d.MassTranslate(ref tmpdmass,
2088 thispos.X,
2089 thispos.Y,
2090 thispos.Z);
2091
2092 // subtract current prim inertia from object
2093 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2094
2095 // update to new orientation
2096 _orientation = newrot;
2097 quat.X = newrot.X;
2098 quat.Y = newrot.Y;
2099 quat.Z = newrot.Z;
2100 quat.W = newrot.W;
2101 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
2102
2103 tmpdmass = primdMass;
2104 mat = d.GeomGetOffsetRotation(prim_geom);
2105 d.MassRotate(ref tmpdmass, ref mat);
2106 d.MassTranslate(ref tmpdmass,
2107 thispos.X,
2108 thispos.Y,
2109 thispos.Z);
2110
2111 d.MassAdd(ref objdmass, ref tmpdmass);
2112
2113 // fix all positions
2114 IntPtr g = d.BodyGetFirstGeom(Body);
2115 while (g != IntPtr.Zero)
2116 {
2117 thispos = d.GeomGetOffsetPosition(g);
2118 thispos.X -= objdmass.c.X;
2119 thispos.Y -= objdmass.c.Y;
2120 thispos.Z -= objdmass.c.Z;
2121 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2122 g = d.dBodyGetNextGeom(g);
2123 }
2124
2125 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2126 // get current object position and rotation
2127 dobjpos = d.BodyGetPosition(Body);
2128
2129 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2130 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2131 d.BodySetMass(Body, ref objdmass);
2132 _mass = objdmass.mass;
2133 }
2134
2135
2136 #region Mass Calculation
2137
2138 private float CalculatePrimVolume()
2139 {
2140 float volume = _size.X * _size.Y * _size.Z; // default
2141 float tmp;
2142
2143 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
2144 float hollowVolume = hollowAmount * hollowAmount;
2145
2146 switch (_pbs.ProfileShape)
2147 {
2148 case ProfileShape.Square:
2149 // default box
2150
2151 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2152 {
2153 if (hollowAmount > 0.0)
2154 {
2155 switch (_pbs.HollowShape)
2156 {
2157 case HollowShape.Square:
2158 case HollowShape.Same:
2159 break;
2160
2161 case HollowShape.Circle:
2162
2163 hollowVolume *= 0.78539816339f;
2164 break;
2165
2166 case HollowShape.Triangle:
2167
2168 hollowVolume *= (0.5f * .5f);
2169 break;
2170
2171 default:
2172 hollowVolume = 0;
2173 break;
2174 }
2175 volume *= (1.0f - hollowVolume);
2176 }
2177 }
2178
2179 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2180 {
2181 //a tube
2182
2183 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
2184 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
2185 volume -= volume * tmp * tmp;
2186
2187 if (hollowAmount > 0.0)
2188 {
2189 hollowVolume *= hollowAmount;
2190
2191 switch (_pbs.HollowShape)
2192 {
2193 case HollowShape.Square:
2194 case HollowShape.Same:
2195 break;
2196
2197 case HollowShape.Circle:
2198 hollowVolume *= 0.78539816339f;
2199 break;
2200
2201 case HollowShape.Triangle:
2202 hollowVolume *= 0.5f * 0.5f;
2203 break;
2204 default:
2205 hollowVolume = 0;
2206 break;
2207 }
2208 volume *= (1.0f - hollowVolume);
2209 }
2210 }
2211
2212 break;
2213
2214 case ProfileShape.Circle:
2215
2216 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2217 {
2218 volume *= 0.78539816339f; // elipse base
2219
2220 if (hollowAmount > 0.0)
2221 {
2222 switch (_pbs.HollowShape)
2223 {
2224 case HollowShape.Same:
2225 case HollowShape.Circle:
2226 break;
2227
2228 case HollowShape.Square:
2229 hollowVolume *= 0.5f * 2.5984480504799f;
2230 break;
2231
2232 case HollowShape.Triangle:
2233 hollowVolume *= .5f * 1.27323954473516f;
2234 break;
2235
2236 default:
2237 hollowVolume = 0;
2238 break;
2239 }
2240 volume *= (1.0f - hollowVolume);
2241 }
2242 }
2243
2244 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2245 {
2246 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
2247 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2248 volume *= (1.0f - tmp * tmp);
2249
2250 if (hollowAmount > 0.0)
2251 {
2252
2253 // calculate the hollow volume by it's shape compared to the prim shape
2254 hollowVolume *= hollowAmount;
2255
2256 switch (_pbs.HollowShape)
2257 {
2258 case HollowShape.Same:
2259 case HollowShape.Circle:
2260 break;
2261
2262 case HollowShape.Square:
2263 hollowVolume *= 0.5f * 2.5984480504799f;
2264 break;
2265
2266 case HollowShape.Triangle:
2267 hollowVolume *= .5f * 1.27323954473516f;
2268 break;
2269
2270 default:
2271 hollowVolume = 0;
2272 break;
2273 }
2274 volume *= (1.0f - hollowVolume);
2275 }
2276 }
2277 break;
2278
2279 case ProfileShape.HalfCircle:
2280 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2281 {
2282 volume *= 0.5236f;
2283
2284 if (hollowAmount > 0.0)
2285 {
2286 hollowVolume *= hollowAmount;
2287
2288 switch (_pbs.HollowShape)
2289 {
2290 case HollowShape.Circle:
2291 case HollowShape.Triangle: // diference in sl is minor and odd
2292 case HollowShape.Same:
2293 break;
2294
2295 case HollowShape.Square:
2296 hollowVolume *= 0.909f;
2297 break;
2298
2299 // case HollowShape.Triangle:
2300 // hollowVolume *= .827f;
2301 // break;
2302 default:
2303 hollowVolume = 0;
2304 break;
2305 }
2306 volume *= (1.0f - hollowVolume);
2307 }
2308
2309 }
2310 break;
2311
2312 case ProfileShape.EquilateralTriangle:
2313
2314 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2315 {
2316 volume *= 0.32475953f;
2317
2318 if (hollowAmount > 0.0)
2319 {
2320
2321 // calculate the hollow volume by it's shape compared to the prim shape
2322 switch (_pbs.HollowShape)
2323 {
2324 case HollowShape.Same:
2325 case HollowShape.Triangle:
2326 hollowVolume *= .25f;
2327 break;
2328
2329 case HollowShape.Square:
2330 hollowVolume *= 0.499849f * 3.07920140172638f;
2331 break;
2332
2333 case HollowShape.Circle:
2334 // Hollow shape is a perfect cyllinder in respect to the cube's scale
2335 // Cyllinder hollow volume calculation
2336
2337 hollowVolume *= 0.1963495f * 3.07920140172638f;
2338 break;
2339
2340 default:
2341 hollowVolume = 0;
2342 break;
2343 }
2344 volume *= (1.0f - hollowVolume);
2345 }
2346 }
2347 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2348 {
2349 volume *= 0.32475953f;
2350 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
2351 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2352 volume *= (1.0f - tmp * tmp);
2353
2354 if (hollowAmount > 0.0)
2355 {
2356
2357 hollowVolume *= hollowAmount;
2358
2359 switch (_pbs.HollowShape)
2360 {
2361 case HollowShape.Same:
2362 case HollowShape.Triangle:
2363 hollowVolume *= .25f;
2364 break;
2365
2366 case HollowShape.Square:
2367 hollowVolume *= 0.499849f * 3.07920140172638f;
2368 break;
2369
2370 case HollowShape.Circle:
2371
2372 hollowVolume *= 0.1963495f * 3.07920140172638f;
2373 break;
2374
2375 default:
2376 hollowVolume = 0;
2377 break;
2378 }
2379 volume *= (1.0f - hollowVolume);
2380 }
2381 }
2382 break;
2383
2384 default:
2385 break;
2386 }
2387
2388 float taperX1;
2389 float taperY1;
2390 float taperX;
2391 float taperY;
2392 float pathBegin;
2393 float pathEnd;
2394 float profileBegin;
2395 float profileEnd;
2396
2397 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
2398 {
2399 taperX1 = _pbs.PathScaleX * 0.01f;
2400 if (taperX1 > 1.0f)
2401 taperX1 = 2.0f - taperX1;
2402 taperX = 1.0f - taperX1;
2403
2404 taperY1 = _pbs.PathScaleY * 0.01f;
2405 if (taperY1 > 1.0f)
2406 taperY1 = 2.0f - taperY1;
2407 taperY = 1.0f - taperY1;
2408 }
2409 else
2410 {
2411 taperX = _pbs.PathTaperX * 0.01f;
2412 if (taperX < 0.0f)
2413 taperX = -taperX;
2414 taperX1 = 1.0f - taperX;
2415
2416 taperY = _pbs.PathTaperY * 0.01f;
2417 if (taperY < 0.0f)
2418 taperY = -taperY;
2419 taperY1 = 1.0f - taperY;
2420 }
2421
2422 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
2423
2424 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
2425 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
2426 volume *= (pathEnd - pathBegin);
2427
2428 // this is crude aproximation
2429 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
2430 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
2431 volume *= (profileEnd - profileBegin);
2432
2433 return volume;
2434 }
2435
2436
2437 private void CalcPrimBodyData()
2438 {
2439 float volume;
2440
2441 if (prim_geom == IntPtr.Zero)
2442 {
2443 // Ubit let's have a initial basic OOB
2444 primOOBsize.X = _size.X;
2445 primOOBsize.Y = _size.Y;
2446 primOOBsize.Z = _size.Z;
2447 primOOBoffset = Vector3.Zero;
2448 }
2449 else
2450 {
2451 d.AABB AABB;
2452 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
2453
2454 primOOBsize.X = (AABB.MaxX - AABB.MinX);
2455 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
2456 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
2457 if (!hasOOBoffsetFromMesh)
2458 {
2459 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
2460 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
2461 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
2462 }
2463 }
2464
2465 // also its own inertia and mass
2466 // keep using basic shape mass for now
2467 volume = CalculatePrimVolume();
2468
2469 primVolume = volume;
2470 primMass = m_density * volume;
2471
2472 if (primMass <= 0)
2473 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2474 if (primMass > _parent_scene.maximumMassObject)
2475 primMass = _parent_scene.maximumMassObject;
2476
2477 _mass = primMass; // just in case
2478
2479 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
2480
2481 d.MassTranslate(ref primdMass,
2482 primOOBoffset.X,
2483 primOOBoffset.Y,
2484 primOOBoffset.Z);
2485
2486 primOOBsize *= 0.5f; // let obb size be a corner coords
2487 primOOBradiusSQ = primOOBsize.LengthSquared();
2488 }
2489
2490
2491 #endregion
2492
2493
2494 /// <summary>
2495 /// Add a child prim to this parent prim.
2496 /// </summary>
2497 /// <param name="prim">Child prim</param>
2498 // I'm the parent
2499 // prim is the child
2500 public void ParentPrim(OdePrim prim)
2501 {
2502 //Console.WriteLine("ParentPrim " + m_primName);
2503 if (this.m_localID != prim.m_localID)
2504 {
2505 DestroyBody(); // for now we need to rebuil entire object on link change
2506
2507 lock (childrenPrim)
2508 {
2509 // adopt the prim
2510 if (!childrenPrim.Contains(prim))
2511 childrenPrim.Add(prim);
2512
2513 // see if this prim has kids and adopt them also
2514 // should not happen for now
2515 foreach (OdePrim prm in prim.childrenPrim)
2516 {
2517 if (!childrenPrim.Contains(prm))
2518 {
2519 if (prm.Body != IntPtr.Zero)
2520 {
2521 if (prm.prim_geom != IntPtr.Zero)
2522 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2523 if (prm.Body != prim.Body)
2524 prm.DestroyBody(); // don't loose bodies around
2525 prm.Body = IntPtr.Zero;
2526 }
2527
2528 childrenPrim.Add(prm);
2529 prm._parent = this;
2530 }
2531 }
2532 }
2533 //Remove old children from the prim
2534 prim.childrenPrim.Clear();
2535
2536 if (prim.Body != IntPtr.Zero)
2537 {
2538 if (prim.prim_geom != IntPtr.Zero)
2539 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2540 prim.DestroyBody(); // don't loose bodies around
2541 prim.Body = IntPtr.Zero;
2542 }
2543
2544 prim.childPrim = true;
2545 prim._parent = this;
2546
2547 MakeBody(); // full nasty reconstruction
2548 }
2549 }
2550
2551 private void UpdateChildsfromgeom()
2552 {
2553 if (childrenPrim.Count > 0)
2554 {
2555 foreach (OdePrim prm in childrenPrim)
2556 prm.UpdateDataFromGeom();
2557 }
2558 }
2559
2560 private void UpdateDataFromGeom()
2561 {
2562 if (prim_geom != IntPtr.Zero)
2563 {
2564 d.Quaternion qtmp;
2565 d.GeomCopyQuaternion(prim_geom, out qtmp);
2566 _orientation.X = qtmp.X;
2567 _orientation.Y = qtmp.Y;
2568 _orientation.Z = qtmp.Z;
2569 _orientation.W = qtmp.W;
2570
2571 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
2572 _position.X = lpos.X;
2573 _position.Y = lpos.Y;
2574 _position.Z = lpos.Z;
2575 }
2576 }
2577
2578 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2579 {
2580 // Okay, we have a delinked child.. destroy all body and remake
2581 if (odePrim != this && !childrenPrim.Contains(odePrim))
2582 return;
2583
2584 DestroyBody();
2585
2586 if (odePrim == this) // delinking the root prim
2587 {
2588 OdePrim newroot = null;
2589 lock (childrenPrim)
2590 {
2591 if (childrenPrim.Count > 0)
2592 {
2593 newroot = childrenPrim[0];
2594 childrenPrim.RemoveAt(0);
2595 foreach (OdePrim prm in childrenPrim)
2596 {
2597 newroot.childrenPrim.Add(prm);
2598 }
2599 childrenPrim.Clear();
2600 }
2601 if (newroot != null)
2602 {
2603 newroot.childPrim = false;
2604 newroot._parent = null;
2605 if (remakebodies)
2606 newroot.MakeBody();
2607 }
2608 }
2609 }
2610
2611 else
2612 {
2613 lock (childrenPrim)
2614 {
2615 childrenPrim.Remove(odePrim);
2616 odePrim.childPrim = false;
2617 odePrim._parent = null;
2618 // odePrim.UpdateDataFromGeom();
2619 if (remakebodies)
2620 odePrim.MakeBody();
2621 }
2622 }
2623 if (remakebodies)
2624 MakeBody();
2625 }
2626
2627 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2628 {
2629 // Okay, we have a delinked child.. destroy all body and remake
2630 if (odePrim != this && !childrenPrim.Contains(odePrim))
2631 return;
2632
2633 DestroyBody();
2634
2635 if (odePrim == this)
2636 {
2637 OdePrim newroot = null;
2638 lock (childrenPrim)
2639 {
2640 if (childrenPrim.Count > 0)
2641 {
2642 newroot = childrenPrim[0];
2643 childrenPrim.RemoveAt(0);
2644 foreach (OdePrim prm in childrenPrim)
2645 {
2646 newroot.childrenPrim.Add(prm);
2647 }
2648 childrenPrim.Clear();
2649 }
2650 if (newroot != null)
2651 {
2652 newroot.childPrim = false;
2653 newroot._parent = null;
2654 newroot.MakeBody();
2655 }
2656 }
2657 if (reMakeBody)
2658 MakeBody();
2659 return;
2660 }
2661 else
2662 {
2663 lock (childrenPrim)
2664 {
2665 childrenPrim.Remove(odePrim);
2666 odePrim.childPrim = false;
2667 odePrim._parent = null;
2668 if (reMakeBody)
2669 odePrim.MakeBody();
2670 }
2671 }
2672 MakeBody();
2673 }
2674
2675 #region changes
2676
2677 private void changeadd()
2678 {
2679 CreateGeom();
2680
2681 if (prim_geom != IntPtr.Zero)
2682 {
2683 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2684 d.Quaternion myrot = new d.Quaternion();
2685 myrot.X = _orientation.X;
2686 myrot.Y = _orientation.Y;
2687 myrot.Z = _orientation.Z;
2688 myrot.W = _orientation.W;
2689 d.GeomSetQuaternion(prim_geom, ref myrot);
2690
2691 if (!m_isphysical)
2692 {
2693 SetInStaticSpace(this);
2694 UpdateCollisionCatFlags();
2695 ApplyCollisionCatFlags();
2696 }
2697 else
2698 MakeBody();
2699 }
2700 }
2701
2702 private void changeAngularLock(Vector3 newLock)
2703 {
2704 // do we have a Physical object?
2705 if (Body != IntPtr.Zero)
2706 {
2707 //Check that we have a Parent
2708 //If we have a parent then we're not authorative here
2709 if (_parent == null)
2710 {
2711 if (!newLock.ApproxEquals(Vector3.One, 0f))
2712 {
2713 createAMotor(newLock);
2714 }
2715 else
2716 {
2717 if (Amotor != IntPtr.Zero)
2718 {
2719 d.JointDestroy(Amotor);
2720 Amotor = IntPtr.Zero;
2721 }
2722 }
2723 }
2724 }
2725 // Store this for later in case we get turned into a separate body
2726 m_angularlock = newLock;
2727 }
2728
2729 private void changeLink(OdePrim NewParent)
2730 {
2731 if (_parent == null && NewParent != null)
2732 {
2733 NewParent.ParentPrim(this);
2734 }
2735 else if (_parent != null)
2736 {
2737 if (_parent is OdePrim)
2738 {
2739 if (NewParent != _parent)
2740 {
2741 (_parent as OdePrim).ChildDelink(this, false); // for now...
2742 childPrim = false;
2743
2744 if (NewParent != null)
2745 {
2746 NewParent.ParentPrim(this);
2747 }
2748 }
2749 }
2750 }
2751 _parent = NewParent;
2752 }
2753
2754
2755 private void Stop()
2756 {
2757 if (!childPrim)
2758 {
2759 m_force = Vector3.Zero;
2760 m_forceacc = Vector3.Zero;
2761 m_angularForceacc = Vector3.Zero;
2762 _torque = Vector3.Zero;
2763 _velocity = Vector3.Zero;
2764 _acceleration = Vector3.Zero;
2765 m_rotationalVelocity = Vector3.Zero;
2766 _target_velocity = Vector3.Zero;
2767 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2768 m_vehicle.Stop();
2769 }
2770
2771 if (Body != IntPtr.Zero)
2772 {
2773 d.BodySetForce(Body, 0f, 0f, 0f);
2774 d.BodySetTorque(Body, 0f, 0f, 0f);
2775 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2776 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2777 }
2778 }
2779
2780 private void changePhantomStatus(bool newval)
2781 {
2782 m_isphantom = newval;
2783
2784 UpdateCollisionCatFlags();
2785 ApplyCollisionCatFlags();
2786 }
2787
2788/* not in use
2789 internal void ChildSelectedChange(bool childSelect)
2790 {
2791 if(childPrim)
2792 return;
2793
2794 if (childSelect == m_isSelected)
2795 return;
2796
2797 if (childSelect)
2798 {
2799 DoSelectedStatus(true);
2800 }
2801
2802 else
2803 {
2804 foreach (OdePrim prm in childrenPrim)
2805 {
2806 if (prm.m_isSelected)
2807 return;
2808 }
2809 DoSelectedStatus(false);
2810 }
2811 }
2812*/
2813 private void changeSelectedStatus(bool newval)
2814 {
2815 if (m_lastdoneSelected == newval)
2816 return;
2817
2818 m_lastdoneSelected = newval;
2819 DoSelectedStatus(newval);
2820 }
2821
2822 private void CheckDelaySelect()
2823 {
2824 if (m_delaySelect)
2825 {
2826 DoSelectedStatus(m_isSelected);
2827 }
2828 }
2829
2830 private void DoSelectedStatus(bool newval)
2831 {
2832 m_isSelected = newval;
2833 Stop();
2834
2835 if (newval)
2836 {
2837 if (!childPrim && Body != IntPtr.Zero)
2838 d.BodyDisable(Body);
2839
2840 if (m_delaySelect || m_isphysical)
2841 {
2842 m_collisionCategories = CollisionCategories.Selected;
2843 m_collisionFlags = 0;
2844
2845 if (!childPrim)
2846 {
2847 foreach (OdePrim prm in childrenPrim)
2848 {
2849 prm.m_collisionCategories = m_collisionCategories;
2850 prm.m_collisionFlags = m_collisionFlags;
2851
2852 if (prm.prim_geom != null)
2853 {
2854
2855 if (prm.m_NoColide)
2856 {
2857 d.GeomSetCategoryBits(prm.prim_geom, 0);
2858 d.GeomSetCollideBits(prm.prim_geom, 0);
2859 }
2860 else
2861 {
2862 d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories);
2863 d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags);
2864 }
2865 }
2866 prm.m_delaySelect = false;
2867 }
2868 }
2869// else if (_parent != null)
2870// ((OdePrim)_parent).ChildSelectedChange(true);
2871
2872
2873 if (prim_geom != null)
2874 {
2875 if (m_NoColide)
2876 {
2877 d.GeomSetCategoryBits(prim_geom, 0);
2878 d.GeomSetCollideBits(prim_geom, 0);
2879 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2880 {
2881 d.GeomSetCategoryBits(collide_geom, 0);
2882 d.GeomSetCollideBits(collide_geom, 0);
2883 }
2884
2885 }
2886 else
2887 {
2888 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
2889 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
2890 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2891 {
2892 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
2893 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
2894 }
2895 }
2896 }
2897
2898 m_delaySelect = false;
2899 }
2900 else if(!m_isphysical)
2901 {
2902 m_delaySelect = true;
2903 }
2904 }
2905 else
2906 {
2907 if (!childPrim)
2908 {
2909 if (Body != IntPtr.Zero && !m_disabled)
2910 d.BodyEnable(Body);
2911 }
2912// else if (_parent != null)
2913// ((OdePrim)_parent).ChildSelectedChange(false);
2914
2915 UpdateCollisionCatFlags();
2916 ApplyCollisionCatFlags();
2917
2918 m_delaySelect = false;
2919 }
2920
2921 resetCollisionAccounting();
2922 }
2923
2924 private void changePosition(Vector3 newPos)
2925 {
2926 CheckDelaySelect();
2927 if (m_isphysical)
2928 {
2929 if (childPrim) // inertia is messed, must rebuild
2930 {
2931 if (m_building)
2932 {
2933 _position = newPos;
2934 }
2935
2936 else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
2937 {
2938 FixInertia(newPos);
2939 if (!d.BodyIsEnabled(Body))
2940 d.BodyEnable(Body);
2941 }
2942 }
2943 else
2944 {
2945 if (_position != newPos)
2946 {
2947 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2948 _position = newPos;
2949 }
2950 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2951 d.BodyEnable(Body);
2952 }
2953 }
2954 else
2955 {
2956 if (prim_geom != IntPtr.Zero)
2957 {
2958 if (newPos != _position)
2959 {
2960 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2961 _position = newPos;
2962
2963 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2964 }
2965 }
2966 }
2967 givefakepos--;
2968 if (givefakepos < 0)
2969 givefakepos = 0;
2970// changeSelectedStatus();
2971 resetCollisionAccounting();
2972 }
2973
2974 private void changeOrientation(Quaternion newOri)
2975 {
2976 CheckDelaySelect();
2977 if (m_isphysical)
2978 {
2979 if (childPrim) // inertia is messed, must rebuild
2980 {
2981 if (m_building)
2982 {
2983 _orientation = newOri;
2984 }
2985/*
2986 else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
2987 {
2988 FixInertia(_position, newOri);
2989 if (!d.BodyIsEnabled(Body))
2990 d.BodyEnable(Body);
2991 }
2992*/
2993 }
2994 else
2995 {
2996 if (newOri != _orientation)
2997 {
2998 d.Quaternion myrot = new d.Quaternion();
2999 myrot.X = newOri.X;
3000 myrot.Y = newOri.Y;
3001 myrot.Z = newOri.Z;
3002 myrot.W = newOri.W;
3003 d.GeomSetQuaternion(prim_geom, ref myrot);
3004 _orientation = newOri;
3005 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
3006 createAMotor(m_angularlock);
3007 }
3008 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3009 d.BodyEnable(Body);
3010 }
3011 }
3012 else
3013 {
3014 if (prim_geom != IntPtr.Zero)
3015 {
3016 if (newOri != _orientation)
3017 {
3018 d.Quaternion myrot = new d.Quaternion();
3019 myrot.X = newOri.X;
3020 myrot.Y = newOri.Y;
3021 myrot.Z = newOri.Z;
3022 myrot.W = newOri.W;
3023 d.GeomSetQuaternion(prim_geom, ref myrot);
3024 _orientation = newOri;
3025 }
3026 }
3027 }
3028 givefakeori--;
3029 if (givefakeori < 0)
3030 givefakeori = 0;
3031 resetCollisionAccounting();
3032 }
3033
3034 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
3035 {
3036 CheckDelaySelect();
3037 if (m_isphysical)
3038 {
3039 if (childPrim && m_building) // inertia is messed, must rebuild
3040 {
3041 _position = newPos;
3042 _orientation = newOri;
3043 }
3044 else
3045 {
3046 if (newOri != _orientation)
3047 {
3048 d.Quaternion myrot = new d.Quaternion();
3049 myrot.X = newOri.X;
3050 myrot.Y = newOri.Y;
3051 myrot.Z = newOri.Z;
3052 myrot.W = newOri.W;
3053 d.GeomSetQuaternion(prim_geom, ref myrot);
3054 _orientation = newOri;
3055 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
3056 createAMotor(m_angularlock);
3057 }
3058 if (_position != newPos)
3059 {
3060 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3061 _position = newPos;
3062 }
3063 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3064 d.BodyEnable(Body);
3065 }
3066 }
3067 else
3068 {
3069 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
3070 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
3071
3072 if (prim_geom != IntPtr.Zero)
3073 {
3074 if (newOri != _orientation)
3075 {
3076 d.Quaternion myrot = new d.Quaternion();
3077 myrot.X = newOri.X;
3078 myrot.Y = newOri.Y;
3079 myrot.Z = newOri.Z;
3080 myrot.W = newOri.W;
3081 d.GeomSetQuaternion(prim_geom, ref myrot);
3082 _orientation = newOri;
3083 }
3084
3085 if (newPos != _position)
3086 {
3087 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3088 _position = newPos;
3089
3090 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
3091 }
3092 }
3093 }
3094 givefakepos--;
3095 if (givefakepos < 0)
3096 givefakepos = 0;
3097 givefakeori--;
3098 if (givefakeori < 0)
3099 givefakeori = 0;
3100 resetCollisionAccounting();
3101 }
3102
3103
3104 private void changeDisable(bool disable)
3105 {
3106 if (disable)
3107 {
3108 if (!m_disabled)
3109 disableBodySoft();
3110 }
3111 else
3112 {
3113 if (m_disabled)
3114 enableBodySoft();
3115 }
3116 }
3117
3118 private void changePhysicsStatus(bool NewStatus)
3119 {
3120 CheckDelaySelect();
3121
3122 m_isphysical = NewStatus;
3123
3124 if (!childPrim)
3125 {
3126 if (NewStatus)
3127 {
3128 if (Body == IntPtr.Zero)
3129 MakeBody();
3130 }
3131 else
3132 {
3133 if (Body != IntPtr.Zero)
3134 {
3135 DestroyBody();
3136 }
3137 Stop();
3138 }
3139 }
3140
3141 resetCollisionAccounting();
3142 }
3143
3144 private void changeprimsizeshape()
3145 {
3146 CheckDelaySelect();
3147
3148 OdePrim parent = (OdePrim)_parent;
3149
3150 bool chp = childPrim;
3151
3152 if (chp)
3153 {
3154 if (parent != null)
3155 {
3156 parent.DestroyBody();
3157 }
3158 }
3159 else
3160 {
3161 DestroyBody();
3162 }
3163
3164 RemoveGeom();
3165
3166 // we don't need to do space calculation because the client sends a position update also.
3167 if (_size.X <= 0)
3168 _size.X = 0.01f;
3169 if (_size.Y <= 0)
3170 _size.Y = 0.01f;
3171 if (_size.Z <= 0)
3172 _size.Z = 0.01f;
3173 // Construction of new prim
3174
3175 CreateGeom();
3176
3177 if (prim_geom != IntPtr.Zero)
3178 {
3179 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3180 d.Quaternion myrot = new d.Quaternion();
3181 myrot.X = _orientation.X;
3182 myrot.Y = _orientation.Y;
3183 myrot.Z = _orientation.Z;
3184 myrot.W = _orientation.W;
3185 d.GeomSetQuaternion(prim_geom, ref myrot);
3186 }
3187
3188 if (m_isphysical)
3189 {
3190 if (chp)
3191 {
3192 if (parent != null)
3193 {
3194 parent.MakeBody();
3195 }
3196 }
3197 else
3198 MakeBody();
3199 }
3200
3201 else
3202 {
3203 UpdateCollisionCatFlags();
3204 ApplyCollisionCatFlags();
3205 }
3206
3207 resetCollisionAccounting();
3208 }
3209
3210 private void changeSize(Vector3 newSize)
3211 {
3212 _size = newSize;
3213 changeprimsizeshape();
3214 }
3215
3216 private void changeShape(PrimitiveBaseShape newShape)
3217 {
3218 if(newShape != null)
3219 _pbs = newShape;
3220 changeprimsizeshape();
3221 }
3222
3223 private void changeFloatOnWater(bool newval)
3224 {
3225 m_collidesWater = newval;
3226
3227 UpdateCollisionCatFlags();
3228 ApplyCollisionCatFlags();
3229 }
3230
3231 private void changeSetTorque(Vector3 newtorque)
3232 {
3233 if (!m_isSelected)
3234 {
3235 if (m_isphysical && Body != IntPtr.Zero)
3236 {
3237 if (m_disabled)
3238 enableBodySoft();
3239 else if (!d.BodyIsEnabled(Body))
3240 d.BodyEnable(Body);
3241
3242 }
3243 _torque = newtorque;
3244 }
3245 }
3246
3247 private void changeForce(Vector3 force)
3248 {
3249 m_force = force;
3250 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3251 d.BodyEnable(Body);
3252 }
3253
3254
3255 private void changeAddImpulse(Vector3 impulse)
3256 {
3257 m_forceacc += impulse *m_invTimeStep;
3258 if (!m_isSelected)
3259 {
3260 lock (this)
3261 {
3262 //m_log.Info("[PHYSICS]: dequeing forcelist");
3263 if (m_isphysical && Body != IntPtr.Zero)
3264 {
3265 if (m_disabled)
3266 enableBodySoft();
3267 else if (!d.BodyIsEnabled(Body))
3268 d.BodyEnable(Body);
3269 }
3270 }
3271
3272 m_collisionscore = 0;
3273 }
3274 }
3275
3276 // actually angular impulse
3277 private void changeAddAngularImpulse(Vector3 aimpulse)
3278 {
3279 m_angularForceacc += aimpulse * m_invTimeStep;
3280 if (!m_isSelected)
3281 {
3282 lock (this)
3283 {
3284 if (m_isphysical && Body != IntPtr.Zero)
3285 {
3286 if (m_disabled)
3287 enableBodySoft();
3288 else if (!d.BodyIsEnabled(Body))
3289 d.BodyEnable(Body);
3290 }
3291 }
3292 m_collisionscore = 0;
3293 }
3294 }
3295
3296 private void changevelocity(Vector3 newVel)
3297 {
3298 if (!m_isSelected)
3299 {
3300 if (Body != IntPtr.Zero)
3301 {
3302 if (m_disabled)
3303 enableBodySoft();
3304 else if (!d.BodyIsEnabled(Body))
3305 d.BodyEnable(Body);
3306
3307 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3308 }
3309 //resetCollisionAccounting();
3310 }
3311 _velocity = newVel;
3312 }
3313
3314 private void changeVolumedetetion(bool newVolDtc)
3315 {
3316 m_isVolumeDetect = newVolDtc;
3317 m_fakeisVolumeDetect = newVolDtc;
3318 UpdateCollisionCatFlags();
3319 ApplyCollisionCatFlags();
3320 }
3321
3322 protected void changeBuilding(bool newbuilding)
3323 {
3324 // Check if we need to do anything
3325 if (newbuilding == m_building)
3326 return;
3327
3328 if ((bool)newbuilding)
3329 {
3330 m_building = true;
3331 if (!childPrim)
3332 DestroyBody();
3333 }
3334 else
3335 {
3336 m_building = false;
3337 CheckDelaySelect();
3338 if (!childPrim)
3339 MakeBody();
3340 }
3341 if (!childPrim && childrenPrim.Count > 0)
3342 {
3343 foreach (OdePrim prm in childrenPrim)
3344 prm.changeBuilding(m_building); // call directly
3345 }
3346 }
3347
3348 public void changeSetVehicle(VehicleData vdata)
3349 {
3350 if (m_vehicle == null)
3351 m_vehicle = new ODEDynamics(this);
3352 m_vehicle.DoSetVehicle(vdata);
3353 }
3354 private void changeVehicleType(int value)
3355 {
3356 if (value == (int)Vehicle.TYPE_NONE)
3357 {
3358 if (m_vehicle != null)
3359 m_vehicle = null;
3360 }
3361 else
3362 {
3363 if (m_vehicle == null)
3364 m_vehicle = new ODEDynamics(this);
3365
3366 m_vehicle.ProcessTypeChange((Vehicle)value);
3367 }
3368 }
3369
3370 private void changeVehicleFloatParam(strVehicleFloatParam fp)
3371 {
3372 if (m_vehicle == null)
3373 return;
3374
3375 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
3376 }
3377
3378 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3379 {
3380 if (m_vehicle == null)
3381 return;
3382 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3383 }
3384
3385 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3386 {
3387 if (m_vehicle == null)
3388 return;
3389 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3390 }
3391
3392 private void changeVehicleFlags(strVehicleBoolParam bp)
3393 {
3394 if (m_vehicle == null)
3395 return;
3396 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3397 }
3398
3399 #endregion
3400
3401 public void Move()
3402 {
3403 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3404 !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3405 {
3406 if (!d.BodyIsEnabled(Body))
3407 {
3408 // let vehicles sleep
3409 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3410 return;
3411
3412 if (++bodydisablecontrol < 20)
3413 return;
3414
3415 bodydisablecontrol = 0;
3416 d.BodyEnable(Body);
3417 }
3418
3419 d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
3420
3421/* moved down to UpdateMove... where it belongs again
3422
3423 // check outside region
3424
3425 if (lpos.Z < -100 || lpos.Z > 100000f)
3426 {
3427 m_outbounds = true;
3428
3429 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3430 _acceleration.X = 0;
3431 _acceleration.Y = 0;
3432 _acceleration.Z = 0;
3433
3434 _velocity.X = 0;
3435 _velocity.Y = 0;
3436 _velocity.Z = 0;
3437 m_rotationalVelocity.X = 0;
3438 m_rotationalVelocity.Y = 0;
3439 m_rotationalVelocity.Z = 0;
3440
3441 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3442 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3443 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3444 m_lastposition = _position;
3445 m_lastorientation = _orientation;
3446
3447 base.RequestPhysicsterseUpdate();
3448
3449 throttleCounter = 0;
3450 _zeroFlag = true;
3451
3452 disableBodySoft(); // disable it and colisions
3453 base.RaiseOutOfBounds(_position);
3454 return;
3455 }
3456
3457 if (lpos.X < 0f)
3458 {
3459 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3460 m_outbounds = true;
3461 }
3462 else if (lpos.X > _parent_scene.WorldExtents.X)
3463 {
3464 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3465 m_outbounds = true;
3466 }
3467 if (lpos.Y < 0f)
3468 {
3469 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3470 m_outbounds = true;
3471 }
3472 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3473 {
3474 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3475 m_outbounds = true;
3476 }
3477
3478 if (m_outbounds)
3479 {
3480 m_lastposition = _position;
3481 m_lastorientation = _orientation;
3482
3483 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3484 m_rotationalVelocity.X = dtmp.X;
3485 m_rotationalVelocity.Y = dtmp.Y;
3486 m_rotationalVelocity.Z = dtmp.Z;
3487
3488 dtmp = d.BodyGetLinearVel(Body);
3489 _velocity.X = dtmp.X;
3490 _velocity.Y = dtmp.Y;
3491 _velocity.Z = dtmp.Z;
3492
3493 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3494 d.BodySetAngularVel(Body, 0, 0, 0);
3495 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3496 disableBodySoft(); // stop collisions
3497 base.RequestPhysicsterseUpdate();
3498 return;
3499 }
3500*/
3501 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3502 {
3503 // 'VEHICLES' are dealt with in ODEDynamics.cs
3504 m_vehicle.Step();
3505 return;
3506 }
3507
3508 float fx = 0;
3509 float fy = 0;
3510 float fz = 0;
3511
3512 float m_mass = _mass;
3513
3514 if (m_usePID && m_PIDTau > 0)
3515 {
3516 // for now position error
3517 _target_velocity =
3518 new Vector3(
3519 (m_PIDTarget.X - lpos.X),
3520 (m_PIDTarget.Y - lpos.Y),
3521 (m_PIDTarget.Z - lpos.Z)
3522 );
3523
3524 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
3525 {
3526 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3527 d.BodySetLinearVel(Body, 0, 0, 0);
3528 return;
3529 }
3530 else
3531 {
3532 _zeroFlag = false;
3533
3534 float tmp = 1 / m_PIDTau;
3535 _target_velocity *= tmp;
3536
3537 // apply limits
3538 tmp = _target_velocity.Length();
3539 if (tmp > 50.0f)
3540 {
3541 tmp = 50 / tmp;
3542 _target_velocity *= tmp;
3543 }
3544 else if (tmp < 0.05f)
3545 {
3546 tmp = 0.05f / tmp;
3547 _target_velocity *= tmp;
3548 }
3549
3550 d.Vector3 vel = d.BodyGetLinearVel(Body);
3551 fx = (_target_velocity.X - vel.X) * m_invTimeStep;
3552 fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
3553 fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
3554// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3555 }
3556 } // end if (m_usePID)
3557
3558 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3559 else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
3560 {
3561
3562 // Non-Vehicles have a limited set of Hover options.
3563 // determine what our target height really is based on HoverType
3564
3565 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
3566
3567 switch (m_PIDHoverType)
3568 {
3569 case PIDHoverType.Ground:
3570 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3571 break;
3572
3573 case PIDHoverType.GroundAndWater:
3574 m_waterHeight = _parent_scene.GetWaterLevel();
3575 if (m_groundHeight > m_waterHeight)
3576 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3577 else
3578 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3579 break;
3580 } // end switch (m_PIDHoverType)
3581
3582 // don't go underground unless volumedetector
3583
3584 if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
3585 {
3586 d.Vector3 vel = d.BodyGetLinearVel(Body);
3587
3588 fz = (m_targetHoverHeight - lpos.Z);
3589
3590 // if error is zero, use position control; otherwise, velocity control
3591 if (Math.Abs(fz) < 0.01f)
3592 {
3593 d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
3594 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3595 }
3596 else
3597 {
3598 _zeroFlag = false;
3599 fz /= m_PIDHoverTau;
3600
3601 float tmp = Math.Abs(fz);
3602 if (tmp > 50)
3603 fz = 50 * Math.Sign(fz);
3604 else if (tmp < 0.1)
3605 fz = 0.1f * Math.Sign(fz);
3606
3607 fz = ((fz - vel.Z) * m_invTimeStep);
3608 }
3609 }
3610 }
3611 else
3612 {
3613 float b = (1.0f - m_buoyancy);
3614 fx = _parent_scene.gravityx * b;
3615 fy = _parent_scene.gravityy * b;
3616 fz = _parent_scene.gravityz * b;
3617 }
3618
3619 fx *= m_mass;
3620 fy *= m_mass;
3621 fz *= m_mass;
3622
3623 // constant force
3624 fx += m_force.X;
3625 fy += m_force.Y;
3626 fz += m_force.Z;
3627
3628 fx += m_forceacc.X;
3629 fy += m_forceacc.Y;
3630 fz += m_forceacc.Z;
3631
3632 m_forceacc = Vector3.Zero;
3633
3634 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3635 if (fx != 0 || fy != 0 || fz != 0)
3636 {
3637 d.BodyAddForce(Body, fx, fy, fz);
3638 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3639 }
3640
3641 Vector3 trq;
3642
3643 trq = _torque;
3644 trq += m_angularForceacc;
3645 m_angularForceacc = Vector3.Zero;
3646 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3647 {
3648 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3649 }
3650 }
3651 else
3652 { // is not physical, or is not a body or is selected
3653 // _zeroPosition = d.BodyGetPosition(Body);
3654 return;
3655 //Console.WriteLine("Nothing " + Name);
3656
3657 }
3658 }
3659
3660 public void UpdatePositionAndVelocity()
3661 {
3662 if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
3663 {
3664 if (d.BodyIsEnabled(Body) || !_zeroFlag)
3665 {
3666 bool lastZeroFlag = _zeroFlag;
3667
3668 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
3669
3670 // check outside region
3671 if (lpos.Z < -100 || lpos.Z > 100000f)
3672 {
3673 m_outbounds = true;
3674
3675 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3676 _acceleration.X = 0;
3677 _acceleration.Y = 0;
3678 _acceleration.Z = 0;
3679
3680 _velocity.X = 0;
3681 _velocity.Y = 0;
3682 _velocity.Z = 0;
3683 m_rotationalVelocity.X = 0;
3684 m_rotationalVelocity.Y = 0;
3685 m_rotationalVelocity.Z = 0;
3686
3687 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3688 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3689 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3690 m_lastposition = _position;
3691 m_lastorientation = _orientation;
3692
3693 base.RequestPhysicsterseUpdate();
3694
3695 throttleCounter = 0;
3696 _zeroFlag = true;
3697
3698 disableBodySoft(); // disable it and colisions
3699 base.RaiseOutOfBounds(_position);
3700 return;
3701 }
3702
3703 if (lpos.X < 0f)
3704 {
3705 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3706 m_outbounds = true;
3707 }
3708 else if (lpos.X > _parent_scene.WorldExtents.X)
3709 {
3710 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3711 m_outbounds = true;
3712 }
3713 if (lpos.Y < 0f)
3714 {
3715 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3716 m_outbounds = true;
3717 }
3718 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3719 {
3720 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3721 m_outbounds = true;
3722 }
3723
3724 if (m_outbounds)
3725 {
3726 m_lastposition = _position;
3727 m_lastorientation = _orientation;
3728
3729 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3730 m_rotationalVelocity.X = dtmp.X;
3731 m_rotationalVelocity.Y = dtmp.Y;
3732 m_rotationalVelocity.Z = dtmp.Z;
3733
3734 dtmp = d.BodyGetLinearVel(Body);
3735 _velocity.X = dtmp.X;
3736 _velocity.Y = dtmp.Y;
3737 _velocity.Z = dtmp.Z;
3738
3739 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3740 d.BodySetAngularVel(Body, 0, 0, 0);
3741 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3742 disableBodySoft(); // stop collisions
3743 base.RequestPhysicsterseUpdate();
3744 return;
3745 }
3746
3747 d.Quaternion ori;
3748 d.GeomCopyQuaternion(prim_geom, out ori);
3749
3750 // decide if moving
3751 // use positions since this are integrated quantities
3752 // tolerance values depende a lot on simulation noise...
3753 // use simple math.abs since we dont need to be exact
3754
3755 if (
3756 (Math.Abs(_position.X - lpos.X) < 0.001f)
3757 && (Math.Abs(_position.Y - lpos.Y) < 0.001f)
3758 && (Math.Abs(_position.Z - lpos.Z) < 0.001f)
3759 && (Math.Abs(_orientation.X - ori.X) < 0.0001f)
3760 && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
3761 && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
3762 )
3763 {
3764 _zeroFlag = true;
3765 }
3766 else
3767 _zeroFlag = false;
3768
3769 // update velocities and aceleration
3770 if (!(_zeroFlag && lastZeroFlag))
3771 {
3772 d.Vector3 vel = d.BodyGetLinearVel(Body);
3773
3774 _acceleration = _velocity;
3775
3776 if ((Math.Abs(vel.X) < 0.001f) &&
3777 (Math.Abs(vel.Y) < 0.001f) &&
3778 (Math.Abs(vel.Z) < 0.001f))
3779 {
3780 _velocity = Vector3.Zero;
3781 float t = -m_invTimeStep;
3782 _acceleration = _acceleration * t;
3783 }
3784 else
3785 {
3786 _velocity.X = vel.X;
3787 _velocity.Y = vel.Y;
3788 _velocity.Z = vel.Z;
3789 _acceleration = (_velocity - _acceleration) * m_invTimeStep;
3790 }
3791
3792 if ((Math.Abs(_acceleration.X) < 0.01f) &&
3793 (Math.Abs(_acceleration.Y) < 0.01f) &&
3794 (Math.Abs(_acceleration.Z) < 0.01f))
3795 {
3796 _acceleration = Vector3.Zero;
3797 }
3798
3799 if ((Math.Abs(_orientation.X - ori.X) < 0.0001) &&
3800 (Math.Abs(_orientation.Y - ori.Y) < 0.0001) &&
3801 (Math.Abs(_orientation.Z - ori.Z) < 0.0001)
3802 )
3803 {
3804 m_rotationalVelocity = Vector3.Zero;
3805 }
3806 else
3807 {
3808 vel = d.BodyGetAngularVel(Body);
3809 m_rotationalVelocity.X = vel.X;
3810 m_rotationalVelocity.Y = vel.Y;
3811 m_rotationalVelocity.Z = vel.Z;
3812 }
3813 }
3814
3815 if (_zeroFlag)
3816 {
3817 if (lastZeroFlag)
3818 {
3819 _velocity = Vector3.Zero;
3820 _acceleration = Vector3.Zero;
3821 m_rotationalVelocity = Vector3.Zero;
3822 }
3823
3824 if (!m_lastUpdateSent)
3825 {
3826 base.RequestPhysicsterseUpdate();
3827 if (lastZeroFlag)
3828 m_lastUpdateSent = true;
3829 }
3830 return;
3831 }
3832
3833 _position.X = lpos.X;
3834 _position.Y = lpos.Y;
3835 _position.Z = lpos.Z;
3836
3837 _orientation.X = ori.X;
3838 _orientation.Y = ori.Y;
3839 _orientation.Z = ori.Z;
3840 _orientation.W = ori.W;
3841 base.RequestPhysicsterseUpdate();
3842 m_lastUpdateSent = false;
3843 }
3844 }
3845 }
3846
3847 internal static bool QuaternionIsFinite(Quaternion q)
3848 {
3849 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3850 return false;
3851 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3852 return false;
3853 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3854 return false;
3855 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3856 return false;
3857 return true;
3858 }
3859
3860 internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
3861 {
3862 // assumes object center of mass is zero
3863 float smass = part.mass;
3864 theobj.mass -= smass;
3865
3866 smass *= 1.0f / (theobj.mass); ;
3867
3868 theobj.c.X -= part.c.X * smass;
3869 theobj.c.Y -= part.c.Y * smass;
3870 theobj.c.Z -= part.c.Z * smass;
3871
3872 theobj.I.M00 -= part.I.M00;
3873 theobj.I.M01 -= part.I.M01;
3874 theobj.I.M02 -= part.I.M02;
3875 theobj.I.M10 -= part.I.M10;
3876 theobj.I.M11 -= part.I.M11;
3877 theobj.I.M12 -= part.I.M12;
3878 theobj.I.M20 -= part.I.M20;
3879 theobj.I.M21 -= part.I.M21;
3880 theobj.I.M22 -= part.I.M22;
3881 }
3882
3883 private void donullchange()
3884 {
3885 }
3886
3887 public bool DoAChange(changes what, object arg)
3888 {
3889 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3890 {
3891 return false;
3892 }
3893
3894 // nasty switch
3895 switch (what)
3896 {
3897 case changes.Add:
3898 changeadd();
3899 break;
3900 case changes.Remove:
3901 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3902 //When we return true, it destroys all of the prims in the linkset anyway
3903 if (_parent != null)
3904 {
3905 OdePrim parent = (OdePrim)_parent;
3906 parent.ChildRemove(this, false);
3907 }
3908 else
3909 ChildRemove(this, false);
3910
3911 m_vehicle = null;
3912 RemoveGeom();
3913 m_targetSpace = IntPtr.Zero;
3914 if (m_eventsubscription > 0)
3915 UnSubscribeEvents();
3916 return true;
3917
3918 case changes.Link:
3919 OdePrim tmp = (OdePrim)arg;
3920 changeLink(tmp);
3921 break;
3922
3923 case changes.DeLink:
3924 changeLink(null);
3925 break;
3926
3927 case changes.Position:
3928 changePosition((Vector3)arg);
3929 break;
3930
3931 case changes.Orientation:
3932 changeOrientation((Quaternion)arg);
3933 break;
3934
3935 case changes.PosOffset:
3936 donullchange();
3937 break;
3938
3939 case changes.OriOffset:
3940 donullchange();
3941 break;
3942
3943 case changes.Velocity:
3944 changevelocity((Vector3)arg);
3945 break;
3946
3947// case changes.Acceleration:
3948// changeacceleration((Vector3)arg);
3949// break;
3950// case changes.AngVelocity:
3951// changeangvelocity((Vector3)arg);
3952// break;
3953
3954 case changes.Force:
3955 changeForce((Vector3)arg);
3956 break;
3957
3958 case changes.Torque:
3959 changeSetTorque((Vector3)arg);
3960 break;
3961
3962 case changes.AddForce:
3963 changeAddImpulse((Vector3)arg);
3964 break;
3965
3966 case changes.AddAngForce:
3967 changeAddAngularImpulse((Vector3)arg);
3968 break;
3969
3970 case changes.AngLock:
3971 changeAngularLock((Vector3)arg);
3972 break;
3973
3974 case changes.Size:
3975 changeSize((Vector3)arg);
3976 break;
3977
3978 case changes.Shape:
3979 changeShape((PrimitiveBaseShape)arg);
3980 break;
3981
3982 case changes.CollidesWater:
3983 changeFloatOnWater((bool)arg);
3984 break;
3985
3986 case changes.VolumeDtc:
3987 changeVolumedetetion((bool)arg);
3988 break;
3989
3990 case changes.Phantom:
3991 changePhantomStatus((bool)arg);
3992 break;
3993
3994 case changes.Physical:
3995 changePhysicsStatus((bool)arg);
3996 break;
3997
3998 case changes.Selected:
3999 changeSelectedStatus((bool)arg);
4000 break;
4001
4002 case changes.disabled:
4003 changeDisable((bool)arg);
4004 break;
4005
4006 case changes.building:
4007 changeBuilding((bool)arg);
4008 break;
4009
4010 case changes.VehicleType:
4011 changeVehicleType((int)arg);
4012 break;
4013
4014 case changes.VehicleFlags:
4015 changeVehicleFlags((strVehicleBoolParam) arg);
4016 break;
4017
4018 case changes.VehicleFloatParam:
4019 changeVehicleFloatParam((strVehicleFloatParam) arg);
4020 break;
4021
4022 case changes.VehicleVectorParam:
4023 changeVehicleVectorParam((strVehicleVectorParam) arg);
4024 break;
4025
4026 case changes.VehicleRotationParam:
4027 changeVehicleRotationParam((strVehicleQuatParam) arg);
4028 break;
4029
4030 case changes.SetVehicle:
4031 changeSetVehicle((VehicleData) arg);
4032 break;
4033 case changes.Null:
4034 donullchange();
4035 break;
4036
4037 default:
4038 donullchange();
4039 break;
4040 }
4041 return false;
4042 }
4043
4044 public void AddChange(changes what, object arg)
4045 {
4046 _parent_scene.AddChange((PhysicsActor) this, what, arg);
4047 }
4048
4049
4050 private struct strVehicleBoolParam
4051 {
4052 public int param;
4053 public bool value;
4054 }
4055
4056 private struct strVehicleFloatParam
4057 {
4058 public int param;
4059 public float value;
4060 }
4061
4062 private struct strVehicleQuatParam
4063 {
4064 public int param;
4065 public Quaternion value;
4066 }
4067
4068 private struct strVehicleVectorParam
4069 {
4070 public int param;
4071 public Vector3 value;
4072 }
4073 }
4074}
generated by cgit v1.1 at 2024-12-23 20:19:36 +0000