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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
60namespace OpenSim.Region.Physics.OdePlugin
61{
62 public class OdePrim : PhysicsActor
63 {
64 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
65
66 private bool m_isphysical;
67 private bool m_fakeisphysical;
68 private bool m_isphantom;
69 private bool m_fakeisphantom;
70 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
71 private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
72
73 protected bool m_building;
74 protected bool m_forcePosOrRotation;
75 private bool m_iscolliding;
76
77 internal bool m_isSelected;
78 private bool m_delaySelect;
79 private bool m_lastdoneSelected;
80 internal bool m_outbounds;
81
82 private Quaternion m_lastorientation;
83 private Quaternion _orientation;
84
85 private Vector3 _position;
86 private Vector3 _velocity;
87 private Vector3 _torque;
88 private Vector3 m_lastVelocity;
89 private Vector3 m_lastposition;
90 private Vector3 m_rotationalVelocity;
91 private Vector3 _size;
92 private Vector3 _acceleration;
93 private Vector3 m_angularlock = Vector3.One;
94 private IntPtr Amotor;
95
96 private Vector3 m_force;
97 private Vector3 m_forceacc;
98 private Vector3 m_angularForceacc;
99
100 private float m_invTimeStep;
101 private float m_timeStep;
102
103 private Vector3 m_PIDTarget;
104 private float m_PIDTau;
105 private bool m_usePID;
106
107 private float m_PIDHoverHeight;
108 private float m_PIDHoverTau;
109 private bool m_useHoverPID;
110 private PIDHoverType m_PIDHoverType;
111 private float m_targetHoverHeight;
112 private float m_groundHeight;
113 private float m_waterHeight;
114 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
115
116 private int body_autodisable_frames;
117 public int bodydisablecontrol;
118
119
120 // Default we're a Geometry
121 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
122 // Default colide nonphysical don't try to colide with anything
123 private const CollisionCategories m_default_collisionFlagsNotPhysical = 0;
124
125 private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom |
126 CollisionCategories.Character |
127 CollisionCategories.Land |
128 CollisionCategories.VolumeDtc);
129
130// private bool m_collidesLand = true;
131 private bool m_collidesWater;
132// public bool m_returnCollisions;
133
134 private bool m_NoColide; // for now only for internal use for bad meshs
135
136
137 // Default, Collide with Other Geometries, spaces and Bodies
138 private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical;
139
140 public bool m_disabled;
141
142 private uint m_localID;
143
144 private IMesh m_mesh;
145 private object m_meshlock = new object();
146 private PrimitiveBaseShape _pbs;
147
148 private UUID? m_assetID;
149 private MeshState m_meshState;
150
151 public OdeScene _parent_scene;
152
153 /// <summary>
154 /// The physics space which contains prim geometry
155 /// </summary>
156 public IntPtr m_targetSpace;
157
158 public IntPtr prim_geom;
159 public IntPtr _triMeshData;
160
161 private PhysicsActor _parent;
162
163 private List<OdePrim> childrenPrim = new List<OdePrim>();
164
165 public float m_collisionscore;
166 private int m_colliderfilter = 0;
167
168 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
169
170 private float m_density;
171 private byte m_shapetype;
172 public bool _zeroFlag;
173 private bool m_lastUpdateSent;
174
175 public IntPtr Body;
176
177 private Vector3 _target_velocity;
178
179 public Vector3 m_OBBOffset;
180 public Vector3 m_OBB;
181 public float primOOBradiusSQ;
182
183 private bool m_hasOBB = true;
184
185 private float m_physCost;
186 private float m_streamCost;
187
188 public d.Mass primdMass; // prim inertia information on it's own referencial
189 float primMass; // prim own mass
190 float primVolume; // prim own volume;
191 float _mass; // object mass acording to case
192
193 public int givefakepos;
194 private Vector3 fakepos;
195 public int givefakeori;
196 private Quaternion fakeori;
197
198 private int m_eventsubscription;
199 private int m_cureventsubscription;
200 private CollisionEventUpdate CollisionEventsThisFrame = null;
201 private bool SentEmptyCollisionsEvent;
202
203 public volatile bool childPrim;
204
205 public ODEDynamics m_vehicle;
206
207 internal int m_material = (int)Material.Wood;
208 private float mu;
209 private float bounce;
210
211 /// <summary>
212 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
213 /// </summary>
214 public override bool IsPhysical // this is not reliable for internal use
215 {
216 get { return m_fakeisphysical; }
217 set
218 {
219 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
220 // and also to stop imediatly some updates
221 // but real change will only happen in taintprocessing
222
223 if (!value) // Zero the remembered last velocity
224 m_lastVelocity = Vector3.Zero;
225 AddChange(changes.Physical, value);
226 }
227 }
228
229 public override bool IsVolumeDtc
230 {
231 get { return m_fakeisVolumeDetect; }
232 set
233 {
234 m_fakeisVolumeDetect = value;
235 AddChange(changes.VolumeDtc, value);
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// cdata.mu *= 0;
279 }
280 }
281
282 public override float PhysicsCost
283 {
284 get
285 {
286 return m_physCost;
287 }
288 }
289
290 public override float StreamCost
291 {
292 get
293 {
294 return m_streamCost;
295 }
296 }
297
298 public override int PhysicsActorType
299 {
300 get { return (int)ActorTypes.Prim; }
301 set { return; }
302 }
303
304 public override bool SetAlwaysRun
305 {
306 get { return false; }
307 set { return; }
308 }
309
310 public override uint LocalID
311 {
312 get { return m_localID; }
313 set { m_localID = value; }
314 }
315
316 public override PhysicsActor ParentActor
317 {
318 get
319 {
320 if (childPrim)
321 return _parent;
322 else
323 return (PhysicsActor)this;
324 }
325 }
326
327 public override bool Grabbed
328 {
329 set { return; }
330 }
331
332 public override bool Selected
333 {
334 set
335 {
336 if (value)
337 m_isSelected = value; // if true set imediatly to stop moves etc
338 AddChange(changes.Selected, value);
339 }
340 }
341
342 public override bool Flying
343 {
344 // no flying prims for you
345 get { return false; }
346 set { }
347 }
348
349 public override bool IsColliding
350 {
351 get { return m_iscolliding; }
352 set
353 {
354 if (value)
355 {
356 m_colliderfilter += 2;
357 if (m_colliderfilter > 2)
358 m_colliderfilter = 2;
359 }
360 else
361 {
362 m_colliderfilter--;
363 if (m_colliderfilter < 0)
364 m_colliderfilter = 0;
365 }
366
367 if (m_colliderfilter == 0)
368 m_iscolliding = false;
369 else
370 m_iscolliding = true;
371 }
372 }
373
374 public override bool CollidingGround
375 {
376 get { return false; }
377 set { return; }
378 }
379
380 public override bool CollidingObj
381 {
382 get { return false; }
383 set { return; }
384 }
385
386
387 public override bool ThrottleUpdates {get;set;}
388
389 public override bool Stopped
390 {
391 get { return _zeroFlag; }
392 }
393
394 public override Vector3 Position
395 {
396 get
397 {
398 if (givefakepos > 0)
399 return fakepos;
400 else
401 return _position;
402 }
403
404 set
405 {
406 fakepos = value;
407 givefakepos++;
408 AddChange(changes.Position, value);
409 }
410 }
411
412 public override Vector3 Size
413 {
414 get { return _size; }
415 set
416 {
417 if (value.IsFinite())
418 {
419 _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype);
420 }
421 else
422 {
423 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
424 }
425 }
426 }
427
428 public override float Mass
429 {
430 get { return primMass; }
431 }
432
433 public override Vector3 Force
434 {
435 get { return m_force; }
436 set
437 {
438 if (value.IsFinite())
439 {
440 AddChange(changes.Force, value);
441 }
442 else
443 {
444 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
445 }
446 }
447 }
448
449 public override void SetVolumeDetect(int param)
450 {
451 m_fakeisVolumeDetect = (param != 0);
452 AddChange(changes.VolumeDtc, m_fakeisVolumeDetect);
453 }
454
455 public override Vector3 GeometricCenter
456 {
457 // this is not real geometric center but a average of positions relative to root prim acording to
458 // http://wiki.secondlife.com/wiki/llGetGeometricCenter
459 // ignoring tortured prims details since sl also seems to ignore
460 // so no real use in doing it on physics
461 get
462 {
463 return Vector3.Zero;
464 }
465 }
466
467 public override Vector3 CenterOfMass
468 {
469 get
470 {
471 lock (_parent_scene.OdeLock)
472 {
473 d.Vector3 dtmp;
474 if (!childPrim && Body != IntPtr.Zero)
475 {
476 dtmp = d.BodyGetPosition(Body);
477 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
478 }
479 else if (prim_geom != IntPtr.Zero)
480 {
481 d.Quaternion dq;
482 d.GeomCopyQuaternion(prim_geom, out dq);
483 Quaternion q;
484 q.X = dq.X;
485 q.Y = dq.Y;
486 q.Z = dq.Z;
487 q.W = dq.W;
488
489 Vector3 Ptot = m_OBBOffset * q;
490 dtmp = d.GeomGetPosition(prim_geom);
491 Ptot.X += dtmp.X;
492 Ptot.Y += dtmp.Y;
493 Ptot.Z += dtmp.Z;
494
495 // if(childPrim) we only know about physical linksets
496 return Ptot;
497/*
498 float tmass = _mass;
499 Ptot *= tmass;
500
501 float m;
502
503 foreach (OdePrim prm in childrenPrim)
504 {
505 m = prm._mass;
506 Ptot += prm.CenterOfMass * m;
507 tmass += m;
508 }
509
510 if (tmass == 0)
511 tmass = 0;
512 else
513 tmass = 1.0f / tmass;
514
515 Ptot *= tmass;
516 return Ptot;
517*/
518 }
519 else
520 return _position;
521 }
522 }
523 }
524
525 public override Vector3 OOBsize
526 {
527 get
528 {
529 return m_OBB;
530 }
531 }
532
533 public override Vector3 OOBoffset
534 {
535 get
536 {
537 return m_OBBOffset;
538 }
539 }
540
541 public override float OOBRadiusSQ
542 {
543 get
544 {
545 return primOOBradiusSQ;
546 }
547 }
548
549 public override PrimitiveBaseShape Shape
550 {
551 set
552 {
553// AddChange(changes.Shape, value);
554 _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype);
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 _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value);
568 }
569 }
570
571 public override Vector3 Velocity
572 {
573 get
574 {
575 if (_zeroFlag)
576 return Vector3.Zero;
577 return _velocity;
578 }
579 set
580 {
581 if (value.IsFinite())
582 {
583 AddChange(changes.Velocity, value);
584 }
585 else
586 {
587 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
588 }
589
590 }
591 }
592
593 public override Vector3 Torque
594 {
595 get
596 {
597 if (!IsPhysical || Body == IntPtr.Zero)
598 return Vector3.Zero;
599
600 return _torque;
601 }
602
603 set
604 {
605 if (value.IsFinite())
606 {
607 AddChange(changes.Torque, value);
608 }
609 else
610 {
611 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
612 }
613 }
614 }
615
616 public override float CollisionScore
617 {
618 get { return m_collisionscore; }
619 set { m_collisionscore = value; }
620 }
621
622 public override bool Kinematic
623 {
624 get { return false; }
625 set { }
626 }
627
628 public override Quaternion Orientation
629 {
630 get
631 {
632 if (givefakeori > 0)
633 return fakeori;
634 else
635
636 return _orientation;
637 }
638 set
639 {
640 if (QuaternionIsFinite(value))
641 {
642 fakeori = value;
643 givefakeori++;
644
645 value.Normalize();
646
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 AddChange(changes.AngVelocity, value);
679 }
680 else
681 {
682 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
683 }
684 }
685 }
686
687 public override float Buoyancy
688 {
689 get { return m_buoyancy; }
690 set
691 {
692 AddChange(changes.Buoyancy,value);
693 }
694 }
695
696 public override bool FloatOnWater
697 {
698 set
699 {
700 AddChange(changes.CollidesWater, value);
701 }
702 }
703
704 public override Vector3 PIDTarget
705 {
706 set
707 {
708 if (value.IsFinite())
709 {
710 AddChange(changes.PIDTarget,value);
711 }
712 else
713 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
714 }
715 }
716
717 public override bool PIDActive
718 {
719 set
720 {
721 AddChange(changes.PIDActive,value);
722 }
723 }
724
725 public override float PIDTau
726 {
727 set
728 {
729 float tmp = 0;
730 if (value > 0)
731 {
732 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
733 if (value < mint)
734 tmp = mint;
735 else
736 tmp = value;
737 }
738 AddChange(changes.PIDTau,tmp);
739 }
740 }
741
742 public override float PIDHoverHeight
743 {
744 set
745 {
746 AddChange(changes.PIDHoverHeight,value);
747 }
748 }
749 public override bool PIDHoverActive
750 {
751 set
752 {
753 AddChange(changes.PIDHoverActive, value);
754 }
755 }
756
757 public override PIDHoverType PIDHoverType
758 {
759 set
760 {
761 AddChange(changes.PIDHoverType,value);
762 }
763 }
764
765 public override float PIDHoverTau
766 {
767 set
768 {
769 float tmp =0;
770 if (value > 0)
771 {
772 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
773 if (value < mint)
774 tmp = mint;
775 else
776 tmp = value;
777 }
778 AddChange(changes.PIDHoverTau, tmp);
779 }
780 }
781
782 public override Quaternion APIDTarget { set { return; } }
783
784 public override bool APIDActive { set { return; } }
785
786 public override float APIDStrength { set { return; } }
787
788 public override float APIDDamping { set { return; } }
789
790 public override int VehicleType
791 {
792 // we may need to put a fake on this
793 get
794 {
795 if (m_vehicle == null)
796 return (int)Vehicle.TYPE_NONE;
797 else
798 return (int)m_vehicle.Type;
799 }
800 set
801 {
802 AddChange(changes.VehicleType, value);
803 }
804 }
805
806 public override void VehicleFloatParam(int param, float value)
807 {
808 strVehicleFloatParam fp = new strVehicleFloatParam();
809 fp.param = param;
810 fp.value = value;
811 AddChange(changes.VehicleFloatParam, fp);
812 }
813
814 public override void VehicleVectorParam(int param, Vector3 value)
815 {
816 strVehicleVectorParam fp = new strVehicleVectorParam();
817 fp.param = param;
818 fp.value = value;
819 AddChange(changes.VehicleVectorParam, fp);
820 }
821
822 public override void VehicleRotationParam(int param, Quaternion value)
823 {
824 strVehicleQuatParam fp = new strVehicleQuatParam();
825 fp.param = param;
826 fp.value = value;
827 AddChange(changes.VehicleRotationParam, fp);
828 }
829
830 public override void VehicleFlags(int param, bool value)
831 {
832 strVehicleBoolParam bp = new strVehicleBoolParam();
833 bp.param = param;
834 bp.value = value;
835 AddChange(changes.VehicleFlags, bp);
836 }
837
838 public override void SetVehicle(object vdata)
839 {
840 AddChange(changes.SetVehicle, vdata);
841 }
842 public void SetAcceleration(Vector3 accel)
843 {
844 _acceleration = accel;
845 }
846
847 public override void AddForce(Vector3 force, bool pushforce)
848 {
849 if (force.IsFinite())
850 {
851 if(pushforce)
852 AddChange(changes.AddForce, force);
853 else // a impulse
854 AddChange(changes.AddForce, force * m_invTimeStep);
855 }
856 else
857 {
858 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
859 }
860 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
861 }
862
863 public override void AddAngularForce(Vector3 force, bool pushforce)
864 {
865 if (force.IsFinite())
866 {
867// if(pushforce) for now applyrotationimpulse seems more happy applied as a force
868 AddChange(changes.AddAngForce, force);
869// else // a impulse
870// AddChange(changes.AddAngForce, force * m_invTimeStep);
871 }
872 else
873 {
874 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
875 }
876 }
877
878 public override void CrossingFailure()
879 {
880 if (m_outbounds)
881 {
882 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
883 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
884 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
885
886 m_lastposition = _position;
887 _velocity.X = 0;
888 _velocity.Y = 0;
889 _velocity.Z = 0;
890
891 m_lastVelocity = _velocity;
892 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
893 m_vehicle.Stop();
894
895 if(Body != IntPtr.Zero)
896 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
897 if (prim_geom != IntPtr.Zero)
898 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
899
900 m_outbounds = false;
901 changeDisable(false);
902 base.RequestPhysicsterseUpdate();
903 }
904 }
905
906 public override void SetMomentum(Vector3 momentum)
907 {
908 }
909
910 public override void SetMaterial(int pMaterial)
911 {
912 m_material = pMaterial;
913 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
914 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
915 }
916
917 public void setPrimForRemoval()
918 {
919 AddChange(changes.Remove, null);
920 }
921
922 public override void link(PhysicsActor obj)
923 {
924 AddChange(changes.Link, obj);
925 }
926
927 public override void delink()
928 {
929 AddChange(changes.DeLink, null);
930 }
931
932 public override void LockAngularMotion(Vector3 axis)
933 {
934 // reverse the zero/non zero values for ODE.
935 if (axis.IsFinite())
936 {
937 axis.X = (axis.X > 0) ? 1f : 0f;
938 axis.Y = (axis.Y > 0) ? 1f : 0f;
939 axis.Z = (axis.Z > 0) ? 1f : 0f;
940// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
941 AddChange(changes.AngLock, axis);
942 }
943 else
944 {
945 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
946 }
947 }
948
949 public override void SubscribeEvents(int ms)
950 {
951 m_eventsubscription = ms;
952 m_cureventsubscription = 0;
953 if (CollisionEventsThisFrame == null)
954 CollisionEventsThisFrame = new CollisionEventUpdate();
955 SentEmptyCollisionsEvent = false;
956 }
957
958 public override void UnSubscribeEvents()
959 {
960 if (CollisionEventsThisFrame != null)
961 {
962 CollisionEventsThisFrame.Clear();
963 CollisionEventsThisFrame = null;
964 }
965 m_eventsubscription = 0;
966 _parent_scene.RemoveCollisionEventReporting(this);
967 }
968
969 public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
970 {
971 if (CollisionEventsThisFrame == null)
972 CollisionEventsThisFrame = new CollisionEventUpdate();
973// if(CollisionEventsThisFrame.Count < 32)
974 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
975 }
976
977 public void SendCollisions()
978 {
979 if (CollisionEventsThisFrame == null)
980 return;
981
982 if (m_cureventsubscription < m_eventsubscription)
983 return;
984
985 m_cureventsubscription = 0;
986
987 int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
988
989 if (!SentEmptyCollisionsEvent || ncolisions > 0)
990 {
991 base.SendCollisionUpdate(CollisionEventsThisFrame);
992
993 if (ncolisions == 0)
994 {
995 SentEmptyCollisionsEvent = true;
996 _parent_scene.RemoveCollisionEventReporting(this);
997 }
998 else
999 {
1000 SentEmptyCollisionsEvent = false;
1001 CollisionEventsThisFrame.Clear();
1002 }
1003 }
1004 }
1005
1006 internal void AddCollisionFrameTime(int t)
1007 {
1008 if (m_cureventsubscription < 50000)
1009 m_cureventsubscription += t;
1010 }
1011
1012 public override bool SubscribedEvents()
1013 {
1014 if (m_eventsubscription > 0)
1015 return true;
1016 return false;
1017 }
1018
1019 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
1020 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
1021 {
1022 Name = primName;
1023 LocalID = plocalID;
1024
1025 m_vehicle = null;
1026
1027 if (!pos.IsFinite())
1028 {
1029 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
1030 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
1031 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
1032 }
1033 _position = pos;
1034 givefakepos = 0;
1035
1036 m_timeStep = parent_scene.ODE_STEPSIZE;
1037 m_invTimeStep = 1f / m_timeStep;
1038
1039 m_density = parent_scene.geomDefaultDensity;
1040 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
1041
1042 prim_geom = IntPtr.Zero;
1043 collide_geom = IntPtr.Zero;
1044 Body = IntPtr.Zero;
1045
1046 if (!size.IsFinite())
1047 {
1048 size = new Vector3(0.5f, 0.5f, 0.5f);
1049 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
1050 }
1051
1052 if (size.X <= 0) size.X = 0.01f;
1053 if (size.Y <= 0) size.Y = 0.01f;
1054 if (size.Z <= 0) size.Z = 0.01f;
1055
1056 _size = size;
1057
1058 if (!QuaternionIsFinite(rotation))
1059 {
1060 rotation = Quaternion.Identity;
1061 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
1062 }
1063
1064 _orientation = rotation;
1065 givefakeori = 0;
1066
1067 _pbs = pbs;
1068
1069 _parent_scene = parent_scene;
1070 m_targetSpace = IntPtr.Zero;
1071
1072 if (pos.Z < 0)
1073 {
1074 m_isphysical = false;
1075 }
1076 else
1077 {
1078 m_isphysical = pisPhysical;
1079 }
1080 m_fakeisphysical = m_isphysical;
1081
1082 m_isVolumeDetect = false;
1083 m_fakeisVolumeDetect = false;
1084
1085 m_force = Vector3.Zero;
1086
1087 m_iscolliding = false;
1088 m_colliderfilter = 0;
1089 m_NoColide = false;
1090
1091 _triMeshData = IntPtr.Zero;
1092
1093 m_shapetype = _shapeType;
1094
1095 m_lastdoneSelected = false;
1096 m_isSelected = false;
1097 m_delaySelect = false;
1098
1099 m_isphantom = pisPhantom;
1100 m_fakeisphantom = pisPhantom;
1101
1102 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
1103 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
1104
1105 m_building = true; // control must set this to false when done
1106
1107 // get basic mass parameters
1108 ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype);
1109
1110 primVolume = repData.volume;
1111 m_OBB = repData.OBB;
1112 m_OBBOffset = repData.OBBOffset;
1113
1114 UpdatePrimBodyData();
1115 }
1116
1117 private void resetCollisionAccounting()
1118 {
1119 m_collisionscore = 0;
1120 }
1121
1122 private void UpdateCollisionCatFlags()
1123 {
1124 if(m_isphysical && m_disabled)
1125 {
1126 m_collisionCategories = 0;
1127 m_collisionFlags = 0;
1128 }
1129
1130 else if (m_isSelected)
1131 {
1132 m_collisionCategories = CollisionCategories.Selected;
1133 m_collisionFlags = 0;
1134 }
1135
1136 else if (m_isVolumeDetect)
1137 {
1138 m_collisionCategories = CollisionCategories.VolumeDtc;
1139 if (m_isphysical)
1140 m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1141 else
1142 m_collisionFlags = 0;
1143 }
1144 else if (m_isphantom)
1145 {
1146 m_collisionCategories = CollisionCategories.Phantom;
1147 if (m_isphysical)
1148 m_collisionFlags = CollisionCategories.Land;
1149 else
1150 m_collisionFlags = 0;
1151 }
1152 else
1153 {
1154 m_collisionCategories = CollisionCategories.Geom;
1155 if (m_isphysical)
1156 m_collisionFlags = m_default_collisionFlagsPhysical;
1157 else
1158 m_collisionFlags = m_default_collisionFlagsNotPhysical;
1159 }
1160 }
1161
1162 private void ApplyCollisionCatFlags()
1163 {
1164 if (prim_geom != IntPtr.Zero)
1165 {
1166 if (!childPrim && childrenPrim.Count > 0)
1167 {
1168 foreach (OdePrim prm in childrenPrim)
1169 {
1170 if (m_isphysical && m_disabled)
1171 {
1172 prm.m_collisionCategories = 0;
1173 prm.m_collisionFlags = 0;
1174 }
1175 else
1176 {
1177 // preserve some
1178 if (prm.m_isSelected)
1179 {
1180 prm.m_collisionCategories = CollisionCategories.Selected;
1181 prm.m_collisionFlags = 0;
1182 }
1183 else if (prm.m_isVolumeDetect)
1184 {
1185 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1186 if (m_isphysical)
1187 prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1188 else
1189 prm.m_collisionFlags = 0;
1190 }
1191 else if (prm.m_isphantom)
1192 {
1193 prm.m_collisionCategories = CollisionCategories.Phantom;
1194 if (m_isphysical)
1195 prm.m_collisionFlags = CollisionCategories.Land;
1196 else
1197 prm.m_collisionFlags = 0;
1198 }
1199 else
1200 {
1201 prm.m_collisionCategories = m_collisionCategories;
1202 prm.m_collisionFlags = m_collisionFlags;
1203 }
1204 }
1205
1206 if (prm.prim_geom != IntPtr.Zero)
1207 {
1208 if (prm.m_NoColide)
1209 {
1210 d.GeomSetCategoryBits(prm.prim_geom, 0);
1211 if (m_isphysical)
1212 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1213 else
1214 d.GeomSetCollideBits(prm.prim_geom, 0);
1215 }
1216 else
1217 {
1218 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1219 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1220 }
1221 }
1222 }
1223 }
1224
1225 if (m_NoColide)
1226 {
1227 d.GeomSetCategoryBits(prim_geom, 0);
1228 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1229 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1230 {
1231 d.GeomSetCategoryBits(collide_geom, 0);
1232 d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land);
1233 }
1234 }
1235 else
1236 {
1237 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1238 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1239 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1240 {
1241 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
1242 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
1243 }
1244 }
1245 }
1246 }
1247
1248 private void createAMotor(Vector3 axis)
1249 {
1250 if (Body == IntPtr.Zero)
1251 return;
1252
1253 if (Amotor != IntPtr.Zero)
1254 {
1255 d.JointDestroy(Amotor);
1256 Amotor = IntPtr.Zero;
1257 }
1258
1259 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
1260
1261 if (axisnum <= 0)
1262 return;
1263
1264 // stop it
1265 d.BodySetTorque(Body, 0, 0, 0);
1266 d.BodySetAngularVel(Body, 0, 0, 0);
1267
1268 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1269 d.JointAttach(Amotor, Body, IntPtr.Zero);
1270
1271 d.JointSetAMotorMode(Amotor, 0);
1272
1273 d.JointSetAMotorNumAxes(Amotor, axisnum);
1274
1275 // get current orientation to lock
1276
1277 d.Quaternion dcur = d.BodyGetQuaternion(Body);
1278 Quaternion curr; // crap convertion between identical things
1279 curr.X = dcur.X;
1280 curr.Y = dcur.Y;
1281 curr.Z = dcur.Z;
1282 curr.W = dcur.W;
1283 Vector3 ax;
1284
1285 int i = 0;
1286 int j = 0;
1287 if (axis.X == 0)
1288 {
1289 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
1290 // ODE should do this with axis relative to body 1 but seems to fail
1291 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
1292 d.JointSetAMotorAngle(Amotor, 0, 0);
1293 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
1294 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
1295 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
1296 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
1297 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
1298 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
1299 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
1300 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
1301 i++;
1302 j = 256; // move to next axis set
1303 }
1304
1305 if (axis.Y == 0)
1306 {
1307 ax = (new Vector3(0, 1, 0)) * curr;
1308 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1309 d.JointSetAMotorAngle(Amotor, i, 0);
1310 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1311 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1312 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1313 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1314 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1315 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1316 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1317 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1318 i++;
1319 j += 256;
1320 }
1321
1322 if (axis.Z == 0)
1323 {
1324 ax = (new Vector3(0, 0, 1)) * curr;
1325 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1326 d.JointSetAMotorAngle(Amotor, i, 0);
1327 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1328 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1329 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1330 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1331 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1332 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1333 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1334 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1335 }
1336 }
1337
1338
1339 private void SetGeom(IntPtr geom)
1340 {
1341 prim_geom = geom;
1342 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1343 if (prim_geom != IntPtr.Zero)
1344 {
1345
1346 if (m_NoColide)
1347 {
1348 d.GeomSetCategoryBits(prim_geom, 0);
1349 if (m_isphysical)
1350 {
1351 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1352 }
1353 else
1354 {
1355 d.GeomSetCollideBits(prim_geom, 0);
1356 d.GeomDisable(prim_geom);
1357 }
1358 }
1359 else
1360 {
1361 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1362 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1363 }
1364
1365 UpdatePrimBodyData();
1366 _parent_scene.actor_name_map[prim_geom] = this;
1367
1368/*
1369// debug
1370 d.AABB aabb;
1371 d.GeomGetAABB(prim_geom, out aabb);
1372 float x = aabb.MaxX - aabb.MinX;
1373 float y = aabb.MaxY - aabb.MinY;
1374 float z = aabb.MaxZ - aabb.MinZ;
1375 if( x > 60.0f || y > 60.0f || z > 60.0f)
1376 m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}",
1377 Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString());
1378 else if (x < 0.001f || y < 0.001f || z < 0.001f)
1379 m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}",
1380 Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString());
1381
1382//
1383*/
1384
1385 }
1386 else
1387 m_log.Warn("Setting bad Geom");
1388 }
1389
1390 private bool GetMeshGeom()
1391 {
1392 IntPtr vertices, indices;
1393 int vertexCount, indexCount;
1394 int vertexStride, triStride;
1395
1396 IMesh mesh = m_mesh;
1397
1398 if (mesh == null)
1399 return false;
1400
1401 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount);
1402 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount);
1403
1404 if (vertexCount == 0 || indexCount == 0)
1405 {
1406 m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1} at {2}",
1407 Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh",_position.ToString());
1408
1409 m_hasOBB = false;
1410 m_OBBOffset = Vector3.Zero;
1411 m_OBB = _size * 0.5f;
1412
1413 m_physCost = 0.1f;
1414 m_streamCost = 1.0f;
1415
1416 _parent_scene.mesher.ReleaseMesh(mesh);
1417 m_meshState = MeshState.MeshFailed;
1418 m_mesh = null;
1419 return false;
1420 }
1421
1422 IntPtr geo = IntPtr.Zero;
1423
1424 try
1425 {
1426 _triMeshData = d.GeomTriMeshDataCreate();
1427
1428 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1429 d.GeomTriMeshDataPreprocess(_triMeshData);
1430
1431 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1432 }
1433
1434 catch (Exception e)
1435 {
1436 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1437 if (_triMeshData != IntPtr.Zero)
1438 {
1439 try
1440 {
1441 d.GeomTriMeshDataDestroy(_triMeshData);
1442 }
1443 catch
1444 {
1445 }
1446 }
1447 _triMeshData = IntPtr.Zero;
1448
1449 m_hasOBB = false;
1450 m_OBBOffset = Vector3.Zero;
1451 m_OBB = _size * 0.5f;
1452 m_physCost = 0.1f;
1453 m_streamCost = 1.0f;
1454
1455 _parent_scene.mesher.ReleaseMesh(mesh);
1456 m_meshState = MeshState.MeshFailed;
1457 m_mesh = null;
1458 return false;
1459 }
1460
1461 m_physCost = 0.0013f * (float)indexCount;
1462 // todo
1463 m_streamCost = 1.0f;
1464
1465 SetGeom(geo);
1466
1467 return true;
1468 }
1469
1470 private void CreateGeom()
1471 {
1472 bool hasMesh = false;
1473
1474 m_NoColide = false;
1475
1476 if ((m_meshState & MeshState.MeshNoColide) != 0)
1477 m_NoColide = true;
1478
1479 else if(m_mesh != null)
1480 {
1481 if (GetMeshGeom())
1482 hasMesh = true;
1483 else
1484 m_NoColide = true;
1485 }
1486
1487
1488 if (!hasMesh)
1489 {
1490 IntPtr geo = IntPtr.Zero;
1491
1492 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1493 && _size.X == _size.Y && _size.Y == _size.Z)
1494 { // it's a sphere
1495 try
1496 {
1497 geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f);
1498 }
1499 catch (Exception e)
1500 {
1501 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1502 return;
1503 }
1504 }
1505 else
1506 {// do it as a box
1507 try
1508 {
1509 geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
1510 }
1511 catch (Exception e)
1512 {
1513 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1514 return;
1515 }
1516 }
1517 m_physCost = 0.1f;
1518 m_streamCost = 1.0f;
1519 SetGeom(geo);
1520 }
1521 }
1522
1523 private void RemoveGeom()
1524 {
1525 if (prim_geom != IntPtr.Zero)
1526 {
1527 _parent_scene.actor_name_map.Remove(prim_geom);
1528
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 (Exception e)
1539 {
1540 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1541 }
1542
1543 prim_geom = IntPtr.Zero;
1544 collide_geom = IntPtr.Zero;
1545 m_targetSpace = IntPtr.Zero;
1546 }
1547 else
1548 {
1549 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1550 }
1551
1552 lock (m_meshlock)
1553 {
1554 if (m_mesh != null)
1555 {
1556 _parent_scene.mesher.ReleaseMesh(m_mesh);
1557 m_mesh = null;
1558 }
1559 }
1560
1561 Body = IntPtr.Zero;
1562 m_hasOBB = false;
1563 }
1564
1565 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1566 // should only be called for non physical prims unless they are becoming non physical
1567 private void SetInStaticSpace(OdePrim prim)
1568 {
1569 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1570 prim.m_targetSpace = targetSpace;
1571 collide_geom = IntPtr.Zero;
1572 }
1573
1574 public void enableBodySoft()
1575 {
1576 m_disabled = false;
1577 if (!childPrim && !m_isSelected)
1578 {
1579 if (m_isphysical && Body != IntPtr.Zero)
1580 {
1581 UpdateCollisionCatFlags();
1582 ApplyCollisionCatFlags();
1583
1584 d.BodyEnable(Body);
1585 }
1586 }
1587 resetCollisionAccounting();
1588 }
1589
1590 private void disableBodySoft()
1591 {
1592 m_disabled = true;
1593 if (!childPrim)
1594 {
1595 if (m_isphysical && Body != IntPtr.Zero)
1596 {
1597 if (m_isSelected)
1598 m_collisionFlags = CollisionCategories.Selected;
1599 else
1600 m_collisionCategories = 0;
1601 m_collisionFlags = 0;
1602 ApplyCollisionCatFlags();
1603 d.BodyDisable(Body);
1604 }
1605 }
1606 }
1607
1608 private void MakeBody()
1609 {
1610 if (!m_isphysical) // only physical get bodies
1611 return;
1612
1613 if (childPrim) // child prims don't get bodies;
1614 return;
1615
1616 if (m_building)
1617 return;
1618
1619 if (prim_geom == IntPtr.Zero)
1620 {
1621 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1622 return;
1623 }
1624
1625 if (Body != IntPtr.Zero)
1626 {
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.BodySetDamping(Body, .005f, .005f);
1740
1741 if (m_targetSpace != IntPtr.Zero)
1742 {
1743 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1744 if (d.SpaceQuery(m_targetSpace, prim_geom))
1745 d.SpaceRemove(m_targetSpace, prim_geom);
1746 }
1747
1748 if (childrenPrim.Count == 0)
1749 {
1750 collide_geom = prim_geom;
1751 m_targetSpace = _parent_scene.ActiveSpace;
1752 }
1753 else
1754 {
1755 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1756 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1757 d.SpaceSetSublevel(m_targetSpace, 3);
1758 d.SpaceSetCleanup(m_targetSpace, false);
1759
1760 d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space |
1761 CollisionCategories.Geom |
1762 CollisionCategories.Phantom |
1763 CollisionCategories.VolumeDtc
1764 ));
1765 d.GeomSetCollideBits(m_targetSpace, 0);
1766 collide_geom = m_targetSpace;
1767 }
1768
1769 d.SpaceAdd(m_targetSpace, prim_geom);
1770
1771 if (m_delaySelect)
1772 {
1773 m_isSelected = true;
1774 m_delaySelect = false;
1775 }
1776
1777 m_collisionscore = 0;
1778
1779 UpdateCollisionCatFlags();
1780 ApplyCollisionCatFlags();
1781
1782 _parent_scene.addActivePrim(this);
1783
1784 lock (childrenPrim)
1785 {
1786 foreach (OdePrim prm in childrenPrim)
1787 {
1788 if (prm.prim_geom == IntPtr.Zero)
1789 continue;
1790
1791 Vector3 ppos = prm._position;
1792 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1793
1794 if (prm.m_targetSpace != m_targetSpace)
1795 {
1796 if (prm.m_targetSpace != IntPtr.Zero)
1797 {
1798 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1799 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1800 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1801 }
1802 prm.m_targetSpace = m_targetSpace;
1803 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1804 }
1805
1806 prm.m_collisionscore = 0;
1807
1808 if(!m_disabled)
1809 prm.m_disabled = false;
1810
1811 _parent_scene.addActivePrim(prm);
1812 }
1813 }
1814
1815 // The body doesn't already have a finite rotation mode set here
1816 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1817 {
1818 createAMotor(m_angularlock);
1819 }
1820
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 _parent_scene.addActiveGroups(this);
1832 }
1833
1834 private void DestroyBody()
1835 {
1836 if (Body != IntPtr.Zero)
1837 {
1838 _parent_scene.remActivePrim(this);
1839
1840 collide_geom = IntPtr.Zero;
1841
1842 if (m_disabled)
1843 m_collisionCategories = 0;
1844 else if (m_isSelected)
1845 m_collisionCategories = CollisionCategories.Selected;
1846 else if (m_isVolumeDetect)
1847 m_collisionCategories = CollisionCategories.VolumeDtc;
1848 else if (m_isphantom)
1849 m_collisionCategories = CollisionCategories.Phantom;
1850 else
1851 m_collisionCategories = CollisionCategories.Geom;
1852
1853 m_collisionFlags = 0;
1854
1855 if (prim_geom != IntPtr.Zero)
1856 {
1857 if (m_NoColide)
1858 {
1859 d.GeomSetCategoryBits(prim_geom, 0);
1860 d.GeomSetCollideBits(prim_geom, 0);
1861 }
1862 else
1863 {
1864 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1865 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1866 }
1867 UpdateDataFromGeom();
1868 d.GeomSetBody(prim_geom, IntPtr.Zero);
1869 SetInStaticSpace(this);
1870 }
1871
1872 if (!childPrim)
1873 {
1874 lock (childrenPrim)
1875 {
1876 foreach (OdePrim prm in childrenPrim)
1877 {
1878 _parent_scene.remActivePrim(prm);
1879
1880 if (prm.m_isSelected)
1881 prm.m_collisionCategories = CollisionCategories.Selected;
1882 else if (prm.m_isVolumeDetect)
1883 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1884 else if (prm.m_isphantom)
1885 prm.m_collisionCategories = CollisionCategories.Phantom;
1886 else
1887 prm.m_collisionCategories = CollisionCategories.Geom;
1888
1889 prm.m_collisionFlags = 0;
1890
1891 if (prm.prim_geom != IntPtr.Zero)
1892 {
1893 if (prm.m_NoColide)
1894 {
1895 d.GeomSetCategoryBits(prm.prim_geom, 0);
1896 d.GeomSetCollideBits(prm.prim_geom, 0);
1897 }
1898 else
1899 {
1900 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1901 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1902 }
1903 prm.UpdateDataFromGeom();
1904 SetInStaticSpace(prm);
1905 }
1906 prm.Body = IntPtr.Zero;
1907 prm._mass = prm.primMass;
1908 prm.m_collisionscore = 0;
1909 }
1910 }
1911 if (Amotor != IntPtr.Zero)
1912 {
1913 d.JointDestroy(Amotor);
1914 Amotor = IntPtr.Zero;
1915 }
1916 _parent_scene.remActiveGroup(this);
1917 d.BodyDestroy(Body);
1918 }
1919 Body = IntPtr.Zero;
1920 }
1921 _mass = primMass;
1922 m_collisionscore = 0;
1923 }
1924
1925 private void FixInertia(Vector3 NewPos,Quaternion newrot)
1926 {
1927 d.Matrix3 mat = new d.Matrix3();
1928 d.Quaternion quat = new d.Quaternion();
1929
1930 d.Mass tmpdmass = new d.Mass { };
1931 d.Mass objdmass = new d.Mass { };
1932
1933 d.BodyGetMass(Body, out tmpdmass);
1934 objdmass = tmpdmass;
1935
1936 d.Vector3 dobjpos;
1937 d.Vector3 thispos;
1938
1939 // get current object position and rotation
1940 dobjpos = d.BodyGetPosition(Body);
1941
1942 // get prim own inertia in its local frame
1943 tmpdmass = primdMass;
1944
1945 // transform to object frame
1946 mat = d.GeomGetOffsetRotation(prim_geom);
1947 d.MassRotate(ref tmpdmass, ref mat);
1948
1949 thispos = d.GeomGetOffsetPosition(prim_geom);
1950 d.MassTranslate(ref tmpdmass,
1951 thispos.X,
1952 thispos.Y,
1953 thispos.Z);
1954
1955 // subtract current prim inertia from object
1956 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1957
1958 // back prim own inertia
1959 tmpdmass = primdMass;
1960
1961 // update to new position and orientation
1962 _position = NewPos;
1963 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1964 _orientation = newrot;
1965 quat.X = newrot.X;
1966 quat.Y = newrot.Y;
1967 quat.Z = newrot.Z;
1968 quat.W = newrot.W;
1969 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1970
1971 mat = d.GeomGetOffsetRotation(prim_geom);
1972 d.MassRotate(ref tmpdmass, ref mat);
1973
1974 thispos = d.GeomGetOffsetPosition(prim_geom);
1975 d.MassTranslate(ref tmpdmass,
1976 thispos.X,
1977 thispos.Y,
1978 thispos.Z);
1979
1980 d.MassAdd(ref objdmass, ref tmpdmass);
1981
1982 // fix all positions
1983 IntPtr g = d.BodyGetFirstGeom(Body);
1984 while (g != IntPtr.Zero)
1985 {
1986 thispos = d.GeomGetOffsetPosition(g);
1987 thispos.X -= objdmass.c.X;
1988 thispos.Y -= objdmass.c.Y;
1989 thispos.Z -= objdmass.c.Z;
1990 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1991 g = d.dBodyGetNextGeom(g);
1992 }
1993 d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
1994
1995 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1996 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1997 d.BodySetMass(Body, ref objdmass);
1998 _mass = objdmass.mass;
1999 }
2000
2001
2002
2003 private void FixInertia(Vector3 NewPos)
2004 {
2005 d.Matrix3 primmat = new d.Matrix3();
2006 d.Mass tmpdmass = new d.Mass { };
2007 d.Mass objdmass = new d.Mass { };
2008 d.Mass primmass = new d.Mass { };
2009
2010 d.Vector3 dobjpos;
2011 d.Vector3 thispos;
2012
2013 d.BodyGetMass(Body, out objdmass);
2014
2015 // get prim own inertia in its local frame
2016 primmass = primdMass;
2017 // transform to object frame
2018 primmat = d.GeomGetOffsetRotation(prim_geom);
2019 d.MassRotate(ref primmass, ref primmat);
2020
2021 tmpdmass = primmass;
2022
2023 thispos = d.GeomGetOffsetPosition(prim_geom);
2024 d.MassTranslate(ref tmpdmass,
2025 thispos.X,
2026 thispos.Y,
2027 thispos.Z);
2028
2029 // subtract current prim inertia from object
2030 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2031
2032 // update to new position
2033 _position = NewPos;
2034 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
2035
2036 thispos = d.GeomGetOffsetPosition(prim_geom);
2037 d.MassTranslate(ref primmass,
2038 thispos.X,
2039 thispos.Y,
2040 thispos.Z);
2041
2042 d.MassAdd(ref objdmass, ref primmass);
2043
2044 // fix all positions
2045 IntPtr g = d.BodyGetFirstGeom(Body);
2046 while (g != IntPtr.Zero)
2047 {
2048 thispos = d.GeomGetOffsetPosition(g);
2049 thispos.X -= objdmass.c.X;
2050 thispos.Y -= objdmass.c.Y;
2051 thispos.Z -= objdmass.c.Z;
2052 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2053 g = d.dBodyGetNextGeom(g);
2054 }
2055
2056 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2057
2058 // get current object position and rotation
2059 dobjpos = d.BodyGetPosition(Body);
2060
2061 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2062 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2063 d.BodySetMass(Body, ref objdmass);
2064 _mass = objdmass.mass;
2065 }
2066
2067 private void FixInertia(Quaternion newrot)
2068 {
2069 d.Matrix3 mat = new d.Matrix3();
2070 d.Quaternion quat = new d.Quaternion();
2071
2072 d.Mass tmpdmass = new d.Mass { };
2073 d.Mass objdmass = new d.Mass { };
2074 d.Vector3 dobjpos;
2075 d.Vector3 thispos;
2076
2077 d.BodyGetMass(Body, out objdmass);
2078
2079 // get prim own inertia in its local frame
2080 tmpdmass = primdMass;
2081 mat = d.GeomGetOffsetRotation(prim_geom);
2082 d.MassRotate(ref tmpdmass, ref mat);
2083 // transform to object frame
2084 thispos = d.GeomGetOffsetPosition(prim_geom);
2085 d.MassTranslate(ref tmpdmass,
2086 thispos.X,
2087 thispos.Y,
2088 thispos.Z);
2089
2090 // subtract current prim inertia from object
2091 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2092
2093 // update to new orientation
2094 _orientation = newrot;
2095 quat.X = newrot.X;
2096 quat.Y = newrot.Y;
2097 quat.Z = newrot.Z;
2098 quat.W = newrot.W;
2099 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
2100
2101 tmpdmass = primdMass;
2102 mat = d.GeomGetOffsetRotation(prim_geom);
2103 d.MassRotate(ref tmpdmass, ref mat);
2104 d.MassTranslate(ref tmpdmass,
2105 thispos.X,
2106 thispos.Y,
2107 thispos.Z);
2108
2109 d.MassAdd(ref objdmass, ref tmpdmass);
2110
2111 // fix all positions
2112 IntPtr g = d.BodyGetFirstGeom(Body);
2113 while (g != IntPtr.Zero)
2114 {
2115 thispos = d.GeomGetOffsetPosition(g);
2116 thispos.X -= objdmass.c.X;
2117 thispos.Y -= objdmass.c.Y;
2118 thispos.Z -= objdmass.c.Z;
2119 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2120 g = d.dBodyGetNextGeom(g);
2121 }
2122
2123 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2124 // get current object position and rotation
2125 dobjpos = d.BodyGetPosition(Body);
2126
2127 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2128 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2129 d.BodySetMass(Body, ref objdmass);
2130 _mass = objdmass.mass;
2131 }
2132
2133
2134 #region Mass Calculation
2135
2136 private void UpdatePrimBodyData()
2137 {
2138 primMass = m_density * primVolume;
2139
2140 if (primMass <= 0)
2141 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2142 if (primMass > _parent_scene.maximumMassObject)
2143 primMass = _parent_scene.maximumMassObject;
2144
2145 _mass = primMass; // just in case
2146
2147 d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z);
2148
2149 d.MassTranslate(ref primdMass,
2150 m_OBBOffset.X,
2151 m_OBBOffset.Y,
2152 m_OBBOffset.Z);
2153
2154 primOOBradiusSQ = m_OBB.LengthSquared();
2155
2156 if (_triMeshData != IntPtr.Zero)
2157 {
2158 float pc = m_physCost;
2159 float psf = primOOBradiusSQ;
2160 psf *= 1.33f * .2f;
2161 pc *= psf;
2162 if (pc < 0.1f)
2163 pc = 0.1f;
2164
2165 m_physCost = pc;
2166 }
2167 else
2168 m_physCost = 0.1f;
2169
2170 m_streamCost = 1.0f;
2171 }
2172
2173 #endregion
2174
2175
2176 /// <summary>
2177 /// Add a child prim to this parent prim.
2178 /// </summary>
2179 /// <param name="prim">Child prim</param>
2180 // I'm the parent
2181 // prim is the child
2182 public void ParentPrim(OdePrim prim)
2183 {
2184 //Console.WriteLine("ParentPrim " + m_primName);
2185 if (this.m_localID != prim.m_localID)
2186 {
2187 DestroyBody(); // for now we need to rebuil entire object on link change
2188
2189 lock (childrenPrim)
2190 {
2191 // adopt the prim
2192 if (!childrenPrim.Contains(prim))
2193 childrenPrim.Add(prim);
2194
2195 // see if this prim has kids and adopt them also
2196 // should not happen for now
2197 foreach (OdePrim prm in prim.childrenPrim)
2198 {
2199 if (!childrenPrim.Contains(prm))
2200 {
2201 if (prm.Body != IntPtr.Zero)
2202 {
2203 if (prm.prim_geom != IntPtr.Zero)
2204 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2205 if (prm.Body != prim.Body)
2206 prm.DestroyBody(); // don't loose bodies around
2207 prm.Body = IntPtr.Zero;
2208 }
2209
2210 childrenPrim.Add(prm);
2211 prm._parent = this;
2212 }
2213 }
2214 }
2215 //Remove old children from the prim
2216 prim.childrenPrim.Clear();
2217
2218 if (prim.Body != IntPtr.Zero)
2219 {
2220 if (prim.prim_geom != IntPtr.Zero)
2221 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2222 prim.DestroyBody(); // don't loose bodies around
2223 prim.Body = IntPtr.Zero;
2224 }
2225
2226 prim.childPrim = true;
2227 prim._parent = this;
2228
2229 MakeBody(); // full nasty reconstruction
2230 }
2231 }
2232
2233 private void UpdateChildsfromgeom()
2234 {
2235 if (childrenPrim.Count > 0)
2236 {
2237 foreach (OdePrim prm in childrenPrim)
2238 prm.UpdateDataFromGeom();
2239 }
2240 }
2241
2242 private void UpdateDataFromGeom()
2243 {
2244 if (prim_geom != IntPtr.Zero)
2245 {
2246 d.Quaternion qtmp;
2247 d.GeomCopyQuaternion(prim_geom, out qtmp);
2248 _orientation.X = qtmp.X;
2249 _orientation.Y = qtmp.Y;
2250 _orientation.Z = qtmp.Z;
2251 _orientation.W = qtmp.W;
2252/*
2253// Debug
2254 float qlen = _orientation.Length();
2255 if (qlen > 1.01f || qlen < 0.99)
2256 m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen);
2257//
2258*/
2259 _orientation.Normalize();
2260
2261 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
2262 _position.X = lpos.X;
2263 _position.Y = lpos.Y;
2264 _position.Z = lpos.Z;
2265 }
2266 }
2267
2268 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2269 {
2270 // Okay, we have a delinked child.. destroy all body and remake
2271 if (odePrim != this && !childrenPrim.Contains(odePrim))
2272 return;
2273
2274 DestroyBody();
2275
2276 if (odePrim == this) // delinking the root prim
2277 {
2278 OdePrim newroot = null;
2279 lock (childrenPrim)
2280 {
2281 if (childrenPrim.Count > 0)
2282 {
2283 newroot = childrenPrim[0];
2284 childrenPrim.RemoveAt(0);
2285 foreach (OdePrim prm in childrenPrim)
2286 {
2287 newroot.childrenPrim.Add(prm);
2288 }
2289 childrenPrim.Clear();
2290 }
2291 if (newroot != null)
2292 {
2293 newroot.childPrim = false;
2294 newroot._parent = null;
2295 if (remakebodies)
2296 newroot.MakeBody();
2297 }
2298 }
2299 }
2300
2301 else
2302 {
2303 lock (childrenPrim)
2304 {
2305 childrenPrim.Remove(odePrim);
2306 odePrim.childPrim = false;
2307 odePrim._parent = null;
2308 // odePrim.UpdateDataFromGeom();
2309 if (remakebodies)
2310 odePrim.MakeBody();
2311 }
2312 }
2313 if (remakebodies)
2314 MakeBody();
2315 }
2316
2317 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2318 {
2319 // Okay, we have a delinked child.. destroy all body and remake
2320 if (odePrim != this && !childrenPrim.Contains(odePrim))
2321 return;
2322
2323 DestroyBody();
2324
2325 if (odePrim == this)
2326 {
2327 OdePrim newroot = null;
2328 lock (childrenPrim)
2329 {
2330 if (childrenPrim.Count > 0)
2331 {
2332 newroot = childrenPrim[0];
2333 childrenPrim.RemoveAt(0);
2334 foreach (OdePrim prm in childrenPrim)
2335 {
2336 newroot.childrenPrim.Add(prm);
2337 }
2338 childrenPrim.Clear();
2339 }
2340 if (newroot != null)
2341 {
2342 newroot.childPrim = false;
2343 newroot._parent = null;
2344 newroot.MakeBody();
2345 }
2346 }
2347 if (reMakeBody)
2348 MakeBody();
2349 return;
2350 }
2351 else
2352 {
2353 lock (childrenPrim)
2354 {
2355 childrenPrim.Remove(odePrim);
2356 odePrim.childPrim = false;
2357 odePrim._parent = null;
2358 if (reMakeBody)
2359 odePrim.MakeBody();
2360 }
2361 }
2362 MakeBody();
2363 }
2364
2365 #region changes
2366
2367 private void changeadd()
2368 {
2369 }
2370
2371 private void changeAngularLock(Vector3 newLock)
2372 {
2373 // do we have a Physical object?
2374 if (Body != IntPtr.Zero)
2375 {
2376 //Check that we have a Parent
2377 //If we have a parent then we're not authorative here
2378 if (_parent == null)
2379 {
2380 if (!newLock.ApproxEquals(Vector3.One, 0f))
2381 {
2382 createAMotor(newLock);
2383 }
2384 else
2385 {
2386 if (Amotor != IntPtr.Zero)
2387 {
2388 d.JointDestroy(Amotor);
2389 Amotor = IntPtr.Zero;
2390 }
2391 }
2392 }
2393 }
2394 // Store this for later in case we get turned into a separate body
2395 m_angularlock = newLock;
2396 }
2397
2398 private void changeLink(OdePrim NewParent)
2399 {
2400 if (_parent == null && NewParent != null)
2401 {
2402 NewParent.ParentPrim(this);
2403 }
2404 else if (_parent != null)
2405 {
2406 if (_parent is OdePrim)
2407 {
2408 if (NewParent != _parent)
2409 {
2410 (_parent as OdePrim).ChildDelink(this, false); // for now...
2411 childPrim = false;
2412
2413 if (NewParent != null)
2414 {
2415 NewParent.ParentPrim(this);
2416 }
2417 }
2418 }
2419 }
2420 _parent = NewParent;
2421 }
2422
2423
2424 private void Stop()
2425 {
2426 if (!childPrim)
2427 {
2428 m_force = Vector3.Zero;
2429 m_forceacc = Vector3.Zero;
2430 m_angularForceacc = Vector3.Zero;
2431 _torque = Vector3.Zero;
2432 _velocity = Vector3.Zero;
2433 _acceleration = Vector3.Zero;
2434 m_rotationalVelocity = Vector3.Zero;
2435 _target_velocity = Vector3.Zero;
2436 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2437 m_vehicle.Stop();
2438
2439 _zeroFlag = false;
2440 base.RequestPhysicsterseUpdate();
2441 }
2442
2443 if (Body != IntPtr.Zero)
2444 {
2445 d.BodySetForce(Body, 0f, 0f, 0f);
2446 d.BodySetTorque(Body, 0f, 0f, 0f);
2447 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2448 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2449 }
2450 }
2451
2452 private void changePhantomStatus(bool newval)
2453 {
2454 m_isphantom = newval;
2455
2456 UpdateCollisionCatFlags();
2457 ApplyCollisionCatFlags();
2458 }
2459
2460/* not in use
2461 internal void ChildSelectedChange(bool childSelect)
2462 {
2463 if(childPrim)
2464 return;
2465
2466 if (childSelect == m_isSelected)
2467 return;
2468
2469 if (childSelect)
2470 {
2471 DoSelectedStatus(true);
2472 }
2473
2474 else
2475 {
2476 foreach (OdePrim prm in childrenPrim)
2477 {
2478 if (prm.m_isSelected)
2479 return;
2480 }
2481 DoSelectedStatus(false);
2482 }
2483 }
2484*/
2485 private void changeSelectedStatus(bool newval)
2486 {
2487 if (m_lastdoneSelected == newval)
2488 return;
2489
2490 m_lastdoneSelected = newval;
2491 DoSelectedStatus(newval);
2492 }
2493
2494 private void CheckDelaySelect()
2495 {
2496 if (m_delaySelect)
2497 {
2498 DoSelectedStatus(m_isSelected);
2499 }
2500 }
2501
2502 private void DoSelectedStatus(bool newval)
2503 {
2504 m_isSelected = newval;
2505 Stop();
2506
2507 if (newval)
2508 {
2509 if (!childPrim && Body != IntPtr.Zero)
2510 d.BodyDisable(Body);
2511
2512 if (m_delaySelect || m_isphysical)
2513 {
2514 m_collisionCategories = CollisionCategories.Selected;
2515 m_collisionFlags = 0;
2516
2517 if (!childPrim)
2518 {
2519 foreach (OdePrim prm in childrenPrim)
2520 {
2521 prm.m_collisionCategories = m_collisionCategories;
2522 prm.m_collisionFlags = m_collisionFlags;
2523
2524 if (prm.prim_geom != null)
2525 {
2526
2527 if (prm.m_NoColide)
2528 {
2529 d.GeomSetCategoryBits(prm.prim_geom, 0);
2530 d.GeomSetCollideBits(prm.prim_geom, 0);
2531 }
2532 else
2533 {
2534 d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories);
2535 d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags);
2536 }
2537 }
2538 prm.m_delaySelect = false;
2539 }
2540 }
2541// else if (_parent != null)
2542// ((OdePrim)_parent).ChildSelectedChange(true);
2543
2544
2545 if (prim_geom != null)
2546 {
2547 if (m_NoColide)
2548 {
2549 d.GeomSetCategoryBits(prim_geom, 0);
2550 d.GeomSetCollideBits(prim_geom, 0);
2551 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2552 {
2553 d.GeomSetCategoryBits(collide_geom, 0);
2554 d.GeomSetCollideBits(collide_geom, 0);
2555 }
2556
2557 }
2558 else
2559 {
2560 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
2561 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
2562 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2563 {
2564 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
2565 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
2566 }
2567 }
2568 }
2569
2570 m_delaySelect = false;
2571 }
2572 else if(!m_isphysical)
2573 {
2574 m_delaySelect = true;
2575 }
2576 }
2577 else
2578 {
2579 if (!childPrim)
2580 {
2581 if (Body != IntPtr.Zero && !m_disabled)
2582 d.BodyEnable(Body);
2583 }
2584// else if (_parent != null)
2585// ((OdePrim)_parent).ChildSelectedChange(false);
2586
2587 UpdateCollisionCatFlags();
2588 ApplyCollisionCatFlags();
2589
2590 m_delaySelect = false;
2591 }
2592
2593 resetCollisionAccounting();
2594 }
2595
2596 private void changePosition(Vector3 newPos)
2597 {
2598 CheckDelaySelect();
2599 if (m_isphysical)
2600 {
2601 if (childPrim) // inertia is messed, must rebuild
2602 {
2603 if (m_building)
2604 {
2605 _position = newPos;
2606 }
2607
2608 else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
2609 {
2610 FixInertia(newPos);
2611 if (!d.BodyIsEnabled(Body))
2612 d.BodyEnable(Body);
2613 }
2614 }
2615 else
2616 {
2617 if (_position != newPos)
2618 {
2619 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2620 _position = newPos;
2621 }
2622 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2623 d.BodyEnable(Body);
2624 }
2625 }
2626 else
2627 {
2628 if (prim_geom != IntPtr.Zero)
2629 {
2630 if (newPos != _position)
2631 {
2632 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2633 _position = newPos;
2634
2635 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2636 }
2637 }
2638 }
2639 givefakepos--;
2640 if (givefakepos < 0)
2641 givefakepos = 0;
2642// changeSelectedStatus();
2643 resetCollisionAccounting();
2644 }
2645
2646 private void changeOrientation(Quaternion newOri)
2647 {
2648 CheckDelaySelect();
2649 if (m_isphysical)
2650 {
2651 if (childPrim) // inertia is messed, must rebuild
2652 {
2653 if (m_building)
2654 {
2655 _orientation = newOri;
2656 }
2657/*
2658 else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
2659 {
2660 FixInertia(_position, newOri);
2661 if (!d.BodyIsEnabled(Body))
2662 d.BodyEnable(Body);
2663 }
2664*/
2665 }
2666 else
2667 {
2668 if (newOri != _orientation)
2669 {
2670 d.Quaternion myrot = new d.Quaternion();
2671 myrot.X = newOri.X;
2672 myrot.Y = newOri.Y;
2673 myrot.Z = newOri.Z;
2674 myrot.W = newOri.W;
2675 d.GeomSetQuaternion(prim_geom, ref myrot);
2676 _orientation = newOri;
2677 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2678 createAMotor(m_angularlock);
2679 }
2680 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2681 d.BodyEnable(Body);
2682 }
2683 }
2684 else
2685 {
2686 if (prim_geom != IntPtr.Zero)
2687 {
2688 if (newOri != _orientation)
2689 {
2690 d.Quaternion myrot = new d.Quaternion();
2691 myrot.X = newOri.X;
2692 myrot.Y = newOri.Y;
2693 myrot.Z = newOri.Z;
2694 myrot.W = newOri.W;
2695 d.GeomSetQuaternion(prim_geom, ref myrot);
2696 _orientation = newOri;
2697 }
2698 }
2699 }
2700 givefakeori--;
2701 if (givefakeori < 0)
2702 givefakeori = 0;
2703 resetCollisionAccounting();
2704 }
2705
2706 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
2707 {
2708 CheckDelaySelect();
2709 if (m_isphysical)
2710 {
2711 if (childPrim && m_building) // inertia is messed, must rebuild
2712 {
2713 _position = newPos;
2714 _orientation = newOri;
2715 }
2716 else
2717 {
2718 if (newOri != _orientation)
2719 {
2720 d.Quaternion myrot = new d.Quaternion();
2721 myrot.X = newOri.X;
2722 myrot.Y = newOri.Y;
2723 myrot.Z = newOri.Z;
2724 myrot.W = newOri.W;
2725 d.GeomSetQuaternion(prim_geom, ref myrot);
2726 _orientation = newOri;
2727 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2728 createAMotor(m_angularlock);
2729 }
2730 if (_position != newPos)
2731 {
2732 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2733 _position = newPos;
2734 }
2735 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2736 d.BodyEnable(Body);
2737 }
2738 }
2739 else
2740 {
2741 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2742 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2743
2744 if (prim_geom != IntPtr.Zero)
2745 {
2746 if (newOri != _orientation)
2747 {
2748 d.Quaternion myrot = new d.Quaternion();
2749 myrot.X = newOri.X;
2750 myrot.Y = newOri.Y;
2751 myrot.Z = newOri.Z;
2752 myrot.W = newOri.W;
2753 d.GeomSetQuaternion(prim_geom, ref myrot);
2754 _orientation = newOri;
2755 }
2756
2757 if (newPos != _position)
2758 {
2759 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2760 _position = newPos;
2761
2762 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2763 }
2764 }
2765 }
2766 givefakepos--;
2767 if (givefakepos < 0)
2768 givefakepos = 0;
2769 givefakeori--;
2770 if (givefakeori < 0)
2771 givefakeori = 0;
2772 resetCollisionAccounting();
2773 }
2774
2775 private void changeDisable(bool disable)
2776 {
2777 if (disable)
2778 {
2779 if (!m_disabled)
2780 disableBodySoft();
2781 }
2782 else
2783 {
2784 if (m_disabled)
2785 enableBodySoft();
2786 }
2787 }
2788
2789 private void changePhysicsStatus(bool NewStatus)
2790 {
2791 CheckDelaySelect();
2792
2793 m_isphysical = NewStatus;
2794
2795 if (!childPrim)
2796 {
2797 if (NewStatus)
2798 {
2799 if (Body == IntPtr.Zero)
2800 MakeBody();
2801 }
2802 else
2803 {
2804 if (Body != IntPtr.Zero)
2805 {
2806 DestroyBody();
2807 }
2808 Stop();
2809 }
2810 }
2811
2812 resetCollisionAccounting();
2813 }
2814
2815 private void changeSize(Vector3 newSize)
2816 {
2817 }
2818
2819 private void changeShape(PrimitiveBaseShape newShape)
2820 {
2821 }
2822
2823 private void changeAddPhysRep(ODEPhysRepData repData)
2824 {
2825 _size = repData.size; //??
2826 _pbs = repData.pbs;
2827 m_shapetype = repData.shapetype;
2828
2829 m_mesh = repData.mesh;
2830
2831 m_assetID = repData.assetID;
2832 m_meshState = repData.meshState;
2833
2834 m_hasOBB = repData.hasOBB;
2835 m_OBBOffset = repData.OBBOffset;
2836 m_OBB = repData.OBB;
2837
2838 primVolume = repData.volume;
2839
2840 CreateGeom();
2841
2842 if (prim_geom != IntPtr.Zero)
2843 {
2844 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2845 d.Quaternion myrot = new d.Quaternion();
2846 myrot.X = _orientation.X;
2847 myrot.Y = _orientation.Y;
2848 myrot.Z = _orientation.Z;
2849 myrot.W = _orientation.W;
2850 d.GeomSetQuaternion(prim_geom, ref myrot);
2851 }
2852
2853 if (!m_isphysical)
2854 {
2855 SetInStaticSpace(this);
2856 UpdateCollisionCatFlags();
2857 ApplyCollisionCatFlags();
2858 }
2859 else
2860 MakeBody();
2861
2862 if ((m_meshState & MeshState.NeedMask) != 0)
2863 {
2864 repData.size = _size;
2865 repData.pbs = _pbs;
2866 repData.shapetype = m_shapetype;
2867 _parent_scene.m_meshWorker.RequestMesh(repData);
2868 }
2869 }
2870
2871 private void changePhysRepData(ODEPhysRepData repData)
2872 {
2873 CheckDelaySelect();
2874
2875 OdePrim parent = (OdePrim)_parent;
2876
2877 bool chp = childPrim;
2878
2879 if (chp)
2880 {
2881 if (parent != null)
2882 {
2883 parent.DestroyBody();
2884 }
2885 }
2886 else
2887 {
2888 DestroyBody();
2889 }
2890
2891 RemoveGeom();
2892
2893 _size = repData.size;
2894 _pbs = repData.pbs;
2895 m_shapetype = repData.shapetype;
2896
2897 m_mesh = repData.mesh;
2898
2899 m_assetID = repData.assetID;
2900 m_meshState = repData.meshState;
2901
2902 m_hasOBB = repData.hasOBB;
2903 m_OBBOffset = repData.OBBOffset;
2904 m_OBB = repData.OBB;
2905
2906 primVolume = repData.volume;
2907
2908 CreateGeom();
2909
2910 if (prim_geom != IntPtr.Zero)
2911 {
2912 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2913 d.Quaternion myrot = new d.Quaternion();
2914 myrot.X = _orientation.X;
2915 myrot.Y = _orientation.Y;
2916 myrot.Z = _orientation.Z;
2917 myrot.W = _orientation.W;
2918 d.GeomSetQuaternion(prim_geom, ref myrot);
2919 }
2920
2921 if (m_isphysical)
2922 {
2923 if (chp)
2924 {
2925 if (parent != null)
2926 {
2927 parent.MakeBody();
2928 }
2929 }
2930 else
2931 MakeBody();
2932 }
2933 else
2934 {
2935 SetInStaticSpace(this);
2936 UpdateCollisionCatFlags();
2937 ApplyCollisionCatFlags();
2938 }
2939
2940 resetCollisionAccounting();
2941
2942 if ((m_meshState & MeshState.NeedMask) != 0)
2943 {
2944 repData.size = _size;
2945 repData.pbs = _pbs;
2946 repData.shapetype = m_shapetype;
2947 _parent_scene.m_meshWorker.RequestMesh(repData);
2948 }
2949 }
2950
2951 private void changeFloatOnWater(bool newval)
2952 {
2953 m_collidesWater = newval;
2954
2955 UpdateCollisionCatFlags();
2956 ApplyCollisionCatFlags();
2957 }
2958
2959 private void changeSetTorque(Vector3 newtorque)
2960 {
2961 if (!m_isSelected)
2962 {
2963 if (m_isphysical && Body != IntPtr.Zero)
2964 {
2965 if (m_disabled)
2966 enableBodySoft();
2967 else if (!d.BodyIsEnabled(Body))
2968 d.BodyEnable(Body);
2969
2970 }
2971 _torque = newtorque;
2972 }
2973 }
2974
2975 private void changeForce(Vector3 force)
2976 {
2977 m_force = force;
2978 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2979 d.BodyEnable(Body);
2980 }
2981
2982 private void changeAddForce(Vector3 theforce)
2983 {
2984 m_forceacc += theforce;
2985 if (!m_isSelected)
2986 {
2987 lock (this)
2988 {
2989 //m_log.Info("[PHYSICS]: dequeing forcelist");
2990 if (m_isphysical && Body != IntPtr.Zero)
2991 {
2992 if (m_disabled)
2993 enableBodySoft();
2994 else if (!d.BodyIsEnabled(Body))
2995 d.BodyEnable(Body);
2996 }
2997 }
2998 m_collisionscore = 0;
2999 }
3000 }
3001
3002 // actually angular impulse
3003 private void changeAddAngularImpulse(Vector3 aimpulse)
3004 {
3005 m_angularForceacc += aimpulse * m_invTimeStep;
3006 if (!m_isSelected)
3007 {
3008 lock (this)
3009 {
3010 if (m_isphysical && Body != IntPtr.Zero)
3011 {
3012 if (m_disabled)
3013 enableBodySoft();
3014 else if (!d.BodyIsEnabled(Body))
3015 d.BodyEnable(Body);
3016 }
3017 }
3018 m_collisionscore = 0;
3019 }
3020 }
3021
3022 private void changevelocity(Vector3 newVel)
3023 {
3024 float len = newVel.LengthSquared();
3025 if (len > 100000.0f) // limit to 100m/s
3026 {
3027 len = 100.0f / (float)Math.Sqrt(len);
3028 newVel *= len;
3029 }
3030
3031 if (!m_isSelected)
3032 {
3033 if (Body != IntPtr.Zero)
3034 {
3035 if (m_disabled)
3036 enableBodySoft();
3037 else if (!d.BodyIsEnabled(Body))
3038 d.BodyEnable(Body);
3039
3040 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3041 }
3042 //resetCollisionAccounting();
3043 }
3044 _velocity = newVel;
3045 }
3046
3047 private void changeangvelocity(Vector3 newAngVel)
3048 {
3049 float len = newAngVel.LengthSquared();
3050 if (len > 144.0f) // limit to 12rad/s
3051 {
3052 len = 12.0f / (float)Math.Sqrt(len);
3053 newAngVel *= len;
3054 }
3055
3056 if (!m_isSelected)
3057 {
3058 if (Body != IntPtr.Zero)
3059 {
3060 if (m_disabled)
3061 enableBodySoft();
3062 else if (!d.BodyIsEnabled(Body))
3063 d.BodyEnable(Body);
3064
3065
3066 d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
3067 }
3068 //resetCollisionAccounting();
3069 }
3070 m_rotationalVelocity = newAngVel;
3071 }
3072
3073 private void changeVolumedetetion(bool newVolDtc)
3074 {
3075 m_isVolumeDetect = newVolDtc;
3076 m_fakeisVolumeDetect = newVolDtc;
3077 UpdateCollisionCatFlags();
3078 ApplyCollisionCatFlags();
3079 }
3080
3081 protected void changeBuilding(bool newbuilding)
3082 {
3083 // Check if we need to do anything
3084 if (newbuilding == m_building)
3085 return;
3086
3087 if ((bool)newbuilding)
3088 {
3089 m_building = true;
3090 if (!childPrim)
3091 DestroyBody();
3092 }
3093 else
3094 {
3095 m_building = false;
3096 CheckDelaySelect();
3097 if (!childPrim)
3098 MakeBody();
3099 }
3100 if (!childPrim && childrenPrim.Count > 0)
3101 {
3102 foreach (OdePrim prm in childrenPrim)
3103 prm.changeBuilding(m_building); // call directly
3104 }
3105 }
3106
3107 public void changeSetVehicle(VehicleData vdata)
3108 {
3109 if (m_vehicle == null)
3110 m_vehicle = new ODEDynamics(this);
3111 m_vehicle.DoSetVehicle(vdata);
3112 }
3113
3114 private void changeVehicleType(int value)
3115 {
3116 if (value == (int)Vehicle.TYPE_NONE)
3117 {
3118 if (m_vehicle != null)
3119 m_vehicle = null;
3120 }
3121 else
3122 {
3123 if (m_vehicle == null)
3124 m_vehicle = new ODEDynamics(this);
3125
3126 m_vehicle.ProcessTypeChange((Vehicle)value);
3127 }
3128 }
3129
3130 private void changeVehicleFloatParam(strVehicleFloatParam fp)
3131 {
3132 if (m_vehicle == null)
3133 return;
3134
3135 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
3136 }
3137
3138 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3139 {
3140 if (m_vehicle == null)
3141 return;
3142 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3143 }
3144
3145 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3146 {
3147 if (m_vehicle == null)
3148 return;
3149 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3150 }
3151
3152 private void changeVehicleFlags(strVehicleBoolParam bp)
3153 {
3154 if (m_vehicle == null)
3155 return;
3156 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3157 }
3158
3159 private void changeBuoyancy(float b)
3160 {
3161 m_buoyancy = b;
3162 }
3163
3164 private void changePIDTarget(Vector3 trg)
3165 {
3166 m_PIDTarget = trg;
3167 }
3168
3169 private void changePIDTau(float tau)
3170 {
3171 m_PIDTau = tau;
3172 }
3173
3174 private void changePIDActive(bool val)
3175 {
3176 m_usePID = val;
3177 }
3178
3179 private void changePIDHoverHeight(float val)
3180 {
3181 m_PIDHoverHeight = val;
3182 if (val == 0)
3183 m_useHoverPID = false;
3184 }
3185
3186 private void changePIDHoverType(PIDHoverType type)
3187 {
3188 m_PIDHoverType = type;
3189 }
3190
3191 private void changePIDHoverTau(float tau)
3192 {
3193 m_PIDHoverTau = tau;
3194 }
3195
3196 private void changePIDHoverActive(bool active)
3197 {
3198 m_useHoverPID = active;
3199 }
3200
3201 #endregion
3202
3203 public void Move()
3204 {
3205 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3206 !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3207 {
3208 if (!d.BodyIsEnabled(Body))
3209 {
3210 // let vehicles sleep
3211 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3212 return;
3213
3214 if (++bodydisablecontrol < 20)
3215 return;
3216
3217
3218 d.BodyEnable(Body);
3219 }
3220
3221 bodydisablecontrol = 0;
3222
3223 d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
3224
3225 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3226 {
3227 // 'VEHICLES' are dealt with in ODEDynamics.cs
3228 m_vehicle.Step();
3229 return;
3230 }
3231
3232 float fx = 0;
3233 float fy = 0;
3234 float fz = 0;
3235
3236 float m_mass = _mass;
3237
3238 if (m_usePID && m_PIDTau > 0)
3239 {
3240 // for now position error
3241 _target_velocity =
3242 new Vector3(
3243 (m_PIDTarget.X - lpos.X),
3244 (m_PIDTarget.Y - lpos.Y),
3245 (m_PIDTarget.Z - lpos.Z)
3246 );
3247
3248 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
3249 {
3250 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3251 d.BodySetLinearVel(Body, 0, 0, 0);
3252 return;
3253 }
3254 else
3255 {
3256 _zeroFlag = false;
3257
3258 float tmp = 1 / m_PIDTau;
3259 _target_velocity *= tmp;
3260
3261 // apply limits
3262 tmp = _target_velocity.Length();
3263 if (tmp > 50.0f)
3264 {
3265 tmp = 50 / tmp;
3266 _target_velocity *= tmp;
3267 }
3268 else if (tmp < 0.05f)
3269 {
3270 tmp = 0.05f / tmp;
3271 _target_velocity *= tmp;
3272 }
3273
3274 d.Vector3 vel = d.BodyGetLinearVel(Body);
3275 fx = (_target_velocity.X - vel.X) * m_invTimeStep;
3276 fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
3277 fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
3278// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3279 }
3280 } // end if (m_usePID)
3281
3282 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3283 else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
3284 {
3285
3286 // Non-Vehicles have a limited set of Hover options.
3287 // determine what our target height really is based on HoverType
3288
3289 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
3290
3291 switch (m_PIDHoverType)
3292 {
3293 case PIDHoverType.Ground:
3294 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3295 break;
3296
3297 case PIDHoverType.GroundAndWater:
3298 m_waterHeight = _parent_scene.GetWaterLevel();
3299 if (m_groundHeight > m_waterHeight)
3300 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3301 else
3302 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3303 break;
3304 } // end switch (m_PIDHoverType)
3305
3306 // don't go underground unless volumedetector
3307
3308 if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
3309 {
3310 d.Vector3 vel = d.BodyGetLinearVel(Body);
3311
3312 fz = (m_targetHoverHeight - lpos.Z);
3313
3314 // if error is zero, use position control; otherwise, velocity control
3315 if (Math.Abs(fz) < 0.01f)
3316 {
3317 d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
3318 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3319 }
3320 else
3321 {
3322 _zeroFlag = false;
3323 fz /= m_PIDHoverTau;
3324
3325 float tmp = Math.Abs(fz);
3326 if (tmp > 50)
3327 fz = 50 * Math.Sign(fz);
3328 else if (tmp < 0.1)
3329 fz = 0.1f * Math.Sign(fz);
3330
3331 fz = ((fz - vel.Z) * m_invTimeStep);
3332 }
3333 }
3334 }
3335 else
3336 {
3337 float b = (1.0f - m_buoyancy);
3338 fx = _parent_scene.gravityx * b;
3339 fy = _parent_scene.gravityy * b;
3340 fz = _parent_scene.gravityz * b;
3341 }
3342
3343 fx *= m_mass;
3344 fy *= m_mass;
3345 fz *= m_mass;
3346
3347 // constant force
3348 fx += m_force.X;
3349 fy += m_force.Y;
3350 fz += m_force.Z;
3351
3352 fx += m_forceacc.X;
3353 fy += m_forceacc.Y;
3354 fz += m_forceacc.Z;
3355
3356 m_forceacc = Vector3.Zero;
3357
3358 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3359 if (fx != 0 || fy != 0 || fz != 0)
3360 {
3361 d.BodyAddForce(Body, fx, fy, fz);
3362 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3363 }
3364
3365 Vector3 trq;
3366
3367 trq = _torque;
3368 trq += m_angularForceacc;
3369 m_angularForceacc = Vector3.Zero;
3370 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3371 {
3372 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3373 }
3374 }
3375 else
3376 { // is not physical, or is not a body or is selected
3377 // _zeroPosition = d.BodyGetPosition(Body);
3378 return;
3379 //Console.WriteLine("Nothing " + Name);
3380
3381 }
3382 }
3383
3384 public void UpdatePositionAndVelocity()
3385 {
3386 if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
3387 {
3388 if (d.BodyIsEnabled(Body) || !_zeroFlag)
3389 {
3390 bool lastZeroFlag = _zeroFlag;
3391
3392 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
3393
3394 // check outside region
3395 if (lpos.Z < -100 || lpos.Z > 100000f)
3396 {
3397 m_outbounds = true;
3398
3399 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3400 _acceleration.X = 0;
3401 _acceleration.Y = 0;
3402 _acceleration.Z = 0;
3403
3404 _velocity.X = 0;
3405 _velocity.Y = 0;
3406 _velocity.Z = 0;
3407 m_rotationalVelocity.X = 0;
3408 m_rotationalVelocity.Y = 0;
3409 m_rotationalVelocity.Z = 0;
3410
3411 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3412 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3413 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3414 m_lastposition = _position;
3415 m_lastorientation = _orientation;
3416
3417 base.RequestPhysicsterseUpdate();
3418
3419// throttleCounter = 0;
3420 _zeroFlag = true;
3421
3422 disableBodySoft(); // disable it and colisions
3423 base.RaiseOutOfBounds(_position);
3424 return;
3425 }
3426
3427 if (lpos.X < 0f)
3428 {
3429 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3430 m_outbounds = true;
3431 }
3432 else if (lpos.X > _parent_scene.WorldExtents.X)
3433 {
3434 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3435 m_outbounds = true;
3436 }
3437 if (lpos.Y < 0f)
3438 {
3439 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3440 m_outbounds = true;
3441 }
3442 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3443 {
3444 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3445 m_outbounds = true;
3446 }
3447
3448 if (m_outbounds)
3449 {
3450 m_lastposition = _position;
3451 m_lastorientation = _orientation;
3452
3453 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3454 m_rotationalVelocity.X = dtmp.X;
3455 m_rotationalVelocity.Y = dtmp.Y;
3456 m_rotationalVelocity.Z = dtmp.Z;
3457
3458 dtmp = d.BodyGetLinearVel(Body);
3459 _velocity.X = dtmp.X;
3460 _velocity.Y = dtmp.Y;
3461 _velocity.Z = dtmp.Z;
3462
3463 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3464 d.BodySetAngularVel(Body, 0, 0, 0);
3465 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3466 disableBodySoft(); // stop collisions
3467 UnSubscribeEvents();
3468
3469 base.RequestPhysicsterseUpdate();
3470 return;
3471 }
3472
3473 d.Quaternion ori;
3474 d.GeomCopyQuaternion(prim_geom, out ori);
3475
3476 // decide if moving
3477 // use positions since this are integrated quantities
3478 // tolerance values depende a lot on simulation noise...
3479 // use simple math.abs since we dont need to be exact
3480
3481 if (
3482 (Math.Abs(_position.X - lpos.X) < 0.001f)
3483 && (Math.Abs(_position.Y - lpos.Y) < 0.001f)
3484 && (Math.Abs(_position.Z - lpos.Z) < 0.001f)
3485 && (Math.Abs(_orientation.X - ori.X) < 0.0001f)
3486 && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
3487 && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
3488 )
3489 {
3490 _zeroFlag = true;
3491 }
3492 else
3493 _zeroFlag = false;
3494
3495 // update velocities and aceleration
3496 if (!(_zeroFlag && lastZeroFlag))
3497 {
3498 d.Vector3 vel = d.BodyGetLinearVel(Body);
3499
3500 _acceleration = _velocity;
3501
3502 if ((Math.Abs(vel.X) < 0.001f) &&
3503 (Math.Abs(vel.Y) < 0.001f) &&
3504 (Math.Abs(vel.Z) < 0.001f))
3505 {
3506 _velocity = Vector3.Zero;
3507 float t = -m_invTimeStep;
3508 _acceleration = _acceleration * t;
3509 }
3510 else
3511 {
3512 _velocity.X = vel.X;
3513 _velocity.Y = vel.Y;
3514 _velocity.Z = vel.Z;
3515 _acceleration = (_velocity - _acceleration) * m_invTimeStep;
3516 }
3517
3518 if ((Math.Abs(_acceleration.X) < 0.01f) &&
3519 (Math.Abs(_acceleration.Y) < 0.01f) &&
3520 (Math.Abs(_acceleration.Z) < 0.01f))
3521 {
3522 _acceleration = Vector3.Zero;
3523 }
3524
3525 if ((Math.Abs(_orientation.X - ori.X) < 0.0001) &&
3526 (Math.Abs(_orientation.Y - ori.Y) < 0.0001) &&
3527 (Math.Abs(_orientation.Z - ori.Z) < 0.0001)
3528 )
3529 {
3530 m_rotationalVelocity = Vector3.Zero;
3531 }
3532 else
3533 {
3534 vel = d.BodyGetAngularVel(Body);
3535 m_rotationalVelocity.X = vel.X;
3536 m_rotationalVelocity.Y = vel.Y;
3537 m_rotationalVelocity.Z = vel.Z;
3538 }
3539 }
3540
3541 if (_zeroFlag)
3542 {
3543 if (lastZeroFlag)
3544 {
3545 _velocity = Vector3.Zero;
3546 _acceleration = Vector3.Zero;
3547 m_rotationalVelocity = Vector3.Zero;
3548 }
3549
3550 if (!m_lastUpdateSent)
3551 {
3552 base.RequestPhysicsterseUpdate();
3553 if (lastZeroFlag)
3554 m_lastUpdateSent = true;
3555 }
3556 return;
3557 }
3558
3559 _position.X = lpos.X;
3560 _position.Y = lpos.Y;
3561 _position.Z = lpos.Z;
3562
3563 _orientation.X = ori.X;
3564 _orientation.Y = ori.Y;
3565 _orientation.Z = ori.Z;
3566 _orientation.W = ori.W;
3567 base.RequestPhysicsterseUpdate();
3568 m_lastUpdateSent = false;
3569 }
3570 }
3571 }
3572
3573 internal static bool QuaternionIsFinite(Quaternion q)
3574 {
3575 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3576 return false;
3577 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3578 return false;
3579 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3580 return false;
3581 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3582 return false;
3583 return true;
3584 }
3585
3586 internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
3587 {
3588 // assumes object center of mass is zero
3589 float smass = part.mass;
3590 theobj.mass -= smass;
3591
3592 smass *= 1.0f / (theobj.mass); ;
3593
3594 theobj.c.X -= part.c.X * smass;
3595 theobj.c.Y -= part.c.Y * smass;
3596 theobj.c.Z -= part.c.Z * smass;
3597
3598 theobj.I.M00 -= part.I.M00;
3599 theobj.I.M01 -= part.I.M01;
3600 theobj.I.M02 -= part.I.M02;
3601 theobj.I.M10 -= part.I.M10;
3602 theobj.I.M11 -= part.I.M11;
3603 theobj.I.M12 -= part.I.M12;
3604 theobj.I.M20 -= part.I.M20;
3605 theobj.I.M21 -= part.I.M21;
3606 theobj.I.M22 -= part.I.M22;
3607 }
3608
3609 private void donullchange()
3610 {
3611 }
3612
3613 public bool DoAChange(changes what, object arg)
3614 {
3615 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove)
3616 {
3617 return false;
3618 }
3619
3620 // nasty switch
3621 switch (what)
3622 {
3623 case changes.Add:
3624 changeadd();
3625 break;
3626
3627 case changes.AddPhysRep:
3628 changeAddPhysRep((ODEPhysRepData)arg);
3629 break;
3630
3631 case changes.Remove:
3632 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3633 //When we return true, it destroys all of the prims in the linkset anyway
3634 if (_parent != null)
3635 {
3636 OdePrim parent = (OdePrim)_parent;
3637 parent.ChildRemove(this, false);
3638 }
3639 else
3640 ChildRemove(this, false);
3641
3642 m_vehicle = null;
3643 RemoveGeom();
3644 m_targetSpace = IntPtr.Zero;
3645 UnSubscribeEvents();
3646 return true;
3647
3648 case changes.Link:
3649 OdePrim tmp = (OdePrim)arg;
3650 changeLink(tmp);
3651 break;
3652
3653 case changes.DeLink:
3654 changeLink(null);
3655 break;
3656
3657 case changes.Position:
3658 changePosition((Vector3)arg);
3659 break;
3660
3661 case changes.Orientation:
3662 changeOrientation((Quaternion)arg);
3663 break;
3664
3665 case changes.PosOffset:
3666 donullchange();
3667 break;
3668
3669 case changes.OriOffset:
3670 donullchange();
3671 break;
3672
3673 case changes.Velocity:
3674 changevelocity((Vector3)arg);
3675 break;
3676
3677// case changes.Acceleration:
3678// changeacceleration((Vector3)arg);
3679// break;
3680
3681 case changes.AngVelocity:
3682 changeangvelocity((Vector3)arg);
3683 break;
3684
3685 case changes.Force:
3686 changeForce((Vector3)arg);
3687 break;
3688
3689 case changes.Torque:
3690 changeSetTorque((Vector3)arg);
3691 break;
3692
3693 case changes.AddForce:
3694 changeAddForce((Vector3)arg);
3695 break;
3696
3697 case changes.AddAngForce:
3698 changeAddAngularImpulse((Vector3)arg);
3699 break;
3700
3701 case changes.AngLock:
3702 changeAngularLock((Vector3)arg);
3703 break;
3704
3705 case changes.Size:
3706 changeSize((Vector3)arg);
3707 break;
3708
3709 case changes.Shape:
3710 changeShape((PrimitiveBaseShape)arg);
3711 break;
3712
3713 case changes.PhysRepData:
3714 changePhysRepData((ODEPhysRepData) arg);
3715 break;
3716
3717 case changes.CollidesWater:
3718 changeFloatOnWater((bool)arg);
3719 break;
3720
3721 case changes.VolumeDtc:
3722 changeVolumedetetion((bool)arg);
3723 break;
3724
3725 case changes.Phantom:
3726 changePhantomStatus((bool)arg);
3727 break;
3728
3729 case changes.Physical:
3730 changePhysicsStatus((bool)arg);
3731 break;
3732
3733 case changes.Selected:
3734 changeSelectedStatus((bool)arg);
3735 break;
3736
3737 case changes.disabled:
3738 changeDisable((bool)arg);
3739 break;
3740
3741 case changes.building:
3742 changeBuilding((bool)arg);
3743 break;
3744
3745 case changes.VehicleType:
3746 changeVehicleType((int)arg);
3747 break;
3748
3749 case changes.VehicleFlags:
3750 changeVehicleFlags((strVehicleBoolParam) arg);
3751 break;
3752
3753 case changes.VehicleFloatParam:
3754 changeVehicleFloatParam((strVehicleFloatParam) arg);
3755 break;
3756
3757 case changes.VehicleVectorParam:
3758 changeVehicleVectorParam((strVehicleVectorParam) arg);
3759 break;
3760
3761 case changes.VehicleRotationParam:
3762 changeVehicleRotationParam((strVehicleQuatParam) arg);
3763 break;
3764
3765 case changes.SetVehicle:
3766 changeSetVehicle((VehicleData) arg);
3767 break;
3768
3769 case changes.Buoyancy:
3770 changeBuoyancy((float)arg);
3771 break;
3772
3773 case changes.PIDTarget:
3774 changePIDTarget((Vector3)arg);
3775 break;
3776
3777 case changes.PIDTau:
3778 changePIDTau((float)arg);
3779 break;
3780
3781 case changes.PIDActive:
3782 changePIDActive((bool)arg);
3783 break;
3784
3785 case changes.PIDHoverHeight:
3786 changePIDHoverHeight((float)arg);
3787 break;
3788
3789 case changes.PIDHoverType:
3790 changePIDHoverType((PIDHoverType)arg);
3791 break;
3792
3793 case changes.PIDHoverTau:
3794 changePIDHoverTau((float)arg);
3795 break;
3796
3797 case changes.PIDHoverActive:
3798 changePIDHoverActive((bool)arg);
3799 break;
3800
3801 case changes.Null:
3802 donullchange();
3803 break;
3804
3805
3806
3807 default:
3808 donullchange();
3809 break;
3810 }
3811 return false;
3812 }
3813
3814 public void AddChange(changes what, object arg)
3815 {
3816 _parent_scene.AddChange((PhysicsActor) this, what, arg);
3817 }
3818
3819
3820 private struct strVehicleBoolParam
3821 {
3822 public int param;
3823 public bool value;
3824 }
3825
3826 private struct strVehicleFloatParam
3827 {
3828 public int param;
3829 public float value;
3830 }
3831
3832 private struct strVehicleQuatParam
3833 {
3834 public int param;
3835 public Quaternion value;
3836 }
3837
3838 private struct strVehicleVectorParam
3839 {
3840 public int param;
3841 public Vector3 value;
3842 }
3843 }
3844}
generated by cgit v1.1 at 2024-12-16 01:58:14 +0000