aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/UbitOdePlugin
diff options
context:
space:
mode:
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs1452
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs997
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs4024
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs443
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs1960
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs2383
8 files changed, 11407 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d46341b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System.Reflection;
29using System.Runtime.InteropServices;
30
31// Information about this assembly is defined by the following
32// attributes.
33//
34// change them to the information which is associated with the assembly
35// you compile.
36
37[assembly : AssemblyTitle("OdePlugin")]
38[assembly : AssemblyDescription("Ubit Variation")]
39[assembly : AssemblyConfiguration("")]
40[assembly : AssemblyCompany("http://opensimulator.org")]
41[assembly : AssemblyProduct("OdePlugin")]
42[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
43[assembly : AssemblyTrademark("")]
44[assembly : AssemblyCulture("")]
45
46// This sets the default COM visibility of types in the assembly to invisible.
47// If you need to expose a type to COM, use [ComVisible(true)] on that type.
48
49[assembly : ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..4266fda
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1452 @@
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
29// Revision by Ubit 2011/12
30
31using System;
32using System.Collections.Generic;
33using System.Reflection;
34using OpenMetaverse;
35using OdeAPI;
36using OpenSim.Framework;
37using OpenSim.Region.Physics.Manager;
38using log4net;
39
40namespace OpenSim.Region.Physics.OdePlugin
41{
42 /// <summary>
43 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
44 /// </summary>
45
46 public enum dParam : int
47 {
48 LowStop = 0,
49 HiStop = 1,
50 Vel = 2,
51 FMax = 3,
52 FudgeFactor = 4,
53 Bounce = 5,
54 CFM = 6,
55 StopERP = 7,
56 StopCFM = 8,
57 LoStop2 = 256,
58 HiStop2 = 257,
59 Vel2 = 258,
60 FMax2 = 259,
61 StopERP2 = 7 + 256,
62 StopCFM2 = 8 + 256,
63 LoStop3 = 512,
64 HiStop3 = 513,
65 Vel3 = 514,
66 FMax3 = 515,
67 StopERP3 = 7 + 512,
68 StopCFM3 = 8 + 512
69 }
70
71 public class OdeCharacter : PhysicsActor
72 {
73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
74
75 private Vector3 _position;
76 private Vector3 _zeroPosition;
77 private bool _zeroFlag = false;
78 private Vector3 _velocity;
79 private Vector3 _target_velocity;
80 private Vector3 _acceleration;
81 private Vector3 m_rotationalVelocity;
82 private float m_mass = 80f;
83 public float m_density = 60f;
84 private bool m_pidControllerActive = true;
85 public float PID_D = 800.0f;
86 public float PID_P = 900.0f;
87 //private static float POSTURE_SERVO = 10000.0f;
88 public float CAPSULE_RADIUS = 0.37f;
89 public float CAPSULE_LENGTH = 2.140599f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool m_iscolliding = false;
94 private bool m_iscollidingGround = false;
95 private bool m_iscollidingObj = false;
96 private bool m_alwaysRun = false;
97 private int m_requestedUpdateFrequency = 0;
98 public uint m_localID = 0;
99 public bool m_returnCollisions = false;
100 // taints and their non-tainted counterparts
101 public bool m_isPhysical = false; // the current physical status
102 public float MinimumGroundFlightOffset = 3f;
103
104 private float m_buoyancy = 0f;
105
106 // private CollisionLocker ode;
107
108 private string m_name = String.Empty;
109 // other filter control
110 int m_colliderfilter = 0;
111 // int m_colliderGroundfilter = 0;
112 int m_colliderObjectfilter = 0;
113
114 // Default we're a Character
115 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
116
117 // Default, Collide with Other Geometries, spaces, bodies and characters.
118 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
119 | CollisionCategories.Space
120 | CollisionCategories.Body
121 | CollisionCategories.Character
122 );
123 // we do land collisions not ode | CollisionCategories.Land);
124 public IntPtr Body = IntPtr.Zero;
125 private OdeScene _parent_scene;
126 public IntPtr Shell = IntPtr.Zero;
127 public IntPtr Amotor = IntPtr.Zero;
128 public d.Mass ShellMass;
129// public bool collidelock = false;
130
131 private bool m_haseventsubscription = false;
132 public int m_eventsubscription = 0;
133 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
134
135 // unique UUID of this character object
136 public UUID m_uuid;
137 public bool bad = false;
138
139 float mu;
140
141 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
142 {
143 m_uuid = UUID.Random();
144
145 if (pos.IsFinite())
146 {
147 if (pos.Z > 99999f)
148 {
149 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
150 }
151 if (pos.Z < -100f) // shouldn't this be 0 ?
152 {
153 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
154 }
155 _position = pos;
156 }
157 else
158 {
159 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
160 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
161 }
162
163 _parent_scene = parent_scene;
164
165 PID_D = pid_d;
166 PID_P = pid_p;
167 CAPSULE_RADIUS = capsule_radius;
168 m_density = density;
169 m_mass = 80f; // sure we have a default
170
171 mu = parent_scene.AvatarFriction;
172
173 walkDivisor = walk_divisor;
174 runDivisor = rundivisor;
175
176 CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f;
177 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
178
179 m_isPhysical = false; // current status: no ODE information exists
180
181 m_name = avName;
182
183 AddChange(changes.Add, null);
184 }
185
186 public override int PhysicsActorType
187 {
188 get { return (int)ActorTypes.Agent; }
189 set { return; }
190 }
191
192 public override void getContactData(ref ContactData cdata)
193 {
194 cdata.mu = mu;
195 cdata.bounce = 0;
196 cdata.softcolide = false;
197 }
198
199 public override bool Building { get; set; }
200
201 /// <summary>
202 /// If this is set, the avatar will move faster
203 /// </summary>
204 public override bool SetAlwaysRun
205 {
206 get { return m_alwaysRun; }
207 set { m_alwaysRun = value; }
208 }
209
210 public override uint LocalID
211 {
212 set { m_localID = value; }
213 }
214
215 public override bool Grabbed
216 {
217 set { return; }
218 }
219
220 public override bool Selected
221 {
222 set { return; }
223 }
224
225 public override float Buoyancy
226 {
227 get { return m_buoyancy; }
228 set { m_buoyancy = value; }
229 }
230
231 public override bool FloatOnWater
232 {
233 set { return; }
234 }
235
236 public override bool IsPhysical
237 {
238 get { return false; }
239 set { return; }
240 }
241
242 public override bool ThrottleUpdates
243 {
244 get { return false; }
245 set { return; }
246 }
247
248 public override bool Flying
249 {
250 get { return flying; }
251 set
252 {
253 flying = value;
254 // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
255 }
256 }
257
258 /// <summary>
259 /// Returns if the avatar is colliding in general.
260 /// This includes the ground and objects and avatar.
261 /// </summary>
262 public override bool IsColliding
263 {
264 get { return (m_iscolliding || m_iscollidingGround); }
265 set
266 {
267 if (value)
268 {
269 m_colliderfilter += 2;
270 if (m_colliderfilter > 2)
271 m_colliderfilter = 2;
272 }
273 else
274 {
275 m_colliderfilter--;
276 if (m_colliderfilter < 0)
277 m_colliderfilter = 0;
278 }
279
280 if (m_colliderfilter == 0)
281 m_iscolliding = false;
282 else
283 {
284// SetPidStatus(false);
285 m_pidControllerActive = true;
286 m_iscolliding = true;
287 }
288 }
289 }
290
291 /// <summary>
292 /// Returns if an avatar is colliding with the ground
293 /// </summary>
294 public override bool CollidingGround
295 {
296 get { return m_iscollidingGround; }
297 set
298 {
299 /* we now control this
300 if (value)
301 {
302 m_colliderGroundfilter += 2;
303 if (m_colliderGroundfilter > 2)
304 m_colliderGroundfilter = 2;
305 }
306 else
307 {
308 m_colliderGroundfilter--;
309 if (m_colliderGroundfilter < 0)
310 m_colliderGroundfilter = 0;
311 }
312
313 if (m_colliderGroundfilter == 0)
314 m_iscollidingGround = false;
315 else
316 m_iscollidingGround = true;
317 */
318 }
319
320 }
321
322 /// <summary>
323 /// Returns if the avatar is colliding with an object
324 /// </summary>
325 public override bool CollidingObj
326 {
327 get { return m_iscollidingObj; }
328 set
329 {
330 // Ubit filter this also
331 if (value)
332 {
333 m_colliderObjectfilter += 2;
334 if (m_colliderObjectfilter > 2)
335 m_colliderObjectfilter = 2;
336 }
337 else
338 {
339 m_colliderObjectfilter--;
340 if (m_colliderObjectfilter < 0)
341 m_colliderObjectfilter = 0;
342 }
343
344 if (m_colliderObjectfilter == 0)
345 m_iscollidingObj = false;
346 else
347 m_iscollidingObj = true;
348
349 // m_iscollidingObj = value;
350/*
351 if (m_iscollidingObj)
352 m_pidControllerActive = false;
353 else
354 m_pidControllerActive = true;
355 */
356 }
357 }
358
359 /// <summary>
360 /// turn the PID controller on or off.
361 /// The PID Controller will turn on all by itself in many situations
362 /// </summary>
363 /// <param name="status"></param>
364 public void SetPidStatus(bool status)
365 {
366 m_pidControllerActive = status;
367 }
368
369 public override bool Stopped
370 {
371 get { return _zeroFlag; }
372 }
373
374 /// <summary>
375 /// This 'puts' an avatar somewhere in the physics space.
376 /// Not really a good choice unless you 'know' it's a good
377 /// spot otherwise you're likely to orbit the avatar.
378 /// </summary>
379 public override Vector3 Position
380 {
381 get { return _position; }
382 set
383 {
384 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
385 {
386 if (value.IsFinite())
387 {
388 if (value.Z > 9999999f)
389 {
390 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
391 }
392 if (value.Z < -100f)
393 {
394 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
395 }
396 AddChange(changes.Position, value);
397 }
398 else
399 {
400 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
401 }
402 }
403 }
404 }
405
406 public override Vector3 RotationalVelocity
407 {
408 get { return m_rotationalVelocity; }
409 set { m_rotationalVelocity = value; }
410 }
411
412 /// <summary>
413 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
414 /// and use it to offset landings properly
415 /// </summary>
416 public override Vector3 Size
417 {
418 get {
419 float d = CAPSULE_RADIUS * 2;
420 return new Vector3(d, d, (CAPSULE_LENGTH +d)/1.15f); }
421 set
422 {
423 if (value.IsFinite())
424 {
425 AddChange(changes.Size, value);
426 }
427 else
428 {
429 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
430 }
431 }
432 }
433
434 /// <summary>
435 /// This creates the Avatar's physical Surrogate at the position supplied
436 /// </summary>
437 /// <param name="npositionX"></param>
438 /// <param name="npositionY"></param>
439 /// <param name="npositionZ"></param>
440
441 //
442 /// <summary>
443 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
444 /// This may be used in calculations in the scene/scenepresence
445 /// </summary>
446 public override float Mass
447 {
448 get
449 {
450 float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
451 return m_density * AVvolume;
452 }
453 }
454 public override void link(PhysicsActor obj)
455 {
456
457 }
458
459 public override void delink()
460 {
461
462 }
463
464 public override void LockAngularMotion(Vector3 axis)
465 {
466
467 }
468
469
470 public override Vector3 Force
471 {
472 get { return _target_velocity; }
473 set { return; }
474 }
475
476 public override int VehicleType
477 {
478 get { return 0; }
479 set { return; }
480 }
481
482 public override void VehicleFloatParam(int param, float value)
483 {
484
485 }
486
487 public override void VehicleVectorParam(int param, Vector3 value)
488 {
489
490 }
491
492 public override void VehicleRotationParam(int param, Quaternion rotation)
493 {
494
495 }
496
497 public override void VehicleFlags(int param, bool remove)
498 {
499
500 }
501
502 public override void SetVolumeDetect(int param)
503 {
504
505 }
506
507 public override Vector3 CenterOfMass
508 {
509 get
510 {
511 Vector3 pos = _position;
512 return pos;
513 }
514 }
515
516 public override Vector3 GeometricCenter
517 {
518 get
519 {
520 Vector3 pos = _position;
521 return pos;
522 }
523 }
524
525 //UBit mess
526 /* for later use
527 public override Vector3 PrimOOBsize
528 {
529 get
530 {
531 Vector3 s=Size;
532 s.X *=0.5f;
533 s.Y *=0.5f;
534 s.Z *=0.5f;
535 return s;
536 }
537 }
538
539 public override Vector3 PrimOOBoffset
540 {
541 get
542 {
543 return Vector3.Zero;
544 }
545 }
546 */
547
548 public override PrimitiveBaseShape Shape
549 {
550 set { return; }
551 }
552
553 public override Vector3 Velocity
554 {
555 get
556 {
557 return _velocity;
558 }
559 set
560 {
561 if (value.IsFinite())
562 {
563 AddChange(changes.Velocity, value);
564 }
565 else
566 {
567 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
568 }
569 }
570 }
571
572 public override Vector3 Torque
573 {
574 get { return Vector3.Zero; }
575 set { return; }
576 }
577
578 public override float CollisionScore
579 {
580 get { return 0f; }
581 set { }
582 }
583
584 public override bool Kinematic
585 {
586 get { return false; }
587 set { }
588 }
589
590 public override Quaternion Orientation
591 {
592 get { return Quaternion.Identity; }
593 set
594 {
595 }
596 }
597
598 public override Vector3 Acceleration
599 {
600 get { return _acceleration; }
601 set { }
602 }
603
604 public void SetAcceleration(Vector3 accel)
605 {
606 m_pidControllerActive = true;
607 _acceleration = accel;
608 }
609
610 /// <summary>
611 /// Adds the force supplied to the Target Velocity
612 /// The PID controller takes this target velocity and tries to make it a reality
613 /// </summary>
614 /// <param name="force"></param>
615 public override void AddForce(Vector3 force, bool pushforce)
616 {
617 if (force.IsFinite())
618 {
619 if (pushforce)
620 {
621 AddChange(changes.Force, force * m_density / _parent_scene.ODE_STEPSIZE / 28f);
622 }
623 else
624 {
625 AddChange(changes.Velocity, force);
626 }
627 }
628 else
629 {
630 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
631 }
632 //m_lastUpdateSent = false;
633 }
634
635 public override void AddAngularForce(Vector3 force, bool pushforce)
636 {
637
638 }
639
640 public override void SetMomentum(Vector3 momentum)
641 {
642 }
643
644
645 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
646 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
647 // place that is safe to call this routine AvatarGeomAndBodyCreation.
648 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
649 {
650 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
651 if (CAPSULE_LENGTH <= 0)
652 {
653 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
654 CAPSULE_LENGTH = 0.01f;
655
656 }
657
658 if (CAPSULE_RADIUS <= 0)
659 {
660 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
661 CAPSULE_RADIUS = 0.01f;
662
663 }
664 Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
665
666 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
667 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
668
669 d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
670
671 m_mass = ShellMass.mass; // update mass
672
673 // rescale PID parameters
674 PID_D = _parent_scene.avPIDD;
675 PID_P = _parent_scene.avPIDP;
676
677 // rescale PID parameters so that this aren't affected by mass
678 // and so don't get unstable for some masses
679 // also scale by ode time step so you don't need to refix them
680
681 PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
682 PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
683 PID_P /= 50 * 80;
684 PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
685
686 Body = d.BodyCreate(_parent_scene.world);
687
688 d.BodySetAutoDisableFlag(Body, false);
689 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
690
691 _position.X = npositionX;
692 _position.Y = npositionY;
693 _position.Z = npositionZ;
694
695 d.BodySetMass(Body, ref ShellMass);
696 d.GeomSetBody(Shell, Body);
697
698 // The purpose of the AMotor here is to keep the avatar's physical
699 // surrogate from rotating while moving
700 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
701 d.JointAttach(Amotor, Body, IntPtr.Zero);
702
703 d.JointSetAMotorMode(Amotor, 0);
704 d.JointSetAMotorNumAxes(Amotor, 3);
705 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
706 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
707 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
708
709 d.JointSetAMotorAngle(Amotor, 0, 0);
710 d.JointSetAMotorAngle(Amotor, 1, 0);
711 d.JointSetAMotorAngle(Amotor, 2, 0);
712
713 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
714 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
715 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
716 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
717 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
718 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
719
720 // These lowstops and high stops are effectively (no wiggle room)
721 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
722 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
723 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
724 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
725 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
726 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
727
728 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
729 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
730 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
731
732 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
733 d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
734 d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
735 }
736
737 /// <summary>
738 /// Destroys the avatar body and geom
739
740 private void AvatarGeomAndBodyDestroy()
741 {
742 // Kill the Amotor
743 if (Amotor != IntPtr.Zero)
744 {
745 d.JointDestroy(Amotor);
746 Amotor = IntPtr.Zero;
747 }
748
749 if (Body != IntPtr.Zero)
750 {
751 //kill the body
752 d.BodyDestroy(Body);
753 Body = IntPtr.Zero;
754 }
755
756 //kill the Geometry
757 if (Shell != IntPtr.Zero)
758 {
759 _parent_scene.geom_name_map.Remove(Shell);
760 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
761 d.GeomDestroy(Shell);
762 _parent_scene.geom_name_map.Remove(Shell);
763 Shell = IntPtr.Zero;
764 }
765 }
766
767 /// <summary>
768 /// Called from Simulate
769 /// This is the avatar's movement control + PID Controller
770 /// </summary>
771 /// <param name="timeStep"></param>
772 public void Move(float timeStep, List<OdeCharacter> defects)
773 {
774 // no lock; for now it's only called from within Simulate()
775
776 // If the PID Controller isn't active then we set our force
777 // calculating base velocity to the current position
778
779 if (Body == IntPtr.Zero)
780 return;
781
782 d.Vector3 dtmp;
783 d.BodyCopyPosition(Body, out dtmp);
784 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
785
786 // the Amotor still lets avatar rotation to drift during colisions
787 // so force it back to identity
788
789 d.Quaternion qtmp;
790 qtmp.W = 1;
791 qtmp.X = 0;
792 qtmp.Y = 0;
793 qtmp.Z = 0;
794 d.BodySetQuaternion(Body, ref qtmp);
795
796 if (m_pidControllerActive == false)
797 {
798 _zeroPosition = localpos;
799 }
800 //PidStatus = true;
801
802
803 if (!localpos.IsFinite())
804 {
805
806 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
807 defects.Add(this);
808 // _parent_scene.RemoveCharacter(this);
809
810 // destroy avatar capsule and related ODE data
811 AvatarGeomAndBodyDestroy();
812
813 return;
814 }
815
816 Vector3 vec = Vector3.Zero;
817 dtmp = d.BodyGetLinearVel(Body);
818 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
819
820 float movementdivisor = 1f;
821 //Ubit change divisions into multiplications below
822 if (!m_alwaysRun)
823 {
824 movementdivisor = 1 / walkDivisor;
825 }
826 else
827 {
828 movementdivisor = 1 / runDivisor;
829 }
830
831 // colide with land
832
833 d.AABB aabb;
834 d.GeomGetAABB(Shell, out aabb);
835 float chrminZ = aabb.MinZ;
836
837 Vector3 posch = localpos;
838
839 float ftmp;
840
841 if (flying)
842 {
843 ftmp = timeStep;
844 posch.X += vel.X * ftmp;
845 posch.Y += vel.Y * ftmp;
846 }
847
848 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
849 if (chrminZ < terrainheight)
850 {
851 float depth = terrainheight - chrminZ;
852 if (!flying)
853 {
854 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
855 }
856 else
857 vec.Z = depth * PID_P * 50;
858
859 /*
860 Vector3 vtmp;
861 vtmp.X = _target_velocity.X * timeStep;
862 vtmp.Y = _target_velocity.Y * timeStep;
863 // fake and avoid squares
864 float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y));
865 if (k > 0)
866 {
867 posch.X += vtmp.X;
868 posch.Y += vtmp.Y;
869 terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
870 k = 1 + Math.Abs(terrainheight) / k;
871 movementdivisor /= k;
872
873 if (k < 1)
874 k = 1;
875 }
876 */
877
878
879 if (depth < 0.1f)
880 {
881 m_iscolliding = true;
882 m_colliderfilter = 2;
883 m_iscollidingGround = true;
884
885 ContactPoint contact = new ContactPoint();
886 contact.PenetrationDepth = depth;
887 contact.Position.X = localpos.X;
888 contact.Position.Y = localpos.Y;
889 contact.Position.Z = chrminZ;
890 contact.SurfaceNormal.X = 0f;
891 contact.SurfaceNormal.Y = 0f;
892 contact.SurfaceNormal.Z = -1f;
893 AddCollisionEvent(0, contact);
894
895 vec.Z *= 0.5f;
896 }
897
898 else
899 m_iscollidingGround = false;
900 }
901 else
902 m_iscollidingGround = false;
903
904
905 // if velocity is zero, use position control; otherwise, velocity control
906 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
907 && m_iscolliding)
908 {
909 // keep track of where we stopped. No more slippin' & slidin'
910 if (!_zeroFlag)
911 {
912 _zeroFlag = true;
913 _zeroPosition = localpos;
914 }
915 if (m_pidControllerActive)
916 {
917 // We only want to deactivate the PID Controller if we think we want to have our surrogate
918 // react to the physics scene by moving it's position.
919 // Avatar to Avatar collisions
920 // Prim to avatar collisions
921
922 vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
923 vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
924 if (flying)
925 {
926 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
927 }
928 }
929 //PidStatus = true;
930 }
931 else
932 {
933 m_pidControllerActive = true;
934 _zeroFlag = false;
935
936 if (m_iscolliding)
937 {
938 if (!flying)
939 {
940 if (_target_velocity.Z > 0.0f)
941 {
942 // We're colliding with something and we're not flying but we're moving
943 // This means we're walking or running. JUMPING
944 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
945 }
946 // We're standing on something
947 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
948 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
949 }
950 else
951 {
952 // We're flying and colliding with something
953 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
954 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
955 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
956 }
957 }
958 else // ie not colliding
959 {
960 if (flying) //(!m_iscolliding && flying)
961 {
962 // we're in mid air suspended
963 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
964 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
965 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
966 }
967
968 else
969 {
970 // we're not colliding and we're not flying so that means we're falling!
971 // m_iscolliding includes collisions with the ground.
972
973 // d.Vector3 pos = d.BodyGetPosition(Body);
974 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
975 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
976 }
977 }
978 }
979
980 if (flying)
981 {
982 vec.Z -= _parent_scene.gravityz * m_mass;
983
984 //Added for auto fly height. Kitto Flora
985 float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
986
987 if (localpos.Z < target_altitude)
988 {
989 vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
990 }
991 // end add Kitto Flora
992 }
993
994 if (vec.IsFinite())
995 {
996 if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
997 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
998 }
999 else
1000 {
1001 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1002 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1003 defects.Add(this);
1004 // _parent_scene.RemoveCharacter(this);
1005 // destroy avatar capsule and related ODE data
1006 AvatarGeomAndBodyDestroy();
1007 }
1008 }
1009
1010 /// <summary>
1011 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1012 /// </summary>
1013 public void UpdatePositionAndVelocity()
1014 {
1015 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1016 if (Body == IntPtr.Zero)
1017 return;
1018
1019 d.Vector3 vec;
1020 try
1021 {
1022 d.BodyCopyPosition(Body, out vec);
1023 }
1024 catch (NullReferenceException)
1025 {
1026 bad = true;
1027 _parent_scene.BadCharacter(this);
1028 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1029 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1030 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1031 }
1032
1033 _position.X = vec.X;
1034 _position.Y = vec.Y;
1035 _position.Z = vec.Z;
1036
1037 bool fixbody = false;
1038
1039 if (_position.X < 0.0f)
1040 {
1041 fixbody = true;
1042 _position.X = 0.1f;
1043 }
1044 else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f)
1045 {
1046 fixbody = true;
1047 _position.X = (int)_parent_scene.WorldExtents.X - 0.1f;
1048 }
1049
1050 if (_position.Y < 0.0f)
1051 {
1052 fixbody = true;
1053 _position.Y = 0.1f;
1054 }
1055 else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1)
1056 {
1057 fixbody = true;
1058 _position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f;
1059 }
1060
1061 if (fixbody)
1062 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1063
1064 // Did we move last? = zeroflag
1065 // This helps keep us from sliding all over
1066/*
1067 if (_zeroFlag)
1068 {
1069 _velocity.X = 0.0f;
1070 _velocity.Y = 0.0f;
1071 _velocity.Z = 0.0f;
1072
1073 // Did we send out the 'stopped' message?
1074 if (!m_lastUpdateSent)
1075 {
1076 m_lastUpdateSent = true;
1077 base.RequestPhysicsterseUpdate();
1078 }
1079 }
1080 else
1081 {
1082 m_lastUpdateSent = false;
1083 */
1084 try
1085 {
1086 vec = d.BodyGetLinearVel(Body);
1087 }
1088 catch (NullReferenceException)
1089 {
1090 vec.X = _velocity.X;
1091 vec.Y = _velocity.Y;
1092 vec.Z = _velocity.Z;
1093 }
1094 _velocity.X = (vec.X);
1095 _velocity.Y = (vec.Y);
1096 _velocity.Z = (vec.Z);
1097 // }
1098 }
1099
1100 /// <summary>
1101 /// Cleanup the things we use in the scene.
1102 /// </summary>
1103 public void Destroy()
1104 {
1105 AddChange(changes.Remove, null);
1106 }
1107
1108 public override void CrossingFailure()
1109 {
1110 }
1111
1112 public override Vector3 PIDTarget { set { return; } }
1113 public override bool PIDActive { set { return; } }
1114 public override float PIDTau { set { return; } }
1115
1116 public override float PIDHoverHeight { set { return; } }
1117 public override bool PIDHoverActive { set { return; } }
1118 public override PIDHoverType PIDHoverType { set { return; } }
1119 public override float PIDHoverTau { set { return; } }
1120
1121 public override Quaternion APIDTarget { set { return; } }
1122
1123 public override bool APIDActive { set { return; } }
1124
1125 public override float APIDStrength { set { return; } }
1126
1127 public override float APIDDamping { set { return; } }
1128
1129
1130 public override void SubscribeEvents(int ms)
1131 {
1132 m_requestedUpdateFrequency = ms;
1133 m_eventsubscription = ms;
1134 _parent_scene.AddCollisionEventReporting(this);
1135 m_haseventsubscription = true;
1136 }
1137
1138 public override void UnSubscribeEvents()
1139 {
1140 m_haseventsubscription = false;
1141 _parent_scene.RemoveCollisionEventReporting(this);
1142 m_requestedUpdateFrequency = 0;
1143 m_eventsubscription = 0;
1144 }
1145
1146 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1147 {
1148 if (m_haseventsubscription)
1149 {
1150 // m_log.DebugFormat(
1151 // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1152
1153 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1154 }
1155 }
1156
1157 public void SendCollisions()
1158 {
1159 if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
1160 {
1161 if (CollisionEventsThisFrame != null)
1162 {
1163 base.SendCollisionUpdate(CollisionEventsThisFrame);
1164 }
1165 CollisionEventsThisFrame = new CollisionEventUpdate();
1166 m_eventsubscription = 0;
1167 }
1168 }
1169
1170 public override bool SubscribedEvents()
1171 {
1172 return m_haseventsubscription;
1173 }
1174
1175 private void changePhysicsStatus(bool NewStatus)
1176 {
1177 if (NewStatus != m_isPhysical)
1178 {
1179 if (NewStatus)
1180 {
1181 // Create avatar capsule and related ODE data
1182 if ((Shell != IntPtr.Zero))
1183 {
1184 // a lost shell ?
1185 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1186 + (Shell != IntPtr.Zero ? "Shell " : "")
1187 + (Body != IntPtr.Zero ? "Body " : "")
1188 + (Amotor != IntPtr.Zero ? "Amotor " : ""));
1189 AvatarGeomAndBodyDestroy();
1190 }
1191
1192 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1193 _parent_scene.geom_name_map[Shell] = m_name;
1194 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1195 _parent_scene.AddCharacter(this);
1196 }
1197 else
1198 {
1199 _parent_scene.RemoveCharacter(this);
1200 // destroy avatar capsule and related ODE data
1201 AvatarGeomAndBodyDestroy();
1202 }
1203
1204 m_isPhysical = NewStatus;
1205 }
1206 }
1207
1208 private void changeAdd()
1209 {
1210 changePhysicsStatus(true);
1211 }
1212
1213 private void changeRemove()
1214 {
1215 changePhysicsStatus(false);
1216 }
1217
1218 private void changeShape(PrimitiveBaseShape arg)
1219 {
1220 }
1221
1222 private void changeSize(Vector3 Size)
1223 {
1224 if (Size.IsFinite())
1225 {
1226 float caplen = Size.Z;
1227
1228 caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
1229
1230 if (caplen != CAPSULE_LENGTH)
1231 {
1232 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1233 {
1234 AvatarGeomAndBodyDestroy();
1235
1236 float prevCapsule = CAPSULE_LENGTH;
1237 CAPSULE_LENGTH = caplen;
1238
1239 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1240 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
1241
1242 Velocity = Vector3.Zero;
1243
1244 _parent_scene.geom_name_map[Shell] = m_name;
1245 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1246 }
1247 else
1248 {
1249 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1250 + (Shell == IntPtr.Zero ? "Shell " : "")
1251 + (Body == IntPtr.Zero ? "Body " : "")
1252 + (Amotor == IntPtr.Zero ? "Amotor " : ""));
1253 }
1254 }
1255
1256 m_pidControllerActive = true;
1257 }
1258 else
1259 {
1260 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
1261 }
1262 }
1263
1264 private void changePosition( Vector3 newPos)
1265 {
1266 if (Body != IntPtr.Zero)
1267 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1268 _position = newPos;
1269 }
1270
1271 private void changeOrientation(Quaternion newOri)
1272 {
1273 }
1274
1275 private void changeVelocity(Vector3 newVel)
1276 {
1277 m_pidControllerActive = true;
1278 _target_velocity = newVel;
1279 }
1280
1281 private void changeSetTorque(Vector3 newTorque)
1282 {
1283 }
1284
1285 private void changeAddForce(Vector3 newForce)
1286 {
1287 }
1288
1289 private void changeAddAngularForce(Vector3 arg)
1290 {
1291 }
1292
1293 private void changeAngularLock(Vector3 arg)
1294 {
1295 }
1296
1297 private void changeFloatOnWater(bool arg)
1298 {
1299 }
1300
1301 private void changeVolumedetetion(bool arg)
1302 {
1303 }
1304
1305 private void changeSelectedStatus(bool arg)
1306 {
1307 }
1308
1309 private void changeDisable(bool arg)
1310 {
1311 }
1312
1313 private void changeBuilding(bool arg)
1314 {
1315 }
1316
1317 private void changeForce(Vector3 newForce)
1318 {
1319 m_pidControllerActive = false;
1320 if (Body != IntPtr.Zero)
1321 {
1322 if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
1323 d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
1324 }
1325 }
1326
1327 private void donullchange()
1328 {
1329 }
1330
1331 public bool DoAChange(changes what, object arg)
1332 {
1333 if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
1334 {
1335 return false;
1336 }
1337
1338 // nasty switch
1339 switch (what)
1340 {
1341 case changes.Add:
1342 changeAdd();
1343 break;
1344 case changes.Remove:
1345 changeRemove();
1346 break;
1347
1348 case changes.Position:
1349 changePosition((Vector3)arg);
1350 break;
1351
1352 case changes.Orientation:
1353 changeOrientation((Quaternion)arg);
1354 break;
1355
1356 case changes.PosOffset:
1357 donullchange();
1358 break;
1359
1360 case changes.OriOffset:
1361 donullchange();
1362 break;
1363
1364 case changes.Velocity:
1365 changeVelocity((Vector3)arg);
1366 break;
1367
1368 // case changes.Acceleration:
1369 // changeacceleration((Vector3)arg);
1370 // break;
1371 // case changes.AngVelocity:
1372 // changeangvelocity((Vector3)arg);
1373 // break;
1374
1375 case changes.Force:
1376 changeForce((Vector3)arg);
1377 break;
1378
1379 case changes.Torque:
1380 changeSetTorque((Vector3)arg);
1381 break;
1382
1383 case changes.AddForce:
1384 changeAddForce((Vector3)arg);
1385 break;
1386
1387 case changes.AddAngForce:
1388 changeAddAngularForce((Vector3)arg);
1389 break;
1390
1391 case changes.AngLock:
1392 changeAngularLock((Vector3)arg);
1393 break;
1394
1395 case changes.Size:
1396 changeSize((Vector3)arg);
1397 break;
1398/* not in use for now
1399 case changes.Shape:
1400 changeShape((PrimitiveBaseShape)arg);
1401 break;
1402
1403 case changes.CollidesWater:
1404 changeFloatOnWater((bool)arg);
1405 break;
1406
1407 case changes.VolumeDtc:
1408 changeVolumedetetion((bool)arg);
1409 break;
1410
1411 case changes.Physical:
1412 changePhysicsStatus((bool)arg);
1413 break;
1414
1415 case changes.Selected:
1416 changeSelectedStatus((bool)arg);
1417 break;
1418
1419 case changes.disabled:
1420 changeDisable((bool)arg);
1421 break;
1422
1423 case changes.building:
1424 changeBuilding((bool)arg);
1425 break;
1426*/
1427 case changes.Null:
1428 donullchange();
1429 break;
1430
1431 default:
1432 donullchange();
1433 break;
1434 }
1435 return false;
1436 }
1437
1438 public void AddChange(changes what, object arg)
1439 {
1440 _parent_scene.AddChange((PhysicsActor)this, what, arg);
1441 }
1442
1443
1444 internal void AddCollisionFrameTime(int p)
1445 {
1446 // protect it from overflow crashing
1447 if (m_eventsubscription + p >= int.MaxValue)
1448 m_eventsubscription = 0;
1449 m_eventsubscription += p;
1450 }
1451 }
1452}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..dcd02e2
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,997 @@
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/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
29 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
30 * ODEPrim.cs contains methods dealing with Prim editing, Prim
31 * characteristics and Kinetic motion.
32 * ODEDynamics.cs contains methods dealing with Prim Physical motion
33 * (dynamics) and the associated settings. Old Linear and angular
34 * motors for dynamic motion have been replace with MoveLinear()
35 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
36 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
37 * switch between 'VEHICLE' parameter use and general dynamics
38 * settings use.
39 */
40
41// Extensive change Ubit 2012
42
43using System;
44using System.Collections.Generic;
45using System.Reflection;
46using System.Runtime.InteropServices;
47using log4net;
48using OpenMetaverse;
49using OdeAPI;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager;
52
53namespace OpenSim.Region.Physics.OdePlugin
54{
55 public class ODEDynamics
56 {
57 public Vehicle Type
58 {
59 get { return m_type; }
60 }
61
62 private OdePrim rootPrim;
63 private OdeScene _pParentScene;
64
65 // Vehicle properties
66 private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
67 private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
68
69 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
70
71 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
72 // HOVER_TERRAIN_ONLY
73 // HOVER_GLOBAL_HEIGHT
74 // NO_DEFLECTION_UP
75 // HOVER_WATER_ONLY
76 // HOVER_UP_ONLY
77 // LIMIT_MOTOR_UP
78 // LIMIT_ROLL_ONLY
79 private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
80
81 // Linear properties
82 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
83 private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
84 private float m_linearMotorDecayTimescale = 120;
85 private float m_linearMotorTimescale = 1000;
86 private Vector3 m_linearMotorOffset = Vector3.Zero;
87
88 //Angular properties
89 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
90 private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
91 private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
92 private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
93
94 //Deflection properties
95 private float m_angularDeflectionEfficiency = 0;
96 private float m_angularDeflectionTimescale = 1000;
97 private float m_linearDeflectionEfficiency = 0;
98 private float m_linearDeflectionTimescale = 1000;
99
100 //Banking properties
101 private float m_bankingEfficiency = 0;
102 private float m_bankingMix = 0;
103 private float m_bankingTimescale = 1000;
104
105 //Hover and Buoyancy properties
106 private float m_VhoverHeight = 0f;
107 private float m_VhoverEfficiency = 0f;
108 private float m_VhoverTimescale = 1000f;
109 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
110 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
111 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
112 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
113
114 //Attractor properties
115 private float m_verticalAttractionEfficiency = 1.0f; // damped
116 private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
117
118
119 // auxiliar
120 private float m_lmEfect = 0; // current linear motor eficiency
121 private float m_amEfect = 0; // current angular motor eficiency
122 private float m_ffactor = 1.0f;
123
124 public float FrictionFactor
125 {
126 get
127 {
128 return m_ffactor;
129 }
130 }
131
132 public ODEDynamics(OdePrim rootp)
133 {
134 rootPrim = rootp;
135 _pParentScene = rootPrim._parent_scene;
136 }
137
138 public void DoSetVehicle(VehicleData vd)
139 {
140
141 float timestep = _pParentScene.ODE_STEPSIZE;
142 float invtimestep = 1.0f / timestep;
143
144 m_type = vd.m_type;
145 m_flags = vd.m_flags;
146
147 // Linear properties
148 m_linearMotorDirection = vd.m_linearMotorDirection;
149
150 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
151 if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
152 if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
153 if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
154
155 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
156 if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep;
157 m_linearMotorDecayTimescale *= invtimestep;
158
159 m_linearMotorTimescale = vd.m_linearMotorTimescale;
160 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
161
162
163 m_linearMotorOffset = vd.m_linearMotorOffset;
164
165 //Angular properties
166 m_angularMotorDirection = vd.m_angularMotorDirection;
167 m_angularMotorTimescale = vd.m_angularMotorTimescale;
168 if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
169
170 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
171 if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep;
172 m_angularMotorDecayTimescale *= invtimestep;
173
174 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
175 if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
176 if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
177 if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
178
179 //Deflection properties
180 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
181 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
182 if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
183
184 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
185 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
186 if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
187
188 //Banking properties
189 m_bankingEfficiency = vd.m_bankingEfficiency;
190 m_bankingMix = vd.m_bankingMix;
191 m_bankingTimescale = vd.m_bankingTimescale;
192 if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
193
194 //Hover and Buoyancy properties
195 m_VhoverHeight = vd.m_VhoverHeight;
196 m_VhoverEfficiency = vd.m_VhoverEfficiency;
197 m_VhoverTimescale = vd.m_VhoverTimescale;
198 if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
199
200 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
201
202 //Attractor properties
203 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
204 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
205 if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
206
207 // Axis
208 m_referenceFrame = vd.m_referenceFrame;
209
210 m_lmEfect = 0;
211 m_amEfect = 0;
212 m_ffactor = 1.0f;
213 }
214
215 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
216 {
217 float len;
218 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
219 float timestep = _pParentScene.ODE_STEPSIZE;
220
221 switch (pParam)
222 {
223 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
224 if (pValue < 0f) pValue = 0f;
225 if (pValue > 1f) pValue = 1f;
226 m_angularDeflectionEfficiency = pValue;
227 break;
228 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
229 if (pValue < timestep) pValue = timestep;
230 m_angularDeflectionTimescale = pValue;
231 break;
232 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
233 if (pValue < timestep) pValue = timestep;
234 // try to make impulses to work a bit better
235// if (pValue < 0.5f) pValue = 0.5f;
236 else if (pValue > 120) pValue = 120;
237 m_angularMotorDecayTimescale = pValue * invtimestep;
238 break;
239 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
240 if (pValue < timestep) pValue = timestep;
241 m_angularMotorTimescale = pValue;
242 break;
243 case Vehicle.BANKING_EFFICIENCY:
244 if (pValue < -1f) pValue = -1f;
245 if (pValue > 1f) pValue = 1f;
246 m_bankingEfficiency = pValue;
247 break;
248 case Vehicle.BANKING_MIX:
249 if (pValue < 0f) pValue = 0f;
250 if (pValue > 1f) pValue = 1f;
251 m_bankingMix = pValue;
252 break;
253 case Vehicle.BANKING_TIMESCALE:
254 if (pValue < timestep) pValue = timestep;
255 m_bankingTimescale = pValue;
256 break;
257 case Vehicle.BUOYANCY:
258 if (pValue < -1f) pValue = -1f;
259 if (pValue > 1f) pValue = 1f;
260 m_VehicleBuoyancy = pValue;
261 break;
262 case Vehicle.HOVER_EFFICIENCY:
263 if (pValue < 0f) pValue = 0f;
264 if (pValue > 1f) pValue = 1f;
265 m_VhoverEfficiency = pValue;
266 break;
267 case Vehicle.HOVER_HEIGHT:
268 m_VhoverHeight = pValue;
269 break;
270 case Vehicle.HOVER_TIMESCALE:
271 if (pValue < timestep) pValue = timestep;
272 m_VhoverTimescale = pValue;
273 break;
274 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
275 if (pValue < 0f) pValue = 0f;
276 if (pValue > 1f) pValue = 1f;
277 m_linearDeflectionEfficiency = pValue;
278 break;
279 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
280 if (pValue < timestep) pValue = timestep;
281 m_linearDeflectionTimescale = pValue;
282 break;
283 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
284 if (pValue < timestep) pValue = timestep;
285 // try to make impulses to work a bit better
286 //if (pValue < 0.5f) pValue = 0.5f;
287 else if (pValue > 120) pValue = 120;
288 m_linearMotorDecayTimescale = pValue * invtimestep;
289 break;
290 case Vehicle.LINEAR_MOTOR_TIMESCALE:
291 if (pValue < timestep) pValue = timestep;
292 m_linearMotorTimescale = pValue;
293 break;
294 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
295 if (pValue < 0f) pValue = 0f;
296 if (pValue > 1f) pValue = 1f;
297 m_verticalAttractionEfficiency = pValue;
298 break;
299 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
300 if (pValue < timestep) pValue = timestep;
301 m_verticalAttractionTimescale = pValue;
302 break;
303
304 // These are vector properties but the engine lets you use a single float value to
305 // set all of the components to the same value
306 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
307 if (pValue < timestep) pValue = timestep;
308 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
309 break;
310 case Vehicle.ANGULAR_MOTOR_DIRECTION:
311 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
312 len = m_angularMotorDirection.Length();
313 if (len > 12.566f)
314 m_angularMotorDirection *= (12.566f / len);
315 m_amEfect = 1.0f; // turn it on
316 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
317 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
318 d.BodyEnable(rootPrim.Body);
319 break;
320 case Vehicle.LINEAR_FRICTION_TIMESCALE:
321 if (pValue < timestep) pValue = timestep;
322 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
323 break;
324 case Vehicle.LINEAR_MOTOR_DIRECTION:
325 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
326 len = m_linearMotorDirection.Length();
327 if (len > 30.0f)
328 m_linearMotorDirection *= (30.0f / len);
329 m_lmEfect = 1.0f; // turn it on
330 m_ffactor = 0.01f;
331 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
332 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
333 d.BodyEnable(rootPrim.Body);
334 break;
335 case Vehicle.LINEAR_MOTOR_OFFSET:
336 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
337 len = m_linearMotorOffset.Length();
338 if (len > 100.0f)
339 m_linearMotorOffset *= (100.0f / len);
340 break;
341 }
342 }//end ProcessFloatVehicleParam
343
344 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
345 {
346 float len;
347 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
348 float timestep = _pParentScene.ODE_STEPSIZE;
349 switch (pParam)
350 {
351 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
352 if (pValue.X < timestep) pValue.X = timestep;
353 if (pValue.Y < timestep) pValue.Y = timestep;
354 if (pValue.Z < timestep) pValue.Z = timestep;
355
356 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
357 break;
358 case Vehicle.ANGULAR_MOTOR_DIRECTION:
359 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
360 // Limit requested angular speed to 2 rps= 4 pi rads/sec
361 len = m_angularMotorDirection.Length();
362 if (len > 12.566f)
363 m_angularMotorDirection *= (12.566f / len);
364 m_amEfect = 1.0f; // turn it on
365 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
366 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
367 d.BodyEnable(rootPrim.Body);
368 break;
369 case Vehicle.LINEAR_FRICTION_TIMESCALE:
370 if (pValue.X < timestep) pValue.X = timestep;
371 if (pValue.Y < timestep) pValue.Y = timestep;
372 if (pValue.Z < timestep) pValue.Z = timestep;
373 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
374 break;
375 case Vehicle.LINEAR_MOTOR_DIRECTION:
376 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
377 len = m_linearMotorDirection.Length();
378 if (len > 30.0f)
379 m_linearMotorDirection *= (30.0f / len);
380 m_lmEfect = 1.0f; // turn it on
381 m_ffactor = 0.01f;
382 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
383 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
384 d.BodyEnable(rootPrim.Body);
385 break;
386 case Vehicle.LINEAR_MOTOR_OFFSET:
387 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
388 len = m_linearMotorOffset.Length();
389 if (len > 100.0f)
390 m_linearMotorOffset *= (100.0f / len);
391 break;
392 case Vehicle.BLOCK_EXIT:
393 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
394 break;
395 }
396 }//end ProcessVectorVehicleParam
397
398 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
399 {
400 switch (pParam)
401 {
402 case Vehicle.REFERENCE_FRAME:
403 m_referenceFrame = Quaternion.Inverse(pValue);
404 break;
405 case Vehicle.ROLL_FRAME:
406 m_RollreferenceFrame = pValue;
407 break;
408 }
409 }//end ProcessRotationVehicleParam
410
411 internal void ProcessVehicleFlags(int pParam, bool remove)
412 {
413 if (remove)
414 {
415 m_flags &= ~((VehicleFlag)pParam);
416 }
417 else
418 {
419 m_flags |= (VehicleFlag)pParam;
420 }
421 }//end ProcessVehicleFlags
422
423 internal void ProcessTypeChange(Vehicle pType)
424 {
425 float invtimestep = _pParentScene.ODE_STEPSIZE;
426 m_lmEfect = 0;
427 m_amEfect = 0;
428 m_ffactor = 1f;
429
430 m_linearMotorDirection = Vector3.Zero;
431 m_angularMotorDirection = Vector3.Zero;
432
433 m_BlockingEndPoint = Vector3.Zero;
434 m_RollreferenceFrame = Quaternion.Identity;
435 m_linearMotorOffset = Vector3.Zero;
436
437 m_referenceFrame = Quaternion.Identity;
438
439 // Set Defaults For Type
440 m_type = pType;
441 switch (pType)
442 {
443 case Vehicle.TYPE_NONE:
444 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
445 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
446 m_linearMotorTimescale = 1000;
447 m_linearMotorDecayTimescale = 120 * invtimestep;
448 m_angularMotorTimescale = 1000;
449 m_angularMotorDecayTimescale = 1000 * invtimestep;
450 m_VhoverHeight = 0;
451 m_VhoverEfficiency = 1;
452 m_VhoverTimescale = 1000;
453 m_VehicleBuoyancy = 0;
454 m_linearDeflectionEfficiency = 0;
455 m_linearDeflectionTimescale = 1000;
456 m_angularDeflectionEfficiency = 0;
457 m_angularDeflectionTimescale = 1000;
458 m_bankingEfficiency = 0;
459 m_bankingMix = 1;
460 m_bankingTimescale = 1000;
461 m_verticalAttractionEfficiency = 0;
462 m_verticalAttractionTimescale = 1000;
463
464 m_flags = (VehicleFlag)0;
465 break;
466
467 case Vehicle.TYPE_SLED:
468 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
469 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
470 m_linearMotorTimescale = 1000;
471 m_linearMotorDecayTimescale = 120 * invtimestep;
472 m_angularMotorTimescale = 1000;
473 m_angularMotorDecayTimescale = 120 * invtimestep;
474 m_VhoverHeight = 0;
475 m_VhoverEfficiency = 1;
476 m_VhoverTimescale = 10;
477 m_VehicleBuoyancy = 0;
478 m_linearDeflectionEfficiency = 1;
479 m_linearDeflectionTimescale = 1;
480 m_angularDeflectionEfficiency = 0;
481 m_angularDeflectionTimescale = 1000;
482 m_bankingEfficiency = 0;
483 m_bankingMix = 1;
484 m_bankingTimescale = 10;
485 m_flags &=
486 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
487 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
488 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
489 break;
490 case Vehicle.TYPE_CAR:
491 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
492 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
493 m_linearMotorTimescale = 1;
494 m_linearMotorDecayTimescale = 60 * invtimestep;
495 m_angularMotorTimescale = 1;
496 m_angularMotorDecayTimescale = 0.8f * invtimestep;
497 m_VhoverHeight = 0;
498 m_VhoverEfficiency = 0;
499 m_VhoverTimescale = 1000;
500 m_VehicleBuoyancy = 0;
501 m_linearDeflectionEfficiency = 1;
502 m_linearDeflectionTimescale = 2;
503 m_angularDeflectionEfficiency = 0;
504 m_angularDeflectionTimescale = 10;
505 m_verticalAttractionEfficiency = 1f;
506 m_verticalAttractionTimescale = 10f;
507 m_bankingEfficiency = -0.2f;
508 m_bankingMix = 1;
509 m_bankingTimescale = 1;
510 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
511 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
512 VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
513 break;
514 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2);
516 m_angularFrictionTimescale = new Vector3(10, 10, 10);
517 m_linearMotorTimescale = 5;
518 m_linearMotorDecayTimescale = 60 * invtimestep;
519 m_angularMotorTimescale = 4;
520 m_angularMotorDecayTimescale = 4 * invtimestep;
521 m_VhoverHeight = 0;
522 m_VhoverEfficiency = 0.5f;
523 m_VhoverTimescale = 2;
524 m_VehicleBuoyancy = 1;
525 m_linearDeflectionEfficiency = 0.5f;
526 m_linearDeflectionTimescale = 3;
527 m_angularDeflectionEfficiency = 0.5f;
528 m_angularDeflectionTimescale = 5;
529 m_verticalAttractionEfficiency = 0.5f;
530 m_verticalAttractionTimescale = 5f;
531 m_bankingEfficiency = -0.3f;
532 m_bankingMix = 0.8f;
533 m_bankingTimescale = 1;
534 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
535 VehicleFlag.HOVER_GLOBAL_HEIGHT |
536 VehicleFlag.HOVER_UP_ONLY |
537 VehicleFlag.LIMIT_ROLL_ONLY);
538 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
539 VehicleFlag.LIMIT_MOTOR_UP |
540 VehicleFlag.HOVER_WATER_ONLY);
541 break;
542 case Vehicle.TYPE_AIRPLANE:
543 m_linearFrictionTimescale = new Vector3(200, 10, 5);
544 m_angularFrictionTimescale = new Vector3(20, 20, 20);
545 m_linearMotorTimescale = 2;
546 m_linearMotorDecayTimescale = 60 * invtimestep;
547 m_angularMotorTimescale = 4;
548 m_angularMotorDecayTimescale = 8 * invtimestep;
549 m_VhoverHeight = 0;
550 m_VhoverEfficiency = 0.5f;
551 m_VhoverTimescale = 1000;
552 m_VehicleBuoyancy = 0;
553 m_linearDeflectionEfficiency = 0.5f;
554 m_linearDeflectionTimescale = 0.5f;
555 m_angularDeflectionEfficiency = 1;
556 m_angularDeflectionTimescale = 2;
557 m_verticalAttractionEfficiency = 0.9f;
558 m_verticalAttractionTimescale = 2f;
559 m_bankingEfficiency = 1;
560 m_bankingMix = 0.7f;
561 m_bankingTimescale = 2;
562 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
563 VehicleFlag.HOVER_TERRAIN_ONLY |
564 VehicleFlag.HOVER_GLOBAL_HEIGHT |
565 VehicleFlag.HOVER_UP_ONLY |
566 VehicleFlag.NO_DEFLECTION_UP |
567 VehicleFlag.LIMIT_MOTOR_UP);
568 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
569 break;
570 case Vehicle.TYPE_BALLOON:
571 m_linearFrictionTimescale = new Vector3(5, 5, 5);
572 m_angularFrictionTimescale = new Vector3(10, 10, 10);
573 m_linearMotorTimescale = 5;
574 m_linearMotorDecayTimescale = 60 * invtimestep;
575 m_angularMotorTimescale = 6;
576 m_angularMotorDecayTimescale = 10 * invtimestep;
577 m_VhoverHeight = 5;
578 m_VhoverEfficiency = 0.8f;
579 m_VhoverTimescale = 10;
580 m_VehicleBuoyancy = 1;
581 m_linearDeflectionEfficiency = 0;
582 m_linearDeflectionTimescale = 5 * invtimestep;
583 m_angularDeflectionEfficiency = 0;
584 m_angularDeflectionTimescale = 5;
585 m_verticalAttractionEfficiency = 0f;
586 m_verticalAttractionTimescale = 1000f;
587 m_bankingEfficiency = 0;
588 m_bankingMix = 0.7f;
589 m_bankingTimescale = 5;
590 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
591 VehicleFlag.HOVER_TERRAIN_ONLY |
592 VehicleFlag.HOVER_UP_ONLY |
593 VehicleFlag.NO_DEFLECTION_UP |
594 VehicleFlag.LIMIT_MOTOR_UP);
595 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
596 VehicleFlag.HOVER_GLOBAL_HEIGHT);
597 break;
598 }
599
600 }//end SetDefaultsForType
601
602 internal void Stop()
603 {
604 m_lmEfect = 0;
605 m_amEfect = 0;
606 m_ffactor = 1f;
607 }
608
609 public static Vector3 Xrot(Quaternion rot)
610 {
611 Vector3 vec;
612 rot.Normalize(); // just in case
613 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
614 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
615 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
616 return vec;
617 }
618
619 public static Vector3 Zrot(Quaternion rot)
620 {
621 Vector3 vec;
622 rot.Normalize(); // just in case
623 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
624 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
625 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
626
627 return vec;
628 }
629
630 private const float pi = (float)Math.PI;
631 private const float halfpi = 0.5f * (float)Math.PI;
632
633 public static Vector3 ubitRot2Euler(Quaternion rot)
634 {
635 // returns roll in X
636 // pitch in Y
637 // yaw in Z
638 Vector3 vec;
639
640 // assuming rot is normalised
641 // rot.Normalize();
642
643 float zX = rot.X * rot.Z + rot.Y * rot.W;
644
645 if (zX < -0.49999f)
646 {
647 vec.X = 0;
648 vec.Y = -halfpi;
649 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
650 }
651 else if (zX > 0.49999f)
652 {
653 vec.X = 0;
654 vec.Y = halfpi;
655 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
656 }
657 else
658 {
659 vec.Y = (float)Math.Asin(2 * zX);
660
661 float sqw = rot.W * rot.W;
662
663 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
664 float zZ = rot.Z * rot.Z + sqw - 0.5f;
665
666 vec.X = (float)Math.Atan2(minuszY, zZ);
667
668 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
669 float yY = rot.X * rot.X + sqw - 0.5f;
670 vec.Z = (float)Math.Atan2(yX, yY);
671 }
672 return vec;
673 }
674
675 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
676 {
677 // assuming rot is normalised
678 // rot.Normalize();
679
680 float zX = rot.X * rot.Z + rot.Y * rot.W;
681
682 if (zX < -0.49999f)
683 {
684 roll = 0;
685 pitch = -halfpi;
686 }
687 else if (zX > 0.49999f)
688 {
689 roll = 0;
690 pitch = halfpi;
691 }
692 else
693 {
694 pitch = (float)Math.Asin(2 * zX);
695
696 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
697 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
698
699 roll = (float)Math.Atan2(minuszY, zZ);
700 }
701 return ;
702 }
703
704 internal void Step()//float pTimestep)
705 {
706 IntPtr Body = rootPrim.Body;
707
708 d.Quaternion rot = d.BodyGetQuaternion(Body);
709 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
710 Quaternion rotq = objrotq; // rotq = rotation of object
711 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
712 Quaternion irotq = Quaternion.Inverse(rotq);
713
714 d.Vector3 dvtmp;
715 Vector3 tmpV;
716 Vector3 curVel; // velocity in world
717 Vector3 curAngVel; // angular velocity in world
718 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
719 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
720 d.Vector3 dtorque = new d.Vector3();
721
722 dvtmp = d.BodyGetLinearVel(Body);
723 curVel.X = dvtmp.X;
724 curVel.Y = dvtmp.Y;
725 curVel.Z = dvtmp.Z;
726 Vector3 curLocalVel = curVel * irotq; // current velocity in local
727
728 dvtmp = d.BodyGetAngularVel(Body);
729 curAngVel.X = dvtmp.X;
730 curAngVel.Y = dvtmp.Y;
731 curAngVel.Z = dvtmp.Z;
732 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
733
734 // linear motor
735 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
736 {
737 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
738 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
739 tmpV *= rotq; // to world
740
741 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
742 tmpV.Z = 0;
743
744 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
745 {
746 // have offset, do it now
747 tmpV *= rootPrim.Mass;
748 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
749 }
750 else
751 {
752 force.X += tmpV.X;
753 force.Y += tmpV.Y;
754 force.Z += tmpV.Z;
755 }
756 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
757
758 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
759 }
760 else
761 {
762 m_lmEfect = 0;
763 m_ffactor = 1f;
764 }
765
766 // friction
767 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
768 {
769 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
770 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
771 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
772 tmpV *= rotq; // to world
773 force.X += tmpV.X;
774 force.Y += tmpV.Y;
775 force.Z += tmpV.Z;
776 }
777
778 // hover
779 if (m_VhoverTimescale < 300)
780 {
781 d.Vector3 pos = d.BodyGetPosition(Body);
782
783 // default to global
784 float perr = m_VhoverHeight - pos.Z;;
785
786 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
787 {
788 perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
789 }
790 else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
791 {
792 perr += _pParentScene.GetWaterLevel();
793 }
794 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
795 {
796 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
797 float w = _pParentScene.GetWaterLevel();
798 if (t > w)
799 perr += t;
800 else
801 perr += w;
802 }
803
804 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
805 {
806 force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
807 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
808 }
809 else // no buoyancy
810 force.Z += _pParentScene.gravityz;
811 }
812 else
813 {
814 // default gravity and buoancy
815 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
816 }
817
818 // linear deflection
819 if (m_linearDeflectionEfficiency > 0)
820 {
821 float len = curVel.Length();
822 Vector3 atAxis;
823 atAxis = Xrot(rotq); // where are we pointing to
824 atAxis *= len; // make it same size as world velocity vector
825 tmpV = -atAxis; // oposite direction
826 atAxis -= curVel; // error to one direction
827 len = atAxis.LengthSquared();
828 tmpV -= curVel; // error to oposite
829 float lens = tmpV.LengthSquared();
830 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
831 {
832 if (len < lens)
833 tmpV = atAxis;
834
835 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
836 force.X += tmpV.X;
837 force.Y += tmpV.Y;
838 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
839 force.Z += tmpV.Z;
840 }
841 }
842
843 // angular motor
844 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
845 {
846 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
847 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
848 torque.X += tmpV.X;
849 torque.Y += tmpV.Y;
850 torque.Z += tmpV.Z;
851 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
852 }
853 else
854 m_amEfect = 0;
855
856 // angular friction
857 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
858 {
859 torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
860 torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
861 torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
862 }
863
864 // angular deflection
865 if (m_angularDeflectionEfficiency > 0)
866 {
867 Vector3 dirv;
868
869 if (curLocalVel.X > 0.01f)
870 dirv = curLocalVel;
871 else if (curLocalVel.X < -0.01f)
872 // use oposite
873 dirv = -curLocalVel;
874 else
875 {
876 // make it fall into small positive x case
877 dirv.X = 0.01f;
878 dirv.Y = curLocalVel.Y;
879 dirv.Z = curLocalVel.Z;
880 }
881
882 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
883
884 if (Math.Abs(dirv.Z) > 0.01)
885 {
886 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
887 }
888
889 if (Math.Abs(dirv.Y) > 0.01)
890 {
891 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
892 }
893 }
894
895 // vertical atractor
896 if (m_verticalAttractionTimescale < 300)
897 {
898 float roll;
899 float pitch;
900
901 GetRollPitch(irotq, out roll, out pitch);
902
903 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
904 float ftmp2;
905 if (m_bankingEfficiency == 0)
906 ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
907 else
908 ftmp2 = 0;
909
910 if (roll > halfpi)
911 roll = pi - roll;
912 else if (roll < -halfpi)
913 roll = -pi - roll;
914
915 float effroll = pitch / halfpi;
916 effroll *= effroll;
917 effroll = 1 - effroll;
918 effroll *= roll;
919
920 if (Math.Abs(effroll) > 0.01) // roll
921 {
922 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
923 }
924
925 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
926 {
927 float effpitch = roll / halfpi;
928 effpitch *= effpitch;
929 effpitch = 1 - effpitch;
930 effpitch *= pitch;
931
932 if (Math.Abs(effpitch) > 0.01) // pitch
933 {
934 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
935 }
936 }
937
938 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
939 {
940
941 float broll = effroll;
942/*
943 if (broll > halfpi)
944 broll = pi - broll;
945 else if (broll < -halfpi)
946 broll = -pi - broll;
947*/
948 broll *= m_bankingEfficiency;
949 if (m_bankingMix != 0)
950 {
951 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
952 if (vfact > 1.0f) vfact = 1.0f;
953
954 if (curLocalVel.X >= 0)
955 broll *= (1 + (vfact - 1) * m_bankingMix);
956 else
957 broll *= -(1 + (vfact - 1) * m_bankingMix);
958 }
959 // make z rot be in world Z not local as seems to be in sl
960
961 broll = broll / m_bankingTimescale;
962
963 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
964
965 tmpV.X = ftmp * curAngVel.X;
966 tmpV.Y = ftmp * curAngVel.Y;
967 tmpV.Z = broll + ftmp * curAngVel.Z;
968 tmpV *= irotq;
969
970 torque.X += tmpV.X;
971 torque.Y += tmpV.Y;
972 torque.Z += tmpV.Z;
973 }
974 }
975
976 d.Mass dmass;
977 d.BodyGetMass(Body,out dmass);
978
979 if (force.X != 0 || force.Y != 0 || force.Z != 0)
980 {
981 force *= dmass.mass;
982 d.BodySetForce(Body, force.X, force.Y, force.Z);
983 }
984
985 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
986 {
987 torque *= m_referenceFrame; // to object frame
988 dtorque.X = torque.X;
989 dtorque.Y = torque.Y;
990 dtorque.Z = torque.Z;
991
992 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
993 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
994 }
995 }
996 }
997}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..c4dc793
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,4024 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/* Revision 2011/12 by Ubit Umarov
29 *
30 *
31 */
32
33/*
34 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
35 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
36 * ODEPrim.cs contains methods dealing with Prim editing, Prim
37 * characteristics and Kinetic motion.
38 * ODEDynamics.cs contains methods dealing with Prim Physical motion
39 * (dynamics) and the associated settings. Old Linear and angular
40 * motors for dynamic motion have been replace with MoveLinear()
41 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
42 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
43 * switch between 'VEHICLE' parameter use and general dynamics
44 * settings use.
45 */
46
47//#define SPAM
48
49using System;
50using System.Collections.Generic;
51using System.Reflection;
52using System.Runtime.InteropServices;
53using System.Threading;
54using log4net;
55using OpenMetaverse;
56using OdeAPI;
57using OpenSim.Framework;
58using OpenSim.Region.Physics.Manager;
59
60
61namespace OpenSim.Region.Physics.OdePlugin
62{
63 public class OdePrim : PhysicsActor
64 {
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66
67 private bool m_isphysical;
68 private bool m_fakeisphysical;
69 private bool m_isphantom;
70 private bool m_fakeisphantom;
71
72 protected bool m_building;
73 protected bool m_forcePosOrRotation;
74
75 private Quaternion m_lastorientation = new Quaternion();
76 private Quaternion _orientation;
77
78 private Vector3 _position;
79 private Vector3 _velocity;
80 private Vector3 _torque;
81 private Vector3 m_lastVelocity;
82 private Vector3 m_lastposition;
83 private Vector3 m_rotationalVelocity;
84 private Vector3 _size;
85 private Vector3 _acceleration;
86 private Vector3 m_angularlock = Vector3.One;
87 private IntPtr Amotor = IntPtr.Zero;
88
89 private Vector3 m_force;
90 private Vector3 m_forceacc;
91 private Vector3 m_angularForceacc;
92
93 private Vector3 m_PIDTarget;
94 private float m_PIDTau;
95 private float PID_D = 35f;
96 private float PID_G = 25f;
97 private bool m_usePID;
98
99 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
100 // and are for non-VEHICLES only.
101
102 private float m_PIDHoverHeight;
103 private float m_PIDHoverTau;
104 private bool m_useHoverPID;
105 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
106 private float m_targetHoverHeight;
107 private float m_groundHeight;
108 private float m_waterHeight;
109 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
110
111 private int body_autodisable_frames = 20;
112
113 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
114 | CollisionCategories.Space
115 | CollisionCategories.Body
116 | CollisionCategories.Character
117 );
118// private bool m_collidesLand = true;
119 private bool m_collidesWater;
120 public bool m_returnCollisions;
121 private bool m_softcolide;
122
123 private bool m_NoColide; // for now only for internal use for bad meshs
124
125 // Default we're a Geometry
126 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
127
128 // Default, Collide with Other Geometries, spaces and Bodies
129 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
130
131 public bool m_disabled;
132
133 public uint m_localID;
134
135 private IMesh m_mesh;
136 private object m_meshlock = new object();
137 private PrimitiveBaseShape _pbs;
138 public OdeScene _parent_scene;
139
140 /// <summary>
141 /// The physics space which contains prim geometry
142 /// </summary>
143 public IntPtr m_targetSpace = IntPtr.Zero;
144
145 public IntPtr prim_geom;
146 public IntPtr _triMeshData;
147
148 private PhysicsActor _parent;
149
150 private List<OdePrim> childrenPrim = new List<OdePrim>();
151
152 private bool m_iscolliding;
153
154 public bool m_isSelected;
155 private bool m_delaySelect;
156 private bool m_lastdoneSelected;
157 public bool m_outbounds;
158
159 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
160
161 private bool m_throttleUpdates;
162 private int throttleCounter;
163 public float m_collisionscore;
164 int m_colliderfilter = 0;
165
166 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
167
168 private float m_density = 10.000006836f; // Aluminum g/cm3;
169 private byte m_shapetype;
170 public bool _zeroFlag;
171 private bool m_lastUpdateSent;
172
173 public IntPtr Body = IntPtr.Zero;
174 public String Name { get; private set; }
175 private Vector3 _target_velocity;
176
177 public Vector3 primOOBsize; // prim real dimensions from mesh
178 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
179 public float primOOBradiusSQ;
180 public d.Mass primdMass; // prim inertia information on it's own referencial
181 float primMass; // prim own mass
182 float _mass; // object mass acording to case
183 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
184
185 public int givefakepos = 0;
186 private Vector3 fakepos;
187 public int givefakeori = 0;
188 private Quaternion fakeori;
189
190 public int m_eventsubscription;
191 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
192
193 public volatile bool childPrim;
194
195 public ODEDynamics m_vehicle;
196
197 internal int m_material = (int)Material.Wood;
198 private float mu;
199 private float bounce;
200
201 /// <summary>
202 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
203 /// </summary>
204 public override bool IsPhysical // this is not reliable for internal use
205 {
206 get { return m_fakeisphysical; }
207 set
208 {
209 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
210 // and also to stop imediatly some updates
211 // but real change will only happen in taintprocessing
212
213 if (!value) // Zero the remembered last velocity
214 m_lastVelocity = Vector3.Zero;
215 AddChange(changes.Physical, value);
216 }
217 }
218
219 public override bool Phantom // this is not reliable for internal use
220 {
221 get { return m_fakeisphantom; }
222 set
223 {
224 m_fakeisphantom = value; // we show imediatly to outside that we changed physical
225 // and also to stop imediatly some updates
226 // but real change will only happen in taintprocessing
227
228 AddChange(changes.Phantom, value);
229 }
230 }
231
232 public override bool Building // this is not reliable for internal use
233 {
234 get { return m_building; }
235 set
236 {
237 if (value)
238 m_building = true;
239 AddChange(changes.building, value);
240 }
241 }
242
243 public override void getContactData(ref ContactData cdata)
244 {
245 cdata.mu = mu;
246 cdata.bounce = bounce;
247
248 // cdata.softcolide = m_softcolide;
249 cdata.softcolide = false;
250
251 if (m_isphysical)
252 {
253 ODEDynamics veh;
254 if (_parent != null)
255 veh = ((OdePrim)_parent).m_vehicle;
256 else
257 veh = m_vehicle;
258
259 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
260 cdata.mu *= veh.FrictionFactor;
261 }
262 }
263
264 public override int PhysicsActorType
265 {
266 get { return (int)ActorTypes.Prim; }
267 set { return; }
268 }
269
270 public override bool SetAlwaysRun
271 {
272 get { return false; }
273 set { return; }
274 }
275
276 public override uint LocalID
277 {
278 get
279 {
280 return m_localID;
281 }
282 set
283 {
284 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
285 m_localID = value;
286 }
287 }
288
289 public override bool Grabbed
290 {
291 set { return; }
292 }
293
294 public override bool Selected
295 {
296 set
297 {
298 if (value)
299 m_isSelected = value; // if true set imediatly to stop moves etc
300 AddChange(changes.Selected, value);
301 }
302 }
303
304 public override bool Flying
305 {
306 // no flying prims for you
307 get { return false; }
308 set { }
309 }
310
311 public override bool IsColliding
312 {
313 get { return m_iscolliding; }
314 set
315 {
316 if (value)
317 {
318 m_colliderfilter += 2;
319 if (m_colliderfilter > 2)
320 m_colliderfilter = 2;
321 }
322 else
323 {
324 m_colliderfilter--;
325 if (m_colliderfilter < 0)
326 m_colliderfilter = 0;
327 }
328
329 if (m_colliderfilter == 0)
330 {
331 m_softcolide = false;
332 m_iscolliding = false;
333 }
334 else
335 m_iscolliding = true;
336 }
337 }
338
339 public override bool CollidingGround
340 {
341 get { return false; }
342 set { return; }
343 }
344
345 public override bool CollidingObj
346 {
347 get { return false; }
348 set { return; }
349 }
350
351 public override bool ThrottleUpdates
352 {
353 get { return m_throttleUpdates; }
354 set { m_throttleUpdates = value; }
355 }
356
357 public override bool Stopped
358 {
359 get { return _zeroFlag; }
360 }
361
362 public override Vector3 Position
363 {
364 get
365 {
366 if (givefakepos > 0)
367 return fakepos;
368 else
369 return _position;
370 }
371
372 set
373 {
374 fakepos = value;
375 givefakepos++;
376 AddChange(changes.Position, value);
377 }
378 }
379
380 public override Vector3 Size
381 {
382 get { return _size; }
383 set
384 {
385 if (value.IsFinite())
386 {
387 AddChange(changes.Size, value);
388 }
389 else
390 {
391 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
392 }
393 }
394 }
395
396 public override float Mass
397 {
398 get { return _mass; }
399 }
400
401 public override Vector3 Force
402 {
403 //get { return Vector3.Zero; }
404 get { return m_force; }
405 set
406 {
407 if (value.IsFinite())
408 {
409 AddChange(changes.Force, value);
410 }
411 else
412 {
413 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
414 }
415 }
416 }
417
418 public override void SetVolumeDetect(int param)
419 {
420 AddChange(changes.VolumeDtc, (param != 0));
421 }
422
423 public override Vector3 GeometricCenter
424 {
425 get
426 {
427 return Vector3.Zero;
428 }
429 }
430
431 public override Vector3 CenterOfMass
432 {
433 get
434 {
435 d.Vector3 dtmp;
436 if (IsPhysical && !childPrim && Body != IntPtr.Zero)
437 {
438 dtmp = d.BodyGetPosition(Body);
439 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
440 }
441 else if (prim_geom != IntPtr.Zero)
442 {
443 d.Quaternion dq;
444 d.GeomCopyQuaternion(prim_geom, out dq);
445 Quaternion q;
446 q.X = dq.X;
447 q.Y = dq.Y;
448 q.Z = dq.Z;
449 q.W = dq.W;
450
451 Vector3 vtmp = primOOBoffset * q;
452 dtmp = d.GeomGetPosition(prim_geom);
453 return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
454 }
455 else
456 return Vector3.Zero;
457 }
458 }
459 /*
460 public override Vector3 PrimOOBsize
461 {
462 get
463 {
464 return primOOBsize;
465 }
466 }
467
468 public override Vector3 PrimOOBoffset
469 {
470 get
471 {
472 return primOOBoffset;
473 }
474 }
475
476 public override float PrimOOBRadiusSQ
477 {
478 get
479 {
480 return primOOBradiusSQ;
481 }
482 }
483 */
484 public override PrimitiveBaseShape Shape
485 {
486 set
487 {
488/*
489 IMesh mesh = null;
490 if (_parent_scene.needsMeshing(value))
491 {
492 bool convex;
493 if (m_shapetype == 0)
494 convex = false;
495 else
496 convex = true;
497 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
498 }
499
500 if (mesh != null)
501 {
502 lock (m_meshlock)
503 m_mesh = mesh;
504 }
505*/
506 AddChange(changes.Shape, value);
507 }
508 }
509
510 public override byte PhysicsShapeType
511 {
512 get
513 {
514 return m_shapetype;
515 }
516 set
517 {
518 m_shapetype = value;
519 AddChange(changes.Shape, null);
520 }
521 }
522
523
524 public override Vector3 Velocity
525 {
526 get
527 {
528 if (_zeroFlag)
529 return Vector3.Zero;
530 return _velocity;
531 }
532 set
533 {
534 if (value.IsFinite())
535 {
536 AddChange(changes.Velocity, value);
537 // _velocity = value;
538
539 }
540 else
541 {
542 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
543 }
544
545 }
546 }
547
548 public override Vector3 Torque
549 {
550 get
551 {
552 if (!IsPhysical || Body == IntPtr.Zero)
553 return Vector3.Zero;
554
555 return _torque;
556 }
557
558 set
559 {
560 if (value.IsFinite())
561 {
562 AddChange(changes.Torque, value);
563 }
564 else
565 {
566 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
567 }
568 }
569 }
570
571 public override float CollisionScore
572 {
573 get { return m_collisionscore; }
574 set { m_collisionscore = value; }
575 }
576
577 public override bool Kinematic
578 {
579 get { return false; }
580 set { }
581 }
582
583 public override Quaternion Orientation
584 {
585 get
586 {
587 if (givefakeori > 0)
588 return fakeori;
589 else
590
591 return _orientation;
592 }
593 set
594 {
595 if (QuaternionIsFinite(value))
596 {
597 fakeori = value;
598 givefakeori++;
599 AddChange(changes.Orientation, value);
600 }
601 else
602 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
603
604 }
605 }
606
607 public override Vector3 Acceleration
608 {
609 get { return _acceleration; }
610 set { }
611 }
612
613 public override Vector3 RotationalVelocity
614 {
615 get
616 {
617 Vector3 pv = Vector3.Zero;
618 if (_zeroFlag)
619 return pv;
620 m_lastUpdateSent = false;
621
622 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
623 return pv;
624
625 return m_rotationalVelocity;
626 }
627 set
628 {
629 if (value.IsFinite())
630 {
631 m_rotationalVelocity = value;
632 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
633 d.BodyEnable(Body);
634 }
635 else
636 {
637 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
638 }
639 }
640 }
641
642
643 public override float Buoyancy
644 {
645 get { return m_buoyancy; }
646 set
647 {
648 m_buoyancy = value;
649 }
650 }
651
652 public override bool FloatOnWater
653 {
654 set
655 {
656 AddChange(changes.CollidesWater, value);
657 }
658 }
659
660 public override Vector3 PIDTarget
661 {
662 set
663 {
664 if (value.IsFinite())
665 {
666 m_PIDTarget = value;
667 }
668 else
669 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
670 }
671 }
672
673 public override bool PIDActive { set { m_usePID = value; } }
674 public override float PIDTau { set { m_PIDTau = value; } }
675
676 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
677 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
678 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
679 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
680
681 public override Quaternion APIDTarget { set { return; } }
682
683 public override bool APIDActive { set { return; } }
684
685 public override float APIDStrength { set { return; } }
686
687 public override float APIDDamping { set { return; } }
688
689 public override int VehicleType
690 {
691 // we may need to put a fake on this
692 get
693 {
694 if (m_vehicle == null)
695 return (int)Vehicle.TYPE_NONE;
696 else
697 return (int)m_vehicle.Type;
698 }
699 set
700 {
701 AddChange(changes.VehicleType, value);
702 }
703 }
704
705 public override void VehicleFloatParam(int param, float value)
706 {
707 strVehicleFloatParam fp = new strVehicleFloatParam();
708 fp.param = param;
709 fp.value = value;
710 AddChange(changes.VehicleFloatParam, fp);
711 }
712
713 public override void VehicleVectorParam(int param, Vector3 value)
714 {
715 strVehicleVectorParam fp = new strVehicleVectorParam();
716 fp.param = param;
717 fp.value = value;
718 AddChange(changes.VehicleVectorParam, fp);
719 }
720
721 public override void VehicleRotationParam(int param, Quaternion value)
722 {
723 strVehicleQuatParam fp = new strVehicleQuatParam();
724 fp.param = param;
725 fp.value = value;
726 AddChange(changes.VehicleRotationParam, fp);
727 }
728
729 public override void VehicleFlags(int param, bool value)
730 {
731 strVehicleBoolParam bp = new strVehicleBoolParam();
732 bp.param = param;
733 bp.value = value;
734 AddChange(changes.VehicleFlags, bp);
735 }
736
737 public override void SetVehicle(object vdata)
738 {
739 AddChange(changes.SetVehicle, vdata);
740 }
741 public void SetAcceleration(Vector3 accel)
742 {
743 _acceleration = accel;
744 }
745
746 public override void AddForce(Vector3 force, bool pushforce)
747 {
748 if (force.IsFinite())
749 {
750 AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);
751 }
752 else
753 {
754 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
755 }
756 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
757 }
758
759 public override void AddAngularForce(Vector3 force, bool pushforce)
760 {
761 if (force.IsFinite())
762 {
763 AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);
764 }
765 else
766 {
767 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
768 }
769 }
770
771 public override void CrossingFailure()
772 {
773 if (m_outbounds)
774 {
775 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
776 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
777 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
778
779 m_lastposition = _position;
780 _velocity.X = 0;
781 _velocity.Y = 0;
782 _velocity.Z = 0;
783
784 m_lastVelocity = _velocity;
785 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
786 m_vehicle.Stop();
787
788 if(Body != IntPtr.Zero)
789 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
790 if (prim_geom != IntPtr.Zero)
791 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
792
793 m_outbounds = false;
794 changeDisable(false);
795 base.RequestPhysicsterseUpdate();
796 }
797 }
798
799 public override void SetMomentum(Vector3 momentum)
800 {
801 }
802
803 public override void SetMaterial(int pMaterial)
804 {
805 m_material = pMaterial;
806 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
807 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
808 }
809
810 public void setPrimForRemoval()
811 {
812 AddChange(changes.Remove, null);
813 }
814
815 public override void link(PhysicsActor obj)
816 {
817 AddChange(changes.Link, obj);
818 }
819
820 public override void delink()
821 {
822 AddChange(changes.DeLink, null);
823 }
824
825 public override void LockAngularMotion(Vector3 axis)
826 {
827 // reverse the zero/non zero values for ODE.
828 if (axis.IsFinite())
829 {
830 axis.X = (axis.X > 0) ? 1f : 0f;
831 axis.Y = (axis.Y > 0) ? 1f : 0f;
832 axis.Z = (axis.Z > 0) ? 1f : 0f;
833 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
834 AddChange(changes.AngLock, axis);
835 }
836 else
837 {
838 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
839 }
840 }
841
842 public override void SubscribeEvents(int ms)
843 {
844 m_eventsubscription = ms;
845 _parent_scene.AddCollisionEventReporting(this);
846 }
847
848 public override void UnSubscribeEvents()
849 {
850 _parent_scene.RemoveCollisionEventReporting(this);
851 m_eventsubscription = 0;
852 }
853
854 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
855 {
856 if (CollisionEventsThisFrame == null)
857 CollisionEventsThisFrame = new CollisionEventUpdate();
858
859 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
860 }
861
862 public void SendCollisions()
863 {
864 if (CollisionEventsThisFrame == null)
865 return;
866
867 base.SendCollisionUpdate(CollisionEventsThisFrame);
868
869 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
870 CollisionEventsThisFrame = null;
871 else
872 CollisionEventsThisFrame = new CollisionEventUpdate();
873 }
874
875 public override bool SubscribedEvents()
876 {
877 if (m_eventsubscription > 0)
878 return true;
879 return false;
880 }
881
882
883 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
884 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
885 {
886 Name = primName;
887 LocalID = plocalID;
888
889 m_vehicle = null;
890
891 if (!pos.IsFinite())
892 {
893 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
894 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
895 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
896 }
897 _position = pos;
898 givefakepos = 0;
899
900 PID_D = parent_scene.bodyPIDD;
901 PID_G = parent_scene.bodyPIDG;
902 m_density = parent_scene.geomDefaultDensity;
903 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
904 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
905
906 prim_geom = IntPtr.Zero;
907 collide_geom = IntPtr.Zero;
908 Body = IntPtr.Zero;
909
910 if (!size.IsFinite())
911 {
912 size = new Vector3(0.5f, 0.5f, 0.5f);
913 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
914 }
915
916 if (size.X <= 0) size.X = 0.01f;
917 if (size.Y <= 0) size.Y = 0.01f;
918 if (size.Z <= 0) size.Z = 0.01f;
919
920 _size = size;
921
922 if (!QuaternionIsFinite(rotation))
923 {
924 rotation = Quaternion.Identity;
925 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
926 }
927
928 _orientation = rotation;
929 givefakeori = 0;
930
931 _pbs = pbs;
932
933 _parent_scene = parent_scene;
934 m_targetSpace = IntPtr.Zero;
935
936 if (pos.Z < 0)
937 {
938 m_isphysical = false;
939 }
940 else
941 {
942 m_isphysical = pisPhysical;
943 }
944 m_fakeisphysical = m_isphysical;
945
946 m_isVolumeDetect = false;
947
948 m_force = Vector3.Zero;
949
950 m_iscolliding = false;
951 m_colliderfilter = 0;
952 m_softcolide = true;
953 m_NoColide = false;
954
955 hasOOBoffsetFromMesh = false;
956 _triMeshData = IntPtr.Zero;
957
958 m_shapetype = _shapeType;
959
960 m_lastdoneSelected = false;
961 m_isSelected = false;
962 m_delaySelect = false;
963
964 m_isphantom = pisPhantom;
965 m_fakeisphantom = pisPhantom;
966
967 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
968 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
969
970 CalcPrimBodyData();
971
972 m_mesh = null;
973 if (_parent_scene.needsMeshing(pbs))
974 {
975 bool convex;
976 if (m_shapetype == 0)
977 convex = false;
978 else
979 convex = true;
980
981 m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
982 }
983
984
985 m_building = true; // control must set this to false when done
986
987 AddChange(changes.Add, null);
988 }
989
990 private void resetCollisionAccounting()
991 {
992 m_collisionscore = 0;
993 }
994
995 private void createAMotor(Vector3 axis)
996 {
997 if (Body == IntPtr.Zero)
998 return;
999
1000 if (Amotor != IntPtr.Zero)
1001 {
1002 d.JointDestroy(Amotor);
1003 Amotor = IntPtr.Zero;
1004 }
1005
1006 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
1007
1008 if (axisnum <= 0)
1009 return;
1010
1011 // stop it
1012 d.BodySetTorque(Body, 0, 0, 0);
1013 d.BodySetAngularVel(Body, 0, 0, 0);
1014
1015 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1016 d.JointAttach(Amotor, Body, IntPtr.Zero);
1017
1018 d.JointSetAMotorMode(Amotor, 0);
1019
1020 d.JointSetAMotorNumAxes(Amotor, axisnum);
1021
1022 // get current orientation to lock
1023
1024 d.Quaternion dcur = d.BodyGetQuaternion(Body);
1025 Quaternion curr; // crap convertion between identical things
1026 curr.X = dcur.X;
1027 curr.Y = dcur.Y;
1028 curr.Z = dcur.Z;
1029 curr.W = dcur.W;
1030 Vector3 ax;
1031
1032 int i = 0;
1033 int j = 0;
1034 if (axis.X == 0)
1035 {
1036 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
1037 // ODE should do this with axis relative to body 1 but seems to fail
1038 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
1039 d.JointSetAMotorAngle(Amotor, 0, 0);
1040 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
1041 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
1042 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
1043 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
1044 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
1045 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
1046 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
1047 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
1048 i++;
1049 j = 256; // move to next axis set
1050 }
1051
1052 if (axis.Y == 0)
1053 {
1054 ax = (new Vector3(0, 1, 0)) * curr;
1055 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1056 d.JointSetAMotorAngle(Amotor, i, 0);
1057 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1058 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1059 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1060 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1061 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1062 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1063 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1064 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1065 i++;
1066 j += 256;
1067 }
1068
1069 if (axis.Z == 0)
1070 {
1071 ax = (new Vector3(0, 0, 1)) * curr;
1072 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1073 d.JointSetAMotorAngle(Amotor, i, 0);
1074 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1075 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1076 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1077 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1078 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1079 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1080 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1081 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1082 }
1083 }
1084
1085 private bool setMesh(OdeScene parent_scene)
1086 {
1087 IntPtr vertices, indices;
1088 int vertexCount, indexCount;
1089 int vertexStride, triStride;
1090
1091 if (Body != IntPtr.Zero)
1092 {
1093 if (childPrim)
1094 {
1095 if (_parent != null)
1096 {
1097 OdePrim parent = (OdePrim)_parent;
1098 parent.ChildDelink(this, false);
1099 }
1100 }
1101 else
1102 {
1103 DestroyBody();
1104 }
1105 }
1106
1107 IMesh mesh = null;
1108
1109
1110 lock (m_meshlock)
1111 {
1112 if (m_mesh == null)
1113 {
1114 bool convex;
1115 if (m_shapetype == 0)
1116 convex = false;
1117 else
1118 convex = true;
1119
1120 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1121 }
1122 else
1123 {
1124 mesh = m_mesh;
1125 }
1126
1127 if (mesh == null)
1128 {
1129 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1130 return false;
1131 }
1132
1133
1134 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1135 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1136
1137 if (vertexCount == 0 || indexCount == 0)
1138 {
1139 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1140 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1141 mesh.releaseSourceMeshData();
1142 return false;
1143 }
1144
1145 primOOBoffset = mesh.GetCentroid();
1146 hasOOBoffsetFromMesh = true;
1147
1148 mesh.releaseSourceMeshData();
1149 m_mesh = null;
1150 }
1151
1152 IntPtr geo = IntPtr.Zero;
1153
1154 try
1155 {
1156 _triMeshData = d.GeomTriMeshDataCreate();
1157
1158 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1159 d.GeomTriMeshDataPreprocess(_triMeshData);
1160
1161 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1162 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1163 }
1164
1165 catch (Exception e)
1166 {
1167 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1168 if (_triMeshData != IntPtr.Zero)
1169 {
1170 d.GeomTriMeshDataDestroy(_triMeshData);
1171 _triMeshData = IntPtr.Zero;
1172 }
1173 return false;
1174 }
1175
1176 SetGeom(geo);
1177 return true;
1178 }
1179
1180 private void SetGeom(IntPtr geom)
1181 {
1182 prim_geom = geom;
1183 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1184 if (prim_geom != IntPtr.Zero)
1185 {
1186 if (m_NoColide)
1187 {
1188 d.GeomSetCategoryBits(prim_geom, 0);
1189 if (m_isphysical)
1190 {
1191 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1192 }
1193 else
1194 {
1195 d.GeomSetCollideBits(prim_geom, 0);
1196 d.GeomDisable(prim_geom);
1197 }
1198 }
1199 else
1200 {
1201 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1202 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1203 }
1204
1205 CalcPrimBodyData();
1206
1207 _parent_scene.geom_name_map[prim_geom] = Name;
1208 _parent_scene.actor_name_map[prim_geom] = this;
1209
1210 }
1211 else
1212 m_log.Warn("Setting bad Geom");
1213 }
1214
1215
1216 /// <summary>
1217 /// Create a geometry for the given mesh in the given target space.
1218 /// </summary>
1219 /// <param name="m_targetSpace"></param>
1220 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1221 private void CreateGeom()
1222 {
1223 if (_triMeshData != IntPtr.Zero)
1224 {
1225 d.GeomTriMeshDataDestroy(_triMeshData);
1226 _triMeshData = IntPtr.Zero;
1227 }
1228
1229 bool haveMesh = false;
1230 hasOOBoffsetFromMesh = false;
1231 m_NoColide = false;
1232
1233 if (_parent_scene.needsMeshing(_pbs))
1234 {
1235 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1236 if (!haveMesh)
1237 m_NoColide = true;
1238 }
1239
1240 if (!haveMesh)
1241 {
1242 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1243 && _size.X == _size.Y && _size.Y == _size.Z)
1244 { // it's a sphere
1245 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1246 try
1247 {
1248 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1249 }
1250 catch (Exception e)
1251 {
1252 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1253 return;
1254 }
1255 }
1256 else
1257 {// do it as a box
1258 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1259 try
1260 {
1261 //Console.WriteLine(" CreateGeom 4");
1262 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1263 }
1264 catch (Exception e)
1265 {
1266 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1267 return;
1268 }
1269 }
1270 }
1271 }
1272
1273 /// <summary>
1274 /// Set a new geometry for this prim.
1275 /// </summary>
1276 /// <param name="geom"></param>
1277 private void RemoveGeom()
1278 {
1279 if (prim_geom != IntPtr.Zero)
1280 {
1281 _parent_scene.geom_name_map.Remove(prim_geom);
1282 _parent_scene.actor_name_map.Remove(prim_geom);
1283 try
1284 {
1285 d.GeomDestroy(prim_geom);
1286 if (_triMeshData != IntPtr.Zero)
1287 {
1288 d.GeomTriMeshDataDestroy(_triMeshData);
1289 _triMeshData = IntPtr.Zero;
1290 }
1291 }
1292 // catch (System.AccessViolationException)
1293 catch (Exception e)
1294 {
1295 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1296 }
1297
1298 prim_geom = IntPtr.Zero;
1299 }
1300 else
1301 {
1302 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1303 }
1304 Body = IntPtr.Zero;
1305 hasOOBoffsetFromMesh = false;
1306 CalcPrimBodyData();
1307 }
1308
1309 private void ChildSetGeom(OdePrim odePrim)
1310 {
1311 // well..
1312 DestroyBody();
1313 MakeBody();
1314 }
1315
1316 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1317 // should only be called for non physical prims unless they are becoming non physical
1318 private void SetInStaticSpace(OdePrim prim)
1319 {
1320 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1321 prim.m_targetSpace = targetSpace;
1322 d.GeomEnable(prim_geom);
1323 }
1324
1325 public void enableBodySoft()
1326 {
1327 if (!childPrim && !m_isSelected)
1328 {
1329 if (m_isphysical && Body != IntPtr.Zero)
1330 {
1331 if (m_isphantom && !m_isVolumeDetect)
1332 {
1333 m_collisionCategories = 0;
1334 m_collisionFlags = CollisionCategories.Land;
1335 }
1336 else
1337 {
1338 m_collisionCategories |= CollisionCategories.Body;
1339 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1340 }
1341
1342 foreach (OdePrim prm in childrenPrim)
1343 {
1344 prm.m_collisionCategories = m_collisionCategories;
1345 prm.m_collisionFlags = m_collisionFlags;
1346
1347 if (prm.prim_geom != IntPtr.Zero)
1348 {
1349 if (prm.m_NoColide)
1350 {
1351 d.GeomSetCategoryBits(prm.prim_geom, 0);
1352 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1353 }
1354 else
1355 {
1356 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1357 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1358 }
1359 d.GeomEnable(prm.prim_geom);
1360 }
1361 }
1362
1363 if (prim_geom != IntPtr.Zero)
1364 {
1365 if (m_NoColide)
1366 {
1367 d.GeomSetCategoryBits(prim_geom, 0);
1368 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1369 }
1370 else
1371 {
1372 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1373 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1374 }
1375 d.GeomEnable(prim_geom);
1376 }
1377 d.BodyEnable(Body);
1378 }
1379 }
1380 m_disabled = false;
1381 resetCollisionAccounting(); // this sets m_disable to false
1382 }
1383
1384 private void disableBodySoft()
1385 {
1386 m_disabled = true;
1387 if (!childPrim)
1388 {
1389 if (m_isphysical && Body != IntPtr.Zero)
1390 {
1391 m_collisionCategories &= ~CollisionCategories.Body;
1392 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1393
1394 foreach (OdePrim prm in childrenPrim)
1395 {
1396 prm.m_collisionCategories = m_collisionCategories;
1397 prm.m_collisionFlags = m_collisionFlags;
1398
1399 if (prm.prim_geom != IntPtr.Zero)
1400 {
1401 if (prm.m_NoColide)
1402 {
1403 d.GeomSetCategoryBits(prm.prim_geom, 0);
1404 d.GeomSetCollideBits(prm.prim_geom, 0);
1405 }
1406 else
1407 {
1408 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1409 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1410 }
1411 d.GeomDisable(prm.prim_geom);
1412 }
1413 }
1414
1415 if (prim_geom != IntPtr.Zero)
1416 {
1417 if (m_NoColide)
1418 {
1419 d.GeomSetCategoryBits(prim_geom, 0);
1420 d.GeomSetCollideBits(prim_geom, 0);
1421 }
1422 else
1423 {
1424 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1425 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1426 }
1427 d.GeomDisable(prim_geom);
1428 }
1429
1430 d.BodyDisable(Body);
1431 }
1432 }
1433 }
1434
1435 private void MakeBody()
1436 {
1437 if (!m_isphysical) // only physical get bodies
1438 return;
1439
1440 if (childPrim) // child prims don't get bodies;
1441 return;
1442
1443 if (m_building)
1444 return;
1445
1446 if (prim_geom == IntPtr.Zero)
1447 {
1448 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1449 return;
1450 }
1451
1452 if (Body != IntPtr.Zero)
1453 {
1454 d.BodyDestroy(Body);
1455 Body = IntPtr.Zero;
1456 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1457 }
1458
1459
1460 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1461 {
1462 d.GeomSetBody(prim_geom, IntPtr.Zero);
1463 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1464 }
1465
1466 d.Matrix3 mymat = new d.Matrix3();
1467 d.Quaternion myrot = new d.Quaternion();
1468 d.Mass objdmass = new d.Mass { };
1469
1470 Body = d.BodyCreate(_parent_scene.world);
1471
1472 DMassDup(ref primdMass, out objdmass);
1473
1474 // rotate inertia
1475 myrot.X = _orientation.X;
1476 myrot.Y = _orientation.Y;
1477 myrot.Z = _orientation.Z;
1478 myrot.W = _orientation.W;
1479
1480 d.RfromQ(out mymat, ref myrot);
1481 d.MassRotate(ref objdmass, ref mymat);
1482
1483 // set the body rotation
1484 d.BodySetRotation(Body, ref mymat);
1485
1486 // recompute full object inertia if needed
1487 if (childrenPrim.Count > 0)
1488 {
1489 d.Matrix3 mat = new d.Matrix3();
1490 d.Quaternion quat = new d.Quaternion();
1491 d.Mass tmpdmass = new d.Mass { };
1492 Vector3 rcm;
1493
1494 rcm.X = _position.X + objdmass.c.X;
1495 rcm.Y = _position.Y + objdmass.c.Y;
1496 rcm.Z = _position.Z + objdmass.c.Z;
1497
1498 lock (childrenPrim)
1499 {
1500 foreach (OdePrim prm in childrenPrim)
1501 {
1502 if (prm.prim_geom == IntPtr.Zero)
1503 {
1504 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1505 continue;
1506 }
1507
1508 DMassCopy(ref prm.primdMass, ref tmpdmass);
1509
1510 // apply prim current rotation to inertia
1511 quat.X = prm._orientation.X;
1512 quat.Y = prm._orientation.Y;
1513 quat.Z = prm._orientation.Z;
1514 quat.W = prm._orientation.W;
1515 d.RfromQ(out mat, ref quat);
1516 d.MassRotate(ref tmpdmass, ref mat);
1517
1518 Vector3 ppos = prm._position;
1519 ppos.X += tmpdmass.c.X - rcm.X;
1520 ppos.Y += tmpdmass.c.Y - rcm.Y;
1521 ppos.Z += tmpdmass.c.Z - rcm.Z;
1522
1523 // refer inertia to root prim center of mass position
1524 d.MassTranslate(ref tmpdmass,
1525 ppos.X,
1526 ppos.Y,
1527 ppos.Z);
1528
1529 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1530 // fix prim colision cats
1531
1532 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1533 {
1534 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1535 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1536 }
1537
1538 d.GeomClearOffset(prm.prim_geom);
1539 d.GeomSetBody(prm.prim_geom, Body);
1540 prm.Body = Body;
1541 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1542 }
1543 }
1544 }
1545
1546 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1547 // associate root geom with body
1548 d.GeomSetBody(prim_geom, Body);
1549
1550 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1551 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1552
1553 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1554 myrot.W = -myrot.W;
1555 d.RfromQ(out mymat, ref myrot);
1556 d.MassRotate(ref objdmass, ref mymat);
1557 d.BodySetMass(Body, ref objdmass);
1558 _mass = objdmass.mass;
1559
1560 // disconnect from world gravity so we can apply buoyancy
1561 d.BodySetGravityMode(Body, false);
1562
1563 d.BodySetAutoDisableFlag(Body, true);
1564 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1565 // d.BodySetLinearDampingThreshold(Body, 0.01f);
1566 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1567 d.BodySetDamping(Body, .002f, .002f);
1568
1569
1570 if (m_targetSpace != IntPtr.Zero)
1571 {
1572 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1573 if (d.SpaceQuery(m_targetSpace, prim_geom))
1574 d.SpaceRemove(m_targetSpace, prim_geom);
1575 }
1576
1577
1578 if (childrenPrim.Count == 0)
1579 {
1580 collide_geom = prim_geom;
1581 m_targetSpace = _parent_scene.ActiveSpace;
1582 d.SpaceAdd(m_targetSpace, prim_geom);
1583 }
1584 else
1585 {
1586 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1587 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1588 d.SpaceSetSublevel(m_targetSpace, 3);
1589 d.SpaceSetCleanup(m_targetSpace, false);
1590 d.SpaceAdd(m_targetSpace, prim_geom);
1591 collide_geom = m_targetSpace;
1592 }
1593
1594 if (m_delaySelect)
1595 {
1596 m_isSelected = true;
1597 m_delaySelect = false;
1598 }
1599
1600 lock (childrenPrim)
1601 {
1602 foreach (OdePrim prm in childrenPrim)
1603 {
1604 if (prm.prim_geom == IntPtr.Zero)
1605 continue;
1606
1607 Vector3 ppos = prm._position;
1608 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1609
1610 if (prm.m_targetSpace != m_targetSpace)
1611 {
1612 if (prm.m_targetSpace != IntPtr.Zero)
1613 {
1614 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1615 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1616 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1617 }
1618 prm.m_targetSpace = m_targetSpace;
1619 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1620 }
1621
1622 if (m_isSelected || m_disabled)
1623 {
1624 prm.m_collisionCategories &= ~CollisionCategories.Body;
1625 prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1626 d.GeomDisable(prm.prim_geom);
1627 }
1628 else
1629 {
1630 if (m_isphantom && !m_isVolumeDetect)
1631 {
1632 prm.m_collisionCategories = 0;
1633 prm.m_collisionFlags = CollisionCategories.Land;
1634 }
1635 else
1636 {
1637 prm.m_collisionCategories |= CollisionCategories.Body;
1638 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1639 }
1640 d.GeomEnable(prm.prim_geom);
1641 }
1642
1643 if (prm.m_NoColide)
1644 {
1645 d.GeomSetCategoryBits(prm.prim_geom, 0);
1646 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1647 d.GeomEnable(prm.prim_geom);
1648 }
1649 else
1650 {
1651 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1652 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1653 }
1654 prm.m_collisionscore = 0;
1655
1656 if(!m_disabled)
1657 prm.m_disabled = false;
1658
1659 _parent_scene.addActivePrim(prm);
1660 }
1661 }
1662
1663 // The body doesn't already have a finite rotation mode set here
1664 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1665 {
1666 createAMotor(m_angularlock);
1667 }
1668
1669 if (m_isSelected || m_disabled)
1670 {
1671 m_collisionCategories &= ~CollisionCategories.Body;
1672 m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1673
1674 d.GeomDisable(prim_geom);
1675 d.BodyDisable(Body);
1676 }
1677 else
1678 {
1679 if (m_isphantom && !m_isVolumeDetect)
1680 {
1681 m_collisionCategories = 0;
1682 m_collisionFlags = CollisionCategories.Land;
1683 }
1684 else
1685 {
1686 m_collisionCategories |= CollisionCategories.Body;
1687 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1688 }
1689
1690 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1691 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1692 }
1693
1694 if (m_NoColide)
1695 {
1696 d.GeomSetCategoryBits(prim_geom, 0);
1697 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1698 }
1699 else
1700 {
1701 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1702 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1703 }
1704
1705 m_collisionscore = 0;
1706
1707 m_softcolide = true;
1708 _parent_scene.addActivePrim(this);
1709 _parent_scene.addActiveGroups(this);
1710 }
1711
1712 private void DestroyBody()
1713 {
1714 if (Body != IntPtr.Zero)
1715 {
1716 _parent_scene.remActivePrim(this);
1717 m_collisionCategories &= ~CollisionCategories.Body;
1718 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1719 if (prim_geom != IntPtr.Zero)
1720 {
1721 if (m_NoColide)
1722 {
1723 d.GeomSetCategoryBits(prim_geom, 0);
1724 d.GeomSetCollideBits(prim_geom, 0);
1725 }
1726 else
1727 {
1728 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1729 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1730 }
1731 UpdateDataFromGeom();
1732 d.GeomSetBody(prim_geom, IntPtr.Zero);
1733 SetInStaticSpace(this);
1734 }
1735
1736 if (!childPrim)
1737 {
1738 lock (childrenPrim)
1739 {
1740 foreach (OdePrim prm in childrenPrim)
1741 {
1742 _parent_scene.remActivePrim(prm);
1743 prm.m_collisionCategories = m_collisionCategories;
1744 prm.m_collisionFlags = m_collisionFlags;
1745 if (prm.prim_geom != IntPtr.Zero)
1746 {
1747 if (prm.m_NoColide)
1748 {
1749 d.GeomSetCategoryBits(prm.prim_geom, 0);
1750 d.GeomSetCollideBits(prm.prim_geom, 0);
1751 }
1752 else
1753 {
1754 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1755 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1756 }
1757 prm.UpdateDataFromGeom();
1758 SetInStaticSpace(prm);
1759 }
1760 prm.Body = IntPtr.Zero;
1761 prm._mass = prm.primMass;
1762 prm.m_collisionscore = 0;
1763 }
1764 }
1765 if (Amotor != IntPtr.Zero)
1766 {
1767 d.JointDestroy(Amotor);
1768 Amotor = IntPtr.Zero;
1769 }
1770 _parent_scene.remActiveGroup(this);
1771 d.BodyDestroy(Body);
1772 }
1773 Body = IntPtr.Zero;
1774 }
1775 _mass = primMass;
1776 m_collisionscore = 0;
1777 }
1778
1779 private void FixInertia(Vector3 NewPos,Quaternion newrot)
1780 {
1781 d.Matrix3 mat = new d.Matrix3();
1782 d.Quaternion quat = new d.Quaternion();
1783
1784 d.Mass tmpdmass = new d.Mass { };
1785 d.Mass objdmass = new d.Mass { };
1786
1787 d.BodyGetMass(Body, out tmpdmass);
1788 objdmass = tmpdmass;
1789
1790 d.Vector3 dobjpos;
1791 d.Vector3 thispos;
1792
1793 // get current object position and rotation
1794 dobjpos = d.BodyGetPosition(Body);
1795
1796 // get prim own inertia in its local frame
1797 tmpdmass = primdMass;
1798
1799 // transform to object frame
1800 mat = d.GeomGetOffsetRotation(prim_geom);
1801 d.MassRotate(ref tmpdmass, ref mat);
1802
1803 thispos = d.GeomGetOffsetPosition(prim_geom);
1804 d.MassTranslate(ref tmpdmass,
1805 thispos.X,
1806 thispos.Y,
1807 thispos.Z);
1808
1809 // subtract current prim inertia from object
1810 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1811
1812 // back prim own inertia
1813 tmpdmass = primdMass;
1814
1815 // update to new position and orientation
1816 _position = NewPos;
1817 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1818 _orientation = newrot;
1819 quat.X = newrot.X;
1820 quat.Y = newrot.Y;
1821 quat.Z = newrot.Z;
1822 quat.W = newrot.W;
1823 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1824
1825 mat = d.GeomGetOffsetRotation(prim_geom);
1826 d.MassRotate(ref tmpdmass, ref mat);
1827
1828 thispos = d.GeomGetOffsetPosition(prim_geom);
1829 d.MassTranslate(ref tmpdmass,
1830 thispos.X,
1831 thispos.Y,
1832 thispos.Z);
1833
1834 d.MassAdd(ref objdmass, ref tmpdmass);
1835
1836 // fix all positions
1837 IntPtr g = d.BodyGetFirstGeom(Body);
1838 while (g != IntPtr.Zero)
1839 {
1840 thispos = d.GeomGetOffsetPosition(g);
1841 thispos.X -= objdmass.c.X;
1842 thispos.Y -= objdmass.c.Y;
1843 thispos.Z -= objdmass.c.Z;
1844 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1845 g = d.dBodyGetNextGeom(g);
1846 }
1847 d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
1848
1849 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1850 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1851 d.BodySetMass(Body, ref objdmass);
1852 _mass = objdmass.mass;
1853 }
1854
1855
1856
1857 private void FixInertia(Vector3 NewPos)
1858 {
1859 d.Matrix3 primmat = new d.Matrix3();
1860 d.Mass tmpdmass = new d.Mass { };
1861 d.Mass objdmass = new d.Mass { };
1862 d.Mass primmass = new d.Mass { };
1863
1864 d.Vector3 dobjpos;
1865 d.Vector3 thispos;
1866
1867 d.BodyGetMass(Body, out objdmass);
1868
1869 // get prim own inertia in its local frame
1870 primmass = primdMass;
1871 // transform to object frame
1872 primmat = d.GeomGetOffsetRotation(prim_geom);
1873 d.MassRotate(ref primmass, ref primmat);
1874
1875 tmpdmass = primmass;
1876
1877 thispos = d.GeomGetOffsetPosition(prim_geom);
1878 d.MassTranslate(ref tmpdmass,
1879 thispos.X,
1880 thispos.Y,
1881 thispos.Z);
1882
1883 // subtract current prim inertia from object
1884 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1885
1886 // update to new position
1887 _position = NewPos;
1888 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1889
1890 thispos = d.GeomGetOffsetPosition(prim_geom);
1891 d.MassTranslate(ref primmass,
1892 thispos.X,
1893 thispos.Y,
1894 thispos.Z);
1895
1896 d.MassAdd(ref objdmass, ref primmass);
1897
1898 // fix all positions
1899 IntPtr g = d.BodyGetFirstGeom(Body);
1900 while (g != IntPtr.Zero)
1901 {
1902 thispos = d.GeomGetOffsetPosition(g);
1903 thispos.X -= objdmass.c.X;
1904 thispos.Y -= objdmass.c.Y;
1905 thispos.Z -= objdmass.c.Z;
1906 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1907 g = d.dBodyGetNextGeom(g);
1908 }
1909
1910 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
1911
1912 // get current object position and rotation
1913 dobjpos = d.BodyGetPosition(Body);
1914
1915 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1916 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1917 d.BodySetMass(Body, ref objdmass);
1918 _mass = objdmass.mass;
1919 }
1920
1921 private void FixInertia(Quaternion newrot)
1922 {
1923 d.Matrix3 mat = new d.Matrix3();
1924 d.Quaternion quat = new d.Quaternion();
1925
1926 d.Mass tmpdmass = new d.Mass { };
1927 d.Mass objdmass = new d.Mass { };
1928 d.Vector3 dobjpos;
1929 d.Vector3 thispos;
1930
1931 d.BodyGetMass(Body, out objdmass);
1932
1933 // get prim own inertia in its local frame
1934 tmpdmass = primdMass;
1935 mat = d.GeomGetOffsetRotation(prim_geom);
1936 d.MassRotate(ref tmpdmass, ref mat);
1937 // transform to object frame
1938 thispos = d.GeomGetOffsetPosition(prim_geom);
1939 d.MassTranslate(ref tmpdmass,
1940 thispos.X,
1941 thispos.Y,
1942 thispos.Z);
1943
1944 // subtract current prim inertia from object
1945 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1946
1947 // update to new orientation
1948 _orientation = newrot;
1949 quat.X = newrot.X;
1950 quat.Y = newrot.Y;
1951 quat.Z = newrot.Z;
1952 quat.W = newrot.W;
1953 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1954
1955 tmpdmass = primdMass;
1956 mat = d.GeomGetOffsetRotation(prim_geom);
1957 d.MassRotate(ref tmpdmass, ref mat);
1958 d.MassTranslate(ref tmpdmass,
1959 thispos.X,
1960 thispos.Y,
1961 thispos.Z);
1962
1963 d.MassAdd(ref objdmass, ref tmpdmass);
1964
1965 // fix all positions
1966 IntPtr g = d.BodyGetFirstGeom(Body);
1967 while (g != IntPtr.Zero)
1968 {
1969 thispos = d.GeomGetOffsetPosition(g);
1970 thispos.X -= objdmass.c.X;
1971 thispos.Y -= objdmass.c.Y;
1972 thispos.Z -= objdmass.c.Z;
1973 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1974 g = d.dBodyGetNextGeom(g);
1975 }
1976
1977 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
1978 // get current object position and rotation
1979 dobjpos = d.BodyGetPosition(Body);
1980
1981 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1982 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1983 d.BodySetMass(Body, ref objdmass);
1984 _mass = objdmass.mass;
1985 }
1986
1987
1988 #region Mass Calculation
1989
1990 private float CalculatePrimVolume()
1991 {
1992 float volume = _size.X * _size.Y * _size.Z; // default
1993 float tmp;
1994
1995 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
1996 float hollowVolume = hollowAmount * hollowAmount;
1997
1998 switch (_pbs.ProfileShape)
1999 {
2000 case ProfileShape.Square:
2001 // default box
2002
2003 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2004 {
2005 if (hollowAmount > 0.0)
2006 {
2007 switch (_pbs.HollowShape)
2008 {
2009 case HollowShape.Square:
2010 case HollowShape.Same:
2011 break;
2012
2013 case HollowShape.Circle:
2014
2015 hollowVolume *= 0.78539816339f;
2016 break;
2017
2018 case HollowShape.Triangle:
2019
2020 hollowVolume *= (0.5f * .5f);
2021 break;
2022
2023 default:
2024 hollowVolume = 0;
2025 break;
2026 }
2027 volume *= (1.0f - hollowVolume);
2028 }
2029 }
2030
2031 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2032 {
2033 //a tube
2034
2035 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
2036 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
2037 volume -= volume * tmp * tmp;
2038
2039 if (hollowAmount > 0.0)
2040 {
2041 hollowVolume *= hollowAmount;
2042
2043 switch (_pbs.HollowShape)
2044 {
2045 case HollowShape.Square:
2046 case HollowShape.Same:
2047 break;
2048
2049 case HollowShape.Circle:
2050 hollowVolume *= 0.78539816339f;
2051 break;
2052
2053 case HollowShape.Triangle:
2054 hollowVolume *= 0.5f * 0.5f;
2055 break;
2056 default:
2057 hollowVolume = 0;
2058 break;
2059 }
2060 volume *= (1.0f - hollowVolume);
2061 }
2062 }
2063
2064 break;
2065
2066 case ProfileShape.Circle:
2067
2068 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2069 {
2070 volume *= 0.78539816339f; // elipse base
2071
2072 if (hollowAmount > 0.0)
2073 {
2074 switch (_pbs.HollowShape)
2075 {
2076 case HollowShape.Same:
2077 case HollowShape.Circle:
2078 break;
2079
2080 case HollowShape.Square:
2081 hollowVolume *= 0.5f * 2.5984480504799f;
2082 break;
2083
2084 case HollowShape.Triangle:
2085 hollowVolume *= .5f * 1.27323954473516f;
2086 break;
2087
2088 default:
2089 hollowVolume = 0;
2090 break;
2091 }
2092 volume *= (1.0f - hollowVolume);
2093 }
2094 }
2095
2096 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2097 {
2098 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
2099 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2100 volume *= (1.0f - tmp * tmp);
2101
2102 if (hollowAmount > 0.0)
2103 {
2104
2105 // calculate the hollow volume by it's shape compared to the prim shape
2106 hollowVolume *= hollowAmount;
2107
2108 switch (_pbs.HollowShape)
2109 {
2110 case HollowShape.Same:
2111 case HollowShape.Circle:
2112 break;
2113
2114 case HollowShape.Square:
2115 hollowVolume *= 0.5f * 2.5984480504799f;
2116 break;
2117
2118 case HollowShape.Triangle:
2119 hollowVolume *= .5f * 1.27323954473516f;
2120 break;
2121
2122 default:
2123 hollowVolume = 0;
2124 break;
2125 }
2126 volume *= (1.0f - hollowVolume);
2127 }
2128 }
2129 break;
2130
2131 case ProfileShape.HalfCircle:
2132 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2133 {
2134 volume *= 0.52359877559829887307710723054658f;
2135 }
2136 break;
2137
2138 case ProfileShape.EquilateralTriangle:
2139
2140 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2141 {
2142 volume *= 0.32475953f;
2143
2144 if (hollowAmount > 0.0)
2145 {
2146
2147 // calculate the hollow volume by it's shape compared to the prim shape
2148 switch (_pbs.HollowShape)
2149 {
2150 case HollowShape.Same:
2151 case HollowShape.Triangle:
2152 hollowVolume *= .25f;
2153 break;
2154
2155 case HollowShape.Square:
2156 hollowVolume *= 0.499849f * 3.07920140172638f;
2157 break;
2158
2159 case HollowShape.Circle:
2160 // Hollow shape is a perfect cyllinder in respect to the cube's scale
2161 // Cyllinder hollow volume calculation
2162
2163 hollowVolume *= 0.1963495f * 3.07920140172638f;
2164 break;
2165
2166 default:
2167 hollowVolume = 0;
2168 break;
2169 }
2170 volume *= (1.0f - hollowVolume);
2171 }
2172 }
2173 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2174 {
2175 volume *= 0.32475953f;
2176 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
2177 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2178 volume *= (1.0f - tmp * tmp);
2179
2180 if (hollowAmount > 0.0)
2181 {
2182
2183 hollowVolume *= hollowAmount;
2184
2185 switch (_pbs.HollowShape)
2186 {
2187 case HollowShape.Same:
2188 case HollowShape.Triangle:
2189 hollowVolume *= .25f;
2190 break;
2191
2192 case HollowShape.Square:
2193 hollowVolume *= 0.499849f * 3.07920140172638f;
2194 break;
2195
2196 case HollowShape.Circle:
2197
2198 hollowVolume *= 0.1963495f * 3.07920140172638f;
2199 break;
2200
2201 default:
2202 hollowVolume = 0;
2203 break;
2204 }
2205 volume *= (1.0f - hollowVolume);
2206 }
2207 }
2208 break;
2209
2210 default:
2211 break;
2212 }
2213
2214 float taperX1;
2215 float taperY1;
2216 float taperX;
2217 float taperY;
2218 float pathBegin;
2219 float pathEnd;
2220 float profileBegin;
2221 float profileEnd;
2222
2223 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
2224 {
2225 taperX1 = _pbs.PathScaleX * 0.01f;
2226 if (taperX1 > 1.0f)
2227 taperX1 = 2.0f - taperX1;
2228 taperX = 1.0f - taperX1;
2229
2230 taperY1 = _pbs.PathScaleY * 0.01f;
2231 if (taperY1 > 1.0f)
2232 taperY1 = 2.0f - taperY1;
2233 taperY = 1.0f - taperY1;
2234 }
2235 else
2236 {
2237 taperX = _pbs.PathTaperX * 0.01f;
2238 if (taperX < 0.0f)
2239 taperX = -taperX;
2240 taperX1 = 1.0f - taperX;
2241
2242 taperY = _pbs.PathTaperY * 0.01f;
2243 if (taperY < 0.0f)
2244 taperY = -taperY;
2245 taperY1 = 1.0f - taperY;
2246 }
2247
2248 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
2249
2250 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
2251 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
2252 volume *= (pathEnd - pathBegin);
2253
2254 // this is crude aproximation
2255 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
2256 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
2257 volume *= (profileEnd - profileBegin);
2258
2259 return volume;
2260 }
2261
2262
2263 private void CalcPrimBodyData()
2264 {
2265 float volume;
2266
2267 if (prim_geom == IntPtr.Zero)
2268 {
2269 // Ubit let's have a initial basic OOB
2270 primOOBsize.X = _size.X;
2271 primOOBsize.Y = _size.Y;
2272 primOOBsize.Z = _size.Z;
2273 primOOBoffset = Vector3.Zero;
2274 }
2275 else
2276 {
2277 d.AABB AABB;
2278 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
2279
2280 primOOBsize.X = (AABB.MaxX - AABB.MinX);
2281 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
2282 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
2283 if (!hasOOBoffsetFromMesh)
2284 {
2285 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
2286 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
2287 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
2288 }
2289 }
2290
2291 // also its own inertia and mass
2292 // keep using basic shape mass for now
2293 volume = CalculatePrimVolume();
2294
2295 primMass = m_density * volume;
2296
2297 if (primMass <= 0)
2298 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2299 if (primMass > _parent_scene.maximumMassObject)
2300 primMass = _parent_scene.maximumMassObject;
2301
2302 _mass = primMass; // just in case
2303
2304 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
2305
2306 d.MassTranslate(ref primdMass,
2307 primOOBoffset.X,
2308 primOOBoffset.Y,
2309 primOOBoffset.Z);
2310
2311 primOOBsize *= 0.5f; // let obb size be a corner coords
2312 primOOBradiusSQ = primOOBsize.LengthSquared();
2313 }
2314
2315
2316 #endregion
2317
2318
2319 /// <summary>
2320 /// Add a child prim to this parent prim.
2321 /// </summary>
2322 /// <param name="prim">Child prim</param>
2323 // I'm the parent
2324 // prim is the child
2325 public void ParentPrim(OdePrim prim)
2326 {
2327 //Console.WriteLine("ParentPrim " + m_primName);
2328 if (this.m_localID != prim.m_localID)
2329 {
2330 DestroyBody(); // for now we need to rebuil entire object on link change
2331
2332 lock (childrenPrim)
2333 {
2334 // adopt the prim
2335 if (!childrenPrim.Contains(prim))
2336 childrenPrim.Add(prim);
2337
2338 // see if this prim has kids and adopt them also
2339 // should not happen for now
2340 foreach (OdePrim prm in prim.childrenPrim)
2341 {
2342 if (!childrenPrim.Contains(prm))
2343 {
2344 if (prm.Body != IntPtr.Zero)
2345 {
2346 if (prm.prim_geom != IntPtr.Zero)
2347 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2348 if (prm.Body != prim.Body)
2349 prm.DestroyBody(); // don't loose bodies around
2350 prm.Body = IntPtr.Zero;
2351 }
2352
2353 childrenPrim.Add(prm);
2354 prm._parent = this;
2355 }
2356 }
2357 }
2358 //Remove old children from the prim
2359 prim.childrenPrim.Clear();
2360
2361 if (prim.Body != IntPtr.Zero)
2362 {
2363 if (prim.prim_geom != IntPtr.Zero)
2364 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2365 prim.DestroyBody(); // don't loose bodies around
2366 prim.Body = IntPtr.Zero;
2367 }
2368
2369 prim.childPrim = true;
2370 prim._parent = this;
2371
2372 MakeBody(); // full nasty reconstruction
2373 }
2374 }
2375
2376 private void UpdateChildsfromgeom()
2377 {
2378 if (childrenPrim.Count > 0)
2379 {
2380 foreach (OdePrim prm in childrenPrim)
2381 prm.UpdateDataFromGeom();
2382 }
2383 }
2384
2385 private void UpdateDataFromGeom()
2386 {
2387 if (prim_geom != IntPtr.Zero)
2388 {
2389 d.Quaternion qtmp = new d.Quaternion { };
2390 d.GeomCopyQuaternion(prim_geom, out qtmp);
2391 _orientation.W = qtmp.W;
2392 _orientation.X = qtmp.X;
2393 _orientation.Y = qtmp.Y;
2394 _orientation.Z = qtmp.Z;
2395
2396 d.Vector3 lpos;
2397 d.GeomCopyPosition(prim_geom, out lpos);
2398 _position.X = lpos.X;
2399 _position.Y = lpos.Y;
2400 _position.Z = lpos.Z;
2401 }
2402 }
2403
2404 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2405 {
2406 // Okay, we have a delinked child.. destroy all body and remake
2407 if (odePrim != this && !childrenPrim.Contains(odePrim))
2408 return;
2409
2410 DestroyBody();
2411
2412 if (odePrim == this) // delinking the root prim
2413 {
2414 OdePrim newroot = null;
2415 lock (childrenPrim)
2416 {
2417 if (childrenPrim.Count > 0)
2418 {
2419 newroot = childrenPrim[0];
2420 childrenPrim.RemoveAt(0);
2421 foreach (OdePrim prm in childrenPrim)
2422 {
2423 newroot.childrenPrim.Add(prm);
2424 }
2425 childrenPrim.Clear();
2426 }
2427 if (newroot != null)
2428 {
2429 newroot.childPrim = false;
2430 newroot._parent = null;
2431 if (remakebodies)
2432 newroot.MakeBody();
2433 }
2434 }
2435 }
2436
2437 else
2438 {
2439 lock (childrenPrim)
2440 {
2441 childrenPrim.Remove(odePrim);
2442 odePrim.childPrim = false;
2443 odePrim._parent = null;
2444 // odePrim.UpdateDataFromGeom();
2445 if (remakebodies)
2446 odePrim.MakeBody();
2447 }
2448 }
2449 if (remakebodies)
2450 MakeBody();
2451 }
2452
2453 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2454 {
2455 // Okay, we have a delinked child.. destroy all body and remake
2456 if (odePrim != this && !childrenPrim.Contains(odePrim))
2457 return;
2458
2459 DestroyBody();
2460
2461 if (odePrim == this)
2462 {
2463 OdePrim newroot = null;
2464 lock (childrenPrim)
2465 {
2466 if (childrenPrim.Count > 0)
2467 {
2468 newroot = childrenPrim[0];
2469 childrenPrim.RemoveAt(0);
2470 foreach (OdePrim prm in childrenPrim)
2471 {
2472 newroot.childrenPrim.Add(prm);
2473 }
2474 childrenPrim.Clear();
2475 }
2476 if (newroot != null)
2477 {
2478 newroot.childPrim = false;
2479 newroot._parent = null;
2480 newroot.MakeBody();
2481 }
2482 }
2483 if (reMakeBody)
2484 MakeBody();
2485 return;
2486 }
2487 else
2488 {
2489 lock (childrenPrim)
2490 {
2491 childrenPrim.Remove(odePrim);
2492 odePrim.childPrim = false;
2493 odePrim._parent = null;
2494 if (reMakeBody)
2495 odePrim.MakeBody();
2496 }
2497 }
2498 MakeBody();
2499 }
2500
2501 #region changes
2502
2503 private void changeadd()
2504 {
2505 CreateGeom();
2506
2507 if (prim_geom != IntPtr.Zero)
2508 {
2509 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2510 d.Quaternion myrot = new d.Quaternion();
2511 myrot.X = _orientation.X;
2512 myrot.Y = _orientation.Y;
2513 myrot.Z = _orientation.Z;
2514 myrot.W = _orientation.W;
2515 d.GeomSetQuaternion(prim_geom, ref myrot);
2516
2517 if (!m_isphysical)
2518 SetInStaticSpace(this);
2519 }
2520
2521 if (m_isphysical && Body == IntPtr.Zero)
2522 {
2523 MakeBody();
2524 }
2525 }
2526
2527 private void changeAngularLock(Vector3 newLock)
2528 {
2529 // do we have a Physical object?
2530 if (Body != IntPtr.Zero)
2531 {
2532 //Check that we have a Parent
2533 //If we have a parent then we're not authorative here
2534 if (_parent == null)
2535 {
2536 if (!newLock.ApproxEquals(Vector3.One, 0f))
2537 {
2538 createAMotor(newLock);
2539 }
2540 else
2541 {
2542 if (Amotor != IntPtr.Zero)
2543 {
2544 d.JointDestroy(Amotor);
2545 Amotor = IntPtr.Zero;
2546 }
2547 }
2548 }
2549 }
2550 // Store this for later in case we get turned into a separate body
2551 m_angularlock = newLock;
2552 }
2553
2554 private void changeLink(OdePrim NewParent)
2555 {
2556 if (_parent == null && NewParent != null)
2557 {
2558 NewParent.ParentPrim(this);
2559 }
2560 else if (_parent != null)
2561 {
2562 if (_parent is OdePrim)
2563 {
2564 if (NewParent != _parent)
2565 {
2566 (_parent as OdePrim).ChildDelink(this, false); // for now...
2567 childPrim = false;
2568
2569 if (NewParent != null)
2570 {
2571 NewParent.ParentPrim(this);
2572 }
2573 }
2574 }
2575 }
2576 _parent = NewParent;
2577 }
2578
2579
2580 private void Stop()
2581 {
2582 if (!childPrim)
2583 {
2584 m_force = Vector3.Zero;
2585 m_forceacc = Vector3.Zero;
2586 m_angularForceacc = Vector3.Zero;
2587 _torque = Vector3.Zero;
2588 _velocity = Vector3.Zero;
2589 _acceleration = Vector3.Zero;
2590 m_rotationalVelocity = Vector3.Zero;
2591 _target_velocity = Vector3.Zero;
2592 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2593 m_vehicle.Stop();
2594 }
2595
2596 if (Body != IntPtr.Zero)
2597 {
2598 d.BodySetForce(Body, 0f, 0f, 0f);
2599 d.BodySetTorque(Body, 0f, 0f, 0f);
2600 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2601 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2602 }
2603 }
2604
2605
2606 private void changePhantomStatus(bool newval)
2607 {
2608 m_isphantom = newval;
2609
2610 if (m_isSelected)
2611 {
2612 m_collisionCategories = CollisionCategories.Selected;
2613 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2614 }
2615 else
2616 {
2617 if (m_isphantom && !m_isVolumeDetect)
2618 {
2619 m_collisionCategories = 0;
2620 if (m_isphysical)
2621 m_collisionFlags = CollisionCategories.Land;
2622 else
2623 m_collisionFlags = 0; // should never happen
2624 }
2625
2626 else
2627 {
2628 m_collisionCategories = CollisionCategories.Geom;
2629 if (m_isphysical)
2630 m_collisionCategories |= CollisionCategories.Body;
2631
2632 m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
2633
2634 if (m_collidesWater)
2635 m_collisionFlags |= CollisionCategories.Water;
2636 }
2637 }
2638
2639 if (!childPrim)
2640 {
2641 foreach (OdePrim prm in childrenPrim)
2642 {
2643 prm.m_collisionCategories = m_collisionCategories;
2644 prm.m_collisionFlags = m_collisionFlags;
2645
2646 if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
2647 {
2648 if (prm.m_NoColide)
2649 {
2650 d.GeomSetCategoryBits(prm.prim_geom, 0);
2651 if (m_isphysical)
2652 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
2653 else
2654 d.GeomSetCollideBits(prm.prim_geom, 0);
2655 }
2656 else
2657 {
2658 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2659 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2660 }
2661 if(!m_isSelected)
2662 d.GeomEnable(prm.prim_geom);
2663 }
2664 }
2665 }
2666
2667 if (!m_disabled && prim_geom != IntPtr.Zero)
2668 {
2669 if (m_NoColide)
2670 {
2671 d.GeomSetCategoryBits(prim_geom, 0);
2672 if (m_isphysical)
2673 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2674 else
2675 d.GeomSetCollideBits(prim_geom, 0);
2676 }
2677 else
2678 {
2679 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2680 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2681 }
2682 if(!m_isSelected)
2683 d.GeomEnable(prim_geom);
2684 }
2685 }
2686
2687 private void changeSelectedStatus(bool newval)
2688 {
2689 if (m_lastdoneSelected == newval)
2690 return;
2691
2692 m_lastdoneSelected = newval;
2693 DoSelectedStatus(newval);
2694 }
2695
2696 private void CheckDelaySelect()
2697 {
2698 if (m_delaySelect)
2699 {
2700 DoSelectedStatus(m_isSelected);
2701 }
2702 }
2703
2704 private void DoSelectedStatus(bool newval)
2705 {
2706 m_isSelected = newval;
2707 Stop();
2708
2709 if (newval)
2710 {
2711 if (!childPrim && Body != IntPtr.Zero)
2712 d.BodyDisable(Body);
2713
2714 if (m_delaySelect || m_isphysical)
2715 {
2716 m_collisionCategories = CollisionCategories.Selected;
2717 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2718
2719 if (!childPrim)
2720 {
2721 foreach (OdePrim prm in childrenPrim)
2722 {
2723 prm.m_collisionCategories = m_collisionCategories;
2724 prm.m_collisionFlags = m_collisionFlags;
2725
2726 if (prm.prim_geom != null)
2727 {
2728
2729 if (prm.m_NoColide)
2730 {
2731 d.GeomSetCategoryBits(prm.prim_geom, 0);
2732 d.GeomSetCollideBits(prm.prim_geom, 0);
2733 }
2734 else
2735 {
2736 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2737 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2738 }
2739 d.GeomDisable(prm.prim_geom);
2740 }
2741 prm.m_delaySelect = false;
2742 }
2743 }
2744
2745 if (prim_geom != null)
2746 {
2747 if (m_NoColide)
2748 {
2749 d.GeomSetCategoryBits(prim_geom, 0);
2750 d.GeomSetCollideBits(prim_geom, 0);
2751 }
2752 else
2753 {
2754 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2755 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2756 }
2757 d.GeomDisable(prim_geom);
2758 }
2759
2760 m_delaySelect = false;
2761 }
2762 else if(!m_isphysical)
2763 {
2764 m_delaySelect = true;
2765 }
2766 }
2767 else
2768 {
2769 if (!childPrim && Body != IntPtr.Zero && !m_disabled)
2770 d.BodyEnable(Body);
2771
2772 if (m_isphantom && !m_isVolumeDetect)
2773 {
2774 m_collisionCategories = 0;
2775 if(m_isphysical)
2776 m_collisionFlags = CollisionCategories.Land;
2777 else
2778 m_collisionFlags = 0;
2779 }
2780 else
2781 {
2782 m_collisionCategories = CollisionCategories.Geom;
2783 if (m_isphysical)
2784 m_collisionCategories |= CollisionCategories.Body;
2785
2786 m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
2787
2788 if (m_collidesWater)
2789 m_collisionFlags |= CollisionCategories.Water;
2790 }
2791
2792 if (!childPrim)
2793 {
2794 foreach (OdePrim prm in childrenPrim)
2795 {
2796 prm.m_collisionCategories = m_collisionCategories;
2797 prm.m_collisionFlags = m_collisionFlags;
2798
2799 if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
2800 {
2801 if (prm.m_NoColide)
2802 {
2803 d.GeomSetCategoryBits(prm.prim_geom, 0);
2804 if (m_isphysical)
2805 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
2806 else
2807 d.GeomSetCollideBits(prm.prim_geom, 0);
2808 }
2809 else
2810 {
2811 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2812 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2813 }
2814 d.GeomEnable(prm.prim_geom);
2815 }
2816 prm.m_delaySelect = false;
2817 prm.m_softcolide = true;
2818 }
2819 }
2820
2821 if (!m_disabled && prim_geom != IntPtr.Zero)
2822 {
2823 if (m_NoColide)
2824 {
2825 d.GeomSetCategoryBits(prim_geom, 0);
2826 if (m_isphysical)
2827 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2828 else
2829 d.GeomSetCollideBits(prim_geom, 0);
2830 }
2831 else
2832 {
2833 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2834 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2835 }
2836 d.GeomEnable(prim_geom);
2837 }
2838
2839 m_delaySelect = false;
2840 m_softcolide = true;
2841 }
2842
2843 resetCollisionAccounting();
2844 }
2845
2846 private void changePosition(Vector3 newPos)
2847 {
2848 CheckDelaySelect();
2849 if (m_isphysical)
2850 {
2851 if (childPrim) // inertia is messed, must rebuild
2852 {
2853 if (m_building)
2854 {
2855 _position = newPos;
2856 }
2857
2858 else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
2859 {
2860 FixInertia(newPos);
2861 if (!d.BodyIsEnabled(Body))
2862 d.BodyEnable(Body);
2863 }
2864 }
2865 else
2866 {
2867 if (_position != newPos)
2868 {
2869 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2870 _position = newPos;
2871 }
2872 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2873 d.BodyEnable(Body);
2874 }
2875 }
2876 else
2877 {
2878 if (prim_geom != IntPtr.Zero)
2879 {
2880 if (newPos != _position)
2881 {
2882 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2883 _position = newPos;
2884
2885 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2886 }
2887 }
2888 }
2889 givefakepos--;
2890 if (givefakepos < 0)
2891 givefakepos = 0;
2892 // changeSelectedStatus();
2893 m_softcolide = true;
2894 resetCollisionAccounting();
2895 }
2896
2897 private void changeOrientation(Quaternion newOri)
2898 {
2899 CheckDelaySelect();
2900 if (m_isphysical)
2901 {
2902 if (childPrim) // inertia is messed, must rebuild
2903 {
2904 if (m_building)
2905 {
2906 _orientation = newOri;
2907 }
2908 /*
2909 else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
2910 {
2911 FixInertia(_position, newOri);
2912 if (!d.BodyIsEnabled(Body))
2913 d.BodyEnable(Body);
2914 }
2915 */
2916 }
2917 else
2918 {
2919 if (newOri != _orientation)
2920 {
2921 d.Quaternion myrot = new d.Quaternion();
2922 myrot.X = newOri.X;
2923 myrot.Y = newOri.Y;
2924 myrot.Z = newOri.Z;
2925 myrot.W = newOri.W;
2926 d.GeomSetQuaternion(prim_geom, ref myrot);
2927 _orientation = newOri;
2928 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2929 createAMotor(m_angularlock);
2930 }
2931 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2932 d.BodyEnable(Body);
2933 }
2934 }
2935 else
2936 {
2937 if (prim_geom != IntPtr.Zero)
2938 {
2939 if (newOri != _orientation)
2940 {
2941 d.Quaternion myrot = new d.Quaternion();
2942 myrot.X = newOri.X;
2943 myrot.Y = newOri.Y;
2944 myrot.Z = newOri.Z;
2945 myrot.W = newOri.W;
2946 d.GeomSetQuaternion(prim_geom, ref myrot);
2947 _orientation = newOri;
2948 }
2949 }
2950 }
2951 givefakeori--;
2952 if (givefakeori < 0)
2953 givefakeori = 0;
2954 m_softcolide = true;
2955 resetCollisionAccounting();
2956 }
2957
2958 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
2959 {
2960 CheckDelaySelect();
2961 if (m_isphysical)
2962 {
2963 if (childPrim && m_building) // inertia is messed, must rebuild
2964 {
2965 _position = newPos;
2966 _orientation = newOri;
2967 }
2968 else
2969 {
2970 if (newOri != _orientation)
2971 {
2972 d.Quaternion myrot = new d.Quaternion();
2973 myrot.X = newOri.X;
2974 myrot.Y = newOri.Y;
2975 myrot.Z = newOri.Z;
2976 myrot.W = newOri.W;
2977 d.GeomSetQuaternion(prim_geom, ref myrot);
2978 _orientation = newOri;
2979 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2980 createAMotor(m_angularlock);
2981 }
2982 if (_position != newPos)
2983 {
2984 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2985 _position = newPos;
2986 }
2987 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2988 d.BodyEnable(Body);
2989 }
2990 }
2991 else
2992 {
2993 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2994 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2995
2996 if (prim_geom != IntPtr.Zero)
2997 {
2998 if (newOri != _orientation)
2999 {
3000 d.Quaternion myrot = new d.Quaternion();
3001 myrot.X = newOri.X;
3002 myrot.Y = newOri.Y;
3003 myrot.Z = newOri.Z;
3004 myrot.W = newOri.W;
3005 d.GeomSetQuaternion(prim_geom, ref myrot);
3006 _orientation = newOri;
3007 }
3008
3009 if (newPos != _position)
3010 {
3011 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3012 _position = newPos;
3013
3014 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
3015 }
3016 }
3017 }
3018 givefakepos--;
3019 if (givefakepos < 0)
3020 givefakepos = 0;
3021 givefakeori--;
3022 if (givefakeori < 0)
3023 givefakeori = 0;
3024
3025 m_softcolide = true;
3026 resetCollisionAccounting();
3027 }
3028
3029
3030 private void changeDisable(bool disable)
3031 {
3032 if (disable)
3033 {
3034 if (!m_disabled)
3035 disableBodySoft();
3036 }
3037 else
3038 {
3039 if (m_disabled)
3040 enableBodySoft();
3041 }
3042 }
3043
3044 private void changePhysicsStatus(bool NewStatus)
3045 {
3046 CheckDelaySelect();
3047
3048 m_isphysical = NewStatus;
3049
3050 if (!childPrim)
3051 {
3052 if (NewStatus)
3053 {
3054 if (Body == IntPtr.Zero)
3055 MakeBody();
3056 }
3057 else
3058 {
3059 if (Body != IntPtr.Zero)
3060 {
3061 DestroyBody();
3062 }
3063 Stop();
3064 }
3065 }
3066
3067 resetCollisionAccounting();
3068 }
3069
3070 private void changeprimsizeshape()
3071 {
3072 CheckDelaySelect();
3073
3074 OdePrim parent = (OdePrim)_parent;
3075
3076 bool chp = childPrim;
3077
3078 if (chp)
3079 {
3080 if (parent != null)
3081 {
3082 parent.DestroyBody();
3083 }
3084 }
3085 else
3086 {
3087 DestroyBody();
3088 }
3089
3090 RemoveGeom();
3091
3092 // we don't need to do space calculation because the client sends a position update also.
3093 if (_size.X <= 0)
3094 _size.X = 0.01f;
3095 if (_size.Y <= 0)
3096 _size.Y = 0.01f;
3097 if (_size.Z <= 0)
3098 _size.Z = 0.01f;
3099 // Construction of new prim
3100
3101 CreateGeom();
3102
3103 if (prim_geom != IntPtr.Zero)
3104 {
3105 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3106 d.Quaternion myrot = new d.Quaternion();
3107 myrot.X = _orientation.X;
3108 myrot.Y = _orientation.Y;
3109 myrot.Z = _orientation.Z;
3110 myrot.W = _orientation.W;
3111 d.GeomSetQuaternion(prim_geom, ref myrot);
3112 }
3113
3114 if (chp)
3115 {
3116 if (parent != null)
3117 {
3118 parent.MakeBody();
3119 }
3120 }
3121 else
3122 MakeBody();
3123
3124 m_softcolide = true;
3125 resetCollisionAccounting();
3126 }
3127
3128 private void changeSize(Vector3 newSize)
3129 {
3130 _size = newSize;
3131 changeprimsizeshape();
3132 }
3133
3134 private void changeShape(PrimitiveBaseShape newShape)
3135 {
3136 if(newShape != null)
3137 _pbs = newShape;
3138 changeprimsizeshape();
3139 }
3140
3141 private void changeFloatOnWater(bool newval)
3142 {
3143 m_collidesWater = newval;
3144
3145 if (prim_geom != IntPtr.Zero && !m_isphantom)
3146 {
3147 if (m_collidesWater)
3148 {
3149 m_collisionFlags |= CollisionCategories.Water;
3150 }
3151 else
3152 {
3153 m_collisionFlags &= ~CollisionCategories.Water;
3154 }
3155 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
3156 }
3157 }
3158
3159 private void changeSetTorque(Vector3 newtorque)
3160 {
3161 if (!m_isSelected)
3162 {
3163 if (m_isphysical && Body != IntPtr.Zero)
3164 {
3165 if (m_disabled)
3166 enableBodySoft();
3167 else if (!d.BodyIsEnabled(Body))
3168 d.BodyEnable(Body);
3169
3170 }
3171 _torque = newtorque;
3172 }
3173 }
3174
3175 private void changeForce(Vector3 force)
3176 {
3177 m_force = force;
3178 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3179 d.BodyEnable(Body);
3180 }
3181
3182 private void changeAddForce(Vector3 force)
3183 {
3184 m_forceacc += force;
3185 if (!m_isSelected)
3186 {
3187 lock (this)
3188 {
3189 //m_log.Info("[PHYSICS]: dequeing forcelist");
3190 if (m_isphysical && Body != IntPtr.Zero)
3191 {
3192 if (m_disabled)
3193 enableBodySoft();
3194 else if (!d.BodyIsEnabled(Body))
3195 d.BodyEnable(Body);
3196 }
3197 }
3198
3199 m_collisionscore = 0;
3200 }
3201 }
3202
3203 private void changeAddAngularForce(Vector3 aforce)
3204 {
3205 m_angularForceacc += aforce;
3206 if (!m_isSelected)
3207 {
3208 lock (this)
3209 {
3210 if (m_isphysical && Body != IntPtr.Zero)
3211 {
3212 if (m_disabled)
3213 enableBodySoft();
3214 else if (!d.BodyIsEnabled(Body))
3215 d.BodyEnable(Body);
3216 }
3217 }
3218 m_collisionscore = 0;
3219 }
3220 }
3221
3222 private void changevelocity(Vector3 newVel)
3223 {
3224 if (!m_isSelected)
3225 {
3226 if (Body != IntPtr.Zero)
3227 {
3228 if (m_disabled)
3229 enableBodySoft();
3230 else if (!d.BodyIsEnabled(Body))
3231 d.BodyEnable(Body);
3232
3233 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3234 }
3235 //resetCollisionAccounting();
3236 }
3237 _velocity = newVel;
3238 }
3239
3240 private void changeVolumedetetion(bool newVolDtc)
3241 {
3242 m_isVolumeDetect = newVolDtc;
3243 }
3244
3245 protected void changeBuilding(bool newbuilding)
3246 {
3247 if ((bool)newbuilding)
3248 {
3249 m_building = true;
3250 if (!childPrim)
3251 DestroyBody();
3252 }
3253 else
3254 {
3255 m_building = false;
3256 CheckDelaySelect();
3257 if (!childPrim)
3258 MakeBody();
3259 }
3260 if (!childPrim && childrenPrim.Count > 0)
3261 {
3262 foreach (OdePrim prm in childrenPrim)
3263 prm.changeBuilding(m_building); // call directly
3264 }
3265 }
3266
3267 public void changeSetVehicle(VehicleData vdata)
3268 {
3269 if (m_vehicle == null)
3270 m_vehicle = new ODEDynamics(this);
3271 m_vehicle.DoSetVehicle(vdata);
3272 }
3273 private void changeVehicleType(int value)
3274 {
3275 if (value == (int)Vehicle.TYPE_NONE)
3276 {
3277 if (m_vehicle != null)
3278 m_vehicle = null;
3279 }
3280 else
3281 {
3282 if (m_vehicle == null)
3283 m_vehicle = new ODEDynamics(this);
3284
3285 m_vehicle.ProcessTypeChange((Vehicle)value);
3286 }
3287 }
3288
3289 private void changeVehicleFloatParam(strVehicleFloatParam fp)
3290 {
3291 if (m_vehicle == null)
3292 return;
3293
3294 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
3295 }
3296
3297 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3298 {
3299 if (m_vehicle == null)
3300 return;
3301 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3302 }
3303
3304 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3305 {
3306 if (m_vehicle == null)
3307 return;
3308 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3309 }
3310
3311 private void changeVehicleFlags(strVehicleBoolParam bp)
3312 {
3313 if (m_vehicle == null)
3314 return;
3315 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3316 }
3317
3318 #endregion
3319
3320 public void Move()
3321 {
3322 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3323 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
3324 // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3325 {
3326// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
3327
3328 float timestep = _parent_scene.ODE_STEPSIZE;
3329
3330 // check outside region
3331 d.Vector3 lpos;
3332 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
3333
3334 if (lpos.Z < -100 || lpos.Z > 100000f)
3335 {
3336 m_outbounds = true;
3337
3338 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3339 _acceleration.X = 0;
3340 _acceleration.Y = 0;
3341 _acceleration.Z = 0;
3342
3343 _velocity.X = 0;
3344 _velocity.Y = 0;
3345 _velocity.Z = 0;
3346 m_rotationalVelocity.X = 0;
3347 m_rotationalVelocity.Y = 0;
3348 m_rotationalVelocity.Z = 0;
3349
3350 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3351 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3352 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3353 m_lastposition = _position;
3354 m_lastorientation = _orientation;
3355
3356 base.RequestPhysicsterseUpdate();
3357
3358 m_throttleUpdates = false;
3359 throttleCounter = 0;
3360 _zeroFlag = true;
3361
3362 disableBodySoft(); // disable it and colisions
3363 base.RaiseOutOfBounds(_position);
3364 return;
3365 }
3366
3367 if (lpos.X < 0f)
3368 {
3369 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3370 m_outbounds = true;
3371 }
3372 else if(lpos.X > _parent_scene.WorldExtents.X)
3373 {
3374 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3375 m_outbounds = true;
3376 }
3377 if (lpos.Y < 0f)
3378 {
3379 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3380 m_outbounds = true;
3381 }
3382 else if(lpos.Y > _parent_scene.WorldExtents.Y)
3383 {
3384 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3385 m_outbounds = true;
3386 }
3387
3388 if(m_outbounds)
3389 {
3390 m_lastposition = _position;
3391 m_lastorientation = _orientation;
3392
3393 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3394 m_rotationalVelocity.X = dtmp.X;
3395 m_rotationalVelocity.Y = dtmp.Y;
3396 m_rotationalVelocity.Z = dtmp.Z;
3397
3398 dtmp = d.BodyGetLinearVel(Body);
3399 _velocity.X = dtmp.X;
3400 _velocity.Y = dtmp.Y;
3401 _velocity.Z = dtmp.Z;
3402
3403 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3404 d.BodySetAngularVel(Body, 0, 0, 0);
3405 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3406 disableBodySoft(); // stop collisions
3407 base.RequestPhysicsterseUpdate();
3408 return;
3409 }
3410
3411
3412 float fx = 0;
3413 float fy = 0;
3414 float fz = 0;
3415
3416 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3417 {
3418 // 'VEHICLES' are dealt with in ODEDynamics.cs
3419 m_vehicle.Step();
3420 }
3421 else
3422 {
3423 float m_mass = _mass;
3424
3425 // fz = 0f;
3426 //m_log.Info(m_collisionFlags.ToString());
3427 if (m_usePID)
3428 {
3429
3430 // If the PID Controller isn't active then we set our force
3431 // calculating base velocity to the current position
3432
3433 if ((m_PIDTau < 1) && (m_PIDTau != 0))
3434 {
3435 //PID_G = PID_G / m_PIDTau;
3436 m_PIDTau = 1;
3437 }
3438
3439 if ((PID_G - m_PIDTau) <= 0)
3440 {
3441 PID_G = m_PIDTau + 1;
3442 }
3443
3444 d.Vector3 vel = d.BodyGetLinearVel(Body);
3445 d.Vector3 pos = d.BodyGetPosition(Body);
3446 _target_velocity =
3447 new Vector3(
3448 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
3449 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
3450 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
3451 );
3452
3453 // if velocity is zero, use position control; otherwise, velocity control
3454
3455 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3456 {
3457 // keep track of where we stopped. No more slippin' & slidin'
3458
3459 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3460 // react to the physics scene by moving it's position.
3461 // Avatar to Avatar collisions
3462 // Prim to avatar collisions
3463
3464 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
3465 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
3466 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
3467 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3468 d.BodySetLinearVel(Body, 0, 0, 0);
3469 d.BodyAddForce(Body, 0, 0, fz);
3470 return;
3471 }
3472 else
3473 {
3474 _zeroFlag = false;
3475
3476 // We're flying and colliding with something
3477 fx = ((_target_velocity.X) - vel.X) * (PID_D);
3478 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
3479
3480 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
3481
3482 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3483 }
3484 } // end if (m_usePID)
3485
3486 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3487 else if (m_useHoverPID)
3488 {
3489 //Console.WriteLine("Hover " + Name);
3490
3491 // If we're using the PID controller, then we have no gravity
3492
3493 // no lock; for now it's only called from within Simulate()
3494
3495 // If the PID Controller isn't active then we set our force
3496 // calculating base velocity to the current position
3497
3498 if ((m_PIDTau < 1))
3499 {
3500 PID_G = PID_G / m_PIDTau;
3501 }
3502
3503 if ((PID_G - m_PIDTau) <= 0)
3504 {
3505 PID_G = m_PIDTau + 1;
3506 }
3507
3508 // Where are we, and where are we headed?
3509 d.Vector3 pos = d.BodyGetPosition(Body);
3510 d.Vector3 vel = d.BodyGetLinearVel(Body);
3511
3512 // Non-Vehicles have a limited set of Hover options.
3513 // determine what our target height really is based on HoverType
3514 switch (m_PIDHoverType)
3515 {
3516 case PIDHoverType.Ground:
3517 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3518 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3519 break;
3520 case PIDHoverType.GroundAndWater:
3521 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3522 m_waterHeight = _parent_scene.GetWaterLevel();
3523 if (m_groundHeight > m_waterHeight)
3524 {
3525 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3526 }
3527 else
3528 {
3529 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3530 }
3531 break;
3532
3533 } // end switch (m_PIDHoverType)
3534
3535
3536 _target_velocity =
3537 new Vector3(0.0f, 0.0f,
3538 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3539 );
3540
3541 // if velocity is zero, use position control; otherwise, velocity control
3542
3543 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3544 {
3545 // keep track of where we stopped. No more slippin' & slidin'
3546
3547 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3548 // react to the physics scene by moving it's position.
3549 // Avatar to Avatar collisions
3550 // Prim to avatar collisions
3551
3552 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3553 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3554 // ? d.BodyAddForce(Body, 0, 0, fz);
3555 return;
3556 }
3557 else
3558 {
3559 _zeroFlag = false;
3560
3561 // We're flying and colliding with something
3562 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3563 }
3564 }
3565 else
3566 {
3567 float b = (1.0f - m_buoyancy);
3568 fx = _parent_scene.gravityx * b;
3569 fy = _parent_scene.gravityy * b;
3570 fz = _parent_scene.gravityz * b;
3571 }
3572
3573 fx *= m_mass;
3574 fy *= m_mass;
3575 fz *= m_mass;
3576
3577 // constant force
3578 fx += m_force.X;
3579 fy += m_force.Y;
3580 fz += m_force.Z;
3581
3582 fx += m_forceacc.X;
3583 fy += m_forceacc.Y;
3584 fz += m_forceacc.Z;
3585
3586 m_forceacc = Vector3.Zero;
3587
3588 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3589 if (fx != 0 || fy != 0 || fz != 0)
3590 {
3591 d.BodyAddForce(Body, fx, fy, fz);
3592 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3593 }
3594
3595 Vector3 trq;
3596
3597 trq = _torque;
3598 trq += m_angularForceacc;
3599 m_angularForceacc = Vector3.Zero;
3600 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3601 {
3602 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3603 }
3604
3605 }
3606 }
3607 else
3608 { // is not physical, or is not a body or is selected
3609 // _zeroPosition = d.BodyGetPosition(Body);
3610 return;
3611 //Console.WriteLine("Nothing " + Name);
3612
3613 }
3614 }
3615
3616
3617 public void UpdatePositionAndVelocity(float simulatedtime)
3618 {
3619 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
3620 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
3621 {
3622 if (Body != IntPtr.Zero)
3623 {
3624 Vector3 pv = Vector3.Zero;
3625 bool lastZeroFlag = _zeroFlag;
3626
3627 d.Vector3 lpos;
3628 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
3629
3630
3631 d.Quaternion ori;
3632 d.GeomCopyQuaternion(prim_geom, out ori);
3633 d.Vector3 vel = d.BodyGetLinearVel(Body);
3634 d.Vector3 rotvel = d.BodyGetAngularVel(Body);
3635
3636 if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)
3637 && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)
3638 && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)
3639 && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)
3640 && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)
3641 && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)
3642 )
3643 {
3644 _zeroFlag = true;
3645 //Console.WriteLine("ZFT 2");
3646 m_throttleUpdates = false;
3647 }
3648 else
3649 {
3650 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3651 _zeroFlag = false;
3652 m_lastUpdateSent = false;
3653 //m_throttleUpdates = false;
3654 }
3655
3656 if (_zeroFlag)
3657 {
3658 m_lastposition = _position;
3659 m_lastorientation = _orientation;
3660
3661 _velocity.X = 0.0f;
3662 _velocity.Y = 0.0f;
3663 _velocity.Z = 0.0f;
3664
3665 _acceleration.X = 0;
3666 _acceleration.Y = 0;
3667 _acceleration.Z = 0;
3668
3669 m_rotationalVelocity.X = 0;
3670 m_rotationalVelocity.Y = 0;
3671 m_rotationalVelocity.Z = 0;
3672 if (!m_lastUpdateSent)
3673 {
3674 m_throttleUpdates = false;
3675 throttleCounter = 0;
3676 m_rotationalVelocity = pv;
3677
3678 base.RequestPhysicsterseUpdate();
3679
3680 m_lastUpdateSent = true;
3681 }
3682 }
3683 else
3684 {
3685 if (lastZeroFlag != _zeroFlag)
3686 {
3687 base.RequestPhysicsterseUpdate();
3688 }
3689
3690 m_lastVelocity = _velocity;
3691
3692 _position.X = lpos.X;
3693 _position.Y = lpos.Y;
3694 _position.Z = lpos.Z;
3695
3696 _velocity.X = vel.X;
3697 _velocity.Y = vel.Y;
3698 _velocity.Z = vel.Z;
3699
3700 _orientation.X = ori.X;
3701 _orientation.Y = ori.Y;
3702 _orientation.Z = ori.Z;
3703 _orientation.W = ori.W;
3704
3705 _acceleration = ((_velocity - m_lastVelocity) / simulatedtime);
3706
3707 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
3708 {
3709 m_rotationalVelocity = pv;
3710 }
3711 else
3712 {
3713 m_rotationalVelocity.X = rotvel.X;
3714 m_rotationalVelocity.Y = rotvel.Y;
3715 m_rotationalVelocity.Z = rotvel.Z;
3716 }
3717
3718 m_lastUpdateSent = false;
3719 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3720 {
3721 m_lastposition = _position;
3722 m_lastorientation = _orientation;
3723 base.RequestPhysicsterseUpdate();
3724 }
3725 else
3726 {
3727 throttleCounter++;
3728 }
3729 }
3730 }
3731 else if (!m_lastUpdateSent || !_zeroFlag)
3732 {
3733 // Not a body.. so Make sure the client isn't interpolating
3734 _velocity.X = 0;
3735 _velocity.Y = 0;
3736 _velocity.Z = 0;
3737
3738 _acceleration.X = 0;
3739 _acceleration.Y = 0;
3740 _acceleration.Z = 0;
3741
3742 m_rotationalVelocity.X = 0;
3743 m_rotationalVelocity.Y = 0;
3744 m_rotationalVelocity.Z = 0;
3745 _zeroFlag = true;
3746
3747 if (!m_lastUpdateSent)
3748 {
3749 m_throttleUpdates = false;
3750 throttleCounter = 0;
3751
3752 base.RequestPhysicsterseUpdate();
3753
3754 m_lastUpdateSent = true;
3755 }
3756 }
3757 }
3758 }
3759
3760 internal static bool QuaternionIsFinite(Quaternion q)
3761 {
3762 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3763 return false;
3764 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3765 return false;
3766 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3767 return false;
3768 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3769 return false;
3770 return true;
3771 }
3772
3773 internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3774 {
3775 dst.c.W = src.c.W;
3776 dst.c.X = src.c.X;
3777 dst.c.Y = src.c.Y;
3778 dst.c.Z = src.c.Z;
3779 dst.mass = src.mass;
3780 dst.I.M00 = src.I.M00;
3781 dst.I.M01 = src.I.M01;
3782 dst.I.M02 = src.I.M02;
3783 dst.I.M10 = src.I.M10;
3784 dst.I.M11 = src.I.M11;
3785 dst.I.M12 = src.I.M12;
3786 dst.I.M20 = src.I.M20;
3787 dst.I.M21 = src.I.M21;
3788 dst.I.M22 = src.I.M22;
3789 }
3790
3791 internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
3792 {
3793 // assumes object center of mass is zero
3794 float smass = part.mass;
3795 theobj.mass -= smass;
3796
3797 smass *= 1.0f / (theobj.mass); ;
3798
3799 theobj.c.X -= part.c.X * smass;
3800 theobj.c.Y -= part.c.Y * smass;
3801 theobj.c.Z -= part.c.Z * smass;
3802
3803 theobj.I.M00 -= part.I.M00;
3804 theobj.I.M01 -= part.I.M01;
3805 theobj.I.M02 -= part.I.M02;
3806 theobj.I.M10 -= part.I.M10;
3807 theobj.I.M11 -= part.I.M11;
3808 theobj.I.M12 -= part.I.M12;
3809 theobj.I.M20 -= part.I.M20;
3810 theobj.I.M21 -= part.I.M21;
3811 theobj.I.M22 -= part.I.M22;
3812 }
3813
3814 private static void DMassDup(ref d.Mass src, out d.Mass dst)
3815 {
3816 dst = new d.Mass { };
3817
3818 dst.c.W = src.c.W;
3819 dst.c.X = src.c.X;
3820 dst.c.Y = src.c.Y;
3821 dst.c.Z = src.c.Z;
3822 dst.mass = src.mass;
3823 dst.I.M00 = src.I.M00;
3824 dst.I.M01 = src.I.M01;
3825 dst.I.M02 = src.I.M02;
3826 dst.I.M10 = src.I.M10;
3827 dst.I.M11 = src.I.M11;
3828 dst.I.M12 = src.I.M12;
3829 dst.I.M20 = src.I.M20;
3830 dst.I.M21 = src.I.M21;
3831 dst.I.M22 = src.I.M22;
3832 }
3833 private void donullchange()
3834 {
3835 }
3836
3837 public bool DoAChange(changes what, object arg)
3838 {
3839 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3840 {
3841 return false;
3842 }
3843
3844 // nasty switch
3845 switch (what)
3846 {
3847 case changes.Add:
3848 changeadd();
3849 break;
3850 case changes.Remove:
3851 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3852 //When we return true, it destroys all of the prims in the linkset anyway
3853 if (_parent != null)
3854 {
3855 OdePrim parent = (OdePrim)_parent;
3856 parent.ChildRemove(this, false);
3857 }
3858 else
3859 ChildRemove(this, false);
3860
3861 m_vehicle = null;
3862 RemoveGeom();
3863 m_targetSpace = IntPtr.Zero;
3864 if (m_eventsubscription > 0)
3865 UnSubscribeEvents();
3866 return true;
3867
3868 case changes.Link:
3869 OdePrim tmp = (OdePrim)arg;
3870 changeLink(tmp);
3871 break;
3872
3873 case changes.DeLink:
3874 changeLink(null);
3875 break;
3876
3877 case changes.Position:
3878 changePosition((Vector3)arg);
3879 break;
3880
3881 case changes.Orientation:
3882 changeOrientation((Quaternion)arg);
3883 break;
3884
3885 case changes.PosOffset:
3886 donullchange();
3887 break;
3888
3889 case changes.OriOffset:
3890 donullchange();
3891 break;
3892
3893 case changes.Velocity:
3894 changevelocity((Vector3)arg);
3895 break;
3896
3897 // case changes.Acceleration:
3898 // changeacceleration((Vector3)arg);
3899 // break;
3900 // case changes.AngVelocity:
3901 // changeangvelocity((Vector3)arg);
3902 // break;
3903
3904 case changes.Force:
3905 changeForce((Vector3)arg);
3906 break;
3907
3908 case changes.Torque:
3909 changeSetTorque((Vector3)arg);
3910 break;
3911
3912 case changes.AddForce:
3913 changeAddForce((Vector3)arg);
3914 break;
3915
3916 case changes.AddAngForce:
3917 changeAddAngularForce((Vector3)arg);
3918 break;
3919
3920 case changes.AngLock:
3921 changeAngularLock((Vector3)arg);
3922 break;
3923
3924 case changes.Size:
3925 changeSize((Vector3)arg);
3926 break;
3927
3928 case changes.Shape:
3929 changeShape((PrimitiveBaseShape)arg);
3930 break;
3931
3932 case changes.CollidesWater:
3933 changeFloatOnWater((bool)arg);
3934 break;
3935
3936 case changes.VolumeDtc:
3937 changeVolumedetetion((bool)arg);
3938 break;
3939
3940 case changes.Phantom:
3941 changePhantomStatus((bool)arg);
3942 break;
3943
3944 case changes.Physical:
3945 changePhysicsStatus((bool)arg);
3946 break;
3947
3948 case changes.Selected:
3949 changeSelectedStatus((bool)arg);
3950 break;
3951
3952 case changes.disabled:
3953 changeDisable((bool)arg);
3954 break;
3955
3956 case changes.building:
3957 changeBuilding((bool)arg);
3958 break;
3959
3960 case changes.VehicleType:
3961 changeVehicleType((int)arg);
3962 break;
3963
3964 case changes.VehicleFlags:
3965 changeVehicleFlags((strVehicleBoolParam) arg);
3966 break;
3967
3968 case changes.VehicleFloatParam:
3969 changeVehicleFloatParam((strVehicleFloatParam) arg);
3970 break;
3971
3972 case changes.VehicleVectorParam:
3973 changeVehicleVectorParam((strVehicleVectorParam) arg);
3974 break;
3975
3976 case changes.VehicleRotationParam:
3977 changeVehicleRotationParam((strVehicleQuatParam) arg);
3978 break;
3979
3980 case changes.SetVehicle:
3981 changeSetVehicle((VehicleData) arg);
3982 break;
3983 case changes.Null:
3984 donullchange();
3985 break;
3986
3987 default:
3988 donullchange();
3989 break;
3990 }
3991 return false;
3992 }
3993
3994 public void AddChange(changes what, object arg)
3995 {
3996 _parent_scene.AddChange((PhysicsActor) this, what, arg);
3997 }
3998
3999
4000 private struct strVehicleBoolParam
4001 {
4002 public int param;
4003 public bool value;
4004 }
4005
4006 private struct strVehicleFloatParam
4007 {
4008 public int param;
4009 public float value;
4010 }
4011
4012 private struct strVehicleQuatParam
4013 {
4014 public int param;
4015 public Quaternion value;
4016 }
4017
4018 private struct strVehicleVectorParam
4019 {
4020 public int param;
4021 public Vector3 value;
4022 }
4023 }
4024} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..4b3f83b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,443 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using OdeAPI;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending ray requests
49 /// </summary>
50 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 IntPtr ray;
58
59 private const int ColisionContactGeomsPerTest = 5;
60
61 /// <summary>
62 /// ODE near callback delegate
63 /// </summary>
64 private d.NearCallback nearCallback;
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66 private List<ContactResult> m_contactResults = new List<ContactResult>();
67
68 public ODERayCastRequestManager(OdeScene pScene)
69 {
70 m_scene = pScene;
71 nearCallback = near;
72 ray = d.CreateRay(IntPtr.Zero, 1.0f);
73 }
74
75 /// <summary>
76 /// Queues a raycast
77 /// </summary>
78 /// <param name="position">Origin of Ray</param>
79 /// <param name="direction">Ray normal</param>
80 /// <param name="length">Ray length</param>
81 /// <param name="retMethod">Return method to send the results</param>
82 public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
83 {
84 ODERayRequest req = new ODERayRequest();
85 req.geom = IntPtr.Zero;
86 req.callbackMethod = retMethod;
87 req.Count = 0;
88 req.length = length;
89 req.Normal = direction;
90 req.Origin = position;
91
92 m_PendingRequests.Enqueue(req);
93 }
94
95 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
96 {
97 ODERayRequest req = new ODERayRequest();
98 req.geom = geom;
99 req.callbackMethod = retMethod;
100 req.length = length;
101 req.Normal = direction;
102 req.Origin = position;
103 req.Count = 0;
104
105 m_PendingRequests.Enqueue(req);
106 }
107
108 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
109 {
110 ODERayRequest req = new ODERayRequest();
111 req.geom = IntPtr.Zero;
112 req.callbackMethod = retMethod;
113 req.Count = 0;
114 req.length = length;
115 req.Normal = direction;
116 req.Origin = position;
117
118 m_PendingRequests.Enqueue(req);
119 }
120
121 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
122 {
123 ODERayRequest req = new ODERayRequest();
124 req.geom = geom;
125 req.callbackMethod = retMethod;
126 req.length = length;
127 req.Normal = direction;
128 req.Origin = position;
129 req.Count = 0;
130
131 m_PendingRequests.Enqueue(req);
132 }
133
134 /// <summary>
135 /// Queues a raycast
136 /// </summary>
137 /// <param name="position">Origin of Ray</param>
138 /// <param name="direction">Ray normal</param>
139 /// <param name="length">Ray length</param>
140 /// <param name="count"></param>
141 /// <param name="retMethod">Return method to send the results</param>
142 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
143 {
144 ODERayRequest req = new ODERayRequest();
145 req.geom = IntPtr.Zero;
146 req.callbackMethod = retMethod;
147 req.length = length;
148 req.Normal = direction;
149 req.Origin = position;
150 req.Count = count;
151
152 m_PendingRequests.Enqueue(req);
153 }
154
155 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
156 {
157 ODERayRequest req = new ODERayRequest();
158 req.geom = geom;
159 req.callbackMethod = retMethod;
160 req.length = length;
161 req.Normal = direction;
162 req.Origin = position;
163 req.Count = count;
164
165 m_PendingRequests.Enqueue(req);
166 }
167
168 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
169 {
170 ODERayRequest req = new ODERayRequest();
171 req.geom = IntPtr.Zero;
172 req.callbackMethod = retMethod;
173 req.length = length;
174 req.Normal = direction;
175 req.Origin = position;
176 req.Count = count;
177
178 m_PendingRequests.Enqueue(req);
179 }
180
181 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
182 {
183 ODERayRequest req = new ODERayRequest();
184 req.geom = geom;
185 req.callbackMethod = retMethod;
186 req.length = length;
187 req.Normal = direction;
188 req.Origin = position;
189 req.Count = count;
190
191 m_PendingRequests.Enqueue(req);
192 }
193
194 /// <summary>
195 /// Process all queued raycast requests
196 /// </summary>
197 /// <returns>Time in MS the raycasts took to process.</returns>
198 public int ProcessQueuedRequests()
199 {
200 int time = System.Environment.TickCount;
201
202 if (m_PendingRequests.Count <= 0)
203 return 0;
204
205 if (m_scene.ContactgeomsArray == IntPtr.Zero) // oops something got wrong or scene isn't ready still
206 {
207 m_PendingRequests.Clear();
208 return 0;
209 }
210
211 ODERayRequest req;
212
213 int i = 50; // arbitary limit of processed tests per frame
214
215 while(m_PendingRequests.Dequeue(out req))
216 {
217 if (req.geom == IntPtr.Zero)
218 doSpaceRay(req);
219 else
220 doGeomRay(req);
221 if(--i < 0)
222 break;
223 }
224
225 lock (m_contactResults)
226 m_contactResults.Clear();
227
228 return System.Environment.TickCount - time;
229 }
230 /// <summary>
231 /// Method that actually initiates the raycast with full top space
232 /// </summary>
233 /// <param name="req"></param>
234 private void doSpaceRay(ODERayRequest req)
235 {
236 // Create the ray
237// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
238 d.GeomRaySetLength(ray, req.length);
239 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
240
241 // Collide test
242 d.SpaceCollide2(m_scene.TopSpace, ray, IntPtr.Zero, nearCallback);
243
244 // Remove Ray
245// d.GeomDestroy(ray);
246
247 if (req.callbackMethod == null)
248 return;
249
250 if (req.callbackMethod is RaycastCallback)
251 {
252 // Define default results
253 bool hitYN = false;
254 uint hitConsumerID = 0;
255 float distance = 999999999999f;
256 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
257 Vector3 snormal = Vector3.Zero;
258
259 // Find closest contact and object.
260 lock (m_contactResults)
261 {
262 foreach (ContactResult cResult in m_contactResults)
263 {
264 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
265 {
266 closestcontact = cResult.Pos;
267 hitConsumerID = cResult.ConsumerID;
268 distance = cResult.Depth;
269 hitYN = true;
270 snormal = cResult.Normal;
271 }
272 }
273 m_contactResults.Clear();
274 }
275
276 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
277 }
278 else
279 {
280 ((RayCallback)req.callbackMethod)(m_contactResults);
281 lock (m_PendingRequests)
282 m_contactResults.Clear();
283 }
284 }
285
286 /// <summary>
287 /// Method that actually initiates the raycast with a geom
288 /// </summary>
289 /// <param name="req"></param>
290 private void doGeomRay(ODERayRequest req)
291 {
292 // Create the ray
293// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
294 d.GeomRaySetLength(ray, req.length);
295 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
296
297 // Collide test
298 d.SpaceCollide2(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
299
300 // Remove Ray
301// d.GeomDestroy(ray);
302
303 if (req.callbackMethod == null)
304 return;
305
306 if (req.callbackMethod is RaycastCallback)
307 {
308 // Define default results
309 bool hitYN = false;
310 uint hitConsumerID = 0;
311 float distance = 999999999999f;
312 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
313 Vector3 snormal = Vector3.Zero;
314
315 // Find closest contact and object.
316 lock (m_contactResults)
317 {
318 foreach (ContactResult cResult in m_contactResults)
319 {
320 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
321 {
322 closestcontact = cResult.Pos;
323 hitConsumerID = cResult.ConsumerID;
324 distance = cResult.Depth;
325 hitYN = true;
326 snormal = cResult.Normal;
327 }
328 }
329 m_contactResults.Clear();
330 }
331
332 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
333 }
334 else
335 {
336 ((RayCallback)req.callbackMethod)(m_contactResults);
337 lock (m_PendingRequests)
338 m_contactResults.Clear();
339 }
340 }
341
342 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
343 {
344 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
345 if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
346 return false;
347
348 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
349 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
350 return true;
351 }
352
353 // This is the standard Near. g2 is the ray
354 private void near(IntPtr space, IntPtr g1, IntPtr g2)
355 {
356 //Don't test against heightfield Geom, or you'll be sorry!
357 // Exclude heightfield geom
358
359 if (g1 == IntPtr.Zero || g1 == g2)
360 return;
361
362 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
363 return;
364
365 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
366 if (d.GeomIsSpace(g1))
367 {
368 try
369 {
370 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
371 }
372 catch (Exception e)
373 {
374 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
375 }
376 return;
377 }
378
379 int count = 0;
380 try
381 {
382 count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
383 }
384 catch (SEHException)
385 {
386 m_log.Error("[PHYSICS Ray]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
387 }
388 catch (Exception e)
389 {
390 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
391 return;
392 }
393
394 if (count == 0)
395 return;
396
397 PhysicsActor p1 = null;
398
399 if (g1 != IntPtr.Zero)
400 m_scene.actor_name_map.TryGetValue(g1, out p1);
401
402 d.ContactGeom curcontact = new d.ContactGeom();
403 // Loop over contacts, build results.
404 for (int i = 0; i < count; i++)
405 {
406 if (!GetCurContactGeom(i, ref curcontact))
407 break;
408 if (p1 != null) {
409 if (p1 is OdePrim)
410 {
411 ContactResult collisionresult = new ContactResult();
412
413 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
414 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
415 collisionresult.Depth = curcontact.depth;
416 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
417 curcontact.normal.Z);
418 lock (m_contactResults)
419 m_contactResults.Add(collisionresult);
420 }
421 }
422 }
423 }
424
425 /// <summary>
426 /// Dereference the creator scene so that it can be garbage collected if needed.
427 /// </summary>
428 internal void Dispose()
429 {
430 m_scene = null;
431 }
432 }
433
434 public struct ODERayRequest
435 {
436 public IntPtr geom;
437 public Vector3 Origin;
438 public Vector3 Normal;
439 public int Count;
440 public float length;
441 public object callbackMethod;
442 }
443} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
new file mode 100644
index 0000000..2b6bc59
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,1960 @@
1/*
2 * based on:
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 * changes by opensim team;
39 * changes by Aurora team http://www.aurora-sim.org/
40
41 * Revision/fixs by Ubit Umarov
42 */
43
44using System;
45using System.Runtime.InteropServices;
46using System.Security;
47
48namespace OdeAPI
49{
50//#if dDOUBLE
51// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
52// at least we save same memory and memory access time, FPU performance on intel usually is similar
53// using dReal = System.Double;
54//#else
55 using dReal = System.Single;
56//#endif
57
58 public static class d
59 {
60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0;
63
64 #region Flags and Enumerations
65
66 [Flags]
67 public enum AllocateODEDataFlags : uint
68 {
69 BasicData = 0,
70 CollisionData = 0x00000001,
71 All = ~0u
72 }
73
74 [Flags]
75 public enum IniteODEFlags : uint
76 {
77 dInitFlagManualThreadCleanup = 0x00000001
78 }
79
80 [Flags]
81 public enum ContactFlags : int
82 {
83 Mu2 = 0x001,
84 FDir1 = 0x002,
85 Bounce = 0x004,
86 SoftERP = 0x008,
87 SoftCFM = 0x010,
88 Motion1 = 0x020,
89 Motion2 = 0x040,
90 MotionN = 0x080,
91 Slip1 = 0x100,
92 Slip2 = 0x200,
93 Approx0 = 0x0000,
94 Approx1_1 = 0x1000,
95 Approx1_2 = 0x2000,
96 Approx1 = 0x3000
97 }
98
99 public enum GeomClassID : int
100 {
101 SphereClass,
102 BoxClass,
103 CapsuleClass,
104 CylinderClass,
105 PlaneClass,
106 RayClass,
107 ConvexClass,
108 GeomTransformClass,
109 TriMeshClass,
110 HeightfieldClass,
111 FirstSpaceClass,
112 SimpleSpaceClass = FirstSpaceClass,
113 HashSpaceClass,
114 QuadTreeSpaceClass,
115 LastSpaceClass = QuadTreeSpaceClass,
116 FirstUserClass,
117 LastUserClass = FirstUserClass + MaxUserClasses - 1,
118 NumClasses,
119 MaxUserClasses = 4
120 }
121
122 public enum JointType : int
123 {
124 None,
125 Ball,
126 Hinge,
127 Slider,
128 Contact,
129 Universal,
130 Hinge2,
131 Fixed,
132 Null,
133 AMotor,
134 LMotor,
135 Plane2D
136 }
137
138 public enum JointParam : int
139 {
140 LoStop,
141 HiStop,
142 Vel,
143 FMax,
144 FudgeFactor,
145 Bounce,
146 CFM,
147 StopERP,
148 StopCFM,
149 SuspensionERP,
150 SuspensionCFM,
151 LoStop2 = 256,
152 HiStop2,
153 Vel2,
154 FMax2,
155 FudgeFactor2,
156 Bounce2,
157 CFM2,
158 StopERP2,
159 StopCFM2,
160 SuspensionERP2,
161 SuspensionCFM2,
162 LoStop3 = 512,
163 HiStop3,
164 Vel3,
165 FMax3,
166 FudgeFactor3,
167 Bounce3,
168 CFM3,
169 StopERP3,
170 StopCFM3,
171 SuspensionERP3,
172 SuspensionCFM3
173 }
174
175 public enum dSweepAndPruneAxis : int
176 {
177 XYZ = ((0)|(1<<2)|(2<<4)),
178 XZY = ((0)|(2<<2)|(1<<4)),
179 YXZ = ((1)|(0<<2)|(2<<4)),
180 YZX = ((1)|(2<<2)|(0<<4)),
181 ZXY = ((2)|(0<<2)|(1<<4)),
182 ZYX = ((2)|(1<<2)|(0<<4))
183 }
184
185 #endregion
186
187 #region Callbacks
188
189 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
190 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
191
192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
193 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
194
195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
196 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
197
198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
199 public delegate ColliderFn GetColliderFnFn(int num);
200
201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
202 public delegate void GeomDtorFn(IntPtr o);
203
204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
205 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
206
207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
208 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
209
210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
211 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
212
213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
214 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
215
216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
217 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
218
219 #endregion
220
221 #region Structs
222
223 [StructLayout(LayoutKind.Sequential)]
224 public struct AABB
225 {
226 public dReal MinX, MaxX;
227 public dReal MinY, MaxY;
228 public dReal MinZ, MaxZ;
229 }
230
231
232 [StructLayout(LayoutKind.Sequential)]
233 public struct Contact
234 {
235 public SurfaceParameters surface;
236 public ContactGeom geom;
237 public Vector3 fdir1;
238 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
239 }
240
241
242 [StructLayout(LayoutKind.Sequential)]
243 public struct ContactGeom
244 {
245
246 public Vector3 pos;
247 public Vector3 normal;
248 public dReal depth;
249 public IntPtr g1;
250 public IntPtr g2;
251 public int side1;
252 public int side2;
253 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
254 }
255
256 [StructLayout(LayoutKind.Sequential)]
257 public struct GeomClass
258 {
259 public int bytes;
260 public GetColliderFnFn collider;
261 public GetAABBFn aabb;
262 public AABBTestFn aabb_test;
263 public GeomDtorFn dtor;
264 }
265
266
267 [StructLayout(LayoutKind.Sequential)]
268 public struct JointFeedback
269 {
270 public Vector3 f1;
271 public Vector3 t1;
272 public Vector3 f2;
273 public Vector3 t2;
274 }
275
276
277 [StructLayout(LayoutKind.Sequential)]
278 public struct Mass
279 {
280 public dReal mass;
281 public Vector4 c;
282 public Matrix3 I;
283 }
284
285
286 [StructLayout(LayoutKind.Sequential)]
287 public struct Matrix3
288 {
289 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
290 {
291 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
292 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
293 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
294 }
295 public dReal M00, M10, M20;
296 private dReal _m30;
297 public dReal M01, M11, M21;
298 private dReal _m31;
299 public dReal M02, M12, M22;
300 private dReal _m32;
301 }
302
303 [StructLayout(LayoutKind.Sequential)]
304 public struct Matrix4
305 {
306 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
307 dReal m01, dReal m11, dReal m21, dReal m31,
308 dReal m02, dReal m12, dReal m22, dReal m32,
309 dReal m03, dReal m13, dReal m23, dReal m33)
310 {
311 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
312 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
313 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
314 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
315 }
316 public dReal M00, M10, M20, M30;
317 public dReal M01, M11, M21, M31;
318 public dReal M02, M12, M22, M32;
319 public dReal M03, M13, M23, M33;
320 }
321
322 [StructLayout(LayoutKind.Sequential)]
323 public struct Quaternion
324 {
325 public dReal W, X, Y, Z;
326 }
327
328
329 [StructLayout(LayoutKind.Sequential)]
330 public struct SurfaceParameters
331 {
332 public ContactFlags mode;
333 public dReal mu;
334 public dReal mu2;
335 public dReal bounce;
336 public dReal bounce_vel;
337 public dReal soft_erp;
338 public dReal soft_cfm;
339 public dReal motion1;
340 public dReal motion2;
341 public dReal motionN;
342 public dReal slip1;
343 public dReal slip2;
344 }
345
346
347 [StructLayout(LayoutKind.Sequential)]
348 public struct Vector3
349 {
350 public Vector3(dReal x, dReal y, dReal z)
351 {
352 X = x; Y = y; Z = z; _w = 0.0f;
353 }
354 public dReal X, Y, Z;
355 private dReal _w;
356 }
357
358
359 [StructLayout(LayoutKind.Sequential)]
360 public struct Vector4
361 {
362 public Vector4(dReal x, dReal y, dReal z, dReal w)
363 {
364 X = x; Y = y; Z = z; W = w;
365 }
366 public dReal X, Y, Z, W;
367 }
368
369 #endregion
370
371 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
372 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
373
374 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
375 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
376
377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
378 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
379
380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
381 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
382
383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
384 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
385
386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
387 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
388
389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
390 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
391
392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
393 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
394
395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
396 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
397
398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
399 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
400
401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
402 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
403
404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
405 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
406
407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
408 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
409
410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
411 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
412
413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
414 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
415
416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
417 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
418
419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
420 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
421
422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
423 public static extern IntPtr BodyiCreate(IntPtr world);
424 public static IntPtr BodyCreate(IntPtr world)
425 {
426 NTotalBodies++;
427 return BodyiCreate(world);
428 }
429
430 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
431 public static extern void BodyiDestroy(IntPtr body);
432 public static void BodyDestroy(IntPtr body)
433 {
434 NTotalBodies--;
435 BodyiDestroy(body);
436 }
437
438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
439 public static extern void BodyDisable(IntPtr body);
440
441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
442 public static extern void BodyEnable(IntPtr body);
443
444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
445 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
446
447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
448 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
449
450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
451 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
452
453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
454 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
455
456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
457 public static extern int BodyGetAutoDisableSteps(IntPtr body);
458
459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
460 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
461
462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
463 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
464 public static Vector3 BodyGetAngularVel(IntPtr body)
465 {
466 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
467 }
468
469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
470 public static extern IntPtr BodyGetData(IntPtr body);
471
472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
473 public static extern int BodyGetFiniteRotationMode(IntPtr body);
474
475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
476 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
477
478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
479 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
480 public static Vector3 BodyGetForce(IntPtr body)
481 {
482 unsafe { return *(BodyGetForceUnsafe(body)); }
483 }
484
485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
486 public static extern bool BodyGetGravityMode(IntPtr body);
487
488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
489 public static extern int BodyGetGyroscopicMode(IntPtr body);
490
491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
492 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
493
494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
495 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
496 public static Vector3 BodyGetLinearVel(IntPtr body)
497 {
498 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
499 }
500
501 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
502 public static extern void BodyGetMass(IntPtr body, out Mass mass);
503
504 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
505 public static extern int BodyGetNumJoints(IntPtr body);
506
507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
508 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
509
510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
511 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
512 public static Vector3 BodyGetPosition(IntPtr body)
513 {
514 unsafe { return *(BodyGetPositionUnsafe(body)); }
515 }
516
517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
518 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
519
520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
521 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
522 public static Quaternion BodyGetQuaternion(IntPtr body)
523 {
524 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
525 }
526
527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
528 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
529
530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
531 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
532
533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
534 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
535 public static Matrix3 BodyGetRotation(IntPtr body)
536 {
537 unsafe { return *(BodyGetRotationUnsafe(body)); }
538 }
539
540 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
541 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
542 public static Vector3 BodyGetTorque(IntPtr body)
543 {
544 unsafe { return *(BodyGetTorqueUnsafe(body)); }
545 }
546
547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
548 public static extern IntPtr BodyGetWorld(IntPtr body);
549
550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
551 public static extern IntPtr BodyGetFirstGeom(IntPtr body);
552
553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
554 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
555
556
557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
558 public static extern bool BodyIsEnabled(IntPtr body);
559
560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
561 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
562
563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
564 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
565
566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
567 public static extern void BodySetAutoDisableDefaults(IntPtr body);
568
569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
570 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
571
572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
573 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
574
575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
576 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
577
578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
579 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
580
581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
582 public static extern void BodySetData(IntPtr body, IntPtr data);
583
584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
585 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
586
587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
588 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
589
590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
591 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
592
593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
594 public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
595
596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
597 public static extern dReal BodyGetLinearDamping(IntPtr body);
598
599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
600 public static extern dReal BodyGetAngularDamping(IntPtr body);
601
602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
603 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
604
605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
606 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
607
608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
609 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
610
611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
612 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
613
614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
615 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
616
617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
618 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
619
620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
621 public static extern void BodySetGravityMode(IntPtr body, bool mode);
622
623 /// <summary>
624 /// Sets the Gyroscopic term status on the body specified.
625 /// </summary>
626 /// <param name="body">Pointer to body</param>
627 /// <param name="enabled">NonZero enabled, Zero disabled</param>
628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
629 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
630
631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
632 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
633
634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
635 public static extern void BodySetMass(IntPtr body, ref Mass mass);
636
637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
638 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
639
640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
641 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
642
643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
644 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
645
646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
647 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
648
649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
650 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
651
652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
653 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
654
655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
656 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
657
658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
659 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
660
661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
662 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
663 ref Vector3 side1, ref Vector3 p2,
664 ref Matrix3 R2, ref Vector3 side2,
665 ref Vector3 normal, out dReal depth, out int return_code,
666 int maxc, out ContactGeom contact, int skip);
667
668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
669 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
670 ref Vector3 side1, ref Vector3 _p2,
671 ref Matrix3 R2, ref Vector3 side2);
672
673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
674 public static extern void CleanupODEAllDataForThread();
675
676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
677 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
678 ref Vector3 b1, ref Vector3 b2,
679 ref Vector3 cp1, ref Vector3 cp2);
680
681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
682 public static extern void CloseODE();
683
684 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
685 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
687 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
688
689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
690 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
691
692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
693 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
694 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
695 {
696 NTotalGeoms++;
697 return CreateiBox(space, lx, ly, lz);
698 }
699
700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
701 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
702 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
703 {
704 NTotalGeoms++;
705 return CreateiCapsule(space, radius, length);
706 }
707
708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
709 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
710 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
711 {
712 NTotalGeoms++;
713 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
714 }
715
716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
717 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
718 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
719 {
720 NTotalGeoms++;
721 return CreateiCylinder(space, radius, length);
722 }
723
724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
725 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
726 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
727 {
728 NTotalGeoms++;
729 return CreateiHeightfield(space, data, bPlaceable);
730 }
731
732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
733 public static extern IntPtr CreateiGeom(int classnum);
734 public static IntPtr CreateGeom(int classnum)
735 {
736 NTotalGeoms++;
737 return CreateiGeom(classnum);
738 }
739
740 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
741 public static extern int CreateGeomClass(ref GeomClass classptr);
742
743 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
744 public static extern IntPtr CreateGeomTransform(IntPtr space);
745
746 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
747 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
748 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
749 {
750 NTotalGeoms++;
751 return CreateiPlane(space, a, b, c, d);
752 }
753
754 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
755 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
756 public static IntPtr CreateRay(IntPtr space, dReal length)
757 {
758 NTotalGeoms++;
759 return CreateiRay(space, length);
760 }
761
762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
763 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
764 public static IntPtr CreateSphere(IntPtr space, dReal radius)
765 {
766 NTotalGeoms++;
767 return CreateiSphere(space, radius);
768 }
769
770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
771 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
772 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
773 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
774 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
775 {
776 NTotalGeoms++;
777 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
778 }
779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
780 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
781
782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
783 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
784
785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
786 public static extern int FactorCholesky(ref dReal A00, int n);
787
788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
789 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
790
791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
792 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
793
794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
795 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
796
797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
798 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
799
800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
801 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
802
803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
804 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
805
806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
807 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
808
809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
810 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
811
812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
813 public static extern void GeomClearOffset(IntPtr geom);
814
815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
816 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
817
818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
819 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
820
821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
822 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
823
824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
825 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
826
827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
828 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
829
830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
831 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
832
833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
834 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
835
836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
837 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
838
839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
840 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
841
842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
843 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
844
845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
846 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
847
848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
849 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
850
851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
852 public static extern void GeomiDestroy(IntPtr geom);
853 public static void GeomDestroy(IntPtr geom)
854 {
855 NTotalGeoms--;
856 GeomiDestroy(geom);
857 }
858
859
860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
861 public static extern void GeomDisable(IntPtr geom);
862
863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
864 public static extern void GeomEnable(IntPtr geom);
865
866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
867 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
868
869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
870 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
871
872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
873 public static extern IntPtr GeomGetBody(IntPtr geom);
874
875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
876 public static extern int GeomGetCategoryBits(IntPtr geom);
877
878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
879 public static extern IntPtr GeomGetClassData(IntPtr geom);
880
881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
882 public static extern int GeomGetCollideBits(IntPtr geom);
883
884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
885 public static extern GeomClassID GeomGetClass(IntPtr geom);
886
887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
888 public static extern IntPtr GeomGetData(IntPtr geom);
889
890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
891 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
892 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
893 {
894 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
895 }
896
897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
898 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
899 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
900 {
901 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
902 }
903
904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
905 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
906 public static Vector3 GeomGetPosition(IntPtr geom)
907 {
908 unsafe { return *(GeomGetPositionUnsafe(geom)); }
909 }
910
911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
912 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
913
914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
915 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
916
917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
918 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
919 public static Matrix3 GeomGetRotation(IntPtr geom)
920 {
921 unsafe { return *(GeomGetRotationUnsafe(geom)); }
922 }
923
924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
925 public static extern IntPtr GeomGetSpace(IntPtr geom);
926
927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
928 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
929 dReal width, dReal depth, int widthSamples, int depthSamples,
930 dReal scale, dReal offset, dReal thickness, int bWrap);
931
932 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
933 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
934 dReal width, dReal depth, int widthSamples, int depthSamples,
935 dReal scale, dReal offset, dReal thickness, int bWrap);
936
937 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
938 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
939 dReal width, dReal depth, int widthSamples, int depthSamples,
940 dReal scale, dReal offset, dReal thickness, int bWrap);
941
942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
943 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
944 dReal width, dReal depth, int widthSamples, int depthSamples,
945 dReal scale, dReal offset, dReal thickness, int bWrap);
946
947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
948 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
949 dReal width, dReal depth, int widthSamples, int depthSamples,
950 dReal scale, dReal offset, dReal thickness, int bWrap);
951
952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
953 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
954 dReal width, dReal depth, int widthSamples, int depthSamples,
955 dReal scale, dReal offset, dReal thickness, int bWrap);
956
957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
958 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
959 dReal width, dReal depth, int widthSamples, int depthSamples,
960 dReal scale, dReal offset, dReal thickness, int bWrap);
961
962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
963 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
964 dReal width, dReal depth, int widthSamples, int depthSamples,
965 dReal scale, dReal offset, dReal thickness, int bWrap);
966
967 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
968 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
969 dReal width, dReal depth, int widthSamples, int depthSamples,
970 dReal scale, dReal offset, dReal thickness, int bWrap);
971
972 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
973 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
974 dReal width, dReal depth, int widthSamples, int depthSamples,
975 dReal scale, dReal offset, dReal thickness, int bWrap);
976
977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
978 public static extern IntPtr GeomHeightfieldDataCreate();
979
980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
981 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
982
983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
984 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
985
986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
987 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
988
989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
990 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
991
992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
993 public static extern bool GeomIsEnabled(IntPtr geom);
994
995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
996 public static extern bool GeomIsOffset(IntPtr geom);
997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
999 public static extern bool GeomIsSpace(IntPtr geom);
1000
1001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1002 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1003
1004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1005 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1008 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1009
1010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1011 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1012
1013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1014 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1018
1019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1020 public static extern int GeomRayGetClosestHit(IntPtr ray);
1021
1022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1023 public static extern dReal GeomRayGetLength(IntPtr ray);
1024
1025 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1026 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1027
1028 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1029 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1030
1031 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1032 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1033
1034 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1035 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1038 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1041 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1044 public static extern void GeomSetCategoryBits(IntPtr geom, int bits);
1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomSetCollideBits(IntPtr geom, int bits);
1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1050 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1053 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1056 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1065 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1068 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1071 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1077 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1080 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1083 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1095 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1101 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1104 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1107 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1110 public static extern int GeomTransformGetCleanup(IntPtr geom);
1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1113 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1116 public static extern int GeomTransformGetInfo(IntPtr geom);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1126
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1129 double[] vertices, int vertexStride, int vertexCount,
1130 int[] indices, int indexCount, int triStride);
1131
1132 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1133 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1134 IntPtr vertices, int vertexStride, int vertexCount,
1135 IntPtr indices, int indexCount, int triStride);
1136
1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1138 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1139 double[] vertices, int vertexStride, int vertexCount,
1140 int[] indices, int indexCount, int triStride,
1141 double[] normals);
1142
1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1144 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1145 IntPtr vertices, int vertexStride, int vertexCount,
1146 IntPtr indices, int indexCount, int triStride,
1147 IntPtr normals);
1148
1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1150 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1151 dReal[] vertices, int vertexStride, int vertexCount,
1152 int[] indices, int indexCount, int triStride);
1153
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1155 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1156 IntPtr vertices, int vertexStride, int vertexCount,
1157 IntPtr indices, int indexCount, int triStride);
1158
1159 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1160 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1161 dReal[] vertices, int vertexStride, int vertexCount,
1162 int[] indices, int indexCount, int triStride,
1163 dReal[] normals);
1164
1165 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1166 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1167 IntPtr vertices, int vertexStride, int vertexCount,
1168 IntPtr indices, int indexCount, int triStride,
1169 IntPtr normals);
1170
1171 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1172 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1173 float[] vertices, int vertexStride, int vertexCount,
1174 int[] indices, int indexCount, int triStride);
1175
1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1177 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1178 IntPtr vertices, int vertexStride, int vertexCount,
1179 IntPtr indices, int indexCount, int triStride);
1180
1181 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1182 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1183 float[] vertices, int vertexStride, int vertexCount,
1184 int[] indices, int indexCount, int triStride,
1185 float[] normals);
1186
1187 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1188 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1189 IntPtr vertices, int vertexStride, int vertexCount,
1190 IntPtr indices, int indexCount, int triStride,
1191 IntPtr normals);
1192
1193 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1194 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1195
1196 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1197 public static extern IntPtr GeomTriMeshDataCreate();
1198
1199 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1200 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1201
1202 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1203 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1204
1205 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1206 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1207
1208 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1209 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1210
1211 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1212 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1213
1214 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1215 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1216
1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1218 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1219
1220 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1221 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1222
1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1224 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1225
1226 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1227 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1228 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1229 {
1230 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1231 }
1232
1233 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1234 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1235
1236 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1237 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1238
1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1240 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1241
1242 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1243 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1244
1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1246 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1247
1248 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1249 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1250
1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1252 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1253
1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1255 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1256
1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1258 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1259
1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1261 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1262
1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1264 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1265
1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1267 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1268
1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1270 public static extern string GetConfiguration(string str);
1271
1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1273 public static extern IntPtr HashSpaceCreate(IntPtr space);
1274
1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1276 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1279 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1282 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1285 public static extern void InitODE();
1286
1287 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1288 public static extern int InitODE2(uint ODEInitFlags);
1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1291 public static extern int IsPositiveDefinite(ref dReal A, int n);
1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1294 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1297 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1300 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1303 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1306 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1309 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1312 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1315 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1318 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1321 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1324 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1325 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1326 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1327
1328 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1329 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1330
1331 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1332 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1333
1334 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1335 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1336
1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1338 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1339
1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1341 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1342
1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1344 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1345
1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1347 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1348
1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1350 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1351
1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1353 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1354
1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1356 public static extern void JointDestroy(IntPtr j);
1357
1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1359 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1360
1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1362 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1363
1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1365 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1366
1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1368 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1369
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1371 public static extern int JointGetAMotorMode(IntPtr j);
1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1374 public static extern int JointGetAMotorNumAxes(IntPtr j);
1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1377 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1380 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1383 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointGetBody(IntPtr j);
1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointGetData(IntPtr j);
1390
1391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1392 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1393 public static JointFeedback JointGetFeedback(IntPtr j)
1394 {
1395 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1396 }
1397
1398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1399 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1400
1401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1402 public static extern dReal JointGetHingeAngle(IntPtr j);
1403
1404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1405 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1406
1407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1408 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1409
1410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1411 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1412
1413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1414 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1415
1416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1417 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1418
1419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1420 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1421
1422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1423 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1424
1425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1426 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1427
1428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1429 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1430
1431 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1432 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1433
1434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1435 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1436
1437 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1438 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1439
1440 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1441 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1444 public static extern int JointGetLMotorNumAxes(IntPtr j);
1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1447 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1450 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1453 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1456 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1457
1458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1459 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1460
1461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1462 public static extern dReal JointGetPRPosition(IntPtr j);
1463
1464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1465 public static extern dReal JointGetPRPositionRate(IntPtr j);
1466
1467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1468 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1469
1470 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1471 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1472
1473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1474 public static extern dReal JointGetSliderPosition(IntPtr j);
1475
1476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1477 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1478
1479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1480 public static extern JointType JointGetType(IntPtr j);
1481
1482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1483 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1484
1485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1486 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1487
1488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1489 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1490
1491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1492 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1493
1494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1495 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1496
1497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1498 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1499
1500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1501 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1502
1503 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1504 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1505
1506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1507 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1508
1509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1510 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1511
1512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1513 public static extern IntPtr JointGroupCreate(int max_size);
1514
1515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1516 public static extern void JointGroupDestroy(IntPtr group);
1517
1518 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1519 public static extern void JointGroupEmpty(IntPtr group);
1520
1521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1522 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1523
1524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1525 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1526
1527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1528 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1529
1530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1531 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1532
1533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1534 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1535
1536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1537 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1538
1539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1540 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1541
1542 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1543 public static extern void JointSetData(IntPtr j, IntPtr data);
1544
1545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1546 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1547
1548 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1549 public static extern void JointSetFixed(IntPtr j);
1550
1551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1552 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1553
1554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1555 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1556
1557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1558 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1559
1560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1561 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1562
1563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1564 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1565
1566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1567 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1568
1569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1570 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1571
1572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1573 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1574
1575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1576 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1577
1578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1579 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1580
1581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1582 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1583
1584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1585 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1586
1587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1588 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1589
1590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1591 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1592
1593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1594 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1595
1596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1597 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1598
1599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1600 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1601
1602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1603 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1604
1605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1606 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1607
1608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1609 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1610
1611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1612 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1613
1614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1615 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1616
1617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1618 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1619
1620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1621 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1622
1623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1624 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1625
1626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1627 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1628
1629 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1630 public static extern void MassAdd(ref Mass a, ref Mass b);
1631
1632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1633 public static extern void MassAdjust(ref Mass m, dReal newmass);
1634
1635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1636 public static extern bool MassCheck(ref Mass m);
1637
1638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1639 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1640
1641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1642 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1643
1644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1645 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1646
1647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1648 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1649
1650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1651 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1652
1653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1654 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1655
1656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1657 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1658
1659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1660 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1661
1662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1663 public static extern void MassSetParameters(out Mass mass, dReal themass,
1664 dReal cgx, dReal cgy, dReal cgz,
1665 dReal i11, dReal i22, dReal i33,
1666 dReal i12, dReal i13, dReal i23);
1667
1668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1669 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1670
1671 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1672 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1673
1674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1675 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1676
1677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1678 public static extern void MassSetZero(out Mass mass);
1679
1680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1681 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1682
1683 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1684 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1685
1686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1687 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1688 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1689 {
1690 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1691 }
1692
1693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1694 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1695
1696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1697 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1698
1699 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1700 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1701
1702 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1703 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1704
1705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1706 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1707
1708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1709 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1710
1711 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1712 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1713
1714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1715 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1716
1717 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1718 public static extern void QSetIdentity(out Quaternion q);
1719
1720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1721 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1722
1723 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1724 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1725
1726 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1727 public static extern dReal RandReal();
1728
1729 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1730 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1731
1732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1733 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1734
1735 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1736 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1739 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1742 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1745 public static extern void RSetIdentity(out Matrix3 R);
1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1748 public static extern void SetValue(out dReal a, int n);
1749
1750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1751 public static extern void SetZero(out dReal a, int n);
1752
1753 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1754 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1755
1756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1757 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1758
1759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1760 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1761
1762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1763 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1764
1765 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1766 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1767
1768 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1769 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1770
1771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1772 public static extern bool SpaceLockQuery(IntPtr space);
1773
1774 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1775 public static extern void SpaceClean(IntPtr space);
1776
1777 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1778 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1779
1780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1781 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1782
1783 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1784 public static extern void SpaceDestroy(IntPtr space);
1785
1786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1787 public static extern bool SpaceGetCleanup(IntPtr space);
1788
1789 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1790 public static extern int SpaceGetNumGeoms(IntPtr space);
1791
1792 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1793 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1794
1795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1796 public static extern int SpaceGetSublevel(IntPtr space);
1797
1798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1799 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1800
1801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1802 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1803
1804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1805 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1806
1807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1808 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1809
1810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1811 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1812
1813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1814 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1815
1816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1817 public static extern IntPtr WorldCreate();
1818
1819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1820 public static extern void WorldDestroy(IntPtr world);
1821
1822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1823 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1824
1825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1826 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1827
1828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1829 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1830
1831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1832 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1833
1834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1835 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1836
1837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1838 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1839
1840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1841 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1842
1843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1844 public static extern dReal WorldGetCFM(IntPtr world);
1845
1846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1847 public static extern dReal WorldGetERP(IntPtr world);
1848
1849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1850 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1851
1852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1853 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1854
1855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1856 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1857
1858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1859 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1860
1861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1862 public static extern dReal WorldGetAngularDamping(IntPtr world);
1863
1864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1865 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1866
1867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1868 public static extern dReal WorldGetLinearDamping(IntPtr world);
1869
1870 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1871 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1872
1873 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1874 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1875
1876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1877 public static extern dReal WorldGetQuickStepW(IntPtr world);
1878
1879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1880 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1881
1882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1883 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1884
1885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1886 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1887
1888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1889 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1890
1891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1892 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1893
1894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1895 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1896
1897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1898 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1899
1900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1901 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1902
1903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1904 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1905
1906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1907 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1908
1909 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1910 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1911
1912 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1913 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1914
1915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1916 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1917
1918 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1919 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1920
1921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1922 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1923
1924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1925 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1926
1927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1928 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1929
1930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1931 public static extern void WorldSetERP(IntPtr world, dReal erp);
1932
1933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1934 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1935
1936 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
1937 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
1938
1939 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1940 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
1941
1942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1943 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1944
1945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1946 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1947
1948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1949 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
1950
1951 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1952 public static extern void WorldStep(IntPtr world, dReal stepsize);
1953
1954 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
1955 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
1956
1957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
1958 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
1959 }
1960}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..d32188e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
@@ -0,0 +1,90 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Threading;
33using System.IO;
34using System.Diagnostics;
35using log4net;
36using Nini.Config;
37using OdeAPI;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40using OpenMetaverse;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// ODE plugin
46 /// </summary>
47 public class OdePlugin : IPhysicsPlugin
48 {
49 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
50
51 private OdeScene m_scene;
52
53 public bool Init()
54 {
55 if (Util.IsWindows())
56 Util.LoadArchSpecificWindowsDll("ode.dll");
57
58 if (d.InitODE2(0) != 0)
59 {
60 if (d.AllocateODEDataForThread(~0U) == 0)
61 {
62 d.CloseODE();
63 return false;
64 }
65 return true;
66 }
67 return false;
68 }
69
70 public PhysicsScene GetScene(String sceneIdentifier)
71 {
72 if (m_scene == null)
73 {
74
75 m_scene = new OdeScene(sceneIdentifier);
76 }
77 return (m_scene);
78 }
79
80 public string GetName()
81 {
82 return ("UbitODE");
83 }
84
85 public void Dispose()
86 {
87 d.CloseODE();
88 }
89 }
90} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
new file mode 100644
index 0000000..1a6907d
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2383 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define SPAM
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using OdeAPI;
40using OpenSim.Framework;
41using OpenSim.Region.Physics.Manager;
42using OpenMetaverse;
43
44namespace OpenSim.Region.Physics.OdePlugin
45{
46 public enum StatusIndicators : int
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63 [Flags]
64 public enum CollisionCategories : int
65 {
66 Disabled = 0,
67 Geom = 0x00000001,
68 Body = 0x00000002,
69 Space = 0x00000004,
70 Character = 0x00000008,
71 Land = 0x00000010,
72 Water = 0x00000020,
73 Wind = 0x00000040,
74 Sensor = 0x00000080,
75 Selected = 0x00000100
76 }
77
78 /// <summary>
79 /// Material type for a primitive
80 /// </summary>
81 public enum Material : int
82 {
83 /// <summary></summary>
84 Stone = 0,
85 /// <summary></summary>
86 Metal = 1,
87 /// <summary></summary>
88 Glass = 2,
89 /// <summary></summary>
90 Wood = 3,
91 /// <summary></summary>
92 Flesh = 4,
93 /// <summary></summary>
94 Plastic = 5,
95 /// <summary></summary>
96 Rubber = 6,
97
98 light = 7 // compatibility with old viewers
99 }
100
101 public enum changes : int
102 {
103 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
104 Remove,
105 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
106 // or removes from a object if arg is null
107 DeLink,
108 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
109 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
110 PosOffset, // not in use
111 // arg Vector3 new position in local coords. Changes prim position in object
112 OriOffset, // not in use
113 // arg Vector3 new position in local coords. Changes prim position in object
114 Velocity,
115 AngVelocity,
116 Acceleration,
117 Force,
118 Torque,
119
120 AddForce,
121 AddAngForce,
122 AngLock,
123
124 Size,
125 Shape,
126
127 CollidesWater,
128 VolumeDtc,
129
130 Physical,
131 Phantom,
132 Selected,
133 disabled,
134 building,
135
136 VehicleType,
137 VehicleFloatParam,
138 VehicleVectorParam,
139 VehicleRotationParam,
140 VehicleFlags,
141 SetVehicle,
142
143 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
144 }
145
146 public struct ODEchangeitem
147 {
148 public PhysicsActor actor;
149 public OdeCharacter character;
150 public changes what;
151 public Object arg;
152 }
153
154 public class OdeScene : PhysicsScene
155 {
156 private readonly ILog m_log;
157 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
158
159// private int threadid = 0;
160 private Random fluidRandomizer = new Random(Environment.TickCount);
161
162 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
163 const float MaxERP = 0.8f;
164 const float minERP = 0.1f;
165 const float comumContactCFM = 0.0001f;
166
167 float frictionMovementMult = 0.3f;
168
169 float TerrainBounce = 0.1f;
170 float TerrainFriction = 0.3f;
171
172 public float AvatarFriction = 0;// 0.9f * 0.5f;
173
174 private const uint m_regionWidth = Constants.RegionSize;
175 private const uint m_regionHeight = Constants.RegionSize;
176
177 public float ODE_STEPSIZE = 0.020f;
178 private float metersInSpace = 25.6f;
179 private float m_timeDilation = 1.0f;
180
181 public float gravityx = 0f;
182 public float gravityy = 0f;
183 public float gravityz = -9.8f;
184
185 private float waterlevel = 0f;
186 private int framecount = 0;
187
188 internal IntPtr WaterGeom;
189
190 public float avPIDD = 2200f; // make it visible
191 public float avPIDP = 900f; // make it visible
192 private float avCapRadius = 0.37f;
193 private float avDensity = 3f;
194 private float avMovementDivisorWalk = 1.3f;
195 private float avMovementDivisorRun = 0.8f;
196 private float minimumGroundFlightOffset = 3f;
197 public float maximumMassObject = 10000.01f;
198
199 public bool meshSculptedPrim = true;
200 public bool forceSimplePrimMeshing = false;
201
202 public float meshSculptLOD = 32;
203 public float MeshSculptphysicalLOD = 32;
204
205 public float geomDefaultDensity = 10.000006836f;
206
207 public int geomContactPointsStartthrottle = 3;
208 public int geomUpdatesPerThrottledUpdate = 15;
209
210 public float bodyPIDD = 35f;
211 public float bodyPIDG = 25;
212
213// public int geomCrossingFailuresBeforeOutofbounds = 6;
214
215 public int bodyFramesAutoDisable = 20;
216
217 private float[] _watermap;
218
219 private d.NearCallback nearCallback;
220
221 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
222 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
223 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
224 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
225
226 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
227
228 /// <summary>
229 /// A list of actors that should receive collision events.
230 /// </summary>
231 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
232
233 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
234 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
235 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
236
237 private float contactsurfacelayer = 0.002f;
238
239 private int contactsPerCollision = 80;
240 internal IntPtr ContactgeomsArray = IntPtr.Zero;
241 private IntPtr GlobalContactsArray = IntPtr.Zero;
242
243 const int maxContactsbeforedeath = 4000;
244 private volatile int m_global_contactcount = 0;
245
246
247 private readonly IntPtr contactgroup;
248
249 public ContactData[] m_materialContactsData = new ContactData[8];
250
251 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
252 private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
253 private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
254
255 private int m_physicsiterations = 10;
256 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
257 private readonly PhysicsActor PANull = new NullPhysicsActor();
258 private float step_time = 0.0f;
259
260 public IntPtr world;
261
262 private uint obj2LocalID = 0;
263 private OdeCharacter cc1;
264 private OdePrim cp1;
265 private OdeCharacter cc2;
266 private OdePrim cp2;
267
268 // split the spaces acording to contents type
269 // ActiveSpace contains characters and active prims
270 // StaticSpace contains land and other that is mostly static in enviroment
271 // this can contain subspaces, like the grid in staticspace
272 // as now space only contains this 2 top spaces
273
274 public IntPtr TopSpace; // the global space
275 public IntPtr ActiveSpace; // space for active prims
276 public IntPtr StaticSpace; // space for the static things around
277
278 // some speedup variables
279 private int spaceGridMaxX;
280 private int spaceGridMaxY;
281 private float spacesPerMeter;
282
283 // split static geometry collision into a grid as before
284 private IntPtr[,] staticPrimspace;
285
286 private Object OdeLock;
287 private static Object SimulationLock;
288
289 public IMesher mesher;
290
291 private IConfigSource m_config;
292
293 public bool physics_logging = false;
294 public int physics_logging_interval = 0;
295 public bool physics_logging_append_existing_logfile = false;
296
297 private Vector3 m_worldOffset = Vector3.Zero;
298 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
299 private PhysicsScene m_parentScene = null;
300
301 private ODERayCastRequestManager m_rayCastManager;
302
303
304/* maybe needed if ode uses tls
305 private void checkThread()
306 {
307
308 int th = Thread.CurrentThread.ManagedThreadId;
309 if(th != threadid)
310 {
311 threadid = th;
312 d.AllocateODEDataForThread(~0U);
313 }
314 }
315 */
316 /// <summary>
317 /// Initiailizes the scene
318 /// Sets many properties that ODE requires to be stable
319 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
320 /// </summary>
321 public OdeScene(string sceneIdentifier)
322 {
323 m_log
324 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
325
326// checkThread();
327 Name = sceneIdentifier;
328
329 OdeLock = new Object();
330 SimulationLock = new Object();
331
332 nearCallback = near;
333
334 m_rayCastManager = new ODERayCastRequestManager(this);
335 lock (OdeLock)
336 {
337 // Create the world and the first space
338 try
339 {
340 world = d.WorldCreate();
341 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
342
343 // now the major subspaces
344 ActiveSpace = d.HashSpaceCreate(TopSpace);
345 StaticSpace = d.HashSpaceCreate(TopSpace);
346 }
347 catch
348 {
349 // i must RtC#FM
350 }
351
352 d.HashSpaceSetLevels(TopSpace, -2, 8); // cell sizes from .25 to 256 ?? need check what this really does
353 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
354 d.HashSpaceSetLevels(StaticSpace, -2, 8);
355
356 // demote to second level
357 d.SpaceSetSublevel(ActiveSpace, 1);
358 d.SpaceSetSublevel(StaticSpace, 1);
359
360 contactgroup = d.JointGroupCreate(0);
361 //contactgroup
362
363 d.WorldSetAutoDisableFlag(world, false);
364 }
365
366 _watermap = new float[258 * 258];
367 }
368
369 // Initialize the mesh plugin
370// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
371 public override void Initialise(IMesher meshmerizer, IConfigSource config)
372 {
373// checkThread();
374 mesher = meshmerizer;
375 m_config = config;
376
377// m_log.WarnFormat("ODE configuration: {0}", d.GetConfiguration("ODE"));
378 /*
379 if (region != null)
380 {
381 WorldExtents.X = region.RegionSizeX;
382 WorldExtents.Y = region.RegionSizeY;
383 }
384 */
385
386 // Defaults
387
388 int contactsPerCollision = 80;
389
390 if (m_config != null)
391 {
392 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
393 if (physicsconfig != null)
394 {
395 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
396 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
397 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
398
399 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
400
401 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
402
403 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
404 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
405
406 avDensity = physicsconfig.GetFloat("av_density", avDensity);
407 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
408 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
409 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
410
411 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
412
413 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
414 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
415// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
416
417 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
418 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
419
420 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
421 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
422
423 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
424 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
425 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
426 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
427
428 if (Environment.OSVersion.Platform == PlatformID.Unix)
429 {
430 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
431 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
432 }
433 else
434 {
435 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
436 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
437 }
438
439 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
440 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
441 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
442
443 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
444 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
445 }
446 }
447
448 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
449 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
450
451 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
452 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
453
454 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
455 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
456
457 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
458 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
459
460 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
461 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
462
463 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
464 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
465
466 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
467 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
468
469 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
470 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
471
472 m_materialContactsData[(int)Material.light].mu = 0.0f;
473 m_materialContactsData[(int)Material.light].bounce = 0.0f;
474
475 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
476
477 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
478 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
479
480 d.WorldSetLinearDamping(world, 0.001f);
481 d.WorldSetAngularDamping(world, 0.001f);
482 d.WorldSetAngularDampingThreshold(world, 0f);
483 d.WorldSetLinearDampingThreshold(world, 0f);
484 d.WorldSetMaxAngularSpeed(world, 256f);
485
486 d.WorldSetCFM(world,1e-6f); // a bit harder than default
487 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
488 d.WorldSetERP(world, 0.6f); // higher than original
489
490 // Set how many steps we go without running collision testing
491 // This is in addition to the step size.
492 // Essentially Steps * m_physicsiterations
493 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
494 d.WorldSetContactMaxCorrectingVel(world, 100.0f);
495
496 spacesPerMeter = 1 / metersInSpace;
497 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
498 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
499
500 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
501
502 // create all spaces now
503 int i, j;
504 IntPtr newspace;
505 for (i = 0; i < spaceGridMaxX; i++)
506 for (j = 0; j < spaceGridMaxY; j++)
507 {
508 newspace = d.HashSpaceCreate(StaticSpace);
509 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
510 waitForSpaceUnlock(newspace);
511 d.SpaceSetSublevel(newspace, 2);
512 d.HashSpaceSetLevels(newspace, -2, 8);
513 staticPrimspace[i, j] = newspace;
514 }
515 // let this now be real maximum values
516 spaceGridMaxX--;
517 spaceGridMaxY--;
518 }
519
520 internal void waitForSpaceUnlock(IntPtr space)
521 {
522 //if (space != IntPtr.Zero)
523 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
524 }
525
526 #region Collision Detection
527
528 // sets a global contact for a joint for contactgeom , and base contact description)
529
530 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce,float cfm,float erp)
531 {
532 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
533 return IntPtr.Zero;
534
535 d.Contact newcontact = new d.Contact();
536 newcontact.geom.depth = contactGeom.depth;
537 newcontact.geom.g1 = contactGeom.g1;
538 newcontact.geom.g2 = contactGeom.g2;
539 newcontact.geom.pos = contactGeom.pos;
540 newcontact.geom.normal = contactGeom.normal;
541 newcontact.geom.side1 = contactGeom.side1;
542 newcontact.geom.side2 = contactGeom.side2;
543
544 // this needs bounce also
545 newcontact.surface.mode = comumContactFlags;
546 newcontact.surface.mu = mu;
547 newcontact.surface.bounce = bounce;
548 newcontact.surface.soft_cfm = cfm;
549 newcontact.surface.soft_erp = erp;
550
551 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
552 Marshal.StructureToPtr(newcontact, contact, true);
553 return d.JointCreateContactPtr(world, contactgroup, contact);
554 }
555
556
557
558 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
559 {
560 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
561 return false;
562
563 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
564 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
565 return true;
566 }
567
568 /// <summary>
569 /// This is our near callback. A geometry is near a body
570 /// </summary>
571 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
572 /// <param name="g1">a geometry or space</param>
573 /// <param name="g2">another geometry or space</param>
574 ///
575
576 private void near(IntPtr space, IntPtr g1, IntPtr g2)
577 {
578 // no lock here! It's invoked from within Simulate(), which is thread-locked
579
580 if (m_global_contactcount >= maxContactsbeforedeath)
581 return;
582
583 // Test if we're colliding a geom with a space.
584 // If so we have to drill down into the space recursively
585
586 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
587 return;
588
589 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
590 {
591 // We'll be calling near recursivly if one
592 // of them is a space to find all of the
593 // contact points in the space
594 try
595 {
596 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
597 }
598 catch (AccessViolationException)
599 {
600 m_log.Warn("[PHYSICS]: Unable to collide test a space");
601 return;
602 }
603 //here one should check collisions of geoms inside a space
604 // but on each space we only should have geoms that not colide amoung each other
605 // so we don't dig inside spaces
606 return;
607 }
608
609 // get geom bodies to check if we already a joint contact
610 // guess this shouldn't happen now
611 IntPtr b1 = d.GeomGetBody(g1);
612 IntPtr b2 = d.GeomGetBody(g2);
613
614 // d.GeomClassID id = d.GeomGetClass(g1);
615
616 // Figure out how many contact points we have
617 int count = 0;
618 try
619 {
620 // Colliding Geom To Geom
621 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
622
623 if (g1 == g2)
624 return; // Can't collide with yourself
625
626 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
627 return;
628
629 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
630 }
631 catch (SEHException)
632 {
633 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
634// ode.drelease(world);
635 base.TriggerPhysicsBasedRestart();
636 }
637 catch (Exception e)
638 {
639 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
640 return;
641 }
642
643 // id contacts done
644 if (count == 0)
645 return;
646
647 // try get physical actors
648 PhysicsActor p1;
649 PhysicsActor p2;
650
651 if (!actor_name_map.TryGetValue(g1, out p1))
652 {
653 p1 = PANull;
654 }
655
656 if (!actor_name_map.TryGetValue(g2, out p2))
657 {
658 p2 = PANull;
659 }
660
661 // update actors collision score
662 if (p1.CollisionScore >= float.MaxValue - count)
663 p1.CollisionScore = 0;
664 p1.CollisionScore += count;
665
666 if (p2.CollisionScore >= float.MaxValue - count)
667 p2.CollisionScore = 0;
668 p2.CollisionScore += count;
669
670
671 // get first contact
672 d.ContactGeom curContact = new d.ContactGeom();
673 if (!GetCurContactGeom(0, ref curContact))
674 return;
675 // for now it's the one with max depth
676 ContactPoint maxDepthContact = new ContactPoint(
677 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
678 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
679 curContact.depth
680 );
681 // do volume detection case
682 if (
683 (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
684 (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
685 {
686 collision_accounting_events(p1, p2, maxDepthContact);
687 return;
688 }
689
690 // big messy collision analises
691 float mu = 0;
692 float bounce = 0;
693 float cfm = 0.0001f;
694 float erp = 0.1f;
695
696 ContactData contactdata1 = new ContactData(0, 0, false);
697 ContactData contactdata2 = new ContactData(0, 0, false);
698
699 String name = null;
700 bool dop1foot = false;
701 bool dop2foot = false;
702 bool ignore = false;
703
704 switch (p1.PhysicsActorType)
705 {
706 case (int)ActorTypes.Agent:
707 {
708 bounce = 0;
709 mu = 0;
710 cfm = 0.0001f;
711
712 switch (p2.PhysicsActorType)
713 {
714 case (int)ActorTypes.Agent:
715/*
716 p1.getContactData(ref contactdata1);
717 p2.getContactData(ref contactdata2);
718
719 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
720
721 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
722 mu *= frictionMovementMult;
723*/
724 p1.CollidingObj = true;
725 p2.CollidingObj = true;
726 break;
727 case (int)ActorTypes.Prim:
728/*
729 p1.getContactData(ref contactdata1);
730 p2.getContactData(ref contactdata2);
731
732
733 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
734
735 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
736 mu *= frictionMovementMult;
737 */
738 if (p2.Velocity.LengthSquared() > 0.0f)
739 p2.CollidingObj = true;
740
741 dop1foot = true;
742 break;
743 default:
744 ignore = true; // avatar to terrain and water ignored
745 break;
746 }
747 break;
748 }
749
750 case (int)ActorTypes.Prim:
751 switch (p2.PhysicsActorType)
752 {
753 case (int)ActorTypes.Agent:
754// p1.getContactData(ref contactdata1);
755// p2.getContactData(ref contactdata2);
756
757 bounce = 0;
758 mu = 0;
759 cfm = 0.0001f;
760/*
761 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
762
763 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
764 mu *= frictionMovementMult;
765*/
766 dop2foot = true;
767 if (p1.Velocity.LengthSquared() > 0.0f)
768 p1.CollidingObj = true;
769 break;
770 case (int)ActorTypes.Prim:
771 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
772 {
773 p1.CollidingObj = true;
774 p2.CollidingObj = true;
775 }
776 p1.getContactData(ref contactdata1);
777 p2.getContactData(ref contactdata2);
778 bounce = contactdata1.bounce * contactdata2.bounce;
779 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
780
781 cfm = p1.Mass;
782 if (cfm > p2.Mass)
783 cfm = p2.Mass;
784 cfm = (float)Math.Sqrt(cfm);
785 cfm *= 0.0001f;
786 if (cfm > 0.8f)
787 cfm = 0.8f;
788
789 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
790 mu *= frictionMovementMult;
791
792 break;
793 default:
794 if (geom_name_map.TryGetValue(g2, out name))
795 {
796 if (name == "Terrain")
797 {
798 p1.getContactData(ref contactdata1);
799 bounce = contactdata1.bounce * TerrainBounce;
800 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
801 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
802 mu *= frictionMovementMult;
803 p1.CollidingGround = true;
804 cfm = p1.Mass;
805 cfm = (float)Math.Sqrt(cfm);
806 cfm *= 0.0001f;
807 if (cfm > 0.8f)
808 cfm = 0.8f;
809
810 }
811 else if (name == "Water")
812 {
813 ignore = true;
814 }
815 }
816 else
817 ignore=true;
818 break;
819 }
820 break;
821
822 default:
823 if (geom_name_map.TryGetValue(g1, out name))
824 {
825 if (name == "Terrain")
826 {
827 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
828 {
829 p2.CollidingGround = true;
830 p2.getContactData(ref contactdata2);
831 bounce = contactdata2.bounce * TerrainBounce;
832 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
833 cfm = p2.Mass;
834 cfm = (float)Math.Sqrt(cfm);
835 cfm *= 0.0001f;
836 if (cfm > 0.8f)
837 cfm = 0.8f;
838
839 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
840 mu *= frictionMovementMult;
841 }
842 else
843 ignore = true;
844
845 }
846 else if (name == "Water" &&
847 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
848 {
849 ignore = true;
850 }
851 }
852 else
853 ignore = true;
854 break;
855 }
856
857 if (ignore)
858 return;
859
860 IntPtr Joint;
861
862 int i = 0;
863 while(true)
864 {
865 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
866 p1.IsColliding = true;
867 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
868 p2.IsColliding = true;
869
870
871 erp = curContact.depth;
872 if (erp < minERP)
873 erp = minERP;
874 else if (erp > MaxERP)
875 erp = MaxERP;
876
877 Joint = CreateContacJoint(ref curContact, mu, bounce,cfm,erp);
878 d.JointAttach(Joint, b1, b2);
879
880 if (++m_global_contactcount >= maxContactsbeforedeath)
881 break;
882
883 if(++i >= count)
884 break;
885
886 if (!GetCurContactGeom(i, ref curContact))
887 break;
888
889 if (curContact.depth > maxDepthContact.PenetrationDepth)
890 {
891 maxDepthContact.Position.X = curContact.pos.X;
892 maxDepthContact.Position.Y = curContact.pos.Y;
893 maxDepthContact.Position.Z = curContact.pos.Z;
894 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
895 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
896 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
897 maxDepthContact.PenetrationDepth = curContact.depth;
898 }
899 }
900
901 collision_accounting_events(p1, p2, maxDepthContact);
902
903/*
904 if (notskipedcount > geomContactPointsStartthrottle)
905 {
906 // If there are more then 3 contact points, it's likely
907 // that we've got a pile of objects, so ...
908 // We don't want to send out hundreds of terse updates over and over again
909 // so lets throttle them and send them again after it's somewhat sorted out.
910 this needs checking so out for now
911 if (b1 != IntPtr.Zero)
912 p1.ThrottleUpdates = true;
913 if (b2 != IntPtr.Zero)
914 p2.ThrottleUpdates = true;
915
916 }
917 */
918 }
919
920 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
921 {
922 // obj1LocalID = 0;
923 //returncollisions = false;
924 obj2LocalID = 0;
925 //ctype = 0;
926 //cStartStop = 0;
927 if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
928 return;
929
930 switch ((ActorTypes)p1.PhysicsActorType)
931 {
932 case ActorTypes.Agent:
933 cc1 = (OdeCharacter)p1;
934 switch ((ActorTypes)p2.PhysicsActorType)
935 {
936 case ActorTypes.Agent:
937 cc2 = (OdeCharacter)p2;
938 obj2LocalID = cc2.m_localID;
939 if (p2.SubscribedEvents())
940 cc2.AddCollisionEvent(cc1.m_localID, contact);
941 break;
942
943 case ActorTypes.Prim:
944 if (p2 is OdePrim)
945 {
946 cp2 = (OdePrim)p2;
947 obj2LocalID = cp2.m_localID;
948 if (p2.SubscribedEvents())
949 cp2.AddCollisionEvent(cc1.m_localID, contact);
950 }
951 break;
952
953 case ActorTypes.Ground:
954 case ActorTypes.Unknown:
955 default:
956 obj2LocalID = 0;
957 break;
958 }
959 if (p1.SubscribedEvents())
960 {
961 contact.SurfaceNormal = -contact.SurfaceNormal;
962 cc1.AddCollisionEvent(obj2LocalID, contact);
963 }
964 break;
965
966 case ActorTypes.Prim:
967
968 if (p1 is OdePrim)
969 {
970 cp1 = (OdePrim)p1;
971
972 // obj1LocalID = cp2.m_localID;
973 switch ((ActorTypes)p2.PhysicsActorType)
974 {
975 case ActorTypes.Agent:
976 if (p2 is OdeCharacter)
977 {
978 cc2 = (OdeCharacter)p2;
979 obj2LocalID = cc2.m_localID;
980 if (p2.SubscribedEvents())
981 cc2.AddCollisionEvent(cp1.m_localID, contact);
982 }
983 break;
984 case ActorTypes.Prim:
985
986 if (p2 is OdePrim)
987 {
988 cp2 = (OdePrim)p2;
989 obj2LocalID = cp2.m_localID;
990 if (p2.SubscribedEvents())
991 cp2.AddCollisionEvent(cp1.m_localID, contact);
992 }
993 break;
994
995 case ActorTypes.Ground:
996 case ActorTypes.Unknown:
997 default:
998 obj2LocalID = 0;
999 break;
1000 }
1001 if (p1.SubscribedEvents())
1002 {
1003 contact.SurfaceNormal = -contact.SurfaceNormal;
1004 cp1.AddCollisionEvent(obj2LocalID, contact);
1005 }
1006 }
1007 break;
1008 }
1009 }
1010
1011 /// <summary>
1012 /// This is our collision testing routine in ODE
1013 /// </summary>
1014 /// <param name="timeStep"></param>
1015 private void collision_optimized()
1016 {
1017 lock (_characters)
1018 {
1019 try
1020 {
1021 foreach (OdeCharacter chr in _characters)
1022 {
1023 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1024 continue;
1025
1026 chr.IsColliding = false;
1027 // chr.CollidingGround = false; not done here
1028 chr.CollidingObj = false;
1029 // do colisions with static space
1030 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1031 }
1032 }
1033 catch (AccessViolationException)
1034 {
1035 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1036 }
1037
1038 }
1039
1040 lock (_activeprims)
1041 {
1042 foreach (OdePrim aprim in _activeprims)
1043 {
1044 aprim.CollisionScore = 0;
1045 aprim.IsColliding = false;
1046 }
1047 }
1048
1049 // collide active prims with static enviroment
1050 lock (_activegroups)
1051 {
1052 try
1053 {
1054 foreach (OdePrim prm in _activegroups)
1055 {
1056 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1057 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1058 }
1059 }
1060 catch (AccessViolationException)
1061 {
1062 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1063 }
1064 }
1065 // finally colide active things amoung them
1066 try
1067 {
1068 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1069 }
1070 catch (AccessViolationException)
1071 {
1072 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1073 }
1074// _perloopContact.Clear();
1075 }
1076
1077 #endregion
1078
1079
1080
1081 /// <summary>
1082 /// Add actor to the list that should receive collision events in the simulate loop.
1083 /// </summary>
1084 /// <param name="obj"></param>
1085 public void AddCollisionEventReporting(PhysicsActor obj)
1086 {
1087 lock (_collisionEventPrim)
1088 {
1089 if (!_collisionEventPrim.Contains(obj))
1090 _collisionEventPrim.Add(obj);
1091 }
1092 }
1093
1094 /// <summary>
1095 /// Remove actor from the list that should receive collision events in the simulate loop.
1096 /// </summary>
1097 /// <param name="obj"></param>
1098 public void RemoveCollisionEventReporting(PhysicsActor obj)
1099 {
1100 lock (_collisionEventPrim)
1101 {
1102 if (_collisionEventPrim.Contains(obj))
1103 _collisionEventPrim.Remove(obj);
1104 }
1105 }
1106
1107 #region Add/Remove Entities
1108
1109 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1110 {
1111 Vector3 pos;
1112 pos.X = position.X;
1113 pos.Y = position.Y;
1114 pos.Z = position.Z;
1115 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1116 newAv.Flying = isFlying;
1117 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1118
1119 return newAv;
1120 }
1121
1122 public void AddCharacter(OdeCharacter chr)
1123 {
1124 lock (_characters)
1125 {
1126 if (!_characters.Contains(chr))
1127 {
1128 _characters.Add(chr);
1129 if (chr.bad)
1130 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1131 }
1132 }
1133 }
1134
1135 public void RemoveCharacter(OdeCharacter chr)
1136 {
1137 lock (_characters)
1138 {
1139 if (_characters.Contains(chr))
1140 {
1141 _characters.Remove(chr);
1142 }
1143 }
1144 }
1145
1146 public void BadCharacter(OdeCharacter chr)
1147 {
1148 lock (_badCharacter)
1149 {
1150 if (!_badCharacter.Contains(chr))
1151 _badCharacter.Add(chr);
1152 }
1153 }
1154
1155 public override void RemoveAvatar(PhysicsActor actor)
1156 {
1157 //m_log.Debug("[PHYSICS]:ODELOCK");
1158 ((OdeCharacter) actor).Destroy();
1159 }
1160
1161 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1162 PrimitiveBaseShape pbs, bool isphysical, uint localID)
1163 {
1164 Vector3 pos = position;
1165 Vector3 siz = size;
1166 Quaternion rot = rotation;
1167
1168 OdePrim newPrim;
1169 lock (OdeLock)
1170 {
1171 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID);
1172
1173 lock (_prims)
1174 _prims.Add(newPrim);
1175 }
1176 return newPrim;
1177 }
1178
1179 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1180 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID)
1181 {
1182 Vector3 pos = position;
1183 Vector3 siz = size;
1184 Quaternion rot = rotation;
1185
1186 OdePrim newPrim;
1187 lock (OdeLock)
1188 {
1189 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID);
1190
1191 lock (_prims)
1192 _prims.Add(newPrim);
1193 }
1194 return newPrim;
1195 }
1196
1197 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1198 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
1199 {
1200 Vector3 pos = position;
1201 Vector3 siz = size;
1202 Quaternion rot = rotation;
1203
1204 OdePrim newPrim;
1205 lock (OdeLock)
1206 {
1207 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID);
1208
1209 lock (_prims)
1210 _prims.Add(newPrim);
1211 }
1212 return newPrim;
1213 }
1214
1215 public void addActivePrim(OdePrim activatePrim)
1216 {
1217 // adds active prim..
1218 lock (_activeprims)
1219 {
1220 if (!_activeprims.Contains(activatePrim))
1221 _activeprims.Add(activatePrim);
1222 }
1223 }
1224
1225 public void addActiveGroups(OdePrim activatePrim)
1226 {
1227 lock (_activegroups)
1228 {
1229 if (!_activegroups.Contains(activatePrim))
1230 _activegroups.Add(activatePrim);
1231 }
1232 }
1233
1234 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1235 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1236 {
1237 return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid);
1238 }
1239
1240
1241 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1242 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1243 {
1244#if SPAM
1245 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1246#endif
1247
1248 return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
1249 }
1250
1251 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1252 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
1253 {
1254#if SPAM
1255 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1256#endif
1257
1258 return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
1259 }
1260
1261 public override float TimeDilation
1262 {
1263 get { return m_timeDilation; }
1264 }
1265
1266 public override bool SupportsNINJAJoints
1267 {
1268 get { return false; }
1269 }
1270
1271
1272 public void remActivePrim(OdePrim deactivatePrim)
1273 {
1274 lock (_activeprims)
1275 {
1276 _activeprims.Remove(deactivatePrim);
1277 }
1278 }
1279 public void remActiveGroup(OdePrim deactivatePrim)
1280 {
1281 lock (_activegroups)
1282 {
1283 _activegroups.Remove(deactivatePrim);
1284 }
1285 }
1286
1287 public override void RemovePrim(PhysicsActor prim)
1288 {
1289 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1290 // removed in the next physics simulate pass.
1291 if (prim is OdePrim)
1292 {
1293// lock (OdeLock)
1294 {
1295 OdePrim p = (OdePrim)prim;
1296 p.setPrimForRemoval();
1297 }
1298 }
1299 }
1300 /// <summary>
1301 /// This is called from within simulate but outside the locked portion
1302 /// We need to do our own locking here
1303 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1304 /// Simulate() -- justincc).
1305 ///
1306 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1307 ///
1308 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1309 /// that the space was using.
1310 /// </summary>
1311 /// <param name="prim"></param>
1312 public void RemovePrimThreadLocked(OdePrim prim)
1313 {
1314 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1315 lock (prim)
1316 {
1317 RemoveCollisionEventReporting(prim);
1318 lock (_prims)
1319 _prims.Remove(prim);
1320 }
1321
1322 }
1323 #endregion
1324
1325 #region Space Separation Calculation
1326
1327 /// <summary>
1328 /// Called when a static prim moves or becomes static
1329 /// Places the prim in a space one the static sub-spaces grid
1330 /// </summary>
1331 /// <param name="geom">the pointer to the geom that moved</param>
1332 /// <param name="pos">the position that the geom moved to</param>
1333 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1334 /// <returns>a pointer to the new space it's in</returns>
1335 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1336 {
1337 // moves a prim into another static sub-space or from another space into a static sub-space
1338
1339 // Called ODEPrim so
1340 // it's already in locked space.
1341
1342 if (geom == IntPtr.Zero) // shouldn't happen
1343 return IntPtr.Zero;
1344
1345 // get the static sub-space for current position
1346 IntPtr newspace = calculateSpaceForGeom(pos);
1347
1348 if (newspace == currentspace) // if we are there all done
1349 return newspace;
1350
1351 // else remove it from its current space
1352 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1353 {
1354 if (d.GeomIsSpace(currentspace))
1355 {
1356 waitForSpaceUnlock(currentspace);
1357 d.SpaceRemove(currentspace, geom);
1358
1359 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1360 {
1361 d.SpaceDestroy(currentspace);
1362 }
1363 }
1364 else
1365 {
1366 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1367 " Geom:" + geom);
1368 }
1369 }
1370 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1371 {
1372 currentspace = d.GeomGetSpace(geom);
1373 if (currentspace != IntPtr.Zero)
1374 {
1375 if (d.GeomIsSpace(currentspace))
1376 {
1377 waitForSpaceUnlock(currentspace);
1378 d.SpaceRemove(currentspace, geom);
1379
1380 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1381 {
1382 d.SpaceDestroy(currentspace);
1383 }
1384
1385 }
1386 }
1387 }
1388
1389 // put the geom in the newspace
1390 waitForSpaceUnlock(newspace);
1391 d.SpaceAdd(newspace, geom);
1392
1393 // let caller know this newspace
1394 return newspace;
1395 }
1396
1397 /// <summary>
1398 /// Calculates the space the prim should be in by its position
1399 /// </summary>
1400 /// <param name="pos"></param>
1401 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1402 public IntPtr calculateSpaceForGeom(Vector3 pos)
1403 {
1404 int x, y;
1405 x = (int)(pos.X * spacesPerMeter);
1406 if (x < 0)
1407 x = 0;
1408 else if (x > spaceGridMaxX)
1409 x = spaceGridMaxX;
1410
1411 y = (int)(pos.Y * spacesPerMeter);
1412 if (y < 0)
1413 y = 0;
1414 else if (y >spaceGridMaxY)
1415 y = spaceGridMaxY;
1416
1417 IntPtr tmpSpace = staticPrimspace[x, y];
1418 return tmpSpace;
1419 }
1420
1421 #endregion
1422
1423 /// <summary>
1424 /// Routine to figure out if we need to mesh this prim with our mesher
1425 /// </summary>
1426 /// <param name="pbs"></param>
1427 /// <returns></returns>
1428 public bool needsMeshing(PrimitiveBaseShape pbs)
1429 {
1430 // most of this is redundant now as the mesher will return null if it cant mesh a prim
1431 // but we still need to check for sculptie meshing being enabled so this is the most
1432 // convenient place to do it for now...
1433
1434 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1435 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1436 int iPropertiesNotSupportedDefault = 0;
1437
1438 if (pbs.SculptEntry)
1439 {
1440 if(!meshSculptedPrim)
1441 return false;
1442 }
1443
1444 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
1445 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
1446 {
1447 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
1448 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
1449 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
1450 {
1451
1452 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
1453 && pbs.ProfileHollow == 0
1454 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
1455 && pbs.PathBegin == 0 && pbs.PathEnd == 0
1456 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
1457 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
1458 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
1459 {
1460#if SPAM
1461 m_log.Warn("NonMesh");
1462#endif
1463 return false;
1464 }
1465 }
1466 }
1467
1468 // following code doesn't give meshs to boxes and spheres ever
1469 // and it's odd.. so for now just return true if asked to force meshs
1470 // hopefully mesher will fail if doesn't suport so things still get basic boxes
1471
1472 if (forceSimplePrimMeshing)
1473 return true;
1474
1475 if (pbs.ProfileHollow != 0)
1476 iPropertiesNotSupportedDefault++;
1477
1478 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
1479 iPropertiesNotSupportedDefault++;
1480
1481 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
1482 iPropertiesNotSupportedDefault++;
1483
1484 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
1485 iPropertiesNotSupportedDefault++;
1486
1487 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
1488 iPropertiesNotSupportedDefault++;
1489
1490 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
1491 iPropertiesNotSupportedDefault++;
1492
1493 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
1494 iPropertiesNotSupportedDefault++;
1495
1496 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
1497 iPropertiesNotSupportedDefault++;
1498
1499 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
1500 iPropertiesNotSupportedDefault++;
1501
1502 // test for torus
1503 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
1504 {
1505 if (pbs.PathCurve == (byte)Extrusion.Curve1)
1506 {
1507 iPropertiesNotSupportedDefault++;
1508 }
1509 }
1510 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1511 {
1512 if (pbs.PathCurve == (byte)Extrusion.Straight)
1513 {
1514 iPropertiesNotSupportedDefault++;
1515 }
1516
1517 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
1518 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1519 {
1520 iPropertiesNotSupportedDefault++;
1521 }
1522 }
1523 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
1524 {
1525 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
1526 {
1527 iPropertiesNotSupportedDefault++;
1528 }
1529 }
1530 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
1531 {
1532 if (pbs.PathCurve == (byte)Extrusion.Straight)
1533 {
1534 iPropertiesNotSupportedDefault++;
1535 }
1536 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1537 {
1538 iPropertiesNotSupportedDefault++;
1539 }
1540 }
1541
1542 if (pbs.SculptEntry && meshSculptedPrim)
1543 iPropertiesNotSupportedDefault++;
1544
1545 if (iPropertiesNotSupportedDefault == 0)
1546 {
1547#if SPAM
1548 m_log.Warn("NonMesh");
1549#endif
1550 return false;
1551 }
1552#if SPAM
1553 m_log.Debug("Mesh");
1554#endif
1555 return true;
1556 }
1557
1558 /// <summary>
1559 /// Called to queue a change to a actor
1560 /// to use in place of old taint mechanism so changes do have a time sequence
1561 /// </summary>
1562
1563 public void AddChange(PhysicsActor actor, changes what, Object arg)
1564 {
1565 ODEchangeitem item = new ODEchangeitem();
1566 item.actor = actor;
1567 item.what = what;
1568 item.arg = arg;
1569 ChangesQueue.Enqueue(item);
1570 }
1571
1572 /// <summary>
1573 /// Called after our prim properties are set Scale, position etc.
1574 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1575 /// This assures us that we have no race conditions
1576 /// </summary>
1577 /// <param name="prim"></param>
1578 public override void AddPhysicsActorTaint(PhysicsActor prim)
1579 {
1580 }
1581
1582 /// <summary>
1583 /// This is our main simulate loop
1584 /// It's thread locked by a Mutex in the scene.
1585 /// It holds Collisions, it instructs ODE to step through the physical reactions
1586 /// It moves the objects around in memory
1587 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1588 /// </summary>
1589 /// <param name="timeStep"></param>
1590 /// <returns></returns>
1591 public override float Simulate(float timeStep)
1592 {
1593 int statstart;
1594 int statchanges = 0;
1595 int statchmove = 0;
1596 int statactmove = 0;
1597 int statray = 0;
1598 int statcol = 0;
1599 int statstep = 0;
1600 int statmovchar = 0;
1601 int statmovprim;
1602 int totjcontact = 0;
1603
1604 // acumulate time so we can reduce error
1605 step_time += timeStep;
1606
1607 if (step_time < ODE_STEPSIZE)
1608 return 0;
1609
1610 if (framecount >= int.MaxValue)
1611 framecount = 0;
1612
1613 framecount++;
1614
1615 int curphysiteractions = m_physicsiterations;
1616
1617 if (step_time >= m_SkipFramesAtms)
1618 {
1619 // if in trouble reduce step resolution
1620 curphysiteractions /= 2;
1621 }
1622
1623 int nodeframes = 0;
1624
1625// checkThread();
1626
1627 lock (SimulationLock)
1628 {
1629 // adjust number of iterations per step
1630 try
1631 {
1632 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1633 }
1634 catch (StackOverflowException)
1635 {
1636 m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
1637// ode.drelease(world);
1638 base.TriggerPhysicsBasedRestart();
1639 }
1640
1641
1642 while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever
1643 {
1644 try
1645 {
1646 statstart = Util.EnvironmentTickCount();
1647
1648 // clear pointer/counter to contacts to pass into joints
1649 m_global_contactcount = 0;
1650
1651 ODEchangeitem item;
1652
1653 if(ChangesQueue.Count >0)
1654 {
1655 int ttmpstart = Util.EnvironmentTickCount();
1656 int ttmp;
1657 int ttmp2;
1658
1659 while(ChangesQueue.Dequeue(out item))
1660 {
1661 if (item.actor != null)
1662 {
1663 try
1664 {
1665 if (item.actor is OdeCharacter)
1666 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1667 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1668 RemovePrimThreadLocked((OdePrim)item.actor);
1669 }
1670 catch
1671 {
1672 m_log.Warn("[PHYSICS]: doChange failed for a actor");
1673 };
1674 }
1675 ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
1676 if (ttmp > 20)
1677 break;
1678 }
1679
1680 ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
1681 if (ttmp2 > 50)
1682 ttmp2 = 0;
1683
1684 }
1685
1686 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1687
1688 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1689 //if ((framecount % m_randomizeWater) == 0)
1690 // randomizeWater(waterlevel);
1691
1692 m_rayCastManager.ProcessQueuedRequests();
1693
1694
1695
1696 statray += Util.EnvironmentTickCountSubtract(statstart);
1697 collision_optimized();
1698 statcol += Util.EnvironmentTickCountSubtract(statstart);
1699
1700 lock (_collisionEventPrim)
1701 {
1702 foreach (PhysicsActor obj in _collisionEventPrim)
1703 {
1704 if (obj == null)
1705 continue;
1706
1707 switch ((ActorTypes)obj.PhysicsActorType)
1708 {
1709 case ActorTypes.Agent:
1710 OdeCharacter cobj = (OdeCharacter)obj;
1711 cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
1712 cobj.SendCollisions();
1713 break;
1714
1715 case ActorTypes.Prim:
1716 OdePrim pobj = (OdePrim)obj;
1717 pobj.SendCollisions();
1718 break;
1719 }
1720 }
1721 }
1722
1723 d.WorldQuickStep(world, ODE_STEPSIZE);
1724 statstep += Util.EnvironmentTickCountSubtract(statstart);
1725
1726 // Move characters
1727 lock (_characters)
1728 {
1729 List<OdeCharacter> defects = new List<OdeCharacter>();
1730 foreach (OdeCharacter actor in _characters)
1731 {
1732 if (actor != null)
1733 actor.Move(ODE_STEPSIZE, defects);
1734 }
1735 if (defects.Count != 0)
1736 {
1737 foreach (OdeCharacter defect in defects)
1738 {
1739 RemoveCharacter(defect);
1740 }
1741 }
1742 }
1743 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1744
1745 // Move other active objects
1746 lock (_activegroups)
1747 {
1748 foreach (OdePrim aprim in _activegroups)
1749 {
1750 aprim.Move();
1751 }
1752 }
1753
1754 //ode.dunlock(world);
1755 }
1756 catch (Exception e)
1757 {
1758 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1759// ode.dunlock(world);
1760 }
1761
1762 d.JointGroupEmpty(contactgroup);
1763 totjcontact += m_global_contactcount;
1764
1765 step_time -= ODE_STEPSIZE;
1766 nodeframes++;
1767 }
1768
1769 statstart = Util.EnvironmentTickCount();
1770
1771 lock (_characters)
1772 {
1773 foreach (OdeCharacter actor in _characters)
1774 {
1775 if (actor != null)
1776 {
1777 if (actor.bad)
1778 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1779
1780 actor.UpdatePositionAndVelocity();
1781 }
1782 }
1783 }
1784
1785 lock (_badCharacter)
1786 {
1787 if (_badCharacter.Count > 0)
1788 {
1789 foreach (OdeCharacter chr in _badCharacter)
1790 {
1791 RemoveCharacter(chr);
1792 }
1793
1794 _badCharacter.Clear();
1795 }
1796 }
1797 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1798
1799 lock (_activegroups)
1800 {
1801 {
1802 foreach (OdePrim actor in _activegroups)
1803 {
1804 if (actor.IsPhysical)
1805 {
1806 actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
1807 }
1808 }
1809 }
1810 }
1811
1812 statmovprim = Util.EnvironmentTickCountSubtract(statstart);
1813
1814 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1815 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1816 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1817 int nbodies = d.NTotalBodies;
1818 int ngeoms = d.NTotalGeoms;
1819
1820 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1821 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1822 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1823 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1824 {
1825 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1826 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1827
1828 if (physics_logging_append_existing_logfile)
1829 {
1830 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1831 TextWriter fwriter = File.AppendText(fname);
1832 fwriter.WriteLine(header);
1833 fwriter.Close();
1834 }
1835
1836 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1837 }
1838
1839 // think time dilation is not a physics issue alone.. but ok let's fake something
1840 if (step_time < ODE_STEPSIZE) // we did the required loops
1841 m_timeDilation = 1.0f;
1842 else
1843 { // we didn't forget the lost ones and let user know something
1844 m_timeDilation = 1 - step_time / timeStep;
1845 if (m_timeDilation < 0)
1846 m_timeDilation = 0;
1847 step_time = 0;
1848 }
1849 }
1850
1851// return nodeframes * ODE_STEPSIZE; // return real simulated time
1852 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1853 }
1854
1855 /// <summary>
1856 public override void GetResults()
1857 {
1858 }
1859
1860 public override bool IsThreaded
1861 {
1862 // for now we won't be multithreaded
1863 get { return (false); }
1864 }
1865
1866 public float GetTerrainHeightAtXY(float x, float y)
1867 {
1868 // assumes 1m size grid and constante size square regions
1869 // needs to know about sims around in future
1870 // region offset in mega position
1871
1872 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1873 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1874
1875 IntPtr heightFieldGeom = IntPtr.Zero;
1876
1877 // get region map
1878 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
1879 return 0f;
1880
1881 if (heightFieldGeom == IntPtr.Zero)
1882 return 0f;
1883
1884 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1885 return 0f;
1886
1887 // TerrainHeightField for ODE as offset 1m
1888 x += 1f - offsetX;
1889 y += 1f - offsetY;
1890
1891 // make position fit into array
1892 if (x < 0)
1893 x = 0;
1894 if (y < 0)
1895 y = 0;
1896
1897 // integer indexs
1898 int ix;
1899 int iy;
1900 // interpolators offset
1901 float dx;
1902 float dy;
1903
1904 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
1905
1906 // we still have square fixed size regions
1907 // also flip x and y because of how map is done for ODE fliped axis
1908 // so ix,iy,dx and dy are inter exchanged
1909 if (x < regsize - 1)
1910 {
1911 iy = (int)x;
1912 dy = x - (float)iy;
1913 }
1914 else // out world use external height
1915 {
1916 iy = regsize - 1;
1917 dy = 0;
1918 }
1919 if (y < regsize - 1)
1920 {
1921 ix = (int)y;
1922 dx = y - (float)ix;
1923 }
1924 else
1925 {
1926 ix = regsize - 1;
1927 dx = 0;
1928 }
1929
1930 float h0;
1931 float h1;
1932 float h2;
1933
1934 iy *= regsize;
1935 iy += ix; // all indexes have iy + ix
1936
1937 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
1938
1939 if ((dx + dy) <= 1.0f)
1940 {
1941 h0 = ((float)heights[iy]); // 0,0 vertice
1942 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
1943 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
1944 }
1945 else
1946 {
1947 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
1948 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
1949 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
1950 }
1951
1952 return h0 + h1 + h2;
1953 }
1954 public override void SetTerrain(float[] heightMap)
1955 {
1956 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
1957 {
1958 if (m_parentScene is OdeScene)
1959 {
1960 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
1961 }
1962 }
1963 else
1964 {
1965 SetTerrain(heightMap, m_worldOffset);
1966 }
1967 }
1968
1969 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
1970 {
1971 SetTerrain(heightMap, pOffset);
1972 }
1973
1974 public void SetTerrain(float[] heightMap, Vector3 pOffset)
1975 {
1976 // assumes 1m size grid and constante size square regions
1977 // needs to know about sims around in future
1978
1979 float[] _heightmap;
1980
1981 uint heightmapWidth = Constants.RegionSize + 2;
1982 uint heightmapHeight = Constants.RegionSize + 2;
1983
1984 uint heightmapWidthSamples = heightmapWidth + 1;
1985 uint heightmapHeightSamples = heightmapHeight + 1;
1986
1987 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
1988
1989 const float scale = 1.0f;
1990 const float offset = 0.0f;
1991 const float thickness = 10f;
1992 const int wrap = 0;
1993
1994 uint regionsize = Constants.RegionSize;
1995
1996 float hfmin = float.MaxValue;
1997 float hfmax = float.MinValue;
1998 float val;
1999 uint xx;
2000 uint yy;
2001
2002 uint maxXXYY = regionsize - 1;
2003 // flipping map adding one margin all around so things don't fall in edges
2004
2005 uint xt = 0;
2006 xx = 0;
2007
2008 for (uint x = 0; x < heightmapWidthSamples; x++)
2009 {
2010 if (x > 1 && xx < maxXXYY)
2011 xx++;
2012 yy = 0;
2013 for (uint y = 0; y < heightmapHeightSamples; y++)
2014 {
2015 if (y > 1 && y < maxXXYY)
2016 yy += regionsize;
2017
2018 val = heightMap[yy + xx];
2019 if (val < 0.0f)
2020 val = 0.0f; // no neg terrain as in chode
2021 _heightmap[xt + y] = val;
2022
2023 if (hfmin > val)
2024 hfmin = val;
2025 if (hfmax < val)
2026 hfmax = val;
2027 }
2028 xt += heightmapHeightSamples;
2029 }
2030 lock (OdeLock)
2031 {
2032 IntPtr GroundGeom = IntPtr.Zero;
2033 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2034 {
2035 RegionTerrain.Remove(pOffset);
2036 if (GroundGeom != IntPtr.Zero)
2037 {
2038 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2039 {
2040 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2041 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2042 TerrainHeightFieldHeights.Remove(GroundGeom);
2043 }
2044 d.SpaceRemove(StaticSpace, GroundGeom);
2045 d.GeomDestroy(GroundGeom);
2046 }
2047 }
2048 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2049
2050 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2051
2052 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
2053 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2054 offset, thickness, wrap);
2055
2056 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2057 GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2058 if (GroundGeom != IntPtr.Zero)
2059 {
2060 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
2061 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
2062
2063 }
2064 geom_name_map[GroundGeom] = "Terrain";
2065
2066 d.Matrix3 R = new d.Matrix3();
2067
2068 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2069 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2070
2071
2072 q1 = q1 * q2;
2073
2074 Vector3 v3;
2075 float angle;
2076 q1.GetAxisAngle(out v3, out angle);
2077
2078 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2079 d.GeomSetRotation(GroundGeom, ref R);
2080 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2081 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2082// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2083 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2084 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2085
2086 }
2087 }
2088
2089 public override void DeleteTerrain()
2090 {
2091 }
2092
2093 public float GetWaterLevel()
2094 {
2095 return waterlevel;
2096 }
2097
2098 public override bool SupportsCombining()
2099 {
2100 return true;
2101 }
2102/*
2103 public override void UnCombine(PhysicsScene pScene)
2104 {
2105 IntPtr localGround = IntPtr.Zero;
2106// float[] localHeightfield;
2107 bool proceed = false;
2108 List<IntPtr> geomDestroyList = new List<IntPtr>();
2109
2110 lock (OdeLock)
2111 {
2112 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2113 {
2114 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2115 {
2116 if (geom == localGround)
2117 {
2118// localHeightfield = TerrainHeightFieldHeights[geom];
2119 proceed = true;
2120 }
2121 else
2122 {
2123 geomDestroyList.Add(geom);
2124 }
2125 }
2126
2127 if (proceed)
2128 {
2129 m_worldOffset = Vector3.Zero;
2130 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2131 m_parentScene = null;
2132
2133 foreach (IntPtr g in geomDestroyList)
2134 {
2135 // removingHeightField needs to be done or the garbage collector will
2136 // collect the terrain data before we tell ODE to destroy it causing
2137 // memory corruption
2138 if (TerrainHeightFieldHeights.ContainsKey(g))
2139 {
2140// float[] removingHeightField = TerrainHeightFieldHeights[g];
2141 TerrainHeightFieldHeights.Remove(g);
2142
2143 if (RegionTerrain.ContainsKey(g))
2144 {
2145 RegionTerrain.Remove(g);
2146 }
2147
2148 d.GeomDestroy(g);
2149 //removingHeightField = new float[0];
2150 }
2151 }
2152
2153 }
2154 else
2155 {
2156 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2157 }
2158 }
2159 }
2160 }
2161*/
2162 public override void SetWaterLevel(float baseheight)
2163 {
2164 waterlevel = baseheight;
2165 randomizeWater(waterlevel);
2166 }
2167
2168 public void randomizeWater(float baseheight)
2169 {
2170 const uint heightmapWidth = m_regionWidth + 2;
2171 const uint heightmapHeight = m_regionHeight + 2;
2172 const uint heightmapWidthSamples = m_regionWidth + 2;
2173 const uint heightmapHeightSamples = m_regionHeight + 2;
2174 const float scale = 1.0f;
2175 const float offset = 0.0f;
2176 const float thickness = 2.9f;
2177 const int wrap = 0;
2178
2179 for (int i = 0; i < (258 * 258); i++)
2180 {
2181 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
2182 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
2183 }
2184
2185 lock (OdeLock)
2186 {
2187 if (WaterGeom != IntPtr.Zero)
2188 {
2189 d.SpaceRemove(StaticSpace, WaterGeom);
2190 }
2191 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2192 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
2193 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2194 offset, thickness, wrap);
2195 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
2196 WaterGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2197 if (WaterGeom != IntPtr.Zero)
2198 {
2199 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
2200 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
2201
2202 }
2203 geom_name_map[WaterGeom] = "Water";
2204
2205 d.Matrix3 R = new d.Matrix3();
2206
2207 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2208 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2209
2210 q1 = q1 * q2;
2211 Vector3 v3;
2212 float angle;
2213 q1.GetAxisAngle(out v3, out angle);
2214
2215 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2216 d.GeomSetRotation(WaterGeom, ref R);
2217 d.GeomSetPosition(WaterGeom, 128, 128, 0);
2218
2219 }
2220
2221 }
2222
2223 public override void Dispose()
2224 {
2225 m_rayCastManager.Dispose();
2226 m_rayCastManager = null;
2227
2228 lock (OdeLock)
2229 {
2230 lock (_prims)
2231 {
2232 foreach (OdePrim prm in _prims)
2233 {
2234 RemovePrim(prm);
2235 }
2236 }
2237
2238 if (ContactgeomsArray != IntPtr.Zero)
2239 Marshal.FreeHGlobal(ContactgeomsArray);
2240 if (GlobalContactsArray != IntPtr.Zero)
2241 Marshal.FreeHGlobal(GlobalContactsArray);
2242
2243 d.WorldDestroy(world);
2244 //d.CloseODE();
2245 }
2246 }
2247
2248 public override Dictionary<uint, float> GetTopColliders()
2249 {
2250 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2251 int cnt = 0;
2252 lock (_prims)
2253 {
2254 foreach (OdePrim prm in _prims)
2255 {
2256 if (prm.CollisionScore > 0)
2257 {
2258 returncolliders.Add(prm.m_localID, prm.CollisionScore);
2259 cnt++;
2260 prm.CollisionScore = 0f;
2261 if (cnt > 25)
2262 {
2263 break;
2264 }
2265 }
2266 }
2267 }
2268 return returncolliders;
2269 }
2270
2271 public override bool SupportsRayCast()
2272 {
2273 return true;
2274 }
2275
2276 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2277 {
2278 if (retMethod != null)
2279 {
2280 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2281 }
2282 }
2283
2284 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2285 {
2286 if (retMethod != null)
2287 {
2288 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2289 }
2290 }
2291
2292 // don't like this
2293 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2294 {
2295 ContactResult[] ourResults = null;
2296 RayCallback retMethod = delegate(List<ContactResult> results)
2297 {
2298 ourResults = new ContactResult[results.Count];
2299 results.CopyTo(ourResults, 0);
2300 };
2301 int waitTime = 0;
2302 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2303 while (ourResults == null && waitTime < 1000)
2304 {
2305 Thread.Sleep(1);
2306 waitTime++;
2307 }
2308 if (ourResults == null)
2309 return new List<ContactResult>();
2310 return new List<ContactResult>(ourResults);
2311 }
2312
2313 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2314 {
2315 if (retMethod != null && actor !=null)
2316 {
2317 IntPtr geom;
2318 if (actor is OdePrim)
2319 geom = ((OdePrim)actor).prim_geom;
2320 else if (actor is OdeCharacter)
2321 geom = ((OdePrim)actor).prim_geom;
2322 else
2323 return;
2324 if (geom == IntPtr.Zero)
2325 return;
2326 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2327 }
2328 }
2329
2330 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2331 {
2332 if (retMethod != null && actor != null)
2333 {
2334 IntPtr geom;
2335 if (actor is OdePrim)
2336 geom = ((OdePrim)actor).prim_geom;
2337 else if (actor is OdeCharacter)
2338 geom = ((OdePrim)actor).prim_geom;
2339 else
2340 return;
2341 if (geom == IntPtr.Zero)
2342 return;
2343
2344 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2345 }
2346 }
2347
2348 // don't like this
2349 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2350 {
2351 if (actor != null)
2352 {
2353 IntPtr geom;
2354 if (actor is OdePrim)
2355 geom = ((OdePrim)actor).prim_geom;
2356 else if (actor is OdeCharacter)
2357 geom = ((OdePrim)actor).prim_geom;
2358 else
2359 return new List<ContactResult>();
2360 if (geom == IntPtr.Zero)
2361 return new List<ContactResult>();
2362
2363 ContactResult[] ourResults = null;
2364 RayCallback retMethod = delegate(List<ContactResult> results)
2365 {
2366 ourResults = new ContactResult[results.Count];
2367 results.CopyTo(ourResults, 0);
2368 };
2369 int waitTime = 0;
2370 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2371 while (ourResults == null && waitTime < 1000)
2372 {
2373 Thread.Sleep(1);
2374 waitTime++;
2375 }
2376 if (ourResults == null)
2377 return new List<ContactResult>();
2378 return new List<ContactResult>(ourResults);
2379 }
2380 return new List<ContactResult>();
2381 }
2382 }
2383}
generated by cgit v1.1 at 2024-12-23 04:33:39 +0000