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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs1470
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs1020
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs3952
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs603
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs2005
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs2696
8 files changed, 11894 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..326fe97
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1470 @@
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 bool m_freemove = false;
107 // private CollisionLocker ode;
108
109 private string m_name = String.Empty;
110 // other filter control
111 int m_colliderfilter = 0;
112 int m_colliderGroundfilter = 0;
113 int m_colliderObjectfilter = 0;
114
115 // Default we're a Character
116 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
117
118 // Default, Collide with Other Geometries, spaces, bodies and characters.
119 private CollisionCategories m_collisionFlags = (CollisionCategories.Character
120 | CollisionCategories.Geom
121 | CollisionCategories.VolumeDtc
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 m_pidControllerActive = true;
285 m_iscolliding = true;
286 }
287 }
288 }
289
290 /// <summary>
291 /// Returns if an avatar is colliding with the ground
292 /// </summary>
293 public override bool CollidingGround
294 {
295 get { return m_iscollidingGround; }
296 set
297 {
298 /* we now control this
299 if (value)
300 {
301 m_colliderGroundfilter += 2;
302 if (m_colliderGroundfilter > 2)
303 m_colliderGroundfilter = 2;
304 }
305 else
306 {
307 m_colliderGroundfilter--;
308 if (m_colliderGroundfilter < 0)
309 m_colliderGroundfilter = 0;
310 }
311
312 if (m_colliderGroundfilter == 0)
313 m_iscollidingGround = false;
314 else
315 m_iscollidingGround = true;
316 */
317 }
318
319 }
320
321 /// <summary>
322 /// Returns if the avatar is colliding with an object
323 /// </summary>
324 public override bool CollidingObj
325 {
326 get { return m_iscollidingObj; }
327 set
328 {
329 // Ubit filter this also
330 if (value)
331 {
332 m_colliderObjectfilter += 2;
333 if (m_colliderObjectfilter > 2)
334 m_colliderObjectfilter = 2;
335 }
336 else
337 {
338 m_colliderObjectfilter--;
339 if (m_colliderObjectfilter < 0)
340 m_colliderObjectfilter = 0;
341 }
342
343 if (m_colliderObjectfilter == 0)
344 m_iscollidingObj = false;
345 else
346 m_iscollidingObj = true;
347
348 // m_iscollidingObj = value;
349
350 if (m_iscollidingObj)
351 m_pidControllerActive = false;
352 else
353 m_pidControllerActive = true;
354 }
355 }
356
357 /// <summary>
358 /// turn the PID controller on or off.
359 /// The PID Controller will turn on all by itself in many situations
360 /// </summary>
361 /// <param name="status"></param>
362 public void SetPidStatus(bool status)
363 {
364 m_pidControllerActive = status;
365 }
366
367 public override bool Stopped
368 {
369 get { return _zeroFlag; }
370 }
371
372 /// <summary>
373 /// This 'puts' an avatar somewhere in the physics space.
374 /// Not really a good choice unless you 'know' it's a good
375 /// spot otherwise you're likely to orbit the avatar.
376 /// </summary>
377 public override Vector3 Position
378 {
379 get { return _position; }
380 set
381 {
382 if (value.IsFinite())
383 {
384 if (value.Z > 9999999f)
385 {
386 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
387 }
388 if (value.Z < -100f)
389 {
390 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
391 }
392 AddChange(changes.Position, value);
393 }
394 else
395 {
396 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
397 }
398 }
399 }
400
401 public override Vector3 RotationalVelocity
402 {
403 get { return m_rotationalVelocity; }
404 set { m_rotationalVelocity = value; }
405 }
406
407 /// <summary>
408 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
409 /// and use it to offset landings properly
410 /// </summary>
411 public override Vector3 Size
412 {
413 get {
414 float d = CAPSULE_RADIUS * 2;
415 return new Vector3(d, d, (CAPSULE_LENGTH +d)/1.15f); }
416 set
417 {
418 if (value.IsFinite())
419 {
420 AddChange(changes.Size, value);
421 }
422 else
423 {
424 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
425 }
426 }
427 }
428
429 /// <summary>
430 /// This creates the Avatar's physical Surrogate at the position supplied
431 /// </summary>
432 /// <param name="npositionX"></param>
433 /// <param name="npositionY"></param>
434 /// <param name="npositionZ"></param>
435
436 //
437 /// <summary>
438 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
439 /// This may be used in calculations in the scene/scenepresence
440 /// </summary>
441 public override float Mass
442 {
443 get
444 {
445 float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
446 return m_density * AVvolume;
447 }
448 }
449 public override void link(PhysicsActor obj)
450 {
451
452 }
453
454 public override void delink()
455 {
456
457 }
458
459 public override void LockAngularMotion(Vector3 axis)
460 {
461
462 }
463
464
465 public override Vector3 Force
466 {
467 get { return _target_velocity; }
468 set { return; }
469 }
470
471 public override int VehicleType
472 {
473 get { return 0; }
474 set { return; }
475 }
476
477 public override void VehicleFloatParam(int param, float value)
478 {
479
480 }
481
482 public override void VehicleVectorParam(int param, Vector3 value)
483 {
484
485 }
486
487 public override void VehicleRotationParam(int param, Quaternion rotation)
488 {
489
490 }
491
492 public override void VehicleFlags(int param, bool remove)
493 {
494
495 }
496
497 public override void SetVolumeDetect(int param)
498 {
499
500 }
501
502 public override Vector3 CenterOfMass
503 {
504 get
505 {
506 Vector3 pos = _position;
507 return pos;
508 }
509 }
510
511 public override Vector3 GeometricCenter
512 {
513 get
514 {
515 Vector3 pos = _position;
516 return pos;
517 }
518 }
519
520 //UBit mess
521 /* for later use
522 public override Vector3 PrimOOBsize
523 {
524 get
525 {
526 Vector3 s=Size;
527 s.X *=0.5f;
528 s.Y *=0.5f;
529 s.Z *=0.5f;
530 return s;
531 }
532 }
533
534 public override Vector3 PrimOOBoffset
535 {
536 get
537 {
538 return Vector3.Zero;
539 }
540 }
541 */
542
543 public override PrimitiveBaseShape Shape
544 {
545 set { return; }
546 }
547
548 public override Vector3 Velocity
549 {
550 get
551 {
552 return _velocity;
553 }
554 set
555 {
556 if (value.IsFinite())
557 {
558 AddChange(changes.Velocity, value);
559 }
560 else
561 {
562 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
563 }
564 }
565 }
566
567 public override Vector3 Torque
568 {
569 get { return Vector3.Zero; }
570 set { return; }
571 }
572
573 public override float CollisionScore
574 {
575 get { return 0f; }
576 set { }
577 }
578
579 public override bool Kinematic
580 {
581 get { return false; }
582 set { }
583 }
584
585 public override Quaternion Orientation
586 {
587 get { return Quaternion.Identity; }
588 set
589 {
590 }
591 }
592
593 public override Vector3 Acceleration
594 {
595 get { return _acceleration; }
596 set { }
597 }
598
599 public void SetAcceleration(Vector3 accel)
600 {
601 m_pidControllerActive = true;
602 _acceleration = accel;
603 }
604
605 /// <summary>
606 /// Adds the force supplied to the Target Velocity
607 /// The PID controller takes this target velocity and tries to make it a reality
608 /// </summary>
609 /// <param name="force"></param>
610 public override void AddForce(Vector3 force, bool pushforce)
611 {
612 if (force.IsFinite())
613 {
614 if (pushforce)
615 {
616 AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f));
617 }
618 else
619 {
620 AddChange(changes.Velocity, force);
621 }
622 }
623 else
624 {
625 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
626 }
627 //m_lastUpdateSent = false;
628 }
629
630 public override void AddAngularForce(Vector3 force, bool pushforce)
631 {
632
633 }
634
635 public override void SetMomentum(Vector3 momentum)
636 {
637 if (momentum.IsFinite())
638 AddChange(changes.Momentum, momentum);
639 }
640
641
642 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
643 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
644 // place that is safe to call this routine AvatarGeomAndBodyCreation.
645 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
646 {
647 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
648 if (CAPSULE_LENGTH <= 0)
649 {
650 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
651 CAPSULE_LENGTH = 0.01f;
652
653 }
654
655 if (CAPSULE_RADIUS <= 0)
656 {
657 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
658 CAPSULE_RADIUS = 0.01f;
659
660 }
661 Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
662
663 d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
664 d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
665
666 d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
667
668 m_mass = ShellMass.mass; // update mass
669
670 // rescale PID parameters
671 PID_D = _parent_scene.avPIDD;
672 PID_P = _parent_scene.avPIDP;
673
674 // rescale PID parameters so that this aren't affected by mass
675 // and so don't get unstable for some masses
676 // also scale by ode time step so you don't need to refix them
677
678 PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
679 PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
680 PID_P /= 50 * 80;
681 PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
682
683 Body = d.BodyCreate(_parent_scene.world);
684
685 _zeroFlag = false;
686 m_pidControllerActive = true;
687 m_freemove = false;
688
689 d.BodySetAutoDisableFlag(Body, false);
690 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
691
692 _position.X = npositionX;
693 _position.Y = npositionY;
694 _position.Z = npositionZ;
695
696 d.BodySetMass(Body, ref ShellMass);
697 d.GeomSetBody(Shell, Body);
698
699 // The purpose of the AMotor here is to keep the avatar's physical
700 // surrogate from rotating while moving
701 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
702 d.JointAttach(Amotor, Body, IntPtr.Zero);
703
704 d.JointSetAMotorMode(Amotor, 0);
705 d.JointSetAMotorNumAxes(Amotor, 3);
706 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
707 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
708 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
709
710 d.JointSetAMotorAngle(Amotor, 0, 0);
711 d.JointSetAMotorAngle(Amotor, 1, 0);
712 d.JointSetAMotorAngle(Amotor, 2, 0);
713
714 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
715 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
716 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
717 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
718 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
719 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
720
721 // These lowstops and high stops are effectively (no wiggle room)
722 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
723 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
724 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
725 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
726 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
727 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
728
729 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
730 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
731 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
732
733 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
734 d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
735 d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
736 }
737
738 /// <summary>
739 /// Destroys the avatar body and geom
740
741 private void AvatarGeomAndBodyDestroy()
742 {
743 // Kill the Amotor
744 if (Amotor != IntPtr.Zero)
745 {
746 d.JointDestroy(Amotor);
747 Amotor = IntPtr.Zero;
748 }
749
750 if (Body != IntPtr.Zero)
751 {
752 //kill the body
753 d.BodyDestroy(Body);
754 Body = IntPtr.Zero;
755 }
756
757 //kill the Geometry
758 if (Shell != IntPtr.Zero)
759 {
760 _parent_scene.geom_name_map.Remove(Shell);
761 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
762 d.GeomDestroy(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 if (Body == IntPtr.Zero)
775 return;
776
777 d.Vector3 dtmp = d.BodyGetPosition(Body);
778 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
779
780 // the Amotor still lets avatar rotation to drift during colisions
781 // so force it back to identity
782
783 d.Quaternion qtmp;
784 qtmp.W = 1;
785 qtmp.X = 0;
786 qtmp.Y = 0;
787 qtmp.Z = 0;
788 d.BodySetQuaternion(Body, ref qtmp);
789
790 if (m_pidControllerActive == false)
791 {
792 _zeroPosition = localpos;
793 }
794
795 if (!localpos.IsFinite())
796 {
797 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
798 defects.Add(this);
799 // _parent_scene.RemoveCharacter(this);
800
801 // destroy avatar capsule and related ODE data
802 AvatarGeomAndBodyDestroy();
803 return;
804 }
805
806 // check outbounds forcing to be in world
807 bool fixbody = false;
808 if (localpos.X < 0.0f)
809 {
810 fixbody = true;
811 localpos.X = 0.1f;
812 }
813 else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
814 {
815 fixbody = true;
816 localpos.X = _parent_scene.WorldExtents.X - 0.1f;
817 }
818 if (localpos.Y < 0.0f)
819 {
820 fixbody = true;
821 localpos.Y = 0.1f;
822 }
823 else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
824 {
825 fixbody = true;
826 localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
827 }
828 if (fixbody)
829 {
830 m_freemove = false;
831 d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
832 }
833
834 float breakfactor;
835
836 Vector3 vec = Vector3.Zero;
837 dtmp = d.BodyGetLinearVel(Body);
838 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
839 float velLengthSquared = vel.LengthSquared();
840
841 float movementdivisor = 1f;
842 //Ubit change divisions into multiplications below
843 if (!m_alwaysRun)
844 movementdivisor = 1 / walkDivisor;
845 else
846 movementdivisor = 1 / runDivisor;
847
848 //******************************************
849 // colide with land
850 d.AABB aabb;
851 d.GeomGetAABB(Shell, out aabb);
852 float chrminZ = aabb.MinZ;
853
854 Vector3 posch = localpos;
855
856 float ftmp;
857
858 if (flying)
859 {
860 ftmp = timeStep;
861 posch.X += vel.X * ftmp;
862 posch.Y += vel.Y * ftmp;
863 }
864
865 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
866 if (chrminZ < terrainheight)
867 {
868 float depth = terrainheight - chrminZ;
869 if (!flying)
870 {
871 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
872 }
873 else
874 vec.Z = depth * PID_P * 50;
875
876 if (depth < 0.1f)
877 {
878 m_colliderGroundfilter++;
879 if (m_colliderGroundfilter > 2)
880 {
881 m_iscolliding = true;
882 m_colliderfilter = 2;
883
884 if (m_colliderGroundfilter > 10)
885 {
886 m_colliderGroundfilter = 10;
887 m_freemove = false;
888 }
889
890 m_iscollidingGround = true;
891
892 ContactPoint contact = new ContactPoint();
893 contact.PenetrationDepth = depth;
894 contact.Position.X = localpos.X;
895 contact.Position.Y = localpos.Y;
896 contact.Position.Z = chrminZ;
897 contact.SurfaceNormal.X = 0f;
898 contact.SurfaceNormal.Y = 0f;
899 contact.SurfaceNormal.Z = -1f;
900 AddCollisionEvent(0, contact);
901
902 vec.Z *= 0.5f;
903 }
904 }
905
906 else
907 {
908 m_colliderGroundfilter = 0;
909 m_iscollidingGround = false;
910 }
911 }
912 else
913 {
914 m_colliderGroundfilter = 0;
915 m_iscollidingGround = false;
916 }
917
918 //******************************************
919
920 bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
921
922 // if (!tviszero || m_iscolliding || velLengthSquared <0.01)
923 if (!tviszero)
924 m_freemove = false;
925
926 if (!m_freemove)
927 {
928
929 // if velocity is zero, use position control; otherwise, velocity control
930 if (tviszero && m_iscolliding)
931 {
932 // keep track of where we stopped. No more slippin' & slidin'
933 if (!_zeroFlag)
934 {
935 _zeroFlag = true;
936 _zeroPosition = localpos;
937 }
938 if (m_pidControllerActive)
939 {
940 // We only want to deactivate the PID Controller if we think we want to have our surrogate
941 // react to the physics scene by moving it's position.
942 // Avatar to Avatar collisions
943 // Prim to avatar collisions
944
945 vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
946 vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
947 if (flying)
948 {
949 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
950 }
951 }
952 //PidStatus = true;
953 }
954 else
955 {
956 m_pidControllerActive = true;
957 _zeroFlag = false;
958
959 if (m_iscolliding)
960 {
961 if (!flying)
962 {
963 if (_target_velocity.Z > 0.0f)
964 {
965 // We're colliding with something and we're not flying but we're moving
966 // This means we're walking or running. JUMPING
967 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
968 }
969 // We're standing on something
970 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
971 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
972 }
973 else
974 {
975 // We're flying and colliding with something
976 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
977 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
978 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
979 }
980 }
981 else // ie not colliding
982 {
983 if (flying) //(!m_iscolliding && flying)
984 {
985 // we're in mid air suspended
986 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
987 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
988 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
989 }
990
991 else
992 {
993 // we're not colliding and we're not flying so that means we're falling!
994 // m_iscolliding includes collisions with the ground.
995
996 // d.Vector3 pos = d.BodyGetPosition(Body);
997 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
998 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
999 }
1000 }
1001 }
1002
1003 if (velLengthSquared > 2500.0f) // 50m/s apply breaks
1004 {
1005 breakfactor = 0.16f * m_mass;
1006 vec.X -= breakfactor * vel.X;
1007 vec.Y -= breakfactor * vel.Y;
1008 vec.Z -= breakfactor * vel.Z;
1009 }
1010 }
1011 else
1012 {
1013 breakfactor = m_mass;
1014 vec.X -= breakfactor * vel.X;
1015 vec.Y -= breakfactor * vel.Y;
1016 if (flying)
1017 vec.Z -= breakfactor * vel.Z;
1018 else
1019 vec.Z -= .5f* m_mass * vel.Z;
1020 }
1021
1022 if (flying)
1023 {
1024 vec.Z -= _parent_scene.gravityz * m_mass;
1025
1026 //Added for auto fly height. Kitto Flora
1027 float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
1028
1029 if (localpos.Z < target_altitude)
1030 {
1031 vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
1032 }
1033 // end add Kitto Flora
1034 }
1035
1036 if (vec.IsFinite())
1037 {
1038 if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
1039 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
1040 }
1041 else
1042 {
1043 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1044 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1045 defects.Add(this);
1046 // _parent_scene.RemoveCharacter(this);
1047 // destroy avatar capsule and related ODE data
1048 AvatarGeomAndBodyDestroy();
1049 return;
1050 }
1051
1052 // update our local ideia of position velocity and aceleration
1053 _position = localpos;
1054 if (_zeroFlag)
1055 {
1056 _velocity = Vector3.Zero;
1057 _acceleration = Vector3.Zero;
1058 }
1059 else
1060 {
1061 _acceleration = _velocity; // previus velocity
1062 _velocity = vel;
1063 _acceleration = (vel - _acceleration) / timeStep;
1064 }
1065
1066 }
1067
1068 /// <summary>
1069 /// Updates the reported position and velocity.
1070 /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
1071 /// also outbounds checking
1072 /// copy and outbounds now done in move(..) at ode rate
1073 ///
1074 /// </summary>
1075 public void UpdatePositionAndVelocity()
1076 {
1077 return;
1078
1079// if (Body == IntPtr.Zero)
1080// return;
1081
1082 }
1083
1084 /// <summary>
1085 /// Cleanup the things we use in the scene.
1086 /// </summary>
1087 public void Destroy()
1088 {
1089 AddChange(changes.Remove, null);
1090 }
1091
1092 public override void CrossingFailure()
1093 {
1094 }
1095
1096 public override Vector3 PIDTarget { set { return; } }
1097 public override bool PIDActive { set { return; } }
1098 public override float PIDTau { set { return; } }
1099
1100 public override float PIDHoverHeight { set { return; } }
1101 public override bool PIDHoverActive { set { return; } }
1102 public override PIDHoverType PIDHoverType { set { return; } }
1103 public override float PIDHoverTau { set { return; } }
1104
1105 public override Quaternion APIDTarget { set { return; } }
1106
1107 public override bool APIDActive { set { return; } }
1108
1109 public override float APIDStrength { set { return; } }
1110
1111 public override float APIDDamping { set { return; } }
1112
1113
1114 public override void SubscribeEvents(int ms)
1115 {
1116 m_requestedUpdateFrequency = ms;
1117 m_eventsubscription = ms;
1118 _parent_scene.AddCollisionEventReporting(this);
1119 m_haseventsubscription = true;
1120 }
1121
1122 public override void UnSubscribeEvents()
1123 {
1124 m_haseventsubscription = false;
1125 _parent_scene.RemoveCollisionEventReporting(this);
1126 m_requestedUpdateFrequency = 0;
1127 m_eventsubscription = 0;
1128 }
1129
1130 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1131 {
1132 if (m_haseventsubscription)
1133 {
1134 // m_log.DebugFormat(
1135 // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1136
1137 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1138 }
1139 }
1140
1141 public void SendCollisions()
1142 {
1143 if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
1144 {
1145 if (CollisionEventsThisFrame != null)
1146 {
1147 base.SendCollisionUpdate(CollisionEventsThisFrame);
1148 }
1149 CollisionEventsThisFrame = new CollisionEventUpdate();
1150 m_eventsubscription = 0;
1151 }
1152 }
1153
1154 public override bool SubscribedEvents()
1155 {
1156 return m_haseventsubscription;
1157 }
1158
1159 private void changePhysicsStatus(bool NewStatus)
1160 {
1161 if (NewStatus != m_isPhysical)
1162 {
1163 if (NewStatus)
1164 {
1165 // Create avatar capsule and related ODE data
1166 if ((Shell != IntPtr.Zero))
1167 {
1168 // a lost shell ?
1169 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1170 + (Shell != IntPtr.Zero ? "Shell " : "")
1171 + (Body != IntPtr.Zero ? "Body " : "")
1172 + (Amotor != IntPtr.Zero ? "Amotor " : ""));
1173 AvatarGeomAndBodyDestroy();
1174 }
1175
1176 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1177 _parent_scene.geom_name_map[Shell] = m_name;
1178 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1179 _parent_scene.AddCharacter(this);
1180 }
1181 else
1182 {
1183 _parent_scene.RemoveCharacter(this);
1184 // destroy avatar capsule and related ODE data
1185 AvatarGeomAndBodyDestroy();
1186 }
1187
1188 m_isPhysical = NewStatus;
1189 }
1190 }
1191
1192 private void changeAdd()
1193 {
1194 changePhysicsStatus(true);
1195 }
1196
1197 private void changeRemove()
1198 {
1199 changePhysicsStatus(false);
1200 }
1201
1202 private void changeShape(PrimitiveBaseShape arg)
1203 {
1204 }
1205
1206 private void changeSize(Vector3 Size)
1207 {
1208 if (Size.IsFinite())
1209 {
1210 float caplen = Size.Z;
1211
1212 caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
1213
1214 if (caplen != CAPSULE_LENGTH)
1215 {
1216 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1217 {
1218 AvatarGeomAndBodyDestroy();
1219
1220 float prevCapsule = CAPSULE_LENGTH;
1221 CAPSULE_LENGTH = caplen;
1222
1223 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1224 _position.Z + (CAPSULE_LENGTH - prevCapsule) * 0.5f);
1225
1226 Velocity = Vector3.Zero;
1227
1228 _parent_scene.geom_name_map[Shell] = m_name;
1229 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1230 }
1231 else
1232 {
1233 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1234 + (Shell == IntPtr.Zero ? "Shell " : "")
1235 + (Body == IntPtr.Zero ? "Body " : "")
1236 + (Amotor == IntPtr.Zero ? "Amotor " : ""));
1237 }
1238 }
1239
1240 m_pidControllerActive = true;
1241 }
1242 else
1243 {
1244 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
1245 }
1246 }
1247
1248 private void changePosition( Vector3 newPos)
1249 {
1250 if (Body != IntPtr.Zero)
1251 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1252 _position = newPos;
1253 m_pidControllerActive = true;
1254 }
1255
1256 private void changeOrientation(Quaternion newOri)
1257 {
1258 }
1259
1260 private void changeVelocity(Vector3 newVel)
1261 {
1262 m_pidControllerActive = true;
1263 _target_velocity = newVel;
1264 }
1265
1266 private void changeSetTorque(Vector3 newTorque)
1267 {
1268 }
1269
1270 private void changeAddForce(Vector3 newForce)
1271 {
1272 }
1273
1274 private void changeAddAngularForce(Vector3 arg)
1275 {
1276 }
1277
1278 private void changeAngularLock(Vector3 arg)
1279 {
1280 }
1281
1282 private void changeFloatOnWater(bool arg)
1283 {
1284 }
1285
1286 private void changeVolumedetetion(bool arg)
1287 {
1288 }
1289
1290 private void changeSelectedStatus(bool arg)
1291 {
1292 }
1293
1294 private void changeDisable(bool arg)
1295 {
1296 }
1297
1298 private void changeBuilding(bool arg)
1299 {
1300 }
1301
1302 private void setFreeMove()
1303 {
1304 m_pidControllerActive = true;
1305 _zeroFlag = false;
1306 _target_velocity = Vector3.Zero;
1307 m_freemove = true;
1308 m_colliderfilter = -2;
1309 m_colliderObjectfilter = -2;
1310 m_colliderGroundfilter = -2;
1311
1312 m_iscolliding = false;
1313 m_iscollidingGround = false;
1314 m_iscollidingObj = false;
1315
1316 CollisionEventsThisFrame = new CollisionEventUpdate();
1317 m_eventsubscription = 0;
1318 }
1319
1320 private void changeForce(Vector3 newForce)
1321 {
1322 setFreeMove();
1323
1324 if (Body != IntPtr.Zero)
1325 {
1326 if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
1327 d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
1328 }
1329 }
1330
1331 // for now momentum is actually velocity
1332 private void changeMomentum(Vector3 newmomentum)
1333 {
1334 _velocity = newmomentum;
1335 setFreeMove();
1336
1337 if (Body != IntPtr.Zero)
1338 d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
1339 }
1340
1341 private void donullchange()
1342 {
1343 }
1344
1345 public bool DoAChange(changes what, object arg)
1346 {
1347 if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
1348 {
1349 return false;
1350 }
1351
1352 // nasty switch
1353 switch (what)
1354 {
1355 case changes.Add:
1356 changeAdd();
1357 break;
1358 case changes.Remove:
1359 changeRemove();
1360 break;
1361
1362 case changes.Position:
1363 changePosition((Vector3)arg);
1364 break;
1365
1366 case changes.Orientation:
1367 changeOrientation((Quaternion)arg);
1368 break;
1369
1370 case changes.PosOffset:
1371 donullchange();
1372 break;
1373
1374 case changes.OriOffset:
1375 donullchange();
1376 break;
1377
1378 case changes.Velocity:
1379 changeVelocity((Vector3)arg);
1380 break;
1381
1382 // case changes.Acceleration:
1383 // changeacceleration((Vector3)arg);
1384 // break;
1385 // case changes.AngVelocity:
1386 // changeangvelocity((Vector3)arg);
1387 // break;
1388
1389 case changes.Force:
1390 changeForce((Vector3)arg);
1391 break;
1392
1393 case changes.Torque:
1394 changeSetTorque((Vector3)arg);
1395 break;
1396
1397 case changes.AddForce:
1398 changeAddForce((Vector3)arg);
1399 break;
1400
1401 case changes.AddAngForce:
1402 changeAddAngularForce((Vector3)arg);
1403 break;
1404
1405 case changes.AngLock:
1406 changeAngularLock((Vector3)arg);
1407 break;
1408
1409 case changes.Size:
1410 changeSize((Vector3)arg);
1411 break;
1412
1413 case changes.Momentum:
1414 changeMomentum((Vector3)arg);
1415 break;
1416/* not in use for now
1417 case changes.Shape:
1418 changeShape((PrimitiveBaseShape)arg);
1419 break;
1420
1421 case changes.CollidesWater:
1422 changeFloatOnWater((bool)arg);
1423 break;
1424
1425 case changes.VolumeDtc:
1426 changeVolumedetetion((bool)arg);
1427 break;
1428
1429 case changes.Physical:
1430 changePhysicsStatus((bool)arg);
1431 break;
1432
1433 case changes.Selected:
1434 changeSelectedStatus((bool)arg);
1435 break;
1436
1437 case changes.disabled:
1438 changeDisable((bool)arg);
1439 break;
1440
1441 case changes.building:
1442 changeBuilding((bool)arg);
1443 break;
1444*/
1445 case changes.Null:
1446 donullchange();
1447 break;
1448
1449 default:
1450 donullchange();
1451 break;
1452 }
1453 return false;
1454 }
1455
1456 public void AddChange(changes what, object arg)
1457 {
1458 _parent_scene.AddChange((PhysicsActor)this, what, arg);
1459 }
1460
1461
1462 internal void AddCollisionFrameTime(int p)
1463 {
1464 // protect it from overflow crashing
1465 if (m_eventsubscription + p >= int.MaxValue)
1466 m_eventsubscription = 0;
1467 m_eventsubscription += p;
1468 }
1469 }
1470}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..7b232c1
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,1020 @@
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 private float m_timestep = 0.02f;
125 private float m_invtimestep = 50;
126
127 public float FrictionFactor
128 {
129 get
130 {
131 return m_ffactor;
132 }
133 }
134
135 public ODEDynamics(OdePrim rootp)
136 {
137 rootPrim = rootp;
138 _pParentScene = rootPrim._parent_scene;
139 m_timestep = _pParentScene.ODE_STEPSIZE;
140 m_invtimestep = 1.0f / m_timestep;
141 }
142
143 public void DoSetVehicle(VehicleData vd)
144 {
145 m_type = vd.m_type;
146 m_flags = vd.m_flags;
147
148 // Linear properties
149 m_linearMotorDirection = vd.m_linearMotorDirection;
150
151 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
152 if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
153 if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
154 if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
155
156 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
157 if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
158 m_linearMotorDecayTimescale *= m_invtimestep;
159
160 m_linearMotorTimescale = vd.m_linearMotorTimescale;
161 if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
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 < m_timestep) m_angularMotorTimescale = m_timestep;
169
170 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
171 if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
172 m_angularMotorDecayTimescale *= m_invtimestep;
173
174 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
175 if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
176 if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
177 if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
178
179 //Deflection properties
180 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
181 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
182 if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
183
184 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
185 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
186 if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_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 < m_timestep) m_bankingTimescale = m_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 < m_timestep) m_VhoverTimescale = m_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 < m_timestep) m_verticalAttractionTimescale = m_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
219 switch (pParam)
220 {
221 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
222 if (pValue < 0f) pValue = 0f;
223 if (pValue > 1f) pValue = 1f;
224 m_angularDeflectionEfficiency = pValue;
225 break;
226 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
227 if (pValue < m_timestep) pValue = m_timestep;
228 m_angularDeflectionTimescale = pValue;
229 break;
230 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
231 if (pValue < m_timestep) pValue = m_timestep;
232 else if (pValue > 120) pValue = 120;
233 m_angularMotorDecayTimescale = pValue * m_invtimestep;
234 break;
235 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
236 if (pValue < m_timestep) pValue = m_timestep;
237 m_angularMotorTimescale = pValue;
238 break;
239 case Vehicle.BANKING_EFFICIENCY:
240 if (pValue < -1f) pValue = -1f;
241 if (pValue > 1f) pValue = 1f;
242 m_bankingEfficiency = pValue;
243 break;
244 case Vehicle.BANKING_MIX:
245 if (pValue < 0f) pValue = 0f;
246 if (pValue > 1f) pValue = 1f;
247 m_bankingMix = pValue;
248 break;
249 case Vehicle.BANKING_TIMESCALE:
250 if (pValue < m_timestep) pValue = m_timestep;
251 m_bankingTimescale = pValue;
252 break;
253 case Vehicle.BUOYANCY:
254 if (pValue < -1f) pValue = -1f;
255 if (pValue > 1f) pValue = 1f;
256 m_VehicleBuoyancy = pValue;
257 break;
258 case Vehicle.HOVER_EFFICIENCY:
259 if (pValue < 0f) pValue = 0f;
260 if (pValue > 1f) pValue = 1f;
261 m_VhoverEfficiency = pValue;
262 break;
263 case Vehicle.HOVER_HEIGHT:
264 m_VhoverHeight = pValue;
265 break;
266 case Vehicle.HOVER_TIMESCALE:
267 if (pValue < m_timestep) pValue = m_timestep;
268 m_VhoverTimescale = pValue;
269 break;
270 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
271 if (pValue < 0f) pValue = 0f;
272 if (pValue > 1f) pValue = 1f;
273 m_linearDeflectionEfficiency = pValue;
274 break;
275 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
276 if (pValue < m_timestep) pValue = m_timestep;
277 m_linearDeflectionTimescale = pValue;
278 break;
279 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
280 if (pValue < m_timestep) pValue = m_timestep;
281 else if (pValue > 120) pValue = 120;
282 m_linearMotorDecayTimescale = pValue * m_invtimestep;
283 break;
284 case Vehicle.LINEAR_MOTOR_TIMESCALE:
285 if (pValue < m_timestep) pValue = m_timestep;
286 m_linearMotorTimescale = pValue;
287 break;
288 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
289 if (pValue < 0f) pValue = 0f;
290 if (pValue > 1f) pValue = 1f;
291 m_verticalAttractionEfficiency = pValue;
292 break;
293 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
294 if (pValue < m_timestep) pValue = m_timestep;
295 m_verticalAttractionTimescale = pValue;
296 break;
297
298 // These are vector properties but the engine lets you use a single float value to
299 // set all of the components to the same value
300 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
301 if (pValue < m_timestep) pValue = m_timestep;
302 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
303 break;
304 case Vehicle.ANGULAR_MOTOR_DIRECTION:
305 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
306 len = m_angularMotorDirection.Length();
307 if (len > 12.566f)
308 m_angularMotorDirection *= (12.566f / len);
309 m_amEfect = 1.0f; // turn it on
310 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
311 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
312 d.BodyEnable(rootPrim.Body);
313 break;
314 case Vehicle.LINEAR_FRICTION_TIMESCALE:
315 if (pValue < m_timestep) pValue = m_timestep;
316 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
317 break;
318 case Vehicle.LINEAR_MOTOR_DIRECTION:
319 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
320 len = m_linearMotorDirection.Length();
321 if (len > 30.0f)
322 m_linearMotorDirection *= (30.0f / len);
323 m_lmEfect = 1.0f; // turn it on
324 m_ffactor = 0.01f;
325 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
326 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
327 d.BodyEnable(rootPrim.Body);
328 break;
329 case Vehicle.LINEAR_MOTOR_OFFSET:
330 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
331 len = m_linearMotorOffset.Length();
332 if (len > 100.0f)
333 m_linearMotorOffset *= (100.0f / len);
334 break;
335 }
336 }//end ProcessFloatVehicleParam
337
338 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
339 {
340 float len;
341
342 switch (pParam)
343 {
344 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
345 if (pValue.X < m_timestep) pValue.X = m_timestep;
346 if (pValue.Y < m_timestep) pValue.Y = m_timestep;
347 if (pValue.Z < m_timestep) pValue.Z = m_timestep;
348
349 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
350 break;
351 case Vehicle.ANGULAR_MOTOR_DIRECTION:
352 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
353 // Limit requested angular speed to 2 rps= 4 pi rads/sec
354 len = m_angularMotorDirection.Length();
355 if (len > 12.566f)
356 m_angularMotorDirection *= (12.566f / len);
357 m_amEfect = 1.0f; // turn it on
358 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
359 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
360 d.BodyEnable(rootPrim.Body);
361 break;
362 case Vehicle.LINEAR_FRICTION_TIMESCALE:
363 if (pValue.X < m_timestep) pValue.X = m_timestep;
364 if (pValue.Y < m_timestep) pValue.Y = m_timestep;
365 if (pValue.Z < m_timestep) pValue.Z = m_timestep;
366 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
367 break;
368 case Vehicle.LINEAR_MOTOR_DIRECTION:
369 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
370 len = m_linearMotorDirection.Length();
371 if (len > 30.0f)
372 m_linearMotorDirection *= (30.0f / len);
373 m_lmEfect = 1.0f; // turn it on
374 m_ffactor = 0.01f;
375 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
376 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
377 d.BodyEnable(rootPrim.Body);
378 break;
379 case Vehicle.LINEAR_MOTOR_OFFSET:
380 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
381 len = m_linearMotorOffset.Length();
382 if (len > 100.0f)
383 m_linearMotorOffset *= (100.0f / len);
384 break;
385 case Vehicle.BLOCK_EXIT:
386 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
387 break;
388 }
389 }//end ProcessVectorVehicleParam
390
391 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
392 {
393 switch (pParam)
394 {
395 case Vehicle.REFERENCE_FRAME:
396 m_referenceFrame = Quaternion.Inverse(pValue);
397 break;
398 case Vehicle.ROLL_FRAME:
399 m_RollreferenceFrame = pValue;
400 break;
401 }
402 }//end ProcessRotationVehicleParam
403
404 internal void ProcessVehicleFlags(int pParam, bool remove)
405 {
406 if (remove)
407 {
408 m_flags &= ~((VehicleFlag)pParam);
409 }
410 else
411 {
412 m_flags |= (VehicleFlag)pParam;
413 }
414 }//end ProcessVehicleFlags
415
416 internal void ProcessTypeChange(Vehicle pType)
417 {
418 m_lmEfect = 0;
419 m_amEfect = 0;
420 m_ffactor = 1f;
421
422 m_linearMotorDirection = Vector3.Zero;
423 m_angularMotorDirection = Vector3.Zero;
424
425 m_BlockingEndPoint = Vector3.Zero;
426 m_RollreferenceFrame = Quaternion.Identity;
427 m_linearMotorOffset = Vector3.Zero;
428
429 m_referenceFrame = Quaternion.Identity;
430
431 // Set Defaults For Type
432 m_type = pType;
433 switch (pType)
434 {
435 case Vehicle.TYPE_NONE:
436 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
437 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
438 m_linearMotorTimescale = 1000;
439 m_linearMotorDecayTimescale = 120 * m_invtimestep;
440 m_angularMotorTimescale = 1000;
441 m_angularMotorDecayTimescale = 1000 * m_invtimestep;
442 m_VhoverHeight = 0;
443 m_VhoverEfficiency = 1;
444 m_VhoverTimescale = 1000;
445 m_VehicleBuoyancy = 0;
446 m_linearDeflectionEfficiency = 0;
447 m_linearDeflectionTimescale = 1000;
448 m_angularDeflectionEfficiency = 0;
449 m_angularDeflectionTimescale = 1000;
450 m_bankingEfficiency = 0;
451 m_bankingMix = 1;
452 m_bankingTimescale = 1000;
453 m_verticalAttractionEfficiency = 0;
454 m_verticalAttractionTimescale = 1000;
455
456 m_flags = (VehicleFlag)0;
457 break;
458
459 case Vehicle.TYPE_SLED:
460 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
461 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
462 m_linearMotorTimescale = 1000;
463 m_linearMotorDecayTimescale = 120 * m_invtimestep;
464 m_angularMotorTimescale = 1000;
465 m_angularMotorDecayTimescale = 120 * m_invtimestep;
466 m_VhoverHeight = 0;
467 m_VhoverEfficiency = 1;
468 m_VhoverTimescale = 10;
469 m_VehicleBuoyancy = 0;
470 m_linearDeflectionEfficiency = 1;
471 m_linearDeflectionTimescale = 1;
472 m_angularDeflectionEfficiency = 0;
473 m_angularDeflectionTimescale = 10;
474 m_verticalAttractionEfficiency = 1;
475 m_verticalAttractionTimescale = 1000;
476 m_bankingEfficiency = 0;
477 m_bankingMix = 1;
478 m_bankingTimescale = 10;
479 m_flags &=
480 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
481 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
482 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
483 VehicleFlag.LIMIT_ROLL_ONLY |
484 VehicleFlag.LIMIT_MOTOR_UP);
485 break;
486
487 case Vehicle.TYPE_CAR:
488 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
489 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
490 m_linearMotorTimescale = 1;
491 m_linearMotorDecayTimescale = 60 * m_invtimestep;
492 m_angularMotorTimescale = 1;
493 m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
494 m_VhoverHeight = 0;
495 m_VhoverEfficiency = 0;
496 m_VhoverTimescale = 1000;
497 m_VehicleBuoyancy = 0;
498 m_linearDeflectionEfficiency = 1;
499 m_linearDeflectionTimescale = 2;
500 m_angularDeflectionEfficiency = 0;
501 m_angularDeflectionTimescale = 10;
502 m_verticalAttractionEfficiency = 1f;
503 m_verticalAttractionTimescale = 10f;
504 m_bankingEfficiency = -0.2f;
505 m_bankingMix = 1;
506 m_bankingTimescale = 1;
507 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
508 VehicleFlag.HOVER_TERRAIN_ONLY |
509 VehicleFlag.HOVER_GLOBAL_HEIGHT);
510 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
511 VehicleFlag.LIMIT_ROLL_ONLY |
512 VehicleFlag.LIMIT_MOTOR_UP |
513 VehicleFlag.HOVER_UP_ONLY);
514 break;
515 case Vehicle.TYPE_BOAT:
516 m_linearFrictionTimescale = new Vector3(10, 3, 2);
517 m_angularFrictionTimescale = new Vector3(10, 10, 10);
518 m_linearMotorTimescale = 5;
519 m_linearMotorDecayTimescale = 60 * m_invtimestep;
520 m_angularMotorTimescale = 4;
521 m_angularMotorDecayTimescale = 4 * m_invtimestep;
522 m_VhoverHeight = 0;
523 m_VhoverEfficiency = 0.5f;
524 m_VhoverTimescale = 2;
525 m_VehicleBuoyancy = 1;
526 m_linearDeflectionEfficiency = 0.5f;
527 m_linearDeflectionTimescale = 3;
528 m_angularDeflectionEfficiency = 0.5f;
529 m_angularDeflectionTimescale = 5;
530 m_verticalAttractionEfficiency = 0.5f;
531 m_verticalAttractionTimescale = 5f;
532 m_bankingEfficiency = -0.3f;
533 m_bankingMix = 0.8f;
534 m_bankingTimescale = 1;
535 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
536 VehicleFlag.HOVER_GLOBAL_HEIGHT |
537 VehicleFlag.HOVER_UP_ONLY); // |
538// VehicleFlag.LIMIT_ROLL_ONLY);
539 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
540 VehicleFlag.LIMIT_MOTOR_UP |
541 VehicleFlag.HOVER_UP_ONLY | // new sl
542 VehicleFlag.HOVER_WATER_ONLY);
543 break;
544
545 case Vehicle.TYPE_AIRPLANE:
546 m_linearFrictionTimescale = new Vector3(200, 10, 5);
547 m_angularFrictionTimescale = new Vector3(20, 20, 20);
548 m_linearMotorTimescale = 2;
549 m_linearMotorDecayTimescale = 60 * m_invtimestep;
550 m_angularMotorTimescale = 4;
551 m_angularMotorDecayTimescale = 8 * m_invtimestep;
552 m_VhoverHeight = 0;
553 m_VhoverEfficiency = 0.5f;
554 m_VhoverTimescale = 1000;
555 m_VehicleBuoyancy = 0;
556 m_linearDeflectionEfficiency = 0.5f;
557 m_linearDeflectionTimescale = 0.5f;
558 m_angularDeflectionEfficiency = 1;
559 m_angularDeflectionTimescale = 2;
560 m_verticalAttractionEfficiency = 0.9f;
561 m_verticalAttractionTimescale = 2f;
562 m_bankingEfficiency = 1;
563 m_bankingMix = 0.7f;
564 m_bankingTimescale = 2;
565 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
566 VehicleFlag.HOVER_TERRAIN_ONLY |
567 VehicleFlag.HOVER_GLOBAL_HEIGHT |
568 VehicleFlag.HOVER_UP_ONLY |
569 VehicleFlag.NO_DEFLECTION_UP |
570 VehicleFlag.LIMIT_MOTOR_UP);
571 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
572 break;
573
574 case Vehicle.TYPE_BALLOON:
575 m_linearFrictionTimescale = new Vector3(5, 5, 5);
576 m_angularFrictionTimescale = new Vector3(10, 10, 10);
577 m_linearMotorTimescale = 5;
578 m_linearMotorDecayTimescale = 60 * m_invtimestep;
579 m_angularMotorTimescale = 6;
580 m_angularMotorDecayTimescale = 10 * m_invtimestep;
581 m_VhoverHeight = 5;
582 m_VhoverEfficiency = 0.8f;
583 m_VhoverTimescale = 10;
584 m_VehicleBuoyancy = 1;
585 m_linearDeflectionEfficiency = 0;
586 m_linearDeflectionTimescale = 5 * m_invtimestep;
587 m_angularDeflectionEfficiency = 0;
588 m_angularDeflectionTimescale = 5;
589 m_verticalAttractionEfficiency = 1f;
590 m_verticalAttractionTimescale = 1000f;
591 m_bankingEfficiency = 0;
592 m_bankingMix = 0.7f;
593 m_bankingTimescale = 5;
594 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
595 VehicleFlag.HOVER_TERRAIN_ONLY |
596 VehicleFlag.HOVER_UP_ONLY |
597 VehicleFlag.NO_DEFLECTION_UP |
598 VehicleFlag.LIMIT_MOTOR_UP | //);
599 VehicleFlag.LIMIT_ROLL_ONLY | // new sl
600 VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl
601
602// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
603// VehicleFlag.HOVER_GLOBAL_HEIGHT);
604 break;
605 }
606
607 }//end SetDefaultsForType
608
609 internal void Stop()
610 {
611 m_lmEfect = 0;
612 m_amEfect = 0;
613 m_ffactor = 1f;
614 }
615
616 public static Vector3 Xrot(Quaternion rot)
617 {
618 Vector3 vec;
619 rot.Normalize(); // just in case
620 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
621 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
622 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
623 return vec;
624 }
625
626 public static Vector3 Zrot(Quaternion rot)
627 {
628 Vector3 vec;
629 rot.Normalize(); // just in case
630 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
631 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
632 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
633
634 return vec;
635 }
636
637 private const float pi = (float)Math.PI;
638 private const float halfpi = 0.5f * (float)Math.PI;
639
640 public static Vector3 ubitRot2Euler(Quaternion rot)
641 {
642 // returns roll in X
643 // pitch in Y
644 // yaw in Z
645 Vector3 vec;
646
647 // assuming rot is normalised
648 // rot.Normalize();
649
650 float zX = rot.X * rot.Z + rot.Y * rot.W;
651
652 if (zX < -0.49999f)
653 {
654 vec.X = 0;
655 vec.Y = -halfpi;
656 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
657 }
658 else if (zX > 0.49999f)
659 {
660 vec.X = 0;
661 vec.Y = halfpi;
662 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
663 }
664 else
665 {
666 vec.Y = (float)Math.Asin(2 * zX);
667
668 float sqw = rot.W * rot.W;
669
670 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
671 float zZ = rot.Z * rot.Z + sqw - 0.5f;
672
673 vec.X = (float)Math.Atan2(minuszY, zZ);
674
675 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
676 float yY = rot.X * rot.X + sqw - 0.5f;
677 vec.Z = (float)Math.Atan2(yX, yY);
678 }
679 return vec;
680 }
681
682 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
683 {
684 // assuming rot is normalised
685 // rot.Normalize();
686
687 float zX = rot.X * rot.Z + rot.Y * rot.W;
688
689 if (zX < -0.49999f)
690 {
691 roll = 0;
692 pitch = -halfpi;
693 }
694 else if (zX > 0.49999f)
695 {
696 roll = 0;
697 pitch = halfpi;
698 }
699 else
700 {
701 pitch = (float)Math.Asin(2 * zX);
702
703 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
704 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
705
706 roll = (float)Math.Atan2(minuszY, zZ);
707 }
708 return ;
709 }
710
711 internal void Step()
712 {
713 IntPtr Body = rootPrim.Body;
714
715 d.Quaternion rot = d.BodyGetQuaternion(Body);
716 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
717 Quaternion rotq = objrotq; // rotq = rotation of object
718 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
719 Quaternion irotq = Quaternion.Inverse(rotq);
720
721 d.Vector3 dvtmp;
722 Vector3 tmpV;
723 Vector3 curVel; // velocity in world
724 Vector3 curAngVel; // angular velocity in world
725 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
726 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
727 d.Vector3 dtorque = new d.Vector3();
728
729 dvtmp = d.BodyGetLinearVel(Body);
730 curVel.X = dvtmp.X;
731 curVel.Y = dvtmp.Y;
732 curVel.Z = dvtmp.Z;
733 Vector3 curLocalVel = curVel * irotq; // current velocity in local
734
735 dvtmp = d.BodyGetAngularVel(Body);
736 curAngVel.X = dvtmp.X;
737 curAngVel.Y = dvtmp.Y;
738 curAngVel.Z = dvtmp.Z;
739 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
740
741 // linear motor
742 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
743 {
744 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
745 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
746 tmpV *= rotq; // to world
747
748 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
749 tmpV.Z = 0;
750
751 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
752 {
753 // have offset, do it now
754 tmpV *= rootPrim.Mass;
755 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
756 }
757 else
758 {
759 force.X += tmpV.X;
760 force.Y += tmpV.Y;
761 force.Z += tmpV.Z;
762 }
763 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
764
765 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
766 }
767 else
768 {
769 m_lmEfect = 0;
770 m_ffactor = 1f;
771 }
772
773 // friction
774 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
775 {
776 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
777 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
778 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
779 tmpV *= rotq; // to world
780 force.X += tmpV.X;
781 force.Y += tmpV.Y;
782 force.Z += tmpV.Z;
783 }
784
785 // hover
786 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
787 {
788 // d.Vector3 pos = d.BodyGetPosition(Body);
789 d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
790 pos.Z -= 0.21f; // minor offset that seems to be always there in sl
791
792 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
793 float perr;
794
795 // default to global but don't go underground
796 if (t < m_VhoverHeight)
797 perr = m_VhoverHeight - pos.Z;
798 else
799 perr = t - pos.Z; ;
800
801 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
802 {
803 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
804 {
805 perr += _pParentScene.GetWaterLevel();
806 }
807 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
808 {
809 perr += t;
810 }
811 else
812 {
813 float w = _pParentScene.GetWaterLevel();
814 if (t > w)
815 perr += t;
816 else
817 perr += w;
818 }
819 }
820 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
821 {
822 force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
823 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
824 }
825 else // no buoyancy
826 force.Z += _pParentScene.gravityz;
827 }
828 else
829 {
830 // default gravity and Buoyancy
831 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
832 }
833
834 // linear deflection
835 if (m_linearDeflectionEfficiency > 0)
836 {
837 float len = curVel.Length();
838 if (len > 0.01) // if moving
839 {
840
841 Vector3 atAxis;
842 atAxis = Xrot(rotq); // where are we pointing to
843 atAxis *= len; // make it same size as world velocity vector
844
845 tmpV = -atAxis; // oposite direction
846 atAxis -= curVel; // error to one direction
847 len = atAxis.LengthSquared();
848
849 tmpV -= curVel; // error to oposite
850 float lens = tmpV.LengthSquared();
851
852 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
853 {
854 if (len < lens)
855 tmpV = atAxis;
856
857 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
858 force.X += tmpV.X;
859 force.Y += tmpV.Y;
860 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
861 force.Z += tmpV.Z;
862 }
863 }
864 }
865
866 // angular motor
867 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
868 {
869 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
870 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
871 torque.X += tmpV.X;
872 torque.Y += tmpV.Y;
873 torque.Z += tmpV.Z;
874 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
875 }
876 else
877 m_amEfect = 0;
878
879 // angular friction
880 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
881 {
882 torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
883 torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
884 torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
885 }
886
887 // angular deflection
888 if (m_angularDeflectionEfficiency > 0)
889 {
890 Vector3 dirv;
891
892 if (curLocalVel.X > 0.01f)
893 dirv = curLocalVel;
894 else if (curLocalVel.X < -0.01f)
895 // use oposite
896 dirv = -curLocalVel;
897 else
898 {
899 // make it fall into small positive x case
900 dirv.X = 0.01f;
901 dirv.Y = curLocalVel.Y;
902 dirv.Z = curLocalVel.Z;
903 }
904
905 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
906
907 if (Math.Abs(dirv.Z) > 0.01)
908 {
909 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
910 }
911
912 if (Math.Abs(dirv.Y) > 0.01)
913 {
914 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
915 }
916 }
917
918 // vertical atractor
919 if (m_verticalAttractionTimescale < 300)
920 {
921 float roll;
922 float pitch;
923
924 GetRollPitch(irotq, out roll, out pitch);
925
926 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale * m_invtimestep;
927 float ftmp2;
928 if (m_bankingEfficiency == 0)
929 ftmp2 = m_verticalAttractionEfficiency * m_invtimestep;
930 else
931 ftmp2 = 0;
932
933 if (roll > halfpi)
934 roll = pi - roll;
935 else if (roll < -halfpi)
936 roll = -pi - roll;
937
938 float effroll = pitch / halfpi;
939 effroll *= effroll;
940 effroll = 1 - effroll;
941 effroll *= roll;
942
943 if (Math.Abs(effroll) > 0.01) // roll
944 {
945 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
946 }
947
948 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
949 {
950 float effpitch = roll / halfpi;
951 effpitch *= effpitch;
952 effpitch = 1 - effpitch;
953 effpitch *= pitch;
954
955 if (Math.Abs(effpitch) > 0.01) // pitch
956 {
957 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
958 }
959 }
960
961 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
962 {
963
964 float broll = effroll;
965/*
966 if (broll > halfpi)
967 broll = pi - broll;
968 else if (broll < -halfpi)
969 broll = -pi - broll;
970*/
971 broll *= m_bankingEfficiency;
972 if (m_bankingMix != 0)
973 {
974 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
975 if (vfact > 1.0f) vfact = 1.0f;
976
977 if (curLocalVel.X >= 0)
978 broll *= (1 + (vfact - 1) * m_bankingMix);
979 else
980 broll *= -(1 + (vfact - 1) * m_bankingMix);
981 }
982 // make z rot be in world Z not local as seems to be in sl
983
984 broll = broll / m_bankingTimescale;
985
986 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
987
988 tmpV.X = ftmp * curAngVel.X;
989 tmpV.Y = ftmp * curAngVel.Y;
990 tmpV.Z = broll + ftmp * curAngVel.Z;
991 tmpV *= irotq;
992
993 torque.X += tmpV.X;
994 torque.Y += tmpV.Y;
995 torque.Z += tmpV.Z;
996 }
997 }
998
999 d.Mass dmass;
1000 d.BodyGetMass(Body,out dmass);
1001
1002 if (force.X != 0 || force.Y != 0 || force.Z != 0)
1003 {
1004 force *= dmass.mass;
1005 d.BodySetForce(Body, force.X, force.Y, force.Z);
1006 }
1007
1008 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
1009 {
1010 torque *= m_referenceFrame; // to object frame
1011 dtorque.X = torque.X ;
1012 dtorque.Y = torque.Y;
1013 dtorque.Z = torque.Z;
1014
1015 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
1016 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
1017 }
1018 }
1019 }
1020}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..e4f2e6b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,3952 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/* Revision 2011/12 by Ubit Umarov
29 *
30 *
31 */
32
33/*
34 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
35 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
36 * ODEPrim.cs contains methods dealing with Prim editing, Prim
37 * characteristics and Kinetic motion.
38 * ODEDynamics.cs contains methods dealing with Prim Physical motion
39 * (dynamics) and the associated settings. Old Linear and angular
40 * motors for dynamic motion have been replace with MoveLinear()
41 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
42 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
43 * switch between 'VEHICLE' parameter use and general dynamics
44 * settings use.
45 */
46
47//#define SPAM
48
49using System;
50using System.Collections.Generic;
51using System.Reflection;
52using System.Runtime.InteropServices;
53using System.Threading;
54using log4net;
55using OpenMetaverse;
56using OdeAPI;
57using OpenSim.Framework;
58using OpenSim.Region.Physics.Manager;
59
60
61namespace OpenSim.Region.Physics.OdePlugin
62{
63 public class OdePrim : PhysicsActor
64 {
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66
67 private bool m_isphysical;
68 private bool m_fakeisphysical;
69 private bool m_isphantom;
70 private bool m_fakeisphantom;
71 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
72 private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
73
74 protected bool m_building;
75 protected bool m_forcePosOrRotation;
76 private bool m_iscolliding;
77
78 internal bool m_isSelected;
79 private bool m_delaySelect;
80 private bool m_lastdoneSelected;
81 internal bool m_outbounds;
82
83 private Quaternion m_lastorientation = new Quaternion();
84 private Quaternion _orientation;
85
86 private Vector3 _position;
87 private Vector3 _velocity;
88 private Vector3 _torque;
89 private Vector3 m_lastVelocity;
90 private Vector3 m_lastposition;
91 private Vector3 m_rotationalVelocity;
92 private Vector3 _size;
93 private Vector3 _acceleration;
94 private Vector3 m_angularlock = Vector3.One;
95 private IntPtr Amotor = IntPtr.Zero;
96
97 private Vector3 m_force;
98 private Vector3 m_forceacc;
99 private Vector3 m_angularForceacc;
100
101 private float m_invTimeStep = 50.0f;
102 private float m_timeStep = .02f;
103
104
105 private Vector3 m_PIDTarget;
106 private float m_PIDTau;
107 private bool m_usePID;
108
109 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
110 // and are for non-VEHICLES only.
111
112 private float m_PIDHoverHeight;
113 private float m_PIDHoverTau;
114 private bool m_useHoverPID;
115 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
116 private float m_targetHoverHeight;
117 private float m_groundHeight;
118 private float m_waterHeight;
119 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
120
121 private int body_autodisable_frames = 5;
122 private int bodydisablecontrol = 0;
123
124
125 // Default we're a Geometry
126 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
127 // Default colide nonphysical don't try to colide with anything
128 private const CollisionCategories m_default_collisionFlagsNotPhysical = 0;
129
130 private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom |
131 CollisionCategories.Character |
132 CollisionCategories.Land |
133 CollisionCategories.VolumeDtc);
134
135// private bool m_collidesLand = true;
136 private bool m_collidesWater;
137 public bool m_returnCollisions;
138
139 private bool m_NoColide; // for now only for internal use for bad meshs
140
141
142 // Default, Collide with Other Geometries, spaces and Bodies
143 private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical;
144
145 public bool m_disabled;
146
147 public uint m_localID;
148
149 private IMesh m_mesh;
150 private object m_meshlock = new object();
151 private PrimitiveBaseShape _pbs;
152 public OdeScene _parent_scene;
153
154 /// <summary>
155 /// The physics space which contains prim geometry
156 /// </summary>
157 public IntPtr m_targetSpace = IntPtr.Zero;
158
159 public IntPtr prim_geom;
160 public IntPtr _triMeshData;
161
162 private PhysicsActor _parent;
163
164 private List<OdePrim> childrenPrim = new List<OdePrim>();
165
166
167 private bool m_throttleUpdates;
168 private int throttleCounter;
169 public float m_collisionscore;
170 int m_colliderfilter = 0;
171
172 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
173
174 private float m_density = 10.000006836f; // Aluminum g/cm3;
175 private byte m_shapetype;
176 public bool _zeroFlag;
177 private bool m_lastUpdateSent;
178
179 public IntPtr Body = IntPtr.Zero;
180 public String Name { get; private set; }
181 private Vector3 _target_velocity;
182
183 public Vector3 primOOBsize; // prim real dimensions from mesh
184 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
185 public float primOOBradiusSQ;
186 public d.Mass primdMass; // prim inertia information on it's own referencial
187 float primMass; // prim own mass
188 float primVolume; // prim own volume;
189 float _mass; // object mass acording to case
190 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
191
192 public int givefakepos = 0;
193 private Vector3 fakepos;
194 public int givefakeori = 0;
195 private Quaternion fakeori;
196
197 public int m_eventsubscription;
198 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
199
200 public volatile bool childPrim;
201
202 public ODEDynamics m_vehicle;
203
204 internal int m_material = (int)Material.Wood;
205 private float mu;
206 private float bounce;
207
208 /// <summary>
209 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
210 /// </summary>
211 public override bool IsPhysical // this is not reliable for internal use
212 {
213 get { return m_fakeisphysical; }
214 set
215 {
216 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
217 // and also to stop imediatly some updates
218 // but real change will only happen in taintprocessing
219
220 if (!value) // Zero the remembered last velocity
221 m_lastVelocity = Vector3.Zero;
222 AddChange(changes.Physical, value);
223 }
224 }
225
226 public override bool IsVolumeDtc
227 {
228 get { return m_fakeisVolumeDetect; }
229 set
230 {
231 m_fakeisVolumeDetect = value;
232 AddChange(changes.VolumeDtc, value);
233 }
234 }
235
236
237 public override bool Phantom // this is not reliable for internal use
238 {
239 get { return m_fakeisphantom; }
240 set
241 {
242 m_fakeisphantom = value;
243 AddChange(changes.Phantom, value);
244 }
245 }
246
247 public override bool Building // this is not reliable for internal use
248 {
249 get { return m_building; }
250 set
251 {
252 if (value)
253 m_building = true;
254 AddChange(changes.building, value);
255 }
256 }
257
258 public override void getContactData(ref ContactData cdata)
259 {
260 cdata.mu = mu;
261 cdata.bounce = bounce;
262
263 // cdata.softcolide = m_softcolide;
264 cdata.softcolide = false;
265
266 if (m_isphysical)
267 {
268 ODEDynamics veh;
269 if (_parent != null)
270 veh = ((OdePrim)_parent).m_vehicle;
271 else
272 veh = m_vehicle;
273
274 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
275 cdata.mu *= veh.FrictionFactor;
276 }
277 }
278
279 public override int PhysicsActorType
280 {
281 get { return (int)ActorTypes.Prim; }
282 set { return; }
283 }
284
285 public override bool SetAlwaysRun
286 {
287 get { return false; }
288 set { return; }
289 }
290
291 public override uint LocalID
292 {
293 get
294 {
295 return m_localID;
296 }
297 set
298 {
299 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
300 m_localID = value;
301 }
302 }
303
304 public override bool Grabbed
305 {
306 set { return; }
307 }
308
309 public override bool Selected
310 {
311 set
312 {
313 if (value)
314 m_isSelected = value; // if true set imediatly to stop moves etc
315 AddChange(changes.Selected, value);
316 }
317 }
318
319 public override bool Flying
320 {
321 // no flying prims for you
322 get { return false; }
323 set { }
324 }
325
326 public override bool IsColliding
327 {
328 get { return m_iscolliding; }
329 set
330 {
331 if (value)
332 {
333 m_colliderfilter += 2;
334 if (m_colliderfilter > 2)
335 m_colliderfilter = 2;
336 }
337 else
338 {
339 m_colliderfilter--;
340 if (m_colliderfilter < 0)
341 m_colliderfilter = 0;
342 }
343
344 if (m_colliderfilter == 0)
345 m_iscolliding = false;
346 else
347 m_iscolliding = true;
348 }
349 }
350
351 public override bool CollidingGround
352 {
353 get { return false; }
354 set { return; }
355 }
356
357 public override bool CollidingObj
358 {
359 get { return false; }
360 set { return; }
361 }
362
363 public override bool ThrottleUpdates
364 {
365 get { return m_throttleUpdates; }
366 set { m_throttleUpdates = value; }
367 }
368
369 public override bool Stopped
370 {
371 get { return _zeroFlag; }
372 }
373
374 public override Vector3 Position
375 {
376 get
377 {
378 if (givefakepos > 0)
379 return fakepos;
380 else
381 return _position;
382 }
383
384 set
385 {
386 fakepos = value;
387 givefakepos++;
388 AddChange(changes.Position, value);
389 }
390 }
391
392 public override Vector3 Size
393 {
394 get { return _size; }
395 set
396 {
397 if (value.IsFinite())
398 {
399 AddChange(changes.Size, value);
400 }
401 else
402 {
403 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
404 }
405 }
406 }
407
408 public override float Mass
409 {
410 get { return primMass; }
411 }
412
413 public override Vector3 Force
414 {
415 //get { return Vector3.Zero; }
416 get { return m_force; }
417 set
418 {
419 if (value.IsFinite())
420 {
421 AddChange(changes.Force, value);
422 }
423 else
424 {
425 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
426 }
427 }
428 }
429
430 public override void SetVolumeDetect(int param)
431 {
432 m_fakeisVolumeDetect = (param != 0);
433 AddChange(changes.VolumeDtc, m_fakeisVolumeDetect);
434 }
435
436 public override Vector3 GeometricCenter
437 {
438 // this is not real geometric center but a average of positions relative to root prim acording to
439 // http://wiki.secondlife.com/wiki/llGetGeometricCenter
440 // ignoring tortured prims details since sl also seems to ignore
441 // so no real use in doing it on physics
442 get
443 {
444 return Vector3.Zero;
445 }
446 }
447
448 public override Vector3 CenterOfMass
449 {
450 get
451 {
452 lock (_parent_scene.OdeLock)
453 {
454 d.Vector3 dtmp;
455 if (!childPrim && Body != IntPtr.Zero)
456 {
457 dtmp = d.BodyGetPosition(Body);
458 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
459 }
460 else if (prim_geom != IntPtr.Zero)
461 {
462 d.Quaternion dq;
463 d.GeomCopyQuaternion(prim_geom, out dq);
464 Quaternion q;
465 q.X = dq.X;
466 q.Y = dq.Y;
467 q.Z = dq.Z;
468 q.W = dq.W;
469
470 Vector3 Ptot = primOOBoffset * q;
471 dtmp = d.GeomGetPosition(prim_geom);
472 Ptot.X += dtmp.X;
473 Ptot.Y += dtmp.Y;
474 Ptot.Z += dtmp.Z;
475
476 // if(childPrim) we only know about physical linksets
477 return Ptot;
478 /*
479 float tmass = _mass;
480 Ptot *= tmass;
481
482 float m;
483
484 foreach (OdePrim prm in childrenPrim)
485 {
486 m = prm._mass;
487 Ptot += prm.CenterOfMass * m;
488 tmass += m;
489 }
490
491 if (tmass == 0)
492 tmass = 0;
493 else
494 tmass = 1.0f / tmass;
495
496 Ptot *= tmass;
497 return Ptot;
498 */
499 }
500 else
501 return _position;
502 }
503 }
504 }
505 /*
506 public override Vector3 PrimOOBsize
507 {
508 get
509 {
510 return primOOBsize;
511 }
512 }
513
514 public override Vector3 PrimOOBoffset
515 {
516 get
517 {
518 return primOOBoffset;
519 }
520 }
521
522 public override float PrimOOBRadiusSQ
523 {
524 get
525 {
526 return primOOBradiusSQ;
527 }
528 }
529 */
530 public override PrimitiveBaseShape Shape
531 {
532 set
533 {
534/*
535 IMesh mesh = null;
536 if (_parent_scene.needsMeshing(value))
537 {
538 bool convex;
539 if (m_shapetype == 0)
540 convex = false;
541 else
542 convex = true;
543 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
544 }
545
546 if (mesh != null)
547 {
548 lock (m_meshlock)
549 m_mesh = mesh;
550 }
551*/
552 AddChange(changes.Shape, value);
553 }
554 }
555
556 public override byte PhysicsShapeType
557 {
558 get
559 {
560 return m_shapetype;
561 }
562 set
563 {
564 m_shapetype = value;
565 AddChange(changes.Shape, null);
566 }
567 }
568
569
570 public override Vector3 Velocity
571 {
572 get
573 {
574 if (_zeroFlag)
575 return Vector3.Zero;
576 return _velocity;
577 }
578 set
579 {
580 if (value.IsFinite())
581 {
582 AddChange(changes.Velocity, value);
583 // _velocity = value;
584
585 }
586 else
587 {
588 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
589 }
590
591 }
592 }
593
594 public override Vector3 Torque
595 {
596 get
597 {
598 if (!IsPhysical || Body == IntPtr.Zero)
599 return Vector3.Zero;
600
601 return _torque;
602 }
603
604 set
605 {
606 if (value.IsFinite())
607 {
608 AddChange(changes.Torque, value);
609 }
610 else
611 {
612 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
613 }
614 }
615 }
616
617 public override float CollisionScore
618 {
619 get { return m_collisionscore; }
620 set { m_collisionscore = value; }
621 }
622
623 public override bool Kinematic
624 {
625 get { return false; }
626 set { }
627 }
628
629 public override Quaternion Orientation
630 {
631 get
632 {
633 if (givefakeori > 0)
634 return fakeori;
635 else
636
637 return _orientation;
638 }
639 set
640 {
641 if (QuaternionIsFinite(value))
642 {
643 fakeori = value;
644 givefakeori++;
645 AddChange(changes.Orientation, value);
646 }
647 else
648 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
649
650 }
651 }
652
653 public override Vector3 Acceleration
654 {
655 get { return _acceleration; }
656 set { }
657 }
658
659 public override Vector3 RotationalVelocity
660 {
661 get
662 {
663 Vector3 pv = Vector3.Zero;
664 if (_zeroFlag)
665 return pv;
666
667 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
668 return pv;
669
670 return m_rotationalVelocity;
671 }
672 set
673 {
674 if (value.IsFinite())
675 {
676 m_rotationalVelocity = value;
677 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
678 d.BodyEnable(Body);
679 }
680 else
681 {
682 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
683 }
684 }
685 }
686
687
688 public override float Buoyancy
689 {
690 get { return m_buoyancy; }
691 set
692 {
693 m_buoyancy = value;
694 }
695 }
696
697 public override bool FloatOnWater
698 {
699 set
700 {
701 AddChange(changes.CollidesWater, value);
702 }
703 }
704
705 public override Vector3 PIDTarget
706 {
707 set
708 {
709 if (value.IsFinite())
710 {
711 m_PIDTarget = value;
712 }
713 else
714 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
715 }
716 }
717
718 public override bool PIDActive { set { m_usePID = value; } }
719 public override float PIDTau
720 {
721 set
722 {
723 if (value <= 0)
724 m_PIDTau = 0;
725 else
726 {
727 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
728 if (value < mint)
729 m_PIDTau = mint;
730 else
731 m_PIDTau = value;
732 }
733 }
734 }
735
736 public override float PIDHoverHeight
737 {
738 set
739 {
740 m_PIDHoverHeight = value;
741 if (value == 0)
742 m_useHoverPID = false;
743 }
744 }
745 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
746 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
747 public override float PIDHoverTau
748 {
749 set
750 {
751 if (value <= 0)
752 m_PIDHoverTau = 0;
753 else
754 {
755 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
756 if (value < mint)
757 m_PIDHoverTau = mint;
758 else
759 m_PIDHoverTau = value;
760 }
761 }
762 }
763
764 public override Quaternion APIDTarget { set { return; } }
765
766 public override bool APIDActive { set { return; } }
767
768 public override float APIDStrength { set { return; } }
769
770 public override float APIDDamping { set { return; } }
771
772 public override int VehicleType
773 {
774 // we may need to put a fake on this
775 get
776 {
777 if (m_vehicle == null)
778 return (int)Vehicle.TYPE_NONE;
779 else
780 return (int)m_vehicle.Type;
781 }
782 set
783 {
784 AddChange(changes.VehicleType, value);
785 }
786 }
787
788 public override void VehicleFloatParam(int param, float value)
789 {
790 strVehicleFloatParam fp = new strVehicleFloatParam();
791 fp.param = param;
792 fp.value = value;
793 AddChange(changes.VehicleFloatParam, fp);
794 }
795
796 public override void VehicleVectorParam(int param, Vector3 value)
797 {
798 strVehicleVectorParam fp = new strVehicleVectorParam();
799 fp.param = param;
800 fp.value = value;
801 AddChange(changes.VehicleVectorParam, fp);
802 }
803
804 public override void VehicleRotationParam(int param, Quaternion value)
805 {
806 strVehicleQuatParam fp = new strVehicleQuatParam();
807 fp.param = param;
808 fp.value = value;
809 AddChange(changes.VehicleRotationParam, fp);
810 }
811
812 public override void VehicleFlags(int param, bool value)
813 {
814 strVehicleBoolParam bp = new strVehicleBoolParam();
815 bp.param = param;
816 bp.value = value;
817 AddChange(changes.VehicleFlags, bp);
818 }
819
820 public override void SetVehicle(object vdata)
821 {
822 AddChange(changes.SetVehicle, vdata);
823 }
824 public void SetAcceleration(Vector3 accel)
825 {
826 _acceleration = accel;
827 }
828
829 public override void AddForce(Vector3 force, bool pushforce)
830 {
831 if (force.IsFinite())
832 {
833 AddChange(changes.AddForce, force * m_invTimeStep);
834 }
835 else
836 {
837 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
838 }
839 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
840 }
841
842 public override void AddAngularForce(Vector3 force, bool pushforce)
843 {
844 if (force.IsFinite())
845 {
846 AddChange(changes.AddAngForce, force);
847 }
848 else
849 {
850 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
851 }
852 }
853
854 public override void CrossingFailure()
855 {
856 if (m_outbounds)
857 {
858 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
859 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
860 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
861
862 m_lastposition = _position;
863 _velocity.X = 0;
864 _velocity.Y = 0;
865 _velocity.Z = 0;
866
867 m_lastVelocity = _velocity;
868 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
869 m_vehicle.Stop();
870
871 if(Body != IntPtr.Zero)
872 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
873 if (prim_geom != IntPtr.Zero)
874 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
875
876 m_outbounds = false;
877 changeDisable(false);
878 base.RequestPhysicsterseUpdate();
879 }
880 }
881
882 public override void SetMomentum(Vector3 momentum)
883 {
884 }
885
886 public override void SetMaterial(int pMaterial)
887 {
888 m_material = pMaterial;
889 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
890 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
891 }
892
893 public void setPrimForRemoval()
894 {
895 AddChange(changes.Remove, null);
896 }
897
898 public override void link(PhysicsActor obj)
899 {
900 AddChange(changes.Link, obj);
901 }
902
903 public override void delink()
904 {
905 AddChange(changes.DeLink, null);
906 }
907
908 public override void LockAngularMotion(Vector3 axis)
909 {
910 // reverse the zero/non zero values for ODE.
911 if (axis.IsFinite())
912 {
913 axis.X = (axis.X > 0) ? 1f : 0f;
914 axis.Y = (axis.Y > 0) ? 1f : 0f;
915 axis.Z = (axis.Z > 0) ? 1f : 0f;
916 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
917 AddChange(changes.AngLock, axis);
918 }
919 else
920 {
921 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
922 }
923 }
924
925 public override void SubscribeEvents(int ms)
926 {
927 m_eventsubscription = ms;
928 _parent_scene.AddCollisionEventReporting(this);
929 }
930
931 public override void UnSubscribeEvents()
932 {
933 _parent_scene.RemoveCollisionEventReporting(this);
934 m_eventsubscription = 0;
935 }
936
937 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
938 {
939 if (CollisionEventsThisFrame == null)
940 CollisionEventsThisFrame = new CollisionEventUpdate();
941
942 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
943 }
944
945 public void SendCollisions()
946 {
947 if (CollisionEventsThisFrame == null)
948 return;
949
950 base.SendCollisionUpdate(CollisionEventsThisFrame);
951
952 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
953 CollisionEventsThisFrame = null;
954 else
955 CollisionEventsThisFrame = new CollisionEventUpdate();
956 }
957
958 public override bool SubscribedEvents()
959 {
960 if (m_eventsubscription > 0)
961 return true;
962 return false;
963 }
964
965
966 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
967 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
968 {
969 Name = primName;
970 LocalID = plocalID;
971
972 m_vehicle = null;
973
974 if (!pos.IsFinite())
975 {
976 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
977 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
978 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
979 }
980 _position = pos;
981 givefakepos = 0;
982
983 m_timeStep = parent_scene.ODE_STEPSIZE;
984 m_invTimeStep = 1f / m_timeStep;
985
986 m_density = parent_scene.geomDefaultDensity;
987 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
988 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
989
990 prim_geom = IntPtr.Zero;
991 collide_geom = IntPtr.Zero;
992 Body = IntPtr.Zero;
993
994 if (!size.IsFinite())
995 {
996 size = new Vector3(0.5f, 0.5f, 0.5f);
997 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
998 }
999
1000 if (size.X <= 0) size.X = 0.01f;
1001 if (size.Y <= 0) size.Y = 0.01f;
1002 if (size.Z <= 0) size.Z = 0.01f;
1003
1004 _size = size;
1005
1006 if (!QuaternionIsFinite(rotation))
1007 {
1008 rotation = Quaternion.Identity;
1009 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
1010 }
1011
1012 _orientation = rotation;
1013 givefakeori = 0;
1014
1015 _pbs = pbs;
1016
1017 _parent_scene = parent_scene;
1018 m_targetSpace = IntPtr.Zero;
1019
1020 if (pos.Z < 0)
1021 {
1022 m_isphysical = false;
1023 }
1024 else
1025 {
1026 m_isphysical = pisPhysical;
1027 }
1028 m_fakeisphysical = m_isphysical;
1029
1030 m_isVolumeDetect = false;
1031 m_fakeisVolumeDetect = false;
1032
1033 m_force = Vector3.Zero;
1034
1035 m_iscolliding = false;
1036 m_colliderfilter = 0;
1037 m_NoColide = false;
1038
1039 hasOOBoffsetFromMesh = false;
1040 _triMeshData = IntPtr.Zero;
1041
1042 m_shapetype = _shapeType;
1043
1044 m_lastdoneSelected = false;
1045 m_isSelected = false;
1046 m_delaySelect = false;
1047
1048 m_isphantom = pisPhantom;
1049 m_fakeisphantom = pisPhantom;
1050
1051 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
1052 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
1053
1054 CalcPrimBodyData();
1055
1056 m_mesh = null;
1057 if (_parent_scene.needsMeshing(pbs))
1058 {
1059 bool convex;
1060 if (m_shapetype == 0)
1061 convex = false;
1062 else
1063 convex = true;
1064
1065 m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1066 }
1067
1068
1069 m_building = true; // control must set this to false when done
1070
1071 AddChange(changes.Add, null);
1072 }
1073
1074 private void resetCollisionAccounting()
1075 {
1076 m_collisionscore = 0;
1077 }
1078
1079 private void UpdateCollisionCatFlags()
1080 {
1081 if(m_isphysical && m_disabled)
1082 {
1083 m_collisionCategories = 0;
1084 m_collisionFlags = 0;
1085 }
1086
1087 else if (m_isSelected)
1088 {
1089 m_collisionCategories = CollisionCategories.Selected;
1090 m_collisionFlags = 0;
1091 }
1092
1093 else if (m_isVolumeDetect)
1094 {
1095 m_collisionCategories = CollisionCategories.VolumeDtc;
1096 if (m_isphysical)
1097 m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1098 else
1099 m_collisionFlags = 0;
1100 }
1101 else if (m_isphantom)
1102 {
1103 m_collisionCategories = CollisionCategories.Phantom;
1104 if (m_isphysical)
1105 m_collisionFlags = CollisionCategories.Land;
1106 else
1107 m_collisionFlags = 0;
1108 }
1109 else
1110 {
1111 m_collisionCategories = CollisionCategories.Geom;
1112 if (m_isphysical)
1113 m_collisionFlags = m_default_collisionFlagsPhysical;
1114 else
1115 m_collisionFlags = m_default_collisionFlagsNotPhysical;
1116 }
1117 }
1118
1119 private void ApplyCollisionCatFlags()
1120 {
1121 if (prim_geom != IntPtr.Zero)
1122 {
1123 if (!childPrim && childrenPrim.Count > 0)
1124 {
1125 foreach (OdePrim prm in childrenPrim)
1126 {
1127 if (m_isphysical && m_disabled)
1128 {
1129 prm.m_collisionCategories = 0;
1130 prm.m_collisionFlags = 0;
1131 }
1132 else
1133 {
1134 // preserve some
1135 if (prm.m_isSelected)
1136 {
1137 prm.m_collisionCategories = CollisionCategories.Selected;
1138 prm.m_collisionFlags = 0;
1139 }
1140 else if (prm.m_isVolumeDetect)
1141 {
1142 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1143 if (m_isphysical)
1144 prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1145 else
1146 prm.m_collisionFlags = 0;
1147 }
1148 else if (prm.m_isphantom)
1149 {
1150 prm.m_collisionCategories = CollisionCategories.Phantom;
1151 if (m_isphysical)
1152 prm.m_collisionFlags = CollisionCategories.Land;
1153 else
1154 prm.m_collisionFlags = 0;
1155 }
1156 else
1157 {
1158 prm.m_collisionCategories = m_collisionCategories;
1159 prm.m_collisionFlags = m_collisionFlags;
1160 }
1161 }
1162
1163 if (prm.prim_geom != IntPtr.Zero)
1164 {
1165 if (prm.m_NoColide)
1166 {
1167 d.GeomSetCategoryBits(prm.prim_geom, 0);
1168 if (m_isphysical)
1169 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1170 else
1171 d.GeomSetCollideBits(prm.prim_geom, 0);
1172 }
1173 else
1174 {
1175 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1176 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1177 }
1178 }
1179 }
1180 }
1181
1182 if (m_NoColide)
1183 {
1184 d.GeomSetCategoryBits(prim_geom, 0);
1185 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1186 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1187 {
1188 d.GeomSetCategoryBits(collide_geom, 0);
1189 d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land);
1190 }
1191 }
1192 else
1193 {
1194 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1195 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1196 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1197 {
1198 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
1199 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
1200 }
1201 }
1202 }
1203 }
1204
1205 private void createAMotor(Vector3 axis)
1206 {
1207 if (Body == IntPtr.Zero)
1208 return;
1209
1210 if (Amotor != IntPtr.Zero)
1211 {
1212 d.JointDestroy(Amotor);
1213 Amotor = IntPtr.Zero;
1214 }
1215
1216 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
1217
1218 if (axisnum <= 0)
1219 return;
1220
1221 // stop it
1222 d.BodySetTorque(Body, 0, 0, 0);
1223 d.BodySetAngularVel(Body, 0, 0, 0);
1224
1225 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1226 d.JointAttach(Amotor, Body, IntPtr.Zero);
1227
1228 d.JointSetAMotorMode(Amotor, 0);
1229
1230 d.JointSetAMotorNumAxes(Amotor, axisnum);
1231
1232 // get current orientation to lock
1233
1234 d.Quaternion dcur = d.BodyGetQuaternion(Body);
1235 Quaternion curr; // crap convertion between identical things
1236 curr.X = dcur.X;
1237 curr.Y = dcur.Y;
1238 curr.Z = dcur.Z;
1239 curr.W = dcur.W;
1240 Vector3 ax;
1241
1242 int i = 0;
1243 int j = 0;
1244 if (axis.X == 0)
1245 {
1246 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
1247 // ODE should do this with axis relative to body 1 but seems to fail
1248 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
1249 d.JointSetAMotorAngle(Amotor, 0, 0);
1250 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
1251 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
1252 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
1253 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
1254 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
1255 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
1256 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
1257 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
1258 i++;
1259 j = 256; // move to next axis set
1260 }
1261
1262 if (axis.Y == 0)
1263 {
1264 ax = (new Vector3(0, 1, 0)) * curr;
1265 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1266 d.JointSetAMotorAngle(Amotor, i, 0);
1267 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1268 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1269 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1270 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1271 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1272 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1273 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1274 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1275 i++;
1276 j += 256;
1277 }
1278
1279 if (axis.Z == 0)
1280 {
1281 ax = (new Vector3(0, 0, 1)) * curr;
1282 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1283 d.JointSetAMotorAngle(Amotor, i, 0);
1284 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1285 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1286 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1287 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1288 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1289 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1290 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1291 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1292 }
1293 }
1294
1295 private bool setMesh(OdeScene parent_scene)
1296 {
1297 IntPtr vertices, indices;
1298 int vertexCount, indexCount;
1299 int vertexStride, triStride;
1300
1301 if (Body != IntPtr.Zero)
1302 {
1303 if (childPrim)
1304 {
1305 if (_parent != null)
1306 {
1307 OdePrim parent = (OdePrim)_parent;
1308 parent.ChildDelink(this, false);
1309 }
1310 }
1311 else
1312 {
1313 DestroyBody();
1314 }
1315 }
1316
1317 IMesh mesh = null;
1318
1319
1320 lock (m_meshlock)
1321 {
1322 if (m_mesh == null)
1323 {
1324 bool convex;
1325 if (m_shapetype == 0)
1326 convex = false;
1327 else
1328 convex = true;
1329
1330 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1331 }
1332 else
1333 {
1334 mesh = m_mesh;
1335 }
1336
1337 if (mesh == null)
1338 {
1339 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1340 return false;
1341 }
1342
1343
1344 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1345 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1346
1347 if (vertexCount == 0 || indexCount == 0)
1348 {
1349 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1350 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1351 mesh.releaseSourceMeshData();
1352 return false;
1353 }
1354
1355 primOOBoffset = mesh.GetCentroid();
1356 hasOOBoffsetFromMesh = true;
1357
1358 mesh.releaseSourceMeshData();
1359 m_mesh = null;
1360 }
1361
1362 IntPtr geo = IntPtr.Zero;
1363
1364 try
1365 {
1366 _triMeshData = d.GeomTriMeshDataCreate();
1367
1368 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1369 d.GeomTriMeshDataPreprocess(_triMeshData);
1370
1371 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1372 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1373 }
1374
1375 catch (Exception e)
1376 {
1377 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1378 if (_triMeshData != IntPtr.Zero)
1379 {
1380 d.GeomTriMeshDataDestroy(_triMeshData);
1381 _triMeshData = IntPtr.Zero;
1382 }
1383 return false;
1384 }
1385
1386 SetGeom(geo);
1387 return true;
1388 }
1389
1390 private void SetGeom(IntPtr geom)
1391 {
1392 prim_geom = geom;
1393 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1394 if (prim_geom != IntPtr.Zero)
1395 {
1396 if (m_NoColide)
1397 {
1398 d.GeomSetCategoryBits(prim_geom, 0);
1399 if (m_isphysical)
1400 {
1401 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1402 }
1403 else
1404 {
1405 d.GeomSetCollideBits(prim_geom, 0);
1406 d.GeomDisable(prim_geom);
1407 }
1408 }
1409 else
1410 {
1411 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1412 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1413 }
1414
1415 CalcPrimBodyData();
1416
1417 _parent_scene.geom_name_map[prim_geom] = Name;
1418 _parent_scene.actor_name_map[prim_geom] = this;
1419
1420 }
1421 else
1422 m_log.Warn("Setting bad Geom");
1423 }
1424
1425
1426 /// <summary>
1427 /// Create a geometry for the given mesh in the given target space.
1428 /// </summary>
1429 /// <param name="m_targetSpace"></param>
1430 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1431 private void CreateGeom()
1432 {
1433 if (_triMeshData != IntPtr.Zero)
1434 {
1435 d.GeomTriMeshDataDestroy(_triMeshData);
1436 _triMeshData = IntPtr.Zero;
1437 }
1438
1439 bool haveMesh = false;
1440 hasOOBoffsetFromMesh = false;
1441 m_NoColide = false;
1442
1443 if (_parent_scene.needsMeshing(_pbs))
1444 {
1445 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1446 if (!haveMesh)
1447 m_NoColide = true;
1448 }
1449
1450 if (!haveMesh)
1451 {
1452 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1453 && _size.X == _size.Y && _size.Y == _size.Z)
1454 { // it's a sphere
1455 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1456 try
1457 {
1458 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1459 }
1460 catch (Exception e)
1461 {
1462 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1463 return;
1464 }
1465 }
1466 else
1467 {// do it as a box
1468 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1469 try
1470 {
1471 //Console.WriteLine(" CreateGeom 4");
1472 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1473 }
1474 catch (Exception e)
1475 {
1476 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1477 return;
1478 }
1479 }
1480 }
1481 }
1482
1483 /// <summary>
1484 /// Set a new geometry for this prim.
1485 /// </summary>
1486 /// <param name="geom"></param>
1487 private void RemoveGeom()
1488 {
1489 if (prim_geom != IntPtr.Zero)
1490 {
1491 _parent_scene.geom_name_map.Remove(prim_geom);
1492 _parent_scene.actor_name_map.Remove(prim_geom);
1493 try
1494 {
1495 d.GeomDestroy(prim_geom);
1496 if (_triMeshData != IntPtr.Zero)
1497 {
1498 d.GeomTriMeshDataDestroy(_triMeshData);
1499 _triMeshData = IntPtr.Zero;
1500 }
1501 }
1502 // catch (System.AccessViolationException)
1503 catch (Exception e)
1504 {
1505 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1506 }
1507
1508 prim_geom = IntPtr.Zero;
1509 collide_geom = IntPtr.Zero;
1510 }
1511 else
1512 {
1513 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1514 }
1515 Body = IntPtr.Zero;
1516 hasOOBoffsetFromMesh = false;
1517 }
1518/*
1519 private void ChildSetGeom(OdePrim odePrim)
1520 {
1521 // well..
1522 DestroyBody();
1523 MakeBody();
1524 }
1525*/
1526 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1527 // should only be called for non physical prims unless they are becoming non physical
1528 private void SetInStaticSpace(OdePrim prim)
1529 {
1530 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1531 prim.m_targetSpace = targetSpace;
1532 collide_geom = IntPtr.Zero;
1533 }
1534
1535 public void enableBodySoft()
1536 {
1537 m_disabled = false;
1538 if (!childPrim && !m_isSelected)
1539 {
1540 if (m_isphysical && Body != IntPtr.Zero)
1541 {
1542 UpdateCollisionCatFlags();
1543 ApplyCollisionCatFlags();
1544
1545 d.BodyEnable(Body);
1546 }
1547 }
1548 resetCollisionAccounting();
1549 }
1550
1551 private void disableBodySoft()
1552 {
1553 m_disabled = true;
1554 if (!childPrim)
1555 {
1556 if (m_isphysical && Body != IntPtr.Zero)
1557 {
1558 if (m_isSelected)
1559 m_collisionFlags = CollisionCategories.Selected;
1560 else
1561 m_collisionCategories = 0;
1562 m_collisionFlags = 0;
1563 ApplyCollisionCatFlags();
1564 d.BodyDisable(Body);
1565 }
1566 }
1567 }
1568
1569 private void MakeBody()
1570 {
1571 if (!m_isphysical) // only physical get bodies
1572 return;
1573
1574 if (childPrim) // child prims don't get bodies;
1575 return;
1576
1577 if (m_building)
1578 return;
1579
1580 if (prim_geom == IntPtr.Zero)
1581 {
1582 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1583 return;
1584 }
1585
1586 if (Body != IntPtr.Zero)
1587 {
1588 d.BodyDestroy(Body);
1589 Body = IntPtr.Zero;
1590 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1591 }
1592
1593
1594 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1595 {
1596 d.GeomSetBody(prim_geom, IntPtr.Zero);
1597 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1598 }
1599
1600 d.Matrix3 mymat = new d.Matrix3();
1601 d.Quaternion myrot = new d.Quaternion();
1602 d.Mass objdmass = new d.Mass { };
1603
1604 Body = d.BodyCreate(_parent_scene.world);
1605
1606 objdmass = primdMass;
1607
1608 // rotate inertia
1609 myrot.X = _orientation.X;
1610 myrot.Y = _orientation.Y;
1611 myrot.Z = _orientation.Z;
1612 myrot.W = _orientation.W;
1613
1614 d.RfromQ(out mymat, ref myrot);
1615 d.MassRotate(ref objdmass, ref mymat);
1616
1617 // set the body rotation
1618 d.BodySetRotation(Body, ref mymat);
1619
1620 // recompute full object inertia if needed
1621 if (childrenPrim.Count > 0)
1622 {
1623 d.Matrix3 mat = new d.Matrix3();
1624 d.Quaternion quat = new d.Quaternion();
1625 d.Mass tmpdmass = new d.Mass { };
1626 Vector3 rcm;
1627
1628 rcm.X = _position.X;
1629 rcm.Y = _position.Y;
1630 rcm.Z = _position.Z;
1631
1632 lock (childrenPrim)
1633 {
1634 foreach (OdePrim prm in childrenPrim)
1635 {
1636 if (prm.prim_geom == IntPtr.Zero)
1637 {
1638 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1639 continue;
1640 }
1641
1642 tmpdmass = prm.primdMass;
1643
1644 // apply prim current rotation to inertia
1645 quat.X = prm._orientation.X;
1646 quat.Y = prm._orientation.Y;
1647 quat.Z = prm._orientation.Z;
1648 quat.W = prm._orientation.W;
1649 d.RfromQ(out mat, ref quat);
1650 d.MassRotate(ref tmpdmass, ref mat);
1651
1652 Vector3 ppos = prm._position;
1653 ppos.X -= rcm.X;
1654 ppos.Y -= rcm.Y;
1655 ppos.Z -= rcm.Z;
1656 // refer inertia to root prim center of mass position
1657 d.MassTranslate(ref tmpdmass,
1658 ppos.X,
1659 ppos.Y,
1660 ppos.Z);
1661
1662 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1663 // fix prim colision cats
1664
1665 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1666 {
1667 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1668 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1669 }
1670
1671 d.GeomClearOffset(prm.prim_geom);
1672 d.GeomSetBody(prm.prim_geom, Body);
1673 prm.Body = Body;
1674 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1675 }
1676 }
1677 }
1678
1679 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1680 // associate root geom with body
1681 d.GeomSetBody(prim_geom, Body);
1682
1683 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1684 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1685
1686 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1687 myrot.X = -myrot.X;
1688 myrot.Y = -myrot.Y;
1689 myrot.Z = -myrot.Z;
1690
1691 d.RfromQ(out mymat, ref myrot);
1692 d.MassRotate(ref objdmass, ref mymat);
1693
1694 d.BodySetMass(Body, ref objdmass);
1695 _mass = objdmass.mass;
1696
1697 // disconnect from world gravity so we can apply buoyancy
1698 d.BodySetGravityMode(Body, false);
1699
1700 d.BodySetAutoDisableFlag(Body, true);
1701 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1702 // d.BodySetLinearDampingThreshold(Body, 0.01f);
1703 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1704 d.BodySetDamping(Body, .002f, .002f);
1705
1706 if (m_targetSpace != IntPtr.Zero)
1707 {
1708 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1709 if (d.SpaceQuery(m_targetSpace, prim_geom))
1710 d.SpaceRemove(m_targetSpace, prim_geom);
1711 }
1712
1713
1714 if (childrenPrim.Count == 0)
1715 {
1716 collide_geom = prim_geom;
1717 m_targetSpace = _parent_scene.ActiveSpace;
1718 d.SpaceAdd(m_targetSpace, prim_geom);
1719 }
1720 else
1721 {
1722 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1723 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1724 d.SpaceSetSublevel(m_targetSpace, 3);
1725 d.SpaceSetCleanup(m_targetSpace, false);
1726 d.SpaceAdd(m_targetSpace, prim_geom);
1727
1728 d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space |
1729 CollisionCategories.Geom |
1730 CollisionCategories.Phantom |
1731 CollisionCategories.VolumeDtc
1732 ));
1733 d.GeomSetCollideBits(m_targetSpace, 0);
1734 collide_geom = m_targetSpace;
1735 }
1736
1737 if (m_delaySelect)
1738 {
1739 m_isSelected = true;
1740 m_delaySelect = false;
1741 }
1742
1743 lock (childrenPrim)
1744 {
1745 foreach (OdePrim prm in childrenPrim)
1746 {
1747 if (prm.prim_geom == IntPtr.Zero)
1748 continue;
1749
1750 Vector3 ppos = prm._position;
1751 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1752
1753 if (prm.m_targetSpace != m_targetSpace)
1754 {
1755 if (prm.m_targetSpace != IntPtr.Zero)
1756 {
1757 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1758 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1759 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1760 }
1761 prm.m_targetSpace = m_targetSpace;
1762 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1763 }
1764
1765 prm.m_collisionscore = 0;
1766
1767 if(!m_disabled)
1768 prm.m_disabled = false;
1769
1770 _parent_scene.addActivePrim(prm);
1771 }
1772 }
1773
1774 // The body doesn't already have a finite rotation mode set here
1775 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1776 {
1777 createAMotor(m_angularlock);
1778 }
1779
1780 m_collisionscore = 0;
1781
1782 UpdateCollisionCatFlags();
1783 ApplyCollisionCatFlags();
1784
1785 if (m_isSelected || m_disabled)
1786 {
1787 d.BodyDisable(Body);
1788 }
1789 else
1790 {
1791 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1792 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1793 }
1794
1795 _parent_scene.addActivePrim(this);
1796 _parent_scene.addActiveGroups(this);
1797 }
1798
1799 private void DestroyBody()
1800 {
1801 if (Body != IntPtr.Zero)
1802 {
1803 _parent_scene.remActivePrim(this);
1804
1805 collide_geom = IntPtr.Zero;
1806
1807 if (m_disabled)
1808 m_collisionCategories = 0;
1809 else if (m_isSelected)
1810 m_collisionCategories = CollisionCategories.Selected;
1811 else if (m_isVolumeDetect)
1812 m_collisionCategories = CollisionCategories.VolumeDtc;
1813 else if (m_isphantom)
1814 m_collisionCategories = CollisionCategories.Phantom;
1815 else
1816 m_collisionCategories = CollisionCategories.Geom;
1817
1818 m_collisionFlags = 0;
1819
1820 if (prim_geom != IntPtr.Zero)
1821 {
1822 if (m_NoColide)
1823 {
1824 d.GeomSetCategoryBits(prim_geom, 0);
1825 d.GeomSetCollideBits(prim_geom, 0);
1826 }
1827 else
1828 {
1829 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1830 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1831 }
1832 UpdateDataFromGeom();
1833 d.GeomSetBody(prim_geom, IntPtr.Zero);
1834 SetInStaticSpace(this);
1835 }
1836
1837 if (!childPrim)
1838 {
1839 lock (childrenPrim)
1840 {
1841 foreach (OdePrim prm in childrenPrim)
1842 {
1843 _parent_scene.remActivePrim(prm);
1844
1845 if (prm.m_isSelected)
1846 prm.m_collisionCategories = CollisionCategories.Selected;
1847 else if (prm.m_isVolumeDetect)
1848 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1849 else if (prm.m_isphantom)
1850 prm.m_collisionCategories = CollisionCategories.Phantom;
1851 else
1852 prm.m_collisionCategories = CollisionCategories.Geom;
1853
1854 prm.m_collisionFlags = 0;
1855
1856 if (prm.prim_geom != IntPtr.Zero)
1857 {
1858 if (prm.m_NoColide)
1859 {
1860 d.GeomSetCategoryBits(prm.prim_geom, 0);
1861 d.GeomSetCollideBits(prm.prim_geom, 0);
1862 }
1863 else
1864 {
1865 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1866 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1867 }
1868 prm.UpdateDataFromGeom();
1869 SetInStaticSpace(prm);
1870 }
1871 prm.Body = IntPtr.Zero;
1872 prm._mass = prm.primMass;
1873 prm.m_collisionscore = 0;
1874 }
1875 }
1876 if (Amotor != IntPtr.Zero)
1877 {
1878 d.JointDestroy(Amotor);
1879 Amotor = IntPtr.Zero;
1880 }
1881 _parent_scene.remActiveGroup(this);
1882 d.BodyDestroy(Body);
1883 }
1884 Body = IntPtr.Zero;
1885 }
1886 _mass = primMass;
1887 m_collisionscore = 0;
1888 }
1889
1890 private void FixInertia(Vector3 NewPos,Quaternion newrot)
1891 {
1892 d.Matrix3 mat = new d.Matrix3();
1893 d.Quaternion quat = new d.Quaternion();
1894
1895 d.Mass tmpdmass = new d.Mass { };
1896 d.Mass objdmass = new d.Mass { };
1897
1898 d.BodyGetMass(Body, out tmpdmass);
1899 objdmass = tmpdmass;
1900
1901 d.Vector3 dobjpos;
1902 d.Vector3 thispos;
1903
1904 // get current object position and rotation
1905 dobjpos = d.BodyGetPosition(Body);
1906
1907 // get prim own inertia in its local frame
1908 tmpdmass = primdMass;
1909
1910 // transform to object frame
1911 mat = d.GeomGetOffsetRotation(prim_geom);
1912 d.MassRotate(ref tmpdmass, ref mat);
1913
1914 thispos = d.GeomGetOffsetPosition(prim_geom);
1915 d.MassTranslate(ref tmpdmass,
1916 thispos.X,
1917 thispos.Y,
1918 thispos.Z);
1919
1920 // subtract current prim inertia from object
1921 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1922
1923 // back prim own inertia
1924 tmpdmass = primdMass;
1925
1926 // update to new position and orientation
1927 _position = NewPos;
1928 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1929 _orientation = newrot;
1930 quat.X = newrot.X;
1931 quat.Y = newrot.Y;
1932 quat.Z = newrot.Z;
1933 quat.W = newrot.W;
1934 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1935
1936 mat = d.GeomGetOffsetRotation(prim_geom);
1937 d.MassRotate(ref tmpdmass, ref mat);
1938
1939 thispos = d.GeomGetOffsetPosition(prim_geom);
1940 d.MassTranslate(ref tmpdmass,
1941 thispos.X,
1942 thispos.Y,
1943 thispos.Z);
1944
1945 d.MassAdd(ref objdmass, ref tmpdmass);
1946
1947 // fix all positions
1948 IntPtr g = d.BodyGetFirstGeom(Body);
1949 while (g != IntPtr.Zero)
1950 {
1951 thispos = d.GeomGetOffsetPosition(g);
1952 thispos.X -= objdmass.c.X;
1953 thispos.Y -= objdmass.c.Y;
1954 thispos.Z -= objdmass.c.Z;
1955 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1956 g = d.dBodyGetNextGeom(g);
1957 }
1958 d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
1959
1960 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1961 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1962 d.BodySetMass(Body, ref objdmass);
1963 _mass = objdmass.mass;
1964 }
1965
1966
1967
1968 private void FixInertia(Vector3 NewPos)
1969 {
1970 d.Matrix3 primmat = new d.Matrix3();
1971 d.Mass tmpdmass = new d.Mass { };
1972 d.Mass objdmass = new d.Mass { };
1973 d.Mass primmass = new d.Mass { };
1974
1975 d.Vector3 dobjpos;
1976 d.Vector3 thispos;
1977
1978 d.BodyGetMass(Body, out objdmass);
1979
1980 // get prim own inertia in its local frame
1981 primmass = primdMass;
1982 // transform to object frame
1983 primmat = d.GeomGetOffsetRotation(prim_geom);
1984 d.MassRotate(ref primmass, ref primmat);
1985
1986 tmpdmass = primmass;
1987
1988 thispos = d.GeomGetOffsetPosition(prim_geom);
1989 d.MassTranslate(ref tmpdmass,
1990 thispos.X,
1991 thispos.Y,
1992 thispos.Z);
1993
1994 // subtract current prim inertia from object
1995 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1996
1997 // update to new position
1998 _position = NewPos;
1999 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
2000
2001 thispos = d.GeomGetOffsetPosition(prim_geom);
2002 d.MassTranslate(ref primmass,
2003 thispos.X,
2004 thispos.Y,
2005 thispos.Z);
2006
2007 d.MassAdd(ref objdmass, ref primmass);
2008
2009 // fix all positions
2010 IntPtr g = d.BodyGetFirstGeom(Body);
2011 while (g != IntPtr.Zero)
2012 {
2013 thispos = d.GeomGetOffsetPosition(g);
2014 thispos.X -= objdmass.c.X;
2015 thispos.Y -= objdmass.c.Y;
2016 thispos.Z -= objdmass.c.Z;
2017 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2018 g = d.dBodyGetNextGeom(g);
2019 }
2020
2021 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2022
2023 // get current object position and rotation
2024 dobjpos = d.BodyGetPosition(Body);
2025
2026 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2027 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2028 d.BodySetMass(Body, ref objdmass);
2029 _mass = objdmass.mass;
2030 }
2031
2032 private void FixInertia(Quaternion newrot)
2033 {
2034 d.Matrix3 mat = new d.Matrix3();
2035 d.Quaternion quat = new d.Quaternion();
2036
2037 d.Mass tmpdmass = new d.Mass { };
2038 d.Mass objdmass = new d.Mass { };
2039 d.Vector3 dobjpos;
2040 d.Vector3 thispos;
2041
2042 d.BodyGetMass(Body, out objdmass);
2043
2044 // get prim own inertia in its local frame
2045 tmpdmass = primdMass;
2046 mat = d.GeomGetOffsetRotation(prim_geom);
2047 d.MassRotate(ref tmpdmass, ref mat);
2048 // transform to object frame
2049 thispos = d.GeomGetOffsetPosition(prim_geom);
2050 d.MassTranslate(ref tmpdmass,
2051 thispos.X,
2052 thispos.Y,
2053 thispos.Z);
2054
2055 // subtract current prim inertia from object
2056 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2057
2058 // update to new orientation
2059 _orientation = newrot;
2060 quat.X = newrot.X;
2061 quat.Y = newrot.Y;
2062 quat.Z = newrot.Z;
2063 quat.W = newrot.W;
2064 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
2065
2066 tmpdmass = primdMass;
2067 mat = d.GeomGetOffsetRotation(prim_geom);
2068 d.MassRotate(ref tmpdmass, ref mat);
2069 d.MassTranslate(ref tmpdmass,
2070 thispos.X,
2071 thispos.Y,
2072 thispos.Z);
2073
2074 d.MassAdd(ref objdmass, ref tmpdmass);
2075
2076 // fix all positions
2077 IntPtr g = d.BodyGetFirstGeom(Body);
2078 while (g != IntPtr.Zero)
2079 {
2080 thispos = d.GeomGetOffsetPosition(g);
2081 thispos.X -= objdmass.c.X;
2082 thispos.Y -= objdmass.c.Y;
2083 thispos.Z -= objdmass.c.Z;
2084 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2085 g = d.dBodyGetNextGeom(g);
2086 }
2087
2088 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2089 // get current object position and rotation
2090 dobjpos = d.BodyGetPosition(Body);
2091
2092 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2093 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2094 d.BodySetMass(Body, ref objdmass);
2095 _mass = objdmass.mass;
2096 }
2097
2098
2099 #region Mass Calculation
2100
2101 private float CalculatePrimVolume()
2102 {
2103 float volume = _size.X * _size.Y * _size.Z; // default
2104 float tmp;
2105
2106 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
2107 float hollowVolume = hollowAmount * hollowAmount;
2108
2109 switch (_pbs.ProfileShape)
2110 {
2111 case ProfileShape.Square:
2112 // default box
2113
2114 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2115 {
2116 if (hollowAmount > 0.0)
2117 {
2118 switch (_pbs.HollowShape)
2119 {
2120 case HollowShape.Square:
2121 case HollowShape.Same:
2122 break;
2123
2124 case HollowShape.Circle:
2125
2126 hollowVolume *= 0.78539816339f;
2127 break;
2128
2129 case HollowShape.Triangle:
2130
2131 hollowVolume *= (0.5f * .5f);
2132 break;
2133
2134 default:
2135 hollowVolume = 0;
2136 break;
2137 }
2138 volume *= (1.0f - hollowVolume);
2139 }
2140 }
2141
2142 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2143 {
2144 //a tube
2145
2146 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
2147 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
2148 volume -= volume * tmp * tmp;
2149
2150 if (hollowAmount > 0.0)
2151 {
2152 hollowVolume *= hollowAmount;
2153
2154 switch (_pbs.HollowShape)
2155 {
2156 case HollowShape.Square:
2157 case HollowShape.Same:
2158 break;
2159
2160 case HollowShape.Circle:
2161 hollowVolume *= 0.78539816339f;
2162 break;
2163
2164 case HollowShape.Triangle:
2165 hollowVolume *= 0.5f * 0.5f;
2166 break;
2167 default:
2168 hollowVolume = 0;
2169 break;
2170 }
2171 volume *= (1.0f - hollowVolume);
2172 }
2173 }
2174
2175 break;
2176
2177 case ProfileShape.Circle:
2178
2179 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2180 {
2181 volume *= 0.78539816339f; // elipse base
2182
2183 if (hollowAmount > 0.0)
2184 {
2185 switch (_pbs.HollowShape)
2186 {
2187 case HollowShape.Same:
2188 case HollowShape.Circle:
2189 break;
2190
2191 case HollowShape.Square:
2192 hollowVolume *= 0.5f * 2.5984480504799f;
2193 break;
2194
2195 case HollowShape.Triangle:
2196 hollowVolume *= .5f * 1.27323954473516f;
2197 break;
2198
2199 default:
2200 hollowVolume = 0;
2201 break;
2202 }
2203 volume *= (1.0f - hollowVolume);
2204 }
2205 }
2206
2207 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2208 {
2209 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
2210 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2211 volume *= (1.0f - tmp * tmp);
2212
2213 if (hollowAmount > 0.0)
2214 {
2215
2216 // calculate the hollow volume by it's shape compared to the prim shape
2217 hollowVolume *= hollowAmount;
2218
2219 switch (_pbs.HollowShape)
2220 {
2221 case HollowShape.Same:
2222 case HollowShape.Circle:
2223 break;
2224
2225 case HollowShape.Square:
2226 hollowVolume *= 0.5f * 2.5984480504799f;
2227 break;
2228
2229 case HollowShape.Triangle:
2230 hollowVolume *= .5f * 1.27323954473516f;
2231 break;
2232
2233 default:
2234 hollowVolume = 0;
2235 break;
2236 }
2237 volume *= (1.0f - hollowVolume);
2238 }
2239 }
2240 break;
2241
2242 case ProfileShape.HalfCircle:
2243 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2244 {
2245 volume *= 0.5236f;
2246
2247 if (hollowAmount > 0.0)
2248 {
2249 hollowVolume *= hollowAmount;
2250
2251 switch (_pbs.HollowShape)
2252 {
2253 case HollowShape.Circle:
2254 case HollowShape.Triangle: // diference in sl is minor and odd
2255 case HollowShape.Same:
2256 break;
2257
2258 case HollowShape.Square:
2259 hollowVolume *= 0.909f;
2260 break;
2261
2262 // case HollowShape.Triangle:
2263 // hollowVolume *= .827f;
2264 // break;
2265 default:
2266 hollowVolume = 0;
2267 break;
2268 }
2269 volume *= (1.0f - hollowVolume);
2270 }
2271
2272 }
2273 break;
2274
2275 case ProfileShape.EquilateralTriangle:
2276
2277 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2278 {
2279 volume *= 0.32475953f;
2280
2281 if (hollowAmount > 0.0)
2282 {
2283
2284 // calculate the hollow volume by it's shape compared to the prim shape
2285 switch (_pbs.HollowShape)
2286 {
2287 case HollowShape.Same:
2288 case HollowShape.Triangle:
2289 hollowVolume *= .25f;
2290 break;
2291
2292 case HollowShape.Square:
2293 hollowVolume *= 0.499849f * 3.07920140172638f;
2294 break;
2295
2296 case HollowShape.Circle:
2297 // Hollow shape is a perfect cyllinder in respect to the cube's scale
2298 // Cyllinder hollow volume calculation
2299
2300 hollowVolume *= 0.1963495f * 3.07920140172638f;
2301 break;
2302
2303 default:
2304 hollowVolume = 0;
2305 break;
2306 }
2307 volume *= (1.0f - hollowVolume);
2308 }
2309 }
2310 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2311 {
2312 volume *= 0.32475953f;
2313 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
2314 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2315 volume *= (1.0f - tmp * tmp);
2316
2317 if (hollowAmount > 0.0)
2318 {
2319
2320 hollowVolume *= hollowAmount;
2321
2322 switch (_pbs.HollowShape)
2323 {
2324 case HollowShape.Same:
2325 case HollowShape.Triangle:
2326 hollowVolume *= .25f;
2327 break;
2328
2329 case HollowShape.Square:
2330 hollowVolume *= 0.499849f * 3.07920140172638f;
2331 break;
2332
2333 case HollowShape.Circle:
2334
2335 hollowVolume *= 0.1963495f * 3.07920140172638f;
2336 break;
2337
2338 default:
2339 hollowVolume = 0;
2340 break;
2341 }
2342 volume *= (1.0f - hollowVolume);
2343 }
2344 }
2345 break;
2346
2347 default:
2348 break;
2349 }
2350
2351 float taperX1;
2352 float taperY1;
2353 float taperX;
2354 float taperY;
2355 float pathBegin;
2356 float pathEnd;
2357 float profileBegin;
2358 float profileEnd;
2359
2360 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
2361 {
2362 taperX1 = _pbs.PathScaleX * 0.01f;
2363 if (taperX1 > 1.0f)
2364 taperX1 = 2.0f - taperX1;
2365 taperX = 1.0f - taperX1;
2366
2367 taperY1 = _pbs.PathScaleY * 0.01f;
2368 if (taperY1 > 1.0f)
2369 taperY1 = 2.0f - taperY1;
2370 taperY = 1.0f - taperY1;
2371 }
2372 else
2373 {
2374 taperX = _pbs.PathTaperX * 0.01f;
2375 if (taperX < 0.0f)
2376 taperX = -taperX;
2377 taperX1 = 1.0f - taperX;
2378
2379 taperY = _pbs.PathTaperY * 0.01f;
2380 if (taperY < 0.0f)
2381 taperY = -taperY;
2382 taperY1 = 1.0f - taperY;
2383 }
2384
2385 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
2386
2387 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
2388 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
2389 volume *= (pathEnd - pathBegin);
2390
2391 // this is crude aproximation
2392 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
2393 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
2394 volume *= (profileEnd - profileBegin);
2395
2396 return volume;
2397 }
2398
2399
2400 private void CalcPrimBodyData()
2401 {
2402 float volume;
2403
2404 if (prim_geom == IntPtr.Zero)
2405 {
2406 // Ubit let's have a initial basic OOB
2407 primOOBsize.X = _size.X;
2408 primOOBsize.Y = _size.Y;
2409 primOOBsize.Z = _size.Z;
2410 primOOBoffset = Vector3.Zero;
2411 }
2412 else
2413 {
2414 d.AABB AABB;
2415 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
2416
2417 primOOBsize.X = (AABB.MaxX - AABB.MinX);
2418 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
2419 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
2420 if (!hasOOBoffsetFromMesh)
2421 {
2422 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
2423 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
2424 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
2425 }
2426 }
2427
2428 // also its own inertia and mass
2429 // keep using basic shape mass for now
2430 volume = CalculatePrimVolume();
2431
2432 primVolume = volume;
2433 primMass = m_density * volume;
2434
2435 if (primMass <= 0)
2436 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2437 if (primMass > _parent_scene.maximumMassObject)
2438 primMass = _parent_scene.maximumMassObject;
2439
2440 _mass = primMass; // just in case
2441
2442 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
2443
2444 d.MassTranslate(ref primdMass,
2445 primOOBoffset.X,
2446 primOOBoffset.Y,
2447 primOOBoffset.Z);
2448
2449 primOOBsize *= 0.5f; // let obb size be a corner coords
2450 primOOBradiusSQ = primOOBsize.LengthSquared();
2451 }
2452
2453
2454 #endregion
2455
2456
2457 /// <summary>
2458 /// Add a child prim to this parent prim.
2459 /// </summary>
2460 /// <param name="prim">Child prim</param>
2461 // I'm the parent
2462 // prim is the child
2463 public void ParentPrim(OdePrim prim)
2464 {
2465 //Console.WriteLine("ParentPrim " + m_primName);
2466 if (this.m_localID != prim.m_localID)
2467 {
2468 DestroyBody(); // for now we need to rebuil entire object on link change
2469
2470 lock (childrenPrim)
2471 {
2472 // adopt the prim
2473 if (!childrenPrim.Contains(prim))
2474 childrenPrim.Add(prim);
2475
2476 // see if this prim has kids and adopt them also
2477 // should not happen for now
2478 foreach (OdePrim prm in prim.childrenPrim)
2479 {
2480 if (!childrenPrim.Contains(prm))
2481 {
2482 if (prm.Body != IntPtr.Zero)
2483 {
2484 if (prm.prim_geom != IntPtr.Zero)
2485 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2486 if (prm.Body != prim.Body)
2487 prm.DestroyBody(); // don't loose bodies around
2488 prm.Body = IntPtr.Zero;
2489 }
2490
2491 childrenPrim.Add(prm);
2492 prm._parent = this;
2493 }
2494 }
2495 }
2496 //Remove old children from the prim
2497 prim.childrenPrim.Clear();
2498
2499 if (prim.Body != IntPtr.Zero)
2500 {
2501 if (prim.prim_geom != IntPtr.Zero)
2502 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2503 prim.DestroyBody(); // don't loose bodies around
2504 prim.Body = IntPtr.Zero;
2505 }
2506
2507 prim.childPrim = true;
2508 prim._parent = this;
2509
2510 MakeBody(); // full nasty reconstruction
2511 }
2512 }
2513
2514 private void UpdateChildsfromgeom()
2515 {
2516 if (childrenPrim.Count > 0)
2517 {
2518 foreach (OdePrim prm in childrenPrim)
2519 prm.UpdateDataFromGeom();
2520 }
2521 }
2522
2523 private void UpdateDataFromGeom()
2524 {
2525 if (prim_geom != IntPtr.Zero)
2526 {
2527 d.Quaternion qtmp;
2528 d.GeomCopyQuaternion(prim_geom, out qtmp);
2529 _orientation.W = qtmp.W;
2530 _orientation.X = qtmp.X;
2531 _orientation.Y = qtmp.Y;
2532 _orientation.Z = qtmp.Z;
2533
2534 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
2535 _position.X = lpos.X;
2536 _position.Y = lpos.Y;
2537 _position.Z = lpos.Z;
2538 }
2539 }
2540
2541 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2542 {
2543 // Okay, we have a delinked child.. destroy all body and remake
2544 if (odePrim != this && !childrenPrim.Contains(odePrim))
2545 return;
2546
2547 DestroyBody();
2548
2549 if (odePrim == this) // delinking the root prim
2550 {
2551 OdePrim newroot = null;
2552 lock (childrenPrim)
2553 {
2554 if (childrenPrim.Count > 0)
2555 {
2556 newroot = childrenPrim[0];
2557 childrenPrim.RemoveAt(0);
2558 foreach (OdePrim prm in childrenPrim)
2559 {
2560 newroot.childrenPrim.Add(prm);
2561 }
2562 childrenPrim.Clear();
2563 }
2564 if (newroot != null)
2565 {
2566 newroot.childPrim = false;
2567 newroot._parent = null;
2568 if (remakebodies)
2569 newroot.MakeBody();
2570 }
2571 }
2572 }
2573
2574 else
2575 {
2576 lock (childrenPrim)
2577 {
2578 childrenPrim.Remove(odePrim);
2579 odePrim.childPrim = false;
2580 odePrim._parent = null;
2581 // odePrim.UpdateDataFromGeom();
2582 if (remakebodies)
2583 odePrim.MakeBody();
2584 }
2585 }
2586 if (remakebodies)
2587 MakeBody();
2588 }
2589
2590 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2591 {
2592 // Okay, we have a delinked child.. destroy all body and remake
2593 if (odePrim != this && !childrenPrim.Contains(odePrim))
2594 return;
2595
2596 DestroyBody();
2597
2598 if (odePrim == this)
2599 {
2600 OdePrim newroot = null;
2601 lock (childrenPrim)
2602 {
2603 if (childrenPrim.Count > 0)
2604 {
2605 newroot = childrenPrim[0];
2606 childrenPrim.RemoveAt(0);
2607 foreach (OdePrim prm in childrenPrim)
2608 {
2609 newroot.childrenPrim.Add(prm);
2610 }
2611 childrenPrim.Clear();
2612 }
2613 if (newroot != null)
2614 {
2615 newroot.childPrim = false;
2616 newroot._parent = null;
2617 newroot.MakeBody();
2618 }
2619 }
2620 if (reMakeBody)
2621 MakeBody();
2622 return;
2623 }
2624 else
2625 {
2626 lock (childrenPrim)
2627 {
2628 childrenPrim.Remove(odePrim);
2629 odePrim.childPrim = false;
2630 odePrim._parent = null;
2631 if (reMakeBody)
2632 odePrim.MakeBody();
2633 }
2634 }
2635 MakeBody();
2636 }
2637
2638 #region changes
2639
2640 private void changeadd()
2641 {
2642 CreateGeom();
2643
2644 if (prim_geom != IntPtr.Zero)
2645 {
2646 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2647 d.Quaternion myrot = new d.Quaternion();
2648 myrot.X = _orientation.X;
2649 myrot.Y = _orientation.Y;
2650 myrot.Z = _orientation.Z;
2651 myrot.W = _orientation.W;
2652 d.GeomSetQuaternion(prim_geom, ref myrot);
2653
2654 if (!m_isphysical)
2655 {
2656 SetInStaticSpace(this);
2657 UpdateCollisionCatFlags();
2658 ApplyCollisionCatFlags();
2659 }
2660 else
2661 MakeBody();
2662 }
2663 }
2664
2665 private void changeAngularLock(Vector3 newLock)
2666 {
2667 // do we have a Physical object?
2668 if (Body != IntPtr.Zero)
2669 {
2670 //Check that we have a Parent
2671 //If we have a parent then we're not authorative here
2672 if (_parent == null)
2673 {
2674 if (!newLock.ApproxEquals(Vector3.One, 0f))
2675 {
2676 createAMotor(newLock);
2677 }
2678 else
2679 {
2680 if (Amotor != IntPtr.Zero)
2681 {
2682 d.JointDestroy(Amotor);
2683 Amotor = IntPtr.Zero;
2684 }
2685 }
2686 }
2687 }
2688 // Store this for later in case we get turned into a separate body
2689 m_angularlock = newLock;
2690 }
2691
2692 private void changeLink(OdePrim NewParent)
2693 {
2694 if (_parent == null && NewParent != null)
2695 {
2696 NewParent.ParentPrim(this);
2697 }
2698 else if (_parent != null)
2699 {
2700 if (_parent is OdePrim)
2701 {
2702 if (NewParent != _parent)
2703 {
2704 (_parent as OdePrim).ChildDelink(this, false); // for now...
2705 childPrim = false;
2706
2707 if (NewParent != null)
2708 {
2709 NewParent.ParentPrim(this);
2710 }
2711 }
2712 }
2713 }
2714 _parent = NewParent;
2715 }
2716
2717
2718 private void Stop()
2719 {
2720 if (!childPrim)
2721 {
2722 m_force = Vector3.Zero;
2723 m_forceacc = Vector3.Zero;
2724 m_angularForceacc = Vector3.Zero;
2725 _torque = Vector3.Zero;
2726 _velocity = Vector3.Zero;
2727 _acceleration = Vector3.Zero;
2728 m_rotationalVelocity = Vector3.Zero;
2729 _target_velocity = Vector3.Zero;
2730 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2731 m_vehicle.Stop();
2732 }
2733
2734 if (Body != IntPtr.Zero)
2735 {
2736 d.BodySetForce(Body, 0f, 0f, 0f);
2737 d.BodySetTorque(Body, 0f, 0f, 0f);
2738 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2739 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2740 }
2741 }
2742
2743 private void changePhantomStatus(bool newval)
2744 {
2745 m_isphantom = newval;
2746
2747 UpdateCollisionCatFlags();
2748 ApplyCollisionCatFlags();
2749 }
2750
2751/* not in use
2752 internal void ChildSelectedChange(bool childSelect)
2753 {
2754 if(childPrim)
2755 return;
2756
2757 if (childSelect == m_isSelected)
2758 return;
2759
2760 if (childSelect)
2761 {
2762 DoSelectedStatus(true);
2763 }
2764
2765 else
2766 {
2767 foreach (OdePrim prm in childrenPrim)
2768 {
2769 if (prm.m_isSelected)
2770 return;
2771 }
2772 DoSelectedStatus(false);
2773 }
2774 }
2775*/
2776 private void changeSelectedStatus(bool newval)
2777 {
2778 if (m_lastdoneSelected == newval)
2779 return;
2780
2781 m_lastdoneSelected = newval;
2782 DoSelectedStatus(newval);
2783 }
2784
2785 private void CheckDelaySelect()
2786 {
2787 if (m_delaySelect)
2788 {
2789 DoSelectedStatus(m_isSelected);
2790 }
2791 }
2792
2793 private void DoSelectedStatus(bool newval)
2794 {
2795 m_isSelected = newval;
2796 Stop();
2797
2798 if (newval)
2799 {
2800 if (!childPrim && Body != IntPtr.Zero)
2801 d.BodyDisable(Body);
2802
2803 if (m_delaySelect || m_isphysical)
2804 {
2805 m_collisionCategories = CollisionCategories.Selected;
2806 m_collisionFlags = 0;
2807
2808 if (!childPrim)
2809 {
2810 foreach (OdePrim prm in childrenPrim)
2811 {
2812 prm.m_collisionCategories = m_collisionCategories;
2813 prm.m_collisionFlags = m_collisionFlags;
2814
2815 if (prm.prim_geom != null)
2816 {
2817
2818 if (prm.m_NoColide)
2819 {
2820 d.GeomSetCategoryBits(prm.prim_geom, 0);
2821 d.GeomSetCollideBits(prm.prim_geom, 0);
2822 }
2823 else
2824 {
2825 d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories);
2826 d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags);
2827 }
2828 }
2829 prm.m_delaySelect = false;
2830 }
2831 }
2832// else if (_parent != null)
2833// ((OdePrim)_parent).ChildSelectedChange(true);
2834
2835
2836 if (prim_geom != null)
2837 {
2838 if (m_NoColide)
2839 {
2840 d.GeomSetCategoryBits(prim_geom, 0);
2841 d.GeomSetCollideBits(prim_geom, 0);
2842 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2843 {
2844 d.GeomSetCategoryBits(collide_geom, 0);
2845 d.GeomSetCollideBits(collide_geom, 0);
2846 }
2847
2848 }
2849 else
2850 {
2851 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
2852 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
2853 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2854 {
2855 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
2856 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
2857 }
2858 }
2859 }
2860
2861 m_delaySelect = false;
2862 }
2863 else if(!m_isphysical)
2864 {
2865 m_delaySelect = true;
2866 }
2867 }
2868 else
2869 {
2870 if (!childPrim)
2871 {
2872 if (Body != IntPtr.Zero && !m_disabled)
2873 d.BodyEnable(Body);
2874 }
2875// else if (_parent != null)
2876// ((OdePrim)_parent).ChildSelectedChange(false);
2877
2878 UpdateCollisionCatFlags();
2879 ApplyCollisionCatFlags();
2880
2881 m_delaySelect = false;
2882 }
2883
2884 resetCollisionAccounting();
2885 }
2886
2887 private void changePosition(Vector3 newPos)
2888 {
2889 CheckDelaySelect();
2890 if (m_isphysical)
2891 {
2892 if (childPrim) // inertia is messed, must rebuild
2893 {
2894 if (m_building)
2895 {
2896 _position = newPos;
2897 }
2898
2899 else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
2900 {
2901 FixInertia(newPos);
2902 if (!d.BodyIsEnabled(Body))
2903 d.BodyEnable(Body);
2904 }
2905 }
2906 else
2907 {
2908 if (_position != newPos)
2909 {
2910 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2911 _position = newPos;
2912 }
2913 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2914 d.BodyEnable(Body);
2915 }
2916 }
2917 else
2918 {
2919 if (prim_geom != IntPtr.Zero)
2920 {
2921 if (newPos != _position)
2922 {
2923 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2924 _position = newPos;
2925
2926 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2927 }
2928 }
2929 }
2930 givefakepos--;
2931 if (givefakepos < 0)
2932 givefakepos = 0;
2933 // changeSelectedStatus();
2934 resetCollisionAccounting();
2935 }
2936
2937 private void changeOrientation(Quaternion newOri)
2938 {
2939 CheckDelaySelect();
2940 if (m_isphysical)
2941 {
2942 if (childPrim) // inertia is messed, must rebuild
2943 {
2944 if (m_building)
2945 {
2946 _orientation = newOri;
2947 }
2948 /*
2949 else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
2950 {
2951 FixInertia(_position, newOri);
2952 if (!d.BodyIsEnabled(Body))
2953 d.BodyEnable(Body);
2954 }
2955 */
2956 }
2957 else
2958 {
2959 if (newOri != _orientation)
2960 {
2961 d.Quaternion myrot = new d.Quaternion();
2962 myrot.X = newOri.X;
2963 myrot.Y = newOri.Y;
2964 myrot.Z = newOri.Z;
2965 myrot.W = newOri.W;
2966 d.GeomSetQuaternion(prim_geom, ref myrot);
2967 _orientation = newOri;
2968 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2969 createAMotor(m_angularlock);
2970 }
2971 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2972 d.BodyEnable(Body);
2973 }
2974 }
2975 else
2976 {
2977 if (prim_geom != IntPtr.Zero)
2978 {
2979 if (newOri != _orientation)
2980 {
2981 d.Quaternion myrot = new d.Quaternion();
2982 myrot.X = newOri.X;
2983 myrot.Y = newOri.Y;
2984 myrot.Z = newOri.Z;
2985 myrot.W = newOri.W;
2986 d.GeomSetQuaternion(prim_geom, ref myrot);
2987 _orientation = newOri;
2988 }
2989 }
2990 }
2991 givefakeori--;
2992 if (givefakeori < 0)
2993 givefakeori = 0;
2994 resetCollisionAccounting();
2995 }
2996
2997 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
2998 {
2999 CheckDelaySelect();
3000 if (m_isphysical)
3001 {
3002 if (childPrim && m_building) // inertia is messed, must rebuild
3003 {
3004 _position = newPos;
3005 _orientation = newOri;
3006 }
3007 else
3008 {
3009 if (newOri != _orientation)
3010 {
3011 d.Quaternion myrot = new d.Quaternion();
3012 myrot.X = newOri.X;
3013 myrot.Y = newOri.Y;
3014 myrot.Z = newOri.Z;
3015 myrot.W = newOri.W;
3016 d.GeomSetQuaternion(prim_geom, ref myrot);
3017 _orientation = newOri;
3018 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
3019 createAMotor(m_angularlock);
3020 }
3021 if (_position != newPos)
3022 {
3023 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3024 _position = newPos;
3025 }
3026 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3027 d.BodyEnable(Body);
3028 }
3029 }
3030 else
3031 {
3032 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
3033 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
3034
3035 if (prim_geom != IntPtr.Zero)
3036 {
3037 if (newOri != _orientation)
3038 {
3039 d.Quaternion myrot = new d.Quaternion();
3040 myrot.X = newOri.X;
3041 myrot.Y = newOri.Y;
3042 myrot.Z = newOri.Z;
3043 myrot.W = newOri.W;
3044 d.GeomSetQuaternion(prim_geom, ref myrot);
3045 _orientation = newOri;
3046 }
3047
3048 if (newPos != _position)
3049 {
3050 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3051 _position = newPos;
3052
3053 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
3054 }
3055 }
3056 }
3057 givefakepos--;
3058 if (givefakepos < 0)
3059 givefakepos = 0;
3060 givefakeori--;
3061 if (givefakeori < 0)
3062 givefakeori = 0;
3063 resetCollisionAccounting();
3064 }
3065
3066
3067 private void changeDisable(bool disable)
3068 {
3069 if (disable)
3070 {
3071 if (!m_disabled)
3072 disableBodySoft();
3073 }
3074 else
3075 {
3076 if (m_disabled)
3077 enableBodySoft();
3078 }
3079 }
3080
3081 private void changePhysicsStatus(bool NewStatus)
3082 {
3083 CheckDelaySelect();
3084
3085 m_isphysical = NewStatus;
3086
3087 if (!childPrim)
3088 {
3089 if (NewStatus)
3090 {
3091 if (Body == IntPtr.Zero)
3092 MakeBody();
3093 }
3094 else
3095 {
3096 if (Body != IntPtr.Zero)
3097 {
3098 DestroyBody();
3099 }
3100 Stop();
3101 }
3102 }
3103
3104 resetCollisionAccounting();
3105 }
3106
3107 private void changeprimsizeshape()
3108 {
3109 CheckDelaySelect();
3110
3111 OdePrim parent = (OdePrim)_parent;
3112
3113 bool chp = childPrim;
3114
3115 if (chp)
3116 {
3117 if (parent != null)
3118 {
3119 parent.DestroyBody();
3120 }
3121 }
3122 else
3123 {
3124 DestroyBody();
3125 }
3126
3127 RemoveGeom();
3128
3129 // we don't need to do space calculation because the client sends a position update also.
3130 if (_size.X <= 0)
3131 _size.X = 0.01f;
3132 if (_size.Y <= 0)
3133 _size.Y = 0.01f;
3134 if (_size.Z <= 0)
3135 _size.Z = 0.01f;
3136 // Construction of new prim
3137
3138 CreateGeom();
3139
3140 if (prim_geom != IntPtr.Zero)
3141 {
3142 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3143 d.Quaternion myrot = new d.Quaternion();
3144 myrot.X = _orientation.X;
3145 myrot.Y = _orientation.Y;
3146 myrot.Z = _orientation.Z;
3147 myrot.W = _orientation.W;
3148 d.GeomSetQuaternion(prim_geom, ref myrot);
3149 }
3150
3151 if (m_isphysical)
3152 {
3153 if (chp)
3154 {
3155 if (parent != null)
3156 {
3157 parent.MakeBody();
3158 }
3159 }
3160 else
3161 MakeBody();
3162 }
3163
3164 else
3165 {
3166 UpdateCollisionCatFlags();
3167 ApplyCollisionCatFlags();
3168 }
3169
3170 resetCollisionAccounting();
3171 }
3172
3173 private void changeSize(Vector3 newSize)
3174 {
3175 _size = newSize;
3176 changeprimsizeshape();
3177 }
3178
3179 private void changeShape(PrimitiveBaseShape newShape)
3180 {
3181 if(newShape != null)
3182 _pbs = newShape;
3183 changeprimsizeshape();
3184 }
3185
3186 private void changeFloatOnWater(bool newval)
3187 {
3188 m_collidesWater = newval;
3189
3190 UpdateCollisionCatFlags();
3191 ApplyCollisionCatFlags();
3192 }
3193
3194 private void changeSetTorque(Vector3 newtorque)
3195 {
3196 if (!m_isSelected)
3197 {
3198 if (m_isphysical && Body != IntPtr.Zero)
3199 {
3200 if (m_disabled)
3201 enableBodySoft();
3202 else if (!d.BodyIsEnabled(Body))
3203 d.BodyEnable(Body);
3204
3205 }
3206 _torque = newtorque;
3207 }
3208 }
3209
3210 private void changeForce(Vector3 force)
3211 {
3212 m_force = force;
3213 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3214 d.BodyEnable(Body);
3215 }
3216
3217
3218 private void changeAddImpulse(Vector3 impulse)
3219 {
3220 m_forceacc += impulse *m_invTimeStep;
3221 if (!m_isSelected)
3222 {
3223 lock (this)
3224 {
3225 //m_log.Info("[PHYSICS]: dequeing forcelist");
3226 if (m_isphysical && Body != IntPtr.Zero)
3227 {
3228 if (m_disabled)
3229 enableBodySoft();
3230 else if (!d.BodyIsEnabled(Body))
3231 d.BodyEnable(Body);
3232 }
3233 }
3234
3235 m_collisionscore = 0;
3236 }
3237 }
3238
3239 // actually angular impulse
3240 private void changeAddAngularImpulse(Vector3 aimpulse)
3241 {
3242 m_angularForceacc += aimpulse * m_invTimeStep;
3243 if (!m_isSelected)
3244 {
3245 lock (this)
3246 {
3247 if (m_isphysical && Body != IntPtr.Zero)
3248 {
3249 if (m_disabled)
3250 enableBodySoft();
3251 else if (!d.BodyIsEnabled(Body))
3252 d.BodyEnable(Body);
3253 }
3254 }
3255 m_collisionscore = 0;
3256 }
3257 }
3258
3259 private void changevelocity(Vector3 newVel)
3260 {
3261 if (!m_isSelected)
3262 {
3263 if (Body != IntPtr.Zero)
3264 {
3265 if (m_disabled)
3266 enableBodySoft();
3267 else if (!d.BodyIsEnabled(Body))
3268 d.BodyEnable(Body);
3269
3270 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3271 }
3272 //resetCollisionAccounting();
3273 }
3274 _velocity = newVel;
3275 }
3276
3277 private void changeVolumedetetion(bool newVolDtc)
3278 {
3279 m_isVolumeDetect = newVolDtc;
3280 m_fakeisVolumeDetect = newVolDtc;
3281 UpdateCollisionCatFlags();
3282 ApplyCollisionCatFlags();
3283 }
3284
3285 protected void changeBuilding(bool newbuilding)
3286 {
3287 if ((bool)newbuilding)
3288 {
3289 m_building = true;
3290 if (!childPrim)
3291 DestroyBody();
3292 }
3293 else
3294 {
3295 m_building = false;
3296 CheckDelaySelect();
3297 if (!childPrim)
3298 MakeBody();
3299 }
3300 if (!childPrim && childrenPrim.Count > 0)
3301 {
3302 foreach (OdePrim prm in childrenPrim)
3303 prm.changeBuilding(m_building); // call directly
3304 }
3305 }
3306
3307 public void changeSetVehicle(VehicleData vdata)
3308 {
3309 if (m_vehicle == null)
3310 m_vehicle = new ODEDynamics(this);
3311 m_vehicle.DoSetVehicle(vdata);
3312 }
3313 private void changeVehicleType(int value)
3314 {
3315 if (value == (int)Vehicle.TYPE_NONE)
3316 {
3317 if (m_vehicle != null)
3318 m_vehicle = null;
3319 }
3320 else
3321 {
3322 if (m_vehicle == null)
3323 m_vehicle = new ODEDynamics(this);
3324
3325 m_vehicle.ProcessTypeChange((Vehicle)value);
3326 }
3327 }
3328
3329 private void changeVehicleFloatParam(strVehicleFloatParam fp)
3330 {
3331 if (m_vehicle == null)
3332 return;
3333
3334 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
3335 }
3336
3337 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3338 {
3339 if (m_vehicle == null)
3340 return;
3341 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3342 }
3343
3344 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3345 {
3346 if (m_vehicle == null)
3347 return;
3348 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3349 }
3350
3351 private void changeVehicleFlags(strVehicleBoolParam bp)
3352 {
3353 if (m_vehicle == null)
3354 return;
3355 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3356 }
3357
3358 #endregion
3359
3360 public void Move()
3361 {
3362 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3363 !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3364 {
3365 if (!d.BodyIsEnabled(Body))
3366 {
3367 // let vehicles sleep
3368 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3369 return;
3370
3371 if (++bodydisablecontrol < 20)
3372 return;
3373
3374 bodydisablecontrol = 0;
3375 d.BodyEnable(Body);
3376 }
3377
3378 // check outside region
3379 d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
3380
3381 if (lpos.Z < -100 || lpos.Z > 100000f)
3382 {
3383 m_outbounds = true;
3384
3385 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3386 _acceleration.X = 0;
3387 _acceleration.Y = 0;
3388 _acceleration.Z = 0;
3389
3390 _velocity.X = 0;
3391 _velocity.Y = 0;
3392 _velocity.Z = 0;
3393 m_rotationalVelocity.X = 0;
3394 m_rotationalVelocity.Y = 0;
3395 m_rotationalVelocity.Z = 0;
3396
3397 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3398 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3399 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3400 m_lastposition = _position;
3401 m_lastorientation = _orientation;
3402
3403 base.RequestPhysicsterseUpdate();
3404
3405 throttleCounter = 0;
3406 _zeroFlag = true;
3407
3408 disableBodySoft(); // disable it and colisions
3409 base.RaiseOutOfBounds(_position);
3410 return;
3411 }
3412
3413 if (lpos.X < 0f)
3414 {
3415 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3416 m_outbounds = true;
3417 }
3418 else if (lpos.X > _parent_scene.WorldExtents.X)
3419 {
3420 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3421 m_outbounds = true;
3422 }
3423 if (lpos.Y < 0f)
3424 {
3425 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3426 m_outbounds = true;
3427 }
3428 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3429 {
3430 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3431 m_outbounds = true;
3432 }
3433
3434 if (m_outbounds)
3435 {
3436 m_lastposition = _position;
3437 m_lastorientation = _orientation;
3438
3439 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3440 m_rotationalVelocity.X = dtmp.X;
3441 m_rotationalVelocity.Y = dtmp.Y;
3442 m_rotationalVelocity.Z = dtmp.Z;
3443
3444 dtmp = d.BodyGetLinearVel(Body);
3445 _velocity.X = dtmp.X;
3446 _velocity.Y = dtmp.Y;
3447 _velocity.Z = dtmp.Z;
3448
3449 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3450 d.BodySetAngularVel(Body, 0, 0, 0);
3451 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3452 disableBodySoft(); // stop collisions
3453 base.RequestPhysicsterseUpdate();
3454 return;
3455 }
3456
3457 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3458 {
3459 // 'VEHICLES' are dealt with in ODEDynamics.cs
3460 m_vehicle.Step();
3461 return;
3462 }
3463
3464 float fx = 0;
3465 float fy = 0;
3466 float fz = 0;
3467
3468 float m_mass = _mass;
3469
3470 if (m_usePID && m_PIDTau > 0)
3471 {
3472 // for now position error
3473 _target_velocity =
3474 new Vector3(
3475 (m_PIDTarget.X - lpos.X),
3476 (m_PIDTarget.Y - lpos.Y),
3477 (m_PIDTarget.Z - lpos.Z)
3478 );
3479
3480 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
3481 {
3482 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3483 d.BodySetLinearVel(Body, 0, 0, 0);
3484 return;
3485 }
3486 else
3487 {
3488 _zeroFlag = false;
3489
3490 float tmp = 1 / m_PIDTau;
3491 _target_velocity *= tmp;
3492
3493 // apply limits
3494 tmp = _target_velocity.Length();
3495 if (tmp > 50.0f)
3496 {
3497 tmp = 50 / tmp;
3498 _target_velocity *= tmp;
3499 }
3500 else if (tmp < 0.05f)
3501 {
3502 tmp = 0.05f / tmp;
3503 _target_velocity *= tmp;
3504 }
3505
3506 d.Vector3 vel = d.BodyGetLinearVel(Body);
3507 fx = (_target_velocity.X - vel.X) * m_invTimeStep;
3508 fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
3509 fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
3510 }
3511 } // end if (m_usePID)
3512
3513 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3514 else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
3515 {
3516
3517 // Non-Vehicles have a limited set of Hover options.
3518 // determine what our target height really is based on HoverType
3519
3520 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
3521
3522 switch (m_PIDHoverType)
3523 {
3524 case PIDHoverType.Ground:
3525 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3526 break;
3527
3528 case PIDHoverType.GroundAndWater:
3529 m_waterHeight = _parent_scene.GetWaterLevel();
3530 if (m_groundHeight > m_waterHeight)
3531 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3532 else
3533 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3534 break;
3535 } // end switch (m_PIDHoverType)
3536
3537 // don't go underground unless volumedetector
3538
3539 if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
3540 {
3541 d.Vector3 vel = d.BodyGetLinearVel(Body);
3542
3543 fz = (m_targetHoverHeight - lpos.Z);
3544
3545 // if error is zero, use position control; otherwise, velocity control
3546 if (Math.Abs(fz) < 0.01f)
3547 {
3548 d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
3549 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3550 }
3551 else
3552 {
3553 _zeroFlag = false;
3554 fz /= m_PIDHoverTau;
3555
3556 float tmp = Math.Abs(fz);
3557 if (tmp > 50)
3558 fz = 50 * Math.Sign(fz);
3559 else if (tmp < 0.1)
3560 fz = 0.1f * Math.Sign(fz);
3561
3562 fz = ((fz - vel.Z) * m_invTimeStep);
3563 }
3564 }
3565 }
3566 else
3567 {
3568 float b = (1.0f - m_buoyancy);
3569 fx = _parent_scene.gravityx * b;
3570 fy = _parent_scene.gravityy * b;
3571 fz = _parent_scene.gravityz * b;
3572 }
3573
3574 fx *= m_mass;
3575 fy *= m_mass;
3576 fz *= m_mass;
3577
3578 // constant force
3579 fx += m_force.X;
3580 fy += m_force.Y;
3581 fz += m_force.Z;
3582
3583 fx += m_forceacc.X;
3584 fy += m_forceacc.Y;
3585 fz += m_forceacc.Z;
3586
3587 m_forceacc = Vector3.Zero;
3588
3589 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3590 if (fx != 0 || fy != 0 || fz != 0)
3591 {
3592 d.BodyAddForce(Body, fx, fy, fz);
3593 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3594 }
3595
3596 Vector3 trq;
3597
3598 trq = _torque;
3599 trq += m_angularForceacc;
3600 m_angularForceacc = Vector3.Zero;
3601 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3602 {
3603 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3604 }
3605 }
3606 else
3607 { // is not physical, or is not a body or is selected
3608 // _zeroPosition = d.BodyGetPosition(Body);
3609 return;
3610 //Console.WriteLine("Nothing " + Name);
3611
3612 }
3613 }
3614
3615 public void UpdatePositionAndVelocity()
3616 {
3617 if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
3618 {
3619 if (d.BodyIsEnabled(Body) || !_zeroFlag)
3620 {
3621 bool lastZeroFlag = _zeroFlag;
3622
3623 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
3624
3625 d.Quaternion ori;
3626 d.GeomCopyQuaternion(prim_geom, out ori);
3627
3628 // decide if moving
3629 // use positions since this are integrated quantities
3630 // tolerance values depende a lot on simulation noise...
3631 // use simple math.abs since we dont need to be exact
3632
3633 if (
3634 (Math.Abs(_position.X - lpos.X) < 0.001f)
3635 && (Math.Abs(_position.Y - lpos.Y) < 0.001f)
3636 && (Math.Abs(_position.Z - lpos.Z) < 0.001f)
3637 && (Math.Abs(_orientation.X - ori.X) < 0.0001f)
3638 && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
3639 && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
3640 )
3641 {
3642 _zeroFlag = true;
3643 }
3644 else
3645 _zeroFlag = false;
3646
3647 // update velocities and aceleration
3648 if (!(_zeroFlag && lastZeroFlag))
3649 {
3650 d.Vector3 vel = d.BodyGetLinearVel(Body);
3651
3652 _acceleration = _velocity;
3653
3654 if ((Math.Abs(vel.X) < 0.001f) &&
3655 (Math.Abs(vel.Y) < 0.001f) &&
3656 (Math.Abs(vel.Z) < 0.001f))
3657 {
3658 _velocity = Vector3.Zero;
3659 float t = -m_invTimeStep;
3660 _acceleration = _acceleration * t;
3661 }
3662 else
3663 {
3664 _velocity.X = vel.X;
3665 _velocity.Y = vel.Y;
3666 _velocity.Z = vel.Z;
3667 _acceleration = (_velocity - _acceleration) * m_invTimeStep;
3668 }
3669
3670 if ((Math.Abs(_acceleration.X) < 0.01f) &&
3671 (Math.Abs(_acceleration.Y) < 0.01f) &&
3672 (Math.Abs(_acceleration.Z) < 0.01f))
3673 {
3674 _acceleration = Vector3.Zero;
3675 }
3676
3677 if ((Math.Abs(_orientation.X - ori.X) < 0.0001) &&
3678 (Math.Abs(_orientation.Y - ori.Y) < 0.0001) &&
3679 (Math.Abs(_orientation.Z - ori.Z) < 0.0001)
3680 )
3681 {
3682 m_rotationalVelocity = Vector3.Zero;
3683 }
3684 else
3685 {
3686 vel = d.BodyGetAngularVel(Body);
3687 m_rotationalVelocity.X = vel.X;
3688 m_rotationalVelocity.Y = vel.Y;
3689 m_rotationalVelocity.Z = vel.Z;
3690 }
3691 }
3692
3693 if (_zeroFlag)
3694 {
3695 if (lastZeroFlag)
3696 {
3697 _velocity = Vector3.Zero;
3698 _acceleration = Vector3.Zero;
3699 m_rotationalVelocity = Vector3.Zero;
3700 }
3701
3702 if (!m_lastUpdateSent)
3703 {
3704 base.RequestPhysicsterseUpdate();
3705 if (lastZeroFlag)
3706 m_lastUpdateSent = true;
3707 }
3708 return;
3709 }
3710
3711 _position.X = lpos.X;
3712 _position.Y = lpos.Y;
3713 _position.Z = lpos.Z;
3714
3715 _orientation.X = ori.X;
3716 _orientation.Y = ori.Y;
3717 _orientation.Z = ori.Z;
3718 _orientation.W = ori.W;
3719 base.RequestPhysicsterseUpdate();
3720 m_lastUpdateSent = false;
3721 }
3722 }
3723 }
3724
3725 internal static bool QuaternionIsFinite(Quaternion q)
3726 {
3727 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3728 return false;
3729 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3730 return false;
3731 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3732 return false;
3733 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3734 return false;
3735 return true;
3736 }
3737
3738 internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
3739 {
3740 // assumes object center of mass is zero
3741 float smass = part.mass;
3742 theobj.mass -= smass;
3743
3744 smass *= 1.0f / (theobj.mass); ;
3745
3746 theobj.c.X -= part.c.X * smass;
3747 theobj.c.Y -= part.c.Y * smass;
3748 theobj.c.Z -= part.c.Z * smass;
3749
3750 theobj.I.M00 -= part.I.M00;
3751 theobj.I.M01 -= part.I.M01;
3752 theobj.I.M02 -= part.I.M02;
3753 theobj.I.M10 -= part.I.M10;
3754 theobj.I.M11 -= part.I.M11;
3755 theobj.I.M12 -= part.I.M12;
3756 theobj.I.M20 -= part.I.M20;
3757 theobj.I.M21 -= part.I.M21;
3758 theobj.I.M22 -= part.I.M22;
3759 }
3760
3761 private void donullchange()
3762 {
3763 }
3764
3765 public bool DoAChange(changes what, object arg)
3766 {
3767 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3768 {
3769 return false;
3770 }
3771
3772 // nasty switch
3773 switch (what)
3774 {
3775 case changes.Add:
3776 changeadd();
3777 break;
3778 case changes.Remove:
3779 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3780 //When we return true, it destroys all of the prims in the linkset anyway
3781 if (_parent != null)
3782 {
3783 OdePrim parent = (OdePrim)_parent;
3784 parent.ChildRemove(this, false);
3785 }
3786 else
3787 ChildRemove(this, false);
3788
3789 m_vehicle = null;
3790 RemoveGeom();
3791 m_targetSpace = IntPtr.Zero;
3792 if (m_eventsubscription > 0)
3793 UnSubscribeEvents();
3794 return true;
3795
3796 case changes.Link:
3797 OdePrim tmp = (OdePrim)arg;
3798 changeLink(tmp);
3799 break;
3800
3801 case changes.DeLink:
3802 changeLink(null);
3803 break;
3804
3805 case changes.Position:
3806 changePosition((Vector3)arg);
3807 break;
3808
3809 case changes.Orientation:
3810 changeOrientation((Quaternion)arg);
3811 break;
3812
3813 case changes.PosOffset:
3814 donullchange();
3815 break;
3816
3817 case changes.OriOffset:
3818 donullchange();
3819 break;
3820
3821 case changes.Velocity:
3822 changevelocity((Vector3)arg);
3823 break;
3824
3825 // case changes.Acceleration:
3826 // changeacceleration((Vector3)arg);
3827 // break;
3828 // case changes.AngVelocity:
3829 // changeangvelocity((Vector3)arg);
3830 // break;
3831
3832 case changes.Force:
3833 changeForce((Vector3)arg);
3834 break;
3835
3836 case changes.Torque:
3837 changeSetTorque((Vector3)arg);
3838 break;
3839
3840 case changes.AddForce:
3841 changeAddImpulse((Vector3)arg);
3842 break;
3843
3844 case changes.AddAngForce:
3845 changeAddAngularImpulse((Vector3)arg);
3846 break;
3847
3848 case changes.AngLock:
3849 changeAngularLock((Vector3)arg);
3850 break;
3851
3852 case changes.Size:
3853 changeSize((Vector3)arg);
3854 break;
3855
3856 case changes.Shape:
3857 changeShape((PrimitiveBaseShape)arg);
3858 break;
3859
3860 case changes.CollidesWater:
3861 changeFloatOnWater((bool)arg);
3862 break;
3863
3864 case changes.VolumeDtc:
3865 changeVolumedetetion((bool)arg);
3866 break;
3867
3868 case changes.Phantom:
3869 changePhantomStatus((bool)arg);
3870 break;
3871
3872 case changes.Physical:
3873 changePhysicsStatus((bool)arg);
3874 break;
3875
3876 case changes.Selected:
3877 changeSelectedStatus((bool)arg);
3878 break;
3879
3880 case changes.disabled:
3881 changeDisable((bool)arg);
3882 break;
3883
3884 case changes.building:
3885 changeBuilding((bool)arg);
3886 break;
3887
3888 case changes.VehicleType:
3889 changeVehicleType((int)arg);
3890 break;
3891
3892 case changes.VehicleFlags:
3893 changeVehicleFlags((strVehicleBoolParam) arg);
3894 break;
3895
3896 case changes.VehicleFloatParam:
3897 changeVehicleFloatParam((strVehicleFloatParam) arg);
3898 break;
3899
3900 case changes.VehicleVectorParam:
3901 changeVehicleVectorParam((strVehicleVectorParam) arg);
3902 break;
3903
3904 case changes.VehicleRotationParam:
3905 changeVehicleRotationParam((strVehicleQuatParam) arg);
3906 break;
3907
3908 case changes.SetVehicle:
3909 changeSetVehicle((VehicleData) arg);
3910 break;
3911 case changes.Null:
3912 donullchange();
3913 break;
3914
3915 default:
3916 donullchange();
3917 break;
3918 }
3919 return false;
3920 }
3921
3922 public void AddChange(changes what, object arg)
3923 {
3924 _parent_scene.AddChange((PhysicsActor) this, what, arg);
3925 }
3926
3927
3928 private struct strVehicleBoolParam
3929 {
3930 public int param;
3931 public bool value;
3932 }
3933
3934 private struct strVehicleFloatParam
3935 {
3936 public int param;
3937 public float value;
3938 }
3939
3940 private struct strVehicleQuatParam
3941 {
3942 public int param;
3943 public Quaternion value;
3944 }
3945
3946 private struct strVehicleVectorParam
3947 {
3948 public int param;
3949 public Vector3 value;
3950 }
3951 }
3952} \ 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..5122ebf
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,603 @@
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 OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using OdeAPI;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.OdePlugin
40{
41 /// <summary>
42 /// Processes raycast requests as ODE is in a state to be able to do them.
43 /// This ensures that it's thread safe and there will be no conflicts.
44 /// Requests get returned by a different thread then they were requested by.
45 /// </summary>
46 public class ODERayCastRequestManager
47 {
48 /// <summary>
49 /// Pending ray requests
50 /// </summary>
51 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
52
53 /// <summary>
54 /// Scene that created this object.
55 /// </summary>
56 private OdeScene m_scene;
57
58 IntPtr ray; // the ray. we only need one for our lifetime
59
60 private const int ColisionContactGeomsPerTest = 5;
61 private const int DefaultMaxCount = 25;
62 private const int MaxTimePerCallMS = 30;
63
64 /// <summary>
65 /// ODE near callback delegate
66 /// </summary>
67 private d.NearCallback nearCallback;
68 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
69 private List<ContactResult> m_contactResults = new List<ContactResult>();
70 private RayFilterFlags CurrentRayFilter;
71 private int CurrentMaxCount;
72
73 public ODERayCastRequestManager(OdeScene pScene)
74 {
75 m_scene = pScene;
76 nearCallback = near;
77 ray = d.CreateRay(IntPtr.Zero, 1.0f);
78 d.GeomSetCategoryBits(ray,0);
79 }
80
81 /// <summary>
82 /// Queues request for a raycast to all world
83 /// </summary>
84 /// <param name="position">Origin of Ray</param>
85 /// <param name="direction">Ray direction</param>
86 /// <param name="length">Ray length</param>
87 /// <param name="retMethod">Return method to send the results</param>
88 public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
89 {
90 ODERayRequest req = new ODERayRequest();
91 req.geom = IntPtr.Zero;
92 req.callbackMethod = retMethod;
93 req.Count = DefaultMaxCount;
94 req.length = length;
95 req.Normal = direction;
96 req.Origin = position;
97 req.filter = RayFilterFlags.AllPrims;
98
99 m_PendingRequests.Enqueue(req);
100 }
101
102 /// <summary>
103 /// Queues request for a raycast to particular part
104 /// </summary>
105 /// <param name="position">Origin of Ray</param>
106 /// <param name="direction">Ray direction</param>
107 /// <param name="length">Ray length</param>
108 /// <param name="retMethod">Return method to send the results</param>
109 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
110 {
111 ODERayRequest req = new ODERayRequest();
112 req.geom = geom;
113 req.callbackMethod = retMethod;
114 req.length = length;
115 req.Normal = direction;
116 req.Origin = position;
117 req.Count = DefaultMaxCount;
118 req.filter = RayFilterFlags.AllPrims;
119
120 m_PendingRequests.Enqueue(req);
121 }
122
123 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
124 {
125 ODERayRequest req = new ODERayRequest();
126 req.geom = IntPtr.Zero;
127 req.callbackMethod = retMethod;
128 req.Count = DefaultMaxCount;
129 req.length = length;
130 req.Normal = direction;
131 req.Origin = position;
132 req.filter = RayFilterFlags.AllPrims;
133
134 m_PendingRequests.Enqueue(req);
135 }
136
137 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
138 {
139 ODERayRequest req = new ODERayRequest();
140 req.geom = geom;
141 req.callbackMethod = retMethod;
142 req.length = length;
143 req.Normal = direction;
144 req.Origin = position;
145 req.Count = DefaultMaxCount;
146 req.filter = RayFilterFlags.AllPrims;
147
148 m_PendingRequests.Enqueue(req);
149 }
150
151 /// <summary>
152 /// Queues a raycast
153 /// </summary>
154 /// <param name="position">Origin of Ray</param>
155 /// <param name="direction">Ray normal</param>
156 /// <param name="length">Ray length</param>
157 /// <param name="count"></param>
158 /// <param name="retMethod">Return method to send the results</param>
159 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
160 {
161 ODERayRequest req = new ODERayRequest();
162 req.geom = IntPtr.Zero;
163 req.callbackMethod = retMethod;
164 req.length = length;
165 req.Normal = direction;
166 req.Origin = position;
167 req.Count = count;
168 req.filter = RayFilterFlags.AllPrims;
169
170 m_PendingRequests.Enqueue(req);
171 }
172
173
174 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count,RayFilterFlags filter , RayCallback retMethod)
175 {
176 ODERayRequest req = new ODERayRequest();
177 req.geom = IntPtr.Zero;
178 req.callbackMethod = retMethod;
179 req.length = length;
180 req.Normal = direction;
181 req.Origin = position;
182 req.Count = count;
183 req.filter = filter;
184
185 m_PendingRequests.Enqueue(req);
186 }
187
188 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
189 {
190 ODERayRequest req = new ODERayRequest();
191 req.geom = geom;
192 req.callbackMethod = retMethod;
193 req.length = length;
194 req.Normal = direction;
195 req.Origin = position;
196 req.Count = count;
197 req.filter = RayFilterFlags.AllPrims;
198
199 m_PendingRequests.Enqueue(req);
200 }
201
202 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
203 {
204 ODERayRequest req = new ODERayRequest();
205 req.geom = IntPtr.Zero;
206 req.callbackMethod = retMethod;
207 req.length = length;
208 req.Normal = direction;
209 req.Origin = position;
210 req.Count = count;
211 req.filter = RayFilterFlags.AllPrims;
212
213 m_PendingRequests.Enqueue(req);
214 }
215
216 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
217 {
218 ODERayRequest req = new ODERayRequest();
219 req.geom = geom;
220 req.callbackMethod = retMethod;
221 req.length = length;
222 req.Normal = direction;
223 req.Origin = position;
224 req.Count = count;
225 req.filter = RayFilterFlags.AllPrims;
226
227 m_PendingRequests.Enqueue(req);
228 }
229
230 /// <summary>
231 /// Process all queued raycast requests
232 /// </summary>
233 /// <returns>Time in MS the raycasts took to process.</returns>
234 public int ProcessQueuedRequests()
235 {
236
237 if (m_PendingRequests.Count <= 0)
238 return 0;
239
240 if (m_scene.ContactgeomsArray == IntPtr.Zero || ray == IntPtr.Zero)
241 // oops something got wrong or scene isn't ready still
242 {
243 m_PendingRequests.Clear();
244 return 0;
245 }
246
247 int time = Util.EnvironmentTickCount();
248
249 ODERayRequest req;
250 int closestHit;
251 int backfacecull;
252 CollisionCategories catflags;
253
254 while (m_PendingRequests.Dequeue(out req))
255 {
256 if (req.callbackMethod != null)
257 {
258 CurrentRayFilter = req.filter;
259 CurrentMaxCount = req.Count;
260
261 closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
262 backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
263
264 d.GeomRaySetLength(ray, req.length);
265 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
266 d.GeomRaySetParams(ray, 0, backfacecull);
267 d.GeomRaySetClosestHit(ray, closestHit);
268
269 if (req.callbackMethod is RaycastCallback)
270 // if we only want one get only one per colision pair saving memory
271 CurrentRayFilter |= RayFilterFlags.ClosestHit;
272
273 if (req.geom == IntPtr.Zero)
274 {
275 // translate ray filter to colision flags
276 catflags = 0;
277 if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
278 catflags |= CollisionCategories.VolumeDtc;
279 if ((CurrentRayFilter & RayFilterFlags.phantom) != 0)
280 catflags |= CollisionCategories.Phantom;
281 if ((CurrentRayFilter & RayFilterFlags.agent) != 0)
282 catflags |= CollisionCategories.Character;
283 if ((CurrentRayFilter & RayFilterFlags.PrimsNonPhantom) != 0)
284 catflags |= CollisionCategories.Geom;
285 if ((CurrentRayFilter & RayFilterFlags.land) != 0)
286 catflags |= CollisionCategories.Land;
287 if ((CurrentRayFilter & RayFilterFlags.water) != 0)
288 catflags |= CollisionCategories.Water;
289
290 if (catflags != 0)
291 doSpaceRay(req);
292 }
293 else
294 {
295 // if we select a geom don't use filters
296 d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
297 doGeomRay(req);
298 }
299 }
300
301 if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS)
302 break;
303 }
304
305 lock (m_contactResults)
306 m_contactResults.Clear();
307
308 return Util.EnvironmentTickCountSubtract(time);
309 }
310 /// <summary>
311 /// Method that actually initiates the raycast with spaces
312 /// </summary>
313 /// <param name="req"></param>
314 ///
315
316 private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhanton;
317 private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
318
319 private void doSpaceRay(ODERayRequest req)
320 {
321 // Collide tests
322 if ((CurrentRayFilter & FilterActiveSpace) != 0)
323 d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
324 if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
325 d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
326
327 if (req.callbackMethod is RaycastCallback)
328 {
329 // Define default results
330 bool hitYN = false;
331 uint hitConsumerID = 0;
332 float distance = float.MaxValue;
333 Vector3 closestcontact = Vector3.Zero;
334 Vector3 snormal = Vector3.Zero;
335
336 // Find closest contact and object.
337 lock (m_contactResults)
338 {
339 foreach (ContactResult cResult in m_contactResults)
340 {
341 if(cResult.Depth < distance)
342 {
343 closestcontact = cResult.Pos;
344 hitConsumerID = cResult.ConsumerID;
345 distance = cResult.Depth;
346 snormal = cResult.Normal;
347 }
348 }
349 m_contactResults.Clear();
350 }
351
352 if (distance > 0 && distance < float.MaxValue)
353 hitYN = true;
354 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
355 }
356 else
357 {
358 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
359 lock (m_PendingRequests)
360 {
361 cresult.AddRange(m_contactResults);
362 m_contactResults.Clear();
363 }
364 ((RayCallback)req.callbackMethod)(cresult);
365 }
366 }
367
368 /// <summary>
369 /// Method that actually initiates the raycast with a geom
370 /// </summary>
371 /// <param name="req"></param>
372 private void doGeomRay(ODERayRequest req)
373 {
374 // Collide test
375 d.SpaceCollide2(ray, req.geom, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
376
377 if (req.callbackMethod is RaycastCallback)
378 {
379 // Define default results
380 bool hitYN = false;
381 uint hitConsumerID = 0;
382 float distance = float.MaxValue;
383 Vector3 closestcontact = Vector3.Zero;
384 Vector3 snormal = Vector3.Zero;
385
386 // Find closest contact and object.
387 lock (m_contactResults)
388 {
389 foreach (ContactResult cResult in m_contactResults)
390 {
391 if(cResult.Depth < distance )
392 {
393 closestcontact = cResult.Pos;
394 hitConsumerID = cResult.ConsumerID;
395 distance = cResult.Depth;
396 snormal = cResult.Normal;
397 }
398 }
399 m_contactResults.Clear();
400 }
401
402 if (distance > 0 && distance < float.MaxValue)
403 hitYN = true;
404
405 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
406 }
407 else
408 {
409 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
410 lock (m_PendingRequests)
411 {
412 cresult.AddRange(m_contactResults);
413 m_contactResults.Clear();
414 }
415 ((RayCallback)req.callbackMethod)(cresult);
416 }
417 }
418
419 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
420 {
421 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
422 if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
423 return false;
424
425 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
426 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
427 return true;
428 }
429
430 // This is the standard Near. g1 is the ray
431 private void near(IntPtr space, IntPtr g1, IntPtr g2)
432 {
433 if (g2 == IntPtr.Zero || g1 == g2)
434 return;
435
436 if (m_contactResults.Count >= CurrentMaxCount)
437 return;
438
439 if (d.GeomIsSpace(g2))
440 {
441 try
442 {
443 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
444 }
445 catch (Exception e)
446 {
447 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
448 }
449 return;
450 }
451
452 int count = 0;
453 try
454 {
455 count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
456 }
457 catch (Exception e)
458 {
459 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
460 return;
461 }
462
463 if (count == 0)
464 return;
465
466 uint ID = 0;
467 PhysicsActor p2 = null;
468
469 m_scene.actor_name_map.TryGetValue(g2, out p2);
470
471 if (p2 == null)
472 {
473 string name;
474
475 if (!m_scene.geom_name_map.TryGetValue(g2, out name))
476 return;
477
478 if (name == "Terrain")
479 {
480 // land colision
481 if ((CurrentRayFilter & RayFilterFlags.land) == 0)
482 return;
483 }
484 else if (name == "Water")
485 {
486 if ((CurrentRayFilter & RayFilterFlags.water) == 0)
487 return;
488 }
489 else
490 return;
491 }
492 else
493 {
494 if (p2 is OdePrim)
495 {
496 RayFilterFlags thisFlags;
497
498 if (p2.IsPhysical)
499 thisFlags = RayFilterFlags.physical;
500 else
501 thisFlags = RayFilterFlags.nonphysical;
502
503 if (p2.Phantom)
504 thisFlags |= RayFilterFlags.phantom;
505
506 if (p2.IsVolumeDtc)
507 thisFlags |= RayFilterFlags.volumedtc;
508
509 if ((thisFlags & CurrentRayFilter) == 0)
510 return;
511
512 ID = ((OdePrim)p2).m_localID;
513 }
514 else if (p2 is OdeCharacter)
515 {
516 if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
517 return;
518 else
519 ID = ((OdeCharacter)p2).m_localID;
520 }
521 else //??
522 return;
523 }
524
525 d.ContactGeom curcontact = new d.ContactGeom();
526
527 // closestHit for now only works for meshs, so must do it for others
528 if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
529 {
530 // Loop all contacts, build results.
531 for (int i = 0; i < count; i++)
532 {
533 if (!GetCurContactGeom(i, ref curcontact))
534 break;
535
536 ContactResult collisionresult = new ContactResult();
537 collisionresult.ConsumerID = ID;
538 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
539 collisionresult.Depth = curcontact.depth;
540 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
541 curcontact.normal.Z);
542 lock (m_contactResults)
543 {
544 m_contactResults.Add(collisionresult);
545 if (m_contactResults.Count >= CurrentMaxCount)
546 return;
547 }
548 }
549 }
550 else
551 {
552 // keep only closest contact
553 ContactResult collisionresult = new ContactResult();
554 collisionresult.ConsumerID = ID;
555 collisionresult.Depth = float.MaxValue;
556
557 for (int i = 0; i < count; i++)
558 {
559 if (!GetCurContactGeom(i, ref curcontact))
560 break;
561
562 if (curcontact.depth < collisionresult.Depth)
563 {
564 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
565 collisionresult.Depth = curcontact.depth;
566 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
567 curcontact.normal.Z);
568 }
569 }
570
571 if (collisionresult.Depth != float.MaxValue)
572 {
573 lock (m_contactResults)
574 m_contactResults.Add(collisionresult);
575 }
576 }
577 }
578
579 /// <summary>
580 /// Dereference the creator scene so that it can be garbage collected if needed.
581 /// </summary>
582 internal void Dispose()
583 {
584 m_scene = null;
585 if (ray != IntPtr.Zero)
586 {
587 d.GeomDestroy(ray);
588 ray = IntPtr.Zero;
589 }
590 }
591 }
592
593 public struct ODERayRequest
594 {
595 public IntPtr geom;
596 public Vector3 Origin;
597 public Vector3 Normal;
598 public int Count;
599 public float length;
600 public object callbackMethod;
601 public RayFilterFlags filter;
602 }
603} \ 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..0e4961b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,2005 @@
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 UbitTerrainClass,
117 FirstUserClass,
118 LastUserClass = FirstUserClass + MaxUserClasses - 1,
119 NumClasses,
120 MaxUserClasses = 5
121 }
122
123 public enum JointType : int
124 {
125 None,
126 Ball,
127 Hinge,
128 Slider,
129 Contact,
130 Universal,
131 Hinge2,
132 Fixed,
133 Null,
134 AMotor,
135 LMotor,
136 Plane2D
137 }
138
139 public enum JointParam : int
140 {
141 LoStop,
142 HiStop,
143 Vel,
144 FMax,
145 FudgeFactor,
146 Bounce,
147 CFM,
148 StopERP,
149 StopCFM,
150 SuspensionERP,
151 SuspensionCFM,
152 LoStop2 = 256,
153 HiStop2,
154 Vel2,
155 FMax2,
156 FudgeFactor2,
157 Bounce2,
158 CFM2,
159 StopERP2,
160 StopCFM2,
161 SuspensionERP2,
162 SuspensionCFM2,
163 LoStop3 = 512,
164 HiStop3,
165 Vel3,
166 FMax3,
167 FudgeFactor3,
168 Bounce3,
169 CFM3,
170 StopERP3,
171 StopCFM3,
172 SuspensionERP3,
173 SuspensionCFM3
174 }
175
176 public enum dSweepAndPruneAxis : int
177 {
178 XYZ = ((0)|(1<<2)|(2<<4)),
179 XZY = ((0)|(2<<2)|(1<<4)),
180 YXZ = ((1)|(0<<2)|(2<<4)),
181 YZX = ((1)|(2<<2)|(0<<4)),
182 ZXY = ((2)|(0<<2)|(1<<4)),
183 ZYX = ((2)|(1<<2)|(0<<4))
184 }
185
186 #endregion
187
188 #region Callbacks
189
190 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
191 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
192
193 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
194 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
195
196 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
197 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
198
199 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
200 public delegate ColliderFn GetColliderFnFn(int num);
201
202 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
203 public delegate void GeomDtorFn(IntPtr o);
204
205 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
206 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
207
208 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
209 public delegate dReal UbitTerrainGetHeight(IntPtr p_user_data, int x, int z);
210
211 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
212 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
213
214 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
215 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
216
217 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
218 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
219
220 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
221 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
222
223 #endregion
224
225 #region Structs
226
227 [StructLayout(LayoutKind.Sequential)]
228 public struct AABB
229 {
230 public dReal MinX, MaxX;
231 public dReal MinY, MaxY;
232 public dReal MinZ, MaxZ;
233 }
234
235
236 [StructLayout(LayoutKind.Sequential)]
237 public struct Contact
238 {
239 public SurfaceParameters surface;
240 public ContactGeom geom;
241 public Vector3 fdir1;
242 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
243 }
244
245
246 [StructLayout(LayoutKind.Sequential)]
247 public struct ContactGeom
248 {
249
250 public Vector3 pos;
251 public Vector3 normal;
252 public dReal depth;
253 public IntPtr g1;
254 public IntPtr g2;
255 public int side1;
256 public int side2;
257 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
258 }
259
260 [StructLayout(LayoutKind.Sequential)]
261 public struct GeomClass
262 {
263 public int bytes;
264 public GetColliderFnFn collider;
265 public GetAABBFn aabb;
266 public AABBTestFn aabb_test;
267 public GeomDtorFn dtor;
268 }
269
270
271 [StructLayout(LayoutKind.Sequential)]
272 public struct JointFeedback
273 {
274 public Vector3 f1;
275 public Vector3 t1;
276 public Vector3 f2;
277 public Vector3 t2;
278 }
279
280
281 [StructLayout(LayoutKind.Sequential)]
282 public struct Mass
283 {
284 public dReal mass;
285 public Vector4 c;
286 public Matrix3 I;
287 }
288
289
290 [StructLayout(LayoutKind.Sequential)]
291 public struct Matrix3
292 {
293 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
294 {
295 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
296 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
297 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
298 }
299 public dReal M00, M10, M20;
300 private dReal _m30;
301 public dReal M01, M11, M21;
302 private dReal _m31;
303 public dReal M02, M12, M22;
304 private dReal _m32;
305 }
306
307 [StructLayout(LayoutKind.Sequential)]
308 public struct Matrix4
309 {
310 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
311 dReal m01, dReal m11, dReal m21, dReal m31,
312 dReal m02, dReal m12, dReal m22, dReal m32,
313 dReal m03, dReal m13, dReal m23, dReal m33)
314 {
315 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
316 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
317 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
318 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
319 }
320 public dReal M00, M10, M20, M30;
321 public dReal M01, M11, M21, M31;
322 public dReal M02, M12, M22, M32;
323 public dReal M03, M13, M23, M33;
324 }
325
326 [StructLayout(LayoutKind.Sequential)]
327 public struct Quaternion
328 {
329 public dReal W, X, Y, Z;
330 }
331
332
333 [StructLayout(LayoutKind.Sequential)]
334 public struct SurfaceParameters
335 {
336 public ContactFlags mode;
337 public dReal mu;
338 public dReal mu2;
339 public dReal bounce;
340 public dReal bounce_vel;
341 public dReal soft_erp;
342 public dReal soft_cfm;
343 public dReal motion1;
344 public dReal motion2;
345 public dReal motionN;
346 public dReal slip1;
347 public dReal slip2;
348 }
349
350
351 [StructLayout(LayoutKind.Sequential)]
352 public struct Vector3
353 {
354 public Vector3(dReal x, dReal y, dReal z)
355 {
356 X = x; Y = y; Z = z; _w = 0.0f;
357 }
358 public dReal X, Y, Z;
359 private dReal _w;
360 }
361
362
363 [StructLayout(LayoutKind.Sequential)]
364 public struct Vector4
365 {
366 public Vector4(dReal x, dReal y, dReal z, dReal w)
367 {
368 X = x; Y = y; Z = z; W = w;
369 }
370 public dReal X, Y, Z, W;
371 }
372
373 #endregion
374
375 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
376 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
377
378 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
379 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
380
381 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
382 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
383
384 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
385 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
386
387 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
388 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
389
390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
391 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
392
393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
394 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
395
396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
397 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
398
399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
400 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
401
402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
403 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
404
405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
406 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
407
408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
409 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
410
411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
412 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
413
414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
415 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
416
417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
418 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
419
420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
421 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
422
423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
424 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
425
426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
427 public static extern IntPtr BodyiCreate(IntPtr world);
428 public static IntPtr BodyCreate(IntPtr world)
429 {
430 NTotalBodies++;
431 return BodyiCreate(world);
432 }
433
434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
435 public static extern void BodyiDestroy(IntPtr body);
436 public static void BodyDestroy(IntPtr body)
437 {
438 NTotalBodies--;
439 BodyiDestroy(body);
440 }
441
442 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
443 public static extern void BodyDisable(IntPtr body);
444
445 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
446 public static extern void BodyEnable(IntPtr body);
447
448 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
449 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
450
451 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
452 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
453
454 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
455 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
456
457 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
458 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
459
460 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
461 public static extern int BodyGetAutoDisableSteps(IntPtr body);
462
463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
464 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
465
466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
467 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
468 public static Vector3 BodyGetAngularVel(IntPtr body)
469 {
470 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
471 }
472
473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
474 public static extern IntPtr BodyGetData(IntPtr body);
475
476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
477 public static extern int BodyGetFiniteRotationMode(IntPtr body);
478
479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
480 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
481
482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
483 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
484 public static Vector3 BodyGetForce(IntPtr body)
485 {
486 unsafe { return *(BodyGetForceUnsafe(body)); }
487 }
488
489 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
490 public static extern bool BodyGetGravityMode(IntPtr body);
491
492 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
493 public static extern int BodyGetGyroscopicMode(IntPtr body);
494
495 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
496 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
497
498 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
499 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
500 public static Vector3 BodyGetLinearVel(IntPtr body)
501 {
502 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
503 }
504
505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
506 public static extern void BodyGetMass(IntPtr body, out Mass mass);
507
508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
509 public static extern int BodyGetNumJoints(IntPtr body);
510
511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
512 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
513
514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
515 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
516 public static Vector3 BodyGetPosition(IntPtr body)
517 {
518 unsafe { return *(BodyGetPositionUnsafe(body)); }
519 }
520
521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
522 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
523
524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
525 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
526 public static Quaternion BodyGetQuaternion(IntPtr body)
527 {
528 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
529 }
530
531 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
532 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
533
534 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
535 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
536
537 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
538 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
539 public static Matrix3 BodyGetRotation(IntPtr body)
540 {
541 unsafe { return *(BodyGetRotationUnsafe(body)); }
542 }
543
544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
545 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
546 public static Vector3 BodyGetTorque(IntPtr body)
547 {
548 unsafe { return *(BodyGetTorqueUnsafe(body)); }
549 }
550
551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
552 public static extern IntPtr BodyGetWorld(IntPtr body);
553
554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
555 public static extern IntPtr BodyGetFirstGeom(IntPtr body);
556
557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
558 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
559
560
561 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
562 public static extern bool BodyIsEnabled(IntPtr body);
563
564 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
565 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
566
567 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
568 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
569
570 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
571 public static extern void BodySetAutoDisableDefaults(IntPtr body);
572
573 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
574 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
575
576 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
577 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
578
579 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
580 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
581
582 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
583 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
584
585 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
586 public static extern void BodySetData(IntPtr body, IntPtr data);
587
588 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
589 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
590
591 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
592 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
593
594 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
595 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
596
597 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
598 public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
599
600 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
601 public static extern dReal BodyGetLinearDamping(IntPtr body);
602
603 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
604 public static extern dReal BodyGetAngularDamping(IntPtr body);
605
606 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
607 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
608
609 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
610 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
611
612 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
613 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
614
615 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
616 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
617
618 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
619 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
620
621 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
622 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
623
624 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
625 public static extern void BodySetGravityMode(IntPtr body, bool mode);
626
627 /// <summary>
628 /// Sets the Gyroscopic term status on the body specified.
629 /// </summary>
630 /// <param name="body">Pointer to body</param>
631 /// <param name="enabled">NonZero enabled, Zero disabled</param>
632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
633 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
634
635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
636 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
637
638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
639 public static extern void BodySetMass(IntPtr body, ref Mass mass);
640
641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
642 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
643
644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
645 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
646
647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
648 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
649
650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
651 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
652
653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
654 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
655
656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
657 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
658
659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
660 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
661
662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
663 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
664
665 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
666 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
667 ref Vector3 side1, ref Vector3 p2,
668 ref Matrix3 R2, ref Vector3 side2,
669 ref Vector3 normal, out dReal depth, out int return_code,
670 int maxc, out ContactGeom contact, int skip);
671
672 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
673 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
674 ref Vector3 side1, ref Vector3 _p2,
675 ref Matrix3 R2, ref Vector3 side2);
676
677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
678 public static extern void CleanupODEAllDataForThread();
679
680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
681 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
682 ref Vector3 b1, ref Vector3 b2,
683 ref Vector3 cp1, ref Vector3 cp2);
684
685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
686 public static extern void CloseODE();
687
688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
689 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
691 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
692
693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
694 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
695
696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
697 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
698 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
699 {
700 NTotalGeoms++;
701 return CreateiBox(space, lx, ly, lz);
702 }
703
704 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
705 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
706 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
707 {
708 NTotalGeoms++;
709 return CreateiCapsule(space, radius, length);
710 }
711
712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
713 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
714 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
715 {
716 NTotalGeoms++;
717 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
718 }
719
720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
721 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
722 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
723 {
724 NTotalGeoms++;
725 return CreateiCylinder(space, radius, length);
726 }
727
728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
729 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
730 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
731 {
732 NTotalGeoms++;
733 return CreateiHeightfield(space, data, bPlaceable);
734 }
735
736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateUbitTerrain"), SuppressUnmanagedCodeSecurity]
737 public static extern IntPtr CreateiUbitTerrain(IntPtr space, IntPtr data, int bPlaceable);
738 public static IntPtr CreateUbitTerrain(IntPtr space, IntPtr data, int bPlaceable)
739 {
740 NTotalGeoms++;
741 return CreateiUbitTerrain(space, data, bPlaceable);
742 }
743
744
745
746
747
748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
749 public static extern IntPtr CreateiGeom(int classnum);
750 public static IntPtr CreateGeom(int classnum)
751 {
752 NTotalGeoms++;
753 return CreateiGeom(classnum);
754 }
755
756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
757 public static extern int CreateGeomClass(ref GeomClass classptr);
758
759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
760 public static extern IntPtr CreateGeomTransform(IntPtr space);
761
762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
763 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
764 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
765 {
766 NTotalGeoms++;
767 return CreateiPlane(space, a, b, c, d);
768 }
769
770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
771 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
772 public static IntPtr CreateRay(IntPtr space, dReal length)
773 {
774 NTotalGeoms++;
775 return CreateiRay(space, length);
776 }
777
778 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
779 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
780 public static IntPtr CreateSphere(IntPtr space, dReal radius)
781 {
782 NTotalGeoms++;
783 return CreateiSphere(space, radius);
784 }
785
786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
787 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
788 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
789 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
791 {
792 NTotalGeoms++;
793 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
794 }
795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
796 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
797
798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
799 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
800
801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
802 public static extern int FactorCholesky(ref dReal A00, int n);
803
804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
805 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
806
807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
808 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
809
810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
811 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
812
813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
814 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
815
816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
817 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
818
819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
820 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
821
822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
823 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
824
825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
826 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
827
828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
829 public static extern void GeomClearOffset(IntPtr geom);
830
831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
832 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
833
834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
835 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
836
837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
838 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
839
840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
841 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
842
843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
844 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
845
846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
847 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
848
849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
850 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
851
852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
853 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
854
855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
856 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
857
858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
859 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
860
861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
862 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
863
864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
865 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
866
867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
868 public static extern void GeomiDestroy(IntPtr geom);
869 public static void GeomDestroy(IntPtr geom)
870 {
871 NTotalGeoms--;
872 GeomiDestroy(geom);
873 }
874
875
876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
877 public static extern void GeomDisable(IntPtr geom);
878
879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
880 public static extern void GeomEnable(IntPtr geom);
881
882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
883 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
884
885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
886 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
887
888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
889 public static extern IntPtr GeomGetBody(IntPtr geom);
890
891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
892 public static extern uint GeomGetCategoryBits(IntPtr geom);
893
894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
895 public static extern IntPtr GeomGetClassData(IntPtr geom);
896
897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
898 public static extern uint GeomGetCollideBits(IntPtr geom);
899
900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
901 public static extern GeomClassID GeomGetClass(IntPtr geom);
902
903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
904 public static extern IntPtr GeomGetData(IntPtr geom);
905
906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
907 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
908 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
909 {
910 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
911 }
912
913 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
914 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
915 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
916 {
917 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
918 }
919
920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
921 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
922 public static Vector3 GeomGetPosition(IntPtr geom)
923 {
924 unsafe { return *(GeomGetPositionUnsafe(geom)); }
925 }
926
927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
928 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
929
930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
931 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
932
933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
934 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
935 public static Matrix3 GeomGetRotation(IntPtr geom)
936 {
937 unsafe { return *(GeomGetRotationUnsafe(geom)); }
938 }
939
940 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
941 public static extern IntPtr GeomGetSpace(IntPtr geom);
942
943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
944 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
945 dReal width, dReal depth, int widthSamples, int depthSamples,
946 dReal scale, dReal offset, dReal thickness, int bWrap);
947
948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
949 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
950 dReal width, dReal depth, int widthSamples, int depthSamples,
951 dReal scale, dReal offset, dReal thickness, int bWrap);
952
953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
954 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
955 dReal width, dReal depth, int widthSamples, int depthSamples,
956 dReal scale, dReal offset, dReal thickness, int bWrap);
957
958 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
959 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
960 dReal width, dReal depth, int widthSamples, int depthSamples,
961 dReal scale, dReal offset, dReal thickness, int bWrap);
962
963 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
964 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
965 dReal width, dReal depth, int widthSamples, int depthSamples,
966 dReal scale, dReal offset, dReal thickness, int bWrap);
967
968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
969 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
970 dReal width, dReal depth, int widthSamples, int depthSamples,
971 dReal scale, dReal offset, dReal thickness, int bWrap);
972
973 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
974 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
975 dReal width, dReal depth, int widthSamples, int depthSamples,
976 dReal scale, dReal offset, dReal thickness, int bWrap);
977
978 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
979 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
980 dReal width, dReal depth, int widthSamples, int depthSamples,
981 dReal scale, dReal offset, dReal thickness, int bWrap);
982
983
984
985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
986 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
987 dReal width, dReal depth, int widthSamples, int depthSamples,
988 dReal scale, dReal offset, dReal thickness, int bWrap);
989
990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
991 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
992 dReal width, dReal depth, int widthSamples, int depthSamples,
993 dReal scale, dReal offset, dReal thickness, int bWrap);
994
995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
996 public static extern IntPtr GeomHeightfieldDataCreate();
997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
999 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
1000
1001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
1002 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1003
1004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1005 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1008 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
1009
1010
1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1012 public static extern void GeomUbitTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData,
1013 dReal sampleSize, int widthSamples, int depthSamples,
1014 dReal offset, dReal thickness, int bWrap);
1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomUbitTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1018 dReal sampleSize, int widthSamples, int depthSamples,
1019 dReal thickness, int bWrap);
1020
1021 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataCreate"), SuppressUnmanagedCodeSecurity]
1022 public static extern IntPtr GeomUbitTerrainDataCreate();
1023
1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataDestroy"), SuppressUnmanagedCodeSecurity]
1025 public static extern void GeomUbitTerrainDataDestroy(IntPtr d);
1026
1027 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity]
1028 public static extern void GeomUbitTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1029
1030 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1031 public static extern IntPtr GeomUbitTerrainGetHeightfieldData(IntPtr g);
1032
1033 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1034 public static extern void GeomUbitTerrainSetHeightfieldData(IntPtr g, IntPtr d);
1035
1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
1038 public static extern bool GeomIsEnabled(IntPtr geom);
1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
1041 public static extern bool GeomIsOffset(IntPtr geom);
1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
1044 public static extern bool GeomIsSpace(IntPtr geom);
1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1050 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1053 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1056 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1065 public static extern int GeomRayGetClosestHit(IntPtr ray);
1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1068 public static extern dReal GeomRayGetLength(IntPtr ray);
1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1071 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1077 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1080 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1083 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits);
1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomSetCollideBits(IntPtr geom, uint bits);
1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1095 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1101 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1104 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1107 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1110 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1113 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1116 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1126
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1129
1130 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1131 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1132
1133 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1134 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1135
1136 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1137 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1138
1139 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1140 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1141
1142 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1143 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1144
1145 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1146 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1147
1148 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1149 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1150
1151 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1152 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1153
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1155 public static extern int GeomTransformGetCleanup(IntPtr geom);
1156
1157 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1158 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1159
1160 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1161 public static extern int GeomTransformGetInfo(IntPtr geom);
1162
1163 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1164 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1165
1166 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1167 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1168
1169 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1170 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1171
1172 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1173 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1174 double[] vertices, int vertexStride, int vertexCount,
1175 int[] indices, int indexCount, int triStride);
1176
1177 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1178 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1179 IntPtr vertices, int vertexStride, int vertexCount,
1180 IntPtr indices, int indexCount, int triStride);
1181
1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1183 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1184 double[] vertices, int vertexStride, int vertexCount,
1185 int[] indices, int indexCount, int triStride,
1186 double[] normals);
1187
1188 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1189 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1190 IntPtr vertices, int vertexStride, int vertexCount,
1191 IntPtr indices, int indexCount, int triStride,
1192 IntPtr normals);
1193
1194 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1195 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1196 dReal[] vertices, int vertexStride, int vertexCount,
1197 int[] indices, int indexCount, int triStride);
1198
1199 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1200 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1201 IntPtr vertices, int vertexStride, int vertexCount,
1202 IntPtr indices, int indexCount, int triStride);
1203
1204 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1205 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1206 dReal[] vertices, int vertexStride, int vertexCount,
1207 int[] indices, int indexCount, int triStride,
1208 dReal[] normals);
1209
1210 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1211 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1212 IntPtr vertices, int vertexStride, int vertexCount,
1213 IntPtr indices, int indexCount, int triStride,
1214 IntPtr normals);
1215
1216 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1217 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1218 float[] vertices, int vertexStride, int vertexCount,
1219 int[] indices, int indexCount, int triStride);
1220
1221 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1222 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1223 IntPtr vertices, int vertexStride, int vertexCount,
1224 IntPtr indices, int indexCount, int triStride);
1225
1226 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1227 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1228 float[] vertices, int vertexStride, int vertexCount,
1229 int[] indices, int indexCount, int triStride,
1230 float[] normals);
1231
1232 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1233 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1234 IntPtr vertices, int vertexStride, int vertexCount,
1235 IntPtr indices, int indexCount, int triStride,
1236 IntPtr normals);
1237
1238 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1239 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1240
1241 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1242 public static extern IntPtr GeomTriMeshDataCreate();
1243
1244 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1245 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1246
1247 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1248 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1249
1250 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1251 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1252
1253 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1254 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1255
1256 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1257 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1258
1259 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1260 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1261
1262 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1263 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1264
1265 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1266 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1267
1268 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1269 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1270
1271 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1272 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1273 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1274 {
1275 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1276 }
1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1279 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1282 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1285 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1286
1287 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1288 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1291 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1294 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1297 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1300 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1303 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1306 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1309 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1312 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1315 public static extern string GetConfiguration(string str);
1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1318 public static extern IntPtr HashSpaceCreate(IntPtr space);
1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1321 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1324 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1325
1326 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1327 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1328
1329 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1330 public static extern void InitODE();
1331
1332 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1333 public static extern int InitODE2(uint ODEInitFlags);
1334
1335 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1336 public static extern int IsPositiveDefinite(ref dReal A, int n);
1337
1338 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1339 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1340
1341 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1342 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1343
1344 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1345 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1346
1347 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1348 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1349
1350 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1351 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1352
1353 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1354 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1355
1356 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1357 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1358
1359 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1360 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1361
1362 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1363 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1364
1365 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1366 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1367
1368 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1369 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1371 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1374 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1377 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1380 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1383 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1390
1391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1392 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1393
1394 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1395 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1396
1397 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1398 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1399
1400 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1401 public static extern void JointDestroy(IntPtr j);
1402
1403 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1404 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1405
1406 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1407 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1408
1409 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1410 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1411
1412 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1413 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1414
1415 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1416 public static extern int JointGetAMotorMode(IntPtr j);
1417
1418 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1419 public static extern int JointGetAMotorNumAxes(IntPtr j);
1420
1421 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1422 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1423
1424 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1425 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1426
1427 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1428 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1429
1430 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1431 public static extern IntPtr JointGetBody(IntPtr j);
1432
1433 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1434 public static extern IntPtr JointGetData(IntPtr j);
1435
1436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1437 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1438 public static JointFeedback JointGetFeedback(IntPtr j)
1439 {
1440 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1441 }
1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1444 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1447 public static extern dReal JointGetHingeAngle(IntPtr j);
1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1450 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1453 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1456 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1457
1458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1459 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1460
1461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1462 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1463
1464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1465 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1466
1467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1468 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1469
1470 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1471 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1472
1473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1474 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1475
1476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1477 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1478
1479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1480 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1481
1482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1483 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1484
1485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1486 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1487
1488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1489 public static extern int JointGetLMotorNumAxes(IntPtr j);
1490
1491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1492 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1493
1494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1495 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1496
1497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1498 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1499
1500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1501 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1502
1503 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1504 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1505
1506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1507 public static extern dReal JointGetPRPosition(IntPtr j);
1508
1509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1510 public static extern dReal JointGetPRPositionRate(IntPtr j);
1511
1512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1513 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1514
1515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1516 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1517
1518 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1519 public static extern dReal JointGetSliderPosition(IntPtr j);
1520
1521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1522 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1523
1524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1525 public static extern JointType JointGetType(IntPtr j);
1526
1527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1528 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1529
1530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1531 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1532
1533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1534 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1535
1536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1537 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1538
1539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1540 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1541
1542 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1543 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1544
1545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1546 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1547
1548 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1549 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1550
1551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1552 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1553
1554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1555 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1556
1557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1558 public static extern IntPtr JointGroupCreate(int max_size);
1559
1560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1561 public static extern void JointGroupDestroy(IntPtr group);
1562
1563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1564 public static extern void JointGroupEmpty(IntPtr group);
1565
1566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1567 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1568
1569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1570 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1571
1572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1573 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1574
1575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1576 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1577
1578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1579 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1580
1581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1582 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1583
1584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1585 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1586
1587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1588 public static extern void JointSetData(IntPtr j, IntPtr data);
1589
1590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1591 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1592
1593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1594 public static extern void JointSetFixed(IntPtr j);
1595
1596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1597 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1598
1599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1600 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1601
1602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1603 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1604
1605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1606 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1607
1608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1609 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1610
1611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1612 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1613
1614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1615 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1616
1617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1618 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1619
1620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1621 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1622
1623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1624 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1625
1626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1627 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1628
1629 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1630 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1631
1632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1633 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1634
1635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1636 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1637
1638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1639 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1640
1641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1642 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1643
1644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1645 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1646
1647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1648 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1649
1650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1651 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1652
1653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1654 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1655
1656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1657 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1658
1659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1660 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1661
1662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1663 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1664
1665 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1666 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1667
1668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1669 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1670
1671 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1672 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1673
1674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1675 public static extern void MassAdd(ref Mass a, ref Mass b);
1676
1677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1678 public static extern void MassAdjust(ref Mass m, dReal newmass);
1679
1680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1681 public static extern bool MassCheck(ref Mass m);
1682
1683 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1684 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1685
1686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1687 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1688
1689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1690 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1691
1692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1693 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1694
1695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1696 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1697
1698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1699 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1700
1701 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1702 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1703
1704 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1705 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1706
1707 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1708 public static extern void MassSetParameters(out Mass mass, dReal themass,
1709 dReal cgx, dReal cgy, dReal cgz,
1710 dReal i11, dReal i22, dReal i33,
1711 dReal i12, dReal i13, dReal i23);
1712
1713 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1714 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1715
1716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1717 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1718
1719 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1720 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1721
1722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1723 public static extern void MassSetZero(out Mass mass);
1724
1725 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1726 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1727
1728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1729 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1730
1731 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1732 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1733 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1734 {
1735 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1736 }
1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1739 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1742 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1745 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1748 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1749
1750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1751 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1752
1753 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1754 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1755
1756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1757 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1758
1759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1760 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1761
1762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1763 public static extern void QSetIdentity(out Quaternion q);
1764
1765 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1766 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1767
1768 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1769 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1770
1771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1772 public static extern dReal RandReal();
1773
1774 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1775 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1776
1777 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1778 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1779
1780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1781 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1782
1783 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1784 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1785
1786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1787 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1788
1789 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1790 public static extern void RSetIdentity(out Matrix3 R);
1791
1792 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1793 public static extern void SetValue(out dReal a, int n);
1794
1795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1796 public static extern void SetZero(out dReal a, int n);
1797
1798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1799 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1800
1801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1802 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1803
1804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1805 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1806
1807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1808 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1809
1810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1811 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1812
1813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1814 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1815
1816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1817 public static extern bool SpaceLockQuery(IntPtr space);
1818
1819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1820 public static extern void SpaceClean(IntPtr space);
1821
1822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1823 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1824
1825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1826 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1827
1828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1829 public static extern void SpaceDestroy(IntPtr space);
1830
1831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1832 public static extern bool SpaceGetCleanup(IntPtr space);
1833
1834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1835 public static extern int SpaceGetNumGeoms(IntPtr space);
1836
1837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1838 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1839
1840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1841 public static extern int SpaceGetSublevel(IntPtr space);
1842
1843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1844 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1845
1846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1847 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1848
1849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1850 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1851
1852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1853 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1854
1855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1856 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1857
1858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1859 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1860
1861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1862 public static extern IntPtr WorldCreate();
1863
1864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1865 public static extern void WorldDestroy(IntPtr world);
1866
1867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1868 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1869
1870 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1871 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1872
1873 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1874 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1875
1876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1877 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1878
1879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1880 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1881
1882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1883 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1884
1885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1886 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1887
1888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1889 public static extern dReal WorldGetCFM(IntPtr world);
1890
1891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1892 public static extern dReal WorldGetERP(IntPtr world);
1893
1894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1895 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1896
1897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1898 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1899
1900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1901 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1902
1903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1904 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1905
1906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1907 public static extern dReal WorldGetAngularDamping(IntPtr world);
1908
1909 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1910 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1911
1912 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1913 public static extern dReal WorldGetLinearDamping(IntPtr world);
1914
1915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1916 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1917
1918 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1919 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1920
1921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1922 public static extern dReal WorldGetQuickStepW(IntPtr world);
1923
1924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1925 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1926
1927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1928 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1929
1930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1931 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1932
1933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1934 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1935
1936 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1937 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1938
1939 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1940 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1941
1942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1943 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1944
1945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1946 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1947
1948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1949 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1950
1951 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1952 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1953
1954 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1955 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1956
1957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1958 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1959
1960 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1961 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1962
1963 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1964 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1965
1966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1967 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1968
1969 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1970 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1971
1972 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1973 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1974
1975 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1976 public static extern void WorldSetERP(IntPtr world, dReal erp);
1977
1978 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1979 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1980
1981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
1982 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
1983
1984 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1985 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
1986
1987 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1988 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1989
1990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1991 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1992
1993 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1994 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
1995
1996 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1997 public static extern void WorldStep(IntPtr world, dReal stepsize);
1998
1999 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
2000 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
2001
2002 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
2003 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
2004 }
2005}
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..84195d3
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2696 @@
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 // colision flags of things others can colide with
64 // rays, sensors, probes removed since can't be colided with
65 // The top space where things are placed provided further selection
66 // ie physical are in active space nonphysical in static
67 // this should be exclusive as possible
68
69 [Flags]
70 public enum CollisionCategories : uint
71 {
72 Disabled = 0,
73 //by 'things' types
74 Space = 0x01,
75 Geom = 0x02, // aka prim/part
76 Character = 0x04,
77 Land = 0x08,
78 Water = 0x010,
79
80 // by state
81 Phantom = 0x01000,
82 VolumeDtc = 0x02000,
83 Selected = 0x04000,
84 NoShape = 0x08000,
85
86
87 All = 0xffffffff
88 }
89
90 /// <summary>
91 /// Material type for a primitive
92 /// </summary>
93 public enum Material : int
94 {
95 /// <summary></summary>
96 Stone = 0,
97 /// <summary></summary>
98 Metal = 1,
99 /// <summary></summary>
100 Glass = 2,
101 /// <summary></summary>
102 Wood = 3,
103 /// <summary></summary>
104 Flesh = 4,
105 /// <summary></summary>
106 Plastic = 5,
107 /// <summary></summary>
108 Rubber = 6,
109
110 light = 7 // compatibility with old viewers
111 }
112
113 public enum changes : int
114 {
115 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
116 Remove,
117 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
118 // or removes from a object if arg is null
119 DeLink,
120 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
121 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
122 PosOffset, // not in use
123 // arg Vector3 new position in local coords. Changes prim position in object
124 OriOffset, // not in use
125 // arg Vector3 new position in local coords. Changes prim position in object
126 Velocity,
127 AngVelocity,
128 Acceleration,
129 Force,
130 Torque,
131 Momentum,
132
133 AddForce,
134 AddAngForce,
135 AngLock,
136
137 Size,
138 Shape,
139
140 CollidesWater,
141 VolumeDtc,
142
143 Physical,
144 Phantom,
145 Selected,
146 disabled,
147 building,
148
149 VehicleType,
150 VehicleFloatParam,
151 VehicleVectorParam,
152 VehicleRotationParam,
153 VehicleFlags,
154 SetVehicle,
155
156 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
157 }
158
159 public struct ODEchangeitem
160 {
161 public PhysicsActor actor;
162 public OdeCharacter character;
163 public changes what;
164 public Object arg;
165 }
166
167 public class OdeScene : PhysicsScene
168 {
169 private readonly ILog m_log;
170 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
171
172 public bool OdeUbitLib = false;
173// private int threadid = 0;
174 private Random fluidRandomizer = new Random(Environment.TickCount);
175
176 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
177 const float MaxERP = 0.8f;
178 const float minERP = 0.1f;
179 const float comumContactCFM = 0.0001f;
180
181 float frictionMovementMult = 0.3f;
182
183 float TerrainBounce = 0.1f;
184 float TerrainFriction = 0.3f;
185
186 public float AvatarFriction = 0;// 0.9f * 0.5f;
187
188 private const uint m_regionWidth = Constants.RegionSize;
189 private const uint m_regionHeight = Constants.RegionSize;
190
191 public float ODE_STEPSIZE = 0.020f;
192 public float HalfOdeStep = 0.01f;
193 private float metersInSpace = 25.6f;
194 private float m_timeDilation = 1.0f;
195
196 DateTime m_lastframe;
197
198 public float gravityx = 0f;
199 public float gravityy = 0f;
200 public float gravityz = -9.8f;
201
202 private float waterlevel = 0f;
203 private int framecount = 0;
204
205 private IntPtr WaterGeom = IntPtr.Zero;
206 private IntPtr WaterHeightmapData = IntPtr.Zero;
207 private GCHandle WaterMapHandler = new GCHandle();
208
209 public float avPIDD = 2200f; // make it visible
210 public float avPIDP = 900f; // make it visible
211 private float avCapRadius = 0.37f;
212 private float avDensity = 3f;
213 private float avMovementDivisorWalk = 1.3f;
214 private float avMovementDivisorRun = 0.8f;
215 private float minimumGroundFlightOffset = 3f;
216 public float maximumMassObject = 10000.01f;
217
218 public bool meshSculptedPrim = true;
219 public bool forceSimplePrimMeshing = false;
220
221 public float meshSculptLOD = 32;
222 public float MeshSculptphysicalLOD = 32;
223
224 public float geomDefaultDensity = 10.000006836f;
225
226 public int geomContactPointsStartthrottle = 3;
227 public int geomUpdatesPerThrottledUpdate = 15;
228
229 public float bodyPIDD = 35f;
230 public float bodyPIDG = 25;
231
232// public int geomCrossingFailuresBeforeOutofbounds = 6;
233
234 public int bodyFramesAutoDisable = 5;
235
236
237 private d.NearCallback nearCallback;
238
239 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
240 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
241 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
242 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
243
244 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
245
246 /// <summary>
247 /// A list of actors that should receive collision events.
248 /// </summary>
249 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
250
251 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
252 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
253 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
254
255 private float contactsurfacelayer = 0.002f;
256
257 private int contactsPerCollision = 80;
258 internal IntPtr ContactgeomsArray = IntPtr.Zero;
259 private IntPtr GlobalContactsArray = IntPtr.Zero;
260
261 const int maxContactsbeforedeath = 4000;
262 private volatile int m_global_contactcount = 0;
263
264
265 private readonly IntPtr contactgroup;
266
267 public ContactData[] m_materialContactsData = new ContactData[8];
268
269 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
270 private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
271 private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
272
273 private int m_physicsiterations = 10;
274 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
275 private readonly PhysicsActor PANull = new NullPhysicsActor();
276 private float step_time = 0.0f;
277
278 public IntPtr world;
279
280 private uint obj2LocalID = 0;
281 private OdeCharacter cc1;
282 private OdePrim cp1;
283 private OdeCharacter cc2;
284 private OdePrim cp2;
285
286 // split the spaces acording to contents type
287 // ActiveSpace contains characters and active prims
288 // StaticSpace contains land and other that is mostly static in enviroment
289 // this can contain subspaces, like the grid in staticspace
290 // as now space only contains this 2 top spaces
291
292 public IntPtr TopSpace; // the global space
293 public IntPtr ActiveSpace; // space for active prims
294 public IntPtr StaticSpace; // space for the static things around
295
296 // some speedup variables
297 private int spaceGridMaxX;
298 private int spaceGridMaxY;
299 private float spacesPerMeter;
300
301 // split static geometry collision into a grid as before
302 private IntPtr[,] staticPrimspace;
303
304 public Object OdeLock;
305 private static Object SimulationLock;
306
307 public IMesher mesher;
308
309 private IConfigSource m_config;
310
311 public bool physics_logging = false;
312 public int physics_logging_interval = 0;
313 public bool physics_logging_append_existing_logfile = false;
314
315 private Vector3 m_worldOffset = Vector3.Zero;
316 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
317 private PhysicsScene m_parentScene = null;
318
319 private ODERayCastRequestManager m_rayCastManager;
320
321
322/* maybe needed if ode uses tls
323 private void checkThread()
324 {
325
326 int th = Thread.CurrentThread.ManagedThreadId;
327 if(th != threadid)
328 {
329 threadid = th;
330 d.AllocateODEDataForThread(~0U);
331 }
332 }
333 */
334 /// <summary>
335 /// Initiailizes the scene
336 /// Sets many properties that ODE requires to be stable
337 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
338 /// </summary>
339 public OdeScene(string sceneIdentifier)
340 {
341 m_log
342 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
343
344// checkThread();
345 Name = sceneIdentifier;
346
347 OdeLock = new Object();
348 SimulationLock = new Object();
349
350 nearCallback = near;
351
352 m_rayCastManager = new ODERayCastRequestManager(this);
353 lock (OdeLock)
354 {
355 // Create the world and the first space
356 try
357 {
358 world = d.WorldCreate();
359 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
360
361 // now the major subspaces
362 ActiveSpace = d.HashSpaceCreate(TopSpace);
363 StaticSpace = d.HashSpaceCreate(TopSpace);
364 }
365 catch
366 {
367 // i must RtC#FM
368 }
369
370 d.HashSpaceSetLevels(TopSpace, -2, 8);
371 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
372 d.HashSpaceSetLevels(StaticSpace, -2, 8);
373
374 // demote to second level
375 d.SpaceSetSublevel(ActiveSpace, 1);
376 d.SpaceSetSublevel(StaticSpace, 1);
377
378 d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
379 CollisionCategories.Geom |
380 CollisionCategories.Character |
381 CollisionCategories.Phantom |
382 CollisionCategories.VolumeDtc
383 ));
384 d.GeomSetCollideBits(ActiveSpace, 0);
385 d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
386 CollisionCategories.Geom |
387 CollisionCategories.Land |
388 CollisionCategories.Water |
389 CollisionCategories.Phantom |
390 CollisionCategories.VolumeDtc
391 ));
392 d.GeomSetCollideBits(StaticSpace, 0);
393
394 contactgroup = d.JointGroupCreate(0);
395 //contactgroup
396
397 d.WorldSetAutoDisableFlag(world, false);
398 }
399 }
400
401 // Initialize the mesh plugin
402// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
403 public override void Initialise(IMesher meshmerizer, IConfigSource config)
404 {
405// checkThread();
406 mesher = meshmerizer;
407 m_config = config;
408/*
409 string ode_config = d.GetConfiguration("ODE");
410 if (ode_config != null && ode_config != "")
411 {
412 m_log.WarnFormat("ODE configuration: {0}", ode_config);
413
414 if (ode_config.Contains("ODE_Ubit"))
415 {
416 OdeUbitLib = true;
417 }
418 }
419*/
420 /*
421 if (region != null)
422 {
423 WorldExtents.X = region.RegionSizeX;
424 WorldExtents.Y = region.RegionSizeY;
425 }
426 */
427
428 // Defaults
429
430 int contactsPerCollision = 80;
431
432 if (m_config != null)
433 {
434 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
435 if (physicsconfig != null)
436 {
437 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
438 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
439 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
440
441 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
442
443 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
444
445 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
446 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
447
448 avDensity = physicsconfig.GetFloat("av_density", avDensity);
449 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
450 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
451 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
452
453 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
454
455 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
456 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
457// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
458
459 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
460 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
461/*
462 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
463 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
464*/
465 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
466 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
467 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
468 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
469/*
470 if (Environment.OSVersion.Platform == PlatformID.Unix)
471 {
472 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
473 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
474 }
475 else
476 {
477
478 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
479 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
480 }
481*/
482 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
483 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
484 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
485
486 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
487 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
488 }
489 }
490
491 HalfOdeStep = ODE_STEPSIZE * 0.5f;
492
493 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
494 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
495
496 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
497 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
498
499 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
500 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
501
502 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
503 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
504
505 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
506 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
507
508 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
509 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
510
511 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
512 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
513
514 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
515 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
516
517 m_materialContactsData[(int)Material.light].mu = 0.0f;
518 m_materialContactsData[(int)Material.light].bounce = 0.0f;
519
520 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
521
522 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
523 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
524
525 d.WorldSetLinearDamping(world, 0.001f);
526 d.WorldSetAngularDamping(world, 0.001f);
527 d.WorldSetAngularDampingThreshold(world, 0f);
528 d.WorldSetLinearDampingThreshold(world, 0f);
529 d.WorldSetMaxAngularSpeed(world, 100f);
530
531 d.WorldSetCFM(world,1e-6f); // a bit harder than default
532 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
533 d.WorldSetERP(world, 0.6f); // higher than original
534
535 // Set how many steps we go without running collision testing
536 // This is in addition to the step size.
537 // Essentially Steps * m_physicsiterations
538 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
539 d.WorldSetContactMaxCorrectingVel(world, 100.0f);
540
541 spacesPerMeter = 1 / metersInSpace;
542 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
543 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
544
545 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
546
547 // create all spaces now
548 int i, j;
549 IntPtr newspace;
550 for (i = 0; i < spaceGridMaxX; i++)
551 for (j = 0; j < spaceGridMaxY; j++)
552 {
553 newspace = d.HashSpaceCreate(StaticSpace);
554 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
555 waitForSpaceUnlock(newspace);
556 d.SpaceSetSublevel(newspace, 2);
557 d.HashSpaceSetLevels(newspace, -2, 8);
558 d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
559 CollisionCategories.Geom |
560 CollisionCategories.Land |
561 CollisionCategories.Water |
562 CollisionCategories.Phantom |
563 CollisionCategories.VolumeDtc
564 ));
565 d.GeomSetCollideBits(newspace, 0);
566
567 staticPrimspace[i, j] = newspace;
568 }
569 // let this now be real maximum values
570 spaceGridMaxX--;
571 spaceGridMaxY--;
572 m_lastframe = DateTime.UtcNow;
573 }
574
575 internal void waitForSpaceUnlock(IntPtr space)
576 {
577 //if (space != IntPtr.Zero)
578 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
579 }
580
581 #region Collision Detection
582
583 // sets a global contact for a joint for contactgeom , and base contact description)
584
585 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
586 {
587 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
588 return IntPtr.Zero;
589
590 float erp = contactGeom.depth;
591 erp *= erpscale;
592 if (erp < minERP)
593 erp = minERP;
594 else if (erp > MaxERP)
595 erp = MaxERP;
596
597 float depth = contactGeom.depth * dscale;
598 if (depth > 0.5f)
599 depth = 0.5f;
600
601 d.Contact newcontact = new d.Contact();
602 newcontact.geom.depth = depth;
603 newcontact.geom.g1 = contactGeom.g1;
604 newcontact.geom.g2 = contactGeom.g2;
605 newcontact.geom.pos = contactGeom.pos;
606 newcontact.geom.normal = contactGeom.normal;
607 newcontact.geom.side1 = contactGeom.side1;
608 newcontact.geom.side2 = contactGeom.side2;
609
610 // this needs bounce also
611 newcontact.surface.mode = comumContactFlags;
612 newcontact.surface.mu = mu;
613 newcontact.surface.bounce = bounce;
614 newcontact.surface.soft_cfm = cfm;
615 newcontact.surface.soft_erp = erp;
616
617 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
618 Marshal.StructureToPtr(newcontact, contact, true);
619 return d.JointCreateContactPtr(world, contactgroup, contact);
620 }
621
622
623
624 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
625 {
626 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
627 return false;
628
629 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
630 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
631 return true;
632 }
633
634 /// <summary>
635 /// This is our near callback. A geometry is near a body
636 /// </summary>
637 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
638 /// <param name="g1">a geometry or space</param>
639 /// <param name="g2">another geometry or space</param>
640 ///
641
642 private void near(IntPtr space, IntPtr g1, IntPtr g2)
643 {
644 // no lock here! It's invoked from within Simulate(), which is thread-locked
645
646 if (m_global_contactcount >= maxContactsbeforedeath)
647 return;
648
649 // Test if we're colliding a geom with a space.
650 // If so we have to drill down into the space recursively
651
652 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
653 return;
654
655 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
656 {
657 // We'll be calling near recursivly if one
658 // of them is a space to find all of the
659 // contact points in the space
660 try
661 {
662 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
663 }
664 catch (AccessViolationException)
665 {
666 m_log.Warn("[PHYSICS]: Unable to collide test a space");
667 return;
668 }
669 //here one should check collisions of geoms inside a space
670 // but on each space we only should have geoms that not colide amoung each other
671 // so we don't dig inside spaces
672 return;
673 }
674
675 // get geom bodies to check if we already a joint contact
676 // guess this shouldn't happen now
677 IntPtr b1 = d.GeomGetBody(g1);
678 IntPtr b2 = d.GeomGetBody(g2);
679
680 // d.GeomClassID id = d.GeomGetClass(g1);
681
682 // Figure out how many contact points we have
683 int count = 0;
684 try
685 {
686 // Colliding Geom To Geom
687 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
688
689 if (g1 == g2)
690 return; // Can't collide with yourself
691
692 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
693 return;
694
695 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
696 }
697 catch (SEHException)
698 {
699 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.");
700// ode.drelease(world);
701 base.TriggerPhysicsBasedRestart();
702 }
703 catch (Exception e)
704 {
705 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
706 return;
707 }
708
709 // id contacts done
710 if (count == 0)
711 return;
712
713 // try get physical actors
714 PhysicsActor p1;
715 PhysicsActor p2;
716
717 if (!actor_name_map.TryGetValue(g1, out p1))
718 {
719 p1 = PANull;
720 }
721
722 if (!actor_name_map.TryGetValue(g2, out p2))
723 {
724 p2 = PANull;
725 }
726
727 // update actors collision score
728 if (p1.CollisionScore >= float.MaxValue - count)
729 p1.CollisionScore = 0;
730 p1.CollisionScore += count;
731
732 if (p2.CollisionScore >= float.MaxValue - count)
733 p2.CollisionScore = 0;
734 p2.CollisionScore += count;
735
736
737 // get first contact
738 d.ContactGeom curContact = new d.ContactGeom();
739 if (!GetCurContactGeom(0, ref curContact))
740 return;
741 // for now it's the one with max depth
742 ContactPoint maxDepthContact = new ContactPoint(
743 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
744 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
745 curContact.depth
746 );
747 // do volume detection case
748 if (
749 (p1.IsVolumeDtc || p2.IsVolumeDtc))
750 {
751 collision_accounting_events(p1, p2, maxDepthContact);
752 return;
753 }
754
755 // big messy collision analises
756 float mu = 0;
757 float bounce = 0;
758 float cfm = 0.0001f;
759 float erp = 0.1f;
760 float erpscale = 1.0f;
761 float dscale = 1.0f;
762 bool IgnoreNegSides = false;
763
764
765 ContactData contactdata1 = new ContactData(0, 0, false);
766 ContactData contactdata2 = new ContactData(0, 0, false);
767
768 String name = null;
769 bool dop1foot = false;
770 bool dop2foot = false;
771 bool ignore = false;
772
773 switch (p1.PhysicsActorType)
774 {
775 case (int)ActorTypes.Agent:
776 {
777 bounce = 0;
778 mu = 0;
779 cfm = 0.0001f;
780
781 switch (p2.PhysicsActorType)
782 {
783 case (int)ActorTypes.Agent:
784/*
785 p1.getContactData(ref contactdata1);
786 p2.getContactData(ref contactdata2);
787
788 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
789
790 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
791 mu *= frictionMovementMult;
792*/
793 p1.CollidingObj = true;
794 p2.CollidingObj = true;
795 break;
796 case (int)ActorTypes.Prim:
797/*
798 p1.getContactData(ref contactdata1);
799 p2.getContactData(ref contactdata2);
800
801
802 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
803
804 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
805 mu *= frictionMovementMult;
806 */
807 if (p2.Velocity.LengthSquared() > 0.0f)
808 p2.CollidingObj = true;
809
810 dop1foot = true;
811 break;
812 default:
813 ignore = true; // avatar to terrain and water ignored
814 break;
815 }
816 break;
817 }
818
819 case (int)ActorTypes.Prim:
820 switch (p2.PhysicsActorType)
821 {
822 case (int)ActorTypes.Agent:
823// p1.getContactData(ref contactdata1);
824// p2.getContactData(ref contactdata2);
825
826 bounce = 0;
827 mu = 0;
828 cfm = 0.0001f;
829/*
830 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
831
832 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
833 mu *= frictionMovementMult;
834*/
835 dop2foot = true;
836 if (p1.Velocity.LengthSquared() > 0.0f)
837 p1.CollidingObj = true;
838 break;
839 case (int)ActorTypes.Prim:
840 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
841 {
842 p1.CollidingObj = true;
843 p2.CollidingObj = true;
844 }
845 p1.getContactData(ref contactdata1);
846 p2.getContactData(ref contactdata2);
847 bounce = contactdata1.bounce * contactdata2.bounce;
848 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
849
850 cfm = p1.Mass;
851 if (cfm > p2.Mass)
852 cfm = p2.Mass;
853 dscale = 10 / cfm;
854 dscale = (float)Math.Sqrt(dscale);
855 if (dscale > 1.0f)
856 dscale = 1.0f;
857 erpscale = cfm * 0.01f;
858 cfm = 0.0001f / cfm;
859 if (cfm > 0.01f)
860 cfm = 0.01f;
861
862 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
863 mu *= frictionMovementMult;
864
865 break;
866 default:
867 if (geom_name_map.TryGetValue(g2, out name))
868 {
869 if (name == "Terrain")
870 {
871 p1.getContactData(ref contactdata1);
872 bounce = contactdata1.bounce * TerrainBounce;
873 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
874 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
875 mu *= frictionMovementMult;
876 p1.CollidingGround = true;
877
878 cfm = p1.Mass;
879 dscale = 10 / cfm;
880 dscale = (float)Math.Sqrt(dscale);
881 if (dscale > 1.0f)
882 dscale = 1.0f;
883 erpscale = cfm * 0.01f;
884 cfm = 0.0001f / cfm;
885 if (cfm > 0.01f)
886 cfm = 0.01f;
887
888 if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
889 {
890 if (curContact.side1 > 0)
891 IgnoreNegSides = true;
892 }
893
894 }
895 else if (name == "Water")
896 {
897 ignore = true;
898 }
899 }
900 else
901 ignore=true;
902 break;
903 }
904 break;
905
906 default:
907 if (geom_name_map.TryGetValue(g1, out name))
908 {
909 if (name == "Terrain")
910 {
911 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
912 {
913 p2.CollidingGround = true;
914 p2.getContactData(ref contactdata2);
915 bounce = contactdata2.bounce * TerrainBounce;
916 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
917
918 cfm = p2.Mass;
919 dscale = 10 / cfm;
920 dscale = (float)Math.Sqrt(dscale);
921
922 if (dscale > 1.0f)
923 dscale = 1.0f;
924
925 erpscale = cfm * 0.01f;
926 cfm = 0.0001f / cfm;
927 if (cfm > 0.01f)
928 cfm = 0.01f;
929
930 if (curContact.side1 > 0) // should be 2 ?
931 IgnoreNegSides = true;
932
933 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
934 mu *= frictionMovementMult;
935 }
936 else
937 ignore = true;
938
939 }
940 else if (name == "Water" &&
941 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
942 {
943 ignore = true;
944 }
945 }
946 else
947 ignore = true;
948 break;
949 }
950
951 if (ignore)
952 return;
953
954 IntPtr Joint;
955
956 int i = 0;
957 while(true)
958 {
959
960 if (IgnoreNegSides && curContact.side1 < 0)
961 {
962 if (++i >= count)
963 break;
964
965 if (!GetCurContactGeom(i, ref curContact))
966 break;
967 }
968 else
969
970 {
971 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
972 p1.IsColliding = true;
973 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
974 p2.IsColliding = true;
975
976 Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
977 d.JointAttach(Joint, b1, b2);
978
979 if (++m_global_contactcount >= maxContactsbeforedeath)
980 break;
981
982 if (++i >= count)
983 break;
984
985 if (!GetCurContactGeom(i, ref curContact))
986 break;
987
988 if (curContact.depth > maxDepthContact.PenetrationDepth)
989 {
990 maxDepthContact.Position.X = curContact.pos.X;
991 maxDepthContact.Position.Y = curContact.pos.Y;
992 maxDepthContact.Position.Z = curContact.pos.Z;
993 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
994 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
995 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
996 maxDepthContact.PenetrationDepth = curContact.depth;
997 }
998 }
999 }
1000
1001 collision_accounting_events(p1, p2, maxDepthContact);
1002
1003/*
1004 if (notskipedcount > geomContactPointsStartthrottle)
1005 {
1006 // If there are more then 3 contact points, it's likely
1007 // that we've got a pile of objects, so ...
1008 // We don't want to send out hundreds of terse updates over and over again
1009 // so lets throttle them and send them again after it's somewhat sorted out.
1010 this needs checking so out for now
1011 if (b1 != IntPtr.Zero)
1012 p1.ThrottleUpdates = true;
1013 if (b2 != IntPtr.Zero)
1014 p2.ThrottleUpdates = true;
1015
1016 }
1017 */
1018 }
1019
1020 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1021 {
1022 obj2LocalID = 0;
1023 bool p1events = p1.SubscribedEvents();
1024 bool p2events = p2.SubscribedEvents();
1025
1026 if (p1.IsVolumeDtc)
1027 p2events = false;
1028 if (p2.IsVolumeDtc)
1029 p1events = false;
1030
1031 if (!(p2events || p1events))
1032 return;
1033
1034 switch ((ActorTypes)p1.PhysicsActorType)
1035 {
1036 case ActorTypes.Agent:
1037 cc1 = (OdeCharacter)p1;
1038 switch ((ActorTypes)p2.PhysicsActorType)
1039 {
1040 case ActorTypes.Agent:
1041 cc2 = (OdeCharacter)p2;
1042 obj2LocalID = cc2.m_localID;
1043 if (p2events)
1044 cc2.AddCollisionEvent(cc1.m_localID, contact);
1045 break;
1046
1047 case ActorTypes.Prim:
1048 if (p2 is OdePrim)
1049 {
1050 cp2 = (OdePrim)p2;
1051 obj2LocalID = cp2.m_localID;
1052 if (p2events)
1053 cp2.AddCollisionEvent(cc1.m_localID, contact);
1054 }
1055 break;
1056
1057 case ActorTypes.Ground:
1058 case ActorTypes.Unknown:
1059 default:
1060 obj2LocalID = 0;
1061 break;
1062 }
1063 if (p1events)
1064 {
1065 contact.SurfaceNormal = -contact.SurfaceNormal;
1066 cc1.AddCollisionEvent(obj2LocalID, contact);
1067 }
1068 break;
1069
1070 case ActorTypes.Prim:
1071
1072 if (p1 is OdePrim)
1073 {
1074 cp1 = (OdePrim)p1;
1075
1076 // obj1LocalID = cp2.m_localID;
1077 switch ((ActorTypes)p2.PhysicsActorType)
1078 {
1079 case ActorTypes.Agent:
1080 if (p2 is OdeCharacter)
1081 {
1082 cc2 = (OdeCharacter)p2;
1083 obj2LocalID = cc2.m_localID;
1084 if (p2events)
1085 cc2.AddCollisionEvent(cp1.m_localID, contact);
1086 }
1087 break;
1088 case ActorTypes.Prim:
1089
1090 if (p2 is OdePrim)
1091 {
1092 cp2 = (OdePrim)p2;
1093 obj2LocalID = cp2.m_localID;
1094 if (p2events)
1095 cp2.AddCollisionEvent(cp1.m_localID, contact);
1096 }
1097 break;
1098
1099 case ActorTypes.Ground:
1100 case ActorTypes.Unknown:
1101 default:
1102 obj2LocalID = 0;
1103 break;
1104 }
1105 if (p1events)
1106 {
1107 contact.SurfaceNormal = -contact.SurfaceNormal;
1108 cp1.AddCollisionEvent(obj2LocalID, contact);
1109 }
1110 }
1111 break;
1112 }
1113 }
1114
1115 /// <summary>
1116 /// This is our collision testing routine in ODE
1117 /// </summary>
1118 /// <param name="timeStep"></param>
1119 private void collision_optimized()
1120 {
1121 lock (_characters)
1122 {
1123 try
1124 {
1125 foreach (OdeCharacter chr in _characters)
1126 {
1127 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1128 continue;
1129
1130 chr.IsColliding = false;
1131 // chr.CollidingGround = false; not done here
1132 chr.CollidingObj = false;
1133 // do colisions with static space
1134 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1135 }
1136 }
1137 catch (AccessViolationException)
1138 {
1139 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1140 }
1141
1142 }
1143
1144 lock (_activeprims)
1145 {
1146 foreach (OdePrim aprim in _activeprims)
1147 {
1148 aprim.CollisionScore = 0;
1149 aprim.IsColliding = false;
1150 }
1151 }
1152
1153 // collide active prims with static enviroment
1154 lock (_activegroups)
1155 {
1156 try
1157 {
1158 foreach (OdePrim prm in _activegroups)
1159 {
1160 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1161 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1162 }
1163 }
1164 catch (AccessViolationException)
1165 {
1166 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1167 }
1168 }
1169 // finally colide active things amoung them
1170 try
1171 {
1172 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1173 }
1174 catch (AccessViolationException)
1175 {
1176 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1177 }
1178// _perloopContact.Clear();
1179 }
1180
1181 #endregion
1182
1183
1184
1185 /// <summary>
1186 /// Add actor to the list that should receive collision events in the simulate loop.
1187 /// </summary>
1188 /// <param name="obj"></param>
1189 public void AddCollisionEventReporting(PhysicsActor obj)
1190 {
1191 lock (_collisionEventPrim)
1192 {
1193 if (!_collisionEventPrim.Contains(obj))
1194 _collisionEventPrim.Add(obj);
1195 }
1196 }
1197
1198 /// <summary>
1199 /// Remove actor from the list that should receive collision events in the simulate loop.
1200 /// </summary>
1201 /// <param name="obj"></param>
1202 public void RemoveCollisionEventReporting(PhysicsActor obj)
1203 {
1204 lock (_collisionEventPrim)
1205 {
1206 if (_collisionEventPrim.Contains(obj))
1207 _collisionEventPrim.Remove(obj);
1208 }
1209 }
1210
1211 #region Add/Remove Entities
1212
1213 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1214 {
1215 Vector3 pos;
1216 pos.X = position.X;
1217 pos.Y = position.Y;
1218 pos.Z = position.Z;
1219 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1220 newAv.Flying = isFlying;
1221 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1222
1223 return newAv;
1224 }
1225
1226 public void AddCharacter(OdeCharacter chr)
1227 {
1228 lock (_characters)
1229 {
1230 if (!_characters.Contains(chr))
1231 {
1232 _characters.Add(chr);
1233 if (chr.bad)
1234 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1235 }
1236 }
1237 }
1238
1239 public void RemoveCharacter(OdeCharacter chr)
1240 {
1241 lock (_characters)
1242 {
1243 if (_characters.Contains(chr))
1244 {
1245 _characters.Remove(chr);
1246 }
1247 }
1248 }
1249
1250 public void BadCharacter(OdeCharacter chr)
1251 {
1252 lock (_badCharacter)
1253 {
1254 if (!_badCharacter.Contains(chr))
1255 _badCharacter.Add(chr);
1256 }
1257 }
1258
1259 public override void RemoveAvatar(PhysicsActor actor)
1260 {
1261 //m_log.Debug("[PHYSICS]:ODELOCK");
1262 ((OdeCharacter) actor).Destroy();
1263 }
1264
1265 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1266 PrimitiveBaseShape pbs, bool isphysical, uint localID)
1267 {
1268 Vector3 pos = position;
1269 Vector3 siz = size;
1270 Quaternion rot = rotation;
1271
1272 OdePrim newPrim;
1273 lock (OdeLock)
1274 {
1275 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID);
1276
1277 lock (_prims)
1278 _prims.Add(newPrim);
1279 }
1280 return newPrim;
1281 }
1282
1283 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1284 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID)
1285 {
1286 Vector3 pos = position;
1287 Vector3 siz = size;
1288 Quaternion rot = rotation;
1289
1290 OdePrim newPrim;
1291 lock (OdeLock)
1292 {
1293 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID);
1294
1295 lock (_prims)
1296 _prims.Add(newPrim);
1297 }
1298 return newPrim;
1299 }
1300
1301 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1302 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
1303 {
1304 Vector3 pos = position;
1305 Vector3 siz = size;
1306 Quaternion rot = rotation;
1307
1308 OdePrim newPrim;
1309 lock (OdeLock)
1310 {
1311 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID);
1312
1313 lock (_prims)
1314 _prims.Add(newPrim);
1315 }
1316 return newPrim;
1317 }
1318
1319 public void addActivePrim(OdePrim activatePrim)
1320 {
1321 // adds active prim..
1322 lock (_activeprims)
1323 {
1324 if (!_activeprims.Contains(activatePrim))
1325 _activeprims.Add(activatePrim);
1326 }
1327 }
1328
1329 public void addActiveGroups(OdePrim activatePrim)
1330 {
1331 lock (_activegroups)
1332 {
1333 if (!_activegroups.Contains(activatePrim))
1334 _activegroups.Add(activatePrim);
1335 }
1336 }
1337
1338 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1339 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1340 {
1341 return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid);
1342 }
1343
1344
1345 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1346 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1347 {
1348#if SPAM
1349 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1350#endif
1351
1352 return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
1353 }
1354
1355 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1356 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
1357 {
1358#if SPAM
1359 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1360#endif
1361
1362 return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
1363 }
1364
1365 public override float TimeDilation
1366 {
1367 get { return m_timeDilation; }
1368 }
1369
1370 public override bool SupportsNINJAJoints
1371 {
1372 get { return false; }
1373 }
1374
1375
1376 public void remActivePrim(OdePrim deactivatePrim)
1377 {
1378 lock (_activeprims)
1379 {
1380 _activeprims.Remove(deactivatePrim);
1381 }
1382 }
1383 public void remActiveGroup(OdePrim deactivatePrim)
1384 {
1385 lock (_activegroups)
1386 {
1387 _activegroups.Remove(deactivatePrim);
1388 }
1389 }
1390
1391 public override void RemovePrim(PhysicsActor prim)
1392 {
1393 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1394 // removed in the next physics simulate pass.
1395 if (prim is OdePrim)
1396 {
1397// lock (OdeLock)
1398 {
1399 OdePrim p = (OdePrim)prim;
1400 p.setPrimForRemoval();
1401 }
1402 }
1403 }
1404 /// <summary>
1405 /// This is called from within simulate but outside the locked portion
1406 /// We need to do our own locking here
1407 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1408 /// Simulate() -- justincc).
1409 ///
1410 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1411 ///
1412 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1413 /// that the space was using.
1414 /// </summary>
1415 /// <param name="prim"></param>
1416 public void RemovePrimThreadLocked(OdePrim prim)
1417 {
1418 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1419 lock (prim)
1420 {
1421 RemoveCollisionEventReporting(prim);
1422 lock (_prims)
1423 _prims.Remove(prim);
1424 }
1425
1426 }
1427 #endregion
1428
1429 #region Space Separation Calculation
1430
1431 /// <summary>
1432 /// Called when a static prim moves or becomes static
1433 /// Places the prim in a space one the static sub-spaces grid
1434 /// </summary>
1435 /// <param name="geom">the pointer to the geom that moved</param>
1436 /// <param name="pos">the position that the geom moved to</param>
1437 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1438 /// <returns>a pointer to the new space it's in</returns>
1439 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1440 {
1441 // moves a prim into another static sub-space or from another space into a static sub-space
1442
1443 // Called ODEPrim so
1444 // it's already in locked space.
1445
1446 if (geom == IntPtr.Zero) // shouldn't happen
1447 return IntPtr.Zero;
1448
1449 // get the static sub-space for current position
1450 IntPtr newspace = calculateSpaceForGeom(pos);
1451
1452 if (newspace == currentspace) // if we are there all done
1453 return newspace;
1454
1455 // else remove it from its current space
1456 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1457 {
1458 if (d.GeomIsSpace(currentspace))
1459 {
1460 waitForSpaceUnlock(currentspace);
1461 d.SpaceRemove(currentspace, geom);
1462
1463 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1464 {
1465 d.SpaceDestroy(currentspace);
1466 }
1467 }
1468 else
1469 {
1470 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1471 " Geom:" + geom);
1472 }
1473 }
1474 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1475 {
1476 currentspace = d.GeomGetSpace(geom);
1477 if (currentspace != IntPtr.Zero)
1478 {
1479 if (d.GeomIsSpace(currentspace))
1480 {
1481 waitForSpaceUnlock(currentspace);
1482 d.SpaceRemove(currentspace, geom);
1483
1484 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1485 {
1486 d.SpaceDestroy(currentspace);
1487 }
1488
1489 }
1490 }
1491 }
1492
1493 // put the geom in the newspace
1494 waitForSpaceUnlock(newspace);
1495 d.SpaceAdd(newspace, geom);
1496
1497 // let caller know this newspace
1498 return newspace;
1499 }
1500
1501 /// <summary>
1502 /// Calculates the space the prim should be in by its position
1503 /// </summary>
1504 /// <param name="pos"></param>
1505 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1506 public IntPtr calculateSpaceForGeom(Vector3 pos)
1507 {
1508 int x, y;
1509 x = (int)(pos.X * spacesPerMeter);
1510 if (x < 0)
1511 x = 0;
1512 else if (x > spaceGridMaxX)
1513 x = spaceGridMaxX;
1514
1515 y = (int)(pos.Y * spacesPerMeter);
1516 if (y < 0)
1517 y = 0;
1518 else if (y >spaceGridMaxY)
1519 y = spaceGridMaxY;
1520
1521 IntPtr tmpSpace = staticPrimspace[x, y];
1522 return tmpSpace;
1523 }
1524
1525 #endregion
1526
1527 /// <summary>
1528 /// Routine to figure out if we need to mesh this prim with our mesher
1529 /// </summary>
1530 /// <param name="pbs"></param>
1531 /// <returns></returns>
1532 public bool needsMeshing(PrimitiveBaseShape pbs)
1533 {
1534 // most of this is redundant now as the mesher will return null if it cant mesh a prim
1535 // but we still need to check for sculptie meshing being enabled so this is the most
1536 // convenient place to do it for now...
1537
1538 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1539 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1540 int iPropertiesNotSupportedDefault = 0;
1541
1542 if (pbs.SculptEntry)
1543 {
1544 if(!meshSculptedPrim)
1545 return false;
1546 }
1547
1548 // 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
1549 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
1550 {
1551 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
1552 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
1553 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
1554 {
1555
1556 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
1557 && pbs.ProfileHollow == 0
1558 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
1559 && pbs.PathBegin == 0 && pbs.PathEnd == 0
1560 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
1561 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
1562 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
1563 {
1564#if SPAM
1565 m_log.Warn("NonMesh");
1566#endif
1567 return false;
1568 }
1569 }
1570 }
1571
1572 // following code doesn't give meshs to boxes and spheres ever
1573 // and it's odd.. so for now just return true if asked to force meshs
1574 // hopefully mesher will fail if doesn't suport so things still get basic boxes
1575
1576 if (forceSimplePrimMeshing)
1577 return true;
1578
1579 if (pbs.ProfileHollow != 0)
1580 iPropertiesNotSupportedDefault++;
1581
1582 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
1583 iPropertiesNotSupportedDefault++;
1584
1585 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
1586 iPropertiesNotSupportedDefault++;
1587
1588 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
1589 iPropertiesNotSupportedDefault++;
1590
1591 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
1592 iPropertiesNotSupportedDefault++;
1593
1594 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
1595 iPropertiesNotSupportedDefault++;
1596
1597 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
1598 iPropertiesNotSupportedDefault++;
1599
1600 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))
1601 iPropertiesNotSupportedDefault++;
1602
1603 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
1604 iPropertiesNotSupportedDefault++;
1605
1606 // test for torus
1607 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
1608 {
1609 if (pbs.PathCurve == (byte)Extrusion.Curve1)
1610 {
1611 iPropertiesNotSupportedDefault++;
1612 }
1613 }
1614 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1615 {
1616 if (pbs.PathCurve == (byte)Extrusion.Straight)
1617 {
1618 iPropertiesNotSupportedDefault++;
1619 }
1620
1621 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
1622 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1623 {
1624 iPropertiesNotSupportedDefault++;
1625 }
1626 }
1627 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
1628 {
1629 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
1630 {
1631 iPropertiesNotSupportedDefault++;
1632 }
1633 }
1634 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
1635 {
1636 if (pbs.PathCurve == (byte)Extrusion.Straight)
1637 {
1638 iPropertiesNotSupportedDefault++;
1639 }
1640 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1641 {
1642 iPropertiesNotSupportedDefault++;
1643 }
1644 }
1645
1646 if (pbs.SculptEntry && meshSculptedPrim)
1647 iPropertiesNotSupportedDefault++;
1648
1649 if (iPropertiesNotSupportedDefault == 0)
1650 {
1651#if SPAM
1652 m_log.Warn("NonMesh");
1653#endif
1654 return false;
1655 }
1656#if SPAM
1657 m_log.Debug("Mesh");
1658#endif
1659 return true;
1660 }
1661
1662 /// <summary>
1663 /// Called to queue a change to a actor
1664 /// to use in place of old taint mechanism so changes do have a time sequence
1665 /// </summary>
1666
1667 public void AddChange(PhysicsActor actor, changes what, Object arg)
1668 {
1669 ODEchangeitem item = new ODEchangeitem();
1670 item.actor = actor;
1671 item.what = what;
1672 item.arg = arg;
1673 ChangesQueue.Enqueue(item);
1674 }
1675
1676 /// <summary>
1677 /// Called after our prim properties are set Scale, position etc.
1678 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1679 /// This assures us that we have no race conditions
1680 /// </summary>
1681 /// <param name="prim"></param>
1682 public override void AddPhysicsActorTaint(PhysicsActor prim)
1683 {
1684 }
1685
1686 /// <summary>
1687 /// This is our main simulate loop
1688 /// It's thread locked by a Mutex in the scene.
1689 /// It holds Collisions, it instructs ODE to step through the physical reactions
1690 /// It moves the objects around in memory
1691 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1692 /// </summary>
1693 /// <param name="timeStep"></param>
1694 /// <returns></returns>
1695 public override float Simulate(float timeStep)
1696 {
1697
1698 DateTime now = DateTime.UtcNow;
1699 TimeSpan SinceLastFrame = now - m_lastframe;
1700 m_lastframe = now;
1701 timeStep = (float)SinceLastFrame.TotalSeconds;
1702
1703 // acumulate time so we can reduce error
1704 step_time += timeStep;
1705
1706 if (step_time < HalfOdeStep)
1707 return 0;
1708
1709 if (framecount < 0)
1710 framecount = 0;
1711
1712 framecount++;
1713
1714 int curphysiteractions;
1715
1716 // if in trouble reduce step resolution
1717 if (step_time >= m_SkipFramesAtms)
1718 curphysiteractions = m_physicsiterations / 2;
1719 else
1720 curphysiteractions = m_physicsiterations;
1721
1722 int nodeframes = 0;
1723
1724// checkThread();
1725
1726 lock (SimulationLock)
1727 lock(OdeLock)
1728 {
1729 // adjust number of iterations per step
1730 try
1731 {
1732 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1733 }
1734 catch (StackOverflowException)
1735 {
1736 m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
1737// ode.drelease(world);
1738 base.TriggerPhysicsBasedRestart();
1739 }
1740
1741 while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
1742 {
1743 try
1744 {
1745 // clear pointer/counter to contacts to pass into joints
1746 m_global_contactcount = 0;
1747
1748 ODEchangeitem item;
1749
1750 if(ChangesQueue.Count >0)
1751 {
1752 int ttmpstart = Util.EnvironmentTickCount();
1753 int ttmp;
1754 int ttmp2;
1755
1756 while(ChangesQueue.Dequeue(out item))
1757 {
1758 if (item.actor != null)
1759 {
1760 try
1761 {
1762 if (item.actor is OdeCharacter)
1763 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1764 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1765 RemovePrimThreadLocked((OdePrim)item.actor);
1766 }
1767 catch
1768 {
1769 m_log.Warn("[PHYSICS]: doChange failed for a actor");
1770 };
1771 }
1772 ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
1773 if (ttmp > 20)
1774 break;
1775 }
1776
1777 ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
1778 if (ttmp2 > 50)
1779 ttmp2 = 0;
1780
1781 }
1782
1783 // Move characters
1784 lock (_characters)
1785 {
1786 List<OdeCharacter> defects = new List<OdeCharacter>();
1787 foreach (OdeCharacter actor in _characters)
1788 {
1789 if (actor != null)
1790 actor.Move(ODE_STEPSIZE, defects);
1791 }
1792 if (defects.Count != 0)
1793 {
1794 foreach (OdeCharacter defect in defects)
1795 {
1796 RemoveCharacter(defect);
1797 }
1798 }
1799 }
1800
1801 // Move other active objects
1802 lock (_activegroups)
1803 {
1804 foreach (OdePrim aprim in _activegroups)
1805 {
1806 aprim.Move();
1807 }
1808 }
1809
1810 //if ((framecount % m_randomizeWater) == 0)
1811 // randomizeWater(waterlevel);
1812
1813 m_rayCastManager.ProcessQueuedRequests();
1814
1815 collision_optimized();
1816
1817 lock (_collisionEventPrim)
1818 {
1819 foreach (PhysicsActor obj in _collisionEventPrim)
1820 {
1821 if (obj == null)
1822 continue;
1823
1824 switch ((ActorTypes)obj.PhysicsActorType)
1825 {
1826 case ActorTypes.Agent:
1827 OdeCharacter cobj = (OdeCharacter)obj;
1828 cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
1829 cobj.SendCollisions();
1830 break;
1831
1832 case ActorTypes.Prim:
1833 OdePrim pobj = (OdePrim)obj;
1834 pobj.SendCollisions();
1835 break;
1836 }
1837 }
1838 }
1839
1840 // do a ode simulation step
1841 d.WorldQuickStep(world, ODE_STEPSIZE);
1842 d.JointGroupEmpty(contactgroup);
1843
1844 // update managed ideia of physical data and do updates to core
1845 /*
1846 lock (_characters)
1847 {
1848 foreach (OdeCharacter actor in _characters)
1849 {
1850 if (actor != null)
1851 {
1852 if (actor.bad)
1853 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1854
1855 actor.UpdatePositionAndVelocity();
1856 }
1857 }
1858 }
1859 */
1860
1861 lock (_activegroups)
1862 {
1863 {
1864 foreach (OdePrim actor in _activegroups)
1865 {
1866 if (actor.IsPhysical)
1867 {
1868 actor.UpdatePositionAndVelocity();
1869 }
1870 }
1871 }
1872 }
1873 }
1874 catch (Exception e)
1875 {
1876 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1877// ode.dunlock(world);
1878 }
1879
1880
1881 step_time -= ODE_STEPSIZE;
1882 nodeframes++;
1883 }
1884
1885 lock (_badCharacter)
1886 {
1887 if (_badCharacter.Count > 0)
1888 {
1889 foreach (OdeCharacter chr in _badCharacter)
1890 {
1891 RemoveCharacter(chr);
1892 }
1893
1894 _badCharacter.Clear();
1895 }
1896 }
1897
1898 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1899 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1900 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1901 int nbodies = d.NTotalBodies;
1902 int ngeoms = d.NTotalGeoms;
1903
1904 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1905 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1906 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1907 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1908 {
1909 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1910 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1911
1912 if (physics_logging_append_existing_logfile)
1913 {
1914 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1915 TextWriter fwriter = File.AppendText(fname);
1916 fwriter.WriteLine(header);
1917 fwriter.Close();
1918 }
1919
1920 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1921 }
1922
1923 // think time dilation as to do with dinamic step size that we dont' have
1924 // even so tell something to world
1925 if (nodeframes < 10) // we did the requested loops
1926 m_timeDilation = 1.0f;
1927 else if (step_time > 0)
1928 {
1929 m_timeDilation = timeStep / step_time;
1930 if (m_timeDilation > 1)
1931 m_timeDilation = 1;
1932 if (step_time > m_SkipFramesAtms)
1933 step_time = 0;
1934 }
1935 }
1936
1937// return nodeframes * ODE_STEPSIZE; // return real simulated time
1938 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1939 }
1940
1941 /// <summary>
1942 public override void GetResults()
1943 {
1944 }
1945
1946 public override bool IsThreaded
1947 {
1948 // for now we won't be multithreaded
1949 get { return (false); }
1950 }
1951
1952 public float GetTerrainHeightAtXY(float x, float y)
1953 {
1954
1955
1956 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1957 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1958
1959
1960 IntPtr heightFieldGeom = IntPtr.Zero;
1961
1962 // get region map
1963 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
1964 return 0f;
1965
1966 if (heightFieldGeom == IntPtr.Zero)
1967 return 0f;
1968
1969 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1970 return 0f;
1971
1972 // TerrainHeightField for ODE as offset 1m
1973 x += 1f - offsetX;
1974 y += 1f - offsetY;
1975
1976 // make position fit into array
1977 if (x < 0)
1978 x = 0;
1979 if (y < 0)
1980 y = 0;
1981
1982 // integer indexs
1983 int ix;
1984 int iy;
1985 // interpolators offset
1986 float dx;
1987 float dy;
1988
1989 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
1990
1991 if (OdeUbitLib)
1992 {
1993 if (x < regsize - 1)
1994 {
1995 ix = (int)x;
1996 dx = x - (float)ix;
1997 }
1998 else // out world use external height
1999 {
2000 ix = regsize - 2;
2001 dx = 0;
2002 }
2003 if (y < regsize - 1)
2004 {
2005 iy = (int)y;
2006 dy = y - (float)iy;
2007 }
2008 else
2009 {
2010 iy = regsize - 2;
2011 dy = 0;
2012 }
2013 }
2014
2015 else
2016 {
2017 // we still have square fixed size regions
2018 // also flip x and y because of how map is done for ODE fliped axis
2019 // so ix,iy,dx and dy are inter exchanged
2020 if (x < regsize - 1)
2021 {
2022 iy = (int)x;
2023 dy = x - (float)iy;
2024 }
2025 else // out world use external height
2026 {
2027 iy = regsize - 2;
2028 dy = 0;
2029 }
2030 if (y < regsize - 1)
2031 {
2032 ix = (int)y;
2033 dx = y - (float)ix;
2034 }
2035 else
2036 {
2037 ix = regsize - 2;
2038 dx = 0;
2039 }
2040 }
2041
2042 float h0;
2043 float h1;
2044 float h2;
2045
2046 iy *= regsize;
2047 iy += ix; // all indexes have iy + ix
2048
2049 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
2050 /*
2051 if ((dx + dy) <= 1.0f)
2052 {
2053 h0 = ((float)heights[iy]); // 0,0 vertice
2054 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
2055 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
2056 }
2057 else
2058 {
2059 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
2060 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
2061 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
2062 }
2063 */
2064 h0 = ((float)heights[iy]); // 0,0 vertice
2065
2066 if ((dy > dx))
2067 {
2068 iy += regsize;
2069 h2 = (float)heights[iy]; // 0,1 vertice
2070 h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
2071 h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1
2072 }
2073 else
2074 {
2075 iy++;
2076 h2 = (float)heights[iy]; // vertice 1,0
2077 h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
2078 h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0
2079 }
2080
2081 return h0 + h1 + h2;
2082 }
2083
2084
2085 public override void SetTerrain(float[] heightMap)
2086 {
2087 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
2088 {
2089 if (m_parentScene is OdeScene)
2090 {
2091 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
2092 }
2093 }
2094 else
2095 {
2096 SetTerrain(heightMap, m_worldOffset);
2097 }
2098 }
2099
2100 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
2101 {
2102 SetTerrain(heightMap, pOffset);
2103 }
2104
2105 public void SetTerrain(float[] heightMap, Vector3 pOffset)
2106 {
2107 if (OdeUbitLib)
2108 UbitSetTerrain(heightMap, pOffset);
2109 else
2110 OriSetTerrain(heightMap, pOffset);
2111 }
2112
2113 public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
2114 {
2115 // assumes 1m size grid and constante size square regions
2116 // needs to know about sims around in future
2117
2118 float[] _heightmap;
2119
2120 uint heightmapWidth = Constants.RegionSize + 2;
2121 uint heightmapHeight = Constants.RegionSize + 2;
2122
2123 uint heightmapWidthSamples = heightmapWidth + 1;
2124 uint heightmapHeightSamples = heightmapHeight + 1;
2125
2126 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2127
2128 const float scale = 1.0f;
2129 const float offset = 0.0f;
2130 const float thickness = 10f;
2131 const int wrap = 0;
2132
2133 uint regionsize = Constants.RegionSize;
2134
2135 float hfmin = float.MaxValue;
2136 float hfmax = float.MinValue;
2137 float val;
2138 uint xx;
2139 uint yy;
2140
2141 uint maxXXYY = regionsize - 1;
2142 // flipping map adding one margin all around so things don't fall in edges
2143
2144 uint xt = 0;
2145 xx = 0;
2146
2147 for (uint x = 0; x < heightmapWidthSamples; x++)
2148 {
2149 if (x > 1 && xx < maxXXYY)
2150 xx++;
2151 yy = 0;
2152 for (uint y = 0; y < heightmapHeightSamples; y++)
2153 {
2154 if (y > 1 && y < maxXXYY)
2155 yy += regionsize;
2156
2157 val = heightMap[yy + xx];
2158 if (val < 0.0f)
2159 val = 0.0f; // no neg terrain as in chode
2160 _heightmap[xt + y] = val;
2161
2162 if (hfmin > val)
2163 hfmin = val;
2164 if (hfmax < val)
2165 hfmax = val;
2166 }
2167 xt += heightmapHeightSamples;
2168 }
2169 lock (OdeLock)
2170 {
2171 IntPtr GroundGeom = IntPtr.Zero;
2172 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2173 {
2174 RegionTerrain.Remove(pOffset);
2175 if (GroundGeom != IntPtr.Zero)
2176 {
2177 d.GeomDestroy(GroundGeom);
2178
2179 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2180 {
2181 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2182 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2183 TerrainHeightFieldHeights.Remove(GroundGeom);
2184 }
2185 }
2186 }
2187 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2188
2189 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2190
2191 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
2192 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2193 offset, thickness, wrap);
2194
2195 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2196 GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2197 if (GroundGeom != IntPtr.Zero)
2198 {
2199 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2200 d.GeomSetCollideBits(GroundGeom, 0);
2201
2202 }
2203 geom_name_map[GroundGeom] = "Terrain";
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
2211 q1 = q1 * q2;
2212
2213 Vector3 v3;
2214 float angle;
2215 q1.GetAxisAngle(out v3, out angle);
2216
2217 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2218 d.GeomSetRotation(GroundGeom, ref R);
2219 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2220 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2221// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2222 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2223 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2224
2225 }
2226 }
2227
2228 public void UbitSetTerrain(float[] heightMap, Vector3 pOffset)
2229 {
2230 // assumes 1m size grid and constante size square regions
2231 // needs to know about sims around in future
2232
2233 float[] _heightmap;
2234
2235 uint heightmapWidth = Constants.RegionSize + 2;
2236 uint heightmapHeight = Constants.RegionSize + 2;
2237
2238 uint heightmapWidthSamples = heightmapWidth + 1;
2239 uint heightmapHeightSamples = heightmapHeight + 1;
2240
2241 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2242
2243
2244 uint regionsize = Constants.RegionSize;
2245
2246 float hfmin = float.MaxValue;
2247// float hfmax = float.MinValue;
2248 float val;
2249
2250
2251 uint maxXXYY = regionsize - 1;
2252 // adding one margin all around so things don't fall in edges
2253
2254 uint xx;
2255 uint yy = 0;
2256 uint yt = 0;
2257
2258 for (uint y = 0; y < heightmapHeightSamples; y++)
2259 {
2260 if (y > 1 && y < maxXXYY)
2261 yy += regionsize;
2262 xx = 0;
2263 for (uint x = 0; x < heightmapWidthSamples; x++)
2264 {
2265 if (x > 1 && x < maxXXYY)
2266 xx++;
2267
2268 val = heightMap[yy + xx];
2269 if (val < 0.0f)
2270 val = 0.0f; // no neg terrain as in chode
2271 _heightmap[yt + x] = val;
2272
2273 if (hfmin > val)
2274 hfmin = val;
2275// if (hfmax < val)
2276// hfmax = val;
2277 }
2278 yt += heightmapWidthSamples;
2279 }
2280 lock (OdeLock)
2281 {
2282 IntPtr GroundGeom = IntPtr.Zero;
2283 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2284 {
2285 RegionTerrain.Remove(pOffset);
2286 if (GroundGeom != IntPtr.Zero)
2287 {
2288 d.GeomDestroy(GroundGeom);
2289
2290 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2291 {
2292 if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated)
2293 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2294 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2295 TerrainHeightFieldHeights.Remove(GroundGeom);
2296 }
2297 }
2298 }
2299 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2300
2301 const int wrap = 0;
2302 float thickness = hfmin;
2303 if (thickness < 0)
2304 thickness = 1;
2305
2306 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2307
2308 d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
2309 (int)heightmapWidthSamples, (int)heightmapHeightSamples,
2310 thickness, wrap);
2311
2312// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2313 GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1);
2314 if (GroundGeom != IntPtr.Zero)
2315 {
2316 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2317 d.GeomSetCollideBits(GroundGeom, 0);
2318
2319 }
2320 geom_name_map[GroundGeom] = "Terrain";
2321
2322 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2323 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2324 // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2325 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2326 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2327 }
2328 }
2329
2330
2331 public override void DeleteTerrain()
2332 {
2333 }
2334
2335 public float GetWaterLevel()
2336 {
2337 return waterlevel;
2338 }
2339
2340 public override bool SupportsCombining()
2341 {
2342 return true;
2343 }
2344/*
2345 public override void UnCombine(PhysicsScene pScene)
2346 {
2347 IntPtr localGround = IntPtr.Zero;
2348// float[] localHeightfield;
2349 bool proceed = false;
2350 List<IntPtr> geomDestroyList = new List<IntPtr>();
2351
2352 lock (OdeLock)
2353 {
2354 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2355 {
2356 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2357 {
2358 if (geom == localGround)
2359 {
2360// localHeightfield = TerrainHeightFieldHeights[geom];
2361 proceed = true;
2362 }
2363 else
2364 {
2365 geomDestroyList.Add(geom);
2366 }
2367 }
2368
2369 if (proceed)
2370 {
2371 m_worldOffset = Vector3.Zero;
2372 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2373 m_parentScene = null;
2374
2375 foreach (IntPtr g in geomDestroyList)
2376 {
2377 // removingHeightField needs to be done or the garbage collector will
2378 // collect the terrain data before we tell ODE to destroy it causing
2379 // memory corruption
2380 if (TerrainHeightFieldHeights.ContainsKey(g))
2381 {
2382// float[] removingHeightField = TerrainHeightFieldHeights[g];
2383 TerrainHeightFieldHeights.Remove(g);
2384
2385 if (RegionTerrain.ContainsKey(g))
2386 {
2387 RegionTerrain.Remove(g);
2388 }
2389
2390 d.GeomDestroy(g);
2391 //removingHeightField = new float[0];
2392 }
2393 }
2394
2395 }
2396 else
2397 {
2398 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2399 }
2400 }
2401 }
2402 }
2403*/
2404 public override void SetWaterLevel(float baseheight)
2405 {
2406 waterlevel = baseheight;
2407 randomizeWater(waterlevel);
2408 }
2409
2410 public void randomizeWater(float baseheight)
2411 {
2412 const uint heightmapWidth = Constants.RegionSize + 2;
2413 const uint heightmapHeight = Constants.RegionSize + 2;
2414 const uint heightmapWidthSamples = heightmapWidth + 1;
2415 const uint heightmapHeightSamples = heightmapHeight + 1;
2416
2417 const float scale = 1.0f;
2418 const float offset = 0.0f;
2419 const int wrap = 0;
2420
2421 float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples];
2422
2423 float maxheigh = float.MinValue;
2424 float minheigh = float.MaxValue;
2425 float val;
2426 for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++)
2427 {
2428
2429 val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f);
2430 _watermap[i] = val;
2431 if (maxheigh < val)
2432 maxheigh = val;
2433 if (minheigh > val)
2434 minheigh = val;
2435 }
2436
2437 float thickness = minheigh;
2438
2439 lock (OdeLock)
2440 {
2441 if (WaterGeom != IntPtr.Zero)
2442 {
2443 d.GeomDestroy(WaterGeom);
2444 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2445 WaterGeom = IntPtr.Zero;
2446 WaterHeightmapData = IntPtr.Zero;
2447 if(WaterMapHandler.IsAllocated)
2448 WaterMapHandler.Free();
2449 }
2450
2451 WaterHeightmapData = d.GeomHeightfieldDataCreate();
2452
2453 WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned);
2454
2455 d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight,
2456 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2457 offset, thickness, wrap);
2458 d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh);
2459 WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1);
2460 if (WaterGeom != IntPtr.Zero)
2461 {
2462 d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water));
2463 d.GeomSetCollideBits(WaterGeom, 0);
2464
2465 geom_name_map[WaterGeom] = "Water";
2466
2467 d.Matrix3 R = new d.Matrix3();
2468
2469 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2470 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2471
2472 q1 = q1 * q2;
2473 Vector3 v3;
2474 float angle;
2475 q1.GetAxisAngle(out v3, out angle);
2476
2477 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2478 d.GeomSetRotation(WaterGeom, ref R);
2479 d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0);
2480 }
2481 }
2482 }
2483
2484 public override void Dispose()
2485 {
2486 m_rayCastManager.Dispose();
2487 m_rayCastManager = null;
2488
2489 lock (OdeLock)
2490 {
2491 lock (_prims)
2492 {
2493 foreach (OdePrim prm in _prims)
2494 {
2495 RemovePrim(prm);
2496 }
2497 }
2498
2499 if (TerrainHeightFieldHeightsHandlers.Count > 0)
2500 {
2501 foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
2502 {
2503 if (gch.IsAllocated)
2504 gch.Free();
2505 }
2506 }
2507
2508 if (WaterGeom != IntPtr.Zero)
2509 {
2510 d.GeomDestroy(WaterGeom);
2511 WaterGeom = IntPtr.Zero;
2512 if (WaterHeightmapData != IntPtr.Zero)
2513 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2514 WaterHeightmapData = IntPtr.Zero;
2515
2516 if (WaterMapHandler.IsAllocated)
2517 WaterMapHandler.Free();
2518 }
2519
2520
2521 if (ContactgeomsArray != IntPtr.Zero)
2522 Marshal.FreeHGlobal(ContactgeomsArray);
2523 if (GlobalContactsArray != IntPtr.Zero)
2524 Marshal.FreeHGlobal(GlobalContactsArray);
2525
2526
2527 d.WorldDestroy(world);
2528 //d.CloseODE();
2529 }
2530 }
2531
2532 public override Dictionary<uint, float> GetTopColliders()
2533 {
2534 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2535 int cnt = 0;
2536 lock (_prims)
2537 {
2538 foreach (OdePrim prm in _prims)
2539 {
2540 if (prm.CollisionScore > 0)
2541 {
2542 returncolliders.Add(prm.m_localID, prm.CollisionScore);
2543 cnt++;
2544 prm.CollisionScore = 0f;
2545 if (cnt > 25)
2546 {
2547 break;
2548 }
2549 }
2550 }
2551 }
2552 return returncolliders;
2553 }
2554
2555 public override bool SupportsRayCast()
2556 {
2557 return true;
2558 }
2559
2560 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2561 {
2562 if (retMethod != null)
2563 {
2564 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2565 }
2566 }
2567
2568 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2569 {
2570 if (retMethod != null)
2571 {
2572 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2573 }
2574 }
2575
2576 // don't like this
2577 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2578 {
2579 ContactResult[] ourResults = null;
2580 RayCallback retMethod = delegate(List<ContactResult> results)
2581 {
2582 ourResults = new ContactResult[results.Count];
2583 results.CopyTo(ourResults, 0);
2584 };
2585 int waitTime = 0;
2586 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2587 while (ourResults == null && waitTime < 1000)
2588 {
2589 Thread.Sleep(1);
2590 waitTime++;
2591 }
2592 if (ourResults == null)
2593 return new List<ContactResult>();
2594 return new List<ContactResult>(ourResults);
2595 }
2596
2597 public override bool SuportsRaycastWorldFiltered()
2598 {
2599 return true;
2600 }
2601
2602 public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
2603 {
2604 object SyncObject = new object();
2605 List<ContactResult> ourresults = new List<ContactResult>();
2606
2607 RayCallback retMethod = delegate(List<ContactResult> results)
2608 {
2609 lock (SyncObject)
2610 {
2611 ourresults = results;
2612 Monitor.PulseAll(SyncObject);
2613 }
2614 };
2615
2616 lock (SyncObject)
2617 {
2618 m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod);
2619 if (!Monitor.Wait(SyncObject, 500))
2620 return null;
2621 else
2622 return ourresults;
2623 }
2624 }
2625
2626 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2627 {
2628 if (retMethod != null && actor !=null)
2629 {
2630 IntPtr geom;
2631 if (actor is OdePrim)
2632 geom = ((OdePrim)actor).prim_geom;
2633 else if (actor is OdeCharacter)
2634 geom = ((OdePrim)actor).prim_geom;
2635 else
2636 return;
2637 if (geom == IntPtr.Zero)
2638 return;
2639 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2640 }
2641 }
2642
2643 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2644 {
2645 if (retMethod != null && actor != null)
2646 {
2647 IntPtr geom;
2648 if (actor is OdePrim)
2649 geom = ((OdePrim)actor).prim_geom;
2650 else if (actor is OdeCharacter)
2651 geom = ((OdePrim)actor).prim_geom;
2652 else
2653 return;
2654 if (geom == IntPtr.Zero)
2655 return;
2656
2657 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2658 }
2659 }
2660
2661 // don't like this
2662 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2663 {
2664 if (actor != null)
2665 {
2666 IntPtr geom;
2667 if (actor is OdePrim)
2668 geom = ((OdePrim)actor).prim_geom;
2669 else if (actor is OdeCharacter)
2670 geom = ((OdePrim)actor).prim_geom;
2671 else
2672 return new List<ContactResult>();
2673 if (geom == IntPtr.Zero)
2674 return new List<ContactResult>();
2675
2676 ContactResult[] ourResults = null;
2677 RayCallback retMethod = delegate(List<ContactResult> results)
2678 {
2679 ourResults = new ContactResult[results.Count];
2680 results.CopyTo(ourResults, 0);
2681 };
2682 int waitTime = 0;
2683 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2684 while (ourResults == null && waitTime < 1000)
2685 {
2686 Thread.Sleep(1);
2687 waitTime++;
2688 }
2689 if (ourResults == null)
2690 return new List<ContactResult>();
2691 return new List<ContactResult>(ourResults);
2692 }
2693 return new List<ContactResult>();
2694 }
2695 }
2696}
generated by cgit v1.1 at 2025-01-05 18:00:32 +0000