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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs1454
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs993
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs3573
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs443
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs1960
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs2303
8 files changed, 10874 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..9a22331
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1454 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28
29// Revision by Ubit 2011/12
30
31using System;
32using System.Collections.Generic;
33using System.Reflection;
34using OpenMetaverse;
35using OdeAPI;
36using OpenSim.Framework;
37using OpenSim.Region.Physics.Manager;
38using log4net;
39
40namespace OpenSim.Region.Physics.OdePlugin
41{
42 /// <summary>
43 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
44 /// </summary>
45
46 public enum dParam : int
47 {
48 LowStop = 0,
49 HiStop = 1,
50 Vel = 2,
51 FMax = 3,
52 FudgeFactor = 4,
53 Bounce = 5,
54 CFM = 6,
55 StopERP = 7,
56 StopCFM = 8,
57 LoStop2 = 256,
58 HiStop2 = 257,
59 Vel2 = 258,
60 FMax2 = 259,
61 StopERP2 = 7 + 256,
62 StopCFM2 = 8 + 256,
63 LoStop3 = 512,
64 HiStop3 = 513,
65 Vel3 = 514,
66 FMax3 = 515,
67 StopERP3 = 7 + 512,
68 StopCFM3 = 8 + 512
69 }
70
71 public class OdeCharacter : PhysicsActor
72 {
73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
74
75 private Vector3 _position;
76 private Vector3 _zeroPosition;
77 private bool _zeroFlag = false;
78 private Vector3 _velocity;
79 private Vector3 _target_velocity;
80 private Vector3 _acceleration;
81 private Vector3 m_rotationalVelocity;
82 private float m_mass = 80f;
83 public float m_density = 60f;
84 private bool m_pidControllerActive = true;
85 public float PID_D = 800.0f;
86 public float PID_P = 900.0f;
87 //private static float POSTURE_SERVO = 10000.0f;
88 public float CAPSULE_RADIUS = 0.37f;
89 public float CAPSULE_LENGTH = 2.140599f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool m_iscolliding = false;
94 private bool m_iscollidingGround = false;
95 private bool m_iscollidingObj = false;
96 private bool m_alwaysRun = false;
97 private int m_requestedUpdateFrequency = 0;
98 public uint m_localID = 0;
99 public bool m_returnCollisions = false;
100 // taints and their non-tainted counterparts
101 public bool m_isPhysical = false; // the current physical status
102 public float MinimumGroundFlightOffset = 3f;
103
104 private float m_buoyancy = 0f;
105
106 // private CollisionLocker ode;
107
108 private string m_name = String.Empty;
109 // other filter control
110 int m_colliderfilter = 0;
111 // int m_colliderGroundfilter = 0;
112 int m_colliderObjectfilter = 0;
113
114 // Default we're a Character
115 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
116
117 // Default, Collide with Other Geometries, spaces, bodies and characters.
118 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
119 | CollisionCategories.Space
120 | CollisionCategories.Body
121 | CollisionCategories.Character
122 );
123 // we do land collisions not ode | CollisionCategories.Land);
124 public IntPtr Body = IntPtr.Zero;
125 private OdeScene _parent_scene;
126 public IntPtr Shell = IntPtr.Zero;
127 public IntPtr Amotor = IntPtr.Zero;
128 public d.Mass ShellMass;
129// public bool collidelock = false;
130
131 private bool m_haseventsubscription = false;
132 public int m_eventsubscription = 0;
133 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
134
135 // unique UUID of this character object
136 public UUID m_uuid;
137 public bool bad = false;
138
139 float mu;
140 float bounce;
141
142 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)
143 {
144 m_uuid = UUID.Random();
145
146 if (pos.IsFinite())
147 {
148 if (pos.Z > 99999f)
149 {
150 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
151 }
152 if (pos.Z < -100f) // shouldn't this be 0 ?
153 {
154 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
155 }
156 _position = pos;
157 }
158 else
159 {
160 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
161 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
162 }
163
164 _parent_scene = parent_scene;
165
166 PID_D = pid_d;
167 PID_P = pid_p;
168 CAPSULE_RADIUS = capsule_radius;
169 m_density = density;
170 m_mass = 80f; // sure we have a default
171
172 mu = parent_scene.AvatarFriction;
173 bounce = parent_scene.AvatarBounce;
174
175 walkDivisor = walk_divisor;
176 runDivisor = rundivisor;
177
178 CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f;
179 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
180
181 m_isPhysical = false; // current status: no ODE information exists
182
183 m_name = avName;
184
185 AddChange(changes.Add, null);
186 }
187
188 public override int PhysicsActorType
189 {
190 get { return (int)ActorTypes.Agent; }
191 set { return; }
192 }
193
194 public override void getContactData(ref ContactData cdata)
195 {
196 cdata.mu = mu;
197 cdata.bounce = bounce;
198 cdata.softcolide = false;
199 }
200
201 public override bool Building { get; set; }
202
203 /// <summary>
204 /// If this is set, the avatar will move faster
205 /// </summary>
206 public override bool SetAlwaysRun
207 {
208 get { return m_alwaysRun; }
209 set { m_alwaysRun = value; }
210 }
211
212 public override uint LocalID
213 {
214 set { m_localID = value; }
215 }
216
217 public override bool Grabbed
218 {
219 set { return; }
220 }
221
222 public override bool Selected
223 {
224 set { return; }
225 }
226
227 public override float Buoyancy
228 {
229 get { return m_buoyancy; }
230 set { m_buoyancy = value; }
231 }
232
233 public override bool FloatOnWater
234 {
235 set { return; }
236 }
237
238 public override bool IsPhysical
239 {
240 get { return false; }
241 set { return; }
242 }
243
244 public override bool ThrottleUpdates
245 {
246 get { return false; }
247 set { return; }
248 }
249
250 public override bool Flying
251 {
252 get { return flying; }
253 set
254 {
255 flying = value;
256 // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
257 }
258 }
259
260 /// <summary>
261 /// Returns if the avatar is colliding in general.
262 /// This includes the ground and objects and avatar.
263 /// </summary>
264 public override bool IsColliding
265 {
266 get { return (m_iscolliding || m_iscollidingGround); }
267 set
268 {
269 if (value)
270 {
271 m_colliderfilter += 2;
272 if (m_colliderfilter > 2)
273 m_colliderfilter = 2;
274 }
275 else
276 {
277 m_colliderfilter--;
278 if (m_colliderfilter < 0)
279 m_colliderfilter = 0;
280 }
281
282 if (m_colliderfilter == 0)
283 m_iscolliding = false;
284 else
285 {
286// SetPidStatus(false);
287 m_pidControllerActive = true;
288 m_iscolliding = true;
289 }
290 }
291 }
292
293 /// <summary>
294 /// Returns if an avatar is colliding with the ground
295 /// </summary>
296 public override bool CollidingGround
297 {
298 get { return m_iscollidingGround; }
299 set
300 {
301 /* we now control this
302 if (value)
303 {
304 m_colliderGroundfilter += 2;
305 if (m_colliderGroundfilter > 2)
306 m_colliderGroundfilter = 2;
307 }
308 else
309 {
310 m_colliderGroundfilter--;
311 if (m_colliderGroundfilter < 0)
312 m_colliderGroundfilter = 0;
313 }
314
315 if (m_colliderGroundfilter == 0)
316 m_iscollidingGround = false;
317 else
318 m_iscollidingGround = true;
319 */
320 }
321
322 }
323
324 /// <summary>
325 /// Returns if the avatar is colliding with an object
326 /// </summary>
327 public override bool CollidingObj
328 {
329 get { return m_iscollidingObj; }
330 set
331 {
332 // Ubit filter this also
333 if (value)
334 {
335 m_colliderObjectfilter += 2;
336 if (m_colliderObjectfilter > 2)
337 m_colliderObjectfilter = 2;
338 }
339 else
340 {
341 m_colliderObjectfilter--;
342 if (m_colliderObjectfilter < 0)
343 m_colliderObjectfilter = 0;
344 }
345
346 if (m_colliderObjectfilter == 0)
347 m_iscollidingObj = false;
348 else
349 m_iscollidingObj = true;
350
351 // m_iscollidingObj = value;
352/*
353 if (m_iscollidingObj)
354 m_pidControllerActive = false;
355 else
356 m_pidControllerActive = true;
357 */
358 }
359 }
360
361 /// <summary>
362 /// turn the PID controller on or off.
363 /// The PID Controller will turn on all by itself in many situations
364 /// </summary>
365 /// <param name="status"></param>
366 public void SetPidStatus(bool status)
367 {
368 m_pidControllerActive = status;
369 }
370
371 public override bool Stopped
372 {
373 get { return _zeroFlag; }
374 }
375
376 /// <summary>
377 /// This 'puts' an avatar somewhere in the physics space.
378 /// Not really a good choice unless you 'know' it's a good
379 /// spot otherwise you're likely to orbit the avatar.
380 /// </summary>
381 public override Vector3 Position
382 {
383 get { return _position; }
384 set
385 {
386 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
387 {
388 if (value.IsFinite())
389 {
390 if (value.Z > 9999999f)
391 {
392 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
393 }
394 if (value.Z < -100f)
395 {
396 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
397 }
398 AddChange(changes.Position, value);
399 }
400 else
401 {
402 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
403 }
404 }
405 }
406 }
407
408 public override Vector3 RotationalVelocity
409 {
410 get { return m_rotationalVelocity; }
411 set { m_rotationalVelocity = value; }
412 }
413
414 /// <summary>
415 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
416 /// and use it to offset landings properly
417 /// </summary>
418 public override Vector3 Size
419 {
420 get {
421 float d = CAPSULE_RADIUS * 2;
422 return new Vector3(d, d, (CAPSULE_LENGTH +d)/1.15f); }
423 set
424 {
425 if (value.IsFinite())
426 {
427 AddChange(changes.Size, value);
428 }
429 else
430 {
431 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
432 }
433 }
434 }
435
436 /// <summary>
437 /// This creates the Avatar's physical Surrogate at the position supplied
438 /// </summary>
439 /// <param name="npositionX"></param>
440 /// <param name="npositionY"></param>
441 /// <param name="npositionZ"></param>
442
443 //
444 /// <summary>
445 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
446 /// This may be used in calculations in the scene/scenepresence
447 /// </summary>
448 public override float Mass
449 {
450 get
451 {
452 float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
453 return m_density * AVvolume;
454 }
455 }
456 public override void link(PhysicsActor obj)
457 {
458
459 }
460
461 public override void delink()
462 {
463
464 }
465
466 public override void LockAngularMotion(Vector3 axis)
467 {
468
469 }
470
471
472 public override Vector3 Force
473 {
474 get { return _target_velocity; }
475 set { return; }
476 }
477
478 public override int VehicleType
479 {
480 get { return 0; }
481 set { return; }
482 }
483
484 public override void VehicleFloatParam(int param, float value)
485 {
486
487 }
488
489 public override void VehicleVectorParam(int param, Vector3 value)
490 {
491
492 }
493
494 public override void VehicleRotationParam(int param, Quaternion rotation)
495 {
496
497 }
498
499 public override void VehicleFlags(int param, bool remove)
500 {
501
502 }
503
504 public override void SetVolumeDetect(int param)
505 {
506
507 }
508
509 public override Vector3 CenterOfMass
510 {
511 get
512 {
513 Vector3 pos = _position;
514 return pos;
515 }
516 }
517
518 public override Vector3 GeometricCenter
519 {
520 get
521 {
522 Vector3 pos = _position;
523 return pos;
524 }
525 }
526
527 //UBit mess
528 /* for later use
529 public override Vector3 PrimOOBsize
530 {
531 get
532 {
533 Vector3 s=Size;
534 s.X *=0.5f;
535 s.Y *=0.5f;
536 s.Z *=0.5f;
537 return s;
538 }
539 }
540
541 public override Vector3 PrimOOBoffset
542 {
543 get
544 {
545 return Vector3.Zero;
546 }
547 }
548 */
549
550 public override PrimitiveBaseShape Shape
551 {
552 set { return; }
553 }
554
555 public override Vector3 Velocity
556 {
557 get
558 {
559 return _velocity;
560 }
561 set
562 {
563 if (value.IsFinite())
564 {
565 AddChange(changes.Velocity, value);
566 }
567 else
568 {
569 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
570 }
571 }
572 }
573
574 public override Vector3 Torque
575 {
576 get { return Vector3.Zero; }
577 set { return; }
578 }
579
580 public override float CollisionScore
581 {
582 get { return 0f; }
583 set { }
584 }
585
586 public override bool Kinematic
587 {
588 get { return false; }
589 set { }
590 }
591
592 public override Quaternion Orientation
593 {
594 get { return Quaternion.Identity; }
595 set
596 {
597 }
598 }
599
600 public override Vector3 Acceleration
601 {
602 get { return _acceleration; }
603 set { }
604 }
605
606 public void SetAcceleration(Vector3 accel)
607 {
608 m_pidControllerActive = true;
609 _acceleration = accel;
610 }
611
612 /// <summary>
613 /// Adds the force supplied to the Target Velocity
614 /// The PID controller takes this target velocity and tries to make it a reality
615 /// </summary>
616 /// <param name="force"></param>
617 public override void AddForce(Vector3 force, bool pushforce)
618 {
619 if (force.IsFinite())
620 {
621 if (pushforce)
622 {
623 AddChange(changes.Force, force * m_density / _parent_scene.ODE_STEPSIZE / 28f);
624 }
625 else
626 {
627 AddChange(changes.Velocity, force);
628 }
629 }
630 else
631 {
632 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
633 }
634 //m_lastUpdateSent = false;
635 }
636
637 public override void AddAngularForce(Vector3 force, bool pushforce)
638 {
639
640 }
641
642 public override void SetMomentum(Vector3 momentum)
643 {
644 }
645
646
647 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
648 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
649 // place that is safe to call this routine AvatarGeomAndBodyCreation.
650 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
651 {
652 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
653 if (CAPSULE_LENGTH <= 0)
654 {
655 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
656 CAPSULE_LENGTH = 0.01f;
657
658 }
659
660 if (CAPSULE_RADIUS <= 0)
661 {
662 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
663 CAPSULE_RADIUS = 0.01f;
664
665 }
666 Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
667
668 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
669 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
670
671 d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
672
673 m_mass = ShellMass.mass; // update mass
674
675 // rescale PID parameters
676 PID_D = _parent_scene.avPIDD;
677 PID_P = _parent_scene.avPIDP;
678
679 // rescale PID parameters so that this aren't affected by mass
680 // and so don't get unstable for some masses
681 // also scale by ode time step so you don't need to refix them
682
683 PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
684 PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
685 PID_P /= 50 * 80;
686 PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
687
688 Body = d.BodyCreate(_parent_scene.world);
689
690 d.BodySetAutoDisableFlag(Body, false);
691 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
692
693 _position.X = npositionX;
694 _position.Y = npositionY;
695 _position.Z = npositionZ;
696
697 d.BodySetMass(Body, ref ShellMass);
698 d.GeomSetBody(Shell, Body);
699
700 // The purpose of the AMotor here is to keep the avatar's physical
701 // surrogate from rotating while moving
702 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
703 d.JointAttach(Amotor, Body, IntPtr.Zero);
704
705 d.JointSetAMotorMode(Amotor, 0);
706 d.JointSetAMotorNumAxes(Amotor, 3);
707 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
708 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
709 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
710
711 d.JointSetAMotorAngle(Amotor, 0, 0);
712 d.JointSetAMotorAngle(Amotor, 1, 0);
713 d.JointSetAMotorAngle(Amotor, 2, 0);
714
715 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
716 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
717 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
718 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
719 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
720 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
721
722 // These lowstops and high stops are effectively (no wiggle room)
723 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
724 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
725 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
726 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
727 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
728 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
729
730 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
731 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
732 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
733
734 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
735 d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
736 d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
737 }
738
739 /// <summary>
740 /// Destroys the avatar body and geom
741
742 private void AvatarGeomAndBodyDestroy()
743 {
744 // Kill the Amotor
745 if (Amotor != IntPtr.Zero)
746 {
747 d.JointDestroy(Amotor);
748 Amotor = IntPtr.Zero;
749 }
750
751 if (Body != IntPtr.Zero)
752 {
753 //kill the body
754 d.BodyDestroy(Body);
755 Body = IntPtr.Zero;
756 }
757
758 //kill the Geometry
759 if (Shell != IntPtr.Zero)
760 {
761 _parent_scene.geom_name_map.Remove(Shell);
762 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
763 d.GeomDestroy(Shell);
764 _parent_scene.geom_name_map.Remove(Shell);
765 Shell = IntPtr.Zero;
766 }
767 }
768
769 /// <summary>
770 /// Called from Simulate
771 /// This is the avatar's movement control + PID Controller
772 /// </summary>
773 /// <param name="timeStep"></param>
774 public void Move(float timeStep, List<OdeCharacter> defects)
775 {
776 // no lock; for now it's only called from within Simulate()
777
778 // If the PID Controller isn't active then we set our force
779 // calculating base velocity to the current position
780
781 if (Body == IntPtr.Zero)
782 return;
783
784 d.Vector3 dtmp;
785 d.BodyCopyPosition(Body, out dtmp);
786 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
787
788 // the Amotor still lets avatar rotation to drift during colisions
789 // so force it back to identity
790
791 d.Quaternion qtmp;
792 qtmp.W = 1;
793 qtmp.X = 0;
794 qtmp.Y = 0;
795 qtmp.Z = 0;
796 d.BodySetQuaternion(Body, ref qtmp);
797
798 if (m_pidControllerActive == false)
799 {
800 _zeroPosition = localpos;
801 }
802 //PidStatus = true;
803
804
805 if (!localpos.IsFinite())
806 {
807
808 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
809 defects.Add(this);
810 // _parent_scene.RemoveCharacter(this);
811
812 // destroy avatar capsule and related ODE data
813 AvatarGeomAndBodyDestroy();
814
815 return;
816 }
817
818 Vector3 vec = Vector3.Zero;
819 dtmp = d.BodyGetLinearVel(Body);
820 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
821
822 float movementdivisor = 1f;
823 //Ubit change divisions into multiplications below
824 if (!m_alwaysRun)
825 {
826 movementdivisor = 1 / walkDivisor;
827 }
828 else
829 {
830 movementdivisor = 1 / runDivisor;
831 }
832
833 // colide with land
834
835 d.AABB aabb;
836 d.GeomGetAABB(Shell, out aabb);
837 float chrminZ = aabb.MinZ;
838
839 Vector3 posch = localpos;
840
841 float ftmp;
842
843 if (flying)
844 {
845 ftmp = timeStep;
846 posch.X += vel.X * ftmp;
847 posch.Y += vel.Y * ftmp;
848 }
849
850 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
851 if (chrminZ < terrainheight)
852 {
853 float depth = terrainheight - chrminZ;
854 if (!flying)
855 {
856 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
857 }
858 else
859 vec.Z = depth * PID_P * 50;
860
861 /*
862 Vector3 vtmp;
863 vtmp.X = _target_velocity.X * timeStep;
864 vtmp.Y = _target_velocity.Y * timeStep;
865 // fake and avoid squares
866 float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y));
867 if (k > 0)
868 {
869 posch.X += vtmp.X;
870 posch.Y += vtmp.Y;
871 terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
872 k = 1 + Math.Abs(terrainheight) / k;
873 movementdivisor /= k;
874
875 if (k < 1)
876 k = 1;
877 }
878 */
879
880
881 if (depth < 0.1f)
882 {
883 m_iscolliding = true;
884 m_colliderfilter = 2;
885 m_iscollidingGround = true;
886
887 ContactPoint contact = new ContactPoint();
888 contact.PenetrationDepth = depth;
889 contact.Position.X = localpos.X;
890 contact.Position.Y = localpos.Y;
891 contact.Position.Z = chrminZ;
892 contact.SurfaceNormal.X = 0f;
893 contact.SurfaceNormal.Y = 0f;
894 contact.SurfaceNormal.Z = -1f;
895 AddCollisionEvent(0, contact);
896
897 vec.Z *= 0.5f;
898 }
899
900 else
901 m_iscollidingGround = false;
902 }
903 else
904 m_iscollidingGround = false;
905
906
907 // if velocity is zero, use position control; otherwise, velocity control
908 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
909 && m_iscolliding)
910 {
911 // keep track of where we stopped. No more slippin' & slidin'
912 if (!_zeroFlag)
913 {
914 _zeroFlag = true;
915 _zeroPosition = localpos;
916 }
917 if (m_pidControllerActive)
918 {
919 // We only want to deactivate the PID Controller if we think we want to have our surrogate
920 // react to the physics scene by moving it's position.
921 // Avatar to Avatar collisions
922 // Prim to avatar collisions
923
924 vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
925 vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
926 if (flying)
927 {
928 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
929 }
930 }
931 //PidStatus = true;
932 }
933 else
934 {
935 m_pidControllerActive = true;
936 _zeroFlag = false;
937
938 if (m_iscolliding)
939 {
940 if (!flying)
941 {
942 if (_target_velocity.Z > 0.0f)
943 {
944 // We're colliding with something and we're not flying but we're moving
945 // This means we're walking or running. JUMPING
946 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
947 }
948 // We're standing on something
949 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
950 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
951 }
952 else
953 {
954 // We're flying and colliding with something
955 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
956 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
957 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
958 }
959 }
960 else // ie not colliding
961 {
962 if (flying) //(!m_iscolliding && flying)
963 {
964 // we're in mid air suspended
965 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
966 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
967 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
968 }
969
970 else
971 {
972 // we're not colliding and we're not flying so that means we're falling!
973 // m_iscolliding includes collisions with the ground.
974
975 // d.Vector3 pos = d.BodyGetPosition(Body);
976 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
977 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
978 }
979 }
980 }
981
982 if (flying)
983 {
984 vec.Z -= _parent_scene.gravityz * m_mass;
985
986 //Added for auto fly height. Kitto Flora
987 float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
988
989 if (localpos.Z < target_altitude)
990 {
991 vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
992 }
993 // end add Kitto Flora
994 }
995
996 if (vec.IsFinite())
997 {
998 if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
999 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
1000 }
1001 else
1002 {
1003 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1004 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1005 defects.Add(this);
1006 // _parent_scene.RemoveCharacter(this);
1007 // destroy avatar capsule and related ODE data
1008 AvatarGeomAndBodyDestroy();
1009 }
1010 }
1011
1012 /// <summary>
1013 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1014 /// </summary>
1015 public void UpdatePositionAndVelocity()
1016 {
1017 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1018 if (Body == IntPtr.Zero)
1019 return;
1020
1021 d.Vector3 vec;
1022 try
1023 {
1024 d.BodyCopyPosition(Body, out vec);
1025 }
1026 catch (NullReferenceException)
1027 {
1028 bad = true;
1029 _parent_scene.BadCharacter(this);
1030 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1031 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1032 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1033 }
1034
1035 _position.X = vec.X;
1036 _position.Y = vec.Y;
1037 _position.Z = vec.Z;
1038
1039 bool fixbody = false;
1040
1041 if (_position.X < 0.0f)
1042 {
1043 fixbody = true;
1044 _position.X = 0.1f;
1045 }
1046 else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f)
1047 {
1048 fixbody = true;
1049 _position.X = (int)_parent_scene.WorldExtents.X - 0.1f;
1050 }
1051
1052 if (_position.Y < 0.0f)
1053 {
1054 fixbody = true;
1055 _position.Y = 0.1f;
1056 }
1057 else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1)
1058 {
1059 fixbody = true;
1060 _position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f;
1061 }
1062
1063 if (fixbody)
1064 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1065
1066 // Did we move last? = zeroflag
1067 // This helps keep us from sliding all over
1068/*
1069 if (_zeroFlag)
1070 {
1071 _velocity.X = 0.0f;
1072 _velocity.Y = 0.0f;
1073 _velocity.Z = 0.0f;
1074
1075 // Did we send out the 'stopped' message?
1076 if (!m_lastUpdateSent)
1077 {
1078 m_lastUpdateSent = true;
1079 base.RequestPhysicsterseUpdate();
1080 }
1081 }
1082 else
1083 {
1084 m_lastUpdateSent = false;
1085 */
1086 try
1087 {
1088 vec = d.BodyGetLinearVel(Body);
1089 }
1090 catch (NullReferenceException)
1091 {
1092 vec.X = _velocity.X;
1093 vec.Y = _velocity.Y;
1094 vec.Z = _velocity.Z;
1095 }
1096 _velocity.X = (vec.X);
1097 _velocity.Y = (vec.Y);
1098 _velocity.Z = (vec.Z);
1099 // }
1100 }
1101
1102 /// <summary>
1103 /// Cleanup the things we use in the scene.
1104 /// </summary>
1105 public void Destroy()
1106 {
1107 AddChange(changes.Remove, null);
1108 }
1109
1110 public override void CrossingFailure()
1111 {
1112 }
1113
1114 public override Vector3 PIDTarget { set { return; } }
1115 public override bool PIDActive { set { return; } }
1116 public override float PIDTau { set { return; } }
1117
1118 public override float PIDHoverHeight { set { return; } }
1119 public override bool PIDHoverActive { set { return; } }
1120 public override PIDHoverType PIDHoverType { set { return; } }
1121 public override float PIDHoverTau { set { return; } }
1122
1123 public override Quaternion APIDTarget { set { return; } }
1124
1125 public override bool APIDActive { set { return; } }
1126
1127 public override float APIDStrength { set { return; } }
1128
1129 public override float APIDDamping { set { return; } }
1130
1131
1132 public override void SubscribeEvents(int ms)
1133 {
1134 m_requestedUpdateFrequency = ms;
1135 m_eventsubscription = ms;
1136 _parent_scene.AddCollisionEventReporting(this);
1137 m_haseventsubscription = true;
1138 }
1139
1140 public override void UnSubscribeEvents()
1141 {
1142 m_haseventsubscription = false;
1143 _parent_scene.RemoveCollisionEventReporting(this);
1144 m_requestedUpdateFrequency = 0;
1145 m_eventsubscription = 0;
1146 }
1147
1148 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1149 {
1150 if (m_haseventsubscription)
1151 {
1152 // m_log.DebugFormat(
1153 // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1154
1155 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1156 }
1157 }
1158
1159 public void SendCollisions()
1160 {
1161 if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
1162 {
1163 if (CollisionEventsThisFrame != null)
1164 {
1165 base.SendCollisionUpdate(CollisionEventsThisFrame);
1166 }
1167 CollisionEventsThisFrame = new CollisionEventUpdate();
1168 m_eventsubscription = 0;
1169 }
1170 }
1171
1172 public override bool SubscribedEvents()
1173 {
1174 return m_haseventsubscription;
1175 }
1176
1177 private void changePhysicsStatus(bool NewStatus)
1178 {
1179 if (NewStatus != m_isPhysical)
1180 {
1181 if (NewStatus)
1182 {
1183 // Create avatar capsule and related ODE data
1184 if ((Shell != IntPtr.Zero))
1185 {
1186 // a lost shell ?
1187 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1188 + (Shell != IntPtr.Zero ? "Shell " : "")
1189 + (Body != IntPtr.Zero ? "Body " : "")
1190 + (Amotor != IntPtr.Zero ? "Amotor " : ""));
1191 AvatarGeomAndBodyDestroy();
1192 }
1193
1194 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1195 _parent_scene.geom_name_map[Shell] = m_name;
1196 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1197 _parent_scene.AddCharacter(this);
1198 }
1199 else
1200 {
1201 _parent_scene.RemoveCharacter(this);
1202 // destroy avatar capsule and related ODE data
1203 AvatarGeomAndBodyDestroy();
1204 }
1205
1206 m_isPhysical = NewStatus;
1207 }
1208 }
1209
1210 private void changeAdd()
1211 {
1212 changePhysicsStatus(true);
1213 }
1214
1215 private void changeRemove()
1216 {
1217 changePhysicsStatus(false);
1218 }
1219
1220 private void changeShape(PrimitiveBaseShape arg)
1221 {
1222 }
1223
1224 private void changeSize(Vector3 Size)
1225 {
1226 if (Size.IsFinite())
1227 {
1228 float caplen = Size.Z;
1229
1230 caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
1231
1232 if (caplen != CAPSULE_LENGTH)
1233 {
1234 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1235 {
1236 AvatarGeomAndBodyDestroy();
1237
1238 float prevCapsule = CAPSULE_LENGTH;
1239 CAPSULE_LENGTH = caplen;
1240
1241 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1242 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
1243
1244 Velocity = Vector3.Zero;
1245
1246 _parent_scene.geom_name_map[Shell] = m_name;
1247 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1248 }
1249 else
1250 {
1251 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1252 + (Shell == IntPtr.Zero ? "Shell " : "")
1253 + (Body == IntPtr.Zero ? "Body " : "")
1254 + (Amotor == IntPtr.Zero ? "Amotor " : ""));
1255 }
1256 }
1257
1258 m_pidControllerActive = true;
1259 }
1260 else
1261 {
1262 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
1263 }
1264 }
1265
1266 private void changePosition( Vector3 newPos)
1267 {
1268 if (Body != IntPtr.Zero)
1269 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1270 _position = newPos;
1271 }
1272
1273 private void changeOrientation(Quaternion newOri)
1274 {
1275 }
1276
1277 private void changeVelocity(Vector3 newVel)
1278 {
1279 m_pidControllerActive = true;
1280 _target_velocity = newVel;
1281 }
1282
1283 private void changeSetTorque(Vector3 newTorque)
1284 {
1285 }
1286
1287 private void changeAddForce(Vector3 newForce)
1288 {
1289 }
1290
1291 private void changeAddAngularForce(Vector3 arg)
1292 {
1293 }
1294
1295 private void changeAngularLock(Vector3 arg)
1296 {
1297 }
1298
1299 private void changeFloatOnWater(bool arg)
1300 {
1301 }
1302
1303 private void changeVolumedetetion(bool arg)
1304 {
1305 }
1306
1307 private void changeSelectedStatus(bool arg)
1308 {
1309 }
1310
1311 private void changeDisable(bool arg)
1312 {
1313 }
1314
1315 private void changeBuilding(bool arg)
1316 {
1317 }
1318
1319 private void changeForce(Vector3 newForce)
1320 {
1321 m_pidControllerActive = false;
1322 if (Body != IntPtr.Zero)
1323 {
1324 if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
1325 d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
1326 }
1327 }
1328
1329 private void donullchange()
1330 {
1331 }
1332
1333 public bool DoAChange(changes what, object arg)
1334 {
1335 if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
1336 {
1337 return false;
1338 }
1339
1340 // nasty switch
1341 switch (what)
1342 {
1343 case changes.Add:
1344 changeAdd();
1345 break;
1346 case changes.Remove:
1347 changeRemove();
1348 break;
1349
1350 case changes.Position:
1351 changePosition((Vector3)arg);
1352 break;
1353
1354 case changes.Orientation:
1355 changeOrientation((Quaternion)arg);
1356 break;
1357
1358 case changes.PosOffset:
1359 donullchange();
1360 break;
1361
1362 case changes.OriOffset:
1363 donullchange();
1364 break;
1365
1366 case changes.Velocity:
1367 changeVelocity((Vector3)arg);
1368 break;
1369
1370 // case changes.Acceleration:
1371 // changeacceleration((Vector3)arg);
1372 // break;
1373 // case changes.AngVelocity:
1374 // changeangvelocity((Vector3)arg);
1375 // break;
1376
1377 case changes.Force:
1378 changeForce((Vector3)arg);
1379 break;
1380
1381 case changes.Torque:
1382 changeSetTorque((Vector3)arg);
1383 break;
1384
1385 case changes.AddForce:
1386 changeAddForce((Vector3)arg);
1387 break;
1388
1389 case changes.AddAngForce:
1390 changeAddAngularForce((Vector3)arg);
1391 break;
1392
1393 case changes.AngLock:
1394 changeAngularLock((Vector3)arg);
1395 break;
1396
1397 case changes.Size:
1398 changeSize((Vector3)arg);
1399 break;
1400/* not in use for now
1401 case changes.Shape:
1402 changeShape((PrimitiveBaseShape)arg);
1403 break;
1404
1405 case changes.CollidesWater:
1406 changeFloatOnWater((bool)arg);
1407 break;
1408
1409 case changes.VolumeDtc:
1410 changeVolumedetetion((bool)arg);
1411 break;
1412
1413 case changes.Physical:
1414 changePhysicsStatus((bool)arg);
1415 break;
1416
1417 case changes.Selected:
1418 changeSelectedStatus((bool)arg);
1419 break;
1420
1421 case changes.disabled:
1422 changeDisable((bool)arg);
1423 break;
1424
1425 case changes.building:
1426 changeBuilding((bool)arg);
1427 break;
1428*/
1429 case changes.Null:
1430 donullchange();
1431 break;
1432
1433 default:
1434 donullchange();
1435 break;
1436 }
1437 return false;
1438 }
1439
1440 public void AddChange(changes what, object arg)
1441 {
1442 _parent_scene.AddChange((PhysicsActor)this, what, arg);
1443 }
1444
1445
1446 internal void AddCollisionFrameTime(int p)
1447 {
1448 // protect it from overflow crashing
1449 if (m_eventsubscription + p >= int.MaxValue)
1450 m_eventsubscription = 0;
1451 m_eventsubscription += p;
1452 }
1453 }
1454}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..d0b4546
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,993 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
29 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
30 * ODEPrim.cs contains methods dealing with Prim editing, Prim
31 * characteristics and Kinetic motion.
32 * ODEDynamics.cs contains methods dealing with Prim Physical motion
33 * (dynamics) and the associated settings. Old Linear and angular
34 * motors for dynamic motion have been replace with MoveLinear()
35 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
36 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
37 * switch between 'VEHICLE' parameter use and general dynamics
38 * settings use.
39 */
40
41// Extensive change Ubit 2012
42
43using System;
44using System.Collections.Generic;
45using System.Reflection;
46using System.Runtime.InteropServices;
47using log4net;
48using OpenMetaverse;
49using OdeAPI;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager;
52
53namespace OpenSim.Region.Physics.OdePlugin
54{
55 public class ODEDynamics
56 {
57 public Vehicle Type
58 {
59 get { return m_type; }
60 }
61
62 private OdePrim rootPrim;
63 private OdeScene _pParentScene;
64
65 // Vehicle properties
66 private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
67 private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
68
69 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
70
71 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
72 // HOVER_TERRAIN_ONLY
73 // HOVER_GLOBAL_HEIGHT
74 // NO_DEFLECTION_UP
75 // HOVER_WATER_ONLY
76 // HOVER_UP_ONLY
77 // LIMIT_MOTOR_UP
78 // LIMIT_ROLL_ONLY
79 private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
80
81 // Linear properties
82 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
83 private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
84 private float m_linearMotorDecayTimescale = 120;
85 private float m_linearMotorTimescale = 1000;
86 private Vector3 m_linearMotorOffset = Vector3.Zero;
87
88 //Angular properties
89 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
90 private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
91 private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
92 private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
93
94 //Deflection properties
95 private float m_angularDeflectionEfficiency = 0;
96 private float m_angularDeflectionTimescale = 1000;
97 private float m_linearDeflectionEfficiency = 0;
98 private float m_linearDeflectionTimescale = 1000;
99
100 //Banking properties
101 private float m_bankingEfficiency = 0;
102 private float m_bankingMix = 0;
103 private float m_bankingTimescale = 1000;
104
105 //Hover and Buoyancy properties
106 private float m_VhoverHeight = 0f;
107 private float m_VhoverEfficiency = 0f;
108 private float m_VhoverTimescale = 1000f;
109 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
110 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
111 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
112 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
113
114 //Attractor properties
115 private float m_verticalAttractionEfficiency = 1.0f; // damped
116 private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
117
118
119 // auxiliar
120 private float m_lmEfect = 0; // current linear motor eficiency
121 private float m_amEfect = 0; // current angular motor eficiency
122 private float m_ffactor = 1.0f;
123
124 public float FrictionFactor
125 {
126 get
127 {
128 return m_ffactor;
129 }
130 }
131
132 public ODEDynamics(OdePrim rootp)
133 {
134 rootPrim = rootp;
135 _pParentScene = rootPrim._parent_scene;
136 }
137
138 public void DoSetVehicle(VehicleData vd)
139 {
140
141 float timestep = _pParentScene.ODE_STEPSIZE;
142 float invtimestep = 1.0f / timestep;
143
144 m_type = vd.m_type;
145 m_flags = vd.m_flags;
146
147 // Linear properties
148 m_linearMotorDirection = vd.m_linearMotorDirection;
149
150 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
151 if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
152 if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
153 if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
154
155 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
156 if (m_linearMotorDecayTimescale < 0.5f) m_linearMotorDecayTimescale = 0.5f;
157 m_linearMotorDecayTimescale *= invtimestep;
158
159 m_linearMotorTimescale = vd.m_linearMotorTimescale;
160 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
161
162
163 m_linearMotorOffset = vd.m_linearMotorOffset;
164
165 //Angular properties
166 m_angularMotorDirection = vd.m_angularMotorDirection;
167 m_angularMotorTimescale = vd.m_angularMotorTimescale;
168 if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
169
170 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
171 if (m_angularMotorDecayTimescale < 0.5f) m_angularMotorDecayTimescale = 0.5f;
172 m_angularMotorDecayTimescale *= invtimestep;
173
174 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
175 if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
176 if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
177 if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
178
179 //Deflection properties
180 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
181 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
182 if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
183
184 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
185 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
186 if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
187
188 //Banking properties
189 m_bankingEfficiency = vd.m_bankingEfficiency;
190 m_bankingMix = vd.m_bankingMix;
191 m_bankingTimescale = vd.m_bankingTimescale;
192 if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
193
194 //Hover and Buoyancy properties
195 m_VhoverHeight = vd.m_VhoverHeight;
196 m_VhoverEfficiency = vd.m_VhoverEfficiency;
197 m_VhoverTimescale = vd.m_VhoverTimescale;
198 if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
199
200 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
201
202 //Attractor properties
203 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
204 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
205 if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
206
207 // Axis
208 m_referenceFrame = vd.m_referenceFrame;
209
210 m_lmEfect = 0;
211 m_amEfect = 0;
212 m_ffactor = 1.0f;
213 }
214
215 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
216 {
217 float len;
218 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
219 float timestep = _pParentScene.ODE_STEPSIZE;
220
221 switch (pParam)
222 {
223 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
224 if (pValue < 0f) pValue = 0f;
225 if (pValue > 1f) pValue = 1f;
226 m_angularDeflectionEfficiency = pValue;
227 break;
228 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
229 if (pValue < timestep) pValue = timestep;
230 m_angularDeflectionTimescale = pValue;
231 break;
232 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
233 // if (pValue < timestep) pValue = timestep;
234 // try to make impulses to work a bit better
235 if (pValue < 0.5f) pValue = 0.5f;
236 else if (pValue > 120) pValue = 120;
237 m_angularMotorDecayTimescale = pValue * invtimestep;
238 break;
239 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
240 if (pValue < timestep) pValue = timestep;
241 m_angularMotorTimescale = pValue;
242 break;
243 case Vehicle.BANKING_EFFICIENCY:
244 if (pValue < -1f) pValue = -1f;
245 if (pValue > 1f) pValue = 1f;
246 m_bankingEfficiency = pValue;
247 break;
248 case Vehicle.BANKING_MIX:
249 if (pValue < 0f) pValue = 0f;
250 if (pValue > 1f) pValue = 1f;
251 m_bankingMix = pValue;
252 break;
253 case Vehicle.BANKING_TIMESCALE:
254 if (pValue < timestep) pValue = timestep;
255 m_bankingTimescale = pValue;
256 break;
257 case Vehicle.BUOYANCY:
258 if (pValue < -1f) pValue = -1f;
259 if (pValue > 1f) pValue = 1f;
260 m_VehicleBuoyancy = pValue;
261 break;
262 case Vehicle.HOVER_EFFICIENCY:
263 if (pValue < 0f) pValue = 0f;
264 if (pValue > 1f) pValue = 1f;
265 m_VhoverEfficiency = pValue;
266 break;
267 case Vehicle.HOVER_HEIGHT:
268 m_VhoverHeight = pValue;
269 break;
270 case Vehicle.HOVER_TIMESCALE:
271 if (pValue < timestep) pValue = timestep;
272 m_VhoverTimescale = pValue;
273 break;
274 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
275 if (pValue < 0f) pValue = 0f;
276 if (pValue > 1f) pValue = 1f;
277 m_linearDeflectionEfficiency = pValue;
278 break;
279 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
280 if (pValue < timestep) pValue = timestep;
281 m_linearDeflectionTimescale = pValue;
282 break;
283 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
284 // if (pValue < timestep) pValue = timestep;
285 // try to make impulses to work a bit better
286 if (pValue < 0.5f) pValue = 0.5f;
287 else if (pValue > 120) pValue = 120;
288 m_linearMotorDecayTimescale = pValue * invtimestep;
289 break;
290 case Vehicle.LINEAR_MOTOR_TIMESCALE:
291 if (pValue < timestep) pValue = timestep;
292 m_linearMotorTimescale = pValue;
293 break;
294 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
295 if (pValue < 0f) pValue = 0f;
296 if (pValue > 1f) pValue = 1f;
297 m_verticalAttractionEfficiency = pValue;
298 break;
299 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
300 if (pValue < timestep) pValue = timestep;
301 m_verticalAttractionTimescale = pValue;
302 break;
303
304 // These are vector properties but the engine lets you use a single float value to
305 // set all of the components to the same value
306 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
307 if (pValue < timestep) pValue = timestep;
308 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
309 break;
310 case Vehicle.ANGULAR_MOTOR_DIRECTION:
311 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
312 len = m_angularMotorDirection.Length();
313 if (len > 12.566f)
314 m_angularMotorDirection *= (12.566f / len);
315 m_amEfect = 1.0f; // turn it on
316 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
317 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
318 d.BodyEnable(rootPrim.Body);
319 break;
320 case Vehicle.LINEAR_FRICTION_TIMESCALE:
321 if (pValue < timestep) pValue = timestep;
322 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
323 break;
324 case Vehicle.LINEAR_MOTOR_DIRECTION:
325 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
326 len = m_linearMotorDirection.Length();
327 if (len > 30.0f)
328 m_linearMotorDirection *= (30.0f / len);
329 m_lmEfect = 1.0f; // turn it on
330 m_ffactor = 0.01f;
331 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
332 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
333 d.BodyEnable(rootPrim.Body);
334 break;
335 case Vehicle.LINEAR_MOTOR_OFFSET:
336 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
337 len = m_linearMotorOffset.Length();
338 if (len > 100.0f)
339 m_linearMotorOffset *= (100.0f / len);
340 break;
341 }
342 }//end ProcessFloatVehicleParam
343
344 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
345 {
346 float len;
347 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
348 float timestep = _pParentScene.ODE_STEPSIZE;
349 switch (pParam)
350 {
351 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
352 if (pValue.X < timestep) pValue.X = timestep;
353 if (pValue.Y < timestep) pValue.Y = timestep;
354 if (pValue.Z < timestep) pValue.Z = timestep;
355
356 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
357 break;
358 case Vehicle.ANGULAR_MOTOR_DIRECTION:
359 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
360 // Limit requested angular speed to 2 rps= 4 pi rads/sec
361 len = m_angularMotorDirection.Length();
362 if (len > 12.566f)
363 m_angularMotorDirection *= (12.566f / len);
364 m_amEfect = 1.0f; // turn it on
365 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
366 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
367 d.BodyEnable(rootPrim.Body);
368 break;
369 case Vehicle.LINEAR_FRICTION_TIMESCALE:
370 if (pValue.X < timestep) pValue.X = timestep;
371 if (pValue.Y < timestep) pValue.Y = timestep;
372 if (pValue.Z < timestep) pValue.Z = timestep;
373 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
374 break;
375 case Vehicle.LINEAR_MOTOR_DIRECTION:
376 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
377 len = m_linearMotorDirection.Length();
378 if (len > 30.0f)
379 m_linearMotorDirection *= (30.0f / len);
380 m_lmEfect = 1.0f; // turn it on
381 m_ffactor = 0.01f;
382 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
383 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
384 d.BodyEnable(rootPrim.Body);
385 break;
386 case Vehicle.LINEAR_MOTOR_OFFSET:
387 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
388 len = m_linearMotorOffset.Length();
389 if (len > 100.0f)
390 m_linearMotorOffset *= (100.0f / len);
391 break;
392 case Vehicle.BLOCK_EXIT:
393 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
394 break;
395 }
396 }//end ProcessVectorVehicleParam
397
398 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
399 {
400 switch (pParam)
401 {
402 case Vehicle.REFERENCE_FRAME:
403 m_referenceFrame = Quaternion.Inverse(pValue);
404 break;
405 case Vehicle.ROLL_FRAME:
406 m_RollreferenceFrame = pValue;
407 break;
408 }
409 }//end ProcessRotationVehicleParam
410
411 internal void ProcessVehicleFlags(int pParam, bool remove)
412 {
413 if (remove)
414 {
415 m_flags &= ~((VehicleFlag)pParam);
416 }
417 else
418 {
419 m_flags |= (VehicleFlag)pParam;
420 }
421 }//end ProcessVehicleFlags
422
423 internal void ProcessTypeChange(Vehicle pType)
424 {
425 float invtimestep = _pParentScene.ODE_STEPSIZE;
426 m_lmEfect = 0;
427 m_amEfect = 0;
428 m_ffactor = 1f;
429
430 m_linearMotorDirection = Vector3.Zero;
431 m_angularMotorDirection = Vector3.Zero;
432
433 m_BlockingEndPoint = Vector3.Zero;
434 m_RollreferenceFrame = Quaternion.Identity;
435 m_linearMotorOffset = Vector3.Zero;
436
437 m_referenceFrame = Quaternion.Identity;
438
439 // Set Defaults For Type
440 m_type = pType;
441 switch (pType)
442 {
443 case Vehicle.TYPE_NONE:
444 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
445 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
446 m_linearMotorTimescale = 1000;
447 m_linearMotorDecayTimescale = 120;
448 m_angularMotorTimescale = 1000;
449 m_angularMotorDecayTimescale = 1000;
450 m_VhoverHeight = 0;
451 m_VhoverEfficiency = 1;
452 m_VhoverTimescale = 1000;
453 m_VehicleBuoyancy = 0;
454 m_linearDeflectionEfficiency = 0;
455 m_linearDeflectionTimescale = 1000;
456 m_angularDeflectionEfficiency = 0;
457 m_angularDeflectionTimescale = 1000;
458 m_bankingEfficiency = 0;
459 m_bankingMix = 1;
460 m_bankingTimescale = 1000;
461 m_verticalAttractionEfficiency = 0;
462 m_verticalAttractionTimescale = 1000;
463
464 m_flags = (VehicleFlag)0;
465 break;
466
467 case Vehicle.TYPE_SLED:
468 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
469 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
470 m_linearMotorTimescale = 1000;
471 m_linearMotorDecayTimescale = 120 * invtimestep;
472 m_angularMotorTimescale = 1000;
473 m_angularMotorDecayTimescale = 120 * invtimestep;
474 m_VhoverHeight = 0;
475 m_VhoverEfficiency = 1;
476 m_VhoverTimescale = 10;
477 m_VehicleBuoyancy = 0;
478 m_linearDeflectionEfficiency = 1;
479 m_linearDeflectionTimescale = 1;
480 m_angularDeflectionEfficiency = 0;
481 m_angularDeflectionTimescale = 1000;
482 m_bankingEfficiency = 0;
483 m_bankingMix = 1;
484 m_bankingTimescale = 10;
485 m_flags &=
486 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
487 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
488 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
489 break;
490 case Vehicle.TYPE_CAR:
491 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
492 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
493 m_linearMotorTimescale = 1;
494 m_linearMotorDecayTimescale = 60 * invtimestep;
495 m_angularMotorTimescale = 1;
496 m_angularMotorDecayTimescale = 0.8f * invtimestep;
497 m_VhoverHeight = 0;
498 m_VhoverEfficiency = 0;
499 m_VhoverTimescale = 1000;
500 m_VehicleBuoyancy = 0;
501 m_linearDeflectionEfficiency = 1;
502 m_linearDeflectionTimescale = 2;
503 m_angularDeflectionEfficiency = 0;
504 m_angularDeflectionTimescale = 10;
505 m_verticalAttractionEfficiency = 1f;
506 m_verticalAttractionTimescale = 10f;
507 m_bankingEfficiency = -0.2f;
508 m_bankingMix = 1;
509 m_bankingTimescale = 1;
510 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
511 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
512 VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
513 break;
514 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2);
516 m_angularFrictionTimescale = new Vector3(10, 10, 10);
517 m_linearMotorTimescale = 5;
518 m_linearMotorDecayTimescale = 60 * invtimestep;
519 m_angularMotorTimescale = 4;
520 m_angularMotorDecayTimescale = 4 * invtimestep;
521 m_VhoverHeight = 0;
522 m_VhoverEfficiency = 0.5f;
523 m_VhoverTimescale = 2;
524 m_VehicleBuoyancy = 1;
525 m_linearDeflectionEfficiency = 0.5f;
526 m_linearDeflectionTimescale = 3;
527 m_angularDeflectionEfficiency = 0.5f;
528 m_angularDeflectionTimescale = 5;
529 m_verticalAttractionEfficiency = 0.5f;
530 m_verticalAttractionTimescale = 5f;
531 m_bankingEfficiency = -0.3f;
532 m_bankingMix = 0.8f;
533 m_bankingTimescale = 1;
534 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
535 VehicleFlag.HOVER_GLOBAL_HEIGHT |
536 VehicleFlag.HOVER_UP_ONLY |
537 VehicleFlag.LIMIT_ROLL_ONLY);
538 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
539 VehicleFlag.LIMIT_MOTOR_UP |
540 VehicleFlag.HOVER_WATER_ONLY);
541 break;
542 case Vehicle.TYPE_AIRPLANE:
543 m_linearFrictionTimescale = new Vector3(200, 10, 5);
544 m_angularFrictionTimescale = new Vector3(20, 20, 20);
545 m_linearMotorTimescale = 2;
546 m_linearMotorDecayTimescale = 60 * invtimestep;
547 m_angularMotorTimescale = 4;
548 m_angularMotorDecayTimescale = 8 * invtimestep;
549 m_VhoverHeight = 0;
550 m_VhoverEfficiency = 0.5f;
551 m_VhoverTimescale = 1000;
552 m_VehicleBuoyancy = 0;
553 m_linearDeflectionEfficiency = 0.5f;
554 m_linearDeflectionTimescale = 0.5f;
555 m_angularDeflectionEfficiency = 1;
556 m_angularDeflectionTimescale = 2;
557 m_verticalAttractionEfficiency = 0.9f;
558 m_verticalAttractionTimescale = 2f;
559 m_bankingEfficiency = 1;
560 m_bankingMix = 0.7f;
561 m_bankingTimescale = 2;
562 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
563 VehicleFlag.HOVER_TERRAIN_ONLY |
564 VehicleFlag.HOVER_GLOBAL_HEIGHT |
565 VehicleFlag.HOVER_UP_ONLY |
566 VehicleFlag.NO_DEFLECTION_UP |
567 VehicleFlag.LIMIT_MOTOR_UP);
568 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
569 break;
570 case Vehicle.TYPE_BALLOON:
571 m_linearFrictionTimescale = new Vector3(5, 5, 5);
572 m_angularFrictionTimescale = new Vector3(10, 10, 10);
573 m_linearMotorTimescale = 5;
574 m_linearMotorDecayTimescale = 60 * invtimestep;
575 m_angularMotorTimescale = 6;
576 m_angularMotorDecayTimescale = 10 * invtimestep;
577 m_VhoverHeight = 5;
578 m_VhoverEfficiency = 0.8f;
579 m_VhoverTimescale = 10;
580 m_VehicleBuoyancy = 1;
581 m_linearDeflectionEfficiency = 0;
582 m_linearDeflectionTimescale = 5 * invtimestep;
583 m_angularDeflectionEfficiency = 0;
584 m_angularDeflectionTimescale = 5;
585 m_verticalAttractionEfficiency = 0f;
586 m_verticalAttractionTimescale = 1000f;
587 m_bankingEfficiency = 0;
588 m_bankingMix = 0.7f;
589 m_bankingTimescale = 5;
590 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
591 VehicleFlag.HOVER_TERRAIN_ONLY |
592 VehicleFlag.HOVER_UP_ONLY |
593 VehicleFlag.NO_DEFLECTION_UP |
594 VehicleFlag.LIMIT_MOTOR_UP);
595 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
596 VehicleFlag.HOVER_GLOBAL_HEIGHT);
597 break;
598 }
599
600 }//end SetDefaultsForType
601
602 internal void Stop()
603 {
604 m_lmEfect = 0;
605 m_amEfect = 0;
606 m_ffactor = 1f;
607 }
608
609 public static Vector3 Xrot(Quaternion rot)
610 {
611 Vector3 vec;
612 rot.Normalize(); // just in case
613 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
614 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
615 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
616 return vec;
617 }
618
619 public static Vector3 Zrot(Quaternion rot)
620 {
621 Vector3 vec;
622 rot.Normalize(); // just in case
623 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
624 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
625 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
626
627 return vec;
628 }
629
630 private const float pi = (float)Math.PI;
631 private const float halfpi = 0.5f * (float)Math.PI;
632
633 public static Vector3 ubitRot2Euler(Quaternion rot)
634 {
635 // returns roll in X
636 // pitch in Y
637 // yaw in Z
638 Vector3 vec;
639
640 // assuming rot is normalised
641 // rot.Normalize();
642
643 float zX = rot.X * rot.Z + rot.Y * rot.W;
644
645 if (zX < -0.49999f)
646 {
647 vec.X = 0;
648 vec.Y = -halfpi;
649 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
650 }
651 else if (zX > 0.49999f)
652 {
653 vec.X = 0;
654 vec.Y = halfpi;
655 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
656 }
657 else
658 {
659 vec.Y = (float)Math.Asin(2 * zX);
660
661 float sqw = rot.W * rot.W;
662
663 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
664 float zZ = rot.Z * rot.Z + sqw - 0.5f;
665
666 vec.X = (float)Math.Atan2(minuszY, zZ);
667
668 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
669 float yY = rot.X * rot.X + sqw - 0.5f;
670 vec.Z = (float)Math.Atan2(yX, yY);
671 }
672 return vec;
673 }
674
675 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
676 {
677 // assuming rot is normalised
678 // rot.Normalize();
679
680 float zX = rot.X * rot.Z + rot.Y * rot.W;
681
682 if (zX < -0.49999f)
683 {
684 roll = 0;
685 pitch = -halfpi;
686 }
687 else if (zX > 0.49999f)
688 {
689 roll = 0;
690 pitch = halfpi;
691 }
692 else
693 {
694 pitch = (float)Math.Asin(2 * zX);
695
696 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
697 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
698
699 roll = (float)Math.Atan2(minuszY, zZ);
700 }
701 return ;
702 }
703
704 internal void Step()//float pTimestep)
705 {
706 IntPtr Body = rootPrim.Body;
707
708 d.Quaternion rot = d.BodyGetQuaternion(Body);
709 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
710 Quaternion rotq = objrotq; // rotq = rotation of object
711 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
712 Quaternion irotq = Quaternion.Inverse(rotq);
713
714 d.Vector3 dvtmp;
715 Vector3 tmpV;
716 Vector3 curVel; // velocity in world
717 Vector3 curAngVel; // angular velocity in world
718 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
719 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
720 d.Vector3 dtorque = new d.Vector3();
721
722 dvtmp = d.BodyGetLinearVel(Body);
723 curVel.X = dvtmp.X;
724 curVel.Y = dvtmp.Y;
725 curVel.Z = dvtmp.Z;
726 Vector3 curLocalVel = curVel * irotq; // current velocity in local
727
728 dvtmp = d.BodyGetAngularVel(Body);
729 curAngVel.X = dvtmp.X;
730 curAngVel.Y = dvtmp.Y;
731 curAngVel.Z = dvtmp.Z;
732 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
733
734 // linear motor
735 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
736 {
737 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
738 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
739 tmpV *= rotq; // to world
740
741 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
742 tmpV.Z = 0;
743
744 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
745 {
746 // have offset, do it now
747 tmpV *= rootPrim.Mass;
748 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
749 }
750 else
751 {
752 force.X += tmpV.X;
753 force.Y += tmpV.Y;
754 force.Z += tmpV.Z;
755 }
756 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
757
758 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
759 }
760 else
761 {
762 m_lmEfect = 0;
763 m_ffactor = 1f;
764 }
765
766 // friction
767 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
768 {
769 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
770 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
771 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
772 tmpV *= rotq; // to world
773 force.X += tmpV.X;
774 force.Y += tmpV.Y;
775 force.Z += tmpV.Z;
776 }
777
778 // hover
779 if (m_VhoverTimescale < 300)
780 {
781 d.Vector3 pos = d.BodyGetPosition(Body);
782
783 // default to global
784 float perr = m_VhoverHeight - pos.Z;;
785
786 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
787 {
788 perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
789 }
790 else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
791 {
792 perr += _pParentScene.GetWaterLevel();
793 }
794 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
795 {
796 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
797 float w = _pParentScene.GetWaterLevel();
798 if (t > w)
799 perr += t;
800 else
801 perr += w;
802 }
803
804 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
805 {
806 force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
807 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
808 }
809 else // no buoyancy
810 force.Z += _pParentScene.gravityz;
811 }
812 else
813 {
814 // default gravity and buoancy
815 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
816 }
817
818 // linear deflection
819 if (m_linearDeflectionEfficiency > 0)
820 {
821 float len = curVel.Length();
822 Vector3 atAxis;
823 atAxis = Xrot(rotq); // where are we pointing to
824 atAxis *= len; // make it same size as world velocity vector
825 tmpV = -atAxis; // oposite direction
826 atAxis -= curVel; // error to one direction
827 len = atAxis.LengthSquared();
828 tmpV -= curVel; // error to oposite
829 float lens = tmpV.LengthSquared();
830 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
831 {
832 if (len < lens)
833 tmpV = atAxis;
834
835 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
836 force.X += tmpV.X;
837 force.Y += tmpV.Y;
838 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
839 force.Z += tmpV.Z;
840 }
841 }
842
843 // angular motor
844 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
845 {
846 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
847 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
848 torque.X += tmpV.X;
849 torque.Y += tmpV.Y;
850 torque.Z += tmpV.Z;
851 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
852 }
853 else
854 m_amEfect = 0;
855
856 // angular friction
857 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
858 {
859 torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
860 torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
861 torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
862 }
863
864 // angular deflection
865 if (m_angularDeflectionEfficiency > 0)
866 {
867 Vector3 dirv;
868
869 if (curLocalVel.X > 0.01f)
870 dirv = curLocalVel;
871 else if (curLocalVel.X < -0.01f)
872 // use oposite
873 dirv = -curLocalVel;
874 else
875 {
876 // make it fall into small positive x case
877 dirv.X = 0.01f;
878 dirv.Y = curLocalVel.Y;
879 dirv.Z = curLocalVel.Z;
880 }
881
882 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
883
884 if (Math.Abs(dirv.Z) > 0.01)
885 {
886 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
887 }
888
889 if (Math.Abs(dirv.Y) > 0.01)
890 {
891 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
892 }
893 }
894
895 // vertical atractor
896 if (m_verticalAttractionTimescale < 300)
897 {
898 float roll;
899 float pitch;
900
901 GetRollPitch(irotq, out roll, out pitch);
902
903 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
904 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
905
906 if (roll > halfpi)
907 roll = pi - roll;
908 else if (roll < -halfpi)
909 roll = -pi - roll;
910
911 float effroll = pitch / halfpi;
912 effroll *= effroll;
913 effroll = 1 - effroll;
914 effroll *= roll;
915
916 if (Math.Abs(effroll) > 0.01) // roll
917 {
918 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
919 }
920
921 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
922 {
923 float effpitch = roll / halfpi;
924 effpitch *= effpitch;
925 effpitch = 1 - effpitch;
926 effpitch *= pitch;
927
928 if (Math.Abs(effpitch) > 0.01) // pitch
929 {
930 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
931 }
932 }
933
934 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
935 {
936
937 float broll = effroll;
938/*
939 if (broll > halfpi)
940 broll = pi - broll;
941 else if (broll < -halfpi)
942 broll = -pi - broll;
943*/
944 broll *= m_bankingEfficiency;
945 if (m_bankingMix != 0)
946 {
947 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
948 if (vfact > 1.0f) vfact = 1.0f;
949
950 if (curLocalVel.X >= 0)
951 broll *= (1 + (vfact - 1) * m_bankingMix);
952 else
953 broll *= -(1 + (vfact - 1) * m_bankingMix);
954 }
955 // make z rot be in world Z not local as seems to be in sl
956
957 broll = broll / m_bankingTimescale;
958
959 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
960
961 tmpV.X = ftmp * curAngVel.X;
962 tmpV.Y = ftmp * curAngVel.Y;
963 tmpV.Z = broll + ftmp * curAngVel.Z;
964 tmpV *= irotq;
965
966 torque.X += tmpV.X;
967 torque.Y += tmpV.Y;
968 torque.Z += tmpV.Z;
969 }
970 }
971
972 d.Mass dmass;
973 d.BodyGetMass(Body,out dmass);
974
975 if (force.X != 0 || force.Y != 0 || force.Z != 0)
976 {
977 force *= dmass.mass;
978 d.BodySetForce(Body, force.X, force.Y, force.Z);
979 }
980
981 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
982 {
983 torque *= m_referenceFrame; // to object frame
984 dtorque.X = torque.X;
985 dtorque.Y = torque.Y;
986 dtorque.Z = torque.Z;
987
988 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
989 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
990 }
991 }
992 }
993}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..b105f77
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,3573 @@
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
70 protected bool m_building;
71 private Quaternion m_lastorientation = new Quaternion();
72 private Quaternion _orientation;
73
74 private Vector3 _position;
75 private Vector3 _velocity;
76 private Vector3 _torque;
77 private Vector3 m_lastVelocity;
78 private Vector3 m_lastposition;
79 private Vector3 m_rotationalVelocity;
80 private Vector3 _size;
81 private Vector3 _acceleration;
82 private Vector3 m_angularlock = Vector3.One;
83 private IntPtr Amotor = IntPtr.Zero;
84
85 private Vector3 m_force;
86 private Vector3 m_forceacc;
87 private Vector3 m_angularForceacc;
88
89 private Vector3 m_PIDTarget;
90 private float m_PIDTau;
91 private float PID_D = 35f;
92 private float PID_G = 25f;
93 private bool m_usePID;
94
95 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
96 // and are for non-VEHICLES only.
97
98 private float m_PIDHoverHeight;
99 private float m_PIDHoverTau;
100 private bool m_useHoverPID;
101 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
102 private float m_targetHoverHeight;
103 private float m_groundHeight;
104 private float m_waterHeight;
105 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
106
107 private int body_autodisable_frames = 20;
108
109 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
110 | CollisionCategories.Space
111 | CollisionCategories.Body
112 | CollisionCategories.Character
113 );
114// private bool m_collidesLand = true;
115 private bool m_collidesWater;
116 public bool m_returnCollisions;
117 private bool m_softcolide;
118
119 private bool m_NoColide; // for now only for internal use for bad meshs
120
121 // Default we're a Geometry
122 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
123
124 // Default, Collide with Other Geometries, spaces and Bodies
125 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
126
127 public bool m_disabled;
128
129
130 public uint m_localID;
131
132 private PrimitiveBaseShape _pbs;
133 public OdeScene _parent_scene;
134
135 /// <summary>
136 /// The physics space which contains prim geometry
137 /// </summary>
138 public IntPtr m_targetSpace = IntPtr.Zero;
139
140 public IntPtr prim_geom;
141 public IntPtr _triMeshData;
142
143 private PhysicsActor _parent;
144
145 private List<OdePrim> childrenPrim = new List<OdePrim>();
146
147 private bool m_iscolliding;
148
149 public bool m_isSelected;
150 private bool m_delaySelect;
151 private bool m_lastdoneSelected;
152 public bool m_outbounds;
153
154 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
155
156 private bool m_throttleUpdates;
157 private int throttleCounter;
158 public float m_collisionscore;
159 int m_colliderfilter = 0;
160
161 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
162
163 private float m_density = 10.000006836f; // Aluminum g/cm3;
164
165 public bool _zeroFlag;
166 private bool m_lastUpdateSent;
167
168 public IntPtr Body = IntPtr.Zero;
169 public String Name { get; private set; }
170 private Vector3 _target_velocity;
171
172 public Vector3 primOOBsize; // prim real dimensions from mesh
173 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
174 public float primOOBradiusSQ;
175 public d.Mass primdMass; // prim inertia information on it's own referencial
176 float primMass; // prim own mass
177 float _mass; // object mass acording to case
178 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
179
180 public int givefakepos = 0;
181 private Vector3 fakepos;
182 public int givefakeori = 0;
183 private Quaternion fakeori;
184
185 public int m_eventsubscription;
186 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
187
188 public volatile bool childPrim;
189
190 public ODEDynamics m_vehicle;
191
192 internal int m_material = (int)Material.Wood;
193 private float mu;
194 private float bounce;
195
196 /// <summary>
197 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
198 /// </summary>
199 public override bool IsPhysical // this is not reliable for internal use
200 {
201 get { return m_fakeisphysical; }
202 set
203 {
204 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
205 // and also to stop imediatly some updates
206 // but real change will only happen in taintprocessing
207
208 if (!value) // Zero the remembered last velocity
209 m_lastVelocity = Vector3.Zero;
210 AddChange(changes.Physical, value);
211 }
212 }
213
214 public override bool Building // this is not reliable for internal use
215 {
216 get { return m_building; }
217 set
218 {
219 if (value)
220 m_building = true;
221 AddChange(changes.building, value);
222 }
223 }
224
225 public override void getContactData(ref ContactData cdata)
226 {
227 cdata.mu = mu;
228 cdata.bounce = bounce;
229
230 // cdata.softcolide = m_softcolide;
231 cdata.softcolide = false;
232
233 if (m_isphysical)
234 {
235 ODEDynamics veh;
236 if (_parent != null)
237 veh = ((OdePrim)_parent).m_vehicle;
238 else
239 veh = m_vehicle;
240
241 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
242 cdata.mu *= veh.FrictionFactor;
243 }
244 }
245
246 public override int PhysicsActorType
247 {
248 get { return (int)ActorTypes.Prim; }
249 set { return; }
250 }
251
252 public override bool SetAlwaysRun
253 {
254 get { return false; }
255 set { return; }
256 }
257
258 public override uint LocalID
259 {
260 get
261 {
262 return m_localID;
263 }
264 set
265 {
266 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
267 m_localID = value;
268 }
269 }
270
271 public override bool Grabbed
272 {
273 set { return; }
274 }
275
276 public override bool Selected
277 {
278 set
279 {
280 if (value)
281 m_isSelected = value; // if true set imediatly to stop moves etc
282 AddChange(changes.Selected, value);
283 }
284 }
285
286 public override bool Flying
287 {
288 // no flying prims for you
289 get { return false; }
290 set { }
291 }
292
293 public override bool IsColliding
294 {
295 get { return m_iscolliding; }
296 set
297 {
298 if (value)
299 {
300 m_colliderfilter += 2;
301 if (m_colliderfilter > 2)
302 m_colliderfilter = 2;
303 }
304 else
305 {
306 m_colliderfilter--;
307 if (m_colliderfilter < 0)
308 m_colliderfilter = 0;
309 }
310
311 if (m_colliderfilter == 0)
312 {
313 m_softcolide = false;
314 m_iscolliding = false;
315 }
316 else
317 m_iscolliding = true;
318 }
319 }
320
321 public override bool CollidingGround
322 {
323 get { return false; }
324 set { return; }
325 }
326
327 public override bool CollidingObj
328 {
329 get { return false; }
330 set { return; }
331 }
332
333 public override bool ThrottleUpdates
334 {
335 get { return m_throttleUpdates; }
336 set { m_throttleUpdates = value; }
337 }
338
339 public override bool Stopped
340 {
341 get { return _zeroFlag; }
342 }
343
344 public override Vector3 Position
345 {
346 get
347 {
348 if (givefakepos > 0)
349 return fakepos;
350 else
351 return _position;
352 }
353
354 set
355 {
356 fakepos = value;
357 givefakepos++;
358 AddChange(changes.Position, value);
359 }
360 }
361
362 public override Vector3 Size
363 {
364 get { return _size; }
365 set
366 {
367 if (value.IsFinite())
368 {
369 AddChange(changes.Size, value);
370 }
371 else
372 {
373 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
374 }
375 }
376 }
377
378 public override float Mass
379 {
380 get { return _mass; }
381 }
382
383 public override Vector3 Force
384 {
385 //get { return Vector3.Zero; }
386 get { return m_force; }
387 set
388 {
389 if (value.IsFinite())
390 {
391 AddChange(changes.Force, value);
392 }
393 else
394 {
395 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
396 }
397 }
398 }
399
400 public override void SetVolumeDetect(int param)
401 {
402 AddChange(changes.VolumeDtc, (param != 0));
403 }
404
405 public override Vector3 GeometricCenter
406 {
407 get
408 {
409 return Vector3.Zero;
410 }
411 }
412
413 public override Vector3 CenterOfMass
414 {
415 get
416 {
417 d.Vector3 dtmp;
418 if (IsPhysical && !childPrim && Body != IntPtr.Zero)
419 {
420 dtmp = d.BodyGetPosition(Body);
421 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
422 }
423 else if (prim_geom != IntPtr.Zero)
424 {
425 d.Quaternion dq;
426 d.GeomCopyQuaternion(prim_geom, out dq);
427 Quaternion q;
428 q.X = dq.X;
429 q.Y = dq.Y;
430 q.Z = dq.Z;
431 q.W = dq.W;
432
433 Vector3 vtmp = primOOBoffset * q;
434 dtmp = d.GeomGetPosition(prim_geom);
435 return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
436 }
437 else
438 return Vector3.Zero;
439 }
440 }
441 /*
442 public override Vector3 PrimOOBsize
443 {
444 get
445 {
446 return primOOBsize;
447 }
448 }
449
450 public override Vector3 PrimOOBoffset
451 {
452 get
453 {
454 return primOOBoffset;
455 }
456 }
457
458 public override float PrimOOBRadiusSQ
459 {
460 get
461 {
462 return primOOBradiusSQ;
463 }
464 }
465 */
466 public override PrimitiveBaseShape Shape
467 {
468 set
469 {
470 AddChange(changes.Shape, value);
471 }
472 }
473
474 public override Vector3 Velocity
475 {
476 get
477 {
478 if (_zeroFlag)
479 return Vector3.Zero;
480 return _velocity;
481 }
482 set
483 {
484 if (value.IsFinite())
485 {
486 AddChange(changes.Velocity, value);
487 // _velocity = value;
488
489 }
490 else
491 {
492 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
493 }
494
495 }
496 }
497
498 public override Vector3 Torque
499 {
500 get
501 {
502 if (!IsPhysical || Body == IntPtr.Zero)
503 return Vector3.Zero;
504
505 return _torque;
506 }
507
508 set
509 {
510 if (value.IsFinite())
511 {
512 AddChange(changes.Torque, value);
513 }
514 else
515 {
516 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
517 }
518 }
519 }
520
521 public override float CollisionScore
522 {
523 get { return m_collisionscore; }
524 set { m_collisionscore = value; }
525 }
526
527 public override bool Kinematic
528 {
529 get { return false; }
530 set { }
531 }
532
533 public override Quaternion Orientation
534 {
535 get
536 {
537 if (givefakeori > 0)
538 return fakeori;
539 else
540
541 return _orientation;
542 }
543 set
544 {
545 if (QuaternionIsFinite(value))
546 {
547 fakeori = value;
548 givefakeori++;
549 AddChange(changes.Orientation, value);
550 }
551 else
552 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
553
554 }
555 }
556
557 public override Vector3 Acceleration
558 {
559 get { return _acceleration; }
560 set { }
561 }
562
563 public override Vector3 RotationalVelocity
564 {
565 get
566 {
567 Vector3 pv = Vector3.Zero;
568 if (_zeroFlag)
569 return pv;
570 m_lastUpdateSent = false;
571
572 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
573 return pv;
574
575 return m_rotationalVelocity;
576 }
577 set
578 {
579 if (value.IsFinite())
580 {
581 m_rotationalVelocity = value;
582 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
583 d.BodyEnable(Body);
584 }
585 else
586 {
587 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
588 }
589 }
590 }
591
592
593 public override float Buoyancy
594 {
595 get { return m_buoyancy; }
596 set
597 {
598 m_buoyancy = value;
599 }
600 }
601
602 public override bool FloatOnWater
603 {
604 set
605 {
606 AddChange(changes.CollidesWater, value);
607 }
608 }
609
610 public override Vector3 PIDTarget
611 {
612 set
613 {
614 if (value.IsFinite())
615 {
616 m_PIDTarget = value;
617 }
618 else
619 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
620 }
621 }
622
623 public override bool PIDActive { set { m_usePID = value; } }
624 public override float PIDTau { set { m_PIDTau = value; } }
625
626 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
627 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
628 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
629 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
630
631 public override Quaternion APIDTarget { set { return; } }
632
633 public override bool APIDActive { set { return; } }
634
635 public override float APIDStrength { set { return; } }
636
637 public override float APIDDamping { set { return; } }
638
639 public override int VehicleType
640 {
641 // we may need to put a fake on this
642 get
643 {
644 if (m_vehicle == null)
645 return (int)Vehicle.TYPE_NONE;
646 else
647 return (int)m_vehicle.Type;
648 }
649 set
650 {
651 AddChange(changes.VehicleType, value);
652 }
653 }
654
655 public override void VehicleFloatParam(int param, float value)
656 {
657 strVehicleFloatParam fp = new strVehicleFloatParam();
658 fp.param = param;
659 fp.value = value;
660 AddChange(changes.VehicleFloatParam, fp);
661 }
662
663 public override void VehicleVectorParam(int param, Vector3 value)
664 {
665 strVehicleVectorParam fp = new strVehicleVectorParam();
666 fp.param = param;
667 fp.value = value;
668 AddChange(changes.VehicleVectorParam, fp);
669 }
670
671 public override void VehicleRotationParam(int param, Quaternion value)
672 {
673 strVehicleQuatParam fp = new strVehicleQuatParam();
674 fp.param = param;
675 fp.value = value;
676 AddChange(changes.VehicleRotationParam, fp);
677 }
678
679 public override void VehicleFlags(int param, bool value)
680 {
681 strVehicleBoolParam bp = new strVehicleBoolParam();
682 bp.param = param;
683 bp.value = value;
684 AddChange(changes.VehicleFlags, bp);
685 }
686
687 public override void SetVehicle(object vdata)
688 {
689 AddChange(changes.SetVehicle, vdata);
690 }
691 public void SetAcceleration(Vector3 accel)
692 {
693 _acceleration = accel;
694 }
695
696 public override void AddForce(Vector3 force, bool pushforce)
697 {
698 if (force.IsFinite())
699 {
700 AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);
701 }
702 else
703 {
704 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
705 }
706 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
707 }
708
709 public override void AddAngularForce(Vector3 force, bool pushforce)
710 {
711 if (force.IsFinite())
712 {
713 AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);
714 }
715 else
716 {
717 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
718 }
719 }
720
721 public override void CrossingFailure()
722 {
723 if (m_outbounds)
724 {
725 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
726 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
727 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
728
729 m_lastposition = _position;
730 _velocity.X = 0;
731 _velocity.Y = 0;
732 _velocity.Z = 0;
733
734 m_lastVelocity = _velocity;
735 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
736 m_vehicle.Stop();
737
738 if(Body != IntPtr.Zero)
739 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
740 if (prim_geom != IntPtr.Zero)
741 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
742
743 m_outbounds = false;
744 changeDisable(false);
745 base.RequestPhysicsterseUpdate();
746 }
747 }
748
749 public override void SetMomentum(Vector3 momentum)
750 {
751 }
752
753 public override void SetMaterial(int pMaterial)
754 {
755 m_material = pMaterial;
756 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
757 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
758 }
759
760 public void setPrimForRemoval()
761 {
762 AddChange(changes.Remove, null);
763 }
764
765 public override void link(PhysicsActor obj)
766 {
767 AddChange(changes.Link, obj);
768 }
769
770 public override void delink()
771 {
772 AddChange(changes.DeLink, null);
773 }
774
775 public override void LockAngularMotion(Vector3 axis)
776 {
777 // reverse the zero/non zero values for ODE.
778 if (axis.IsFinite())
779 {
780 axis.X = (axis.X > 0) ? 1f : 0f;
781 axis.Y = (axis.Y > 0) ? 1f : 0f;
782 axis.Z = (axis.Z > 0) ? 1f : 0f;
783 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
784 AddChange(changes.AngLock, axis);
785 }
786 else
787 {
788 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
789 }
790 }
791
792 public override void SubscribeEvents(int ms)
793 {
794 m_eventsubscription = ms;
795 _parent_scene.AddCollisionEventReporting(this);
796 }
797
798 public override void UnSubscribeEvents()
799 {
800 _parent_scene.RemoveCollisionEventReporting(this);
801 m_eventsubscription = 0;
802 }
803
804 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
805 {
806 if (CollisionEventsThisFrame == null)
807 CollisionEventsThisFrame = new CollisionEventUpdate();
808
809 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
810 }
811
812 public void SendCollisions()
813 {
814 if (CollisionEventsThisFrame == null)
815 return;
816
817 base.SendCollisionUpdate(CollisionEventsThisFrame);
818
819 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
820 CollisionEventsThisFrame = null;
821 else
822 CollisionEventsThisFrame = new CollisionEventUpdate();
823 }
824
825 public override bool SubscribedEvents()
826 {
827 if (m_eventsubscription > 0)
828 return true;
829 return false;
830 }
831
832
833 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
834 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
835 {
836 Name = primName;
837
838 m_vehicle = null;
839
840 if (!pos.IsFinite())
841 {
842 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
843 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
844 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
845 }
846 _position = pos;
847 givefakepos = 0;
848
849 PID_D = parent_scene.bodyPIDD;
850 PID_G = parent_scene.bodyPIDG;
851 m_density = parent_scene.geomDefaultDensity;
852 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
853 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
854
855 prim_geom = IntPtr.Zero;
856 collide_geom = IntPtr.Zero;
857 Body = IntPtr.Zero;
858
859 if (!size.IsFinite())
860 {
861 size = new Vector3(0.5f, 0.5f, 0.5f);
862 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
863 }
864
865 if (size.X <= 0) size.X = 0.01f;
866 if (size.Y <= 0) size.Y = 0.01f;
867 if (size.Z <= 0) size.Z = 0.01f;
868
869 _size = size;
870
871 if (!QuaternionIsFinite(rotation))
872 {
873 rotation = Quaternion.Identity;
874 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
875 }
876
877 _orientation = rotation;
878 givefakeori = 0;
879
880 _pbs = pbs;
881
882 _parent_scene = parent_scene;
883 m_targetSpace = IntPtr.Zero;
884
885 if (pos.Z < 0)
886 {
887 m_isphysical = false;
888 }
889 else
890 {
891 m_isphysical = pisPhysical;
892 }
893 m_fakeisphysical = m_isphysical;
894
895 m_isVolumeDetect = false;
896
897 m_force = Vector3.Zero;
898
899 m_iscolliding = false;
900 m_colliderfilter = 0;
901 m_softcolide = true;
902 m_NoColide = false;
903
904 hasOOBoffsetFromMesh = false;
905 _triMeshData = IntPtr.Zero;
906
907 m_lastdoneSelected = false;
908 m_isSelected = false;
909 m_delaySelect = false;
910
911 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
912 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
913
914 CalcPrimBodyData();
915
916 m_building = true; // control must set this to false when done
917
918 AddChange(changes.Add, null);
919 }
920
921 private void resetCollisionAccounting()
922 {
923 m_collisionscore = 0;
924 }
925
926 private void createAMotor(Vector3 axis)
927 {
928 if (Body == IntPtr.Zero)
929 return;
930
931 if (Amotor != IntPtr.Zero)
932 {
933 d.JointDestroy(Amotor);
934 Amotor = IntPtr.Zero;
935 }
936
937 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
938
939 if (axisnum <= 0)
940 return;
941
942 // stop it
943 d.BodySetTorque(Body, 0, 0, 0);
944 d.BodySetAngularVel(Body, 0, 0, 0);
945
946 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
947 d.JointAttach(Amotor, Body, IntPtr.Zero);
948
949 d.JointSetAMotorMode(Amotor, 0);
950
951 d.JointSetAMotorNumAxes(Amotor, axisnum);
952
953 // get current orientation to lock
954
955 d.Quaternion dcur = d.BodyGetQuaternion(Body);
956 Quaternion curr; // crap convertion between identical things
957 curr.X = dcur.X;
958 curr.Y = dcur.Y;
959 curr.Z = dcur.Z;
960 curr.W = dcur.W;
961 Vector3 ax;
962
963 int i = 0;
964 int j = 0;
965 if (axis.X == 0)
966 {
967 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
968 // ODE should do this with axis relative to body 1 but seems to fail
969 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
970 d.JointSetAMotorAngle(Amotor, 0, 0);
971 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
972 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
973 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
974 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
975 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
976 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
977 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
978 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
979 i++;
980 j = 256; // move to next axis set
981 }
982
983 if (axis.Y == 0)
984 {
985 ax = (new Vector3(0, 1, 0)) * curr;
986 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
987 d.JointSetAMotorAngle(Amotor, i, 0);
988 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
989 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
990 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
991 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
992 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
993 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
994 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
995 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
996 i++;
997 j += 256;
998 }
999
1000 if (axis.Z == 0)
1001 {
1002 ax = (new Vector3(0, 0, 1)) * curr;
1003 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1004 d.JointSetAMotorAngle(Amotor, i, 0);
1005 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1006 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1007 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1008 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1009 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1010 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1011 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1012 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1013 }
1014 }
1015
1016 private bool setMesh(OdeScene parent_scene)
1017 {
1018 if (Body != IntPtr.Zero)
1019 {
1020 if (childPrim)
1021 {
1022 if (_parent != null)
1023 {
1024 OdePrim parent = (OdePrim)_parent;
1025 parent.ChildDelink(this, false);
1026 }
1027 }
1028 else
1029 {
1030 DestroyBody();
1031 }
1032 }
1033
1034 IMesh mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true);
1035 if (mesh == null)
1036 {
1037 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1038 return false;
1039 }
1040
1041 IntPtr vertices, indices;
1042 int vertexCount, indexCount;
1043 int vertexStride, triStride;
1044
1045 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1046 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1047
1048 if (vertexCount == 0 || indexCount == 0)
1049 {
1050 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1051 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1052 mesh.releaseSourceMeshData();
1053 return false;
1054 }
1055
1056 primOOBoffset = mesh.GetCentroid();
1057 hasOOBoffsetFromMesh = true;
1058
1059 mesh.releaseSourceMeshData();
1060
1061 IntPtr geo = IntPtr.Zero;
1062
1063 try
1064 {
1065 _triMeshData = d.GeomTriMeshDataCreate();
1066
1067 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1068 d.GeomTriMeshDataPreprocess(_triMeshData);
1069
1070 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1071 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1072 }
1073
1074 catch (Exception e)
1075 {
1076 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1077 if (_triMeshData != IntPtr.Zero)
1078 {
1079 d.GeomTriMeshDataDestroy(_triMeshData);
1080 _triMeshData = IntPtr.Zero;
1081 }
1082 return false;
1083 }
1084
1085 SetGeom(geo);
1086 return true;
1087 }
1088
1089 private void SetGeom(IntPtr geom)
1090 {
1091 prim_geom = geom;
1092 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1093 if (prim_geom != IntPtr.Zero)
1094 {
1095 if (m_NoColide)
1096 {
1097 d.GeomSetCategoryBits(prim_geom, 0);
1098 if (m_isphysical)
1099 {
1100 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1101 }
1102 else
1103 {
1104 d.GeomSetCollideBits(prim_geom, 0);
1105 d.GeomDisable(prim_geom);
1106 }
1107 }
1108 else
1109 {
1110 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1111 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1112 }
1113
1114 CalcPrimBodyData();
1115
1116 _parent_scene.geom_name_map[prim_geom] = Name;
1117 _parent_scene.actor_name_map[prim_geom] = this;
1118
1119 }
1120 else
1121 m_log.Warn("Setting bad Geom");
1122 }
1123
1124
1125 /// <summary>
1126 /// Create a geometry for the given mesh in the given target space.
1127 /// </summary>
1128 /// <param name="m_targetSpace"></param>
1129 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1130 private void CreateGeom()
1131 {
1132 if (_triMeshData != IntPtr.Zero)
1133 {
1134 d.GeomTriMeshDataDestroy(_triMeshData);
1135 _triMeshData = IntPtr.Zero;
1136 }
1137
1138 bool haveMesh = false;
1139 hasOOBoffsetFromMesh = false;
1140 m_NoColide = false;
1141
1142 if (_parent_scene.needsMeshing(_pbs))
1143 {
1144 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1145 if (!haveMesh)
1146 m_NoColide = true;
1147 }
1148
1149 if (!haveMesh)
1150 {
1151 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1152 && _size.X == _size.Y && _size.Y == _size.Z)
1153 { // it's a sphere
1154 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1155 try
1156 {
1157 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1158 }
1159 catch (Exception e)
1160 {
1161 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1162 return;
1163 }
1164 }
1165 else
1166 {// do it as a box
1167 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1168 try
1169 {
1170 //Console.WriteLine(" CreateGeom 4");
1171 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1172 }
1173 catch (Exception e)
1174 {
1175 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1176 return;
1177 }
1178 }
1179 }
1180 }
1181
1182 /// <summary>
1183 /// Set a new geometry for this prim.
1184 /// </summary>
1185 /// <param name="geom"></param>
1186 private void RemoveGeom()
1187 {
1188 if (prim_geom != IntPtr.Zero)
1189 {
1190 _parent_scene.geom_name_map.Remove(prim_geom);
1191 _parent_scene.actor_name_map.Remove(prim_geom);
1192 try
1193 {
1194 d.GeomDestroy(prim_geom);
1195 if (_triMeshData != IntPtr.Zero)
1196 {
1197 d.GeomTriMeshDataDestroy(_triMeshData);
1198 _triMeshData = IntPtr.Zero;
1199 }
1200 }
1201 // catch (System.AccessViolationException)
1202 catch (Exception e)
1203 {
1204 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1205 }
1206
1207 prim_geom = IntPtr.Zero;
1208 }
1209 else
1210 {
1211 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1212 }
1213 Body = IntPtr.Zero;
1214 hasOOBoffsetFromMesh = false;
1215 CalcPrimBodyData();
1216 }
1217
1218 private void ChildSetGeom(OdePrim odePrim)
1219 {
1220 // well..
1221 DestroyBody();
1222 MakeBody();
1223 }
1224
1225 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1226 // should only be called for non physical prims unless they are becoming non physical
1227 private void SetInStaticSpace(OdePrim prim)
1228 {
1229 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1230 prim.m_targetSpace = targetSpace;
1231 d.GeomEnable(prim_geom);
1232 }
1233
1234 public void enableBodySoft()
1235 {
1236 if (!childPrim && !m_isSelected)
1237 {
1238 if (m_isphysical && Body != IntPtr.Zero)
1239 {
1240 m_collisionCategories |= CollisionCategories.Body;
1241 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1242
1243 foreach (OdePrim prm in childrenPrim)
1244 {
1245 prm.m_collisionCategories = m_collisionCategories;
1246 prm.m_collisionFlags = m_collisionFlags;
1247
1248 if (prm.prim_geom != IntPtr.Zero)
1249 {
1250 if (prm.m_NoColide)
1251 {
1252 d.GeomSetCategoryBits(prm.prim_geom, 0);
1253 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1254 }
1255 else
1256 {
1257 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1258 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1259 }
1260 d.GeomEnable(prm.prim_geom);
1261 }
1262 }
1263
1264 if (prim_geom != IntPtr.Zero)
1265 {
1266 if (m_NoColide)
1267 {
1268 d.GeomSetCategoryBits(prim_geom, 0);
1269 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1270 }
1271 else
1272 {
1273 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1274 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1275 }
1276 d.GeomEnable(prim_geom);
1277 }
1278 d.BodyEnable(Body);
1279 }
1280 }
1281 m_disabled = false;
1282 resetCollisionAccounting(); // this sets m_disable to false
1283 }
1284
1285 private void disableBodySoft()
1286 {
1287 m_disabled = true;
1288 if (!childPrim)
1289 {
1290 if (m_isphysical && Body != IntPtr.Zero)
1291 {
1292 m_collisionCategories &= ~CollisionCategories.Body;
1293 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1294
1295 foreach (OdePrim prm in childrenPrim)
1296 {
1297 prm.m_collisionCategories = m_collisionCategories;
1298 prm.m_collisionFlags = m_collisionFlags;
1299
1300 if (prm.prim_geom != IntPtr.Zero)
1301 {
1302 if (prm.m_NoColide)
1303 {
1304 d.GeomSetCategoryBits(prm.prim_geom, 0);
1305 d.GeomSetCollideBits(prm.prim_geom, 0);
1306 }
1307 else
1308 {
1309 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1310 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1311 }
1312 d.GeomDisable(prm.prim_geom);
1313 }
1314 }
1315
1316 if (prim_geom != IntPtr.Zero)
1317 {
1318 if (m_NoColide)
1319 {
1320 d.GeomSetCategoryBits(prim_geom, 0);
1321 d.GeomSetCollideBits(prim_geom, 0);
1322 }
1323 else
1324 {
1325 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1326 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1327 }
1328 d.GeomDisable(prim_geom);
1329 }
1330
1331 d.BodyDisable(Body);
1332 }
1333 }
1334 }
1335
1336 private void MakeBody()
1337 {
1338 if (!m_isphysical) // only physical get bodies
1339 return;
1340
1341 if (childPrim) // child prims don't get bodies;
1342 return;
1343
1344 if (m_building)
1345 return;
1346
1347 if (prim_geom == IntPtr.Zero)
1348 {
1349 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1350 return;
1351 }
1352
1353 if (Body != IntPtr.Zero)
1354 {
1355 d.BodyDestroy(Body);
1356 Body = IntPtr.Zero;
1357 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1358 }
1359
1360
1361 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1362 {
1363 d.GeomSetBody(prim_geom, IntPtr.Zero);
1364 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1365 }
1366
1367 d.Matrix3 mymat = new d.Matrix3();
1368 d.Quaternion myrot = new d.Quaternion();
1369 d.Mass objdmass = new d.Mass { };
1370
1371 Body = d.BodyCreate(_parent_scene.world);
1372
1373 DMassDup(ref primdMass, out objdmass);
1374
1375 // rotate inertia
1376 myrot.X = _orientation.X;
1377 myrot.Y = _orientation.Y;
1378 myrot.Z = _orientation.Z;
1379 myrot.W = _orientation.W;
1380
1381 d.RfromQ(out mymat, ref myrot);
1382 d.MassRotate(ref objdmass, ref mymat);
1383
1384 // set the body rotation and position
1385 d.BodySetRotation(Body, ref mymat);
1386
1387 // recompute full object inertia if needed
1388 if (childrenPrim.Count > 0)
1389 {
1390 d.Matrix3 mat = new d.Matrix3();
1391 d.Quaternion quat = new d.Quaternion();
1392 d.Mass tmpdmass = new d.Mass { };
1393 Vector3 rcm;
1394
1395 rcm.X = _position.X + objdmass.c.X;
1396 rcm.Y = _position.Y + objdmass.c.Y;
1397 rcm.Z = _position.Z + objdmass.c.Z;
1398
1399 lock (childrenPrim)
1400 {
1401 foreach (OdePrim prm in childrenPrim)
1402 {
1403 if (prm.prim_geom == IntPtr.Zero)
1404 {
1405 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1406 continue;
1407 }
1408
1409 DMassCopy(ref prm.primdMass, ref tmpdmass);
1410
1411 // apply prim current rotation to inertia
1412 quat.X = prm._orientation.X;
1413 quat.Y = prm._orientation.Y;
1414 quat.Z = prm._orientation.Z;
1415 quat.W = prm._orientation.W;
1416 d.RfromQ(out mat, ref quat);
1417 d.MassRotate(ref tmpdmass, ref mat);
1418
1419 Vector3 ppos = prm._position;
1420 ppos.X += tmpdmass.c.X - rcm.X;
1421 ppos.Y += tmpdmass.c.Y - rcm.Y;
1422 ppos.Z += tmpdmass.c.Z - rcm.Z;
1423
1424 // refer inertia to root prim center of mass position
1425 d.MassTranslate(ref tmpdmass,
1426 ppos.X,
1427 ppos.Y,
1428 ppos.Z);
1429
1430 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1431 // fix prim colision cats
1432
1433 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1434 {
1435 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1436 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1437 }
1438
1439 d.GeomClearOffset(prm.prim_geom);
1440 d.GeomSetBody(prm.prim_geom, Body);
1441 prm.Body = Body;
1442 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1443 }
1444 }
1445 }
1446
1447 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1448 // associate root geom with body
1449 d.GeomSetBody(prim_geom, Body);
1450
1451 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1452 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1453
1454 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1455 myrot.W = -myrot.W;
1456 d.RfromQ(out mymat, ref myrot);
1457 d.MassRotate(ref objdmass, ref mymat);
1458 d.BodySetMass(Body, ref objdmass);
1459 _mass = objdmass.mass;
1460
1461 // disconnect from world gravity so we can apply buoyancy
1462 d.BodySetGravityMode(Body, false);
1463
1464 d.BodySetAutoDisableFlag(Body, true);
1465 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1466 // d.BodySetLinearDampingThreshold(Body, 0.01f);
1467 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1468 d.BodySetDamping(Body, .002f, .002f);
1469
1470
1471 if (m_targetSpace != IntPtr.Zero)
1472 {
1473 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1474 if (d.SpaceQuery(m_targetSpace, prim_geom))
1475 d.SpaceRemove(m_targetSpace, prim_geom);
1476 }
1477
1478
1479 if (childrenPrim.Count == 0)
1480 {
1481 collide_geom = prim_geom;
1482 m_targetSpace = _parent_scene.ActiveSpace;
1483 d.SpaceAdd(m_targetSpace, prim_geom);
1484 }
1485 else
1486 {
1487 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1488 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1489 d.SpaceSetSublevel(m_targetSpace, 3);
1490 d.SpaceSetCleanup(m_targetSpace, false);
1491 d.SpaceAdd(m_targetSpace, prim_geom);
1492 collide_geom = m_targetSpace;
1493 }
1494
1495 lock (childrenPrim)
1496 {
1497 foreach (OdePrim prm in childrenPrim)
1498 {
1499 if (prm.prim_geom == IntPtr.Zero)
1500 continue;
1501
1502 Vector3 ppos = prm._position;
1503 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1504
1505 if (prm.m_targetSpace != m_targetSpace)
1506 {
1507 if (prm.m_targetSpace != IntPtr.Zero)
1508 {
1509 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1510 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1511 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1512 }
1513 prm.m_targetSpace = m_targetSpace;
1514 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1515 }
1516
1517 if (m_isSelected || m_disabled)
1518 {
1519 prm.m_collisionCategories &= ~CollisionCategories.Body;
1520 prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1521 d.GeomDisable(prm.prim_geom);
1522 }
1523 else
1524 {
1525 prm.m_collisionCategories |= CollisionCategories.Body;
1526 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1527 }
1528
1529 if (prm.m_NoColide)
1530 {
1531 d.GeomSetCategoryBits(prm.prim_geom, 0);
1532 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1533 }
1534 else
1535 {
1536 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1537 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1538 }
1539 prm.m_collisionscore = 0;
1540
1541 if(!m_disabled)
1542 prm.m_disabled = false;
1543
1544 _parent_scene.addActivePrim(prm);
1545 }
1546 }
1547
1548 // The body doesn't already have a finite rotation mode set here
1549 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1550 {
1551 createAMotor(m_angularlock);
1552 }
1553
1554 if (m_isSelected || m_disabled)
1555 {
1556 m_collisionCategories &= ~CollisionCategories.Body;
1557 m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1558
1559 d.GeomDisable(prim_geom);
1560 d.BodyDisable(Body);
1561 }
1562 else
1563 {
1564 m_collisionCategories |= CollisionCategories.Body;
1565 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1566
1567 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1568 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1569 }
1570
1571 if (m_NoColide)
1572 {
1573 d.GeomSetCategoryBits(prim_geom, 0);
1574 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1575 }
1576 else
1577 {
1578 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1579 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1580 }
1581
1582 m_collisionscore = 0;
1583
1584 m_softcolide = true;
1585 _parent_scene.addActivePrim(this);
1586 _parent_scene.addActiveGroups(this);
1587 }
1588
1589 private void DestroyBody()
1590 {
1591 if (Body != IntPtr.Zero)
1592 {
1593 _parent_scene.remActivePrim(this);
1594 m_collisionCategories &= ~CollisionCategories.Body;
1595 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1596 if (prim_geom != IntPtr.Zero)
1597 {
1598 if (m_NoColide)
1599 {
1600 d.GeomSetCategoryBits(prim_geom, 0);
1601 d.GeomSetCollideBits(prim_geom, 0);
1602 }
1603 else
1604 {
1605 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1606 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1607 }
1608 UpdateDataFromGeom();
1609 d.GeomSetBody(prim_geom, IntPtr.Zero);
1610 SetInStaticSpace(this);
1611 }
1612
1613 if (!childPrim)
1614 {
1615 lock (childrenPrim)
1616 {
1617 foreach (OdePrim prm in childrenPrim)
1618 {
1619 _parent_scene.remActivePrim(prm);
1620 prm.m_collisionCategories = m_collisionCategories;
1621 prm.m_collisionFlags = m_collisionFlags;
1622 if (prm.prim_geom != IntPtr.Zero)
1623 {
1624 if (prm.m_NoColide)
1625 {
1626 d.GeomSetCategoryBits(prm.prim_geom, 0);
1627 d.GeomSetCollideBits(prm.prim_geom, 0);
1628 }
1629 else
1630 {
1631 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1632 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1633 }
1634 prm.UpdateDataFromGeom();
1635 SetInStaticSpace(prm);
1636 }
1637 prm.Body = IntPtr.Zero;
1638 prm._mass = prm.primMass;
1639 prm.m_collisionscore = 0;
1640 }
1641 }
1642 if (Amotor != IntPtr.Zero)
1643 {
1644 d.JointDestroy(Amotor);
1645 Amotor = IntPtr.Zero;
1646 }
1647 _parent_scene.remActiveGroup(this);
1648 d.BodyDestroy(Body);
1649 }
1650 Body = IntPtr.Zero;
1651 }
1652 _mass = primMass;
1653 m_collisionscore = 0;
1654 }
1655
1656 #region Mass Calculation
1657
1658 private float CalculatePrimVolume()
1659 {
1660 float volume = _size.X * _size.Y * _size.Z; // default
1661 float tmp;
1662
1663 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
1664 float hollowVolume = hollowAmount * hollowAmount;
1665
1666 switch (_pbs.ProfileShape)
1667 {
1668 case ProfileShape.Square:
1669 // default box
1670
1671 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1672 {
1673 if (hollowAmount > 0.0)
1674 {
1675 switch (_pbs.HollowShape)
1676 {
1677 case HollowShape.Square:
1678 case HollowShape.Same:
1679 break;
1680
1681 case HollowShape.Circle:
1682
1683 hollowVolume *= 0.78539816339f;
1684 break;
1685
1686 case HollowShape.Triangle:
1687
1688 hollowVolume *= (0.5f * .5f);
1689 break;
1690
1691 default:
1692 hollowVolume = 0;
1693 break;
1694 }
1695 volume *= (1.0f - hollowVolume);
1696 }
1697 }
1698
1699 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1700 {
1701 //a tube
1702
1703 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
1704 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
1705 volume -= volume * tmp * tmp;
1706
1707 if (hollowAmount > 0.0)
1708 {
1709 hollowVolume *= hollowAmount;
1710
1711 switch (_pbs.HollowShape)
1712 {
1713 case HollowShape.Square:
1714 case HollowShape.Same:
1715 break;
1716
1717 case HollowShape.Circle:
1718 hollowVolume *= 0.78539816339f;
1719 break;
1720
1721 case HollowShape.Triangle:
1722 hollowVolume *= 0.5f * 0.5f;
1723 break;
1724 default:
1725 hollowVolume = 0;
1726 break;
1727 }
1728 volume *= (1.0f - hollowVolume);
1729 }
1730 }
1731
1732 break;
1733
1734 case ProfileShape.Circle:
1735
1736 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1737 {
1738 volume *= 0.78539816339f; // elipse base
1739
1740 if (hollowAmount > 0.0)
1741 {
1742 switch (_pbs.HollowShape)
1743 {
1744 case HollowShape.Same:
1745 case HollowShape.Circle:
1746 break;
1747
1748 case HollowShape.Square:
1749 hollowVolume *= 0.5f * 2.5984480504799f;
1750 break;
1751
1752 case HollowShape.Triangle:
1753 hollowVolume *= .5f * 1.27323954473516f;
1754 break;
1755
1756 default:
1757 hollowVolume = 0;
1758 break;
1759 }
1760 volume *= (1.0f - hollowVolume);
1761 }
1762 }
1763
1764 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1765 {
1766 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
1767 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1768 volume *= (1.0f - tmp * tmp);
1769
1770 if (hollowAmount > 0.0)
1771 {
1772
1773 // calculate the hollow volume by it's shape compared to the prim shape
1774 hollowVolume *= hollowAmount;
1775
1776 switch (_pbs.HollowShape)
1777 {
1778 case HollowShape.Same:
1779 case HollowShape.Circle:
1780 break;
1781
1782 case HollowShape.Square:
1783 hollowVolume *= 0.5f * 2.5984480504799f;
1784 break;
1785
1786 case HollowShape.Triangle:
1787 hollowVolume *= .5f * 1.27323954473516f;
1788 break;
1789
1790 default:
1791 hollowVolume = 0;
1792 break;
1793 }
1794 volume *= (1.0f - hollowVolume);
1795 }
1796 }
1797 break;
1798
1799 case ProfileShape.HalfCircle:
1800 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1801 {
1802 volume *= 0.52359877559829887307710723054658f;
1803 }
1804 break;
1805
1806 case ProfileShape.EquilateralTriangle:
1807
1808 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1809 {
1810 volume *= 0.32475953f;
1811
1812 if (hollowAmount > 0.0)
1813 {
1814
1815 // calculate the hollow volume by it's shape compared to the prim shape
1816 switch (_pbs.HollowShape)
1817 {
1818 case HollowShape.Same:
1819 case HollowShape.Triangle:
1820 hollowVolume *= .25f;
1821 break;
1822
1823 case HollowShape.Square:
1824 hollowVolume *= 0.499849f * 3.07920140172638f;
1825 break;
1826
1827 case HollowShape.Circle:
1828 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1829 // Cyllinder hollow volume calculation
1830
1831 hollowVolume *= 0.1963495f * 3.07920140172638f;
1832 break;
1833
1834 default:
1835 hollowVolume = 0;
1836 break;
1837 }
1838 volume *= (1.0f - hollowVolume);
1839 }
1840 }
1841 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1842 {
1843 volume *= 0.32475953f;
1844 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
1845 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1846 volume *= (1.0f - tmp * tmp);
1847
1848 if (hollowAmount > 0.0)
1849 {
1850
1851 hollowVolume *= hollowAmount;
1852
1853 switch (_pbs.HollowShape)
1854 {
1855 case HollowShape.Same:
1856 case HollowShape.Triangle:
1857 hollowVolume *= .25f;
1858 break;
1859
1860 case HollowShape.Square:
1861 hollowVolume *= 0.499849f * 3.07920140172638f;
1862 break;
1863
1864 case HollowShape.Circle:
1865
1866 hollowVolume *= 0.1963495f * 3.07920140172638f;
1867 break;
1868
1869 default:
1870 hollowVolume = 0;
1871 break;
1872 }
1873 volume *= (1.0f - hollowVolume);
1874 }
1875 }
1876 break;
1877
1878 default:
1879 break;
1880 }
1881
1882 float taperX1;
1883 float taperY1;
1884 float taperX;
1885 float taperY;
1886 float pathBegin;
1887 float pathEnd;
1888 float profileBegin;
1889 float profileEnd;
1890
1891 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
1892 {
1893 taperX1 = _pbs.PathScaleX * 0.01f;
1894 if (taperX1 > 1.0f)
1895 taperX1 = 2.0f - taperX1;
1896 taperX = 1.0f - taperX1;
1897
1898 taperY1 = _pbs.PathScaleY * 0.01f;
1899 if (taperY1 > 1.0f)
1900 taperY1 = 2.0f - taperY1;
1901 taperY = 1.0f - taperY1;
1902 }
1903 else
1904 {
1905 taperX = _pbs.PathTaperX * 0.01f;
1906 if (taperX < 0.0f)
1907 taperX = -taperX;
1908 taperX1 = 1.0f - taperX;
1909
1910 taperY = _pbs.PathTaperY * 0.01f;
1911 if (taperY < 0.0f)
1912 taperY = -taperY;
1913 taperY1 = 1.0f - taperY;
1914 }
1915
1916 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1917
1918 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
1919 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
1920 volume *= (pathEnd - pathBegin);
1921
1922 // this is crude aproximation
1923 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
1924 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
1925 volume *= (profileEnd - profileBegin);
1926
1927 return volume;
1928 }
1929
1930
1931 private void CalcPrimBodyData()
1932 {
1933 float volume;
1934
1935 if (prim_geom == IntPtr.Zero)
1936 {
1937 // Ubit let's have a initial basic OOB
1938 primOOBsize.X = _size.X;
1939 primOOBsize.Y = _size.Y;
1940 primOOBsize.Z = _size.Z;
1941 primOOBoffset = Vector3.Zero;
1942 }
1943 else
1944 {
1945 d.AABB AABB;
1946 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
1947
1948 primOOBsize.X = (AABB.MaxX - AABB.MinX);
1949 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
1950 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
1951 if (!hasOOBoffsetFromMesh)
1952 {
1953 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
1954 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
1955 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
1956 }
1957 }
1958
1959 // also its own inertia and mass
1960 // keep using basic shape mass for now
1961 volume = CalculatePrimVolume();
1962
1963 primMass = m_density * volume;
1964
1965 if (primMass <= 0)
1966 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
1967 if (primMass > _parent_scene.maximumMassObject)
1968 primMass = _parent_scene.maximumMassObject;
1969
1970 _mass = primMass; // just in case
1971
1972 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
1973
1974 d.MassTranslate(ref primdMass,
1975 primOOBoffset.X,
1976 primOOBoffset.Y,
1977 primOOBoffset.Z);
1978
1979 primOOBsize *= 0.5f; // let obb size be a corner coords
1980 primOOBradiusSQ = primOOBsize.LengthSquared();
1981 }
1982
1983
1984 #endregion
1985
1986
1987 /// <summary>
1988 /// Add a child prim to this parent prim.
1989 /// </summary>
1990 /// <param name="prim">Child prim</param>
1991 // I'm the parent
1992 // prim is the child
1993 public void ParentPrim(OdePrim prim)
1994 {
1995 //Console.WriteLine("ParentPrim " + m_primName);
1996 if (this.m_localID != prim.m_localID)
1997 {
1998 DestroyBody(); // for now we need to rebuil entire object on link change
1999
2000 lock (childrenPrim)
2001 {
2002 // adopt the prim
2003 if (!childrenPrim.Contains(prim))
2004 childrenPrim.Add(prim);
2005
2006 // see if this prim has kids and adopt them also
2007 // should not happen for now
2008 foreach (OdePrim prm in prim.childrenPrim)
2009 {
2010 if (!childrenPrim.Contains(prm))
2011 {
2012 if (prm.Body != IntPtr.Zero)
2013 {
2014 if (prm.prim_geom != IntPtr.Zero)
2015 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2016 if (prm.Body != prim.Body)
2017 prm.DestroyBody(); // don't loose bodies around
2018 prm.Body = IntPtr.Zero;
2019 }
2020
2021 childrenPrim.Add(prm);
2022 prm._parent = this;
2023 }
2024 }
2025 }
2026 //Remove old children from the prim
2027 prim.childrenPrim.Clear();
2028
2029 if (prim.Body != IntPtr.Zero)
2030 {
2031 if (prim.prim_geom != IntPtr.Zero)
2032 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2033 prim.DestroyBody(); // don't loose bodies around
2034 prim.Body = IntPtr.Zero;
2035 }
2036
2037 prim.childPrim = true;
2038 prim._parent = this;
2039
2040 MakeBody(); // full nasty reconstruction
2041 }
2042 }
2043
2044 private void UpdateChildsfromgeom()
2045 {
2046 if (childrenPrim.Count > 0)
2047 {
2048 foreach (OdePrim prm in childrenPrim)
2049 prm.UpdateDataFromGeom();
2050 }
2051 }
2052
2053 private void UpdateDataFromGeom()
2054 {
2055 if (prim_geom != IntPtr.Zero)
2056 {
2057 d.Vector3 lpos;
2058 d.GeomCopyPosition(prim_geom, out lpos);
2059 _position.X = lpos.X;
2060 _position.Y = lpos.Y;
2061 _position.Z = lpos.Z;
2062 d.Quaternion qtmp = new d.Quaternion { };
2063 d.GeomCopyQuaternion(prim_geom, out qtmp);
2064 _orientation.W = qtmp.W;
2065 _orientation.X = qtmp.X;
2066 _orientation.Y = qtmp.Y;
2067 _orientation.Z = qtmp.Z;
2068 }
2069 }
2070
2071 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2072 {
2073 // Okay, we have a delinked child.. destroy all body and remake
2074 if (odePrim != this && !childrenPrim.Contains(odePrim))
2075 return;
2076
2077 DestroyBody();
2078
2079 if (odePrim == this) // delinking the root prim
2080 {
2081 OdePrim newroot = null;
2082 lock (childrenPrim)
2083 {
2084 if (childrenPrim.Count > 0)
2085 {
2086 newroot = childrenPrim[0];
2087 childrenPrim.RemoveAt(0);
2088 foreach (OdePrim prm in childrenPrim)
2089 {
2090 newroot.childrenPrim.Add(prm);
2091 }
2092 childrenPrim.Clear();
2093 }
2094 if (newroot != null)
2095 {
2096 newroot.childPrim = false;
2097 newroot._parent = null;
2098 if (remakebodies)
2099 newroot.MakeBody();
2100 }
2101 }
2102 }
2103
2104 else
2105 {
2106 lock (childrenPrim)
2107 {
2108 childrenPrim.Remove(odePrim);
2109 odePrim.childPrim = false;
2110 odePrim._parent = null;
2111 // odePrim.UpdateDataFromGeom();
2112 if (remakebodies)
2113 odePrim.MakeBody();
2114 }
2115 }
2116 if (remakebodies)
2117 MakeBody();
2118 }
2119
2120 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2121 {
2122 // Okay, we have a delinked child.. destroy all body and remake
2123 if (odePrim != this && !childrenPrim.Contains(odePrim))
2124 return;
2125
2126 DestroyBody();
2127
2128 if (odePrim == this)
2129 {
2130 OdePrim newroot = null;
2131 lock (childrenPrim)
2132 {
2133 if (childrenPrim.Count > 0)
2134 {
2135 newroot = childrenPrim[0];
2136 childrenPrim.RemoveAt(0);
2137 foreach (OdePrim prm in childrenPrim)
2138 {
2139 newroot.childrenPrim.Add(prm);
2140 }
2141 childrenPrim.Clear();
2142 }
2143 if (newroot != null)
2144 {
2145 newroot.childPrim = false;
2146 newroot._parent = null;
2147 newroot.MakeBody();
2148 }
2149 }
2150 if (reMakeBody)
2151 MakeBody();
2152 return;
2153 }
2154 else
2155 {
2156 lock (childrenPrim)
2157 {
2158 childrenPrim.Remove(odePrim);
2159 odePrim.childPrim = false;
2160 odePrim._parent = null;
2161 if (reMakeBody)
2162 odePrim.MakeBody();
2163 }
2164 }
2165 MakeBody();
2166 }
2167
2168 #region changes
2169
2170 private void changeadd()
2171 {
2172 CreateGeom();
2173
2174 if (prim_geom != IntPtr.Zero)
2175 {
2176 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2177 d.Quaternion myrot = new d.Quaternion();
2178 myrot.X = _orientation.X;
2179 myrot.Y = _orientation.Y;
2180 myrot.Z = _orientation.Z;
2181 myrot.W = _orientation.W;
2182 d.GeomSetQuaternion(prim_geom, ref myrot);
2183
2184 if (!m_isphysical)
2185 SetInStaticSpace(this);
2186 }
2187
2188 if (m_isphysical && Body == IntPtr.Zero)
2189 {
2190 MakeBody();
2191 }
2192 }
2193
2194 private void changeAngularLock(Vector3 newLock)
2195 {
2196 // do we have a Physical object?
2197 if (Body != IntPtr.Zero)
2198 {
2199 //Check that we have a Parent
2200 //If we have a parent then we're not authorative here
2201 if (_parent == null)
2202 {
2203 if (!newLock.ApproxEquals(Vector3.One, 0f))
2204 {
2205 createAMotor(newLock);
2206 }
2207 else
2208 {
2209 if (Amotor != IntPtr.Zero)
2210 {
2211 d.JointDestroy(Amotor);
2212 Amotor = IntPtr.Zero;
2213 }
2214 }
2215 }
2216 }
2217 // Store this for later in case we get turned into a separate body
2218 m_angularlock = newLock;
2219 }
2220
2221 private void changeLink(OdePrim NewParent)
2222 {
2223 if (_parent == null && NewParent != null)
2224 {
2225 NewParent.ParentPrim(this);
2226 }
2227 else if (_parent != null)
2228 {
2229 if (_parent is OdePrim)
2230 {
2231 if (NewParent != _parent)
2232 {
2233 (_parent as OdePrim).ChildDelink(this, false); // for now...
2234 childPrim = false;
2235
2236 if (NewParent != null)
2237 {
2238 NewParent.ParentPrim(this);
2239 }
2240 }
2241 }
2242 }
2243 _parent = NewParent;
2244 }
2245
2246
2247 private void Stop()
2248 {
2249 if (!childPrim)
2250 {
2251 m_force = Vector3.Zero;
2252 m_forceacc = Vector3.Zero;
2253 m_angularForceacc = Vector3.Zero;
2254 _torque = Vector3.Zero;
2255 _velocity = Vector3.Zero;
2256 _acceleration = Vector3.Zero;
2257 m_rotationalVelocity = Vector3.Zero;
2258 _target_velocity = Vector3.Zero;
2259 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2260 m_vehicle.Stop();
2261 }
2262
2263 if (Body != IntPtr.Zero)
2264 {
2265 d.BodySetForce(Body, 0f, 0f, 0f);
2266 d.BodySetTorque(Body, 0f, 0f, 0f);
2267 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2268 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2269 }
2270 }
2271
2272 private void changeSelectedStatus(bool newval)
2273 {
2274 if (m_lastdoneSelected == newval)
2275 return;
2276
2277 m_lastdoneSelected = newval;
2278 DoSelectedStatus(newval);
2279 }
2280
2281 private void CheckDelaySelect()
2282 {
2283 if (m_delaySelect)
2284 {
2285 DoSelectedStatus(m_isSelected);
2286 }
2287 }
2288
2289 private void DoSelectedStatus(bool newval)
2290 {
2291 m_isSelected = newval;
2292 Stop();
2293
2294 if (newval)
2295 {
2296 if (!childPrim && Body != IntPtr.Zero)
2297 d.BodyDisable(Body);
2298
2299 if (m_delaySelect || m_isphysical)
2300 {
2301 m_collisionCategories = CollisionCategories.Selected;
2302 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2303
2304 if (!childPrim)
2305 {
2306 foreach (OdePrim prm in childrenPrim)
2307 {
2308 prm.m_collisionCategories = m_collisionCategories;
2309 prm.m_collisionFlags = m_collisionFlags;
2310
2311 if (prm.prim_geom != null)
2312 {
2313
2314 if (prm.m_NoColide)
2315 {
2316 d.GeomSetCategoryBits(prm.prim_geom, 0);
2317 d.GeomSetCollideBits(prm.prim_geom, 0);
2318 }
2319 else
2320 {
2321 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2322 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2323 }
2324 d.GeomDisable(prm.prim_geom);
2325 }
2326 prm.m_delaySelect = false;
2327 }
2328 }
2329
2330 if (prim_geom != null)
2331 {
2332 if (m_NoColide)
2333 {
2334 d.GeomSetCategoryBits(prim_geom, 0);
2335 d.GeomSetCollideBits(prim_geom, 0);
2336 }
2337 else
2338 {
2339 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2340 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2341 }
2342 d.GeomDisable(prim_geom);
2343 }
2344
2345 m_delaySelect = false;
2346 }
2347 else
2348 {
2349 m_delaySelect = true;
2350 }
2351 }
2352 else
2353 {
2354 if (!childPrim && Body != IntPtr.Zero && !m_disabled)
2355 d.BodyEnable(Body);
2356
2357 m_collisionCategories = CollisionCategories.Geom;
2358 if (m_isphysical)
2359 m_collisionCategories |= CollisionCategories.Body;
2360
2361 m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
2362
2363 if (m_collidesWater)
2364 m_collisionFlags |= CollisionCategories.Water;
2365
2366 if (!childPrim)
2367 {
2368 foreach (OdePrim prm in childrenPrim)
2369 {
2370 prm.m_collisionCategories = m_collisionCategories;
2371 prm.m_collisionFlags = m_collisionFlags;
2372
2373 if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
2374 {
2375 if (prm.m_NoColide)
2376 {
2377 d.GeomSetCategoryBits(prm.prim_geom, 0);
2378 if (m_isphysical)
2379 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
2380 else
2381 d.GeomSetCollideBits(prm.prim_geom, 0);
2382 }
2383 else
2384 {
2385 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2386 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2387 }
2388 d.GeomEnable(prm.prim_geom);
2389 }
2390 prm.m_delaySelect = false;
2391 prm.m_softcolide = true;
2392 }
2393 }
2394
2395 if (!m_disabled && prim_geom != IntPtr.Zero)
2396 {
2397 if (m_NoColide)
2398 {
2399 d.GeomSetCategoryBits(prim_geom, 0);
2400 if (m_isphysical)
2401 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2402 else
2403 d.GeomSetCollideBits(prim_geom, 0);
2404 }
2405 else
2406 {
2407 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2408 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2409 }
2410 d.GeomEnable(prim_geom);
2411 }
2412
2413 m_delaySelect = false;
2414 m_softcolide = true;
2415 }
2416
2417 resetCollisionAccounting();
2418 }
2419
2420 private void changePosition(Vector3 newPos)
2421 {
2422 CheckDelaySelect();
2423 if (m_isphysical)
2424 {
2425 if (childPrim) // inertia is messed, must rebuild
2426 {
2427 if (m_building)
2428 {
2429 _position = newPos;
2430 }
2431 }
2432 else
2433 {
2434 if (_position != newPos)
2435 {
2436 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2437 _position = newPos;
2438 }
2439 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2440 d.BodyEnable(Body);
2441 }
2442 }
2443 else
2444 {
2445 if (prim_geom != IntPtr.Zero)
2446 {
2447 if (newPos != _position)
2448 {
2449 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2450 _position = newPos;
2451
2452 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2453 }
2454 }
2455 }
2456 givefakepos--;
2457 if (givefakepos < 0)
2458 givefakepos = 0;
2459 // changeSelectedStatus();
2460 m_softcolide = true;
2461 resetCollisionAccounting();
2462 }
2463
2464 private void changeOrientation(Quaternion newOri)
2465 {
2466 CheckDelaySelect();
2467 if (m_isphysical)
2468 {
2469 if (childPrim) // inertia is messed, must rebuild
2470 {
2471 if (m_building)
2472 {
2473 _orientation = newOri;
2474 }
2475 }
2476 else
2477 {
2478 if (newOri != _orientation)
2479 {
2480 d.Quaternion myrot = new d.Quaternion();
2481 myrot.X = newOri.X;
2482 myrot.Y = newOri.Y;
2483 myrot.Z = newOri.Z;
2484 myrot.W = newOri.W;
2485 d.GeomSetQuaternion(prim_geom, ref myrot);
2486 _orientation = newOri;
2487 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2488 createAMotor(m_angularlock);
2489 }
2490 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2491 d.BodyEnable(Body);
2492 }
2493 }
2494 else
2495 {
2496 if (prim_geom != IntPtr.Zero)
2497 {
2498 if (newOri != _orientation)
2499 {
2500 d.Quaternion myrot = new d.Quaternion();
2501 myrot.X = newOri.X;
2502 myrot.Y = newOri.Y;
2503 myrot.Z = newOri.Z;
2504 myrot.W = newOri.W;
2505 d.GeomSetQuaternion(prim_geom, ref myrot);
2506 _orientation = newOri;
2507 }
2508 }
2509 }
2510 givefakeori--;
2511 if (givefakeori < 0)
2512 givefakeori = 0;
2513 m_softcolide = true;
2514 resetCollisionAccounting();
2515 }
2516
2517 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
2518 {
2519 CheckDelaySelect();
2520 if (m_isphysical)
2521 {
2522 if (childPrim && m_building) // inertia is messed, must rebuild
2523 {
2524 _position = newPos;
2525 _orientation = newOri;
2526 }
2527 else
2528 {
2529 if (newOri != _orientation)
2530 {
2531 d.Quaternion myrot = new d.Quaternion();
2532 myrot.X = newOri.X;
2533 myrot.Y = newOri.Y;
2534 myrot.Z = newOri.Z;
2535 myrot.W = newOri.W;
2536 d.GeomSetQuaternion(prim_geom, ref myrot);
2537 _orientation = newOri;
2538 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2539 createAMotor(m_angularlock);
2540 }
2541 if (_position != newPos)
2542 {
2543 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2544 _position = newPos;
2545 }
2546 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2547 d.BodyEnable(Body);
2548 }
2549 }
2550 else
2551 {
2552 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2553 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2554
2555 if (prim_geom != IntPtr.Zero)
2556 {
2557 if (newOri != _orientation)
2558 {
2559 d.Quaternion myrot = new d.Quaternion();
2560 myrot.X = newOri.X;
2561 myrot.Y = newOri.Y;
2562 myrot.Z = newOri.Z;
2563 myrot.W = newOri.W;
2564 d.GeomSetQuaternion(prim_geom, ref myrot);
2565 _orientation = newOri;
2566 }
2567
2568 if (newPos != _position)
2569 {
2570 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2571 _position = newPos;
2572
2573 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2574 }
2575 }
2576 }
2577 givefakepos--;
2578 if (givefakepos < 0)
2579 givefakepos = 0;
2580 givefakeori--;
2581 if (givefakeori < 0)
2582 givefakeori = 0;
2583
2584 m_softcolide = true;
2585 resetCollisionAccounting();
2586 }
2587
2588
2589 private void changeDisable(bool disable)
2590 {
2591 if (disable)
2592 {
2593 if (!m_disabled)
2594 disableBodySoft();
2595 }
2596 else
2597 {
2598 if (m_disabled)
2599 enableBodySoft();
2600 }
2601 }
2602
2603 private void changePhysicsStatus(bool NewStatus)
2604 {
2605 CheckDelaySelect();
2606
2607 m_isphysical = NewStatus;
2608
2609 if (!childPrim)
2610 {
2611 if (NewStatus)
2612 {
2613 if (Body == IntPtr.Zero)
2614 {
2615 /*
2616 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2617 {
2618 changeShape(_pbs);
2619 }
2620 else
2621 */
2622 {
2623 MakeBody();
2624 }
2625 }
2626 }
2627 else
2628 {
2629 if (Body != IntPtr.Zero)
2630 {
2631 // UpdateChildsfromgeom();
2632 /* if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2633 {
2634 changeShape(_pbs);
2635 }
2636 else
2637 */
2638 DestroyBody();
2639 }
2640 Stop();
2641 }
2642 }
2643
2644 resetCollisionAccounting();
2645 }
2646
2647 private void changeprimsizeshape()
2648 {
2649 CheckDelaySelect();
2650
2651 OdePrim parent = (OdePrim)_parent;
2652
2653 bool chp = childPrim;
2654
2655 if (chp)
2656 {
2657 if (parent != null)
2658 {
2659 parent.DestroyBody();
2660 }
2661 }
2662 else
2663 {
2664 DestroyBody();
2665 }
2666
2667 RemoveGeom();
2668
2669 // we don't need to do space calculation because the client sends a position update also.
2670 if (_size.X <= 0)
2671 _size.X = 0.01f;
2672 if (_size.Y <= 0)
2673 _size.Y = 0.01f;
2674 if (_size.Z <= 0)
2675 _size.Z = 0.01f;
2676 // Construction of new prim
2677
2678 CreateGeom();
2679
2680 if (prim_geom != IntPtr.Zero)
2681 {
2682 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2683 d.Quaternion myrot = new d.Quaternion();
2684 myrot.X = _orientation.X;
2685 myrot.Y = _orientation.Y;
2686 myrot.Z = _orientation.Z;
2687 myrot.W = _orientation.W;
2688 d.GeomSetQuaternion(prim_geom, ref myrot);
2689 }
2690
2691 if (chp)
2692 {
2693 if (parent != null)
2694 {
2695 parent.MakeBody();
2696 }
2697 }
2698 else
2699 MakeBody();
2700
2701 m_softcolide = true;
2702 resetCollisionAccounting();
2703 }
2704
2705 private void changeSize(Vector3 newSize)
2706 {
2707 _size = newSize;
2708 changeprimsizeshape();
2709 }
2710
2711 private void changeShape(PrimitiveBaseShape newShape)
2712 {
2713 _pbs = newShape;
2714 changeprimsizeshape();
2715 }
2716
2717 private void changeFloatOnWater(bool newval)
2718 {
2719 m_collidesWater = newval;
2720
2721 if (prim_geom != IntPtr.Zero)
2722 {
2723 if (m_collidesWater)
2724 {
2725 m_collisionFlags |= CollisionCategories.Water;
2726 }
2727 else
2728 {
2729 m_collisionFlags &= ~CollisionCategories.Water;
2730 }
2731 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2732 }
2733 }
2734
2735 private void changeSetTorque(Vector3 newtorque)
2736 {
2737 if (!m_isSelected)
2738 {
2739 if (m_isphysical && Body != IntPtr.Zero)
2740 {
2741 if (m_disabled)
2742 enableBodySoft();
2743 else if (!d.BodyIsEnabled(Body))
2744 d.BodyEnable(Body);
2745
2746 }
2747 _torque = newtorque;
2748 }
2749 }
2750
2751 private void changeForce(Vector3 force)
2752 {
2753 m_force = force;
2754 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2755 d.BodyEnable(Body);
2756 }
2757
2758 private void changeAddForce(Vector3 force)
2759 {
2760 m_forceacc += force;
2761 if (!m_isSelected)
2762 {
2763 lock (this)
2764 {
2765 //m_log.Info("[PHYSICS]: dequeing forcelist");
2766 if (m_isphysical && Body != IntPtr.Zero)
2767 {
2768 if (m_disabled)
2769 enableBodySoft();
2770 else if (!d.BodyIsEnabled(Body))
2771 d.BodyEnable(Body);
2772 }
2773 }
2774
2775 m_collisionscore = 0;
2776 }
2777 }
2778
2779 private void changeAddAngularForce(Vector3 aforce)
2780 {
2781 m_angularForceacc += aforce;
2782 if (!m_isSelected)
2783 {
2784 lock (this)
2785 {
2786 if (m_isphysical && Body != IntPtr.Zero)
2787 {
2788 if (m_disabled)
2789 enableBodySoft();
2790 else if (!d.BodyIsEnabled(Body))
2791 d.BodyEnable(Body);
2792 }
2793 }
2794 m_collisionscore = 0;
2795 }
2796 }
2797
2798 private void changevelocity(Vector3 newVel)
2799 {
2800 if (!m_isSelected)
2801 {
2802 if (Body != IntPtr.Zero)
2803 {
2804 if (m_disabled)
2805 enableBodySoft();
2806 else if (!d.BodyIsEnabled(Body))
2807 d.BodyEnable(Body);
2808
2809 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
2810 }
2811 //resetCollisionAccounting();
2812 }
2813 _velocity = newVel;
2814 }
2815
2816 private void changeVolumedetetion(bool newVolDtc)
2817 {
2818 m_isVolumeDetect = newVolDtc;
2819 }
2820
2821 protected void changeBuilding(bool newbuilding)
2822 {
2823 if ((bool)newbuilding)
2824 {
2825 m_building = true;
2826 if (!childPrim)
2827 DestroyBody();
2828 }
2829 else
2830 {
2831 m_building = false;
2832 CheckDelaySelect();
2833 if (!childPrim)
2834 MakeBody();
2835 }
2836 if (!childPrim && childrenPrim.Count > 0)
2837 {
2838 foreach (OdePrim prm in childrenPrim)
2839 prm.changeBuilding(m_building); // call directly
2840 }
2841 }
2842
2843 public void changeSetVehicle(VehicleData vdata)
2844 {
2845 if (m_vehicle == null)
2846 m_vehicle = new ODEDynamics(this);
2847 m_vehicle.DoSetVehicle(vdata);
2848 }
2849 private void changeVehicleType(int value)
2850 {
2851 if (value == (int)Vehicle.TYPE_NONE)
2852 {
2853 if (m_vehicle != null)
2854 m_vehicle = null;
2855 }
2856 else
2857 {
2858 if (m_vehicle == null)
2859 m_vehicle = new ODEDynamics(this);
2860
2861 m_vehicle.ProcessTypeChange((Vehicle)value);
2862 }
2863 }
2864
2865 private void changeVehicleFloatParam(strVehicleFloatParam fp)
2866 {
2867 if (m_vehicle == null)
2868 return;
2869
2870 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
2871 }
2872
2873 private void changeVehicleVectorParam(strVehicleVectorParam vp)
2874 {
2875 if (m_vehicle == null)
2876 return;
2877 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
2878 }
2879
2880 private void changeVehicleRotationParam(strVehicleQuatParam qp)
2881 {
2882 if (m_vehicle == null)
2883 return;
2884 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
2885 }
2886
2887 private void changeVehicleFlags(strVehicleBoolParam bp)
2888 {
2889 if (m_vehicle == null)
2890 return;
2891 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
2892 }
2893
2894 #endregion
2895
2896 public void Move()
2897 {
2898 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
2899 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
2900 // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
2901 {
2902// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
2903
2904 float timestep = _parent_scene.ODE_STEPSIZE;
2905
2906 // check outside region
2907 d.Vector3 lpos;
2908 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2909
2910 if (lpos.Z < -100 || lpos.Z > 100000f)
2911 {
2912 m_outbounds = true;
2913
2914 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
2915 _acceleration.X = 0;
2916 _acceleration.Y = 0;
2917 _acceleration.Z = 0;
2918
2919 _velocity.X = 0;
2920 _velocity.Y = 0;
2921 _velocity.Z = 0;
2922 m_rotationalVelocity.X = 0;
2923 m_rotationalVelocity.Y = 0;
2924 m_rotationalVelocity.Z = 0;
2925
2926 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2927 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
2928 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
2929 m_lastposition = _position;
2930 m_lastorientation = _orientation;
2931
2932 base.RequestPhysicsterseUpdate();
2933
2934 m_throttleUpdates = false;
2935 throttleCounter = 0;
2936 _zeroFlag = true;
2937
2938 disableBodySoft(); // disable it and colisions
2939 base.RaiseOutOfBounds(_position);
2940 return;
2941 }
2942
2943 if (lpos.X < 0f)
2944 {
2945 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
2946 m_outbounds = true;
2947 }
2948 else if(lpos.X > _parent_scene.WorldExtents.X)
2949 {
2950 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
2951 m_outbounds = true;
2952 }
2953 if (lpos.Y < 0f)
2954 {
2955 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
2956 m_outbounds = true;
2957 }
2958 else if(lpos.Y > _parent_scene.WorldExtents.Y)
2959 {
2960 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
2961 m_outbounds = true;
2962 }
2963
2964 if(m_outbounds)
2965 {
2966 m_lastposition = _position;
2967 m_lastorientation = _orientation;
2968
2969 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
2970 m_rotationalVelocity.X = dtmp.X;
2971 m_rotationalVelocity.Y = dtmp.Y;
2972 m_rotationalVelocity.Z = dtmp.Z;
2973
2974 dtmp = d.BodyGetLinearVel(Body);
2975 _velocity.X = dtmp.X;
2976 _velocity.Y = dtmp.Y;
2977 _velocity.Z = dtmp.Z;
2978
2979 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2980 d.BodySetAngularVel(Body, 0, 0, 0);
2981 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2982 disableBodySoft(); // stop collisions
2983 base.RequestPhysicsterseUpdate();
2984 return;
2985 }
2986
2987
2988 float fx = 0;
2989 float fy = 0;
2990 float fz = 0;
2991
2992 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2993 {
2994 // 'VEHICLES' are dealt with in ODEDynamics.cs
2995 m_vehicle.Step();
2996 }
2997 else
2998 {
2999 float m_mass = _mass;
3000
3001 // fz = 0f;
3002 //m_log.Info(m_collisionFlags.ToString());
3003 if (m_usePID)
3004 {
3005
3006 // If the PID Controller isn't active then we set our force
3007 // calculating base velocity to the current position
3008
3009 if ((m_PIDTau < 1) && (m_PIDTau != 0))
3010 {
3011 //PID_G = PID_G / m_PIDTau;
3012 m_PIDTau = 1;
3013 }
3014
3015 if ((PID_G - m_PIDTau) <= 0)
3016 {
3017 PID_G = m_PIDTau + 1;
3018 }
3019
3020 d.Vector3 vel = d.BodyGetLinearVel(Body);
3021 d.Vector3 pos = d.BodyGetPosition(Body);
3022 _target_velocity =
3023 new Vector3(
3024 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
3025 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
3026 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
3027 );
3028
3029 // if velocity is zero, use position control; otherwise, velocity control
3030
3031 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3032 {
3033 // keep track of where we stopped. No more slippin' & slidin'
3034
3035 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3036 // react to the physics scene by moving it's position.
3037 // Avatar to Avatar collisions
3038 // Prim to avatar collisions
3039
3040 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
3041 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
3042 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
3043 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3044 d.BodySetLinearVel(Body, 0, 0, 0);
3045 d.BodyAddForce(Body, 0, 0, fz);
3046 return;
3047 }
3048 else
3049 {
3050 _zeroFlag = false;
3051
3052 // We're flying and colliding with something
3053 fx = ((_target_velocity.X) - vel.X) * (PID_D);
3054 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
3055
3056 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
3057
3058 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3059 }
3060 } // end if (m_usePID)
3061
3062 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3063 else if (m_useHoverPID)
3064 {
3065 //Console.WriteLine("Hover " + Name);
3066
3067 // If we're using the PID controller, then we have no gravity
3068
3069 // no lock; for now it's only called from within Simulate()
3070
3071 // If the PID Controller isn't active then we set our force
3072 // calculating base velocity to the current position
3073
3074 if ((m_PIDTau < 1))
3075 {
3076 PID_G = PID_G / m_PIDTau;
3077 }
3078
3079 if ((PID_G - m_PIDTau) <= 0)
3080 {
3081 PID_G = m_PIDTau + 1;
3082 }
3083
3084 // Where are we, and where are we headed?
3085 d.Vector3 pos = d.BodyGetPosition(Body);
3086 d.Vector3 vel = d.BodyGetLinearVel(Body);
3087
3088 // Non-Vehicles have a limited set of Hover options.
3089 // determine what our target height really is based on HoverType
3090 switch (m_PIDHoverType)
3091 {
3092 case PIDHoverType.Ground:
3093 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3094 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3095 break;
3096 case PIDHoverType.GroundAndWater:
3097 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3098 m_waterHeight = _parent_scene.GetWaterLevel();
3099 if (m_groundHeight > m_waterHeight)
3100 {
3101 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3102 }
3103 else
3104 {
3105 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3106 }
3107 break;
3108
3109 } // end switch (m_PIDHoverType)
3110
3111
3112 _target_velocity =
3113 new Vector3(0.0f, 0.0f,
3114 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3115 );
3116
3117 // if velocity is zero, use position control; otherwise, velocity control
3118
3119 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3120 {
3121 // keep track of where we stopped. No more slippin' & slidin'
3122
3123 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3124 // react to the physics scene by moving it's position.
3125 // Avatar to Avatar collisions
3126 // Prim to avatar collisions
3127
3128 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3129 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3130 // ? d.BodyAddForce(Body, 0, 0, fz);
3131 return;
3132 }
3133 else
3134 {
3135 _zeroFlag = false;
3136
3137 // We're flying and colliding with something
3138 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3139 }
3140 }
3141 else
3142 {
3143 float b = (1.0f - m_buoyancy);
3144 fx = _parent_scene.gravityx * b;
3145 fy = _parent_scene.gravityy * b;
3146 fz = _parent_scene.gravityz * b;
3147 }
3148
3149 fx *= m_mass;
3150 fy *= m_mass;
3151 fz *= m_mass;
3152
3153 // constant force
3154 fx += m_force.X;
3155 fy += m_force.Y;
3156 fz += m_force.Z;
3157
3158 fx += m_forceacc.X;
3159 fy += m_forceacc.Y;
3160 fz += m_forceacc.Z;
3161
3162 m_forceacc = Vector3.Zero;
3163
3164 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3165 if (fx != 0 || fy != 0 || fz != 0)
3166 {
3167 d.BodyAddForce(Body, fx, fy, fz);
3168 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3169 }
3170
3171 Vector3 trq;
3172
3173 trq = _torque;
3174 trq += m_angularForceacc;
3175 m_angularForceacc = Vector3.Zero;
3176 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3177 {
3178 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3179 }
3180
3181 }
3182 }
3183 else
3184 { // is not physical, or is not a body or is selected
3185 // _zeroPosition = d.BodyGetPosition(Body);
3186 return;
3187 //Console.WriteLine("Nothing " + Name);
3188
3189 }
3190 }
3191
3192
3193 public void UpdatePositionAndVelocity(float simulatedtime)
3194 {
3195 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
3196 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
3197 {
3198 if (Body != IntPtr.Zero)
3199 {
3200 Vector3 pv = Vector3.Zero;
3201 bool lastZeroFlag = _zeroFlag;
3202
3203 d.Vector3 lpos;
3204 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
3205
3206
3207 d.Quaternion ori;
3208 d.GeomCopyQuaternion(prim_geom, out ori);
3209 d.Vector3 vel = d.BodyGetLinearVel(Body);
3210 d.Vector3 rotvel = d.BodyGetAngularVel(Body);
3211
3212 if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)
3213 && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)
3214 && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)
3215 && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)
3216 && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)
3217 && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)
3218 )
3219 {
3220 _zeroFlag = true;
3221 //Console.WriteLine("ZFT 2");
3222 m_throttleUpdates = false;
3223 }
3224 else
3225 {
3226 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3227 _zeroFlag = false;
3228 m_lastUpdateSent = false;
3229 //m_throttleUpdates = false;
3230 }
3231
3232 if (_zeroFlag)
3233 {
3234 m_lastposition = _position;
3235 m_lastorientation = _orientation;
3236
3237 _velocity.X = 0.0f;
3238 _velocity.Y = 0.0f;
3239 _velocity.Z = 0.0f;
3240
3241 _acceleration.X = 0;
3242 _acceleration.Y = 0;
3243 _acceleration.Z = 0;
3244
3245 m_rotationalVelocity.X = 0;
3246 m_rotationalVelocity.Y = 0;
3247 m_rotationalVelocity.Z = 0;
3248 if (!m_lastUpdateSent)
3249 {
3250 m_throttleUpdates = false;
3251 throttleCounter = 0;
3252 m_rotationalVelocity = pv;
3253
3254 base.RequestPhysicsterseUpdate();
3255
3256 m_lastUpdateSent = true;
3257 }
3258 }
3259 else
3260 {
3261 if (lastZeroFlag != _zeroFlag)
3262 {
3263 base.RequestPhysicsterseUpdate();
3264 }
3265
3266 m_lastVelocity = _velocity;
3267
3268 _position.X = lpos.X;
3269 _position.Y = lpos.Y;
3270 _position.Z = lpos.Z;
3271
3272 _velocity.X = vel.X;
3273 _velocity.Y = vel.Y;
3274 _velocity.Z = vel.Z;
3275
3276 _orientation.X = ori.X;
3277 _orientation.Y = ori.Y;
3278 _orientation.Z = ori.Z;
3279 _orientation.W = ori.W;
3280
3281 _acceleration = ((_velocity - m_lastVelocity) / simulatedtime);
3282
3283 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
3284 {
3285 m_rotationalVelocity = pv;
3286 }
3287 else
3288 {
3289 m_rotationalVelocity.X = rotvel.X;
3290 m_rotationalVelocity.Y = rotvel.Y;
3291 m_rotationalVelocity.Z = rotvel.Z;
3292 }
3293
3294 m_lastUpdateSent = false;
3295 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3296 {
3297 m_lastposition = _position;
3298 m_lastorientation = _orientation;
3299 base.RequestPhysicsterseUpdate();
3300 }
3301 else
3302 {
3303 throttleCounter++;
3304 }
3305 }
3306 }
3307 else if (!m_lastUpdateSent || !_zeroFlag)
3308 {
3309 // Not a body.. so Make sure the client isn't interpolating
3310 _velocity.X = 0;
3311 _velocity.Y = 0;
3312 _velocity.Z = 0;
3313
3314 _acceleration.X = 0;
3315 _acceleration.Y = 0;
3316 _acceleration.Z = 0;
3317
3318 m_rotationalVelocity.X = 0;
3319 m_rotationalVelocity.Y = 0;
3320 m_rotationalVelocity.Z = 0;
3321 _zeroFlag = true;
3322
3323 if (!m_lastUpdateSent)
3324 {
3325 m_throttleUpdates = false;
3326 throttleCounter = 0;
3327
3328 base.RequestPhysicsterseUpdate();
3329
3330 m_lastUpdateSent = true;
3331 }
3332 }
3333 }
3334 }
3335
3336 internal static bool QuaternionIsFinite(Quaternion q)
3337 {
3338 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3339 return false;
3340 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3341 return false;
3342 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3343 return false;
3344 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3345 return false;
3346 return true;
3347 }
3348
3349 internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3350 {
3351 dst.c.W = src.c.W;
3352 dst.c.X = src.c.X;
3353 dst.c.Y = src.c.Y;
3354 dst.c.Z = src.c.Z;
3355 dst.mass = src.mass;
3356 dst.I.M00 = src.I.M00;
3357 dst.I.M01 = src.I.M01;
3358 dst.I.M02 = src.I.M02;
3359 dst.I.M10 = src.I.M10;
3360 dst.I.M11 = src.I.M11;
3361 dst.I.M12 = src.I.M12;
3362 dst.I.M20 = src.I.M20;
3363 dst.I.M21 = src.I.M21;
3364 dst.I.M22 = src.I.M22;
3365 }
3366
3367 private static void DMassDup(ref d.Mass src, out d.Mass dst)
3368 {
3369 dst = new d.Mass { };
3370
3371 dst.c.W = src.c.W;
3372 dst.c.X = src.c.X;
3373 dst.c.Y = src.c.Y;
3374 dst.c.Z = src.c.Z;
3375 dst.mass = src.mass;
3376 dst.I.M00 = src.I.M00;
3377 dst.I.M01 = src.I.M01;
3378 dst.I.M02 = src.I.M02;
3379 dst.I.M10 = src.I.M10;
3380 dst.I.M11 = src.I.M11;
3381 dst.I.M12 = src.I.M12;
3382 dst.I.M20 = src.I.M20;
3383 dst.I.M21 = src.I.M21;
3384 dst.I.M22 = src.I.M22;
3385 }
3386 private void donullchange()
3387 {
3388 }
3389
3390 public bool DoAChange(changes what, object arg)
3391 {
3392 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3393 {
3394 return false;
3395 }
3396
3397 // nasty switch
3398 switch (what)
3399 {
3400 case changes.Add:
3401 changeadd();
3402 break;
3403 case changes.Remove:
3404 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3405 //When we return true, it destroys all of the prims in the linkset anyway
3406 if (_parent != null)
3407 {
3408 OdePrim parent = (OdePrim)_parent;
3409 parent.ChildRemove(this, false);
3410 }
3411 else
3412 ChildRemove(this, false);
3413
3414 m_vehicle = null;
3415 RemoveGeom();
3416 m_targetSpace = IntPtr.Zero;
3417 if (m_eventsubscription > 0)
3418 UnSubscribeEvents();
3419 return true;
3420
3421 case changes.Link:
3422 OdePrim tmp = (OdePrim)arg;
3423 changeLink(tmp);
3424 break;
3425
3426 case changes.DeLink:
3427 changeLink(null);
3428 break;
3429
3430 case changes.Position:
3431 changePosition((Vector3)arg);
3432 break;
3433
3434 case changes.Orientation:
3435 changeOrientation((Quaternion)arg);
3436 break;
3437
3438 case changes.PosOffset:
3439 donullchange();
3440 break;
3441
3442 case changes.OriOffset:
3443 donullchange();
3444 break;
3445
3446 case changes.Velocity:
3447 changevelocity((Vector3)arg);
3448 break;
3449
3450 // case changes.Acceleration:
3451 // changeacceleration((Vector3)arg);
3452 // break;
3453 // case changes.AngVelocity:
3454 // changeangvelocity((Vector3)arg);
3455 // break;
3456
3457 case changes.Force:
3458 changeForce((Vector3)arg);
3459 break;
3460
3461 case changes.Torque:
3462 changeSetTorque((Vector3)arg);
3463 break;
3464
3465 case changes.AddForce:
3466 changeAddForce((Vector3)arg);
3467 break;
3468
3469 case changes.AddAngForce:
3470 changeAddAngularForce((Vector3)arg);
3471 break;
3472
3473 case changes.AngLock:
3474 changeAngularLock((Vector3)arg);
3475 break;
3476
3477 case changes.Size:
3478 changeSize((Vector3)arg);
3479 break;
3480
3481 case changes.Shape:
3482 changeShape((PrimitiveBaseShape)arg);
3483 break;
3484
3485 case changes.CollidesWater:
3486 changeFloatOnWater((bool)arg);
3487 break;
3488
3489 case changes.VolumeDtc:
3490 changeVolumedetetion((bool)arg);
3491 break;
3492
3493 case changes.Physical:
3494 changePhysicsStatus((bool)arg);
3495 break;
3496
3497 case changes.Selected:
3498 changeSelectedStatus((bool)arg);
3499 break;
3500
3501 case changes.disabled:
3502 changeDisable((bool)arg);
3503 break;
3504
3505 case changes.building:
3506 changeBuilding((bool)arg);
3507 break;
3508
3509 case changes.VehicleType:
3510 changeVehicleType((int)arg);
3511 break;
3512
3513 case changes.VehicleFlags:
3514 changeVehicleFlags((strVehicleBoolParam) arg);
3515 break;
3516
3517 case changes.VehicleFloatParam:
3518 changeVehicleFloatParam((strVehicleFloatParam) arg);
3519 break;
3520
3521 case changes.VehicleVectorParam:
3522 changeVehicleVectorParam((strVehicleVectorParam) arg);
3523 break;
3524
3525 case changes.VehicleRotationParam:
3526 changeVehicleRotationParam((strVehicleQuatParam) arg);
3527 break;
3528
3529 case changes.SetVehicle:
3530 changeSetVehicle((VehicleData) arg);
3531 break;
3532 case changes.Null:
3533 donullchange();
3534 break;
3535
3536 default:
3537 donullchange();
3538 break;
3539 }
3540 return false;
3541 }
3542
3543 public void AddChange(changes what, object arg)
3544 {
3545 _parent_scene.AddChange((PhysicsActor) this, what, arg);
3546 }
3547
3548
3549 private struct strVehicleBoolParam
3550 {
3551 public int param;
3552 public bool value;
3553 }
3554
3555 private struct strVehicleFloatParam
3556 {
3557 public int param;
3558 public float value;
3559 }
3560
3561 private struct strVehicleQuatParam
3562 {
3563 public int param;
3564 public Quaternion value;
3565 }
3566
3567 private struct strVehicleVectorParam
3568 {
3569 public int param;
3570 public Vector3 value;
3571 }
3572 }
3573} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..4b3f83b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,443 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using OdeAPI;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending ray requests
49 /// </summary>
50 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 IntPtr ray;
58
59 private const int ColisionContactGeomsPerTest = 5;
60
61 /// <summary>
62 /// ODE near callback delegate
63 /// </summary>
64 private d.NearCallback nearCallback;
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66 private List<ContactResult> m_contactResults = new List<ContactResult>();
67
68 public ODERayCastRequestManager(OdeScene pScene)
69 {
70 m_scene = pScene;
71 nearCallback = near;
72 ray = d.CreateRay(IntPtr.Zero, 1.0f);
73 }
74
75 /// <summary>
76 /// Queues a raycast
77 /// </summary>
78 /// <param name="position">Origin of Ray</param>
79 /// <param name="direction">Ray normal</param>
80 /// <param name="length">Ray length</param>
81 /// <param name="retMethod">Return method to send the results</param>
82 public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
83 {
84 ODERayRequest req = new ODERayRequest();
85 req.geom = IntPtr.Zero;
86 req.callbackMethod = retMethod;
87 req.Count = 0;
88 req.length = length;
89 req.Normal = direction;
90 req.Origin = position;
91
92 m_PendingRequests.Enqueue(req);
93 }
94
95 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
96 {
97 ODERayRequest req = new ODERayRequest();
98 req.geom = geom;
99 req.callbackMethod = retMethod;
100 req.length = length;
101 req.Normal = direction;
102 req.Origin = position;
103 req.Count = 0;
104
105 m_PendingRequests.Enqueue(req);
106 }
107
108 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
109 {
110 ODERayRequest req = new ODERayRequest();
111 req.geom = IntPtr.Zero;
112 req.callbackMethod = retMethod;
113 req.Count = 0;
114 req.length = length;
115 req.Normal = direction;
116 req.Origin = position;
117
118 m_PendingRequests.Enqueue(req);
119 }
120
121 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
122 {
123 ODERayRequest req = new ODERayRequest();
124 req.geom = geom;
125 req.callbackMethod = retMethod;
126 req.length = length;
127 req.Normal = direction;
128 req.Origin = position;
129 req.Count = 0;
130
131 m_PendingRequests.Enqueue(req);
132 }
133
134 /// <summary>
135 /// Queues a raycast
136 /// </summary>
137 /// <param name="position">Origin of Ray</param>
138 /// <param name="direction">Ray normal</param>
139 /// <param name="length">Ray length</param>
140 /// <param name="count"></param>
141 /// <param name="retMethod">Return method to send the results</param>
142 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
143 {
144 ODERayRequest req = new ODERayRequest();
145 req.geom = IntPtr.Zero;
146 req.callbackMethod = retMethod;
147 req.length = length;
148 req.Normal = direction;
149 req.Origin = position;
150 req.Count = count;
151
152 m_PendingRequests.Enqueue(req);
153 }
154
155 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
156 {
157 ODERayRequest req = new ODERayRequest();
158 req.geom = geom;
159 req.callbackMethod = retMethod;
160 req.length = length;
161 req.Normal = direction;
162 req.Origin = position;
163 req.Count = count;
164
165 m_PendingRequests.Enqueue(req);
166 }
167
168 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
169 {
170 ODERayRequest req = new ODERayRequest();
171 req.geom = IntPtr.Zero;
172 req.callbackMethod = retMethod;
173 req.length = length;
174 req.Normal = direction;
175 req.Origin = position;
176 req.Count = count;
177
178 m_PendingRequests.Enqueue(req);
179 }
180
181 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
182 {
183 ODERayRequest req = new ODERayRequest();
184 req.geom = geom;
185 req.callbackMethod = retMethod;
186 req.length = length;
187 req.Normal = direction;
188 req.Origin = position;
189 req.Count = count;
190
191 m_PendingRequests.Enqueue(req);
192 }
193
194 /// <summary>
195 /// Process all queued raycast requests
196 /// </summary>
197 /// <returns>Time in MS the raycasts took to process.</returns>
198 public int ProcessQueuedRequests()
199 {
200 int time = System.Environment.TickCount;
201
202 if (m_PendingRequests.Count <= 0)
203 return 0;
204
205 if (m_scene.ContactgeomsArray == IntPtr.Zero) // oops something got wrong or scene isn't ready still
206 {
207 m_PendingRequests.Clear();
208 return 0;
209 }
210
211 ODERayRequest req;
212
213 int i = 50; // arbitary limit of processed tests per frame
214
215 while(m_PendingRequests.Dequeue(out req))
216 {
217 if (req.geom == IntPtr.Zero)
218 doSpaceRay(req);
219 else
220 doGeomRay(req);
221 if(--i < 0)
222 break;
223 }
224
225 lock (m_contactResults)
226 m_contactResults.Clear();
227
228 return System.Environment.TickCount - time;
229 }
230 /// <summary>
231 /// Method that actually initiates the raycast with full top space
232 /// </summary>
233 /// <param name="req"></param>
234 private void doSpaceRay(ODERayRequest req)
235 {
236 // Create the ray
237// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
238 d.GeomRaySetLength(ray, req.length);
239 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
240
241 // Collide test
242 d.SpaceCollide2(m_scene.TopSpace, ray, IntPtr.Zero, nearCallback);
243
244 // Remove Ray
245// d.GeomDestroy(ray);
246
247 if (req.callbackMethod == null)
248 return;
249
250 if (req.callbackMethod is RaycastCallback)
251 {
252 // Define default results
253 bool hitYN = false;
254 uint hitConsumerID = 0;
255 float distance = 999999999999f;
256 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
257 Vector3 snormal = Vector3.Zero;
258
259 // Find closest contact and object.
260 lock (m_contactResults)
261 {
262 foreach (ContactResult cResult in m_contactResults)
263 {
264 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
265 {
266 closestcontact = cResult.Pos;
267 hitConsumerID = cResult.ConsumerID;
268 distance = cResult.Depth;
269 hitYN = true;
270 snormal = cResult.Normal;
271 }
272 }
273 m_contactResults.Clear();
274 }
275
276 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
277 }
278 else
279 {
280 ((RayCallback)req.callbackMethod)(m_contactResults);
281 lock (m_PendingRequests)
282 m_contactResults.Clear();
283 }
284 }
285
286 /// <summary>
287 /// Method that actually initiates the raycast with a geom
288 /// </summary>
289 /// <param name="req"></param>
290 private void doGeomRay(ODERayRequest req)
291 {
292 // Create the ray
293// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
294 d.GeomRaySetLength(ray, req.length);
295 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
296
297 // Collide test
298 d.SpaceCollide2(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
299
300 // Remove Ray
301// d.GeomDestroy(ray);
302
303 if (req.callbackMethod == null)
304 return;
305
306 if (req.callbackMethod is RaycastCallback)
307 {
308 // Define default results
309 bool hitYN = false;
310 uint hitConsumerID = 0;
311 float distance = 999999999999f;
312 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
313 Vector3 snormal = Vector3.Zero;
314
315 // Find closest contact and object.
316 lock (m_contactResults)
317 {
318 foreach (ContactResult cResult in m_contactResults)
319 {
320 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
321 {
322 closestcontact = cResult.Pos;
323 hitConsumerID = cResult.ConsumerID;
324 distance = cResult.Depth;
325 hitYN = true;
326 snormal = cResult.Normal;
327 }
328 }
329 m_contactResults.Clear();
330 }
331
332 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
333 }
334 else
335 {
336 ((RayCallback)req.callbackMethod)(m_contactResults);
337 lock (m_PendingRequests)
338 m_contactResults.Clear();
339 }
340 }
341
342 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
343 {
344 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
345 if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
346 return false;
347
348 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
349 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
350 return true;
351 }
352
353 // This is the standard Near. g2 is the ray
354 private void near(IntPtr space, IntPtr g1, IntPtr g2)
355 {
356 //Don't test against heightfield Geom, or you'll be sorry!
357 // Exclude heightfield geom
358
359 if (g1 == IntPtr.Zero || g1 == g2)
360 return;
361
362 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
363 return;
364
365 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
366 if (d.GeomIsSpace(g1))
367 {
368 try
369 {
370 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
371 }
372 catch (Exception e)
373 {
374 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
375 }
376 return;
377 }
378
379 int count = 0;
380 try
381 {
382 count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
383 }
384 catch (SEHException)
385 {
386 m_log.Error("[PHYSICS Ray]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
387 }
388 catch (Exception e)
389 {
390 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
391 return;
392 }
393
394 if (count == 0)
395 return;
396
397 PhysicsActor p1 = null;
398
399 if (g1 != IntPtr.Zero)
400 m_scene.actor_name_map.TryGetValue(g1, out p1);
401
402 d.ContactGeom curcontact = new d.ContactGeom();
403 // Loop over contacts, build results.
404 for (int i = 0; i < count; i++)
405 {
406 if (!GetCurContactGeom(i, ref curcontact))
407 break;
408 if (p1 != null) {
409 if (p1 is OdePrim)
410 {
411 ContactResult collisionresult = new ContactResult();
412
413 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
414 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
415 collisionresult.Depth = curcontact.depth;
416 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
417 curcontact.normal.Z);
418 lock (m_contactResults)
419 m_contactResults.Add(collisionresult);
420 }
421 }
422 }
423 }
424
425 /// <summary>
426 /// Dereference the creator scene so that it can be garbage collected if needed.
427 /// </summary>
428 internal void Dispose()
429 {
430 m_scene = null;
431 }
432 }
433
434 public struct ODERayRequest
435 {
436 public IntPtr geom;
437 public Vector3 Origin;
438 public Vector3 Normal;
439 public int Count;
440 public float length;
441 public object callbackMethod;
442 }
443} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
new file mode 100644
index 0000000..2b6bc59
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,1960 @@
1/*
2 * based on:
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 * changes by opensim team;
39 * changes by Aurora team http://www.aurora-sim.org/
40
41 * Revision/fixs by Ubit Umarov
42 */
43
44using System;
45using System.Runtime.InteropServices;
46using System.Security;
47
48namespace OdeAPI
49{
50//#if dDOUBLE
51// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
52// at least we save same memory and memory access time, FPU performance on intel usually is similar
53// using dReal = System.Double;
54//#else
55 using dReal = System.Single;
56//#endif
57
58 public static class d
59 {
60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0;
63
64 #region Flags and Enumerations
65
66 [Flags]
67 public enum AllocateODEDataFlags : uint
68 {
69 BasicData = 0,
70 CollisionData = 0x00000001,
71 All = ~0u
72 }
73
74 [Flags]
75 public enum IniteODEFlags : uint
76 {
77 dInitFlagManualThreadCleanup = 0x00000001
78 }
79
80 [Flags]
81 public enum ContactFlags : int
82 {
83 Mu2 = 0x001,
84 FDir1 = 0x002,
85 Bounce = 0x004,
86 SoftERP = 0x008,
87 SoftCFM = 0x010,
88 Motion1 = 0x020,
89 Motion2 = 0x040,
90 MotionN = 0x080,
91 Slip1 = 0x100,
92 Slip2 = 0x200,
93 Approx0 = 0x0000,
94 Approx1_1 = 0x1000,
95 Approx1_2 = 0x2000,
96 Approx1 = 0x3000
97 }
98
99 public enum GeomClassID : int
100 {
101 SphereClass,
102 BoxClass,
103 CapsuleClass,
104 CylinderClass,
105 PlaneClass,
106 RayClass,
107 ConvexClass,
108 GeomTransformClass,
109 TriMeshClass,
110 HeightfieldClass,
111 FirstSpaceClass,
112 SimpleSpaceClass = FirstSpaceClass,
113 HashSpaceClass,
114 QuadTreeSpaceClass,
115 LastSpaceClass = QuadTreeSpaceClass,
116 FirstUserClass,
117 LastUserClass = FirstUserClass + MaxUserClasses - 1,
118 NumClasses,
119 MaxUserClasses = 4
120 }
121
122 public enum JointType : int
123 {
124 None,
125 Ball,
126 Hinge,
127 Slider,
128 Contact,
129 Universal,
130 Hinge2,
131 Fixed,
132 Null,
133 AMotor,
134 LMotor,
135 Plane2D
136 }
137
138 public enum JointParam : int
139 {
140 LoStop,
141 HiStop,
142 Vel,
143 FMax,
144 FudgeFactor,
145 Bounce,
146 CFM,
147 StopERP,
148 StopCFM,
149 SuspensionERP,
150 SuspensionCFM,
151 LoStop2 = 256,
152 HiStop2,
153 Vel2,
154 FMax2,
155 FudgeFactor2,
156 Bounce2,
157 CFM2,
158 StopERP2,
159 StopCFM2,
160 SuspensionERP2,
161 SuspensionCFM2,
162 LoStop3 = 512,
163 HiStop3,
164 Vel3,
165 FMax3,
166 FudgeFactor3,
167 Bounce3,
168 CFM3,
169 StopERP3,
170 StopCFM3,
171 SuspensionERP3,
172 SuspensionCFM3
173 }
174
175 public enum dSweepAndPruneAxis : int
176 {
177 XYZ = ((0)|(1<<2)|(2<<4)),
178 XZY = ((0)|(2<<2)|(1<<4)),
179 YXZ = ((1)|(0<<2)|(2<<4)),
180 YZX = ((1)|(2<<2)|(0<<4)),
181 ZXY = ((2)|(0<<2)|(1<<4)),
182 ZYX = ((2)|(1<<2)|(0<<4))
183 }
184
185 #endregion
186
187 #region Callbacks
188
189 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
190 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
191
192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
193 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
194
195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
196 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
197
198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
199 public delegate ColliderFn GetColliderFnFn(int num);
200
201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
202 public delegate void GeomDtorFn(IntPtr o);
203
204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
205 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
206
207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
208 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
209
210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
211 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
212
213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
214 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
215
216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
217 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
218
219 #endregion
220
221 #region Structs
222
223 [StructLayout(LayoutKind.Sequential)]
224 public struct AABB
225 {
226 public dReal MinX, MaxX;
227 public dReal MinY, MaxY;
228 public dReal MinZ, MaxZ;
229 }
230
231
232 [StructLayout(LayoutKind.Sequential)]
233 public struct Contact
234 {
235 public SurfaceParameters surface;
236 public ContactGeom geom;
237 public Vector3 fdir1;
238 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
239 }
240
241
242 [StructLayout(LayoutKind.Sequential)]
243 public struct ContactGeom
244 {
245
246 public Vector3 pos;
247 public Vector3 normal;
248 public dReal depth;
249 public IntPtr g1;
250 public IntPtr g2;
251 public int side1;
252 public int side2;
253 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
254 }
255
256 [StructLayout(LayoutKind.Sequential)]
257 public struct GeomClass
258 {
259 public int bytes;
260 public GetColliderFnFn collider;
261 public GetAABBFn aabb;
262 public AABBTestFn aabb_test;
263 public GeomDtorFn dtor;
264 }
265
266
267 [StructLayout(LayoutKind.Sequential)]
268 public struct JointFeedback
269 {
270 public Vector3 f1;
271 public Vector3 t1;
272 public Vector3 f2;
273 public Vector3 t2;
274 }
275
276
277 [StructLayout(LayoutKind.Sequential)]
278 public struct Mass
279 {
280 public dReal mass;
281 public Vector4 c;
282 public Matrix3 I;
283 }
284
285
286 [StructLayout(LayoutKind.Sequential)]
287 public struct Matrix3
288 {
289 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
290 {
291 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
292 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
293 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
294 }
295 public dReal M00, M10, M20;
296 private dReal _m30;
297 public dReal M01, M11, M21;
298 private dReal _m31;
299 public dReal M02, M12, M22;
300 private dReal _m32;
301 }
302
303 [StructLayout(LayoutKind.Sequential)]
304 public struct Matrix4
305 {
306 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
307 dReal m01, dReal m11, dReal m21, dReal m31,
308 dReal m02, dReal m12, dReal m22, dReal m32,
309 dReal m03, dReal m13, dReal m23, dReal m33)
310 {
311 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
312 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
313 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
314 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
315 }
316 public dReal M00, M10, M20, M30;
317 public dReal M01, M11, M21, M31;
318 public dReal M02, M12, M22, M32;
319 public dReal M03, M13, M23, M33;
320 }
321
322 [StructLayout(LayoutKind.Sequential)]
323 public struct Quaternion
324 {
325 public dReal W, X, Y, Z;
326 }
327
328
329 [StructLayout(LayoutKind.Sequential)]
330 public struct SurfaceParameters
331 {
332 public ContactFlags mode;
333 public dReal mu;
334 public dReal mu2;
335 public dReal bounce;
336 public dReal bounce_vel;
337 public dReal soft_erp;
338 public dReal soft_cfm;
339 public dReal motion1;
340 public dReal motion2;
341 public dReal motionN;
342 public dReal slip1;
343 public dReal slip2;
344 }
345
346
347 [StructLayout(LayoutKind.Sequential)]
348 public struct Vector3
349 {
350 public Vector3(dReal x, dReal y, dReal z)
351 {
352 X = x; Y = y; Z = z; _w = 0.0f;
353 }
354 public dReal X, Y, Z;
355 private dReal _w;
356 }
357
358
359 [StructLayout(LayoutKind.Sequential)]
360 public struct Vector4
361 {
362 public Vector4(dReal x, dReal y, dReal z, dReal w)
363 {
364 X = x; Y = y; Z = z; W = w;
365 }
366 public dReal X, Y, Z, W;
367 }
368
369 #endregion
370
371 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
372 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
373
374 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
375 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
376
377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
378 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
379
380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
381 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
382
383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
384 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
385
386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
387 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
388
389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
390 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
391
392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
393 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
394
395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
396 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
397
398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
399 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
400
401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
402 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
403
404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
405 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
406
407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
408 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
409
410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
411 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
412
413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
414 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
415
416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
417 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
418
419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
420 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
421
422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
423 public static extern IntPtr BodyiCreate(IntPtr world);
424 public static IntPtr BodyCreate(IntPtr world)
425 {
426 NTotalBodies++;
427 return BodyiCreate(world);
428 }
429
430 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
431 public static extern void BodyiDestroy(IntPtr body);
432 public static void BodyDestroy(IntPtr body)
433 {
434 NTotalBodies--;
435 BodyiDestroy(body);
436 }
437
438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
439 public static extern void BodyDisable(IntPtr body);
440
441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
442 public static extern void BodyEnable(IntPtr body);
443
444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
445 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
446
447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
448 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
449
450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
451 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
452
453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
454 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
455
456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
457 public static extern int BodyGetAutoDisableSteps(IntPtr body);
458
459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
460 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
461
462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
463 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
464 public static Vector3 BodyGetAngularVel(IntPtr body)
465 {
466 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
467 }
468
469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
470 public static extern IntPtr BodyGetData(IntPtr body);
471
472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
473 public static extern int BodyGetFiniteRotationMode(IntPtr body);
474
475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
476 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
477
478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
479 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
480 public static Vector3 BodyGetForce(IntPtr body)
481 {
482 unsafe { return *(BodyGetForceUnsafe(body)); }
483 }
484
485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
486 public static extern bool BodyGetGravityMode(IntPtr body);
487
488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
489 public static extern int BodyGetGyroscopicMode(IntPtr body);
490
491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
492 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
493
494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
495 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
496 public static Vector3 BodyGetLinearVel(IntPtr body)
497 {
498 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
499 }
500
501 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
502 public static extern void BodyGetMass(IntPtr body, out Mass mass);
503
504 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
505 public static extern int BodyGetNumJoints(IntPtr body);
506
507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
508 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
509
510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
511 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
512 public static Vector3 BodyGetPosition(IntPtr body)
513 {
514 unsafe { return *(BodyGetPositionUnsafe(body)); }
515 }
516
517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
518 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
519
520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
521 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
522 public static Quaternion BodyGetQuaternion(IntPtr body)
523 {
524 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
525 }
526
527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
528 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
529
530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
531 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
532
533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
534 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
535 public static Matrix3 BodyGetRotation(IntPtr body)
536 {
537 unsafe { return *(BodyGetRotationUnsafe(body)); }
538 }
539
540 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
541 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
542 public static Vector3 BodyGetTorque(IntPtr body)
543 {
544 unsafe { return *(BodyGetTorqueUnsafe(body)); }
545 }
546
547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
548 public static extern IntPtr BodyGetWorld(IntPtr body);
549
550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
551 public static extern IntPtr BodyGetFirstGeom(IntPtr body);
552
553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
554 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
555
556
557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
558 public static extern bool BodyIsEnabled(IntPtr body);
559
560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
561 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
562
563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
564 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
565
566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
567 public static extern void BodySetAutoDisableDefaults(IntPtr body);
568
569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
570 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
571
572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
573 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
574
575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
576 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
577
578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
579 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
580
581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
582 public static extern void BodySetData(IntPtr body, IntPtr data);
583
584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
585 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
586
587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
588 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
589
590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
591 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
592
593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
594 public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
595
596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
597 public static extern dReal BodyGetLinearDamping(IntPtr body);
598
599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
600 public static extern dReal BodyGetAngularDamping(IntPtr body);
601
602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
603 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
604
605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
606 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
607
608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
609 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
610
611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
612 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
613
614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
615 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
616
617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
618 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
619
620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
621 public static extern void BodySetGravityMode(IntPtr body, bool mode);
622
623 /// <summary>
624 /// Sets the Gyroscopic term status on the body specified.
625 /// </summary>
626 /// <param name="body">Pointer to body</param>
627 /// <param name="enabled">NonZero enabled, Zero disabled</param>
628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
629 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
630
631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
632 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
633
634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
635 public static extern void BodySetMass(IntPtr body, ref Mass mass);
636
637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
638 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
639
640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
641 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
642
643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
644 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
645
646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
647 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
648
649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
650 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
651
652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
653 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
654
655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
656 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
657
658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
659 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
660
661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
662 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
663 ref Vector3 side1, ref Vector3 p2,
664 ref Matrix3 R2, ref Vector3 side2,
665 ref Vector3 normal, out dReal depth, out int return_code,
666 int maxc, out ContactGeom contact, int skip);
667
668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
669 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
670 ref Vector3 side1, ref Vector3 _p2,
671 ref Matrix3 R2, ref Vector3 side2);
672
673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
674 public static extern void CleanupODEAllDataForThread();
675
676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
677 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
678 ref Vector3 b1, ref Vector3 b2,
679 ref Vector3 cp1, ref Vector3 cp2);
680
681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
682 public static extern void CloseODE();
683
684 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
685 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
687 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
688
689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
690 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
691
692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
693 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
694 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
695 {
696 NTotalGeoms++;
697 return CreateiBox(space, lx, ly, lz);
698 }
699
700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
701 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
702 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
703 {
704 NTotalGeoms++;
705 return CreateiCapsule(space, radius, length);
706 }
707
708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
709 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
710 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
711 {
712 NTotalGeoms++;
713 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
714 }
715
716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
717 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
718 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
719 {
720 NTotalGeoms++;
721 return CreateiCylinder(space, radius, length);
722 }
723
724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
725 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
726 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
727 {
728 NTotalGeoms++;
729 return CreateiHeightfield(space, data, bPlaceable);
730 }
731
732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
733 public static extern IntPtr CreateiGeom(int classnum);
734 public static IntPtr CreateGeom(int classnum)
735 {
736 NTotalGeoms++;
737 return CreateiGeom(classnum);
738 }
739
740 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
741 public static extern int CreateGeomClass(ref GeomClass classptr);
742
743 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
744 public static extern IntPtr CreateGeomTransform(IntPtr space);
745
746 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
747 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
748 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
749 {
750 NTotalGeoms++;
751 return CreateiPlane(space, a, b, c, d);
752 }
753
754 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
755 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
756 public static IntPtr CreateRay(IntPtr space, dReal length)
757 {
758 NTotalGeoms++;
759 return CreateiRay(space, length);
760 }
761
762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
763 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
764 public static IntPtr CreateSphere(IntPtr space, dReal radius)
765 {
766 NTotalGeoms++;
767 return CreateiSphere(space, radius);
768 }
769
770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
771 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
772 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
773 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
774 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
775 {
776 NTotalGeoms++;
777 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
778 }
779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
780 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
781
782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
783 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
784
785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
786 public static extern int FactorCholesky(ref dReal A00, int n);
787
788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
789 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
790
791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
792 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
793
794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
795 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
796
797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
798 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
799
800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
801 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
802
803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
804 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
805
806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
807 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
808
809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
810 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
811
812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
813 public static extern void GeomClearOffset(IntPtr geom);
814
815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
816 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
817
818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
819 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
820
821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
822 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
823
824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
825 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
826
827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
828 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
829
830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
831 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
832
833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
834 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
835
836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
837 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
838
839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
840 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
841
842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
843 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
844
845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
846 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
847
848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
849 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
850
851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
852 public static extern void GeomiDestroy(IntPtr geom);
853 public static void GeomDestroy(IntPtr geom)
854 {
855 NTotalGeoms--;
856 GeomiDestroy(geom);
857 }
858
859
860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
861 public static extern void GeomDisable(IntPtr geom);
862
863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
864 public static extern void GeomEnable(IntPtr geom);
865
866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
867 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
868
869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
870 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
871
872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
873 public static extern IntPtr GeomGetBody(IntPtr geom);
874
875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
876 public static extern int GeomGetCategoryBits(IntPtr geom);
877
878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
879 public static extern IntPtr GeomGetClassData(IntPtr geom);
880
881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
882 public static extern int GeomGetCollideBits(IntPtr geom);
883
884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
885 public static extern GeomClassID GeomGetClass(IntPtr geom);
886
887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
888 public static extern IntPtr GeomGetData(IntPtr geom);
889
890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
891 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
892 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
893 {
894 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
895 }
896
897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
898 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
899 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
900 {
901 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
902 }
903
904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
905 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
906 public static Vector3 GeomGetPosition(IntPtr geom)
907 {
908 unsafe { return *(GeomGetPositionUnsafe(geom)); }
909 }
910
911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
912 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
913
914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
915 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
916
917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
918 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
919 public static Matrix3 GeomGetRotation(IntPtr geom)
920 {
921 unsafe { return *(GeomGetRotationUnsafe(geom)); }
922 }
923
924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
925 public static extern IntPtr GeomGetSpace(IntPtr geom);
926
927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
928 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
929 dReal width, dReal depth, int widthSamples, int depthSamples,
930 dReal scale, dReal offset, dReal thickness, int bWrap);
931
932 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
933 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
934 dReal width, dReal depth, int widthSamples, int depthSamples,
935 dReal scale, dReal offset, dReal thickness, int bWrap);
936
937 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
938 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
939 dReal width, dReal depth, int widthSamples, int depthSamples,
940 dReal scale, dReal offset, dReal thickness, int bWrap);
941
942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
943 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
944 dReal width, dReal depth, int widthSamples, int depthSamples,
945 dReal scale, dReal offset, dReal thickness, int bWrap);
946
947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
948 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
949 dReal width, dReal depth, int widthSamples, int depthSamples,
950 dReal scale, dReal offset, dReal thickness, int bWrap);
951
952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
953 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
954 dReal width, dReal depth, int widthSamples, int depthSamples,
955 dReal scale, dReal offset, dReal thickness, int bWrap);
956
957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
958 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
959 dReal width, dReal depth, int widthSamples, int depthSamples,
960 dReal scale, dReal offset, dReal thickness, int bWrap);
961
962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
963 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
964 dReal width, dReal depth, int widthSamples, int depthSamples,
965 dReal scale, dReal offset, dReal thickness, int bWrap);
966
967 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
968 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
969 dReal width, dReal depth, int widthSamples, int depthSamples,
970 dReal scale, dReal offset, dReal thickness, int bWrap);
971
972 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
973 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
974 dReal width, dReal depth, int widthSamples, int depthSamples,
975 dReal scale, dReal offset, dReal thickness, int bWrap);
976
977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
978 public static extern IntPtr GeomHeightfieldDataCreate();
979
980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
981 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
982
983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
984 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
985
986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
987 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
988
989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
990 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
991
992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
993 public static extern bool GeomIsEnabled(IntPtr geom);
994
995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
996 public static extern bool GeomIsOffset(IntPtr geom);
997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
999 public static extern bool GeomIsSpace(IntPtr geom);
1000
1001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1002 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1003
1004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1005 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1008 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1009
1010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1011 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1012
1013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1014 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1018
1019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1020 public static extern int GeomRayGetClosestHit(IntPtr ray);
1021
1022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1023 public static extern dReal GeomRayGetLength(IntPtr ray);
1024
1025 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1026 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1027
1028 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1029 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1030
1031 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1032 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1033
1034 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1035 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1038 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1041 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1044 public static extern void GeomSetCategoryBits(IntPtr geom, int bits);
1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomSetCollideBits(IntPtr geom, int bits);
1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1050 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1053 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1056 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1065 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1068 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1071 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1077 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1080 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1083 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1095 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1101 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1104 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1107 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1110 public static extern int GeomTransformGetCleanup(IntPtr geom);
1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1113 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1116 public static extern int GeomTransformGetInfo(IntPtr geom);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1126
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1129 double[] vertices, int vertexStride, int vertexCount,
1130 int[] indices, int indexCount, int triStride);
1131
1132 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1133 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1134 IntPtr vertices, int vertexStride, int vertexCount,
1135 IntPtr indices, int indexCount, int triStride);
1136
1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1138 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1139 double[] vertices, int vertexStride, int vertexCount,
1140 int[] indices, int indexCount, int triStride,
1141 double[] normals);
1142
1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1144 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1145 IntPtr vertices, int vertexStride, int vertexCount,
1146 IntPtr indices, int indexCount, int triStride,
1147 IntPtr normals);
1148
1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1150 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1151 dReal[] vertices, int vertexStride, int vertexCount,
1152 int[] indices, int indexCount, int triStride);
1153
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1155 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1156 IntPtr vertices, int vertexStride, int vertexCount,
1157 IntPtr indices, int indexCount, int triStride);
1158
1159 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1160 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1161 dReal[] vertices, int vertexStride, int vertexCount,
1162 int[] indices, int indexCount, int triStride,
1163 dReal[] normals);
1164
1165 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1166 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1167 IntPtr vertices, int vertexStride, int vertexCount,
1168 IntPtr indices, int indexCount, int triStride,
1169 IntPtr normals);
1170
1171 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1172 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1173 float[] vertices, int vertexStride, int vertexCount,
1174 int[] indices, int indexCount, int triStride);
1175
1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1177 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1178 IntPtr vertices, int vertexStride, int vertexCount,
1179 IntPtr indices, int indexCount, int triStride);
1180
1181 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1182 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1183 float[] vertices, int vertexStride, int vertexCount,
1184 int[] indices, int indexCount, int triStride,
1185 float[] normals);
1186
1187 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1188 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1189 IntPtr vertices, int vertexStride, int vertexCount,
1190 IntPtr indices, int indexCount, int triStride,
1191 IntPtr normals);
1192
1193 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1194 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1195
1196 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1197 public static extern IntPtr GeomTriMeshDataCreate();
1198
1199 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1200 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1201
1202 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1203 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1204
1205 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1206 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1207
1208 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1209 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1210
1211 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1212 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1213
1214 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1215 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1216
1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1218 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1219
1220 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1221 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1222
1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1224 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1225
1226 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1227 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1228 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1229 {
1230 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1231 }
1232
1233 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1234 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1235
1236 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1237 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1238
1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1240 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1241
1242 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1243 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1244
1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1246 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1247
1248 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1249 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1250
1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1252 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1253
1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1255 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1256
1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1258 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1259
1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1261 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1262
1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1264 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1265
1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1267 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1268
1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1270 public static extern string GetConfiguration(string str);
1271
1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1273 public static extern IntPtr HashSpaceCreate(IntPtr space);
1274
1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1276 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1279 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1282 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1285 public static extern void InitODE();
1286
1287 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1288 public static extern int InitODE2(uint ODEInitFlags);
1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1291 public static extern int IsPositiveDefinite(ref dReal A, int n);
1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1294 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1297 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1300 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1303 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1306 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1309 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1312 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1315 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1318 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1321 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1324 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1325 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1326 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1327
1328 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1329 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1330
1331 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1332 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1333
1334 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1335 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1336
1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1338 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1339
1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1341 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1342
1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1344 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1345
1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1347 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1348
1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1350 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1351
1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1353 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1354
1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1356 public static extern void JointDestroy(IntPtr j);
1357
1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1359 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1360
1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1362 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1363
1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1365 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1366
1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1368 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1369
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1371 public static extern int JointGetAMotorMode(IntPtr j);
1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1374 public static extern int JointGetAMotorNumAxes(IntPtr j);
1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1377 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1380 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1383 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointGetBody(IntPtr j);
1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointGetData(IntPtr j);
1390
1391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1392 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1393 public static JointFeedback JointGetFeedback(IntPtr j)
1394 {
1395 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1396 }
1397
1398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1399 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1400
1401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1402 public static extern dReal JointGetHingeAngle(IntPtr j);
1403
1404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1405 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1406
1407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1408 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1409
1410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1411 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1412
1413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1414 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1415
1416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1417 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1418
1419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1420 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1421
1422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1423 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1424
1425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1426 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1427
1428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1429 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1430
1431 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1432 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1433
1434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1435 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1436
1437 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1438 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1439
1440 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1441 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1444 public static extern int JointGetLMotorNumAxes(IntPtr j);
1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1447 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1450 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1453 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1456 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1457
1458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1459 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1460
1461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1462 public static extern dReal JointGetPRPosition(IntPtr j);
1463
1464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1465 public static extern dReal JointGetPRPositionRate(IntPtr j);
1466
1467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1468 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1469
1470 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1471 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1472
1473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1474 public static extern dReal JointGetSliderPosition(IntPtr j);
1475
1476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1477 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1478
1479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1480 public static extern JointType JointGetType(IntPtr j);
1481
1482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1483 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1484
1485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1486 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1487
1488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1489 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1490
1491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1492 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1493
1494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1495 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1496
1497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1498 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1499
1500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1501 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1502
1503 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1504 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1505
1506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1507 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1508
1509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1510 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1511
1512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1513 public static extern IntPtr JointGroupCreate(int max_size);
1514
1515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1516 public static extern void JointGroupDestroy(IntPtr group);
1517
1518 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1519 public static extern void JointGroupEmpty(IntPtr group);
1520
1521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1522 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1523
1524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1525 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1526
1527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1528 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1529
1530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1531 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1532
1533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1534 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1535
1536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1537 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1538
1539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1540 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1541
1542 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1543 public static extern void JointSetData(IntPtr j, IntPtr data);
1544
1545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1546 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1547
1548 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1549 public static extern void JointSetFixed(IntPtr j);
1550
1551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1552 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1553
1554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1555 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1556
1557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1558 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1559
1560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1561 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1562
1563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1564 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1565
1566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1567 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1568
1569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1570 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1571
1572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1573 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1574
1575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1576 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1577
1578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1579 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1580
1581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1582 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1583
1584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1585 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1586
1587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1588 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1589
1590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1591 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1592
1593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1594 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1595
1596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1597 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1598
1599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1600 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1601
1602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1603 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1604
1605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1606 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1607
1608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1609 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1610
1611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1612 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1613
1614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1615 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1616
1617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1618 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1619
1620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1621 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1622
1623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1624 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1625
1626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1627 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1628
1629 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1630 public static extern void MassAdd(ref Mass a, ref Mass b);
1631
1632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1633 public static extern void MassAdjust(ref Mass m, dReal newmass);
1634
1635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1636 public static extern bool MassCheck(ref Mass m);
1637
1638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1639 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1640
1641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1642 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1643
1644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1645 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1646
1647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1648 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1649
1650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1651 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1652
1653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1654 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1655
1656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1657 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1658
1659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1660 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1661
1662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1663 public static extern void MassSetParameters(out Mass mass, dReal themass,
1664 dReal cgx, dReal cgy, dReal cgz,
1665 dReal i11, dReal i22, dReal i33,
1666 dReal i12, dReal i13, dReal i23);
1667
1668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1669 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1670
1671 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1672 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1673
1674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1675 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1676
1677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1678 public static extern void MassSetZero(out Mass mass);
1679
1680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1681 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1682
1683 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1684 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1685
1686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1687 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1688 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1689 {
1690 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1691 }
1692
1693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1694 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1695
1696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1697 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1698
1699 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1700 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1701
1702 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1703 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1704
1705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1706 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1707
1708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1709 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1710
1711 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1712 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1713
1714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1715 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1716
1717 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1718 public static extern void QSetIdentity(out Quaternion q);
1719
1720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1721 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1722
1723 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1724 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1725
1726 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1727 public static extern dReal RandReal();
1728
1729 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1730 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1731
1732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1733 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1734
1735 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1736 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1739 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1742 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1745 public static extern void RSetIdentity(out Matrix3 R);
1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1748 public static extern void SetValue(out dReal a, int n);
1749
1750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1751 public static extern void SetZero(out dReal a, int n);
1752
1753 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1754 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1755
1756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1757 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1758
1759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1760 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1761
1762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1763 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1764
1765 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1766 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1767
1768 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1769 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1770
1771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1772 public static extern bool SpaceLockQuery(IntPtr space);
1773
1774 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1775 public static extern void SpaceClean(IntPtr space);
1776
1777 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1778 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1779
1780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1781 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1782
1783 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1784 public static extern void SpaceDestroy(IntPtr space);
1785
1786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1787 public static extern bool SpaceGetCleanup(IntPtr space);
1788
1789 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1790 public static extern int SpaceGetNumGeoms(IntPtr space);
1791
1792 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1793 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1794
1795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1796 public static extern int SpaceGetSublevel(IntPtr space);
1797
1798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1799 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1800
1801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1802 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1803
1804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1805 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1806
1807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1808 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1809
1810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1811 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1812
1813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1814 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1815
1816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1817 public static extern IntPtr WorldCreate();
1818
1819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1820 public static extern void WorldDestroy(IntPtr world);
1821
1822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1823 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1824
1825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1826 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1827
1828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1829 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1830
1831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1832 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1833
1834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1835 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1836
1837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1838 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1839
1840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1841 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1842
1843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1844 public static extern dReal WorldGetCFM(IntPtr world);
1845
1846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1847 public static extern dReal WorldGetERP(IntPtr world);
1848
1849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1850 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1851
1852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1853 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1854
1855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1856 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1857
1858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1859 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1860
1861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1862 public static extern dReal WorldGetAngularDamping(IntPtr world);
1863
1864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1865 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1866
1867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1868 public static extern dReal WorldGetLinearDamping(IntPtr world);
1869
1870 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1871 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1872
1873 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1874 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1875
1876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1877 public static extern dReal WorldGetQuickStepW(IntPtr world);
1878
1879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1880 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1881
1882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1883 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1884
1885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1886 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1887
1888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1889 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1890
1891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1892 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1893
1894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1895 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1896
1897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1898 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1899
1900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1901 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1902
1903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1904 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1905
1906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1907 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1908
1909 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1910 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1911
1912 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1913 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1914
1915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1916 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1917
1918 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1919 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1920
1921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1922 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1923
1924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1925 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1926
1927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1928 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1929
1930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1931 public static extern void WorldSetERP(IntPtr world, dReal erp);
1932
1933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1934 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1935
1936 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
1937 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
1938
1939 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1940 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
1941
1942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1943 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1944
1945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1946 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1947
1948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1949 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
1950
1951 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1952 public static extern void WorldStep(IntPtr world, dReal stepsize);
1953
1954 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
1955 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
1956
1957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
1958 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
1959 }
1960}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..d32188e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
@@ -0,0 +1,90 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Threading;
33using System.IO;
34using System.Diagnostics;
35using log4net;
36using Nini.Config;
37using OdeAPI;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40using OpenMetaverse;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// ODE plugin
46 /// </summary>
47 public class OdePlugin : IPhysicsPlugin
48 {
49 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
50
51 private OdeScene m_scene;
52
53 public bool Init()
54 {
55 if (Util.IsWindows())
56 Util.LoadArchSpecificWindowsDll("ode.dll");
57
58 if (d.InitODE2(0) != 0)
59 {
60 if (d.AllocateODEDataForThread(~0U) == 0)
61 {
62 d.CloseODE();
63 return false;
64 }
65 return true;
66 }
67 return false;
68 }
69
70 public PhysicsScene GetScene(String sceneIdentifier)
71 {
72 if (m_scene == null)
73 {
74
75 m_scene = new OdeScene(sceneIdentifier);
76 }
77 return (m_scene);
78 }
79
80 public string GetName()
81 {
82 return ("UbitODE");
83 }
84
85 public void Dispose()
86 {
87 d.CloseODE();
88 }
89 }
90} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
new file mode 100644
index 0000000..14516f9
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2303 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define SPAM
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using OdeAPI;
40using OpenSim.Framework;
41using OpenSim.Region.Physics.Manager;
42using OpenMetaverse;
43
44namespace OpenSim.Region.Physics.OdePlugin
45{
46 public enum StatusIndicators : int
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63 [Flags]
64 public enum CollisionCategories : int
65 {
66 Disabled = 0,
67 Geom = 0x00000001,
68 Body = 0x00000002,
69 Space = 0x00000004,
70 Character = 0x00000008,
71 Land = 0x00000010,
72 Water = 0x00000020,
73 Wind = 0x00000040,
74 Sensor = 0x00000080,
75 Selected = 0x00000100
76 }
77
78 /// <summary>
79 /// Material type for a primitive
80 /// </summary>
81 public enum Material : int
82 {
83 /// <summary></summary>
84 Stone = 0,
85 /// <summary></summary>
86 Metal = 1,
87 /// <summary></summary>
88 Glass = 2,
89 /// <summary></summary>
90 Wood = 3,
91 /// <summary></summary>
92 Flesh = 4,
93 /// <summary></summary>
94 Plastic = 5,
95 /// <summary></summary>
96 Rubber = 6,
97
98 light = 7 // compatibility with old viewers
99 }
100
101 public enum changes : int
102 {
103 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
104 Remove,
105 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
106 // or removes from a object if arg is null
107 DeLink,
108 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
109 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
110 PosOffset, // not in use
111 // arg Vector3 new position in local coords. Changes prim position in object
112 OriOffset, // not in use
113 // arg Vector3 new position in local coords. Changes prim position in object
114 Velocity,
115 AngVelocity,
116 Acceleration,
117 Force,
118 Torque,
119
120 AddForce,
121 AddAngForce,
122 AngLock,
123
124 Size,
125 Shape,
126
127 CollidesWater,
128 VolumeDtc,
129
130 Physical,
131 Selected,
132 disabled,
133 building,
134
135 VehicleType,
136 VehicleFloatParam,
137 VehicleVectorParam,
138 VehicleRotationParam,
139 VehicleFlags,
140 SetVehicle,
141
142 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
143 }
144
145 public struct ODEchangeitem
146 {
147 public PhysicsActor actor;
148 public OdeCharacter character;
149 public changes what;
150 public Object arg;
151 }
152
153 public class OdeScene : PhysicsScene
154 {
155 private readonly ILog m_log;
156 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
157
158// private int threadid = 0;
159 private Random fluidRandomizer = new Random(Environment.TickCount);
160
161 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
162 const float comumContactERP = 0.6f;
163 const float comumSoftContactERP = 0.1f;
164 const float comumContactCFM = 0.0001f;
165
166 float frictionMovementMult = 0.3f;
167
168 float TerrainBounce = 0.1f;
169 float TerrainFriction = 0.3f;
170
171 public float AvatarBounce = 0.3f;
172 public float AvatarFriction = 0;// 0.9f * 0.5f;
173
174 private const uint m_regionWidth = Constants.RegionSize;
175 private const uint m_regionHeight = Constants.RegionSize;
176
177 public float ODE_STEPSIZE = 0.020f;
178 private float metersInSpace = 25.6f;
179 private float m_timeDilation = 1.0f;
180
181 public float gravityx = 0f;
182 public float gravityy = 0f;
183 public float gravityz = -9.8f;
184
185 private float waterlevel = 0f;
186 private int framecount = 0;
187
188 internal IntPtr WaterGeom;
189
190 public float avPIDD = 2200f; // make it visible
191 public float avPIDP = 900f; // make it visible
192 private float avCapRadius = 0.37f;
193 private float avDensity = 3f;
194 private float avMovementDivisorWalk = 1.3f;
195 private float avMovementDivisorRun = 0.8f;
196 private float minimumGroundFlightOffset = 3f;
197 public float maximumMassObject = 10000.01f;
198
199 public bool meshSculptedPrim = true;
200 public bool forceSimplePrimMeshing = false;
201
202 public float meshSculptLOD = 32;
203 public float MeshSculptphysicalLOD = 32;
204
205 public float geomDefaultDensity = 10.000006836f;
206
207 public int geomContactPointsStartthrottle = 3;
208 public int geomUpdatesPerThrottledUpdate = 15;
209
210 public float bodyPIDD = 35f;
211 public float bodyPIDG = 25;
212
213// public int geomCrossingFailuresBeforeOutofbounds = 6;
214
215 public int bodyFramesAutoDisable = 20;
216
217 private float[] _watermap;
218
219 private d.NearCallback nearCallback;
220
221 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
222 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
223 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
224 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
225
226 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
227
228 /// <summary>
229 /// A list of actors that should receive collision events.
230 /// </summary>
231 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
232
233 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
234 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
235 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
236
237 private float contactsurfacelayer = 0.002f;
238
239 private int contactsPerCollision = 80;
240 internal IntPtr ContactgeomsArray = IntPtr.Zero;
241 private IntPtr GlobalContactsArray = IntPtr.Zero;
242
243 const int maxContactsbeforedeath = 4000;
244 private volatile int m_global_contactcount = 0;
245
246
247 private readonly IntPtr contactgroup;
248
249 public ContactData[] m_materialContactsData = new ContactData[8];
250
251 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
252 private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
253 private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
254
255 private int m_physicsiterations = 10;
256 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
257 private readonly PhysicsActor PANull = new NullPhysicsActor();
258 private float step_time = 0.0f;
259
260 public IntPtr world;
261
262 private uint obj2LocalID = 0;
263 private OdeCharacter cc1;
264 private OdePrim cp1;
265 private OdeCharacter cc2;
266 private OdePrim cp2;
267
268 // split the spaces acording to contents type
269 // ActiveSpace contains characters and active prims
270 // StaticSpace contains land and other that is mostly static in enviroment
271 // this can contain subspaces, like the grid in staticspace
272 // as now space only contains this 2 top spaces
273
274 public IntPtr TopSpace; // the global space
275 public IntPtr ActiveSpace; // space for active prims
276 public IntPtr StaticSpace; // space for the static things around
277
278 // some speedup variables
279 private int spaceGridMaxX;
280 private int spaceGridMaxY;
281 private float spacesPerMeter;
282
283 // split static geometry collision into a grid as before
284 private IntPtr[,] staticPrimspace;
285
286 private Object OdeLock;
287 private static Object SimulationLock;
288
289 public IMesher mesher;
290
291 private IConfigSource m_config;
292
293 public bool physics_logging = false;
294 public int physics_logging_interval = 0;
295 public bool physics_logging_append_existing_logfile = false;
296
297 private Vector3 m_worldOffset = Vector3.Zero;
298 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
299 private PhysicsScene m_parentScene = null;
300
301 private ODERayCastRequestManager m_rayCastManager;
302
303
304/* maybe needed if ode uses tls
305 private void checkThread()
306 {
307
308 int th = Thread.CurrentThread.ManagedThreadId;
309 if(th != threadid)
310 {
311 threadid = th;
312 d.AllocateODEDataForThread(~0U);
313 }
314 }
315 */
316 /// <summary>
317 /// Initiailizes the scene
318 /// Sets many properties that ODE requires to be stable
319 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
320 /// </summary>
321 public OdeScene(string sceneIdentifier)
322 {
323 m_log
324 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
325
326// checkThread();
327 Name = sceneIdentifier;
328
329 OdeLock = new Object();
330 SimulationLock = new Object();
331
332 nearCallback = near;
333
334 m_rayCastManager = new ODERayCastRequestManager(this);
335 lock (OdeLock)
336 {
337 // Create the world and the first space
338 try
339 {
340 world = d.WorldCreate();
341 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
342
343 // now the major subspaces
344 ActiveSpace = d.HashSpaceCreate(TopSpace);
345 StaticSpace = d.HashSpaceCreate(TopSpace);
346 }
347 catch
348 {
349 // i must RtC#FM
350 }
351
352 d.HashSpaceSetLevels(TopSpace, -2, 8); // cell sizes from .25 to 256 ?? need check what this really does
353 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
354 d.HashSpaceSetLevels(StaticSpace, -2, 8);
355
356 // demote to second level
357 d.SpaceSetSublevel(ActiveSpace, 1);
358 d.SpaceSetSublevel(StaticSpace, 1);
359
360 contactgroup = d.JointGroupCreate(0);
361 //contactgroup
362
363 d.WorldSetAutoDisableFlag(world, false);
364 }
365
366 _watermap = new float[258 * 258];
367 }
368
369 // Initialize the mesh plugin
370// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
371 public override void Initialise(IMesher meshmerizer, IConfigSource config)
372 {
373// checkThread();
374 mesher = meshmerizer;
375 m_config = config;
376
377// m_log.WarnFormat("ODE configuration: {0}", d.GetConfiguration("ODE"));
378 /*
379 if (region != null)
380 {
381 WorldExtents.X = region.RegionSizeX;
382 WorldExtents.Y = region.RegionSizeY;
383 }
384 */
385
386 // Defaults
387
388 int contactsPerCollision = 80;
389
390 if (m_config != null)
391 {
392 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
393 if (physicsconfig != null)
394 {
395 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
396 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
397 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
398
399 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
400
401 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
402
403 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
404 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
405
406 avDensity = physicsconfig.GetFloat("av_density", avDensity);
407 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
408 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
409 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
410
411 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
412
413 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
414 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
415// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
416
417 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
418 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
419
420 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
421 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
422
423 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
424 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
425 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
426 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
427
428 if (Environment.OSVersion.Platform == PlatformID.Unix)
429 {
430 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
431 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
432 }
433 else
434 {
435 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
436 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
437 }
438
439 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
440 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
441 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
442
443 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
444 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
445 }
446 }
447
448 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
449 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
450
451 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
452 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
453
454 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
455 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
456
457 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
458 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
459
460 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
461 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
462
463 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
464 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
465
466 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
467 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
468
469 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
470 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
471
472 m_materialContactsData[(int)Material.light].mu = 0.0f;
473 m_materialContactsData[(int)Material.light].bounce = 0.0f;
474
475 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
476
477 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
478 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
479
480 d.WorldSetLinearDamping(world, 0.001f);
481 d.WorldSetAngularDamping(world, 0.001f);
482 d.WorldSetAngularDampingThreshold(world, 0f);
483 d.WorldSetLinearDampingThreshold(world, 0f);
484 d.WorldSetMaxAngularSpeed(world, 256f);
485
486 d.WorldSetCFM(world,1e-6f); // a bit harder than default
487 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
488 d.WorldSetERP(world, 0.6f); // higher than original
489
490 // Set how many steps we go without running collision testing
491 // This is in addition to the step size.
492 // Essentially Steps * m_physicsiterations
493 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
494 d.WorldSetContactMaxCorrectingVel(world, 100.0f);
495
496 spacesPerMeter = 1 / metersInSpace;
497 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
498 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
499
500 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
501
502 // create all spaces now
503 int i, j;
504 IntPtr newspace;
505 for (i = 0; i < spaceGridMaxX; i++)
506 for (j = 0; j < spaceGridMaxY; j++)
507 {
508 newspace = d.HashSpaceCreate(StaticSpace);
509 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
510 waitForSpaceUnlock(newspace);
511 d.SpaceSetSublevel(newspace, 2);
512 d.HashSpaceSetLevels(newspace, -2, 8);
513 staticPrimspace[i, j] = newspace;
514 }
515 // let this now be real maximum values
516 spaceGridMaxX--;
517 spaceGridMaxY--;
518 }
519
520 internal void waitForSpaceUnlock(IntPtr space)
521 {
522 //if (space != IntPtr.Zero)
523 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
524 }
525
526 #region Collision Detection
527
528 // sets a global contact for a joint for contactgeom , and base contact description)
529
530 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, bool softerp)
531 {
532 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
533 return IntPtr.Zero;
534
535 d.Contact newcontact = new d.Contact();
536 newcontact.geom.depth = contactGeom.depth;
537 newcontact.geom.g1 = contactGeom.g1;
538 newcontact.geom.g2 = contactGeom.g2;
539 newcontact.geom.pos = contactGeom.pos;
540 newcontact.geom.normal = contactGeom.normal;
541 newcontact.geom.side1 = contactGeom.side1;
542 newcontact.geom.side2 = contactGeom.side2;
543
544 // this needs bounce also
545 newcontact.surface.mode = comumContactFlags;
546 newcontact.surface.mu = mu;
547 newcontact.surface.bounce = bounce;
548 newcontact.surface.soft_cfm = comumContactCFM;
549 if (softerp)
550 newcontact.surface.soft_erp = comumSoftContactERP;
551 else
552 newcontact.surface.soft_erp = comumContactERP;
553
554 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
555 Marshal.StructureToPtr(newcontact, contact, true);
556 return d.JointCreateContactPtr(world, contactgroup, contact);
557 }
558
559
560
561 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
562 {
563 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
564 return false;
565
566 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
567 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
568 return true;
569 }
570
571 /// <summary>
572 /// This is our near callback. A geometry is near a body
573 /// </summary>
574 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
575 /// <param name="g1">a geometry or space</param>
576 /// <param name="g2">another geometry or space</param>
577 ///
578
579 private void near(IntPtr space, IntPtr g1, IntPtr g2)
580 {
581 // no lock here! It's invoked from within Simulate(), which is thread-locked
582
583 if (m_global_contactcount >= maxContactsbeforedeath)
584 return;
585
586 // Test if we're colliding a geom with a space.
587 // If so we have to drill down into the space recursively
588
589 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
590 return;
591
592 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
593 {
594 // We'll be calling near recursivly if one
595 // of them is a space to find all of the
596 // contact points in the space
597 try
598 {
599 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
600 }
601 catch (AccessViolationException)
602 {
603 m_log.Warn("[PHYSICS]: Unable to collide test a space");
604 return;
605 }
606 //here one should check collisions of geoms inside a space
607 // but on each space we only should have geoms that not colide amoung each other
608 // so we don't dig inside spaces
609 return;
610 }
611
612 // get geom bodies to check if we already a joint contact
613 // guess this shouldn't happen now
614 IntPtr b1 = d.GeomGetBody(g1);
615 IntPtr b2 = d.GeomGetBody(g2);
616
617 // d.GeomClassID id = d.GeomGetClass(g1);
618
619 // Figure out how many contact points we have
620 int count = 0;
621 try
622 {
623 // Colliding Geom To Geom
624 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
625
626 if (g1 == g2)
627 return; // Can't collide with yourself
628
629 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
630 return;
631
632 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
633 }
634 catch (SEHException)
635 {
636 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.");
637// ode.drelease(world);
638 base.TriggerPhysicsBasedRestart();
639 }
640 catch (Exception e)
641 {
642 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
643 return;
644 }
645
646 // id contacts done
647 if (count == 0)
648 return;
649
650 // try get physical actors
651 PhysicsActor p1;
652 PhysicsActor p2;
653
654 if (!actor_name_map.TryGetValue(g1, out p1))
655 {
656 p1 = PANull;
657 }
658
659 if (!actor_name_map.TryGetValue(g2, out p2))
660 {
661 p2 = PANull;
662 }
663
664 // update actors collision score
665 if (p1.CollisionScore >= float.MaxValue - count)
666 p1.CollisionScore = 0;
667 p1.CollisionScore += count;
668
669 if (p2.CollisionScore >= float.MaxValue - count)
670 p2.CollisionScore = 0;
671 p2.CollisionScore += count;
672
673
674 // get first contact
675 d.ContactGeom curContact = new d.ContactGeom();
676 if (!GetCurContactGeom(0, ref curContact))
677 return;
678 // for now it's the one with max depth
679 ContactPoint maxDepthContact = new ContactPoint(
680 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
681 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
682 curContact.depth
683 );
684 // do volume detection case
685 if (
686 (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
687 (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
688 {
689 collision_accounting_events(p1, p2, maxDepthContact);
690 return;
691 }
692
693 // big messy collision analises
694 float mu = 0;
695 float bounce = 0;
696 ContactData contactdata1 = new ContactData(0, 0, false);
697 ContactData contactdata2 = new ContactData(0, 0, false);
698 bool erpSoft = false;
699
700 String name = null;
701 bool dop1foot = false;
702 bool dop2foot = false;
703 bool ignore = false;
704
705 switch (p1.PhysicsActorType)
706 {
707 case (int)ActorTypes.Agent:
708 switch (p2.PhysicsActorType)
709 {
710 case (int)ActorTypes.Agent:
711 p1.getContactData(ref contactdata1);
712 p2.getContactData(ref contactdata2);
713
714 bounce = contactdata1.bounce * contactdata2.bounce;
715
716 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
717
718 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
719 mu *= frictionMovementMult;
720
721 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
722 p1.CollidingObj = true;
723 p2.CollidingObj = true;
724 break;
725 case (int)ActorTypes.Prim:
726 p1.getContactData(ref contactdata1);
727 p2.getContactData(ref contactdata2);
728 bounce = contactdata1.bounce * contactdata2.bounce;
729
730 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
731
732 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
733 mu *= frictionMovementMult;
734 if (p2.Velocity.LengthSquared() > 0.0f)
735 p2.CollidingObj = true;
736
737 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
738
739 dop1foot = true;
740 break;
741 default:
742 ignore=true; // avatar to terrain and water ignored
743 break;
744 }
745 break;
746
747 case (int)ActorTypes.Prim:
748 switch (p2.PhysicsActorType)
749 {
750 case (int)ActorTypes.Agent:
751 p1.getContactData(ref contactdata1);
752 p2.getContactData(ref contactdata2);
753 bounce = contactdata1.bounce * contactdata2.bounce;
754
755 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
756
757 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
758 mu *= frictionMovementMult;
759
760 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
761 dop2foot = true;
762 if (p1.Velocity.LengthSquared() > 0.0f)
763 p1.CollidingObj = true;
764 break;
765 case (int)ActorTypes.Prim:
766 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
767 {
768 p1.CollidingObj = true;
769 p2.CollidingObj = true;
770 }
771 p1.getContactData(ref contactdata1);
772 p2.getContactData(ref contactdata2);
773 bounce = contactdata1.bounce * contactdata2.bounce;
774 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
775 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
776
777 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
778 mu *= frictionMovementMult;
779
780 break;
781 default:
782 if (geom_name_map.TryGetValue(g2, out name))
783 {
784 if (name == "Terrain")
785 {
786 p1.getContactData(ref contactdata1);
787 bounce = contactdata1.bounce * TerrainBounce;
788 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
789 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
790 mu *= frictionMovementMult;
791 erpSoft = contactdata1.softcolide;
792 p1.CollidingGround = true;
793 }
794 else if (name == "Water")
795 {
796 erpSoft = true;
797 }
798 }
799 else
800 ignore=true;
801 break;
802 }
803 break;
804
805 default:
806 if (geom_name_map.TryGetValue(g1, out name))
807 {
808 if (name == "Terrain")
809 {
810 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
811 {
812 p2.CollidingGround = true;
813 p2.getContactData(ref contactdata2);
814 bounce = contactdata2.bounce * TerrainBounce;
815 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
816 erpSoft = contactdata2.softcolide;
817
818 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
819 mu *= frictionMovementMult;
820 }
821 else
822 ignore = true;
823
824 }
825 else if (name == "Water" &&
826 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
827 {
828 erpSoft = true;
829 }
830 }
831 else
832 ignore = true;
833 break;
834 }
835
836 if (ignore)
837 return;
838
839 IntPtr Joint;
840
841 int i = 0;
842 while(true)
843 {
844 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
845 p1.IsColliding = true;
846 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
847 p2.IsColliding = true;
848
849 Joint = CreateContacJoint(ref curContact, mu, bounce, erpSoft);
850 d.JointAttach(Joint, b1, b2);
851
852 if (++m_global_contactcount >= maxContactsbeforedeath)
853 break;
854
855 if(++i >= count)
856 break;
857
858 if (!GetCurContactGeom(i, ref curContact))
859 break;
860
861 if (curContact.depth > maxDepthContact.PenetrationDepth)
862 {
863 maxDepthContact.Position.X = curContact.pos.X;
864 maxDepthContact.Position.Y = curContact.pos.Y;
865 maxDepthContact.Position.Z = curContact.pos.Z;
866 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
867 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
868 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
869 maxDepthContact.PenetrationDepth = curContact.depth;
870 }
871 }
872
873 collision_accounting_events(p1, p2, maxDepthContact);
874
875/*
876 if (notskipedcount > geomContactPointsStartthrottle)
877 {
878 // If there are more then 3 contact points, it's likely
879 // that we've got a pile of objects, so ...
880 // We don't want to send out hundreds of terse updates over and over again
881 // so lets throttle them and send them again after it's somewhat sorted out.
882 this needs checking so out for now
883 if (b1 != IntPtr.Zero)
884 p1.ThrottleUpdates = true;
885 if (b2 != IntPtr.Zero)
886 p2.ThrottleUpdates = true;
887
888 }
889 */
890 }
891
892 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
893 {
894 // obj1LocalID = 0;
895 //returncollisions = false;
896 obj2LocalID = 0;
897 //ctype = 0;
898 //cStartStop = 0;
899 if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
900 return;
901
902 switch ((ActorTypes)p1.PhysicsActorType)
903 {
904 case ActorTypes.Agent:
905 cc1 = (OdeCharacter)p1;
906 switch ((ActorTypes)p2.PhysicsActorType)
907 {
908 case ActorTypes.Agent:
909 cc2 = (OdeCharacter)p2;
910 obj2LocalID = cc2.m_localID;
911 if (p2.SubscribedEvents())
912 cc2.AddCollisionEvent(cc1.m_localID, contact);
913 break;
914
915 case ActorTypes.Prim:
916 if (p2 is OdePrim)
917 {
918 cp2 = (OdePrim)p2;
919 obj2LocalID = cp2.m_localID;
920 if (p2.SubscribedEvents())
921 cp2.AddCollisionEvent(cc1.m_localID, contact);
922 }
923 break;
924
925 case ActorTypes.Ground:
926 case ActorTypes.Unknown:
927 default:
928 obj2LocalID = 0;
929 break;
930 }
931 if (p1.SubscribedEvents())
932 {
933 contact.SurfaceNormal = -contact.SurfaceNormal;
934 cc1.AddCollisionEvent(obj2LocalID, contact);
935 }
936 break;
937
938 case ActorTypes.Prim:
939
940 if (p1 is OdePrim)
941 {
942 cp1 = (OdePrim)p1;
943
944 // obj1LocalID = cp2.m_localID;
945 switch ((ActorTypes)p2.PhysicsActorType)
946 {
947 case ActorTypes.Agent:
948 if (p2 is OdeCharacter)
949 {
950 cc2 = (OdeCharacter)p2;
951 obj2LocalID = cc2.m_localID;
952 if (p2.SubscribedEvents())
953 cc2.AddCollisionEvent(cp1.m_localID, contact);
954 }
955 break;
956 case ActorTypes.Prim:
957
958 if (p2 is OdePrim)
959 {
960 cp2 = (OdePrim)p2;
961 obj2LocalID = cp2.m_localID;
962 if (p2.SubscribedEvents())
963 cp2.AddCollisionEvent(cp1.m_localID, contact);
964 }
965 break;
966
967 case ActorTypes.Ground:
968 case ActorTypes.Unknown:
969 default:
970 obj2LocalID = 0;
971 break;
972 }
973 if (p1.SubscribedEvents())
974 {
975 contact.SurfaceNormal = -contact.SurfaceNormal;
976 cp1.AddCollisionEvent(obj2LocalID, contact);
977 }
978 }
979 break;
980 }
981 }
982
983 /// <summary>
984 /// This is our collision testing routine in ODE
985 /// </summary>
986 /// <param name="timeStep"></param>
987 private void collision_optimized()
988 {
989 lock (_characters)
990 {
991 try
992 {
993 foreach (OdeCharacter chr in _characters)
994 {
995 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
996 continue;
997
998 chr.IsColliding = false;
999 // chr.CollidingGround = false; not done here
1000 chr.CollidingObj = false;
1001 // do colisions with static space
1002 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1003 }
1004 }
1005 catch (AccessViolationException)
1006 {
1007 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1008 }
1009
1010 }
1011
1012 lock (_activeprims)
1013 {
1014 foreach (OdePrim aprim in _activeprims)
1015 {
1016 aprim.CollisionScore = 0;
1017 aprim.IsColliding = false;
1018 }
1019 }
1020
1021 // collide active prims with static enviroment
1022 lock (_activegroups)
1023 {
1024 try
1025 {
1026 foreach (OdePrim prm in _activegroups)
1027 {
1028 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1029 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1030 }
1031 }
1032 catch (AccessViolationException)
1033 {
1034 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1035 }
1036 }
1037 // finally colide active things amoung them
1038 try
1039 {
1040 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1041 }
1042 catch (AccessViolationException)
1043 {
1044 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1045 }
1046// _perloopContact.Clear();
1047 }
1048
1049 #endregion
1050
1051
1052
1053 /// <summary>
1054 /// Add actor to the list that should receive collision events in the simulate loop.
1055 /// </summary>
1056 /// <param name="obj"></param>
1057 public void AddCollisionEventReporting(PhysicsActor obj)
1058 {
1059 lock (_collisionEventPrim)
1060 {
1061 if (!_collisionEventPrim.Contains(obj))
1062 _collisionEventPrim.Add(obj);
1063 }
1064 }
1065
1066 /// <summary>
1067 /// Remove actor from the list that should receive collision events in the simulate loop.
1068 /// </summary>
1069 /// <param name="obj"></param>
1070 public void RemoveCollisionEventReporting(PhysicsActor obj)
1071 {
1072 lock (_collisionEventPrim)
1073 {
1074 if (_collisionEventPrim.Contains(obj))
1075 _collisionEventPrim.Remove(obj);
1076 }
1077 }
1078
1079 #region Add/Remove Entities
1080
1081 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1082 {
1083 Vector3 pos;
1084 pos.X = position.X;
1085 pos.Y = position.Y;
1086 pos.Z = position.Z;
1087 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1088 newAv.Flying = isFlying;
1089 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1090
1091 return newAv;
1092 }
1093
1094 public void AddCharacter(OdeCharacter chr)
1095 {
1096 lock (_characters)
1097 {
1098 if (!_characters.Contains(chr))
1099 {
1100 _characters.Add(chr);
1101 if (chr.bad)
1102 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1103 }
1104 }
1105 }
1106
1107 public void RemoveCharacter(OdeCharacter chr)
1108 {
1109 lock (_characters)
1110 {
1111 if (_characters.Contains(chr))
1112 {
1113 _characters.Remove(chr);
1114 }
1115 }
1116 }
1117
1118 public void BadCharacter(OdeCharacter chr)
1119 {
1120 lock (_badCharacter)
1121 {
1122 if (!_badCharacter.Contains(chr))
1123 _badCharacter.Add(chr);
1124 }
1125 }
1126
1127 public override void RemoveAvatar(PhysicsActor actor)
1128 {
1129 //m_log.Debug("[PHYSICS]:ODELOCK");
1130 ((OdeCharacter) actor).Destroy();
1131 }
1132
1133 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1134 PrimitiveBaseShape pbs, bool isphysical, uint localID)
1135 {
1136 Vector3 pos = position;
1137 Vector3 siz = size;
1138 Quaternion rot = rotation;
1139
1140 OdePrim newPrim;
1141 lock (OdeLock)
1142 {
1143 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical);
1144
1145 lock (_prims)
1146 _prims.Add(newPrim);
1147 }
1148 newPrim.LocalID = localID;
1149 return newPrim;
1150 }
1151
1152 public void addActivePrim(OdePrim activatePrim)
1153 {
1154 // adds active prim..
1155 lock (_activeprims)
1156 {
1157 if (!_activeprims.Contains(activatePrim))
1158 _activeprims.Add(activatePrim);
1159 }
1160 }
1161
1162 public void addActiveGroups(OdePrim activatePrim)
1163 {
1164 lock (_activegroups)
1165 {
1166 if (!_activegroups.Contains(activatePrim))
1167 _activegroups.Add(activatePrim);
1168 }
1169 }
1170
1171 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1172 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1173 {
1174#if SPAM
1175 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1176#endif
1177
1178 return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
1179 }
1180
1181 public override float TimeDilation
1182 {
1183 get { return m_timeDilation; }
1184 }
1185
1186 public override bool SupportsNINJAJoints
1187 {
1188 get { return false; }
1189 }
1190
1191
1192 public void remActivePrim(OdePrim deactivatePrim)
1193 {
1194 lock (_activeprims)
1195 {
1196 _activeprims.Remove(deactivatePrim);
1197 }
1198 }
1199 public void remActiveGroup(OdePrim deactivatePrim)
1200 {
1201 lock (_activegroups)
1202 {
1203 _activegroups.Remove(deactivatePrim);
1204 }
1205 }
1206
1207 public override void RemovePrim(PhysicsActor prim)
1208 {
1209 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1210 // removed in the next physics simulate pass.
1211 if (prim is OdePrim)
1212 {
1213// lock (OdeLock)
1214 {
1215 OdePrim p = (OdePrim)prim;
1216 p.setPrimForRemoval();
1217 }
1218 }
1219 }
1220 /// <summary>
1221 /// This is called from within simulate but outside the locked portion
1222 /// We need to do our own locking here
1223 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1224 /// Simulate() -- justincc).
1225 ///
1226 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1227 ///
1228 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1229 /// that the space was using.
1230 /// </summary>
1231 /// <param name="prim"></param>
1232 public void RemovePrimThreadLocked(OdePrim prim)
1233 {
1234 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1235 lock (prim)
1236 {
1237 RemoveCollisionEventReporting(prim);
1238 lock (_prims)
1239 _prims.Remove(prim);
1240 }
1241
1242 }
1243 #endregion
1244
1245 #region Space Separation Calculation
1246
1247 /// <summary>
1248 /// Called when a static prim moves or becomes static
1249 /// Places the prim in a space one the static sub-spaces grid
1250 /// </summary>
1251 /// <param name="geom">the pointer to the geom that moved</param>
1252 /// <param name="pos">the position that the geom moved to</param>
1253 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1254 /// <returns>a pointer to the new space it's in</returns>
1255 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1256 {
1257 // moves a prim into another static sub-space or from another space into a static sub-space
1258
1259 // Called ODEPrim so
1260 // it's already in locked space.
1261
1262 if (geom == IntPtr.Zero) // shouldn't happen
1263 return IntPtr.Zero;
1264
1265 // get the static sub-space for current position
1266 IntPtr newspace = calculateSpaceForGeom(pos);
1267
1268 if (newspace == currentspace) // if we are there all done
1269 return newspace;
1270
1271 // else remove it from its current space
1272 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1273 {
1274 if (d.GeomIsSpace(currentspace))
1275 {
1276 waitForSpaceUnlock(currentspace);
1277 d.SpaceRemove(currentspace, geom);
1278
1279 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1280 {
1281 d.SpaceDestroy(currentspace);
1282 }
1283 }
1284 else
1285 {
1286 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1287 " Geom:" + geom);
1288 }
1289 }
1290 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1291 {
1292 currentspace = d.GeomGetSpace(geom);
1293 if (currentspace != IntPtr.Zero)
1294 {
1295 if (d.GeomIsSpace(currentspace))
1296 {
1297 waitForSpaceUnlock(currentspace);
1298 d.SpaceRemove(currentspace, geom);
1299
1300 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1301 {
1302 d.SpaceDestroy(currentspace);
1303 }
1304
1305 }
1306 }
1307 }
1308
1309 // put the geom in the newspace
1310 waitForSpaceUnlock(newspace);
1311 d.SpaceAdd(newspace, geom);
1312
1313 // let caller know this newspace
1314 return newspace;
1315 }
1316
1317 /// <summary>
1318 /// Calculates the space the prim should be in by its position
1319 /// </summary>
1320 /// <param name="pos"></param>
1321 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1322 public IntPtr calculateSpaceForGeom(Vector3 pos)
1323 {
1324 int x, y;
1325 x = (int)(pos.X * spacesPerMeter);
1326 if (x < 0)
1327 x = 0;
1328 else if (x > spaceGridMaxX)
1329 x = spaceGridMaxX;
1330
1331 y = (int)(pos.Y * spacesPerMeter);
1332 if (y < 0)
1333 y = 0;
1334 else if (y >spaceGridMaxY)
1335 y = spaceGridMaxY;
1336
1337 IntPtr tmpSpace = staticPrimspace[x, y];
1338 return tmpSpace;
1339 }
1340
1341 #endregion
1342
1343 /// <summary>
1344 /// Routine to figure out if we need to mesh this prim with our mesher
1345 /// </summary>
1346 /// <param name="pbs"></param>
1347 /// <returns></returns>
1348 public bool needsMeshing(PrimitiveBaseShape pbs)
1349 {
1350 // most of this is redundant now as the mesher will return null if it cant mesh a prim
1351 // but we still need to check for sculptie meshing being enabled so this is the most
1352 // convenient place to do it for now...
1353
1354 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1355 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1356 int iPropertiesNotSupportedDefault = 0;
1357
1358 if (pbs.SculptEntry)
1359 {
1360 if(!meshSculptedPrim)
1361 return false;
1362 }
1363
1364 // 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
1365 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
1366 {
1367 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
1368 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
1369 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
1370 {
1371
1372 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
1373 && pbs.ProfileHollow == 0
1374 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
1375 && pbs.PathBegin == 0 && pbs.PathEnd == 0
1376 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
1377 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
1378 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
1379 {
1380#if SPAM
1381 m_log.Warn("NonMesh");
1382#endif
1383 return false;
1384 }
1385 }
1386 }
1387
1388 // following code doesn't give meshs to boxes and spheres ever
1389 // and it's odd.. so for now just return true if asked to force meshs
1390 // hopefully mesher will fail if doesn't suport so things still get basic boxes
1391
1392 if (forceSimplePrimMeshing)
1393 return true;
1394
1395 if (pbs.ProfileHollow != 0)
1396 iPropertiesNotSupportedDefault++;
1397
1398 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
1399 iPropertiesNotSupportedDefault++;
1400
1401 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
1402 iPropertiesNotSupportedDefault++;
1403
1404 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
1405 iPropertiesNotSupportedDefault++;
1406
1407 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
1408 iPropertiesNotSupportedDefault++;
1409
1410 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
1411 iPropertiesNotSupportedDefault++;
1412
1413 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
1414 iPropertiesNotSupportedDefault++;
1415
1416 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))
1417 iPropertiesNotSupportedDefault++;
1418
1419 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
1420 iPropertiesNotSupportedDefault++;
1421
1422 // test for torus
1423 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
1424 {
1425 if (pbs.PathCurve == (byte)Extrusion.Curve1)
1426 {
1427 iPropertiesNotSupportedDefault++;
1428 }
1429 }
1430 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1431 {
1432 if (pbs.PathCurve == (byte)Extrusion.Straight)
1433 {
1434 iPropertiesNotSupportedDefault++;
1435 }
1436
1437 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
1438 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1439 {
1440 iPropertiesNotSupportedDefault++;
1441 }
1442 }
1443 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
1444 {
1445 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
1446 {
1447 iPropertiesNotSupportedDefault++;
1448 }
1449 }
1450 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
1451 {
1452 if (pbs.PathCurve == (byte)Extrusion.Straight)
1453 {
1454 iPropertiesNotSupportedDefault++;
1455 }
1456 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1457 {
1458 iPropertiesNotSupportedDefault++;
1459 }
1460 }
1461
1462 if (pbs.SculptEntry && meshSculptedPrim)
1463 iPropertiesNotSupportedDefault++;
1464
1465 if (iPropertiesNotSupportedDefault == 0)
1466 {
1467#if SPAM
1468 m_log.Warn("NonMesh");
1469#endif
1470 return false;
1471 }
1472#if SPAM
1473 m_log.Debug("Mesh");
1474#endif
1475 return true;
1476 }
1477
1478 /// <summary>
1479 /// Called to queue a change to a actor
1480 /// to use in place of old taint mechanism so changes do have a time sequence
1481 /// </summary>
1482
1483 public void AddChange(PhysicsActor actor, changes what, Object arg)
1484 {
1485 ODEchangeitem item = new ODEchangeitem();
1486 item.actor = actor;
1487 item.what = what;
1488 item.arg = arg;
1489 ChangesQueue.Enqueue(item);
1490 }
1491
1492 /// <summary>
1493 /// Called after our prim properties are set Scale, position etc.
1494 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1495 /// This assures us that we have no race conditions
1496 /// </summary>
1497 /// <param name="prim"></param>
1498 public override void AddPhysicsActorTaint(PhysicsActor prim)
1499 {
1500 }
1501
1502 /// <summary>
1503 /// This is our main simulate loop
1504 /// It's thread locked by a Mutex in the scene.
1505 /// It holds Collisions, it instructs ODE to step through the physical reactions
1506 /// It moves the objects around in memory
1507 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1508 /// </summary>
1509 /// <param name="timeStep"></param>
1510 /// <returns></returns>
1511 public override float Simulate(float timeStep)
1512 {
1513 int statstart;
1514 int statchanges = 0;
1515 int statchmove = 0;
1516 int statactmove = 0;
1517 int statray = 0;
1518 int statcol = 0;
1519 int statstep = 0;
1520 int statmovchar = 0;
1521 int statmovprim;
1522 int totjcontact = 0;
1523
1524 // acumulate time so we can reduce error
1525 step_time += timeStep;
1526
1527 if (step_time < ODE_STEPSIZE)
1528 return 0;
1529
1530 if (framecount >= int.MaxValue)
1531 framecount = 0;
1532
1533 framecount++;
1534
1535 int curphysiteractions = m_physicsiterations;
1536
1537 if (step_time >= m_SkipFramesAtms)
1538 {
1539 // if in trouble reduce step resolution
1540 curphysiteractions /= 2;
1541 }
1542
1543 int nodeframes = 0;
1544
1545// checkThread();
1546
1547 lock (SimulationLock)
1548 {
1549 // adjust number of iterations per step
1550 try
1551 {
1552 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1553 }
1554 catch (StackOverflowException)
1555 {
1556 m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
1557// ode.drelease(world);
1558 base.TriggerPhysicsBasedRestart();
1559 }
1560
1561
1562 while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever
1563 {
1564 try
1565 {
1566 statstart = Util.EnvironmentTickCount();
1567
1568 // clear pointer/counter to contacts to pass into joints
1569 m_global_contactcount = 0;
1570
1571 ODEchangeitem item;
1572
1573 if(ChangesQueue.Count >0)
1574 {
1575 int ttmpstart = Util.EnvironmentTickCount();
1576 int ttmp;
1577 int ttmp2;
1578
1579 while(ChangesQueue.Dequeue(out item))
1580 {
1581 if (item.actor != null)
1582 {
1583 try
1584 {
1585 if (item.actor is OdeCharacter)
1586 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1587 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1588 RemovePrimThreadLocked((OdePrim)item.actor);
1589 }
1590 catch
1591 {
1592 m_log.Warn("[PHYSICS]: doChange failed for a actor");
1593 };
1594 }
1595 ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
1596 if (ttmp > 20)
1597 break;
1598 }
1599
1600 ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
1601 if (ttmp2 > 50)
1602 ttmp2 = 0;
1603
1604 }
1605
1606 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1607
1608 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1609 //if ((framecount % m_randomizeWater) == 0)
1610 // randomizeWater(waterlevel);
1611
1612 m_rayCastManager.ProcessQueuedRequests();
1613
1614
1615
1616 statray += Util.EnvironmentTickCountSubtract(statstart);
1617 collision_optimized();
1618 statcol += Util.EnvironmentTickCountSubtract(statstart);
1619
1620 lock (_collisionEventPrim)
1621 {
1622 foreach (PhysicsActor obj in _collisionEventPrim)
1623 {
1624 if (obj == null)
1625 continue;
1626
1627 switch ((ActorTypes)obj.PhysicsActorType)
1628 {
1629 case ActorTypes.Agent:
1630 OdeCharacter cobj = (OdeCharacter)obj;
1631 cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
1632 cobj.SendCollisions();
1633 break;
1634
1635 case ActorTypes.Prim:
1636 OdePrim pobj = (OdePrim)obj;
1637 pobj.SendCollisions();
1638 break;
1639 }
1640 }
1641 }
1642
1643 d.WorldQuickStep(world, ODE_STEPSIZE);
1644 statstep += Util.EnvironmentTickCountSubtract(statstart);
1645
1646 // Move characters
1647 lock (_characters)
1648 {
1649 List<OdeCharacter> defects = new List<OdeCharacter>();
1650 foreach (OdeCharacter actor in _characters)
1651 {
1652 if (actor != null)
1653 actor.Move(ODE_STEPSIZE, defects);
1654 }
1655 if (defects.Count != 0)
1656 {
1657 foreach (OdeCharacter defect in defects)
1658 {
1659 RemoveCharacter(defect);
1660 }
1661 }
1662 }
1663 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1664
1665 // Move other active objects
1666 lock (_activegroups)
1667 {
1668 foreach (OdePrim aprim in _activegroups)
1669 {
1670 aprim.Move();
1671 }
1672 }
1673
1674 //ode.dunlock(world);
1675 }
1676 catch (Exception e)
1677 {
1678 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1679// ode.dunlock(world);
1680 }
1681
1682 d.JointGroupEmpty(contactgroup);
1683 totjcontact += m_global_contactcount;
1684
1685 step_time -= ODE_STEPSIZE;
1686 nodeframes++;
1687 }
1688
1689 statstart = Util.EnvironmentTickCount();
1690
1691 lock (_characters)
1692 {
1693 foreach (OdeCharacter actor in _characters)
1694 {
1695 if (actor != null)
1696 {
1697 if (actor.bad)
1698 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1699
1700 actor.UpdatePositionAndVelocity();
1701 }
1702 }
1703 }
1704
1705 lock (_badCharacter)
1706 {
1707 if (_badCharacter.Count > 0)
1708 {
1709 foreach (OdeCharacter chr in _badCharacter)
1710 {
1711 RemoveCharacter(chr);
1712 }
1713
1714 _badCharacter.Clear();
1715 }
1716 }
1717 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1718
1719 lock (_activegroups)
1720 {
1721 {
1722 foreach (OdePrim actor in _activegroups)
1723 {
1724 if (actor.IsPhysical)
1725 {
1726 actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
1727 }
1728 }
1729 }
1730 }
1731
1732 statmovprim = Util.EnvironmentTickCountSubtract(statstart);
1733
1734 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1735 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1736 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1737 int nbodies = d.NTotalBodies;
1738 int ngeoms = d.NTotalGeoms;
1739
1740 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1741 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1742 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1743 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1744 {
1745 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1746 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1747
1748 if (physics_logging_append_existing_logfile)
1749 {
1750 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1751 TextWriter fwriter = File.AppendText(fname);
1752 fwriter.WriteLine(header);
1753 fwriter.Close();
1754 }
1755
1756 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1757 }
1758
1759 // think time dilation is not a physics issue alone.. but ok let's fake something
1760 if (step_time < ODE_STEPSIZE) // we did the required loops
1761 m_timeDilation = 1.0f;
1762 else
1763 { // we didn't forget the lost ones and let user know something
1764 m_timeDilation = 1 - step_time / timeStep;
1765 if (m_timeDilation < 0)
1766 m_timeDilation = 0;
1767 step_time = 0;
1768 }
1769 }
1770
1771// return nodeframes * ODE_STEPSIZE; // return real simulated time
1772 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1773 }
1774
1775 /// <summary>
1776 public override void GetResults()
1777 {
1778 }
1779
1780 public override bool IsThreaded
1781 {
1782 // for now we won't be multithreaded
1783 get { return (false); }
1784 }
1785
1786 public float GetTerrainHeightAtXY(float x, float y)
1787 {
1788 // assumes 1m size grid and constante size square regions
1789 // needs to know about sims around in future
1790 // region offset in mega position
1791
1792 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1793 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1794
1795 IntPtr heightFieldGeom = IntPtr.Zero;
1796
1797 // get region map
1798 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
1799 return 0f;
1800
1801 if (heightFieldGeom == IntPtr.Zero)
1802 return 0f;
1803
1804 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1805 return 0f;
1806
1807 // TerrainHeightField for ODE as offset 1m
1808 x += 1f - offsetX;
1809 y += 1f - offsetY;
1810
1811 // make position fit into array
1812 if (x < 0)
1813 x = 0;
1814 if (y < 0)
1815 y = 0;
1816
1817 // integer indexs
1818 int ix;
1819 int iy;
1820 // interpolators offset
1821 float dx;
1822 float dy;
1823
1824 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
1825
1826 // we still have square fixed size regions
1827 // also flip x and y because of how map is done for ODE fliped axis
1828 // so ix,iy,dx and dy are inter exchanged
1829 if (x < regsize - 1)
1830 {
1831 iy = (int)x;
1832 dy = x - (float)iy;
1833 }
1834 else // out world use external height
1835 {
1836 iy = regsize - 1;
1837 dy = 0;
1838 }
1839 if (y < regsize - 1)
1840 {
1841 ix = (int)y;
1842 dx = y - (float)ix;
1843 }
1844 else
1845 {
1846 ix = regsize - 1;
1847 dx = 0;
1848 }
1849
1850 float h0;
1851 float h1;
1852 float h2;
1853
1854 iy *= regsize;
1855 iy += ix; // all indexes have iy + ix
1856
1857 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
1858
1859 if ((dx + dy) <= 1.0f)
1860 {
1861 h0 = ((float)heights[iy]); // 0,0 vertice
1862 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
1863 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
1864 }
1865 else
1866 {
1867 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
1868 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
1869 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
1870 }
1871
1872 return h0 + h1 + h2;
1873 }
1874 public override void SetTerrain(float[] heightMap)
1875 {
1876 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
1877 {
1878 if (m_parentScene is OdeScene)
1879 {
1880 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
1881 }
1882 }
1883 else
1884 {
1885 SetTerrain(heightMap, m_worldOffset);
1886 }
1887 }
1888
1889 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
1890 {
1891 SetTerrain(heightMap, pOffset);
1892 }
1893
1894 public void SetTerrain(float[] heightMap, Vector3 pOffset)
1895 {
1896 // assumes 1m size grid and constante size square regions
1897 // needs to know about sims around in future
1898
1899 float[] _heightmap;
1900
1901 uint heightmapWidth = Constants.RegionSize + 2;
1902 uint heightmapHeight = Constants.RegionSize + 2;
1903
1904 uint heightmapWidthSamples = heightmapWidth + 1;
1905 uint heightmapHeightSamples = heightmapHeight + 1;
1906
1907 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
1908
1909 const float scale = 1.0f;
1910 const float offset = 0.0f;
1911 const float thickness = 10f;
1912 const int wrap = 0;
1913
1914 uint regionsize = Constants.RegionSize;
1915
1916 float hfmin = float.MaxValue;
1917 float hfmax = float.MinValue;
1918 float val;
1919 uint xx;
1920 uint yy;
1921
1922 uint maxXXYY = regionsize - 1;
1923 // flipping map adding one margin all around so things don't fall in edges
1924
1925 uint xt = 0;
1926 xx = 0;
1927
1928 for (uint x = 0; x < heightmapWidthSamples; x++)
1929 {
1930 if (x > 1 && xx < maxXXYY)
1931 xx++;
1932 yy = 0;
1933 for (uint y = 0; y < heightmapHeightSamples; y++)
1934 {
1935 if (y > 1 && y < maxXXYY)
1936 yy += regionsize;
1937
1938 val = heightMap[yy + xx];
1939 if (val < 0.0f)
1940 val = 0.0f; // no neg terrain as in chode
1941 _heightmap[xt + y] = val;
1942
1943 if (hfmin > val)
1944 hfmin = val;
1945 if (hfmax < val)
1946 hfmax = val;
1947 }
1948 xt += heightmapHeightSamples;
1949 }
1950 lock (OdeLock)
1951 {
1952 IntPtr GroundGeom = IntPtr.Zero;
1953 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
1954 {
1955 RegionTerrain.Remove(pOffset);
1956 if (GroundGeom != IntPtr.Zero)
1957 {
1958 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
1959 {
1960 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
1961 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
1962 TerrainHeightFieldHeights.Remove(GroundGeom);
1963 }
1964 d.SpaceRemove(StaticSpace, GroundGeom);
1965 d.GeomDestroy(GroundGeom);
1966 }
1967 }
1968 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
1969
1970 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
1971
1972 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
1973 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
1974 offset, thickness, wrap);
1975
1976 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
1977 GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
1978 if (GroundGeom != IntPtr.Zero)
1979 {
1980 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
1981 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
1982
1983 }
1984 geom_name_map[GroundGeom] = "Terrain";
1985
1986 d.Matrix3 R = new d.Matrix3();
1987
1988 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
1989 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
1990
1991
1992 q1 = q1 * q2;
1993
1994 Vector3 v3;
1995 float angle;
1996 q1.GetAxisAngle(out v3, out angle);
1997
1998 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
1999 d.GeomSetRotation(GroundGeom, ref R);
2000 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2001 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2002// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2003 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2004 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2005
2006 }
2007 }
2008
2009 public override void DeleteTerrain()
2010 {
2011 }
2012
2013 public float GetWaterLevel()
2014 {
2015 return waterlevel;
2016 }
2017
2018 public override bool SupportsCombining()
2019 {
2020 return true;
2021 }
2022/*
2023 public override void UnCombine(PhysicsScene pScene)
2024 {
2025 IntPtr localGround = IntPtr.Zero;
2026// float[] localHeightfield;
2027 bool proceed = false;
2028 List<IntPtr> geomDestroyList = new List<IntPtr>();
2029
2030 lock (OdeLock)
2031 {
2032 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2033 {
2034 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2035 {
2036 if (geom == localGround)
2037 {
2038// localHeightfield = TerrainHeightFieldHeights[geom];
2039 proceed = true;
2040 }
2041 else
2042 {
2043 geomDestroyList.Add(geom);
2044 }
2045 }
2046
2047 if (proceed)
2048 {
2049 m_worldOffset = Vector3.Zero;
2050 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2051 m_parentScene = null;
2052
2053 foreach (IntPtr g in geomDestroyList)
2054 {
2055 // removingHeightField needs to be done or the garbage collector will
2056 // collect the terrain data before we tell ODE to destroy it causing
2057 // memory corruption
2058 if (TerrainHeightFieldHeights.ContainsKey(g))
2059 {
2060// float[] removingHeightField = TerrainHeightFieldHeights[g];
2061 TerrainHeightFieldHeights.Remove(g);
2062
2063 if (RegionTerrain.ContainsKey(g))
2064 {
2065 RegionTerrain.Remove(g);
2066 }
2067
2068 d.GeomDestroy(g);
2069 //removingHeightField = new float[0];
2070 }
2071 }
2072
2073 }
2074 else
2075 {
2076 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2077 }
2078 }
2079 }
2080 }
2081*/
2082 public override void SetWaterLevel(float baseheight)
2083 {
2084 waterlevel = baseheight;
2085 randomizeWater(waterlevel);
2086 }
2087
2088 public void randomizeWater(float baseheight)
2089 {
2090 const uint heightmapWidth = m_regionWidth + 2;
2091 const uint heightmapHeight = m_regionHeight + 2;
2092 const uint heightmapWidthSamples = m_regionWidth + 2;
2093 const uint heightmapHeightSamples = m_regionHeight + 2;
2094 const float scale = 1.0f;
2095 const float offset = 0.0f;
2096 const float thickness = 2.9f;
2097 const int wrap = 0;
2098
2099 for (int i = 0; i < (258 * 258); i++)
2100 {
2101 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
2102 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
2103 }
2104
2105 lock (OdeLock)
2106 {
2107 if (WaterGeom != IntPtr.Zero)
2108 {
2109 d.SpaceRemove(StaticSpace, WaterGeom);
2110 }
2111 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2112 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
2113 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2114 offset, thickness, wrap);
2115 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
2116 WaterGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2117 if (WaterGeom != IntPtr.Zero)
2118 {
2119 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
2120 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
2121
2122 }
2123 geom_name_map[WaterGeom] = "Water";
2124
2125 d.Matrix3 R = new d.Matrix3();
2126
2127 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2128 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2129
2130 q1 = q1 * q2;
2131 Vector3 v3;
2132 float angle;
2133 q1.GetAxisAngle(out v3, out angle);
2134
2135 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2136 d.GeomSetRotation(WaterGeom, ref R);
2137 d.GeomSetPosition(WaterGeom, 128, 128, 0);
2138
2139 }
2140
2141 }
2142
2143 public override void Dispose()
2144 {
2145 m_rayCastManager.Dispose();
2146 m_rayCastManager = null;
2147
2148 lock (OdeLock)
2149 {
2150 lock (_prims)
2151 {
2152 foreach (OdePrim prm in _prims)
2153 {
2154 RemovePrim(prm);
2155 }
2156 }
2157
2158 if (ContactgeomsArray != IntPtr.Zero)
2159 Marshal.FreeHGlobal(ContactgeomsArray);
2160 if (GlobalContactsArray != IntPtr.Zero)
2161 Marshal.FreeHGlobal(GlobalContactsArray);
2162
2163 d.WorldDestroy(world);
2164 //d.CloseODE();
2165 }
2166 }
2167
2168 public override Dictionary<uint, float> GetTopColliders()
2169 {
2170 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2171 int cnt = 0;
2172 lock (_prims)
2173 {
2174 foreach (OdePrim prm in _prims)
2175 {
2176 if (prm.CollisionScore > 0)
2177 {
2178 returncolliders.Add(prm.m_localID, prm.CollisionScore);
2179 cnt++;
2180 prm.CollisionScore = 0f;
2181 if (cnt > 25)
2182 {
2183 break;
2184 }
2185 }
2186 }
2187 }
2188 return returncolliders;
2189 }
2190
2191 public override bool SupportsRayCast()
2192 {
2193 return true;
2194 }
2195
2196 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2197 {
2198 if (retMethod != null)
2199 {
2200 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2201 }
2202 }
2203
2204 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2205 {
2206 if (retMethod != null)
2207 {
2208 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2209 }
2210 }
2211
2212 // don't like this
2213 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2214 {
2215 ContactResult[] ourResults = null;
2216 RayCallback retMethod = delegate(List<ContactResult> results)
2217 {
2218 ourResults = new ContactResult[results.Count];
2219 results.CopyTo(ourResults, 0);
2220 };
2221 int waitTime = 0;
2222 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2223 while (ourResults == null && waitTime < 1000)
2224 {
2225 Thread.Sleep(1);
2226 waitTime++;
2227 }
2228 if (ourResults == null)
2229 return new List<ContactResult>();
2230 return new List<ContactResult>(ourResults);
2231 }
2232
2233 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2234 {
2235 if (retMethod != null && actor !=null)
2236 {
2237 IntPtr geom;
2238 if (actor is OdePrim)
2239 geom = ((OdePrim)actor).prim_geom;
2240 else if (actor is OdeCharacter)
2241 geom = ((OdePrim)actor).prim_geom;
2242 else
2243 return;
2244 if (geom == IntPtr.Zero)
2245 return;
2246 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2247 }
2248 }
2249
2250 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2251 {
2252 if (retMethod != null && actor != null)
2253 {
2254 IntPtr geom;
2255 if (actor is OdePrim)
2256 geom = ((OdePrim)actor).prim_geom;
2257 else if (actor is OdeCharacter)
2258 geom = ((OdePrim)actor).prim_geom;
2259 else
2260 return;
2261 if (geom == IntPtr.Zero)
2262 return;
2263
2264 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2265 }
2266 }
2267
2268 // don't like this
2269 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2270 {
2271 if (actor != null)
2272 {
2273 IntPtr geom;
2274 if (actor is OdePrim)
2275 geom = ((OdePrim)actor).prim_geom;
2276 else if (actor is OdeCharacter)
2277 geom = ((OdePrim)actor).prim_geom;
2278 else
2279 return new List<ContactResult>();
2280 if (geom == IntPtr.Zero)
2281 return new List<ContactResult>();
2282
2283 ContactResult[] ourResults = null;
2284 RayCallback retMethod = delegate(List<ContactResult> results)
2285 {
2286 ourResults = new ContactResult[results.Count];
2287 results.CopyTo(ourResults, 0);
2288 };
2289 int waitTime = 0;
2290 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2291 while (ourResults == null && waitTime < 1000)
2292 {
2293 Thread.Sleep(1);
2294 waitTime++;
2295 }
2296 if (ourResults == null)
2297 return new List<ContactResult>();
2298 return new List<ContactResult>(ourResults);
2299 }
2300 return new List<ContactResult>();
2301 }
2302 }
2303}
generated by cgit v1.1 at 2024-12-30 17:42:02 +0000