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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs1478
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs1083
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs4039
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs603
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs2005
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs2740
8 files changed, 12096 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..b0711d7
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1478 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28
29// Revision by Ubit 2011/12
30
31using System;
32using System.Collections.Generic;
33using System.Reflection;
34using OpenMetaverse;
35using OdeAPI;
36using OpenSim.Framework;
37using OpenSim.Region.Physics.Manager;
38using log4net;
39
40namespace OpenSim.Region.Physics.OdePlugin
41{
42 /// <summary>
43 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
44 /// </summary>
45
46 public enum dParam : int
47 {
48 LowStop = 0,
49 HiStop = 1,
50 Vel = 2,
51 FMax = 3,
52 FudgeFactor = 4,
53 Bounce = 5,
54 CFM = 6,
55 StopERP = 7,
56 StopCFM = 8,
57 LoStop2 = 256,
58 HiStop2 = 257,
59 Vel2 = 258,
60 FMax2 = 259,
61 StopERP2 = 7 + 256,
62 StopCFM2 = 8 + 256,
63 LoStop3 = 512,
64 HiStop3 = 513,
65 Vel3 = 514,
66 FMax3 = 515,
67 StopERP3 = 7 + 512,
68 StopCFM3 = 8 + 512
69 }
70
71 public class OdeCharacter : PhysicsActor
72 {
73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
74
75 private Vector3 _position;
76 private Vector3 _zeroPosition;
77 private bool _zeroFlag = false;
78 private Vector3 _velocity;
79 private Vector3 _target_velocity;
80 private Vector3 _acceleration;
81 private Vector3 m_rotationalVelocity;
82 private float m_mass = 80f;
83 public float m_density = 60f;
84 private bool m_pidControllerActive = true;
85 public float PID_D = 800.0f;
86 public float PID_P = 900.0f;
87 //private static float POSTURE_SERVO = 10000.0f;
88 public float CAPSULE_RADIUS = 0.37f;
89 public float CAPSULE_LENGTH = 2.140599f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool m_iscolliding = false;
94 private bool m_iscollidingGround = false;
95 private bool m_iscollidingObj = false;
96 private bool m_alwaysRun = false;
97 private int m_requestedUpdateFrequency = 0;
98 public uint m_localID = 0;
99 public bool m_returnCollisions = false;
100 // taints and their non-tainted counterparts
101 public bool m_isPhysical = false; // the current physical status
102 public float MinimumGroundFlightOffset = 3f;
103
104 private float m_buoyancy = 0f;
105
106 private bool m_freemove = false;
107 // private CollisionLocker ode;
108
109 private string m_name = String.Empty;
110 // other filter control
111 int m_colliderfilter = 0;
112 int m_colliderGroundfilter = 0;
113 int m_colliderObjectfilter = 0;
114
115 // Default we're a Character
116 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
117
118 // Default, Collide with Other Geometries, spaces, bodies and characters.
119 private CollisionCategories m_collisionFlags = (CollisionCategories.Character
120 | CollisionCategories.Geom
121 | CollisionCategories.VolumeDtc
122 );
123 // we do land collisions not ode | CollisionCategories.Land);
124 public IntPtr Body = IntPtr.Zero;
125 private OdeScene _parent_scene;
126 public IntPtr Shell = IntPtr.Zero;
127 public IntPtr Amotor = IntPtr.Zero;
128 public d.Mass ShellMass;
129// public bool collidelock = false;
130
131 private bool m_haseventsubscription = false;
132 public int m_eventsubscription = 0;
133 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
134
135 // unique UUID of this character object
136 public UUID m_uuid;
137 public bool bad = false;
138
139 float mu;
140
141 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
142 {
143 m_uuid = UUID.Random();
144
145 if (pos.IsFinite())
146 {
147 if (pos.Z > 99999f)
148 {
149 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
150 }
151 if (pos.Z < -100f) // shouldn't this be 0 ?
152 {
153 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
154 }
155 _position = pos;
156 }
157 else
158 {
159 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
160 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
161 }
162
163 _parent_scene = parent_scene;
164
165 PID_D = pid_d;
166 PID_P = pid_p;
167 CAPSULE_RADIUS = capsule_radius;
168 m_density = density;
169 m_mass = 80f; // sure we have a default
170
171 // force lower density for testing
172 m_density = 3.0f;
173
174
175 mu = parent_scene.AvatarFriction;
176
177 walkDivisor = walk_divisor;
178 runDivisor = rundivisor;
179
180 CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f;
181 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
182
183 m_isPhysical = false; // current status: no ODE information exists
184
185 m_name = avName;
186
187 AddChange(changes.Add, null);
188 }
189
190 public override int PhysicsActorType
191 {
192 get { return (int)ActorTypes.Agent; }
193 set { return; }
194 }
195
196 public override void getContactData(ref ContactData cdata)
197 {
198 cdata.mu = mu;
199 cdata.bounce = 0;
200 cdata.softcolide = false;
201 }
202
203 public override bool Building { get; set; }
204
205 /// <summary>
206 /// If this is set, the avatar will move faster
207 /// </summary>
208 public override bool SetAlwaysRun
209 {
210 get { return m_alwaysRun; }
211 set { m_alwaysRun = value; }
212 }
213
214 public override uint LocalID
215 {
216 set { m_localID = value; }
217 }
218
219 public override bool Grabbed
220 {
221 set { return; }
222 }
223
224 public override bool Selected
225 {
226 set { return; }
227 }
228
229 public override float Buoyancy
230 {
231 get { return m_buoyancy; }
232 set { m_buoyancy = value; }
233 }
234
235 public override bool FloatOnWater
236 {
237 set { return; }
238 }
239
240 public override bool IsPhysical
241 {
242 get { return false; }
243 set { return; }
244 }
245
246 public override bool ThrottleUpdates
247 {
248 get { return false; }
249 set { return; }
250 }
251
252 public override bool Flying
253 {
254 get { return flying; }
255 set
256 {
257 flying = value;
258 // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
259 }
260 }
261
262 /// <summary>
263 /// Returns if the avatar is colliding in general.
264 /// This includes the ground and objects and avatar.
265 /// </summary>
266 public override bool IsColliding
267 {
268 get { return (m_iscolliding || m_iscollidingGround); }
269 set
270 {
271 if (value)
272 {
273 m_colliderfilter += 2;
274 if (m_colliderfilter > 2)
275 m_colliderfilter = 2;
276 }
277 else
278 {
279 m_colliderfilter--;
280 if (m_colliderfilter < 0)
281 m_colliderfilter = 0;
282 }
283
284 if (m_colliderfilter == 0)
285 m_iscolliding = false;
286 else
287 {
288 m_pidControllerActive = true;
289 m_iscolliding = true;
290 }
291 }
292 }
293
294 /// <summary>
295 /// Returns if an avatar is colliding with the ground
296 /// </summary>
297 public override bool CollidingGround
298 {
299 get { return m_iscollidingGround; }
300 set
301 {
302 /* we now control this
303 if (value)
304 {
305 m_colliderGroundfilter += 2;
306 if (m_colliderGroundfilter > 2)
307 m_colliderGroundfilter = 2;
308 }
309 else
310 {
311 m_colliderGroundfilter--;
312 if (m_colliderGroundfilter < 0)
313 m_colliderGroundfilter = 0;
314 }
315
316 if (m_colliderGroundfilter == 0)
317 m_iscollidingGround = false;
318 else
319 m_iscollidingGround = true;
320 */
321 }
322
323 }
324
325 /// <summary>
326 /// Returns if the avatar is colliding with an object
327 /// </summary>
328 public override bool CollidingObj
329 {
330 get { return m_iscollidingObj; }
331 set
332 {
333 // Ubit filter this also
334 if (value)
335 {
336 m_colliderObjectfilter += 2;
337 if (m_colliderObjectfilter > 2)
338 m_colliderObjectfilter = 2;
339 }
340 else
341 {
342 m_colliderObjectfilter--;
343 if (m_colliderObjectfilter < 0)
344 m_colliderObjectfilter = 0;
345 }
346
347 if (m_colliderObjectfilter == 0)
348 m_iscollidingObj = false;
349 else
350 m_iscollidingObj = true;
351
352 // m_iscollidingObj = value;
353
354 if (m_iscollidingObj)
355 m_pidControllerActive = false;
356 else
357 m_pidControllerActive = true;
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 (value.IsFinite())
387 {
388 if (value.Z > 9999999f)
389 {
390 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
391 }
392 if (value.Z < -100f)
393 {
394 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
395 }
396 AddChange(changes.Position, value);
397 }
398 else
399 {
400 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
401 }
402 }
403 }
404
405 public override Vector3 RotationalVelocity
406 {
407 get { return m_rotationalVelocity; }
408 set { m_rotationalVelocity = value; }
409 }
410
411 /// <summary>
412 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
413 /// and use it to offset landings properly
414 /// </summary>
415 public override Vector3 Size
416 {
417 get {
418 float d = CAPSULE_RADIUS * 2;
419 return new Vector3(d, d, (CAPSULE_LENGTH +d)/1.15f); }
420 set
421 {
422 if (value.IsFinite())
423 {
424 AddChange(changes.Size, value);
425 }
426 else
427 {
428 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
429 }
430 }
431 }
432
433 /// <summary>
434 /// This creates the Avatar's physical Surrogate at the position supplied
435 /// </summary>
436 /// <param name="npositionX"></param>
437 /// <param name="npositionY"></param>
438 /// <param name="npositionZ"></param>
439
440 //
441 /// <summary>
442 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
443 /// This may be used in calculations in the scene/scenepresence
444 /// </summary>
445 public override float Mass
446 {
447 get
448 {
449 float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
450 return m_density * AVvolume;
451 }
452 }
453 public override void link(PhysicsActor obj)
454 {
455
456 }
457
458 public override void delink()
459 {
460
461 }
462
463 public override void LockAngularMotion(Vector3 axis)
464 {
465
466 }
467
468
469 public override Vector3 Force
470 {
471 get { return _target_velocity; }
472 set { return; }
473 }
474
475 public override int VehicleType
476 {
477 get { return 0; }
478 set { return; }
479 }
480
481 public override void VehicleFloatParam(int param, float value)
482 {
483
484 }
485
486 public override void VehicleVectorParam(int param, Vector3 value)
487 {
488
489 }
490
491 public override void VehicleRotationParam(int param, Quaternion rotation)
492 {
493
494 }
495
496 public override void VehicleFlags(int param, bool remove)
497 {
498
499 }
500
501 public override void SetVolumeDetect(int param)
502 {
503
504 }
505
506 public override Vector3 CenterOfMass
507 {
508 get
509 {
510 Vector3 pos = _position;
511 return pos;
512 }
513 }
514
515 public override Vector3 GeometricCenter
516 {
517 get
518 {
519 Vector3 pos = _position;
520 return pos;
521 }
522 }
523
524 //UBit mess
525 /* for later use
526 public override Vector3 PrimOOBsize
527 {
528 get
529 {
530 Vector3 s=Size;
531 s.X *=0.5f;
532 s.Y *=0.5f;
533 s.Z *=0.5f;
534 return s;
535 }
536 }
537
538 public override Vector3 PrimOOBoffset
539 {
540 get
541 {
542 return Vector3.Zero;
543 }
544 }
545 */
546
547 public override PrimitiveBaseShape Shape
548 {
549 set { return; }
550 }
551
552 public override Vector3 Velocity
553 {
554 get
555 {
556 return _velocity;
557 }
558 set
559 {
560 if (value.IsFinite())
561 {
562 AddChange(changes.Velocity, value);
563 }
564 else
565 {
566 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
567 }
568 }
569 }
570
571 public override Vector3 Torque
572 {
573 get { return Vector3.Zero; }
574 set { return; }
575 }
576
577 public override float CollisionScore
578 {
579 get { return 0f; }
580 set { }
581 }
582
583 public override bool Kinematic
584 {
585 get { return false; }
586 set { }
587 }
588
589 public override Quaternion Orientation
590 {
591 get { return Quaternion.Identity; }
592 set
593 {
594 }
595 }
596
597 public override Vector3 Acceleration
598 {
599 get { return _acceleration; }
600 set { }
601 }
602
603 public void SetAcceleration(Vector3 accel)
604 {
605 m_pidControllerActive = true;
606 _acceleration = accel;
607 }
608
609 /// <summary>
610 /// Adds the force supplied to the Target Velocity
611 /// The PID controller takes this target velocity and tries to make it a reality
612 /// </summary>
613 /// <param name="force"></param>
614 public override void AddForce(Vector3 force, bool pushforce)
615 {
616 if (force.IsFinite())
617 {
618 if (pushforce)
619 {
620 AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f));
621 }
622 else
623 {
624 AddChange(changes.Velocity, force);
625 }
626 }
627 else
628 {
629 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
630 }
631 //m_lastUpdateSent = false;
632 }
633
634 public override void AddAngularForce(Vector3 force, bool pushforce)
635 {
636
637 }
638
639 public override void SetMomentum(Vector3 momentum)
640 {
641 if (momentum.IsFinite())
642 AddChange(changes.Momentum, momentum);
643 }
644
645
646 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
647 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
648 // place that is safe to call this routine AvatarGeomAndBodyCreation.
649 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
650 {
651 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
652 if (CAPSULE_LENGTH <= 0)
653 {
654 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
655 CAPSULE_LENGTH = 0.01f;
656
657 }
658
659 if (CAPSULE_RADIUS <= 0)
660 {
661 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
662 CAPSULE_RADIUS = 0.01f;
663
664 }
665 Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
666
667 d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
668 d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
669
670 d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
671
672 m_mass = ShellMass.mass; // update mass
673
674 // rescale PID parameters
675 PID_D = _parent_scene.avPIDD;
676 PID_P = _parent_scene.avPIDP;
677
678 // rescale PID parameters so that this aren't affected by mass
679 // and so don't get unstable for some masses
680 // also scale by ode time step so you don't need to refix them
681
682 PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
683 PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
684 PID_P /= 50 * 80;
685 PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
686
687 Body = d.BodyCreate(_parent_scene.world);
688
689 _zeroFlag = false;
690 m_pidControllerActive = true;
691 m_freemove = false;
692
693 d.BodySetAutoDisableFlag(Body, false);
694 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
695
696 _position.X = npositionX;
697 _position.Y = npositionY;
698 _position.Z = npositionZ;
699
700 d.BodySetMass(Body, ref ShellMass);
701 d.GeomSetBody(Shell, Body);
702
703 // The purpose of the AMotor here is to keep the avatar's physical
704 // surrogate from rotating while moving
705 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
706 d.JointAttach(Amotor, Body, IntPtr.Zero);
707
708 d.JointSetAMotorMode(Amotor, 0);
709 d.JointSetAMotorNumAxes(Amotor, 3);
710 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
711 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
712 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
713
714 d.JointSetAMotorAngle(Amotor, 0, 0);
715 d.JointSetAMotorAngle(Amotor, 1, 0);
716 d.JointSetAMotorAngle(Amotor, 2, 0);
717
718 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
719 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
720 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
721 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
722 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
723 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
724
725 // These lowstops and high stops are effectively (no wiggle room)
726 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
727 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
728 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
729 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
730 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
731 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
732
733 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
734 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
735 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
736
737 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
738 d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
739 d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
740 }
741
742 /// <summary>
743 /// Destroys the avatar body and geom
744
745 private void AvatarGeomAndBodyDestroy()
746 {
747 // Kill the Amotor
748 if (Amotor != IntPtr.Zero)
749 {
750 d.JointDestroy(Amotor);
751 Amotor = IntPtr.Zero;
752 }
753
754 if (Body != IntPtr.Zero)
755 {
756 //kill the body
757 d.BodyDestroy(Body);
758 Body = IntPtr.Zero;
759 }
760
761 //kill the Geometry
762 if (Shell != IntPtr.Zero)
763 {
764 _parent_scene.geom_name_map.Remove(Shell);
765 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
766 d.GeomDestroy(Shell);
767 Shell = IntPtr.Zero;
768 }
769 }
770
771 /// <summary>
772 /// Called from Simulate
773 /// This is the avatar's movement control + PID Controller
774 /// </summary>
775 /// <param name="timeStep"></param>
776 public void Move(float timeStep, List<OdeCharacter> defects)
777 {
778 if (Body == IntPtr.Zero)
779 return;
780
781 d.Vector3 dtmp = d.BodyGetPosition(Body);
782 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
783
784 // the Amotor still lets avatar rotation to drift during colisions
785 // so force it back to identity
786
787
788
789 d.Quaternion qtmp;
790 qtmp.W = 1;
791 qtmp.X = 0;
792 qtmp.Y = 0;
793 qtmp.Z = 0;
794 d.BodySetQuaternion(Body, ref qtmp);
795
796 if (m_pidControllerActive == false)
797 {
798 _zeroPosition = localpos;
799 }
800
801 if (!localpos.IsFinite())
802 {
803 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
804 defects.Add(this);
805 // _parent_scene.RemoveCharacter(this);
806
807 // destroy avatar capsule and related ODE data
808 AvatarGeomAndBodyDestroy();
809 return;
810 }
811
812 // check outbounds forcing to be in world
813 bool fixbody = false;
814 if (localpos.X < 0.0f)
815 {
816 fixbody = true;
817 localpos.X = 0.1f;
818 }
819 else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
820 {
821 fixbody = true;
822 localpos.X = _parent_scene.WorldExtents.X - 0.1f;
823 }
824 if (localpos.Y < 0.0f)
825 {
826 fixbody = true;
827 localpos.Y = 0.1f;
828 }
829 else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
830 {
831 fixbody = true;
832 localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
833 }
834 if (fixbody)
835 {
836 m_freemove = false;
837 d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
838 }
839
840 float breakfactor;
841
842 Vector3 vec = Vector3.Zero;
843 dtmp = d.BodyGetLinearVel(Body);
844 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
845 float velLengthSquared = vel.LengthSquared();
846
847 float movementdivisor = 1f;
848 //Ubit change divisions into multiplications below
849 if (!m_alwaysRun)
850 movementdivisor = 1 / walkDivisor;
851 else
852 movementdivisor = 1 / runDivisor;
853
854 //******************************************
855 // colide with land
856 d.AABB aabb;
857 d.GeomGetAABB(Shell, out aabb);
858 float chrminZ = aabb.MinZ;
859
860 Vector3 posch = localpos;
861
862 float ftmp;
863
864 if (flying)
865 {
866 ftmp = timeStep;
867 posch.X += vel.X * ftmp;
868 posch.Y += vel.Y * ftmp;
869 }
870
871 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
872 if (chrminZ < terrainheight)
873 {
874 float depth = terrainheight - chrminZ;
875 if (!flying)
876 {
877 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
878 }
879 else
880 vec.Z = depth * PID_P * 50;
881
882 if (depth < 0.1f)
883 {
884 m_colliderGroundfilter++;
885 if (m_colliderGroundfilter > 2)
886 {
887 m_iscolliding = true;
888 m_colliderfilter = 2;
889
890 if (m_colliderGroundfilter > 10)
891 {
892 m_colliderGroundfilter = 10;
893 m_freemove = false;
894 }
895
896 m_iscollidingGround = true;
897
898 ContactPoint contact = new ContactPoint();
899 contact.PenetrationDepth = depth;
900 contact.Position.X = localpos.X;
901 contact.Position.Y = localpos.Y;
902 contact.Position.Z = chrminZ;
903 contact.SurfaceNormal.X = 0f;
904 contact.SurfaceNormal.Y = 0f;
905 contact.SurfaceNormal.Z = -1f;
906 AddCollisionEvent(0, contact);
907
908 vec.Z *= 0.5f;
909 }
910 }
911
912 else
913 {
914 m_colliderGroundfilter = 0;
915 m_iscollidingGround = false;
916 }
917 }
918 else
919 {
920 m_colliderGroundfilter = 0;
921 m_iscollidingGround = false;
922 }
923
924 //******************************************
925
926 bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
927
928 // if (!tviszero || m_iscolliding || velLengthSquared <0.01)
929 if (!tviszero)
930 m_freemove = false;
931
932 if (!m_freemove)
933 {
934
935 // if velocity is zero, use position control; otherwise, velocity control
936 if (tviszero && m_iscolliding)
937 {
938 // keep track of where we stopped. No more slippin' & slidin'
939 if (!_zeroFlag)
940 {
941 _zeroFlag = true;
942 _zeroPosition = localpos;
943 }
944 if (m_pidControllerActive)
945 {
946 // We only want to deactivate the PID Controller if we think we want to have our surrogate
947 // react to the physics scene by moving it's position.
948 // Avatar to Avatar collisions
949 // Prim to avatar collisions
950
951 vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
952 vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
953 if (flying)
954 {
955 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
956 }
957 }
958 //PidStatus = true;
959 }
960 else
961 {
962 m_pidControllerActive = true;
963 _zeroFlag = false;
964
965 if (m_iscolliding)
966 {
967 if (!flying)
968 {
969 if (_target_velocity.Z > 0.0f)
970 {
971 // We're colliding with something and we're not flying but we're moving
972 // This means we're walking or running. JUMPING
973 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
974 }
975 // We're standing on something
976 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
977 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
978 }
979 else
980 {
981 // We're flying and colliding with something
982 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
983 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
984 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
985 }
986 }
987 else // ie not colliding
988 {
989 if (flying) //(!m_iscolliding && flying)
990 {
991 // we're in mid air suspended
992 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
993 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
994 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
995 }
996
997 else
998 {
999 // we're not colliding and we're not flying so that means we're falling!
1000 // m_iscolliding includes collisions with the ground.
1001
1002 // d.Vector3 pos = d.BodyGetPosition(Body);
1003 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
1004 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
1005 }
1006 }
1007 }
1008
1009 if (velLengthSquared > 2500.0f) // 50m/s apply breaks
1010 {
1011 breakfactor = 0.16f * m_mass;
1012 vec.X -= breakfactor * vel.X;
1013 vec.Y -= breakfactor * vel.Y;
1014 vec.Z -= breakfactor * vel.Z;
1015 }
1016 }
1017 else
1018 {
1019 breakfactor = m_mass;
1020 vec.X -= breakfactor * vel.X;
1021 vec.Y -= breakfactor * vel.Y;
1022 if (flying)
1023 vec.Z -= breakfactor * vel.Z;
1024 else
1025 vec.Z -= .5f* m_mass * vel.Z;
1026 }
1027
1028 if (flying)
1029 {
1030 vec.Z -= _parent_scene.gravityz * m_mass;
1031
1032 //Added for auto fly height. Kitto Flora
1033 float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
1034
1035 if (localpos.Z < target_altitude)
1036 {
1037 vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
1038 }
1039 // end add Kitto Flora
1040 }
1041
1042 if (vec.IsFinite())
1043 {
1044 if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
1045 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
1046 }
1047 else
1048 {
1049 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1050 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1051 defects.Add(this);
1052 // _parent_scene.RemoveCharacter(this);
1053 // destroy avatar capsule and related ODE data
1054 AvatarGeomAndBodyDestroy();
1055 return;
1056 }
1057
1058 // update our local ideia of position velocity and aceleration
1059 _position = localpos;
1060 if (_zeroFlag)
1061 {
1062 _velocity = Vector3.Zero;
1063 _acceleration = Vector3.Zero;
1064 }
1065 else
1066 {
1067 _acceleration = _velocity; // previus velocity
1068 _velocity = vel;
1069 _acceleration = (vel - _acceleration) / timeStep;
1070 }
1071
1072 }
1073
1074 /// <summary>
1075 /// Updates the reported position and velocity.
1076 /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
1077 /// also outbounds checking
1078 /// copy and outbounds now done in move(..) at ode rate
1079 ///
1080 /// </summary>
1081 public void UpdatePositionAndVelocity()
1082 {
1083 return;
1084
1085// if (Body == IntPtr.Zero)
1086// return;
1087
1088 }
1089
1090 /// <summary>
1091 /// Cleanup the things we use in the scene.
1092 /// </summary>
1093 public void Destroy()
1094 {
1095 AddChange(changes.Remove, null);
1096 }
1097
1098 public override void CrossingFailure()
1099 {
1100 }
1101
1102 public override Vector3 PIDTarget { set { return; } }
1103 public override bool PIDActive { set { return; } }
1104 public override float PIDTau { set { return; } }
1105
1106 public override float PIDHoverHeight { set { return; } }
1107 public override bool PIDHoverActive { set { return; } }
1108 public override PIDHoverType PIDHoverType { set { return; } }
1109 public override float PIDHoverTau { set { return; } }
1110
1111 public override Quaternion APIDTarget { set { return; } }
1112
1113 public override bool APIDActive { set { return; } }
1114
1115 public override float APIDStrength { set { return; } }
1116
1117 public override float APIDDamping { set { return; } }
1118
1119
1120 public override void SubscribeEvents(int ms)
1121 {
1122 m_requestedUpdateFrequency = ms;
1123 m_eventsubscription = ms;
1124 _parent_scene.AddCollisionEventReporting(this);
1125 m_haseventsubscription = true;
1126 }
1127
1128 public override void UnSubscribeEvents()
1129 {
1130 m_haseventsubscription = false;
1131 _parent_scene.RemoveCollisionEventReporting(this);
1132 m_requestedUpdateFrequency = 0;
1133 m_eventsubscription = 0;
1134 }
1135
1136 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1137 {
1138 if (m_haseventsubscription)
1139 {
1140 // m_log.DebugFormat(
1141 // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1142
1143 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1144 }
1145 }
1146
1147 public void SendCollisions()
1148 {
1149 if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
1150 {
1151 if (CollisionEventsThisFrame != null)
1152 {
1153 base.SendCollisionUpdate(CollisionEventsThisFrame);
1154 }
1155 CollisionEventsThisFrame = new CollisionEventUpdate();
1156 m_eventsubscription = 0;
1157 }
1158 }
1159
1160 public override bool SubscribedEvents()
1161 {
1162 return m_haseventsubscription;
1163 }
1164
1165 private void changePhysicsStatus(bool NewStatus)
1166 {
1167 if (NewStatus != m_isPhysical)
1168 {
1169 if (NewStatus)
1170 {
1171 // Create avatar capsule and related ODE data
1172 if ((Shell != IntPtr.Zero))
1173 {
1174 // a lost shell ?
1175 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1176 + (Shell != IntPtr.Zero ? "Shell " : "")
1177 + (Body != IntPtr.Zero ? "Body " : "")
1178 + (Amotor != IntPtr.Zero ? "Amotor " : ""));
1179 AvatarGeomAndBodyDestroy();
1180 }
1181
1182 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1183 _parent_scene.geom_name_map[Shell] = m_name;
1184 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1185 _parent_scene.AddCharacter(this);
1186 }
1187 else
1188 {
1189 _parent_scene.RemoveCharacter(this);
1190 // destroy avatar capsule and related ODE data
1191 AvatarGeomAndBodyDestroy();
1192 }
1193 m_freemove = false;
1194 m_isPhysical = NewStatus;
1195 }
1196 }
1197
1198 private void changeAdd()
1199 {
1200 changePhysicsStatus(true);
1201 }
1202
1203 private void changeRemove()
1204 {
1205 changePhysicsStatus(false);
1206 }
1207
1208 private void changeShape(PrimitiveBaseShape arg)
1209 {
1210 }
1211
1212 private void changeSize(Vector3 Size)
1213 {
1214 if (Size.IsFinite())
1215 {
1216 float caplen = Size.Z;
1217
1218 caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
1219
1220 if (caplen != CAPSULE_LENGTH)
1221 {
1222 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1223 {
1224 AvatarGeomAndBodyDestroy();
1225
1226 float prevCapsule = CAPSULE_LENGTH;
1227 CAPSULE_LENGTH = caplen;
1228
1229 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1230 _position.Z + (CAPSULE_LENGTH - prevCapsule) * 0.5f);
1231
1232 Velocity = Vector3.Zero;
1233
1234 _parent_scene.geom_name_map[Shell] = m_name;
1235 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1236 }
1237 else
1238 {
1239 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1240 + (Shell == IntPtr.Zero ? "Shell " : "")
1241 + (Body == IntPtr.Zero ? "Body " : "")
1242 + (Amotor == IntPtr.Zero ? "Amotor " : ""));
1243 }
1244 }
1245 m_freemove = false;
1246 m_pidControllerActive = true;
1247 }
1248 else
1249 {
1250 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
1251 }
1252 }
1253
1254 private void changePosition( Vector3 newPos)
1255 {
1256 if (Body != IntPtr.Zero)
1257 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1258 _position = newPos;
1259 m_freemove = false;
1260 m_pidControllerActive = true;
1261 }
1262
1263 private void changeOrientation(Quaternion newOri)
1264 {
1265 }
1266
1267 private void changeVelocity(Vector3 newVel)
1268 {
1269 m_pidControllerActive = true;
1270 m_freemove = false;
1271 _target_velocity = newVel;
1272 }
1273
1274 private void changeSetTorque(Vector3 newTorque)
1275 {
1276 }
1277
1278 private void changeAddForce(Vector3 newForce)
1279 {
1280 }
1281
1282 private void changeAddAngularForce(Vector3 arg)
1283 {
1284 }
1285
1286 private void changeAngularLock(Vector3 arg)
1287 {
1288 }
1289
1290 private void changeFloatOnWater(bool arg)
1291 {
1292 }
1293
1294 private void changeVolumedetetion(bool arg)
1295 {
1296 }
1297
1298 private void changeSelectedStatus(bool arg)
1299 {
1300 }
1301
1302 private void changeDisable(bool arg)
1303 {
1304 }
1305
1306 private void changeBuilding(bool arg)
1307 {
1308 }
1309
1310 private void setFreeMove()
1311 {
1312 m_pidControllerActive = true;
1313 _zeroFlag = false;
1314 _target_velocity = Vector3.Zero;
1315 m_freemove = true;
1316 m_colliderfilter = -2;
1317 m_colliderObjectfilter = -2;
1318 m_colliderGroundfilter = -2;
1319
1320 m_iscolliding = false;
1321 m_iscollidingGround = false;
1322 m_iscollidingObj = false;
1323
1324 CollisionEventsThisFrame = new CollisionEventUpdate();
1325 m_eventsubscription = 0;
1326 }
1327
1328 private void changeForce(Vector3 newForce)
1329 {
1330 setFreeMove();
1331
1332 if (Body != IntPtr.Zero)
1333 {
1334 if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
1335 d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
1336 }
1337 }
1338
1339 // for now momentum is actually velocity
1340 private void changeMomentum(Vector3 newmomentum)
1341 {
1342 _velocity = newmomentum;
1343 setFreeMove();
1344
1345 if (Body != IntPtr.Zero)
1346 d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
1347 }
1348
1349 private void donullchange()
1350 {
1351 }
1352
1353 public bool DoAChange(changes what, object arg)
1354 {
1355 if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
1356 {
1357 return false;
1358 }
1359
1360 // nasty switch
1361 switch (what)
1362 {
1363 case changes.Add:
1364 changeAdd();
1365 break;
1366 case changes.Remove:
1367 changeRemove();
1368 break;
1369
1370 case changes.Position:
1371 changePosition((Vector3)arg);
1372 break;
1373
1374 case changes.Orientation:
1375 changeOrientation((Quaternion)arg);
1376 break;
1377
1378 case changes.PosOffset:
1379 donullchange();
1380 break;
1381
1382 case changes.OriOffset:
1383 donullchange();
1384 break;
1385
1386 case changes.Velocity:
1387 changeVelocity((Vector3)arg);
1388 break;
1389
1390 // case changes.Acceleration:
1391 // changeacceleration((Vector3)arg);
1392 // break;
1393 // case changes.AngVelocity:
1394 // changeangvelocity((Vector3)arg);
1395 // break;
1396
1397 case changes.Force:
1398 changeForce((Vector3)arg);
1399 break;
1400
1401 case changes.Torque:
1402 changeSetTorque((Vector3)arg);
1403 break;
1404
1405 case changes.AddForce:
1406 changeAddForce((Vector3)arg);
1407 break;
1408
1409 case changes.AddAngForce:
1410 changeAddAngularForce((Vector3)arg);
1411 break;
1412
1413 case changes.AngLock:
1414 changeAngularLock((Vector3)arg);
1415 break;
1416
1417 case changes.Size:
1418 changeSize((Vector3)arg);
1419 break;
1420
1421 case changes.Momentum:
1422 changeMomentum((Vector3)arg);
1423 break;
1424/* not in use for now
1425 case changes.Shape:
1426 changeShape((PrimitiveBaseShape)arg);
1427 break;
1428
1429 case changes.CollidesWater:
1430 changeFloatOnWater((bool)arg);
1431 break;
1432
1433 case changes.VolumeDtc:
1434 changeVolumedetetion((bool)arg);
1435 break;
1436
1437 case changes.Physical:
1438 changePhysicsStatus((bool)arg);
1439 break;
1440
1441 case changes.Selected:
1442 changeSelectedStatus((bool)arg);
1443 break;
1444
1445 case changes.disabled:
1446 changeDisable((bool)arg);
1447 break;
1448
1449 case changes.building:
1450 changeBuilding((bool)arg);
1451 break;
1452*/
1453 case changes.Null:
1454 donullchange();
1455 break;
1456
1457 default:
1458 donullchange();
1459 break;
1460 }
1461 return false;
1462 }
1463
1464 public void AddChange(changes what, object arg)
1465 {
1466 _parent_scene.AddChange((PhysicsActor)this, what, arg);
1467 }
1468
1469
1470 internal void AddCollisionFrameTime(int p)
1471 {
1472 // protect it from overflow crashing
1473 if (m_eventsubscription + p >= int.MaxValue)
1474 m_eventsubscription = 0;
1475 m_eventsubscription += p;
1476 }
1477 }
1478}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..e27be1e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,1083 @@
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 // WARNING this are working copies for internel use
67 // their values may not be the corresponding parameter
68
69 private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
70 private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
71
72 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
73
74 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
75 // HOVER_TERRAIN_ONLY
76 // HOVER_GLOBAL_HEIGHT
77 // NO_DEFLECTION_UP
78 // HOVER_WATER_ONLY
79 // HOVER_UP_ONLY
80 // LIMIT_MOTOR_UP
81 // LIMIT_ROLL_ONLY
82 private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
83
84 // Linear properties
85 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
86 private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
87 private float m_linearMotorDecayTimescale = 120;
88 private float m_linearMotorTimescale = 1000;
89 private Vector3 m_linearMotorOffset = Vector3.Zero;
90
91 //Angular properties
92 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
93 private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
94 private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
95 private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
96
97 //Deflection properties
98 private float m_angularDeflectionEfficiency = 0;
99 private float m_angularDeflectionTimescale = 1000;
100 private float m_linearDeflectionEfficiency = 0;
101 private float m_linearDeflectionTimescale = 1000;
102
103 //Banking properties
104 private float m_bankingEfficiency = 0;
105 private float m_bankingMix = 0;
106 private float m_bankingTimescale = 1000;
107
108 //Hover and Buoyancy properties
109 private float m_VhoverHeight = 0f;
110 private float m_VhoverEfficiency = 0f;
111 private float m_VhoverTimescale = 1000f;
112 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
113 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
114 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
115 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
116
117 //Attractor properties
118 private float m_verticalAttractionEfficiency = 1.0f; // damped
119 private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
120
121
122 // auxiliar
123 private float m_lmEfect = 0f; // current linear motor eficiency
124 private float m_lmDecay = 0f; // current linear decay
125
126 private float m_amEfect = 0; // current angular motor eficiency
127 private float m_amDecay = 0f; // current linear decay
128
129 private float m_ffactor = 1.0f;
130
131 private float m_timestep = 0.02f;
132 private float m_invtimestep = 50;
133
134
135 float m_ampwr;
136 float m_amdampX;
137 float m_amdampY;
138 float m_amdampZ;
139
140 public float FrictionFactor
141 {
142 get
143 {
144 return m_ffactor;
145 }
146 }
147
148 public ODEDynamics(OdePrim rootp)
149 {
150 rootPrim = rootp;
151 _pParentScene = rootPrim._parent_scene;
152 m_timestep = _pParentScene.ODE_STEPSIZE;
153 m_invtimestep = 1.0f / m_timestep;
154 }
155
156 public void DoSetVehicle(VehicleData vd)
157 {
158 m_type = vd.m_type;
159 m_flags = vd.m_flags;
160
161
162 // Linear properties
163 m_linearMotorDirection = vd.m_linearMotorDirection;
164
165 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
166 if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
167 if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
168 if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
169
170 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
171 if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
172 m_linearMotorDecayTimescale += 0.2f;
173 m_linearMotorDecayTimescale *= m_invtimestep;
174
175 m_linearMotorTimescale = vd.m_linearMotorTimescale;
176 if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
177
178 m_linearMotorOffset = vd.m_linearMotorOffset;
179
180 //Angular properties
181 m_angularMotorDirection = vd.m_angularMotorDirection;
182 m_angularMotorTimescale = vd.m_angularMotorTimescale;
183 if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep;
184
185 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
186 if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
187 m_angularMotorDecayTimescale *= m_invtimestep;
188
189 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
190 if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
191 if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
192 if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
193
194 //Deflection properties
195 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
196 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
197 if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
198
199 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
200 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
201 if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep;
202
203 //Banking properties
204 m_bankingEfficiency = vd.m_bankingEfficiency;
205 m_bankingMix = vd.m_bankingMix;
206 m_bankingTimescale = vd.m_bankingTimescale;
207 if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep;
208
209 //Hover and Buoyancy properties
210 m_VhoverHeight = vd.m_VhoverHeight;
211 m_VhoverEfficiency = vd.m_VhoverEfficiency;
212 m_VhoverTimescale = vd.m_VhoverTimescale;
213 if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep;
214
215 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
216
217 //Attractor properties
218 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
219 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
220 if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep;
221
222 // Axis
223 m_referenceFrame = vd.m_referenceFrame;
224
225 m_lmEfect = 0;
226 m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
227 m_amEfect = 0;
228 m_ffactor = 1.0f;
229 }
230
231 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
232 {
233 float len;
234
235 switch (pParam)
236 {
237 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
238 if (pValue < 0f) pValue = 0f;
239 if (pValue > 1f) pValue = 1f;
240 m_angularDeflectionEfficiency = pValue;
241 break;
242 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
243 if (pValue < m_timestep) pValue = m_timestep;
244 m_angularDeflectionTimescale = pValue;
245 break;
246 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
247 if (pValue < m_timestep) pValue = m_timestep;
248 else if (pValue > 120) pValue = 120;
249 m_angularMotorDecayTimescale = pValue * m_invtimestep;
250 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
251 break;
252 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
253 if (pValue < m_timestep) pValue = m_timestep;
254 m_angularMotorTimescale = pValue;
255 break;
256 case Vehicle.BANKING_EFFICIENCY:
257 if (pValue < -1f) pValue = -1f;
258 if (pValue > 1f) pValue = 1f;
259 m_bankingEfficiency = pValue;
260 break;
261 case Vehicle.BANKING_MIX:
262 if (pValue < 0f) pValue = 0f;
263 if (pValue > 1f) pValue = 1f;
264 m_bankingMix = pValue;
265 break;
266 case Vehicle.BANKING_TIMESCALE:
267 if (pValue < m_timestep) pValue = m_timestep;
268 m_bankingTimescale = pValue;
269 break;
270 case Vehicle.BUOYANCY:
271 if (pValue < -1f) pValue = -1f;
272 if (pValue > 1f) pValue = 1f;
273 m_VehicleBuoyancy = pValue;
274 break;
275 case Vehicle.HOVER_EFFICIENCY:
276 if (pValue < 0f) pValue = 0f;
277 if (pValue > 1f) pValue = 1f;
278 m_VhoverEfficiency = pValue;
279 break;
280 case Vehicle.HOVER_HEIGHT:
281 m_VhoverHeight = pValue;
282 break;
283 case Vehicle.HOVER_TIMESCALE:
284 if (pValue < m_timestep) pValue = m_timestep;
285 m_VhoverTimescale = pValue;
286 break;
287 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
288 if (pValue < 0f) pValue = 0f;
289 if (pValue > 1f) pValue = 1f;
290 m_linearDeflectionEfficiency = pValue;
291 break;
292 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
293 if (pValue < m_timestep) pValue = m_timestep;
294 m_linearDeflectionTimescale = pValue;
295 break;
296 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
297 if (pValue < m_timestep) pValue = m_timestep;
298 else if (pValue > 120) pValue = 120;
299 m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep;
300 m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
301 break;
302 case Vehicle.LINEAR_MOTOR_TIMESCALE:
303 if (pValue < m_timestep) pValue = m_timestep;
304 m_linearMotorTimescale = pValue;
305 break;
306 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
307 if (pValue < 0f) pValue = 0f;
308 if (pValue > 1f) pValue = 1f;
309 m_verticalAttractionEfficiency = pValue;
310 break;
311 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
312 if (pValue < m_timestep) pValue = m_timestep;
313 m_verticalAttractionTimescale = pValue;
314 break;
315
316 // These are vector properties but the engine lets you use a single float value to
317 // set all of the components to the same value
318 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
319 if (pValue < m_timestep) pValue = m_timestep;
320 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
321 break;
322 case Vehicle.ANGULAR_MOTOR_DIRECTION:
323 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
324 len = m_angularMotorDirection.Length();
325 if (len > 12.566f)
326 m_angularMotorDirection *= (12.566f / len);
327
328 m_amEfect = 1.0f ; // turn it on
329 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
330
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_FRICTION_TIMESCALE:
336 if (pValue < m_timestep) pValue = m_timestep;
337 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
338 break;
339 case Vehicle.LINEAR_MOTOR_DIRECTION:
340 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
341 len = m_linearMotorDirection.Length();
342 if (len > 100.0f)
343 m_linearMotorDirection *= (100.0f / len);
344
345 m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
346 m_lmEfect = 1.0f; // turn it on
347
348 m_ffactor = 0.01f;
349 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
350 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
351 d.BodyEnable(rootPrim.Body);
352 break;
353 case Vehicle.LINEAR_MOTOR_OFFSET:
354 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
355 len = m_linearMotorOffset.Length();
356 if (len > 100.0f)
357 m_linearMotorOffset *= (100.0f / len);
358 break;
359 }
360 }//end ProcessFloatVehicleParam
361
362 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
363 {
364 float len;
365
366 switch (pParam)
367 {
368 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
369 if (pValue.X < m_timestep) pValue.X = m_timestep;
370 if (pValue.Y < m_timestep) pValue.Y = m_timestep;
371 if (pValue.Z < m_timestep) pValue.Z = m_timestep;
372
373 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
374 break;
375 case Vehicle.ANGULAR_MOTOR_DIRECTION:
376 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
377 // Limit requested angular speed to 2 rps= 4 pi rads/sec
378 len = m_angularMotorDirection.Length();
379 if (len > 12.566f)
380 m_angularMotorDirection *= (12.566f / len);
381
382 m_amEfect = 1.0f; // turn it on
383 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
384
385 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
386 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
387 d.BodyEnable(rootPrim.Body);
388 break;
389 case Vehicle.LINEAR_FRICTION_TIMESCALE:
390 if (pValue.X < m_timestep) pValue.X = m_timestep;
391 if (pValue.Y < m_timestep) pValue.Y = m_timestep;
392 if (pValue.Z < m_timestep) pValue.Z = m_timestep;
393 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
394 break;
395 case Vehicle.LINEAR_MOTOR_DIRECTION:
396 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
397 len = m_linearMotorDirection.Length();
398 if (len > 100.0f)
399 m_linearMotorDirection *= (100.0f / len);
400
401 m_lmEfect = 1.0f; // turn it on
402 m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
403
404 m_ffactor = 0.01f;
405 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
406 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
407 d.BodyEnable(rootPrim.Body);
408 break;
409 case Vehicle.LINEAR_MOTOR_OFFSET:
410 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
411 len = m_linearMotorOffset.Length();
412 if (len > 100.0f)
413 m_linearMotorOffset *= (100.0f / len);
414 break;
415 case Vehicle.BLOCK_EXIT:
416 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
417 break;
418 }
419 }//end ProcessVectorVehicleParam
420
421 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
422 {
423 switch (pParam)
424 {
425 case Vehicle.REFERENCE_FRAME:
426 m_referenceFrame = Quaternion.Inverse(pValue);
427 break;
428 case Vehicle.ROLL_FRAME:
429 m_RollreferenceFrame = pValue;
430 break;
431 }
432 }//end ProcessRotationVehicleParam
433
434 internal void ProcessVehicleFlags(int pParam, bool remove)
435 {
436 if (remove)
437 {
438 m_flags &= ~((VehicleFlag)pParam);
439 }
440 else
441 {
442 m_flags |= (VehicleFlag)pParam;
443 }
444 }//end ProcessVehicleFlags
445
446 internal void ProcessTypeChange(Vehicle pType)
447 {
448 m_lmEfect = 0;
449
450 m_amEfect = 0;
451 m_ffactor = 1f;
452
453 m_linearMotorDirection = Vector3.Zero;
454 m_angularMotorDirection = Vector3.Zero;
455
456 m_BlockingEndPoint = Vector3.Zero;
457 m_RollreferenceFrame = Quaternion.Identity;
458 m_linearMotorOffset = Vector3.Zero;
459
460 m_referenceFrame = Quaternion.Identity;
461
462 // Set Defaults For Type
463 m_type = pType;
464 switch (pType)
465 {
466 case Vehicle.TYPE_NONE:
467 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
468 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
469 m_linearMotorTimescale = 1000;
470 m_linearMotorDecayTimescale = 120 * m_invtimestep;
471 m_angularMotorTimescale = 1000;
472 m_angularMotorDecayTimescale = 1000 * m_invtimestep;
473 m_VhoverHeight = 0;
474 m_VhoverEfficiency = 1;
475 m_VhoverTimescale = 1000;
476 m_VehicleBuoyancy = 0;
477 m_linearDeflectionEfficiency = 0;
478 m_linearDeflectionTimescale = 1000;
479 m_angularDeflectionEfficiency = 0;
480 m_angularDeflectionTimescale = 1000;
481 m_bankingEfficiency = 0;
482 m_bankingMix = 1;
483 m_bankingTimescale = 1000;
484 m_verticalAttractionEfficiency = 0;
485 m_verticalAttractionTimescale = 1000;
486
487 m_flags = (VehicleFlag)0;
488 break;
489
490 case Vehicle.TYPE_SLED:
491 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
492 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
493 m_linearMotorTimescale = 1000;
494 m_linearMotorDecayTimescale = 120 * m_invtimestep;
495 m_angularMotorTimescale = 1000;
496 m_angularMotorDecayTimescale = 120 * m_invtimestep;
497 m_VhoverHeight = 0;
498 m_VhoverEfficiency = 1;
499 m_VhoverTimescale = 10;
500 m_VehicleBuoyancy = 0;
501 m_linearDeflectionEfficiency = 1;
502 m_linearDeflectionTimescale = 1;
503 m_angularDeflectionEfficiency = 0;
504 m_angularDeflectionTimescale = 10;
505 m_verticalAttractionEfficiency = 1;
506 m_verticalAttractionTimescale = 1000;
507 m_bankingEfficiency = 0;
508 m_bankingMix = 1;
509 m_bankingTimescale = 10;
510 m_flags &=
511 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
512 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
513 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
514 VehicleFlag.LIMIT_ROLL_ONLY |
515 VehicleFlag.LIMIT_MOTOR_UP);
516 break;
517
518 case Vehicle.TYPE_CAR:
519 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
520 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
521 m_linearMotorTimescale = 1;
522 m_linearMotorDecayTimescale = 60 * m_invtimestep;
523 m_angularMotorTimescale = 1;
524 m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
525 m_VhoverHeight = 0;
526 m_VhoverEfficiency = 0;
527 m_VhoverTimescale = 1000;
528 m_VehicleBuoyancy = 0;
529 m_linearDeflectionEfficiency = 1;
530 m_linearDeflectionTimescale = 2;
531 m_angularDeflectionEfficiency = 0;
532 m_angularDeflectionTimescale = 10;
533 m_verticalAttractionEfficiency = 1f;
534 m_verticalAttractionTimescale = 10f;
535 m_bankingEfficiency = -0.2f;
536 m_bankingMix = 1;
537 m_bankingTimescale = 1;
538 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
539 VehicleFlag.HOVER_TERRAIN_ONLY |
540 VehicleFlag.HOVER_GLOBAL_HEIGHT);
541 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
542 VehicleFlag.LIMIT_ROLL_ONLY |
543 VehicleFlag.LIMIT_MOTOR_UP |
544 VehicleFlag.HOVER_UP_ONLY);
545 break;
546 case Vehicle.TYPE_BOAT:
547 m_linearFrictionTimescale = new Vector3(10, 3, 2);
548 m_angularFrictionTimescale = new Vector3(10, 10, 10);
549 m_linearMotorTimescale = 5;
550 m_linearMotorDecayTimescale = 60 * m_invtimestep;
551 m_angularMotorTimescale = 4;
552 m_angularMotorDecayTimescale = 4 * m_invtimestep;
553 m_VhoverHeight = 0;
554 m_VhoverEfficiency = 0.5f;
555 m_VhoverTimescale = 2;
556 m_VehicleBuoyancy = 1;
557 m_linearDeflectionEfficiency = 0.5f;
558 m_linearDeflectionTimescale = 3;
559 m_angularDeflectionEfficiency = 0.5f;
560 m_angularDeflectionTimescale = 5;
561 m_verticalAttractionEfficiency = 0.5f;
562 m_verticalAttractionTimescale = 5f;
563 m_bankingEfficiency = -0.3f;
564 m_bankingMix = 0.8f;
565 m_bankingTimescale = 1;
566 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
567 VehicleFlag.HOVER_GLOBAL_HEIGHT |
568 VehicleFlag.HOVER_UP_ONLY); // |
569// VehicleFlag.LIMIT_ROLL_ONLY);
570 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
571 VehicleFlag.LIMIT_MOTOR_UP |
572 VehicleFlag.HOVER_UP_ONLY | // new sl
573 VehicleFlag.HOVER_WATER_ONLY);
574 break;
575
576 case Vehicle.TYPE_AIRPLANE:
577 m_linearFrictionTimescale = new Vector3(200, 10, 5);
578 m_angularFrictionTimescale = new Vector3(20, 20, 20);
579 m_linearMotorTimescale = 2;
580 m_linearMotorDecayTimescale = 60 * m_invtimestep;
581 m_angularMotorTimescale = 4;
582 m_angularMotorDecayTimescale = 8 * m_invtimestep;
583 m_VhoverHeight = 0;
584 m_VhoverEfficiency = 0.5f;
585 m_VhoverTimescale = 1000;
586 m_VehicleBuoyancy = 0;
587 m_linearDeflectionEfficiency = 0.5f;
588 m_linearDeflectionTimescale = 0.5f;
589 m_angularDeflectionEfficiency = 1;
590 m_angularDeflectionTimescale = 2;
591 m_verticalAttractionEfficiency = 0.9f;
592 m_verticalAttractionTimescale = 2f;
593 m_bankingEfficiency = 1;
594 m_bankingMix = 0.7f;
595 m_bankingTimescale = 2;
596 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
597 VehicleFlag.HOVER_TERRAIN_ONLY |
598 VehicleFlag.HOVER_GLOBAL_HEIGHT |
599 VehicleFlag.HOVER_UP_ONLY |
600 VehicleFlag.NO_DEFLECTION_UP |
601 VehicleFlag.LIMIT_MOTOR_UP);
602 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
603 break;
604
605 case Vehicle.TYPE_BALLOON:
606 m_linearFrictionTimescale = new Vector3(5, 5, 5);
607 m_angularFrictionTimescale = new Vector3(10, 10, 10);
608 m_linearMotorTimescale = 5;
609 m_linearMotorDecayTimescale = 60 * m_invtimestep;
610 m_angularMotorTimescale = 6;
611 m_angularMotorDecayTimescale = 10 * m_invtimestep;
612 m_VhoverHeight = 5;
613 m_VhoverEfficiency = 0.8f;
614 m_VhoverTimescale = 10;
615 m_VehicleBuoyancy = 1;
616 m_linearDeflectionEfficiency = 0;
617 m_linearDeflectionTimescale = 5 * m_invtimestep;
618 m_angularDeflectionEfficiency = 0;
619 m_angularDeflectionTimescale = 5;
620 m_verticalAttractionEfficiency = 1f;
621 m_verticalAttractionTimescale = 1000f;
622 m_bankingEfficiency = 0;
623 m_bankingMix = 0.7f;
624 m_bankingTimescale = 5;
625 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
626 VehicleFlag.HOVER_TERRAIN_ONLY |
627 VehicleFlag.HOVER_UP_ONLY |
628 VehicleFlag.NO_DEFLECTION_UP |
629 VehicleFlag.LIMIT_MOTOR_UP | //);
630 VehicleFlag.LIMIT_ROLL_ONLY | // new sl
631 VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl
632
633// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
634// VehicleFlag.HOVER_GLOBAL_HEIGHT);
635 break;
636
637 }
638
639 m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
640 m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
641
642 }//end SetDefaultsForType
643
644 internal void Stop()
645 {
646 m_lmEfect = 0;
647 m_lmDecay = 0f;
648 m_amEfect = 0;
649 m_amDecay = 0;
650 m_ffactor = 1f;
651 }
652
653 public static Vector3 Xrot(Quaternion rot)
654 {
655 Vector3 vec;
656 rot.Normalize(); // just in case
657 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
658 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
659 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
660 return vec;
661 }
662
663 public static Vector3 Zrot(Quaternion rot)
664 {
665 Vector3 vec;
666 rot.Normalize(); // just in case
667 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
668 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
669 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
670
671 return vec;
672 }
673
674 private const float pi = (float)Math.PI;
675 private const float halfpi = 0.5f * (float)Math.PI;
676 private const float twopi = 2.0f * pi;
677
678 public static Vector3 ubitRot2Euler(Quaternion rot)
679 {
680 // returns roll in X
681 // pitch in Y
682 // yaw in Z
683 Vector3 vec;
684
685 // assuming rot is normalised
686 // rot.Normalize();
687
688 float zX = rot.X * rot.Z + rot.Y * rot.W;
689
690 if (zX < -0.49999f)
691 {
692 vec.X = 0;
693 vec.Y = -halfpi;
694 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
695 }
696 else if (zX > 0.49999f)
697 {
698 vec.X = 0;
699 vec.Y = halfpi;
700 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
701 }
702 else
703 {
704 vec.Y = (float)Math.Asin(2 * zX);
705
706 float sqw = rot.W * rot.W;
707
708 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
709 float zZ = rot.Z * rot.Z + sqw - 0.5f;
710
711 vec.X = (float)Math.Atan2(minuszY, zZ);
712
713 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
714 float yY = rot.X * rot.X + sqw - 0.5f;
715 vec.Z = (float)Math.Atan2(yX, yY);
716 }
717 return vec;
718 }
719
720 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
721 {
722 // assuming rot is normalised
723 // rot.Normalize();
724
725 float zX = rot.X * rot.Z + rot.Y * rot.W;
726
727 if (zX < -0.49999f)
728 {
729 roll = 0;
730 pitch = -halfpi;
731 }
732 else if (zX > 0.49999f)
733 {
734 roll = 0;
735 pitch = halfpi;
736 }
737 else
738 {
739 pitch = (float)Math.Asin(2 * zX);
740
741 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
742 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
743
744 roll = (float)Math.Atan2(minuszY, zZ);
745 }
746 return ;
747 }
748
749 internal void Step()
750 {
751 IntPtr Body = rootPrim.Body;
752
753 d.Mass dmass;
754 d.BodyGetMass(Body, out dmass);
755
756 d.Quaternion rot = d.BodyGetQuaternion(Body);
757 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
758 Quaternion rotq = objrotq; // rotq = rotation of object
759 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
760 Quaternion irotq = Quaternion.Inverse(rotq);
761
762 d.Vector3 dvtmp;
763 Vector3 tmpV;
764 Vector3 curVel; // velocity in world
765 Vector3 curAngVel; // angular velocity in world
766 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
767 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
768 d.Vector3 dtorque = new d.Vector3();
769
770 dvtmp = d.BodyGetLinearVel(Body);
771 curVel.X = dvtmp.X;
772 curVel.Y = dvtmp.Y;
773 curVel.Z = dvtmp.Z;
774 Vector3 curLocalVel = curVel * irotq; // current velocity in local
775
776 dvtmp = d.BodyGetAngularVel(Body);
777 curAngVel.X = dvtmp.X;
778 curAngVel.Y = dvtmp.Y;
779 curAngVel.Z = dvtmp.Z;
780 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
781
782 float ldampZ = 0;
783
784 // linear motor
785 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
786 {
787 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
788 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
789 tmpV *= rotq; // to world
790
791 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
792 tmpV.Z = 0;
793
794 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
795 {
796 // have offset, do it now
797 tmpV *= dmass.mass;
798 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
799 }
800 else
801 {
802 force.X += tmpV.X;
803 force.Y += tmpV.Y;
804 force.Z += tmpV.Z;
805 }
806
807 m_lmEfect *= m_lmDecay;
808 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
809 }
810 else
811 {
812 m_lmEfect = 0;
813 m_ffactor = 1f;
814 }
815
816 // hover
817 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
818 {
819 // d.Vector3 pos = d.BodyGetPosition(Body);
820 d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
821 pos.Z -= 0.21f; // minor offset that seems to be always there in sl
822
823 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
824 float perr;
825
826 // default to global but don't go underground
827 perr = m_VhoverHeight - pos.Z;
828
829 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
830 {
831 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
832 {
833 perr += _pParentScene.GetWaterLevel();
834 }
835 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
836 {
837 perr += t;
838 }
839 else
840 {
841 float w = _pParentScene.GetWaterLevel();
842 if (t > w)
843 perr += t;
844 else
845 perr += w;
846 }
847 }
848 else if (t > m_VhoverHeight)
849 perr = t - pos.Z; ;
850
851 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > -0.1)
852 {
853 ldampZ = m_VhoverEfficiency * m_invtimestep;
854
855 perr *= (1.0f + ldampZ) / m_VhoverTimescale;
856
857 // force.Z += perr - curVel.Z * tmp;
858 force.Z += perr;
859 ldampZ *= -curVel.Z;
860
861 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
862 }
863 else // no buoyancy
864 force.Z += _pParentScene.gravityz;
865 }
866 else
867 {
868 // default gravity and Buoyancy
869 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
870 }
871
872 // linear deflection
873 if (m_linearDeflectionEfficiency > 0)
874 {
875 float len = curVel.Length();
876 if (len > 0.01) // if moving
877 {
878 Vector3 atAxis;
879 atAxis = Xrot(rotq); // where are we pointing to
880 atAxis *= len; // make it same size as world velocity vector
881
882 tmpV = -atAxis; // oposite direction
883 atAxis -= curVel; // error to one direction
884 len = atAxis.LengthSquared();
885
886 tmpV -= curVel; // error to oposite
887 float lens = tmpV.LengthSquared();
888
889 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
890 {
891 if (len < lens)
892 tmpV = atAxis;
893
894 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
895 force.X += tmpV.X;
896 force.Y += tmpV.Y;
897 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
898 force.Z += tmpV.Z;
899 }
900 }
901 }
902
903 // linear friction/damping
904 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
905 {
906 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
907 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
908 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
909 tmpV *= rotq; // to world
910
911 if(ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z))
912 tmpV.Z = ldampZ;
913 force.X += tmpV.X;
914 force.Y += tmpV.Y;
915 force.Z += tmpV.Z;
916 }
917
918 // vertical atractor
919 if (m_verticalAttractionTimescale < 300)
920 {
921 float roll;
922 float pitch;
923
924
925
926 float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale;
927
928 float ftmp2;
929 ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
930 m_amdampX = ftmp2;
931
932 m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency;
933
934 GetRollPitch(irotq, out roll, out pitch);
935
936 if (roll > halfpi)
937 roll = pi - roll;
938 else if (roll < -halfpi)
939 roll = -pi - roll;
940
941 float effroll = pitch / halfpi;
942 effroll *= effroll;
943 effroll = 1 - effroll;
944 effroll *= roll;
945
946
947 torque.X += effroll * ftmp;
948
949 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
950 {
951 float effpitch = roll / halfpi;
952 effpitch *= effpitch;
953 effpitch = 1 - effpitch;
954 effpitch *= pitch;
955
956 torque.Y += effpitch * ftmp;
957 }
958
959 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
960 {
961
962 float broll = effroll;
963 /*
964 if (broll > halfpi)
965 broll = pi - broll;
966 else if (broll < -halfpi)
967 broll = -pi - broll;
968 */
969 broll *= m_bankingEfficiency;
970 if (m_bankingMix != 0)
971 {
972 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
973 if (vfact > 1.0f) vfact = 1.0f;
974
975 if (curLocalVel.X >= 0)
976 broll *= (1 + (vfact - 1) * m_bankingMix);
977 else
978 broll *= -(1 + (vfact - 1) * m_bankingMix);
979 }
980 // make z rot be in world Z not local as seems to be in sl
981
982 broll = broll / m_bankingTimescale;
983
984
985 tmpV = Zrot(irotq);
986 tmpV *= broll;
987
988 torque.X += tmpV.X;
989 torque.Y += tmpV.Y;
990 torque.Z += tmpV.Z;
991
992 m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
993 m_amdampY = m_amdampZ;
994
995 }
996 else
997 {
998 m_amdampZ = 1 / m_angularFrictionTimescale.Z;
999 m_amdampY = m_amdampX;
1000 }
1001 }
1002 else
1003 {
1004 m_ampwr = 1.0f;
1005 m_amdampX = 1 / m_angularFrictionTimescale.X;
1006 m_amdampY = 1 / m_angularFrictionTimescale.Y;
1007 m_amdampZ = 1 / m_angularFrictionTimescale.Z;
1008 }
1009
1010 // angular motor
1011 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
1012 {
1013 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
1014 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
1015 torque.X += tmpV.X * m_ampwr;
1016 torque.Y += tmpV.Y * m_ampwr;
1017 torque.Z += tmpV.Z;
1018
1019 m_amEfect *= m_amDecay;
1020 }
1021 else
1022 m_amEfect = 0;
1023
1024 // angular deflection
1025 if (m_angularDeflectionEfficiency > 0)
1026 {
1027 Vector3 dirv;
1028
1029 if (curLocalVel.X > 0.01f)
1030 dirv = curLocalVel;
1031 else if (curLocalVel.X < -0.01f)
1032 // use oposite
1033 dirv = -curLocalVel;
1034 else
1035 {
1036 // make it fall into small positive x case
1037 dirv.X = 0.01f;
1038 dirv.Y = curLocalVel.Y;
1039 dirv.Z = curLocalVel.Z;
1040 }
1041
1042 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
1043
1044 if (Math.Abs(dirv.Z) > 0.01)
1045 {
1046 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
1047 }
1048
1049 if (Math.Abs(dirv.Y) > 0.01)
1050 {
1051 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
1052 }
1053 }
1054
1055 // angular friction
1056 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
1057 {
1058 torque.X -= curLocalAngVel.X * m_amdampX;
1059 torque.Y -= curLocalAngVel.Y * m_amdampY;
1060 torque.Z -= curLocalAngVel.Z * m_amdampZ;
1061 }
1062
1063
1064
1065 if (force.X != 0 || force.Y != 0 || force.Z != 0)
1066 {
1067 force *= dmass.mass;
1068 d.BodyAddForce(Body, force.X, force.Y, force.Z);
1069 }
1070
1071 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
1072 {
1073 torque *= m_referenceFrame; // to object frame
1074 dtorque.X = torque.X ;
1075 dtorque.Y = torque.Y;
1076 dtorque.Z = torque.Z;
1077
1078 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
1079 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
1080 }
1081 }
1082 }
1083}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..87a7e51
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,4039 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/* Revision 2011/12 by Ubit Umarov
29 *
30 *
31 */
32
33/*
34 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
35 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
36 * ODEPrim.cs contains methods dealing with Prim editing, Prim
37 * characteristics and Kinetic motion.
38 * ODEDynamics.cs contains methods dealing with Prim Physical motion
39 * (dynamics) and the associated settings. Old Linear and angular
40 * motors for dynamic motion have been replace with MoveLinear()
41 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
42 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
43 * switch between 'VEHICLE' parameter use and general dynamics
44 * settings use.
45 */
46
47//#define SPAM
48
49using System;
50using System.Collections.Generic;
51using System.Reflection;
52using System.Runtime.InteropServices;
53using System.Threading;
54using log4net;
55using OpenMetaverse;
56using OdeAPI;
57using OpenSim.Framework;
58using OpenSim.Region.Physics.Manager;
59
60
61namespace OpenSim.Region.Physics.OdePlugin
62{
63 public class OdePrim : PhysicsActor
64 {
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66
67 private bool m_isphysical;
68 private bool m_fakeisphysical;
69 private bool m_isphantom;
70 private bool m_fakeisphantom;
71 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
72 private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
73
74 protected bool m_building;
75 protected bool m_forcePosOrRotation;
76 private bool m_iscolliding;
77
78 internal bool m_isSelected;
79 private bool m_delaySelect;
80 private bool m_lastdoneSelected;
81 internal bool m_outbounds;
82
83 private Quaternion m_lastorientation = new Quaternion();
84 private Quaternion _orientation;
85
86 private Vector3 _position;
87 private Vector3 _velocity;
88 private Vector3 _torque;
89 private Vector3 m_lastVelocity;
90 private Vector3 m_lastposition;
91 private Vector3 m_rotationalVelocity;
92 private Vector3 _size;
93 private Vector3 _acceleration;
94 private Vector3 m_angularlock = Vector3.One;
95 private IntPtr Amotor = IntPtr.Zero;
96
97 private Vector3 m_force;
98 private Vector3 m_forceacc;
99 private Vector3 m_angularForceacc;
100
101 private float m_invTimeStep = 50.0f;
102 private float m_timeStep = .02f;
103
104
105 private Vector3 m_PIDTarget;
106 private float m_PIDTau;
107 private bool m_usePID;
108
109 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
110 // and are for non-VEHICLES only.
111
112 private float m_PIDHoverHeight;
113 private float m_PIDHoverTau;
114 private bool m_useHoverPID;
115 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
116 private float m_targetHoverHeight;
117 private float m_groundHeight;
118 private float m_waterHeight;
119 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
120
121 private int body_autodisable_frames = 5;
122 private int bodydisablecontrol = 0;
123
124
125 // Default we're a Geometry
126 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
127 // Default colide nonphysical don't try to colide with anything
128 private const CollisionCategories m_default_collisionFlagsNotPhysical = 0;
129
130 private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom |
131 CollisionCategories.Character |
132 CollisionCategories.Land |
133 CollisionCategories.VolumeDtc);
134
135// private bool m_collidesLand = true;
136 private bool m_collidesWater;
137 public bool m_returnCollisions;
138
139 private bool m_NoColide; // for now only for internal use for bad meshs
140
141
142 // Default, Collide with Other Geometries, spaces and Bodies
143 private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical;
144
145 public bool m_disabled;
146
147 public uint m_localID;
148
149 private IMesh m_mesh;
150 private object m_meshlock = new object();
151 private PrimitiveBaseShape _pbs;
152 public OdeScene _parent_scene;
153
154 /// <summary>
155 /// The physics space which contains prim geometry
156 /// </summary>
157 public IntPtr m_targetSpace = IntPtr.Zero;
158
159 public IntPtr prim_geom;
160 public IntPtr _triMeshData;
161
162 private PhysicsActor _parent;
163
164 private List<OdePrim> childrenPrim = new List<OdePrim>();
165
166
167 private bool m_throttleUpdates;
168 private int throttleCounter;
169 public float m_collisionscore;
170 int m_colliderfilter = 0;
171
172 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
173
174 private float m_density = 10.000006836f; // Aluminum g/cm3;
175 private byte m_shapetype;
176 public bool _zeroFlag;
177 private bool m_lastUpdateSent;
178
179 public IntPtr Body = IntPtr.Zero;
180 public String Name { get; private set; }
181 private Vector3 _target_velocity;
182
183 public Vector3 primOOBsize; // prim real dimensions from mesh
184 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
185 public float primOOBradiusSQ;
186 public d.Mass primdMass; // prim inertia information on it's own referencial
187 float primMass; // prim own mass
188 float primVolume; // prim own volume;
189 float _mass; // object mass acording to case
190 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
191
192 public int givefakepos = 0;
193 private Vector3 fakepos;
194 public int givefakeori = 0;
195 private Quaternion fakeori;
196
197 public int m_eventsubscription;
198 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
199
200 public volatile bool childPrim;
201
202 public ODEDynamics m_vehicle;
203
204 internal int m_material = (int)Material.Wood;
205 private float mu;
206 private float bounce;
207
208 /// <summary>
209 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
210 /// </summary>
211 public override bool IsPhysical // this is not reliable for internal use
212 {
213 get { return m_fakeisphysical; }
214 set
215 {
216 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
217 // and also to stop imediatly some updates
218 // but real change will only happen in taintprocessing
219
220 if (!value) // Zero the remembered last velocity
221 m_lastVelocity = Vector3.Zero;
222 AddChange(changes.Physical, value);
223 }
224 }
225
226 public override bool IsVolumeDtc
227 {
228 get { return m_fakeisVolumeDetect; }
229 set
230 {
231 m_fakeisVolumeDetect = value;
232 AddChange(changes.VolumeDtc, value);
233 }
234 }
235
236
237 public override bool Phantom // this is not reliable for internal use
238 {
239 get { return m_fakeisphantom; }
240 set
241 {
242 m_fakeisphantom = value;
243 AddChange(changes.Phantom, value);
244 }
245 }
246
247 public override bool Building // this is not reliable for internal use
248 {
249 get { return m_building; }
250 set
251 {
252 if (value)
253 m_building = true;
254 AddChange(changes.building, value);
255 }
256 }
257
258 public override void getContactData(ref ContactData cdata)
259 {
260 cdata.mu = mu;
261 cdata.bounce = bounce;
262
263 // cdata.softcolide = m_softcolide;
264 cdata.softcolide = false;
265
266 if (m_isphysical)
267 {
268 ODEDynamics veh;
269 if (_parent != null)
270 veh = ((OdePrim)_parent).m_vehicle;
271 else
272 veh = m_vehicle;
273
274 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
275 cdata.mu *= veh.FrictionFactor;
276 }
277 }
278
279 public override int PhysicsActorType
280 {
281 get { return (int)ActorTypes.Prim; }
282 set { return; }
283 }
284
285 public override bool SetAlwaysRun
286 {
287 get { return false; }
288 set { return; }
289 }
290
291 public override uint LocalID
292 {
293 get
294 {
295 return m_localID;
296 }
297 set
298 {
299 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
300 m_localID = value;
301 }
302 }
303
304 public override bool Grabbed
305 {
306 set { return; }
307 }
308
309 public override bool Selected
310 {
311 set
312 {
313 if (value)
314 m_isSelected = value; // if true set imediatly to stop moves etc
315 AddChange(changes.Selected, value);
316 }
317 }
318
319 public override bool Flying
320 {
321 // no flying prims for you
322 get { return false; }
323 set { }
324 }
325
326 public override bool IsColliding
327 {
328 get { return m_iscolliding; }
329 set
330 {
331 if (value)
332 {
333 m_colliderfilter += 2;
334 if (m_colliderfilter > 2)
335 m_colliderfilter = 2;
336 }
337 else
338 {
339 m_colliderfilter--;
340 if (m_colliderfilter < 0)
341 m_colliderfilter = 0;
342 }
343
344 if (m_colliderfilter == 0)
345 m_iscolliding = false;
346 else
347 m_iscolliding = true;
348 }
349 }
350
351 public override bool CollidingGround
352 {
353 get { return false; }
354 set { return; }
355 }
356
357 public override bool CollidingObj
358 {
359 get { return false; }
360 set { return; }
361 }
362
363 public override bool ThrottleUpdates
364 {
365 get { return m_throttleUpdates; }
366 set { m_throttleUpdates = value; }
367 }
368
369 public override bool Stopped
370 {
371 get { return _zeroFlag; }
372 }
373
374 public override Vector3 Position
375 {
376 get
377 {
378 if (givefakepos > 0)
379 return fakepos;
380 else
381 return _position;
382 }
383
384 set
385 {
386 fakepos = value;
387 givefakepos++;
388 AddChange(changes.Position, value);
389 }
390 }
391
392 public override Vector3 Size
393 {
394 get { return _size; }
395 set
396 {
397 if (value.IsFinite())
398 {
399 AddChange(changes.Size, value);
400 }
401 else
402 {
403 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
404 }
405 }
406 }
407
408 public override float Mass
409 {
410 get { return primMass; }
411 }
412
413 public override Vector3 Force
414 {
415 //get { return Vector3.Zero; }
416 get { return m_force; }
417 set
418 {
419 if (value.IsFinite())
420 {
421 AddChange(changes.Force, value);
422 }
423 else
424 {
425 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
426 }
427 }
428 }
429
430 public override void SetVolumeDetect(int param)
431 {
432 m_fakeisVolumeDetect = (param != 0);
433 AddChange(changes.VolumeDtc, m_fakeisVolumeDetect);
434 }
435
436 public override Vector3 GeometricCenter
437 {
438 // this is not real geometric center but a average of positions relative to root prim acording to
439 // http://wiki.secondlife.com/wiki/llGetGeometricCenter
440 // ignoring tortured prims details since sl also seems to ignore
441 // so no real use in doing it on physics
442 get
443 {
444 return Vector3.Zero;
445 }
446 }
447
448 public override Vector3 CenterOfMass
449 {
450 get
451 {
452 lock (_parent_scene.OdeLock)
453 {
454 d.Vector3 dtmp;
455 if (!childPrim && Body != IntPtr.Zero)
456 {
457 dtmp = d.BodyGetPosition(Body);
458 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
459 }
460 else if (prim_geom != IntPtr.Zero)
461 {
462 d.Quaternion dq;
463 d.GeomCopyQuaternion(prim_geom, out dq);
464 Quaternion q;
465 q.X = dq.X;
466 q.Y = dq.Y;
467 q.Z = dq.Z;
468 q.W = dq.W;
469
470 Vector3 Ptot = primOOBoffset * q;
471 dtmp = d.GeomGetPosition(prim_geom);
472 Ptot.X += dtmp.X;
473 Ptot.Y += dtmp.Y;
474 Ptot.Z += dtmp.Z;
475
476 // if(childPrim) we only know about physical linksets
477 return Ptot;
478 /*
479 float tmass = _mass;
480 Ptot *= tmass;
481
482 float m;
483
484 foreach (OdePrim prm in childrenPrim)
485 {
486 m = prm._mass;
487 Ptot += prm.CenterOfMass * m;
488 tmass += m;
489 }
490
491 if (tmass == 0)
492 tmass = 0;
493 else
494 tmass = 1.0f / tmass;
495
496 Ptot *= tmass;
497 return Ptot;
498 */
499 }
500 else
501 return _position;
502 }
503 }
504 }
505 /*
506 public override Vector3 PrimOOBsize
507 {
508 get
509 {
510 return primOOBsize;
511 }
512 }
513
514 public override Vector3 PrimOOBoffset
515 {
516 get
517 {
518 return primOOBoffset;
519 }
520 }
521
522 public override float PrimOOBRadiusSQ
523 {
524 get
525 {
526 return primOOBradiusSQ;
527 }
528 }
529 */
530 public override PrimitiveBaseShape Shape
531 {
532 set
533 {
534/*
535 IMesh mesh = null;
536 if (_parent_scene.needsMeshing(value))
537 {
538 bool convex;
539 if (m_shapetype == 0)
540 convex = false;
541 else
542 convex = true;
543 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
544 }
545
546 if (mesh != null)
547 {
548 lock (m_meshlock)
549 m_mesh = mesh;
550 }
551*/
552 AddChange(changes.Shape, value);
553 }
554 }
555
556 public override byte PhysicsShapeType
557 {
558 get
559 {
560 return m_shapetype;
561 }
562 set
563 {
564 m_shapetype = value;
565 AddChange(changes.Shape, null);
566 }
567 }
568
569
570 public override Vector3 Velocity
571 {
572 get
573 {
574 if (_zeroFlag)
575 return Vector3.Zero;
576 return _velocity;
577 }
578 set
579 {
580 if (value.IsFinite())
581 {
582 AddChange(changes.Velocity, value);
583 // _velocity = value;
584
585 }
586 else
587 {
588 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
589 }
590
591 }
592 }
593
594 public override Vector3 Torque
595 {
596 get
597 {
598 if (!IsPhysical || Body == IntPtr.Zero)
599 return Vector3.Zero;
600
601 return _torque;
602 }
603
604 set
605 {
606 if (value.IsFinite())
607 {
608 AddChange(changes.Torque, value);
609 }
610 else
611 {
612 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
613 }
614 }
615 }
616
617 public override float CollisionScore
618 {
619 get { return m_collisionscore; }
620 set { m_collisionscore = value; }
621 }
622
623 public override bool Kinematic
624 {
625 get { return false; }
626 set { }
627 }
628
629 public override Quaternion Orientation
630 {
631 get
632 {
633 if (givefakeori > 0)
634 return fakeori;
635 else
636
637 return _orientation;
638 }
639 set
640 {
641 if (QuaternionIsFinite(value))
642 {
643 fakeori = value;
644 givefakeori++;
645 AddChange(changes.Orientation, value);
646 }
647 else
648 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
649
650 }
651 }
652
653 public override Vector3 Acceleration
654 {
655 get { return _acceleration; }
656 set { }
657 }
658
659 public override Vector3 RotationalVelocity
660 {
661 get
662 {
663 Vector3 pv = Vector3.Zero;
664 if (_zeroFlag)
665 return pv;
666
667 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
668 return pv;
669
670 return m_rotationalVelocity;
671 }
672 set
673 {
674 if (value.IsFinite())
675 {
676 m_rotationalVelocity = value;
677 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
678 d.BodyEnable(Body);
679 }
680 else
681 {
682 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
683 }
684 }
685 }
686
687
688 public override float Buoyancy
689 {
690 get { return m_buoyancy; }
691 set
692 {
693 m_buoyancy = value;
694 }
695 }
696
697 public override bool FloatOnWater
698 {
699 set
700 {
701 AddChange(changes.CollidesWater, value);
702 }
703 }
704
705 public override Vector3 PIDTarget
706 {
707 set
708 {
709 if (value.IsFinite())
710 {
711 m_PIDTarget = value;
712 }
713 else
714 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
715 }
716 }
717
718 public override bool PIDActive { set { m_usePID = value; } }
719 public override float PIDTau
720 {
721 set
722 {
723 if (value <= 0)
724 m_PIDTau = 0;
725 else
726 {
727 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
728 if (value < mint)
729 m_PIDTau = mint;
730 else
731 m_PIDTau = value;
732 }
733 }
734 }
735
736 public override float PIDHoverHeight
737 {
738 set
739 {
740 m_PIDHoverHeight = value;
741 if (value == 0)
742 m_useHoverPID = false;
743 }
744 }
745 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
746 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
747 public override float PIDHoverTau
748 {
749 set
750 {
751 if (value <= 0)
752 m_PIDHoverTau = 0;
753 else
754 {
755 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
756 if (value < mint)
757 m_PIDHoverTau = mint;
758 else
759 m_PIDHoverTau = value;
760 }
761 }
762 }
763
764 public override Quaternion APIDTarget { set { return; } }
765
766 public override bool APIDActive { set { return; } }
767
768 public override float APIDStrength { set { return; } }
769
770 public override float APIDDamping { set { return; } }
771
772 public override int VehicleType
773 {
774 // we may need to put a fake on this
775 get
776 {
777 if (m_vehicle == null)
778 return (int)Vehicle.TYPE_NONE;
779 else
780 return (int)m_vehicle.Type;
781 }
782 set
783 {
784 AddChange(changes.VehicleType, value);
785 }
786 }
787
788 public override void VehicleFloatParam(int param, float value)
789 {
790 strVehicleFloatParam fp = new strVehicleFloatParam();
791 fp.param = param;
792 fp.value = value;
793 AddChange(changes.VehicleFloatParam, fp);
794 }
795
796 public override void VehicleVectorParam(int param, Vector3 value)
797 {
798 strVehicleVectorParam fp = new strVehicleVectorParam();
799 fp.param = param;
800 fp.value = value;
801 AddChange(changes.VehicleVectorParam, fp);
802 }
803
804 public override void VehicleRotationParam(int param, Quaternion value)
805 {
806 strVehicleQuatParam fp = new strVehicleQuatParam();
807 fp.param = param;
808 fp.value = value;
809 AddChange(changes.VehicleRotationParam, fp);
810 }
811
812 public override void VehicleFlags(int param, bool value)
813 {
814 strVehicleBoolParam bp = new strVehicleBoolParam();
815 bp.param = param;
816 bp.value = value;
817 AddChange(changes.VehicleFlags, bp);
818 }
819
820 public override void SetVehicle(object vdata)
821 {
822 AddChange(changes.SetVehicle, vdata);
823 }
824 public void SetAcceleration(Vector3 accel)
825 {
826 _acceleration = accel;
827 }
828
829 public override void AddForce(Vector3 force, bool pushforce)
830 {
831 if (force.IsFinite())
832 {
833 if(pushforce)
834 AddChange(changes.AddForce, force);
835 else // a impulse
836 AddChange(changes.AddForce, force * m_invTimeStep);
837 }
838 else
839 {
840 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
841 }
842 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
843 }
844
845 public override void AddAngularForce(Vector3 force, bool pushforce)
846 {
847 if (force.IsFinite())
848 {
849// if(pushforce) for now applyrotationimpulse seems more happy applied as a force
850 AddChange(changes.AddAngForce, force);
851// else // a impulse
852// AddChange(changes.AddAngForce, force * m_invTimeStep);
853 }
854 else
855 {
856 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
857 }
858 }
859
860 public override void CrossingFailure()
861 {
862 if (m_outbounds)
863 {
864 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
865 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
866 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
867
868 m_lastposition = _position;
869 _velocity.X = 0;
870 _velocity.Y = 0;
871 _velocity.Z = 0;
872
873 m_lastVelocity = _velocity;
874 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
875 m_vehicle.Stop();
876
877 if(Body != IntPtr.Zero)
878 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
879 if (prim_geom != IntPtr.Zero)
880 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
881
882 m_outbounds = false;
883 changeDisable(false);
884 base.RequestPhysicsterseUpdate();
885 }
886 }
887
888 public override void SetMomentum(Vector3 momentum)
889 {
890 }
891
892 public override void SetMaterial(int pMaterial)
893 {
894 m_material = pMaterial;
895 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
896 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
897 }
898
899 public void setPrimForRemoval()
900 {
901 AddChange(changes.Remove, null);
902 }
903
904 public override void link(PhysicsActor obj)
905 {
906 AddChange(changes.Link, obj);
907 }
908
909 public override void delink()
910 {
911 AddChange(changes.DeLink, null);
912 }
913
914 public override void LockAngularMotion(Vector3 axis)
915 {
916 // reverse the zero/non zero values for ODE.
917 if (axis.IsFinite())
918 {
919 axis.X = (axis.X > 0) ? 1f : 0f;
920 axis.Y = (axis.Y > 0) ? 1f : 0f;
921 axis.Z = (axis.Z > 0) ? 1f : 0f;
922 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
923 AddChange(changes.AngLock, axis);
924 }
925 else
926 {
927 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
928 }
929 }
930
931 public override void SubscribeEvents(int ms)
932 {
933 m_eventsubscription = ms;
934 _parent_scene.AddCollisionEventReporting(this);
935 }
936
937 public override void UnSubscribeEvents()
938 {
939 _parent_scene.RemoveCollisionEventReporting(this);
940 m_eventsubscription = 0;
941 }
942
943 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
944 {
945 if (CollisionEventsThisFrame == null)
946 CollisionEventsThisFrame = new CollisionEventUpdate();
947
948 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
949 }
950
951 public void SendCollisions()
952 {
953 if (CollisionEventsThisFrame == null)
954 return;
955
956 base.SendCollisionUpdate(CollisionEventsThisFrame);
957
958 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
959 CollisionEventsThisFrame = null;
960 else
961 CollisionEventsThisFrame = new CollisionEventUpdate();
962 }
963
964 public override bool SubscribedEvents()
965 {
966 if (m_eventsubscription > 0)
967 return true;
968 return false;
969 }
970
971
972 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
973 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
974 {
975 Name = primName;
976 LocalID = plocalID;
977
978 m_vehicle = null;
979
980 if (!pos.IsFinite())
981 {
982 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
983 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
984 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
985 }
986 _position = pos;
987 givefakepos = 0;
988
989 m_timeStep = parent_scene.ODE_STEPSIZE;
990 m_invTimeStep = 1f / m_timeStep;
991
992 m_density = parent_scene.geomDefaultDensity;
993 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
994 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
995
996 prim_geom = IntPtr.Zero;
997 collide_geom = IntPtr.Zero;
998 Body = IntPtr.Zero;
999
1000 if (!size.IsFinite())
1001 {
1002 size = new Vector3(0.5f, 0.5f, 0.5f);
1003 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
1004 }
1005
1006 if (size.X <= 0) size.X = 0.01f;
1007 if (size.Y <= 0) size.Y = 0.01f;
1008 if (size.Z <= 0) size.Z = 0.01f;
1009
1010 _size = size;
1011
1012 if (!QuaternionIsFinite(rotation))
1013 {
1014 rotation = Quaternion.Identity;
1015 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
1016 }
1017
1018 _orientation = rotation;
1019 givefakeori = 0;
1020
1021 _pbs = pbs;
1022
1023 _parent_scene = parent_scene;
1024 m_targetSpace = IntPtr.Zero;
1025
1026 if (pos.Z < 0)
1027 {
1028 m_isphysical = false;
1029 }
1030 else
1031 {
1032 m_isphysical = pisPhysical;
1033 }
1034 m_fakeisphysical = m_isphysical;
1035
1036 m_isVolumeDetect = false;
1037 m_fakeisVolumeDetect = false;
1038
1039 m_force = Vector3.Zero;
1040
1041 m_iscolliding = false;
1042 m_colliderfilter = 0;
1043 m_NoColide = false;
1044
1045 hasOOBoffsetFromMesh = false;
1046 _triMeshData = IntPtr.Zero;
1047
1048 m_shapetype = _shapeType;
1049
1050 m_lastdoneSelected = false;
1051 m_isSelected = false;
1052 m_delaySelect = false;
1053
1054 m_isphantom = pisPhantom;
1055 m_fakeisphantom = pisPhantom;
1056
1057 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
1058 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
1059
1060 CalcPrimBodyData();
1061
1062 m_mesh = null;
1063 if (_parent_scene.needsMeshing(pbs))
1064 {
1065 bool convex;
1066 if (m_shapetype == 0)
1067 convex = false;
1068 else
1069 convex = true;
1070
1071 m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1072 }
1073
1074
1075 m_building = true; // control must set this to false when done
1076
1077 AddChange(changes.Add, null);
1078 }
1079
1080 private void resetCollisionAccounting()
1081 {
1082 m_collisionscore = 0;
1083 }
1084
1085 private void UpdateCollisionCatFlags()
1086 {
1087 if(m_isphysical && m_disabled)
1088 {
1089 m_collisionCategories = 0;
1090 m_collisionFlags = 0;
1091 }
1092
1093 else if (m_isSelected)
1094 {
1095 m_collisionCategories = CollisionCategories.Selected;
1096 m_collisionFlags = 0;
1097 }
1098
1099 else if (m_isVolumeDetect)
1100 {
1101 m_collisionCategories = CollisionCategories.VolumeDtc;
1102 if (m_isphysical)
1103 m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1104 else
1105 m_collisionFlags = 0;
1106 }
1107 else if (m_isphantom)
1108 {
1109 m_collisionCategories = CollisionCategories.Phantom;
1110 if (m_isphysical)
1111 m_collisionFlags = CollisionCategories.Land;
1112 else
1113 m_collisionFlags = 0;
1114 }
1115 else
1116 {
1117 m_collisionCategories = CollisionCategories.Geom;
1118 if (m_isphysical)
1119 m_collisionFlags = m_default_collisionFlagsPhysical;
1120 else
1121 m_collisionFlags = m_default_collisionFlagsNotPhysical;
1122 }
1123 }
1124
1125 private void ApplyCollisionCatFlags()
1126 {
1127 if (prim_geom != IntPtr.Zero)
1128 {
1129 if (!childPrim && childrenPrim.Count > 0)
1130 {
1131 foreach (OdePrim prm in childrenPrim)
1132 {
1133 if (m_isphysical && m_disabled)
1134 {
1135 prm.m_collisionCategories = 0;
1136 prm.m_collisionFlags = 0;
1137 }
1138 else
1139 {
1140 // preserve some
1141 if (prm.m_isSelected)
1142 {
1143 prm.m_collisionCategories = CollisionCategories.Selected;
1144 prm.m_collisionFlags = 0;
1145 }
1146 else if (prm.m_isVolumeDetect)
1147 {
1148 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1149 if (m_isphysical)
1150 prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1151 else
1152 prm.m_collisionFlags = 0;
1153 }
1154 else if (prm.m_isphantom)
1155 {
1156 prm.m_collisionCategories = CollisionCategories.Phantom;
1157 if (m_isphysical)
1158 prm.m_collisionFlags = CollisionCategories.Land;
1159 else
1160 prm.m_collisionFlags = 0;
1161 }
1162 else
1163 {
1164 prm.m_collisionCategories = m_collisionCategories;
1165 prm.m_collisionFlags = m_collisionFlags;
1166 }
1167 }
1168
1169 if (prm.prim_geom != IntPtr.Zero)
1170 {
1171 if (prm.m_NoColide)
1172 {
1173 d.GeomSetCategoryBits(prm.prim_geom, 0);
1174 if (m_isphysical)
1175 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1176 else
1177 d.GeomSetCollideBits(prm.prim_geom, 0);
1178 }
1179 else
1180 {
1181 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1182 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1183 }
1184 }
1185 }
1186 }
1187
1188 if (m_NoColide)
1189 {
1190 d.GeomSetCategoryBits(prim_geom, 0);
1191 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1192 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1193 {
1194 d.GeomSetCategoryBits(collide_geom, 0);
1195 d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land);
1196 }
1197 }
1198 else
1199 {
1200 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1201 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1202 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1203 {
1204 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
1205 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
1206 }
1207 }
1208 }
1209 }
1210
1211 private void createAMotor(Vector3 axis)
1212 {
1213 if (Body == IntPtr.Zero)
1214 return;
1215
1216 if (Amotor != IntPtr.Zero)
1217 {
1218 d.JointDestroy(Amotor);
1219 Amotor = IntPtr.Zero;
1220 }
1221
1222 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
1223
1224 if (axisnum <= 0)
1225 return;
1226
1227 // stop it
1228 d.BodySetTorque(Body, 0, 0, 0);
1229 d.BodySetAngularVel(Body, 0, 0, 0);
1230
1231 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1232 d.JointAttach(Amotor, Body, IntPtr.Zero);
1233
1234 d.JointSetAMotorMode(Amotor, 0);
1235
1236 d.JointSetAMotorNumAxes(Amotor, axisnum);
1237
1238 // get current orientation to lock
1239
1240 d.Quaternion dcur = d.BodyGetQuaternion(Body);
1241 Quaternion curr; // crap convertion between identical things
1242 curr.X = dcur.X;
1243 curr.Y = dcur.Y;
1244 curr.Z = dcur.Z;
1245 curr.W = dcur.W;
1246 Vector3 ax;
1247
1248 int i = 0;
1249 int j = 0;
1250 if (axis.X == 0)
1251 {
1252 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
1253 // ODE should do this with axis relative to body 1 but seems to fail
1254 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
1255 d.JointSetAMotorAngle(Amotor, 0, 0);
1256 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
1257 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
1258 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
1259 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
1260 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
1261 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
1262 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
1263 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
1264 i++;
1265 j = 256; // move to next axis set
1266 }
1267
1268 if (axis.Y == 0)
1269 {
1270 ax = (new Vector3(0, 1, 0)) * curr;
1271 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1272 d.JointSetAMotorAngle(Amotor, i, 0);
1273 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1274 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1275 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1276 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1277 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1278 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1279 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1280 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1281 i++;
1282 j += 256;
1283 }
1284
1285 if (axis.Z == 0)
1286 {
1287 ax = (new Vector3(0, 0, 1)) * curr;
1288 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1289 d.JointSetAMotorAngle(Amotor, i, 0);
1290 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1291 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1292 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1293 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1294 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1295 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1296 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1297 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1298 }
1299 }
1300
1301 private bool setMesh(OdeScene parent_scene)
1302 {
1303 IntPtr vertices, indices;
1304 int vertexCount, indexCount;
1305 int vertexStride, triStride;
1306
1307 if (Body != IntPtr.Zero)
1308 {
1309 if (childPrim)
1310 {
1311 if (_parent != null)
1312 {
1313 OdePrim parent = (OdePrim)_parent;
1314 parent.ChildDelink(this, false);
1315 }
1316 }
1317 else
1318 {
1319 DestroyBody();
1320 }
1321 }
1322
1323 IMesh mesh = null;
1324
1325
1326 lock (m_meshlock)
1327 {
1328 if (m_mesh == null)
1329 {
1330 bool convex;
1331 if (m_shapetype == 0)
1332 convex = false;
1333 else
1334 convex = true;
1335
1336 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1337 }
1338 else
1339 {
1340 mesh = m_mesh;
1341 }
1342
1343 if (mesh == null)
1344 {
1345 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1346 return false;
1347 }
1348
1349
1350 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1351 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1352
1353 if (vertexCount == 0 || indexCount == 0)
1354 {
1355 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1356 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1357 mesh.releaseSourceMeshData();
1358 return false;
1359 }
1360
1361 primOOBoffset = mesh.GetCentroid();
1362 hasOOBoffsetFromMesh = true;
1363
1364 mesh.releaseSourceMeshData();
1365 m_mesh = null;
1366 }
1367
1368 IntPtr geo = IntPtr.Zero;
1369
1370 try
1371 {
1372 _triMeshData = d.GeomTriMeshDataCreate();
1373
1374 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1375 d.GeomTriMeshDataPreprocess(_triMeshData);
1376
1377 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1378 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1379 }
1380
1381 catch (Exception e)
1382 {
1383 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1384 if (_triMeshData != IntPtr.Zero)
1385 {
1386 d.GeomTriMeshDataDestroy(_triMeshData);
1387 _triMeshData = IntPtr.Zero;
1388 }
1389 return false;
1390 }
1391
1392 SetGeom(geo);
1393 return true;
1394 }
1395
1396 private void SetGeom(IntPtr geom)
1397 {
1398 prim_geom = geom;
1399 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1400 if (prim_geom != IntPtr.Zero)
1401 {
1402 if (m_NoColide)
1403 {
1404 d.GeomSetCategoryBits(prim_geom, 0);
1405 if (m_isphysical)
1406 {
1407 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1408 }
1409 else
1410 {
1411 d.GeomSetCollideBits(prim_geom, 0);
1412 d.GeomDisable(prim_geom);
1413 }
1414 }
1415 else
1416 {
1417 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1418 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1419 }
1420
1421 CalcPrimBodyData();
1422
1423 _parent_scene.geom_name_map[prim_geom] = Name;
1424 _parent_scene.actor_name_map[prim_geom] = this;
1425
1426 }
1427 else
1428 m_log.Warn("Setting bad Geom");
1429 }
1430
1431
1432 /// <summary>
1433 /// Create a geometry for the given mesh in the given target space.
1434 /// </summary>
1435 /// <param name="m_targetSpace"></param>
1436 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1437 private void CreateGeom()
1438 {
1439 if (_triMeshData != IntPtr.Zero)
1440 {
1441 d.GeomTriMeshDataDestroy(_triMeshData);
1442 _triMeshData = IntPtr.Zero;
1443 }
1444
1445 bool haveMesh = false;
1446 hasOOBoffsetFromMesh = false;
1447 m_NoColide = false;
1448
1449 if (_parent_scene.needsMeshing(_pbs))
1450 {
1451 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1452 if (!haveMesh)
1453 m_NoColide = true;
1454 }
1455
1456 if (!haveMesh)
1457 {
1458 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1459 && _size.X == _size.Y && _size.Y == _size.Z)
1460 { // it's a sphere
1461 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1462 try
1463 {
1464 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1465 }
1466 catch (Exception e)
1467 {
1468 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1469 return;
1470 }
1471 }
1472 else
1473 {// do it as a box
1474 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1475 try
1476 {
1477 //Console.WriteLine(" CreateGeom 4");
1478 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1479 }
1480 catch (Exception e)
1481 {
1482 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1483 return;
1484 }
1485 }
1486 }
1487 }
1488
1489 /// <summary>
1490 /// Set a new geometry for this prim.
1491 /// </summary>
1492 /// <param name="geom"></param>
1493 private void RemoveGeom()
1494 {
1495 if (prim_geom != IntPtr.Zero)
1496 {
1497 _parent_scene.geom_name_map.Remove(prim_geom);
1498 _parent_scene.actor_name_map.Remove(prim_geom);
1499 try
1500 {
1501 d.GeomDestroy(prim_geom);
1502 if (_triMeshData != IntPtr.Zero)
1503 {
1504 d.GeomTriMeshDataDestroy(_triMeshData);
1505 _triMeshData = IntPtr.Zero;
1506 }
1507 }
1508 // catch (System.AccessViolationException)
1509 catch (Exception e)
1510 {
1511 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1512 }
1513
1514 prim_geom = IntPtr.Zero;
1515 collide_geom = IntPtr.Zero;
1516 }
1517 else
1518 {
1519 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1520 }
1521 Body = IntPtr.Zero;
1522 hasOOBoffsetFromMesh = false;
1523 }
1524/*
1525 private void ChildSetGeom(OdePrim odePrim)
1526 {
1527 // well..
1528 DestroyBody();
1529 MakeBody();
1530 }
1531*/
1532 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1533 // should only be called for non physical prims unless they are becoming non physical
1534 private void SetInStaticSpace(OdePrim prim)
1535 {
1536 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1537 prim.m_targetSpace = targetSpace;
1538 collide_geom = IntPtr.Zero;
1539 }
1540
1541 public void enableBodySoft()
1542 {
1543 m_disabled = false;
1544 if (!childPrim && !m_isSelected)
1545 {
1546 if (m_isphysical && Body != IntPtr.Zero)
1547 {
1548 UpdateCollisionCatFlags();
1549 ApplyCollisionCatFlags();
1550
1551 d.BodyEnable(Body);
1552 }
1553 }
1554 resetCollisionAccounting();
1555 }
1556
1557 private void disableBodySoft()
1558 {
1559 m_disabled = true;
1560 if (!childPrim)
1561 {
1562 if (m_isphysical && Body != IntPtr.Zero)
1563 {
1564 if (m_isSelected)
1565 m_collisionFlags = CollisionCategories.Selected;
1566 else
1567 m_collisionCategories = 0;
1568 m_collisionFlags = 0;
1569 ApplyCollisionCatFlags();
1570 d.BodyDisable(Body);
1571 }
1572 }
1573 }
1574
1575 private void MakeBody()
1576 {
1577 if (!m_isphysical) // only physical get bodies
1578 return;
1579
1580 if (childPrim) // child prims don't get bodies;
1581 return;
1582
1583 if (m_building)
1584 return;
1585
1586 if (prim_geom == IntPtr.Zero)
1587 {
1588 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1589 return;
1590 }
1591
1592 if (Body != IntPtr.Zero)
1593 {
1594 d.BodyDestroy(Body);
1595 Body = IntPtr.Zero;
1596 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1597 }
1598
1599
1600 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1601 {
1602 d.GeomSetBody(prim_geom, IntPtr.Zero);
1603 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1604 }
1605
1606 d.Matrix3 mymat = new d.Matrix3();
1607 d.Quaternion myrot = new d.Quaternion();
1608 d.Mass objdmass = new d.Mass { };
1609
1610 Body = d.BodyCreate(_parent_scene.world);
1611
1612 objdmass = primdMass;
1613
1614 // rotate inertia
1615 myrot.X = _orientation.X;
1616 myrot.Y = _orientation.Y;
1617 myrot.Z = _orientation.Z;
1618 myrot.W = _orientation.W;
1619
1620 d.RfromQ(out mymat, ref myrot);
1621 d.MassRotate(ref objdmass, ref mymat);
1622
1623 // set the body rotation
1624 d.BodySetRotation(Body, ref mymat);
1625
1626 // recompute full object inertia if needed
1627 if (childrenPrim.Count > 0)
1628 {
1629 d.Matrix3 mat = new d.Matrix3();
1630 d.Quaternion quat = new d.Quaternion();
1631 d.Mass tmpdmass = new d.Mass { };
1632 Vector3 rcm;
1633
1634 rcm.X = _position.X;
1635 rcm.Y = _position.Y;
1636 rcm.Z = _position.Z;
1637
1638 lock (childrenPrim)
1639 {
1640 foreach (OdePrim prm in childrenPrim)
1641 {
1642 if (prm.prim_geom == IntPtr.Zero)
1643 {
1644 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1645 continue;
1646 }
1647
1648 tmpdmass = prm.primdMass;
1649
1650 // apply prim current rotation to inertia
1651 quat.X = prm._orientation.X;
1652 quat.Y = prm._orientation.Y;
1653 quat.Z = prm._orientation.Z;
1654 quat.W = prm._orientation.W;
1655 d.RfromQ(out mat, ref quat);
1656 d.MassRotate(ref tmpdmass, ref mat);
1657
1658 Vector3 ppos = prm._position;
1659 ppos.X -= rcm.X;
1660 ppos.Y -= rcm.Y;
1661 ppos.Z -= rcm.Z;
1662 // refer inertia to root prim center of mass position
1663 d.MassTranslate(ref tmpdmass,
1664 ppos.X,
1665 ppos.Y,
1666 ppos.Z);
1667
1668 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1669 // fix prim colision cats
1670
1671 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1672 {
1673 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1674 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1675 }
1676
1677 d.GeomClearOffset(prm.prim_geom);
1678 d.GeomSetBody(prm.prim_geom, Body);
1679 prm.Body = Body;
1680 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1681 }
1682 }
1683 }
1684
1685 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1686 // associate root geom with body
1687 d.GeomSetBody(prim_geom, Body);
1688
1689 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1690 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1691
1692 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1693 myrot.X = -myrot.X;
1694 myrot.Y = -myrot.Y;
1695 myrot.Z = -myrot.Z;
1696
1697 d.RfromQ(out mymat, ref myrot);
1698 d.MassRotate(ref objdmass, ref mymat);
1699
1700 d.BodySetMass(Body, ref objdmass);
1701 _mass = objdmass.mass;
1702
1703 // disconnect from world gravity so we can apply buoyancy
1704 d.BodySetGravityMode(Body, false);
1705
1706 d.BodySetAutoDisableFlag(Body, true);
1707 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1708 // d.BodySetLinearDampingThreshold(Body, 0.01f);
1709 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1710 d.BodySetDamping(Body, .002f, .002f);
1711
1712 if (m_targetSpace != IntPtr.Zero)
1713 {
1714 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1715 if (d.SpaceQuery(m_targetSpace, prim_geom))
1716 d.SpaceRemove(m_targetSpace, prim_geom);
1717 }
1718
1719
1720 if (childrenPrim.Count == 0)
1721 {
1722 collide_geom = prim_geom;
1723 m_targetSpace = _parent_scene.ActiveSpace;
1724 d.SpaceAdd(m_targetSpace, prim_geom);
1725 }
1726 else
1727 {
1728 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1729 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1730 d.SpaceSetSublevel(m_targetSpace, 3);
1731 d.SpaceSetCleanup(m_targetSpace, false);
1732 d.SpaceAdd(m_targetSpace, prim_geom);
1733
1734 d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space |
1735 CollisionCategories.Geom |
1736 CollisionCategories.Phantom |
1737 CollisionCategories.VolumeDtc
1738 ));
1739 d.GeomSetCollideBits(m_targetSpace, 0);
1740 collide_geom = m_targetSpace;
1741 }
1742
1743 if (m_delaySelect)
1744 {
1745 m_isSelected = true;
1746 m_delaySelect = false;
1747 }
1748
1749 lock (childrenPrim)
1750 {
1751 foreach (OdePrim prm in childrenPrim)
1752 {
1753 if (prm.prim_geom == IntPtr.Zero)
1754 continue;
1755
1756 Vector3 ppos = prm._position;
1757 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1758
1759 if (prm.m_targetSpace != m_targetSpace)
1760 {
1761 if (prm.m_targetSpace != IntPtr.Zero)
1762 {
1763 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1764 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1765 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1766 }
1767 prm.m_targetSpace = m_targetSpace;
1768 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1769 }
1770
1771 prm.m_collisionscore = 0;
1772
1773 if(!m_disabled)
1774 prm.m_disabled = false;
1775
1776 _parent_scene.addActivePrim(prm);
1777 }
1778 }
1779
1780 // The body doesn't already have a finite rotation mode set here
1781 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1782 {
1783 createAMotor(m_angularlock);
1784 }
1785
1786 m_collisionscore = 0;
1787
1788 UpdateCollisionCatFlags();
1789 ApplyCollisionCatFlags();
1790
1791 if (m_isSelected || m_disabled)
1792 {
1793 d.BodyDisable(Body);
1794 }
1795 else
1796 {
1797 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1798 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1799 }
1800
1801 _parent_scene.addActivePrim(this);
1802 _parent_scene.addActiveGroups(this);
1803 }
1804
1805 private void DestroyBody()
1806 {
1807 if (Body != IntPtr.Zero)
1808 {
1809 _parent_scene.remActivePrim(this);
1810
1811 collide_geom = IntPtr.Zero;
1812
1813 if (m_disabled)
1814 m_collisionCategories = 0;
1815 else if (m_isSelected)
1816 m_collisionCategories = CollisionCategories.Selected;
1817 else if (m_isVolumeDetect)
1818 m_collisionCategories = CollisionCategories.VolumeDtc;
1819 else if (m_isphantom)
1820 m_collisionCategories = CollisionCategories.Phantom;
1821 else
1822 m_collisionCategories = CollisionCategories.Geom;
1823
1824 m_collisionFlags = 0;
1825
1826 if (prim_geom != IntPtr.Zero)
1827 {
1828 if (m_NoColide)
1829 {
1830 d.GeomSetCategoryBits(prim_geom, 0);
1831 d.GeomSetCollideBits(prim_geom, 0);
1832 }
1833 else
1834 {
1835 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1836 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1837 }
1838 UpdateDataFromGeom();
1839 d.GeomSetBody(prim_geom, IntPtr.Zero);
1840 SetInStaticSpace(this);
1841 }
1842
1843 if (!childPrim)
1844 {
1845 lock (childrenPrim)
1846 {
1847 foreach (OdePrim prm in childrenPrim)
1848 {
1849 _parent_scene.remActivePrim(prm);
1850
1851 if (prm.m_isSelected)
1852 prm.m_collisionCategories = CollisionCategories.Selected;
1853 else if (prm.m_isVolumeDetect)
1854 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1855 else if (prm.m_isphantom)
1856 prm.m_collisionCategories = CollisionCategories.Phantom;
1857 else
1858 prm.m_collisionCategories = CollisionCategories.Geom;
1859
1860 prm.m_collisionFlags = 0;
1861
1862 if (prm.prim_geom != IntPtr.Zero)
1863 {
1864 if (prm.m_NoColide)
1865 {
1866 d.GeomSetCategoryBits(prm.prim_geom, 0);
1867 d.GeomSetCollideBits(prm.prim_geom, 0);
1868 }
1869 else
1870 {
1871 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1872 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1873 }
1874 prm.UpdateDataFromGeom();
1875 SetInStaticSpace(prm);
1876 }
1877 prm.Body = IntPtr.Zero;
1878 prm._mass = prm.primMass;
1879 prm.m_collisionscore = 0;
1880 }
1881 }
1882 if (Amotor != IntPtr.Zero)
1883 {
1884 d.JointDestroy(Amotor);
1885 Amotor = IntPtr.Zero;
1886 }
1887 _parent_scene.remActiveGroup(this);
1888 d.BodyDestroy(Body);
1889 }
1890 Body = IntPtr.Zero;
1891 }
1892 _mass = primMass;
1893 m_collisionscore = 0;
1894 }
1895
1896 private void FixInertia(Vector3 NewPos,Quaternion newrot)
1897 {
1898 d.Matrix3 mat = new d.Matrix3();
1899 d.Quaternion quat = new d.Quaternion();
1900
1901 d.Mass tmpdmass = new d.Mass { };
1902 d.Mass objdmass = new d.Mass { };
1903
1904 d.BodyGetMass(Body, out tmpdmass);
1905 objdmass = tmpdmass;
1906
1907 d.Vector3 dobjpos;
1908 d.Vector3 thispos;
1909
1910 // get current object position and rotation
1911 dobjpos = d.BodyGetPosition(Body);
1912
1913 // get prim own inertia in its local frame
1914 tmpdmass = primdMass;
1915
1916 // transform to object frame
1917 mat = d.GeomGetOffsetRotation(prim_geom);
1918 d.MassRotate(ref tmpdmass, ref mat);
1919
1920 thispos = d.GeomGetOffsetPosition(prim_geom);
1921 d.MassTranslate(ref tmpdmass,
1922 thispos.X,
1923 thispos.Y,
1924 thispos.Z);
1925
1926 // subtract current prim inertia from object
1927 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1928
1929 // back prim own inertia
1930 tmpdmass = primdMass;
1931
1932 // update to new position and orientation
1933 _position = NewPos;
1934 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1935 _orientation = newrot;
1936 quat.X = newrot.X;
1937 quat.Y = newrot.Y;
1938 quat.Z = newrot.Z;
1939 quat.W = newrot.W;
1940 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1941
1942 mat = d.GeomGetOffsetRotation(prim_geom);
1943 d.MassRotate(ref tmpdmass, ref mat);
1944
1945 thispos = d.GeomGetOffsetPosition(prim_geom);
1946 d.MassTranslate(ref tmpdmass,
1947 thispos.X,
1948 thispos.Y,
1949 thispos.Z);
1950
1951 d.MassAdd(ref objdmass, ref tmpdmass);
1952
1953 // fix all positions
1954 IntPtr g = d.BodyGetFirstGeom(Body);
1955 while (g != IntPtr.Zero)
1956 {
1957 thispos = d.GeomGetOffsetPosition(g);
1958 thispos.X -= objdmass.c.X;
1959 thispos.Y -= objdmass.c.Y;
1960 thispos.Z -= objdmass.c.Z;
1961 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1962 g = d.dBodyGetNextGeom(g);
1963 }
1964 d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
1965
1966 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1967 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1968 d.BodySetMass(Body, ref objdmass);
1969 _mass = objdmass.mass;
1970 }
1971
1972
1973
1974 private void FixInertia(Vector3 NewPos)
1975 {
1976 d.Matrix3 primmat = new d.Matrix3();
1977 d.Mass tmpdmass = new d.Mass { };
1978 d.Mass objdmass = new d.Mass { };
1979 d.Mass primmass = new d.Mass { };
1980
1981 d.Vector3 dobjpos;
1982 d.Vector3 thispos;
1983
1984 d.BodyGetMass(Body, out objdmass);
1985
1986 // get prim own inertia in its local frame
1987 primmass = primdMass;
1988 // transform to object frame
1989 primmat = d.GeomGetOffsetRotation(prim_geom);
1990 d.MassRotate(ref primmass, ref primmat);
1991
1992 tmpdmass = primmass;
1993
1994 thispos = d.GeomGetOffsetPosition(prim_geom);
1995 d.MassTranslate(ref tmpdmass,
1996 thispos.X,
1997 thispos.Y,
1998 thispos.Z);
1999
2000 // subtract current prim inertia from object
2001 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2002
2003 // update to new position
2004 _position = NewPos;
2005 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
2006
2007 thispos = d.GeomGetOffsetPosition(prim_geom);
2008 d.MassTranslate(ref primmass,
2009 thispos.X,
2010 thispos.Y,
2011 thispos.Z);
2012
2013 d.MassAdd(ref objdmass, ref primmass);
2014
2015 // fix all positions
2016 IntPtr g = d.BodyGetFirstGeom(Body);
2017 while (g != IntPtr.Zero)
2018 {
2019 thispos = d.GeomGetOffsetPosition(g);
2020 thispos.X -= objdmass.c.X;
2021 thispos.Y -= objdmass.c.Y;
2022 thispos.Z -= objdmass.c.Z;
2023 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2024 g = d.dBodyGetNextGeom(g);
2025 }
2026
2027 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2028
2029 // get current object position and rotation
2030 dobjpos = d.BodyGetPosition(Body);
2031
2032 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2033 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2034 d.BodySetMass(Body, ref objdmass);
2035 _mass = objdmass.mass;
2036 }
2037
2038 private void FixInertia(Quaternion newrot)
2039 {
2040 d.Matrix3 mat = new d.Matrix3();
2041 d.Quaternion quat = new d.Quaternion();
2042
2043 d.Mass tmpdmass = new d.Mass { };
2044 d.Mass objdmass = new d.Mass { };
2045 d.Vector3 dobjpos;
2046 d.Vector3 thispos;
2047
2048 d.BodyGetMass(Body, out objdmass);
2049
2050 // get prim own inertia in its local frame
2051 tmpdmass = primdMass;
2052 mat = d.GeomGetOffsetRotation(prim_geom);
2053 d.MassRotate(ref tmpdmass, ref mat);
2054 // transform to object frame
2055 thispos = d.GeomGetOffsetPosition(prim_geom);
2056 d.MassTranslate(ref tmpdmass,
2057 thispos.X,
2058 thispos.Y,
2059 thispos.Z);
2060
2061 // subtract current prim inertia from object
2062 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
2063
2064 // update to new orientation
2065 _orientation = newrot;
2066 quat.X = newrot.X;
2067 quat.Y = newrot.Y;
2068 quat.Z = newrot.Z;
2069 quat.W = newrot.W;
2070 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
2071
2072 tmpdmass = primdMass;
2073 mat = d.GeomGetOffsetRotation(prim_geom);
2074 d.MassRotate(ref tmpdmass, ref mat);
2075 d.MassTranslate(ref tmpdmass,
2076 thispos.X,
2077 thispos.Y,
2078 thispos.Z);
2079
2080 d.MassAdd(ref objdmass, ref tmpdmass);
2081
2082 // fix all positions
2083 IntPtr g = d.BodyGetFirstGeom(Body);
2084 while (g != IntPtr.Zero)
2085 {
2086 thispos = d.GeomGetOffsetPosition(g);
2087 thispos.X -= objdmass.c.X;
2088 thispos.Y -= objdmass.c.Y;
2089 thispos.Z -= objdmass.c.Z;
2090 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2091 g = d.dBodyGetNextGeom(g);
2092 }
2093
2094 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2095 // get current object position and rotation
2096 dobjpos = d.BodyGetPosition(Body);
2097
2098 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2099 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2100 d.BodySetMass(Body, ref objdmass);
2101 _mass = objdmass.mass;
2102 }
2103
2104
2105 #region Mass Calculation
2106
2107 private float CalculatePrimVolume()
2108 {
2109 float volume = _size.X * _size.Y * _size.Z; // default
2110 float tmp;
2111
2112 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
2113 float hollowVolume = hollowAmount * hollowAmount;
2114
2115 switch (_pbs.ProfileShape)
2116 {
2117 case ProfileShape.Square:
2118 // default box
2119
2120 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2121 {
2122 if (hollowAmount > 0.0)
2123 {
2124 switch (_pbs.HollowShape)
2125 {
2126 case HollowShape.Square:
2127 case HollowShape.Same:
2128 break;
2129
2130 case HollowShape.Circle:
2131
2132 hollowVolume *= 0.78539816339f;
2133 break;
2134
2135 case HollowShape.Triangle:
2136
2137 hollowVolume *= (0.5f * .5f);
2138 break;
2139
2140 default:
2141 hollowVolume = 0;
2142 break;
2143 }
2144 volume *= (1.0f - hollowVolume);
2145 }
2146 }
2147
2148 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2149 {
2150 //a tube
2151
2152 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
2153 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
2154 volume -= volume * tmp * tmp;
2155
2156 if (hollowAmount > 0.0)
2157 {
2158 hollowVolume *= hollowAmount;
2159
2160 switch (_pbs.HollowShape)
2161 {
2162 case HollowShape.Square:
2163 case HollowShape.Same:
2164 break;
2165
2166 case HollowShape.Circle:
2167 hollowVolume *= 0.78539816339f;
2168 break;
2169
2170 case HollowShape.Triangle:
2171 hollowVolume *= 0.5f * 0.5f;
2172 break;
2173 default:
2174 hollowVolume = 0;
2175 break;
2176 }
2177 volume *= (1.0f - hollowVolume);
2178 }
2179 }
2180
2181 break;
2182
2183 case ProfileShape.Circle:
2184
2185 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2186 {
2187 volume *= 0.78539816339f; // elipse base
2188
2189 if (hollowAmount > 0.0)
2190 {
2191 switch (_pbs.HollowShape)
2192 {
2193 case HollowShape.Same:
2194 case HollowShape.Circle:
2195 break;
2196
2197 case HollowShape.Square:
2198 hollowVolume *= 0.5f * 2.5984480504799f;
2199 break;
2200
2201 case HollowShape.Triangle:
2202 hollowVolume *= .5f * 1.27323954473516f;
2203 break;
2204
2205 default:
2206 hollowVolume = 0;
2207 break;
2208 }
2209 volume *= (1.0f - hollowVolume);
2210 }
2211 }
2212
2213 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2214 {
2215 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
2216 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2217 volume *= (1.0f - tmp * tmp);
2218
2219 if (hollowAmount > 0.0)
2220 {
2221
2222 // calculate the hollow volume by it's shape compared to the prim shape
2223 hollowVolume *= hollowAmount;
2224
2225 switch (_pbs.HollowShape)
2226 {
2227 case HollowShape.Same:
2228 case HollowShape.Circle:
2229 break;
2230
2231 case HollowShape.Square:
2232 hollowVolume *= 0.5f * 2.5984480504799f;
2233 break;
2234
2235 case HollowShape.Triangle:
2236 hollowVolume *= .5f * 1.27323954473516f;
2237 break;
2238
2239 default:
2240 hollowVolume = 0;
2241 break;
2242 }
2243 volume *= (1.0f - hollowVolume);
2244 }
2245 }
2246 break;
2247
2248 case ProfileShape.HalfCircle:
2249 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2250 {
2251 volume *= 0.5236f;
2252
2253 if (hollowAmount > 0.0)
2254 {
2255 hollowVolume *= hollowAmount;
2256
2257 switch (_pbs.HollowShape)
2258 {
2259 case HollowShape.Circle:
2260 case HollowShape.Triangle: // diference in sl is minor and odd
2261 case HollowShape.Same:
2262 break;
2263
2264 case HollowShape.Square:
2265 hollowVolume *= 0.909f;
2266 break;
2267
2268 // case HollowShape.Triangle:
2269 // hollowVolume *= .827f;
2270 // break;
2271 default:
2272 hollowVolume = 0;
2273 break;
2274 }
2275 volume *= (1.0f - hollowVolume);
2276 }
2277
2278 }
2279 break;
2280
2281 case ProfileShape.EquilateralTriangle:
2282
2283 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2284 {
2285 volume *= 0.32475953f;
2286
2287 if (hollowAmount > 0.0)
2288 {
2289
2290 // calculate the hollow volume by it's shape compared to the prim shape
2291 switch (_pbs.HollowShape)
2292 {
2293 case HollowShape.Same:
2294 case HollowShape.Triangle:
2295 hollowVolume *= .25f;
2296 break;
2297
2298 case HollowShape.Square:
2299 hollowVolume *= 0.499849f * 3.07920140172638f;
2300 break;
2301
2302 case HollowShape.Circle:
2303 // Hollow shape is a perfect cyllinder in respect to the cube's scale
2304 // Cyllinder hollow volume calculation
2305
2306 hollowVolume *= 0.1963495f * 3.07920140172638f;
2307 break;
2308
2309 default:
2310 hollowVolume = 0;
2311 break;
2312 }
2313 volume *= (1.0f - hollowVolume);
2314 }
2315 }
2316 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2317 {
2318 volume *= 0.32475953f;
2319 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
2320 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2321 volume *= (1.0f - tmp * tmp);
2322
2323 if (hollowAmount > 0.0)
2324 {
2325
2326 hollowVolume *= hollowAmount;
2327
2328 switch (_pbs.HollowShape)
2329 {
2330 case HollowShape.Same:
2331 case HollowShape.Triangle:
2332 hollowVolume *= .25f;
2333 break;
2334
2335 case HollowShape.Square:
2336 hollowVolume *= 0.499849f * 3.07920140172638f;
2337 break;
2338
2339 case HollowShape.Circle:
2340
2341 hollowVolume *= 0.1963495f * 3.07920140172638f;
2342 break;
2343
2344 default:
2345 hollowVolume = 0;
2346 break;
2347 }
2348 volume *= (1.0f - hollowVolume);
2349 }
2350 }
2351 break;
2352
2353 default:
2354 break;
2355 }
2356
2357 float taperX1;
2358 float taperY1;
2359 float taperX;
2360 float taperY;
2361 float pathBegin;
2362 float pathEnd;
2363 float profileBegin;
2364 float profileEnd;
2365
2366 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
2367 {
2368 taperX1 = _pbs.PathScaleX * 0.01f;
2369 if (taperX1 > 1.0f)
2370 taperX1 = 2.0f - taperX1;
2371 taperX = 1.0f - taperX1;
2372
2373 taperY1 = _pbs.PathScaleY * 0.01f;
2374 if (taperY1 > 1.0f)
2375 taperY1 = 2.0f - taperY1;
2376 taperY = 1.0f - taperY1;
2377 }
2378 else
2379 {
2380 taperX = _pbs.PathTaperX * 0.01f;
2381 if (taperX < 0.0f)
2382 taperX = -taperX;
2383 taperX1 = 1.0f - taperX;
2384
2385 taperY = _pbs.PathTaperY * 0.01f;
2386 if (taperY < 0.0f)
2387 taperY = -taperY;
2388 taperY1 = 1.0f - taperY;
2389 }
2390
2391 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
2392
2393 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
2394 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
2395 volume *= (pathEnd - pathBegin);
2396
2397 // this is crude aproximation
2398 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
2399 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
2400 volume *= (profileEnd - profileBegin);
2401
2402 return volume;
2403 }
2404
2405
2406 private void CalcPrimBodyData()
2407 {
2408 float volume;
2409
2410 if (prim_geom == IntPtr.Zero)
2411 {
2412 // Ubit let's have a initial basic OOB
2413 primOOBsize.X = _size.X;
2414 primOOBsize.Y = _size.Y;
2415 primOOBsize.Z = _size.Z;
2416 primOOBoffset = Vector3.Zero;
2417 }
2418 else
2419 {
2420 d.AABB AABB;
2421 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
2422
2423 primOOBsize.X = (AABB.MaxX - AABB.MinX);
2424 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
2425 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
2426 if (!hasOOBoffsetFromMesh)
2427 {
2428 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
2429 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
2430 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
2431 }
2432 }
2433
2434 // also its own inertia and mass
2435 // keep using basic shape mass for now
2436 volume = CalculatePrimVolume();
2437
2438 primVolume = volume;
2439 primMass = m_density * volume;
2440
2441 if (primMass <= 0)
2442 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2443 if (primMass > _parent_scene.maximumMassObject)
2444 primMass = _parent_scene.maximumMassObject;
2445
2446 _mass = primMass; // just in case
2447
2448 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
2449
2450 d.MassTranslate(ref primdMass,
2451 primOOBoffset.X,
2452 primOOBoffset.Y,
2453 primOOBoffset.Z);
2454
2455 primOOBsize *= 0.5f; // let obb size be a corner coords
2456 primOOBradiusSQ = primOOBsize.LengthSquared();
2457 }
2458
2459
2460 #endregion
2461
2462
2463 /// <summary>
2464 /// Add a child prim to this parent prim.
2465 /// </summary>
2466 /// <param name="prim">Child prim</param>
2467 // I'm the parent
2468 // prim is the child
2469 public void ParentPrim(OdePrim prim)
2470 {
2471 //Console.WriteLine("ParentPrim " + m_primName);
2472 if (this.m_localID != prim.m_localID)
2473 {
2474 DestroyBody(); // for now we need to rebuil entire object on link change
2475
2476 lock (childrenPrim)
2477 {
2478 // adopt the prim
2479 if (!childrenPrim.Contains(prim))
2480 childrenPrim.Add(prim);
2481
2482 // see if this prim has kids and adopt them also
2483 // should not happen for now
2484 foreach (OdePrim prm in prim.childrenPrim)
2485 {
2486 if (!childrenPrim.Contains(prm))
2487 {
2488 if (prm.Body != IntPtr.Zero)
2489 {
2490 if (prm.prim_geom != IntPtr.Zero)
2491 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2492 if (prm.Body != prim.Body)
2493 prm.DestroyBody(); // don't loose bodies around
2494 prm.Body = IntPtr.Zero;
2495 }
2496
2497 childrenPrim.Add(prm);
2498 prm._parent = this;
2499 }
2500 }
2501 }
2502 //Remove old children from the prim
2503 prim.childrenPrim.Clear();
2504
2505 if (prim.Body != IntPtr.Zero)
2506 {
2507 if (prim.prim_geom != IntPtr.Zero)
2508 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2509 prim.DestroyBody(); // don't loose bodies around
2510 prim.Body = IntPtr.Zero;
2511 }
2512
2513 prim.childPrim = true;
2514 prim._parent = this;
2515
2516 MakeBody(); // full nasty reconstruction
2517 }
2518 }
2519
2520 private void UpdateChildsfromgeom()
2521 {
2522 if (childrenPrim.Count > 0)
2523 {
2524 foreach (OdePrim prm in childrenPrim)
2525 prm.UpdateDataFromGeom();
2526 }
2527 }
2528
2529 private void UpdateDataFromGeom()
2530 {
2531 if (prim_geom != IntPtr.Zero)
2532 {
2533 d.Quaternion qtmp;
2534 d.GeomCopyQuaternion(prim_geom, out qtmp);
2535 _orientation.W = qtmp.W;
2536 _orientation.X = qtmp.X;
2537 _orientation.Y = qtmp.Y;
2538 _orientation.Z = qtmp.Z;
2539
2540 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
2541 _position.X = lpos.X;
2542 _position.Y = lpos.Y;
2543 _position.Z = lpos.Z;
2544 }
2545 }
2546
2547 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2548 {
2549 // Okay, we have a delinked child.. destroy all body and remake
2550 if (odePrim != this && !childrenPrim.Contains(odePrim))
2551 return;
2552
2553 DestroyBody();
2554
2555 if (odePrim == this) // delinking the root prim
2556 {
2557 OdePrim newroot = null;
2558 lock (childrenPrim)
2559 {
2560 if (childrenPrim.Count > 0)
2561 {
2562 newroot = childrenPrim[0];
2563 childrenPrim.RemoveAt(0);
2564 foreach (OdePrim prm in childrenPrim)
2565 {
2566 newroot.childrenPrim.Add(prm);
2567 }
2568 childrenPrim.Clear();
2569 }
2570 if (newroot != null)
2571 {
2572 newroot.childPrim = false;
2573 newroot._parent = null;
2574 if (remakebodies)
2575 newroot.MakeBody();
2576 }
2577 }
2578 }
2579
2580 else
2581 {
2582 lock (childrenPrim)
2583 {
2584 childrenPrim.Remove(odePrim);
2585 odePrim.childPrim = false;
2586 odePrim._parent = null;
2587 // odePrim.UpdateDataFromGeom();
2588 if (remakebodies)
2589 odePrim.MakeBody();
2590 }
2591 }
2592 if (remakebodies)
2593 MakeBody();
2594 }
2595
2596 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2597 {
2598 // Okay, we have a delinked child.. destroy all body and remake
2599 if (odePrim != this && !childrenPrim.Contains(odePrim))
2600 return;
2601
2602 DestroyBody();
2603
2604 if (odePrim == this)
2605 {
2606 OdePrim newroot = null;
2607 lock (childrenPrim)
2608 {
2609 if (childrenPrim.Count > 0)
2610 {
2611 newroot = childrenPrim[0];
2612 childrenPrim.RemoveAt(0);
2613 foreach (OdePrim prm in childrenPrim)
2614 {
2615 newroot.childrenPrim.Add(prm);
2616 }
2617 childrenPrim.Clear();
2618 }
2619 if (newroot != null)
2620 {
2621 newroot.childPrim = false;
2622 newroot._parent = null;
2623 newroot.MakeBody();
2624 }
2625 }
2626 if (reMakeBody)
2627 MakeBody();
2628 return;
2629 }
2630 else
2631 {
2632 lock (childrenPrim)
2633 {
2634 childrenPrim.Remove(odePrim);
2635 odePrim.childPrim = false;
2636 odePrim._parent = null;
2637 if (reMakeBody)
2638 odePrim.MakeBody();
2639 }
2640 }
2641 MakeBody();
2642 }
2643
2644 #region changes
2645
2646 private void changeadd()
2647 {
2648 CreateGeom();
2649
2650 if (prim_geom != IntPtr.Zero)
2651 {
2652 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2653 d.Quaternion myrot = new d.Quaternion();
2654 myrot.X = _orientation.X;
2655 myrot.Y = _orientation.Y;
2656 myrot.Z = _orientation.Z;
2657 myrot.W = _orientation.W;
2658 d.GeomSetQuaternion(prim_geom, ref myrot);
2659
2660 if (!m_isphysical)
2661 {
2662 SetInStaticSpace(this);
2663 UpdateCollisionCatFlags();
2664 ApplyCollisionCatFlags();
2665 }
2666 else
2667 MakeBody();
2668 }
2669 }
2670
2671 private void changeAngularLock(Vector3 newLock)
2672 {
2673 // do we have a Physical object?
2674 if (Body != IntPtr.Zero)
2675 {
2676 //Check that we have a Parent
2677 //If we have a parent then we're not authorative here
2678 if (_parent == null)
2679 {
2680 if (!newLock.ApproxEquals(Vector3.One, 0f))
2681 {
2682 createAMotor(newLock);
2683 }
2684 else
2685 {
2686 if (Amotor != IntPtr.Zero)
2687 {
2688 d.JointDestroy(Amotor);
2689 Amotor = IntPtr.Zero;
2690 }
2691 }
2692 }
2693 }
2694 // Store this for later in case we get turned into a separate body
2695 m_angularlock = newLock;
2696 }
2697
2698 private void changeLink(OdePrim NewParent)
2699 {
2700 if (_parent == null && NewParent != null)
2701 {
2702 NewParent.ParentPrim(this);
2703 }
2704 else if (_parent != null)
2705 {
2706 if (_parent is OdePrim)
2707 {
2708 if (NewParent != _parent)
2709 {
2710 (_parent as OdePrim).ChildDelink(this, false); // for now...
2711 childPrim = false;
2712
2713 if (NewParent != null)
2714 {
2715 NewParent.ParentPrim(this);
2716 }
2717 }
2718 }
2719 }
2720 _parent = NewParent;
2721 }
2722
2723
2724 private void Stop()
2725 {
2726 if (!childPrim)
2727 {
2728 m_force = Vector3.Zero;
2729 m_forceacc = Vector3.Zero;
2730 m_angularForceacc = Vector3.Zero;
2731 _torque = Vector3.Zero;
2732 _velocity = Vector3.Zero;
2733 _acceleration = Vector3.Zero;
2734 m_rotationalVelocity = Vector3.Zero;
2735 _target_velocity = Vector3.Zero;
2736 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2737 m_vehicle.Stop();
2738 }
2739
2740 if (Body != IntPtr.Zero)
2741 {
2742 d.BodySetForce(Body, 0f, 0f, 0f);
2743 d.BodySetTorque(Body, 0f, 0f, 0f);
2744 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2745 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2746 }
2747 }
2748
2749 private void changePhantomStatus(bool newval)
2750 {
2751 m_isphantom = newval;
2752
2753 UpdateCollisionCatFlags();
2754 ApplyCollisionCatFlags();
2755 }
2756
2757/* not in use
2758 internal void ChildSelectedChange(bool childSelect)
2759 {
2760 if(childPrim)
2761 return;
2762
2763 if (childSelect == m_isSelected)
2764 return;
2765
2766 if (childSelect)
2767 {
2768 DoSelectedStatus(true);
2769 }
2770
2771 else
2772 {
2773 foreach (OdePrim prm in childrenPrim)
2774 {
2775 if (prm.m_isSelected)
2776 return;
2777 }
2778 DoSelectedStatus(false);
2779 }
2780 }
2781*/
2782 private void changeSelectedStatus(bool newval)
2783 {
2784 if (m_lastdoneSelected == newval)
2785 return;
2786
2787 m_lastdoneSelected = newval;
2788 DoSelectedStatus(newval);
2789 }
2790
2791 private void CheckDelaySelect()
2792 {
2793 if (m_delaySelect)
2794 {
2795 DoSelectedStatus(m_isSelected);
2796 }
2797 }
2798
2799 private void DoSelectedStatus(bool newval)
2800 {
2801 m_isSelected = newval;
2802 Stop();
2803
2804 if (newval)
2805 {
2806 if (!childPrim && Body != IntPtr.Zero)
2807 d.BodyDisable(Body);
2808
2809 if (m_delaySelect || m_isphysical)
2810 {
2811 m_collisionCategories = CollisionCategories.Selected;
2812 m_collisionFlags = 0;
2813
2814 if (!childPrim)
2815 {
2816 foreach (OdePrim prm in childrenPrim)
2817 {
2818 prm.m_collisionCategories = m_collisionCategories;
2819 prm.m_collisionFlags = m_collisionFlags;
2820
2821 if (prm.prim_geom != null)
2822 {
2823
2824 if (prm.m_NoColide)
2825 {
2826 d.GeomSetCategoryBits(prm.prim_geom, 0);
2827 d.GeomSetCollideBits(prm.prim_geom, 0);
2828 }
2829 else
2830 {
2831 d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories);
2832 d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags);
2833 }
2834 }
2835 prm.m_delaySelect = false;
2836 }
2837 }
2838// else if (_parent != null)
2839// ((OdePrim)_parent).ChildSelectedChange(true);
2840
2841
2842 if (prim_geom != null)
2843 {
2844 if (m_NoColide)
2845 {
2846 d.GeomSetCategoryBits(prim_geom, 0);
2847 d.GeomSetCollideBits(prim_geom, 0);
2848 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2849 {
2850 d.GeomSetCategoryBits(collide_geom, 0);
2851 d.GeomSetCollideBits(collide_geom, 0);
2852 }
2853
2854 }
2855 else
2856 {
2857 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
2858 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
2859 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2860 {
2861 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
2862 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
2863 }
2864 }
2865 }
2866
2867 m_delaySelect = false;
2868 }
2869 else if(!m_isphysical)
2870 {
2871 m_delaySelect = true;
2872 }
2873 }
2874 else
2875 {
2876 if (!childPrim)
2877 {
2878 if (Body != IntPtr.Zero && !m_disabled)
2879 d.BodyEnable(Body);
2880 }
2881// else if (_parent != null)
2882// ((OdePrim)_parent).ChildSelectedChange(false);
2883
2884 UpdateCollisionCatFlags();
2885 ApplyCollisionCatFlags();
2886
2887 m_delaySelect = false;
2888 }
2889
2890 resetCollisionAccounting();
2891 }
2892
2893 private void changePosition(Vector3 newPos)
2894 {
2895 CheckDelaySelect();
2896 if (m_isphysical)
2897 {
2898 if (childPrim) // inertia is messed, must rebuild
2899 {
2900 if (m_building)
2901 {
2902 _position = newPos;
2903 }
2904
2905 else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
2906 {
2907 FixInertia(newPos);
2908 if (!d.BodyIsEnabled(Body))
2909 d.BodyEnable(Body);
2910 }
2911 }
2912 else
2913 {
2914 if (_position != newPos)
2915 {
2916 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2917 _position = newPos;
2918 }
2919 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2920 d.BodyEnable(Body);
2921 }
2922 }
2923 else
2924 {
2925 if (prim_geom != IntPtr.Zero)
2926 {
2927 if (newPos != _position)
2928 {
2929 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2930 _position = newPos;
2931
2932 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2933 }
2934 }
2935 }
2936 givefakepos--;
2937 if (givefakepos < 0)
2938 givefakepos = 0;
2939 // changeSelectedStatus();
2940 resetCollisionAccounting();
2941 }
2942
2943 private void changeOrientation(Quaternion newOri)
2944 {
2945 CheckDelaySelect();
2946 if (m_isphysical)
2947 {
2948 if (childPrim) // inertia is messed, must rebuild
2949 {
2950 if (m_building)
2951 {
2952 _orientation = newOri;
2953 }
2954 /*
2955 else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
2956 {
2957 FixInertia(_position, newOri);
2958 if (!d.BodyIsEnabled(Body))
2959 d.BodyEnable(Body);
2960 }
2961 */
2962 }
2963 else
2964 {
2965 if (newOri != _orientation)
2966 {
2967 d.Quaternion myrot = new d.Quaternion();
2968 myrot.X = newOri.X;
2969 myrot.Y = newOri.Y;
2970 myrot.Z = newOri.Z;
2971 myrot.W = newOri.W;
2972 d.GeomSetQuaternion(prim_geom, ref myrot);
2973 _orientation = newOri;
2974 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2975 createAMotor(m_angularlock);
2976 }
2977 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2978 d.BodyEnable(Body);
2979 }
2980 }
2981 else
2982 {
2983 if (prim_geom != IntPtr.Zero)
2984 {
2985 if (newOri != _orientation)
2986 {
2987 d.Quaternion myrot = new d.Quaternion();
2988 myrot.X = newOri.X;
2989 myrot.Y = newOri.Y;
2990 myrot.Z = newOri.Z;
2991 myrot.W = newOri.W;
2992 d.GeomSetQuaternion(prim_geom, ref myrot);
2993 _orientation = newOri;
2994 }
2995 }
2996 }
2997 givefakeori--;
2998 if (givefakeori < 0)
2999 givefakeori = 0;
3000 resetCollisionAccounting();
3001 }
3002
3003 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
3004 {
3005 CheckDelaySelect();
3006 if (m_isphysical)
3007 {
3008 if (childPrim && m_building) // inertia is messed, must rebuild
3009 {
3010 _position = newPos;
3011 _orientation = newOri;
3012 }
3013 else
3014 {
3015 if (newOri != _orientation)
3016 {
3017 d.Quaternion myrot = new d.Quaternion();
3018 myrot.X = newOri.X;
3019 myrot.Y = newOri.Y;
3020 myrot.Z = newOri.Z;
3021 myrot.W = newOri.W;
3022 d.GeomSetQuaternion(prim_geom, ref myrot);
3023 _orientation = newOri;
3024 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
3025 createAMotor(m_angularlock);
3026 }
3027 if (_position != newPos)
3028 {
3029 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3030 _position = newPos;
3031 }
3032 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3033 d.BodyEnable(Body);
3034 }
3035 }
3036 else
3037 {
3038 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
3039 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
3040
3041 if (prim_geom != IntPtr.Zero)
3042 {
3043 if (newOri != _orientation)
3044 {
3045 d.Quaternion myrot = new d.Quaternion();
3046 myrot.X = newOri.X;
3047 myrot.Y = newOri.Y;
3048 myrot.Z = newOri.Z;
3049 myrot.W = newOri.W;
3050 d.GeomSetQuaternion(prim_geom, ref myrot);
3051 _orientation = newOri;
3052 }
3053
3054 if (newPos != _position)
3055 {
3056 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
3057 _position = newPos;
3058
3059 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
3060 }
3061 }
3062 }
3063 givefakepos--;
3064 if (givefakepos < 0)
3065 givefakepos = 0;
3066 givefakeori--;
3067 if (givefakeori < 0)
3068 givefakeori = 0;
3069 resetCollisionAccounting();
3070 }
3071
3072
3073 private void changeDisable(bool disable)
3074 {
3075 if (disable)
3076 {
3077 if (!m_disabled)
3078 disableBodySoft();
3079 }
3080 else
3081 {
3082 if (m_disabled)
3083 enableBodySoft();
3084 }
3085 }
3086
3087 private void changePhysicsStatus(bool NewStatus)
3088 {
3089 CheckDelaySelect();
3090
3091 m_isphysical = NewStatus;
3092
3093 if (!childPrim)
3094 {
3095 if (NewStatus)
3096 {
3097 if (Body == IntPtr.Zero)
3098 MakeBody();
3099 }
3100 else
3101 {
3102 if (Body != IntPtr.Zero)
3103 {
3104 DestroyBody();
3105 }
3106 Stop();
3107 }
3108 }
3109
3110 resetCollisionAccounting();
3111 }
3112
3113 private void changeprimsizeshape()
3114 {
3115 CheckDelaySelect();
3116
3117 OdePrim parent = (OdePrim)_parent;
3118
3119 bool chp = childPrim;
3120
3121 if (chp)
3122 {
3123 if (parent != null)
3124 {
3125 parent.DestroyBody();
3126 }
3127 }
3128 else
3129 {
3130 DestroyBody();
3131 }
3132
3133 RemoveGeom();
3134
3135 // we don't need to do space calculation because the client sends a position update also.
3136 if (_size.X <= 0)
3137 _size.X = 0.01f;
3138 if (_size.Y <= 0)
3139 _size.Y = 0.01f;
3140 if (_size.Z <= 0)
3141 _size.Z = 0.01f;
3142 // Construction of new prim
3143
3144 CreateGeom();
3145
3146 if (prim_geom != IntPtr.Zero)
3147 {
3148 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3149 d.Quaternion myrot = new d.Quaternion();
3150 myrot.X = _orientation.X;
3151 myrot.Y = _orientation.Y;
3152 myrot.Z = _orientation.Z;
3153 myrot.W = _orientation.W;
3154 d.GeomSetQuaternion(prim_geom, ref myrot);
3155 }
3156
3157 if (m_isphysical)
3158 {
3159 if (chp)
3160 {
3161 if (parent != null)
3162 {
3163 parent.MakeBody();
3164 }
3165 }
3166 else
3167 MakeBody();
3168 }
3169
3170 else
3171 {
3172 UpdateCollisionCatFlags();
3173 ApplyCollisionCatFlags();
3174 }
3175
3176 resetCollisionAccounting();
3177 }
3178
3179 private void changeSize(Vector3 newSize)
3180 {
3181 _size = newSize;
3182 changeprimsizeshape();
3183 }
3184
3185 private void changeShape(PrimitiveBaseShape newShape)
3186 {
3187 if(newShape != null)
3188 _pbs = newShape;
3189 changeprimsizeshape();
3190 }
3191
3192 private void changeFloatOnWater(bool newval)
3193 {
3194 m_collidesWater = newval;
3195
3196 UpdateCollisionCatFlags();
3197 ApplyCollisionCatFlags();
3198 }
3199
3200 private void changeSetTorque(Vector3 newtorque)
3201 {
3202 if (!m_isSelected)
3203 {
3204 if (m_isphysical && Body != IntPtr.Zero)
3205 {
3206 if (m_disabled)
3207 enableBodySoft();
3208 else if (!d.BodyIsEnabled(Body))
3209 d.BodyEnable(Body);
3210
3211 }
3212 _torque = newtorque;
3213 }
3214 }
3215
3216 private void changeForce(Vector3 force)
3217 {
3218 m_force = force;
3219 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3220 d.BodyEnable(Body);
3221 }
3222
3223
3224 private void changeAddImpulse(Vector3 impulse)
3225 {
3226 m_forceacc += impulse *m_invTimeStep;
3227 if (!m_isSelected)
3228 {
3229 lock (this)
3230 {
3231 //m_log.Info("[PHYSICS]: dequeing forcelist");
3232 if (m_isphysical && Body != IntPtr.Zero)
3233 {
3234 if (m_disabled)
3235 enableBodySoft();
3236 else if (!d.BodyIsEnabled(Body))
3237 d.BodyEnable(Body);
3238 }
3239 }
3240
3241 m_collisionscore = 0;
3242 }
3243 }
3244
3245 // actually angular impulse
3246 private void changeAddAngularImpulse(Vector3 aimpulse)
3247 {
3248 m_angularForceacc += aimpulse * m_invTimeStep;
3249 if (!m_isSelected)
3250 {
3251 lock (this)
3252 {
3253 if (m_isphysical && Body != IntPtr.Zero)
3254 {
3255 if (m_disabled)
3256 enableBodySoft();
3257 else if (!d.BodyIsEnabled(Body))
3258 d.BodyEnable(Body);
3259 }
3260 }
3261 m_collisionscore = 0;
3262 }
3263 }
3264
3265 private void changevelocity(Vector3 newVel)
3266 {
3267 if (!m_isSelected)
3268 {
3269 if (Body != IntPtr.Zero)
3270 {
3271 if (m_disabled)
3272 enableBodySoft();
3273 else if (!d.BodyIsEnabled(Body))
3274 d.BodyEnable(Body);
3275
3276 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3277 }
3278 //resetCollisionAccounting();
3279 }
3280 _velocity = newVel;
3281 }
3282
3283 private void changeVolumedetetion(bool newVolDtc)
3284 {
3285 m_isVolumeDetect = newVolDtc;
3286 m_fakeisVolumeDetect = newVolDtc;
3287 UpdateCollisionCatFlags();
3288 ApplyCollisionCatFlags();
3289 }
3290
3291 protected void changeBuilding(bool newbuilding)
3292 {
3293 if ((bool)newbuilding)
3294 {
3295 m_building = true;
3296 if (!childPrim)
3297 DestroyBody();
3298 }
3299 else
3300 {
3301 m_building = false;
3302 CheckDelaySelect();
3303 if (!childPrim)
3304 MakeBody();
3305 }
3306 if (!childPrim && childrenPrim.Count > 0)
3307 {
3308 foreach (OdePrim prm in childrenPrim)
3309 prm.changeBuilding(m_building); // call directly
3310 }
3311 }
3312
3313 public void changeSetVehicle(VehicleData vdata)
3314 {
3315 if (m_vehicle == null)
3316 m_vehicle = new ODEDynamics(this);
3317 m_vehicle.DoSetVehicle(vdata);
3318 }
3319 private void changeVehicleType(int value)
3320 {
3321 if (value == (int)Vehicle.TYPE_NONE)
3322 {
3323 if (m_vehicle != null)
3324 m_vehicle = null;
3325 }
3326 else
3327 {
3328 if (m_vehicle == null)
3329 m_vehicle = new ODEDynamics(this);
3330
3331 m_vehicle.ProcessTypeChange((Vehicle)value);
3332 }
3333 }
3334
3335 private void changeVehicleFloatParam(strVehicleFloatParam fp)
3336 {
3337 if (m_vehicle == null)
3338 return;
3339
3340 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
3341 }
3342
3343 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3344 {
3345 if (m_vehicle == null)
3346 return;
3347 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3348 }
3349
3350 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3351 {
3352 if (m_vehicle == null)
3353 return;
3354 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3355 }
3356
3357 private void changeVehicleFlags(strVehicleBoolParam bp)
3358 {
3359 if (m_vehicle == null)
3360 return;
3361 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3362 }
3363
3364 #endregion
3365
3366 public void Move()
3367 {
3368 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3369 !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3370 {
3371 if (!d.BodyIsEnabled(Body))
3372 {
3373 // let vehicles sleep
3374 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3375 return;
3376
3377 if (++bodydisablecontrol < 20)
3378 return;
3379
3380 bodydisablecontrol = 0;
3381 d.BodyEnable(Body);
3382 }
3383
3384 d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
3385
3386/* moved down to UpdateMove... where it belongs again
3387
3388 // check outside region
3389
3390 if (lpos.Z < -100 || lpos.Z > 100000f)
3391 {
3392 m_outbounds = true;
3393
3394 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3395 _acceleration.X = 0;
3396 _acceleration.Y = 0;
3397 _acceleration.Z = 0;
3398
3399 _velocity.X = 0;
3400 _velocity.Y = 0;
3401 _velocity.Z = 0;
3402 m_rotationalVelocity.X = 0;
3403 m_rotationalVelocity.Y = 0;
3404 m_rotationalVelocity.Z = 0;
3405
3406 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3407 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3408 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3409 m_lastposition = _position;
3410 m_lastorientation = _orientation;
3411
3412 base.RequestPhysicsterseUpdate();
3413
3414 throttleCounter = 0;
3415 _zeroFlag = true;
3416
3417 disableBodySoft(); // disable it and colisions
3418 base.RaiseOutOfBounds(_position);
3419 return;
3420 }
3421
3422 if (lpos.X < 0f)
3423 {
3424 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3425 m_outbounds = true;
3426 }
3427 else if (lpos.X > _parent_scene.WorldExtents.X)
3428 {
3429 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3430 m_outbounds = true;
3431 }
3432 if (lpos.Y < 0f)
3433 {
3434 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3435 m_outbounds = true;
3436 }
3437 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3438 {
3439 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3440 m_outbounds = true;
3441 }
3442
3443 if (m_outbounds)
3444 {
3445 m_lastposition = _position;
3446 m_lastorientation = _orientation;
3447
3448 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3449 m_rotationalVelocity.X = dtmp.X;
3450 m_rotationalVelocity.Y = dtmp.Y;
3451 m_rotationalVelocity.Z = dtmp.Z;
3452
3453 dtmp = d.BodyGetLinearVel(Body);
3454 _velocity.X = dtmp.X;
3455 _velocity.Y = dtmp.Y;
3456 _velocity.Z = dtmp.Z;
3457
3458 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3459 d.BodySetAngularVel(Body, 0, 0, 0);
3460 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3461 disableBodySoft(); // stop collisions
3462 base.RequestPhysicsterseUpdate();
3463 return;
3464 }
3465*/
3466 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3467 {
3468 // 'VEHICLES' are dealt with in ODEDynamics.cs
3469 m_vehicle.Step();
3470 return;
3471 }
3472
3473 float fx = 0;
3474 float fy = 0;
3475 float fz = 0;
3476
3477 float m_mass = _mass;
3478
3479 if (m_usePID && m_PIDTau > 0)
3480 {
3481 // for now position error
3482 _target_velocity =
3483 new Vector3(
3484 (m_PIDTarget.X - lpos.X),
3485 (m_PIDTarget.Y - lpos.Y),
3486 (m_PIDTarget.Z - lpos.Z)
3487 );
3488
3489 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
3490 {
3491 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3492 d.BodySetLinearVel(Body, 0, 0, 0);
3493 return;
3494 }
3495 else
3496 {
3497 _zeroFlag = false;
3498
3499 float tmp = 1 / m_PIDTau;
3500 _target_velocity *= tmp;
3501
3502 // apply limits
3503 tmp = _target_velocity.Length();
3504 if (tmp > 50.0f)
3505 {
3506 tmp = 50 / tmp;
3507 _target_velocity *= tmp;
3508 }
3509 else if (tmp < 0.05f)
3510 {
3511 tmp = 0.05f / tmp;
3512 _target_velocity *= tmp;
3513 }
3514
3515 d.Vector3 vel = d.BodyGetLinearVel(Body);
3516 fx = (_target_velocity.X - vel.X) * m_invTimeStep;
3517 fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
3518 fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
3519// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3520 }
3521 } // end if (m_usePID)
3522
3523 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3524 else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
3525 {
3526
3527 // Non-Vehicles have a limited set of Hover options.
3528 // determine what our target height really is based on HoverType
3529
3530 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
3531
3532 switch (m_PIDHoverType)
3533 {
3534 case PIDHoverType.Ground:
3535 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3536 break;
3537
3538 case PIDHoverType.GroundAndWater:
3539 m_waterHeight = _parent_scene.GetWaterLevel();
3540 if (m_groundHeight > m_waterHeight)
3541 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3542 else
3543 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3544 break;
3545 } // end switch (m_PIDHoverType)
3546
3547 // don't go underground unless volumedetector
3548
3549 if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
3550 {
3551 d.Vector3 vel = d.BodyGetLinearVel(Body);
3552
3553 fz = (m_targetHoverHeight - lpos.Z);
3554
3555 // if error is zero, use position control; otherwise, velocity control
3556 if (Math.Abs(fz) < 0.01f)
3557 {
3558 d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
3559 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3560 }
3561 else
3562 {
3563 _zeroFlag = false;
3564 fz /= m_PIDHoverTau;
3565
3566 float tmp = Math.Abs(fz);
3567 if (tmp > 50)
3568 fz = 50 * Math.Sign(fz);
3569 else if (tmp < 0.1)
3570 fz = 0.1f * Math.Sign(fz);
3571
3572 fz = ((fz - vel.Z) * m_invTimeStep);
3573 }
3574 }
3575 }
3576 else
3577 {
3578 float b = (1.0f - m_buoyancy);
3579 fx = _parent_scene.gravityx * b;
3580 fy = _parent_scene.gravityy * b;
3581 fz = _parent_scene.gravityz * b;
3582 }
3583
3584 fx *= m_mass;
3585 fy *= m_mass;
3586 fz *= m_mass;
3587
3588 // constant force
3589 fx += m_force.X;
3590 fy += m_force.Y;
3591 fz += m_force.Z;
3592
3593 fx += m_forceacc.X;
3594 fy += m_forceacc.Y;
3595 fz += m_forceacc.Z;
3596
3597 m_forceacc = Vector3.Zero;
3598
3599 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3600 if (fx != 0 || fy != 0 || fz != 0)
3601 {
3602 d.BodyAddForce(Body, fx, fy, fz);
3603 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3604 }
3605
3606 Vector3 trq;
3607
3608 trq = _torque;
3609 trq += m_angularForceacc;
3610 m_angularForceacc = Vector3.Zero;
3611 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3612 {
3613 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3614 }
3615 }
3616 else
3617 { // is not physical, or is not a body or is selected
3618 // _zeroPosition = d.BodyGetPosition(Body);
3619 return;
3620 //Console.WriteLine("Nothing " + Name);
3621
3622 }
3623 }
3624
3625 public void UpdatePositionAndVelocity()
3626 {
3627 if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
3628 {
3629 if (d.BodyIsEnabled(Body) || !_zeroFlag)
3630 {
3631 bool lastZeroFlag = _zeroFlag;
3632
3633 d.Vector3 lpos = d.GeomGetPosition(prim_geom);
3634
3635 // check outside region
3636 if (lpos.Z < -100 || lpos.Z > 100000f)
3637 {
3638 m_outbounds = true;
3639
3640 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3641 _acceleration.X = 0;
3642 _acceleration.Y = 0;
3643 _acceleration.Z = 0;
3644
3645 _velocity.X = 0;
3646 _velocity.Y = 0;
3647 _velocity.Z = 0;
3648 m_rotationalVelocity.X = 0;
3649 m_rotationalVelocity.Y = 0;
3650 m_rotationalVelocity.Z = 0;
3651
3652 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3653 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3654 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3655 m_lastposition = _position;
3656 m_lastorientation = _orientation;
3657
3658 base.RequestPhysicsterseUpdate();
3659
3660 throttleCounter = 0;
3661 _zeroFlag = true;
3662
3663 disableBodySoft(); // disable it and colisions
3664 base.RaiseOutOfBounds(_position);
3665 return;
3666 }
3667
3668 if (lpos.X < 0f)
3669 {
3670 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3671 m_outbounds = true;
3672 }
3673 else if (lpos.X > _parent_scene.WorldExtents.X)
3674 {
3675 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3676 m_outbounds = true;
3677 }
3678 if (lpos.Y < 0f)
3679 {
3680 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3681 m_outbounds = true;
3682 }
3683 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3684 {
3685 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3686 m_outbounds = true;
3687 }
3688
3689 if (m_outbounds)
3690 {
3691 m_lastposition = _position;
3692 m_lastorientation = _orientation;
3693
3694 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3695 m_rotationalVelocity.X = dtmp.X;
3696 m_rotationalVelocity.Y = dtmp.Y;
3697 m_rotationalVelocity.Z = dtmp.Z;
3698
3699 dtmp = d.BodyGetLinearVel(Body);
3700 _velocity.X = dtmp.X;
3701 _velocity.Y = dtmp.Y;
3702 _velocity.Z = dtmp.Z;
3703
3704 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3705 d.BodySetAngularVel(Body, 0, 0, 0);
3706 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3707 disableBodySoft(); // stop collisions
3708 base.RequestPhysicsterseUpdate();
3709 return;
3710 }
3711
3712 d.Quaternion ori;
3713 d.GeomCopyQuaternion(prim_geom, out ori);
3714
3715 // decide if moving
3716 // use positions since this are integrated quantities
3717 // tolerance values depende a lot on simulation noise...
3718 // use simple math.abs since we dont need to be exact
3719
3720 if (
3721 (Math.Abs(_position.X - lpos.X) < 0.001f)
3722 && (Math.Abs(_position.Y - lpos.Y) < 0.001f)
3723 && (Math.Abs(_position.Z - lpos.Z) < 0.001f)
3724 && (Math.Abs(_orientation.X - ori.X) < 0.0001f)
3725 && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
3726 && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
3727 )
3728 {
3729 _zeroFlag = true;
3730 }
3731 else
3732 _zeroFlag = false;
3733
3734 // update velocities and aceleration
3735 if (!(_zeroFlag && lastZeroFlag))
3736 {
3737 d.Vector3 vel = d.BodyGetLinearVel(Body);
3738
3739 _acceleration = _velocity;
3740
3741 if ((Math.Abs(vel.X) < 0.001f) &&
3742 (Math.Abs(vel.Y) < 0.001f) &&
3743 (Math.Abs(vel.Z) < 0.001f))
3744 {
3745 _velocity = Vector3.Zero;
3746 float t = -m_invTimeStep;
3747 _acceleration = _acceleration * t;
3748 }
3749 else
3750 {
3751 _velocity.X = vel.X;
3752 _velocity.Y = vel.Y;
3753 _velocity.Z = vel.Z;
3754 _acceleration = (_velocity - _acceleration) * m_invTimeStep;
3755 }
3756
3757 if ((Math.Abs(_acceleration.X) < 0.01f) &&
3758 (Math.Abs(_acceleration.Y) < 0.01f) &&
3759 (Math.Abs(_acceleration.Z) < 0.01f))
3760 {
3761 _acceleration = Vector3.Zero;
3762 }
3763
3764 if ((Math.Abs(_orientation.X - ori.X) < 0.0001) &&
3765 (Math.Abs(_orientation.Y - ori.Y) < 0.0001) &&
3766 (Math.Abs(_orientation.Z - ori.Z) < 0.0001)
3767 )
3768 {
3769 m_rotationalVelocity = Vector3.Zero;
3770 }
3771 else
3772 {
3773 vel = d.BodyGetAngularVel(Body);
3774 m_rotationalVelocity.X = vel.X;
3775 m_rotationalVelocity.Y = vel.Y;
3776 m_rotationalVelocity.Z = vel.Z;
3777 }
3778 }
3779
3780 if (_zeroFlag)
3781 {
3782 if (lastZeroFlag)
3783 {
3784 _velocity = Vector3.Zero;
3785 _acceleration = Vector3.Zero;
3786 m_rotationalVelocity = Vector3.Zero;
3787 }
3788
3789 if (!m_lastUpdateSent)
3790 {
3791 base.RequestPhysicsterseUpdate();
3792 if (lastZeroFlag)
3793 m_lastUpdateSent = true;
3794 }
3795 return;
3796 }
3797
3798 _position.X = lpos.X;
3799 _position.Y = lpos.Y;
3800 _position.Z = lpos.Z;
3801
3802 _orientation.X = ori.X;
3803 _orientation.Y = ori.Y;
3804 _orientation.Z = ori.Z;
3805 _orientation.W = ori.W;
3806 base.RequestPhysicsterseUpdate();
3807 m_lastUpdateSent = false;
3808 }
3809 }
3810 }
3811
3812 internal static bool QuaternionIsFinite(Quaternion q)
3813 {
3814 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3815 return false;
3816 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3817 return false;
3818 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3819 return false;
3820 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3821 return false;
3822 return true;
3823 }
3824
3825 internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
3826 {
3827 // assumes object center of mass is zero
3828 float smass = part.mass;
3829 theobj.mass -= smass;
3830
3831 smass *= 1.0f / (theobj.mass); ;
3832
3833 theobj.c.X -= part.c.X * smass;
3834 theobj.c.Y -= part.c.Y * smass;
3835 theobj.c.Z -= part.c.Z * smass;
3836
3837 theobj.I.M00 -= part.I.M00;
3838 theobj.I.M01 -= part.I.M01;
3839 theobj.I.M02 -= part.I.M02;
3840 theobj.I.M10 -= part.I.M10;
3841 theobj.I.M11 -= part.I.M11;
3842 theobj.I.M12 -= part.I.M12;
3843 theobj.I.M20 -= part.I.M20;
3844 theobj.I.M21 -= part.I.M21;
3845 theobj.I.M22 -= part.I.M22;
3846 }
3847
3848 private void donullchange()
3849 {
3850 }
3851
3852 public bool DoAChange(changes what, object arg)
3853 {
3854 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3855 {
3856 return false;
3857 }
3858
3859 // nasty switch
3860 switch (what)
3861 {
3862 case changes.Add:
3863 changeadd();
3864 break;
3865 case changes.Remove:
3866 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3867 //When we return true, it destroys all of the prims in the linkset anyway
3868 if (_parent != null)
3869 {
3870 OdePrim parent = (OdePrim)_parent;
3871 parent.ChildRemove(this, false);
3872 }
3873 else
3874 ChildRemove(this, false);
3875
3876 m_vehicle = null;
3877 RemoveGeom();
3878 m_targetSpace = IntPtr.Zero;
3879 if (m_eventsubscription > 0)
3880 UnSubscribeEvents();
3881 return true;
3882
3883 case changes.Link:
3884 OdePrim tmp = (OdePrim)arg;
3885 changeLink(tmp);
3886 break;
3887
3888 case changes.DeLink:
3889 changeLink(null);
3890 break;
3891
3892 case changes.Position:
3893 changePosition((Vector3)arg);
3894 break;
3895
3896 case changes.Orientation:
3897 changeOrientation((Quaternion)arg);
3898 break;
3899
3900 case changes.PosOffset:
3901 donullchange();
3902 break;
3903
3904 case changes.OriOffset:
3905 donullchange();
3906 break;
3907
3908 case changes.Velocity:
3909 changevelocity((Vector3)arg);
3910 break;
3911
3912 // case changes.Acceleration:
3913 // changeacceleration((Vector3)arg);
3914 // break;
3915 // case changes.AngVelocity:
3916 // changeangvelocity((Vector3)arg);
3917 // break;
3918
3919 case changes.Force:
3920 changeForce((Vector3)arg);
3921 break;
3922
3923 case changes.Torque:
3924 changeSetTorque((Vector3)arg);
3925 break;
3926
3927 case changes.AddForce:
3928 changeAddImpulse((Vector3)arg);
3929 break;
3930
3931 case changes.AddAngForce:
3932 changeAddAngularImpulse((Vector3)arg);
3933 break;
3934
3935 case changes.AngLock:
3936 changeAngularLock((Vector3)arg);
3937 break;
3938
3939 case changes.Size:
3940 changeSize((Vector3)arg);
3941 break;
3942
3943 case changes.Shape:
3944 changeShape((PrimitiveBaseShape)arg);
3945 break;
3946
3947 case changes.CollidesWater:
3948 changeFloatOnWater((bool)arg);
3949 break;
3950
3951 case changes.VolumeDtc:
3952 changeVolumedetetion((bool)arg);
3953 break;
3954
3955 case changes.Phantom:
3956 changePhantomStatus((bool)arg);
3957 break;
3958
3959 case changes.Physical:
3960 changePhysicsStatus((bool)arg);
3961 break;
3962
3963 case changes.Selected:
3964 changeSelectedStatus((bool)arg);
3965 break;
3966
3967 case changes.disabled:
3968 changeDisable((bool)arg);
3969 break;
3970
3971 case changes.building:
3972 changeBuilding((bool)arg);
3973 break;
3974
3975 case changes.VehicleType:
3976 changeVehicleType((int)arg);
3977 break;
3978
3979 case changes.VehicleFlags:
3980 changeVehicleFlags((strVehicleBoolParam) arg);
3981 break;
3982
3983 case changes.VehicleFloatParam:
3984 changeVehicleFloatParam((strVehicleFloatParam) arg);
3985 break;
3986
3987 case changes.VehicleVectorParam:
3988 changeVehicleVectorParam((strVehicleVectorParam) arg);
3989 break;
3990
3991 case changes.VehicleRotationParam:
3992 changeVehicleRotationParam((strVehicleQuatParam) arg);
3993 break;
3994
3995 case changes.SetVehicle:
3996 changeSetVehicle((VehicleData) arg);
3997 break;
3998 case changes.Null:
3999 donullchange();
4000 break;
4001
4002 default:
4003 donullchange();
4004 break;
4005 }
4006 return false;
4007 }
4008
4009 public void AddChange(changes what, object arg)
4010 {
4011 _parent_scene.AddChange((PhysicsActor) this, what, arg);
4012 }
4013
4014
4015 private struct strVehicleBoolParam
4016 {
4017 public int param;
4018 public bool value;
4019 }
4020
4021 private struct strVehicleFloatParam
4022 {
4023 public int param;
4024 public float value;
4025 }
4026
4027 private struct strVehicleQuatParam
4028 {
4029 public int param;
4030 public Quaternion value;
4031 }
4032
4033 private struct strVehicleVectorParam
4034 {
4035 public int param;
4036 public Vector3 value;
4037 }
4038 }
4039} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..5122ebf
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,603 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using OdeAPI;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.OdePlugin
40{
41 /// <summary>
42 /// Processes raycast requests as ODE is in a state to be able to do them.
43 /// This ensures that it's thread safe and there will be no conflicts.
44 /// Requests get returned by a different thread then they were requested by.
45 /// </summary>
46 public class ODERayCastRequestManager
47 {
48 /// <summary>
49 /// Pending ray requests
50 /// </summary>
51 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
52
53 /// <summary>
54 /// Scene that created this object.
55 /// </summary>
56 private OdeScene m_scene;
57
58 IntPtr ray; // the ray. we only need one for our lifetime
59
60 private const int ColisionContactGeomsPerTest = 5;
61 private const int DefaultMaxCount = 25;
62 private const int MaxTimePerCallMS = 30;
63
64 /// <summary>
65 /// ODE near callback delegate
66 /// </summary>
67 private d.NearCallback nearCallback;
68 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
69 private List<ContactResult> m_contactResults = new List<ContactResult>();
70 private RayFilterFlags CurrentRayFilter;
71 private int CurrentMaxCount;
72
73 public ODERayCastRequestManager(OdeScene pScene)
74 {
75 m_scene = pScene;
76 nearCallback = near;
77 ray = d.CreateRay(IntPtr.Zero, 1.0f);
78 d.GeomSetCategoryBits(ray,0);
79 }
80
81 /// <summary>
82 /// Queues request for a raycast to all world
83 /// </summary>
84 /// <param name="position">Origin of Ray</param>
85 /// <param name="direction">Ray direction</param>
86 /// <param name="length">Ray length</param>
87 /// <param name="retMethod">Return method to send the results</param>
88 public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
89 {
90 ODERayRequest req = new ODERayRequest();
91 req.geom = IntPtr.Zero;
92 req.callbackMethod = retMethod;
93 req.Count = DefaultMaxCount;
94 req.length = length;
95 req.Normal = direction;
96 req.Origin = position;
97 req.filter = RayFilterFlags.AllPrims;
98
99 m_PendingRequests.Enqueue(req);
100 }
101
102 /// <summary>
103 /// Queues request for a raycast to particular part
104 /// </summary>
105 /// <param name="position">Origin of Ray</param>
106 /// <param name="direction">Ray direction</param>
107 /// <param name="length">Ray length</param>
108 /// <param name="retMethod">Return method to send the results</param>
109 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
110 {
111 ODERayRequest req = new ODERayRequest();
112 req.geom = geom;
113 req.callbackMethod = retMethod;
114 req.length = length;
115 req.Normal = direction;
116 req.Origin = position;
117 req.Count = DefaultMaxCount;
118 req.filter = RayFilterFlags.AllPrims;
119
120 m_PendingRequests.Enqueue(req);
121 }
122
123 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
124 {
125 ODERayRequest req = new ODERayRequest();
126 req.geom = IntPtr.Zero;
127 req.callbackMethod = retMethod;
128 req.Count = DefaultMaxCount;
129 req.length = length;
130 req.Normal = direction;
131 req.Origin = position;
132 req.filter = RayFilterFlags.AllPrims;
133
134 m_PendingRequests.Enqueue(req);
135 }
136
137 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
138 {
139 ODERayRequest req = new ODERayRequest();
140 req.geom = geom;
141 req.callbackMethod = retMethod;
142 req.length = length;
143 req.Normal = direction;
144 req.Origin = position;
145 req.Count = DefaultMaxCount;
146 req.filter = RayFilterFlags.AllPrims;
147
148 m_PendingRequests.Enqueue(req);
149 }
150
151 /// <summary>
152 /// Queues a raycast
153 /// </summary>
154 /// <param name="position">Origin of Ray</param>
155 /// <param name="direction">Ray normal</param>
156 /// <param name="length">Ray length</param>
157 /// <param name="count"></param>
158 /// <param name="retMethod">Return method to send the results</param>
159 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
160 {
161 ODERayRequest req = new ODERayRequest();
162 req.geom = IntPtr.Zero;
163 req.callbackMethod = retMethod;
164 req.length = length;
165 req.Normal = direction;
166 req.Origin = position;
167 req.Count = count;
168 req.filter = RayFilterFlags.AllPrims;
169
170 m_PendingRequests.Enqueue(req);
171 }
172
173
174 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count,RayFilterFlags filter , RayCallback retMethod)
175 {
176 ODERayRequest req = new ODERayRequest();
177 req.geom = IntPtr.Zero;
178 req.callbackMethod = retMethod;
179 req.length = length;
180 req.Normal = direction;
181 req.Origin = position;
182 req.Count = count;
183 req.filter = filter;
184
185 m_PendingRequests.Enqueue(req);
186 }
187
188 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
189 {
190 ODERayRequest req = new ODERayRequest();
191 req.geom = geom;
192 req.callbackMethod = retMethod;
193 req.length = length;
194 req.Normal = direction;
195 req.Origin = position;
196 req.Count = count;
197 req.filter = RayFilterFlags.AllPrims;
198
199 m_PendingRequests.Enqueue(req);
200 }
201
202 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
203 {
204 ODERayRequest req = new ODERayRequest();
205 req.geom = IntPtr.Zero;
206 req.callbackMethod = retMethod;
207 req.length = length;
208 req.Normal = direction;
209 req.Origin = position;
210 req.Count = count;
211 req.filter = RayFilterFlags.AllPrims;
212
213 m_PendingRequests.Enqueue(req);
214 }
215
216 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
217 {
218 ODERayRequest req = new ODERayRequest();
219 req.geom = geom;
220 req.callbackMethod = retMethod;
221 req.length = length;
222 req.Normal = direction;
223 req.Origin = position;
224 req.Count = count;
225 req.filter = RayFilterFlags.AllPrims;
226
227 m_PendingRequests.Enqueue(req);
228 }
229
230 /// <summary>
231 /// Process all queued raycast requests
232 /// </summary>
233 /// <returns>Time in MS the raycasts took to process.</returns>
234 public int ProcessQueuedRequests()
235 {
236
237 if (m_PendingRequests.Count <= 0)
238 return 0;
239
240 if (m_scene.ContactgeomsArray == IntPtr.Zero || ray == IntPtr.Zero)
241 // oops something got wrong or scene isn't ready still
242 {
243 m_PendingRequests.Clear();
244 return 0;
245 }
246
247 int time = Util.EnvironmentTickCount();
248
249 ODERayRequest req;
250 int closestHit;
251 int backfacecull;
252 CollisionCategories catflags;
253
254 while (m_PendingRequests.Dequeue(out req))
255 {
256 if (req.callbackMethod != null)
257 {
258 CurrentRayFilter = req.filter;
259 CurrentMaxCount = req.Count;
260
261 closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
262 backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
263
264 d.GeomRaySetLength(ray, req.length);
265 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
266 d.GeomRaySetParams(ray, 0, backfacecull);
267 d.GeomRaySetClosestHit(ray, closestHit);
268
269 if (req.callbackMethod is RaycastCallback)
270 // if we only want one get only one per colision pair saving memory
271 CurrentRayFilter |= RayFilterFlags.ClosestHit;
272
273 if (req.geom == IntPtr.Zero)
274 {
275 // translate ray filter to colision flags
276 catflags = 0;
277 if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
278 catflags |= CollisionCategories.VolumeDtc;
279 if ((CurrentRayFilter & RayFilterFlags.phantom) != 0)
280 catflags |= CollisionCategories.Phantom;
281 if ((CurrentRayFilter & RayFilterFlags.agent) != 0)
282 catflags |= CollisionCategories.Character;
283 if ((CurrentRayFilter & RayFilterFlags.PrimsNonPhantom) != 0)
284 catflags |= CollisionCategories.Geom;
285 if ((CurrentRayFilter & RayFilterFlags.land) != 0)
286 catflags |= CollisionCategories.Land;
287 if ((CurrentRayFilter & RayFilterFlags.water) != 0)
288 catflags |= CollisionCategories.Water;
289
290 if (catflags != 0)
291 doSpaceRay(req);
292 }
293 else
294 {
295 // if we select a geom don't use filters
296 d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
297 doGeomRay(req);
298 }
299 }
300
301 if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS)
302 break;
303 }
304
305 lock (m_contactResults)
306 m_contactResults.Clear();
307
308 return Util.EnvironmentTickCountSubtract(time);
309 }
310 /// <summary>
311 /// Method that actually initiates the raycast with spaces
312 /// </summary>
313 /// <param name="req"></param>
314 ///
315
316 private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhanton;
317 private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
318
319 private void doSpaceRay(ODERayRequest req)
320 {
321 // Collide tests
322 if ((CurrentRayFilter & FilterActiveSpace) != 0)
323 d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
324 if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
325 d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
326
327 if (req.callbackMethod is RaycastCallback)
328 {
329 // Define default results
330 bool hitYN = false;
331 uint hitConsumerID = 0;
332 float distance = float.MaxValue;
333 Vector3 closestcontact = Vector3.Zero;
334 Vector3 snormal = Vector3.Zero;
335
336 // Find closest contact and object.
337 lock (m_contactResults)
338 {
339 foreach (ContactResult cResult in m_contactResults)
340 {
341 if(cResult.Depth < distance)
342 {
343 closestcontact = cResult.Pos;
344 hitConsumerID = cResult.ConsumerID;
345 distance = cResult.Depth;
346 snormal = cResult.Normal;
347 }
348 }
349 m_contactResults.Clear();
350 }
351
352 if (distance > 0 && distance < float.MaxValue)
353 hitYN = true;
354 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
355 }
356 else
357 {
358 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
359 lock (m_PendingRequests)
360 {
361 cresult.AddRange(m_contactResults);
362 m_contactResults.Clear();
363 }
364 ((RayCallback)req.callbackMethod)(cresult);
365 }
366 }
367
368 /// <summary>
369 /// Method that actually initiates the raycast with a geom
370 /// </summary>
371 /// <param name="req"></param>
372 private void doGeomRay(ODERayRequest req)
373 {
374 // Collide test
375 d.SpaceCollide2(ray, req.geom, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
376
377 if (req.callbackMethod is RaycastCallback)
378 {
379 // Define default results
380 bool hitYN = false;
381 uint hitConsumerID = 0;
382 float distance = float.MaxValue;
383 Vector3 closestcontact = Vector3.Zero;
384 Vector3 snormal = Vector3.Zero;
385
386 // Find closest contact and object.
387 lock (m_contactResults)
388 {
389 foreach (ContactResult cResult in m_contactResults)
390 {
391 if(cResult.Depth < distance )
392 {
393 closestcontact = cResult.Pos;
394 hitConsumerID = cResult.ConsumerID;
395 distance = cResult.Depth;
396 snormal = cResult.Normal;
397 }
398 }
399 m_contactResults.Clear();
400 }
401
402 if (distance > 0 && distance < float.MaxValue)
403 hitYN = true;
404
405 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
406 }
407 else
408 {
409 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
410 lock (m_PendingRequests)
411 {
412 cresult.AddRange(m_contactResults);
413 m_contactResults.Clear();
414 }
415 ((RayCallback)req.callbackMethod)(cresult);
416 }
417 }
418
419 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
420 {
421 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
422 if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
423 return false;
424
425 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
426 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
427 return true;
428 }
429
430 // This is the standard Near. g1 is the ray
431 private void near(IntPtr space, IntPtr g1, IntPtr g2)
432 {
433 if (g2 == IntPtr.Zero || g1 == g2)
434 return;
435
436 if (m_contactResults.Count >= CurrentMaxCount)
437 return;
438
439 if (d.GeomIsSpace(g2))
440 {
441 try
442 {
443 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
444 }
445 catch (Exception e)
446 {
447 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
448 }
449 return;
450 }
451
452 int count = 0;
453 try
454 {
455 count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
456 }
457 catch (Exception e)
458 {
459 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
460 return;
461 }
462
463 if (count == 0)
464 return;
465
466 uint ID = 0;
467 PhysicsActor p2 = null;
468
469 m_scene.actor_name_map.TryGetValue(g2, out p2);
470
471 if (p2 == null)
472 {
473 string name;
474
475 if (!m_scene.geom_name_map.TryGetValue(g2, out name))
476 return;
477
478 if (name == "Terrain")
479 {
480 // land colision
481 if ((CurrentRayFilter & RayFilterFlags.land) == 0)
482 return;
483 }
484 else if (name == "Water")
485 {
486 if ((CurrentRayFilter & RayFilterFlags.water) == 0)
487 return;
488 }
489 else
490 return;
491 }
492 else
493 {
494 if (p2 is OdePrim)
495 {
496 RayFilterFlags thisFlags;
497
498 if (p2.IsPhysical)
499 thisFlags = RayFilterFlags.physical;
500 else
501 thisFlags = RayFilterFlags.nonphysical;
502
503 if (p2.Phantom)
504 thisFlags |= RayFilterFlags.phantom;
505
506 if (p2.IsVolumeDtc)
507 thisFlags |= RayFilterFlags.volumedtc;
508
509 if ((thisFlags & CurrentRayFilter) == 0)
510 return;
511
512 ID = ((OdePrim)p2).m_localID;
513 }
514 else if (p2 is OdeCharacter)
515 {
516 if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
517 return;
518 else
519 ID = ((OdeCharacter)p2).m_localID;
520 }
521 else //??
522 return;
523 }
524
525 d.ContactGeom curcontact = new d.ContactGeom();
526
527 // closestHit for now only works for meshs, so must do it for others
528 if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
529 {
530 // Loop all contacts, build results.
531 for (int i = 0; i < count; i++)
532 {
533 if (!GetCurContactGeom(i, ref curcontact))
534 break;
535
536 ContactResult collisionresult = new ContactResult();
537 collisionresult.ConsumerID = ID;
538 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
539 collisionresult.Depth = curcontact.depth;
540 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
541 curcontact.normal.Z);
542 lock (m_contactResults)
543 {
544 m_contactResults.Add(collisionresult);
545 if (m_contactResults.Count >= CurrentMaxCount)
546 return;
547 }
548 }
549 }
550 else
551 {
552 // keep only closest contact
553 ContactResult collisionresult = new ContactResult();
554 collisionresult.ConsumerID = ID;
555 collisionresult.Depth = float.MaxValue;
556
557 for (int i = 0; i < count; i++)
558 {
559 if (!GetCurContactGeom(i, ref curcontact))
560 break;
561
562 if (curcontact.depth < collisionresult.Depth)
563 {
564 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
565 collisionresult.Depth = curcontact.depth;
566 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
567 curcontact.normal.Z);
568 }
569 }
570
571 if (collisionresult.Depth != float.MaxValue)
572 {
573 lock (m_contactResults)
574 m_contactResults.Add(collisionresult);
575 }
576 }
577 }
578
579 /// <summary>
580 /// Dereference the creator scene so that it can be garbage collected if needed.
581 /// </summary>
582 internal void Dispose()
583 {
584 m_scene = null;
585 if (ray != IntPtr.Zero)
586 {
587 d.GeomDestroy(ray);
588 ray = IntPtr.Zero;
589 }
590 }
591 }
592
593 public struct ODERayRequest
594 {
595 public IntPtr geom;
596 public Vector3 Origin;
597 public Vector3 Normal;
598 public int Count;
599 public float length;
600 public object callbackMethod;
601 public RayFilterFlags filter;
602 }
603} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
new file mode 100644
index 0000000..0e4961b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,2005 @@
1/*
2 * based on:
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 * changes by opensim team;
39 * changes by Aurora team http://www.aurora-sim.org/
40
41 * Revision/fixs by Ubit Umarov
42 */
43
44using System;
45using System.Runtime.InteropServices;
46using System.Security;
47
48namespace OdeAPI
49{
50//#if dDOUBLE
51// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
52// at least we save same memory and memory access time, FPU performance on intel usually is similar
53// using dReal = System.Double;
54//#else
55 using dReal = System.Single;
56//#endif
57
58 public static class d
59 {
60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0;
63
64 #region Flags and Enumerations
65
66 [Flags]
67 public enum AllocateODEDataFlags : uint
68 {
69 BasicData = 0,
70 CollisionData = 0x00000001,
71 All = ~0u
72 }
73
74 [Flags]
75 public enum IniteODEFlags : uint
76 {
77 dInitFlagManualThreadCleanup = 0x00000001
78 }
79
80 [Flags]
81 public enum ContactFlags : int
82 {
83 Mu2 = 0x001,
84 FDir1 = 0x002,
85 Bounce = 0x004,
86 SoftERP = 0x008,
87 SoftCFM = 0x010,
88 Motion1 = 0x020,
89 Motion2 = 0x040,
90 MotionN = 0x080,
91 Slip1 = 0x100,
92 Slip2 = 0x200,
93 Approx0 = 0x0000,
94 Approx1_1 = 0x1000,
95 Approx1_2 = 0x2000,
96 Approx1 = 0x3000
97 }
98
99 public enum GeomClassID : int
100 {
101 SphereClass,
102 BoxClass,
103 CapsuleClass,
104 CylinderClass,
105 PlaneClass,
106 RayClass,
107 ConvexClass,
108 GeomTransformClass,
109 TriMeshClass,
110 HeightfieldClass,
111 FirstSpaceClass,
112 SimpleSpaceClass = FirstSpaceClass,
113 HashSpaceClass,
114 QuadTreeSpaceClass,
115 LastSpaceClass = QuadTreeSpaceClass,
116 UbitTerrainClass,
117 FirstUserClass,
118 LastUserClass = FirstUserClass + MaxUserClasses - 1,
119 NumClasses,
120 MaxUserClasses = 5
121 }
122
123 public enum JointType : int
124 {
125 None,
126 Ball,
127 Hinge,
128 Slider,
129 Contact,
130 Universal,
131 Hinge2,
132 Fixed,
133 Null,
134 AMotor,
135 LMotor,
136 Plane2D
137 }
138
139 public enum JointParam : int
140 {
141 LoStop,
142 HiStop,
143 Vel,
144 FMax,
145 FudgeFactor,
146 Bounce,
147 CFM,
148 StopERP,
149 StopCFM,
150 SuspensionERP,
151 SuspensionCFM,
152 LoStop2 = 256,
153 HiStop2,
154 Vel2,
155 FMax2,
156 FudgeFactor2,
157 Bounce2,
158 CFM2,
159 StopERP2,
160 StopCFM2,
161 SuspensionERP2,
162 SuspensionCFM2,
163 LoStop3 = 512,
164 HiStop3,
165 Vel3,
166 FMax3,
167 FudgeFactor3,
168 Bounce3,
169 CFM3,
170 StopERP3,
171 StopCFM3,
172 SuspensionERP3,
173 SuspensionCFM3
174 }
175
176 public enum dSweepAndPruneAxis : int
177 {
178 XYZ = ((0)|(1<<2)|(2<<4)),
179 XZY = ((0)|(2<<2)|(1<<4)),
180 YXZ = ((1)|(0<<2)|(2<<4)),
181 YZX = ((1)|(2<<2)|(0<<4)),
182 ZXY = ((2)|(0<<2)|(1<<4)),
183 ZYX = ((2)|(1<<2)|(0<<4))
184 }
185
186 #endregion
187
188 #region Callbacks
189
190 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
191 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
192
193 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
194 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
195
196 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
197 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
198
199 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
200 public delegate ColliderFn GetColliderFnFn(int num);
201
202 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
203 public delegate void GeomDtorFn(IntPtr o);
204
205 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
206 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
207
208 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
209 public delegate dReal UbitTerrainGetHeight(IntPtr p_user_data, int x, int z);
210
211 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
212 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
213
214 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
215 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
216
217 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
218 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
219
220 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
221 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
222
223 #endregion
224
225 #region Structs
226
227 [StructLayout(LayoutKind.Sequential)]
228 public struct AABB
229 {
230 public dReal MinX, MaxX;
231 public dReal MinY, MaxY;
232 public dReal MinZ, MaxZ;
233 }
234
235
236 [StructLayout(LayoutKind.Sequential)]
237 public struct Contact
238 {
239 public SurfaceParameters surface;
240 public ContactGeom geom;
241 public Vector3 fdir1;
242 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
243 }
244
245
246 [StructLayout(LayoutKind.Sequential)]
247 public struct ContactGeom
248 {
249
250 public Vector3 pos;
251 public Vector3 normal;
252 public dReal depth;
253 public IntPtr g1;
254 public IntPtr g2;
255 public int side1;
256 public int side2;
257 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
258 }
259
260 [StructLayout(LayoutKind.Sequential)]
261 public struct GeomClass
262 {
263 public int bytes;
264 public GetColliderFnFn collider;
265 public GetAABBFn aabb;
266 public AABBTestFn aabb_test;
267 public GeomDtorFn dtor;
268 }
269
270
271 [StructLayout(LayoutKind.Sequential)]
272 public struct JointFeedback
273 {
274 public Vector3 f1;
275 public Vector3 t1;
276 public Vector3 f2;
277 public Vector3 t2;
278 }
279
280
281 [StructLayout(LayoutKind.Sequential)]
282 public struct Mass
283 {
284 public dReal mass;
285 public Vector4 c;
286 public Matrix3 I;
287 }
288
289
290 [StructLayout(LayoutKind.Sequential)]
291 public struct Matrix3
292 {
293 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
294 {
295 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
296 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
297 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
298 }
299 public dReal M00, M10, M20;
300 private dReal _m30;
301 public dReal M01, M11, M21;
302 private dReal _m31;
303 public dReal M02, M12, M22;
304 private dReal _m32;
305 }
306
307 [StructLayout(LayoutKind.Sequential)]
308 public struct Matrix4
309 {
310 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
311 dReal m01, dReal m11, dReal m21, dReal m31,
312 dReal m02, dReal m12, dReal m22, dReal m32,
313 dReal m03, dReal m13, dReal m23, dReal m33)
314 {
315 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
316 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
317 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
318 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
319 }
320 public dReal M00, M10, M20, M30;
321 public dReal M01, M11, M21, M31;
322 public dReal M02, M12, M22, M32;
323 public dReal M03, M13, M23, M33;
324 }
325
326 [StructLayout(LayoutKind.Sequential)]
327 public struct Quaternion
328 {
329 public dReal W, X, Y, Z;
330 }
331
332
333 [StructLayout(LayoutKind.Sequential)]
334 public struct SurfaceParameters
335 {
336 public ContactFlags mode;
337 public dReal mu;
338 public dReal mu2;
339 public dReal bounce;
340 public dReal bounce_vel;
341 public dReal soft_erp;
342 public dReal soft_cfm;
343 public dReal motion1;
344 public dReal motion2;
345 public dReal motionN;
346 public dReal slip1;
347 public dReal slip2;
348 }
349
350
351 [StructLayout(LayoutKind.Sequential)]
352 public struct Vector3
353 {
354 public Vector3(dReal x, dReal y, dReal z)
355 {
356 X = x; Y = y; Z = z; _w = 0.0f;
357 }
358 public dReal X, Y, Z;
359 private dReal _w;
360 }
361
362
363 [StructLayout(LayoutKind.Sequential)]
364 public struct Vector4
365 {
366 public Vector4(dReal x, dReal y, dReal z, dReal w)
367 {
368 X = x; Y = y; Z = z; W = w;
369 }
370 public dReal X, Y, Z, W;
371 }
372
373 #endregion
374
375 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
376 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
377
378 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
379 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
380
381 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
382 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
383
384 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
385 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
386
387 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
388 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
389
390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
391 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
392
393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
394 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
395
396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
397 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
398
399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
400 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
401
402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
403 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
404
405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
406 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
407
408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
409 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
410
411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
412 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
413
414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
415 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
416
417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
418 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
419
420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
421 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
422
423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
424 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
425
426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
427 public static extern IntPtr BodyiCreate(IntPtr world);
428 public static IntPtr BodyCreate(IntPtr world)
429 {
430 NTotalBodies++;
431 return BodyiCreate(world);
432 }
433
434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
435 public static extern void BodyiDestroy(IntPtr body);
436 public static void BodyDestroy(IntPtr body)
437 {
438 NTotalBodies--;
439 BodyiDestroy(body);
440 }
441
442 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
443 public static extern void BodyDisable(IntPtr body);
444
445 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
446 public static extern void BodyEnable(IntPtr body);
447
448 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
449 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
450
451 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
452 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
453
454 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
455 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
456
457 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
458 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
459
460 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
461 public static extern int BodyGetAutoDisableSteps(IntPtr body);
462
463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
464 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
465
466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
467 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
468 public static Vector3 BodyGetAngularVel(IntPtr body)
469 {
470 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
471 }
472
473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
474 public static extern IntPtr BodyGetData(IntPtr body);
475
476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
477 public static extern int BodyGetFiniteRotationMode(IntPtr body);
478
479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
480 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
481
482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
483 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
484 public static Vector3 BodyGetForce(IntPtr body)
485 {
486 unsafe { return *(BodyGetForceUnsafe(body)); }
487 }
488
489 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
490 public static extern bool BodyGetGravityMode(IntPtr body);
491
492 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
493 public static extern int BodyGetGyroscopicMode(IntPtr body);
494
495 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
496 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
497
498 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
499 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
500 public static Vector3 BodyGetLinearVel(IntPtr body)
501 {
502 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
503 }
504
505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
506 public static extern void BodyGetMass(IntPtr body, out Mass mass);
507
508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
509 public static extern int BodyGetNumJoints(IntPtr body);
510
511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
512 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
513
514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
515 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
516 public static Vector3 BodyGetPosition(IntPtr body)
517 {
518 unsafe { return *(BodyGetPositionUnsafe(body)); }
519 }
520
521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
522 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
523
524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
525 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
526 public static Quaternion BodyGetQuaternion(IntPtr body)
527 {
528 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
529 }
530
531 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
532 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
533
534 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
535 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
536
537 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
538 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
539 public static Matrix3 BodyGetRotation(IntPtr body)
540 {
541 unsafe { return *(BodyGetRotationUnsafe(body)); }
542 }
543
544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
545 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
546 public static Vector3 BodyGetTorque(IntPtr body)
547 {
548 unsafe { return *(BodyGetTorqueUnsafe(body)); }
549 }
550
551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
552 public static extern IntPtr BodyGetWorld(IntPtr body);
553
554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
555 public static extern IntPtr BodyGetFirstGeom(IntPtr body);
556
557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
558 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
559
560
561 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
562 public static extern bool BodyIsEnabled(IntPtr body);
563
564 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
565 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
566
567 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
568 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
569
570 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
571 public static extern void BodySetAutoDisableDefaults(IntPtr body);
572
573 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
574 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
575
576 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
577 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
578
579 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
580 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
581
582 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
583 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
584
585 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
586 public static extern void BodySetData(IntPtr body, IntPtr data);
587
588 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
589 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
590
591 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
592 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
593
594 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
595 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
596
597 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
598 public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
599
600 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
601 public static extern dReal BodyGetLinearDamping(IntPtr body);
602
603 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
604 public static extern dReal BodyGetAngularDamping(IntPtr body);
605
606 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
607 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
608
609 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
610 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
611
612 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
613 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
614
615 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
616 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
617
618 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
619 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
620
621 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
622 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
623
624 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
625 public static extern void BodySetGravityMode(IntPtr body, bool mode);
626
627 /// <summary>
628 /// Sets the Gyroscopic term status on the body specified.
629 /// </summary>
630 /// <param name="body">Pointer to body</param>
631 /// <param name="enabled">NonZero enabled, Zero disabled</param>
632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
633 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
634
635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
636 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
637
638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
639 public static extern void BodySetMass(IntPtr body, ref Mass mass);
640
641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
642 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
643
644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
645 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
646
647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
648 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
649
650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
651 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
652
653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
654 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
655
656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
657 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
658
659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
660 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
661
662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
663 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
664
665 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
666 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
667 ref Vector3 side1, ref Vector3 p2,
668 ref Matrix3 R2, ref Vector3 side2,
669 ref Vector3 normal, out dReal depth, out int return_code,
670 int maxc, out ContactGeom contact, int skip);
671
672 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
673 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
674 ref Vector3 side1, ref Vector3 _p2,
675 ref Matrix3 R2, ref Vector3 side2);
676
677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
678 public static extern void CleanupODEAllDataForThread();
679
680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
681 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
682 ref Vector3 b1, ref Vector3 b2,
683 ref Vector3 cp1, ref Vector3 cp2);
684
685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
686 public static extern void CloseODE();
687
688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
689 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
691 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
692
693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
694 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
695
696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
697 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
698 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
699 {
700 NTotalGeoms++;
701 return CreateiBox(space, lx, ly, lz);
702 }
703
704 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
705 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
706 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
707 {
708 NTotalGeoms++;
709 return CreateiCapsule(space, radius, length);
710 }
711
712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
713 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
714 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
715 {
716 NTotalGeoms++;
717 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
718 }
719
720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
721 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
722 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
723 {
724 NTotalGeoms++;
725 return CreateiCylinder(space, radius, length);
726 }
727
728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
729 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
730 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
731 {
732 NTotalGeoms++;
733 return CreateiHeightfield(space, data, bPlaceable);
734 }
735
736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateUbitTerrain"), SuppressUnmanagedCodeSecurity]
737 public static extern IntPtr CreateiUbitTerrain(IntPtr space, IntPtr data, int bPlaceable);
738 public static IntPtr CreateUbitTerrain(IntPtr space, IntPtr data, int bPlaceable)
739 {
740 NTotalGeoms++;
741 return CreateiUbitTerrain(space, data, bPlaceable);
742 }
743
744
745
746
747
748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
749 public static extern IntPtr CreateiGeom(int classnum);
750 public static IntPtr CreateGeom(int classnum)
751 {
752 NTotalGeoms++;
753 return CreateiGeom(classnum);
754 }
755
756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
757 public static extern int CreateGeomClass(ref GeomClass classptr);
758
759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
760 public static extern IntPtr CreateGeomTransform(IntPtr space);
761
762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
763 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
764 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
765 {
766 NTotalGeoms++;
767 return CreateiPlane(space, a, b, c, d);
768 }
769
770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
771 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
772 public static IntPtr CreateRay(IntPtr space, dReal length)
773 {
774 NTotalGeoms++;
775 return CreateiRay(space, length);
776 }
777
778 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
779 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
780 public static IntPtr CreateSphere(IntPtr space, dReal radius)
781 {
782 NTotalGeoms++;
783 return CreateiSphere(space, radius);
784 }
785
786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
787 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
788 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
789 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
791 {
792 NTotalGeoms++;
793 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
794 }
795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
796 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
797
798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
799 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
800
801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
802 public static extern int FactorCholesky(ref dReal A00, int n);
803
804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
805 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
806
807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
808 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
809
810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
811 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
812
813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
814 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
815
816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
817 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
818
819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
820 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
821
822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
823 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
824
825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
826 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
827
828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
829 public static extern void GeomClearOffset(IntPtr geom);
830
831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
832 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
833
834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
835 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
836
837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
838 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
839
840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
841 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
842
843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
844 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
845
846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
847 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
848
849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
850 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
851
852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
853 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
854
855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
856 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
857
858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
859 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
860
861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
862 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
863
864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
865 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
866
867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
868 public static extern void GeomiDestroy(IntPtr geom);
869 public static void GeomDestroy(IntPtr geom)
870 {
871 NTotalGeoms--;
872 GeomiDestroy(geom);
873 }
874
875
876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
877 public static extern void GeomDisable(IntPtr geom);
878
879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
880 public static extern void GeomEnable(IntPtr geom);
881
882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
883 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
884
885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
886 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
887
888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
889 public static extern IntPtr GeomGetBody(IntPtr geom);
890
891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
892 public static extern uint GeomGetCategoryBits(IntPtr geom);
893
894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
895 public static extern IntPtr GeomGetClassData(IntPtr geom);
896
897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
898 public static extern uint GeomGetCollideBits(IntPtr geom);
899
900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
901 public static extern GeomClassID GeomGetClass(IntPtr geom);
902
903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
904 public static extern IntPtr GeomGetData(IntPtr geom);
905
906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
907 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
908 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
909 {
910 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
911 }
912
913 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
914 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
915 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
916 {
917 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
918 }
919
920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
921 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
922 public static Vector3 GeomGetPosition(IntPtr geom)
923 {
924 unsafe { return *(GeomGetPositionUnsafe(geom)); }
925 }
926
927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
928 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
929
930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
931 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
932
933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
934 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
935 public static Matrix3 GeomGetRotation(IntPtr geom)
936 {
937 unsafe { return *(GeomGetRotationUnsafe(geom)); }
938 }
939
940 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
941 public static extern IntPtr GeomGetSpace(IntPtr geom);
942
943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
944 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
945 dReal width, dReal depth, int widthSamples, int depthSamples,
946 dReal scale, dReal offset, dReal thickness, int bWrap);
947
948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
949 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
950 dReal width, dReal depth, int widthSamples, int depthSamples,
951 dReal scale, dReal offset, dReal thickness, int bWrap);
952
953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
954 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
955 dReal width, dReal depth, int widthSamples, int depthSamples,
956 dReal scale, dReal offset, dReal thickness, int bWrap);
957
958 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
959 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
960 dReal width, dReal depth, int widthSamples, int depthSamples,
961 dReal scale, dReal offset, dReal thickness, int bWrap);
962
963 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
964 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
965 dReal width, dReal depth, int widthSamples, int depthSamples,
966 dReal scale, dReal offset, dReal thickness, int bWrap);
967
968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
969 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
970 dReal width, dReal depth, int widthSamples, int depthSamples,
971 dReal scale, dReal offset, dReal thickness, int bWrap);
972
973 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
974 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
975 dReal width, dReal depth, int widthSamples, int depthSamples,
976 dReal scale, dReal offset, dReal thickness, int bWrap);
977
978 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
979 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
980 dReal width, dReal depth, int widthSamples, int depthSamples,
981 dReal scale, dReal offset, dReal thickness, int bWrap);
982
983
984
985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
986 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
987 dReal width, dReal depth, int widthSamples, int depthSamples,
988 dReal scale, dReal offset, dReal thickness, int bWrap);
989
990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
991 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
992 dReal width, dReal depth, int widthSamples, int depthSamples,
993 dReal scale, dReal offset, dReal thickness, int bWrap);
994
995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
996 public static extern IntPtr GeomHeightfieldDataCreate();
997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
999 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
1000
1001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
1002 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1003
1004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1005 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1008 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
1009
1010
1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1012 public static extern void GeomUbitTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData,
1013 dReal sampleSize, int widthSamples, int depthSamples,
1014 dReal offset, dReal thickness, int bWrap);
1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomUbitTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1018 dReal sampleSize, int widthSamples, int depthSamples,
1019 dReal thickness, int bWrap);
1020
1021 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataCreate"), SuppressUnmanagedCodeSecurity]
1022 public static extern IntPtr GeomUbitTerrainDataCreate();
1023
1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataDestroy"), SuppressUnmanagedCodeSecurity]
1025 public static extern void GeomUbitTerrainDataDestroy(IntPtr d);
1026
1027 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity]
1028 public static extern void GeomUbitTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1029
1030 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1031 public static extern IntPtr GeomUbitTerrainGetHeightfieldData(IntPtr g);
1032
1033 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1034 public static extern void GeomUbitTerrainSetHeightfieldData(IntPtr g, IntPtr d);
1035
1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
1038 public static extern bool GeomIsEnabled(IntPtr geom);
1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
1041 public static extern bool GeomIsOffset(IntPtr geom);
1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
1044 public static extern bool GeomIsSpace(IntPtr geom);
1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1050 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1053 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1056 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1065 public static extern int GeomRayGetClosestHit(IntPtr ray);
1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1068 public static extern dReal GeomRayGetLength(IntPtr ray);
1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1071 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1077 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1080 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1083 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits);
1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomSetCollideBits(IntPtr geom, uint bits);
1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1095 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1101 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1104 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1107 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1110 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1113 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1116 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1126
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1129
1130 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1131 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1132
1133 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1134 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1135
1136 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1137 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1138
1139 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1140 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1141
1142 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1143 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1144
1145 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1146 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1147
1148 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1149 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1150
1151 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1152 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1153
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1155 public static extern int GeomTransformGetCleanup(IntPtr geom);
1156
1157 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1158 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1159
1160 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1161 public static extern int GeomTransformGetInfo(IntPtr geom);
1162
1163 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1164 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1165
1166 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1167 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1168
1169 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1170 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1171
1172 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1173 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1174 double[] vertices, int vertexStride, int vertexCount,
1175 int[] indices, int indexCount, int triStride);
1176
1177 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1178 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1179 IntPtr vertices, int vertexStride, int vertexCount,
1180 IntPtr indices, int indexCount, int triStride);
1181
1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1183 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1184 double[] vertices, int vertexStride, int vertexCount,
1185 int[] indices, int indexCount, int triStride,
1186 double[] normals);
1187
1188 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1189 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1190 IntPtr vertices, int vertexStride, int vertexCount,
1191 IntPtr indices, int indexCount, int triStride,
1192 IntPtr normals);
1193
1194 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1195 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1196 dReal[] vertices, int vertexStride, int vertexCount,
1197 int[] indices, int indexCount, int triStride);
1198
1199 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1200 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1201 IntPtr vertices, int vertexStride, int vertexCount,
1202 IntPtr indices, int indexCount, int triStride);
1203
1204 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1205 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1206 dReal[] vertices, int vertexStride, int vertexCount,
1207 int[] indices, int indexCount, int triStride,
1208 dReal[] normals);
1209
1210 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1211 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1212 IntPtr vertices, int vertexStride, int vertexCount,
1213 IntPtr indices, int indexCount, int triStride,
1214 IntPtr normals);
1215
1216 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1217 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1218 float[] vertices, int vertexStride, int vertexCount,
1219 int[] indices, int indexCount, int triStride);
1220
1221 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1222 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1223 IntPtr vertices, int vertexStride, int vertexCount,
1224 IntPtr indices, int indexCount, int triStride);
1225
1226 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1227 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1228 float[] vertices, int vertexStride, int vertexCount,
1229 int[] indices, int indexCount, int triStride,
1230 float[] normals);
1231
1232 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1233 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1234 IntPtr vertices, int vertexStride, int vertexCount,
1235 IntPtr indices, int indexCount, int triStride,
1236 IntPtr normals);
1237
1238 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1239 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1240
1241 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1242 public static extern IntPtr GeomTriMeshDataCreate();
1243
1244 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1245 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1246
1247 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1248 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1249
1250 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1251 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1252
1253 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1254 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1255
1256 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1257 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1258
1259 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1260 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1261
1262 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1263 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1264
1265 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1266 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1267
1268 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1269 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1270
1271 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1272 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1273 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1274 {
1275 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1276 }
1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1279 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1282 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1285 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1286
1287 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1288 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1291 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1294 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1297 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1300 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1303 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1306 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1309 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1312 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1315 public static extern string GetConfiguration(string str);
1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1318 public static extern IntPtr HashSpaceCreate(IntPtr space);
1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1321 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1324 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1325
1326 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1327 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1328
1329 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1330 public static extern void InitODE();
1331
1332 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1333 public static extern int InitODE2(uint ODEInitFlags);
1334
1335 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1336 public static extern int IsPositiveDefinite(ref dReal A, int n);
1337
1338 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1339 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1340
1341 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1342 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1343
1344 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1345 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1346
1347 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1348 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1349
1350 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1351 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1352
1353 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1354 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1355
1356 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1357 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1358
1359 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1360 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1361
1362 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1363 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1364
1365 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1366 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1367
1368 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1369 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1371 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1374 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1377 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1380 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1383 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1390
1391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1392 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1393
1394 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1395 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1396
1397 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1398 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1399
1400 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1401 public static extern void JointDestroy(IntPtr j);
1402
1403 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1404 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1405
1406 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1407 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1408
1409 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1410 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1411
1412 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1413 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1414
1415 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1416 public static extern int JointGetAMotorMode(IntPtr j);
1417
1418 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1419 public static extern int JointGetAMotorNumAxes(IntPtr j);
1420
1421 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1422 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1423
1424 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1425 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1426
1427 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1428 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1429
1430 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1431 public static extern IntPtr JointGetBody(IntPtr j);
1432
1433 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1434 public static extern IntPtr JointGetData(IntPtr j);
1435
1436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1437 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1438 public static JointFeedback JointGetFeedback(IntPtr j)
1439 {
1440 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1441 }
1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1444 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1447 public static extern dReal JointGetHingeAngle(IntPtr j);
1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1450 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1453 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1456 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1457
1458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1459 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1460
1461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1462 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1463
1464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1465 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1466
1467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1468 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1469
1470 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1471 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1472
1473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1474 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1475
1476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1477 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1478
1479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1480 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1481
1482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1483 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1484
1485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1486 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1487
1488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1489 public static extern int JointGetLMotorNumAxes(IntPtr j);
1490
1491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1492 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1493
1494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1495 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1496
1497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1498 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1499
1500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1501 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1502
1503 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1504 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1505
1506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1507 public static extern dReal JointGetPRPosition(IntPtr j);
1508
1509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1510 public static extern dReal JointGetPRPositionRate(IntPtr j);
1511
1512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1513 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1514
1515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1516 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1517
1518 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1519 public static extern dReal JointGetSliderPosition(IntPtr j);
1520
1521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1522 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1523
1524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1525 public static extern JointType JointGetType(IntPtr j);
1526
1527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1528 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1529
1530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1531 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1532
1533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1534 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1535
1536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1537 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1538
1539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1540 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1541
1542 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1543 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1544
1545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1546 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1547
1548 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1549 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1550
1551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1552 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1553
1554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1555 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1556
1557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1558 public static extern IntPtr JointGroupCreate(int max_size);
1559
1560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1561 public static extern void JointGroupDestroy(IntPtr group);
1562
1563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1564 public static extern void JointGroupEmpty(IntPtr group);
1565
1566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1567 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1568
1569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1570 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1571
1572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1573 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1574
1575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1576 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1577
1578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1579 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1580
1581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1582 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1583
1584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1585 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1586
1587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1588 public static extern void JointSetData(IntPtr j, IntPtr data);
1589
1590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1591 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1592
1593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1594 public static extern void JointSetFixed(IntPtr j);
1595
1596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1597 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1598
1599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1600 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1601
1602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1603 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1604
1605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1606 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1607
1608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1609 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1610
1611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1612 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1613
1614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1615 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1616
1617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1618 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1619
1620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1621 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1622
1623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1624 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1625
1626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1627 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1628
1629 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1630 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1631
1632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1633 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1634
1635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1636 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1637
1638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1639 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1640
1641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1642 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1643
1644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1645 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1646
1647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1648 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1649
1650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1651 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1652
1653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1654 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1655
1656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1657 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1658
1659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1660 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1661
1662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1663 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1664
1665 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1666 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1667
1668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1669 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1670
1671 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1672 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1673
1674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1675 public static extern void MassAdd(ref Mass a, ref Mass b);
1676
1677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1678 public static extern void MassAdjust(ref Mass m, dReal newmass);
1679
1680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1681 public static extern bool MassCheck(ref Mass m);
1682
1683 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1684 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1685
1686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1687 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1688
1689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1690 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1691
1692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1693 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1694
1695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1696 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1697
1698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1699 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1700
1701 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1702 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1703
1704 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1705 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1706
1707 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1708 public static extern void MassSetParameters(out Mass mass, dReal themass,
1709 dReal cgx, dReal cgy, dReal cgz,
1710 dReal i11, dReal i22, dReal i33,
1711 dReal i12, dReal i13, dReal i23);
1712
1713 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1714 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1715
1716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1717 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1718
1719 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1720 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1721
1722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1723 public static extern void MassSetZero(out Mass mass);
1724
1725 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1726 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1727
1728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1729 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1730
1731 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1732 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1733 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1734 {
1735 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1736 }
1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1739 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1742 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1745 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1748 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1749
1750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1751 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1752
1753 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1754 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1755
1756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1757 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1758
1759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1760 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1761
1762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1763 public static extern void QSetIdentity(out Quaternion q);
1764
1765 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1766 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1767
1768 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1769 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1770
1771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1772 public static extern dReal RandReal();
1773
1774 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1775 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1776
1777 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1778 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1779
1780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1781 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1782
1783 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1784 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1785
1786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1787 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1788
1789 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1790 public static extern void RSetIdentity(out Matrix3 R);
1791
1792 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1793 public static extern void SetValue(out dReal a, int n);
1794
1795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1796 public static extern void SetZero(out dReal a, int n);
1797
1798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1799 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1800
1801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1802 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1803
1804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1805 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1806
1807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1808 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1809
1810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1811 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1812
1813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1814 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1815
1816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1817 public static extern bool SpaceLockQuery(IntPtr space);
1818
1819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1820 public static extern void SpaceClean(IntPtr space);
1821
1822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1823 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1824
1825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1826 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1827
1828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1829 public static extern void SpaceDestroy(IntPtr space);
1830
1831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1832 public static extern bool SpaceGetCleanup(IntPtr space);
1833
1834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1835 public static extern int SpaceGetNumGeoms(IntPtr space);
1836
1837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1838 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1839
1840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1841 public static extern int SpaceGetSublevel(IntPtr space);
1842
1843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1844 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1845
1846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1847 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1848
1849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1850 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1851
1852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1853 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1854
1855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1856 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1857
1858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1859 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1860
1861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1862 public static extern IntPtr WorldCreate();
1863
1864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1865 public static extern void WorldDestroy(IntPtr world);
1866
1867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1868 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1869
1870 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1871 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1872
1873 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1874 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1875
1876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1877 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1878
1879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1880 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1881
1882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1883 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1884
1885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1886 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1887
1888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1889 public static extern dReal WorldGetCFM(IntPtr world);
1890
1891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1892 public static extern dReal WorldGetERP(IntPtr world);
1893
1894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1895 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1896
1897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1898 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1899
1900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1901 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1902
1903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1904 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1905
1906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1907 public static extern dReal WorldGetAngularDamping(IntPtr world);
1908
1909 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1910 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1911
1912 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1913 public static extern dReal WorldGetLinearDamping(IntPtr world);
1914
1915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1916 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1917
1918 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1919 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1920
1921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1922 public static extern dReal WorldGetQuickStepW(IntPtr world);
1923
1924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1925 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1926
1927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1928 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1929
1930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1931 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1932
1933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1934 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1935
1936 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1937 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1938
1939 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1940 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1941
1942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1943 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1944
1945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1946 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1947
1948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1949 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1950
1951 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1952 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1953
1954 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1955 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1956
1957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1958 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1959
1960 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1961 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1962
1963 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1964 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1965
1966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1967 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1968
1969 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1970 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1971
1972 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1973 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1974
1975 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1976 public static extern void WorldSetERP(IntPtr world, dReal erp);
1977
1978 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1979 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1980
1981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
1982 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
1983
1984 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1985 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
1986
1987 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1988 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1989
1990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1991 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1992
1993 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1994 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
1995
1996 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1997 public static extern void WorldStep(IntPtr world, dReal stepsize);
1998
1999 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
2000 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
2001
2002 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
2003 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
2004 }
2005}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..d32188e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
@@ -0,0 +1,90 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Threading;
33using System.IO;
34using System.Diagnostics;
35using log4net;
36using Nini.Config;
37using OdeAPI;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40using OpenMetaverse;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// ODE plugin
46 /// </summary>
47 public class OdePlugin : IPhysicsPlugin
48 {
49 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
50
51 private OdeScene m_scene;
52
53 public bool Init()
54 {
55 if (Util.IsWindows())
56 Util.LoadArchSpecificWindowsDll("ode.dll");
57
58 if (d.InitODE2(0) != 0)
59 {
60 if (d.AllocateODEDataForThread(~0U) == 0)
61 {
62 d.CloseODE();
63 return false;
64 }
65 return true;
66 }
67 return false;
68 }
69
70 public PhysicsScene GetScene(String sceneIdentifier)
71 {
72 if (m_scene == null)
73 {
74
75 m_scene = new OdeScene(sceneIdentifier);
76 }
77 return (m_scene);
78 }
79
80 public string GetName()
81 {
82 return ("UbitODE");
83 }
84
85 public void Dispose()
86 {
87 d.CloseODE();
88 }
89 }
90} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
new file mode 100644
index 0000000..7367719
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2740 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define SPAM
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using OdeAPI;
40using OpenSim.Framework;
41using OpenSim.Region.Physics.Manager;
42using OpenMetaverse;
43
44namespace OpenSim.Region.Physics.OdePlugin
45{
46 public enum StatusIndicators : int
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63 // colision flags of things others can colide with
64 // rays, sensors, probes removed since can't be colided with
65 // The top space where things are placed provided further selection
66 // ie physical are in active space nonphysical in static
67 // this should be exclusive as possible
68
69 [Flags]
70 public enum CollisionCategories : uint
71 {
72 Disabled = 0,
73 //by 'things' types
74 Space = 0x01,
75 Geom = 0x02, // aka prim/part
76 Character = 0x04,
77 Land = 0x08,
78 Water = 0x010,
79
80 // by state
81 Phantom = 0x01000,
82 VolumeDtc = 0x02000,
83 Selected = 0x04000,
84 NoShape = 0x08000,
85
86
87 All = 0xffffffff
88 }
89
90 /// <summary>
91 /// Material type for a primitive
92 /// </summary>
93 public enum Material : int
94 {
95 /// <summary></summary>
96 Stone = 0,
97 /// <summary></summary>
98 Metal = 1,
99 /// <summary></summary>
100 Glass = 2,
101 /// <summary></summary>
102 Wood = 3,
103 /// <summary></summary>
104 Flesh = 4,
105 /// <summary></summary>
106 Plastic = 5,
107 /// <summary></summary>
108 Rubber = 6,
109
110 light = 7 // compatibility with old viewers
111 }
112
113 public enum changes : int
114 {
115 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
116 Remove,
117 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
118 // or removes from a object if arg is null
119 DeLink,
120 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
121 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
122 PosOffset, // not in use
123 // arg Vector3 new position in local coords. Changes prim position in object
124 OriOffset, // not in use
125 // arg Vector3 new position in local coords. Changes prim position in object
126 Velocity,
127 AngVelocity,
128 Acceleration,
129 Force,
130 Torque,
131 Momentum,
132
133 AddForce,
134 AddAngForce,
135 AngLock,
136
137 Size,
138 Shape,
139
140 CollidesWater,
141 VolumeDtc,
142
143 Physical,
144 Phantom,
145 Selected,
146 disabled,
147 building,
148
149 VehicleType,
150 VehicleFloatParam,
151 VehicleVectorParam,
152 VehicleRotationParam,
153 VehicleFlags,
154 SetVehicle,
155
156 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
157 }
158
159 public struct ODEchangeitem
160 {
161 public PhysicsActor actor;
162 public OdeCharacter character;
163 public changes what;
164 public Object arg;
165 }
166
167 public class OdeScene : PhysicsScene
168 {
169 private readonly ILog m_log;
170 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
171
172 public bool OdeUbitLib = false;
173// private int threadid = 0;
174 private Random fluidRandomizer = new Random(Environment.TickCount);
175
176 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
177 const float MaxERP = 0.8f;
178 const float minERP = 0.1f;
179 const float comumContactCFM = 0.0001f;
180
181 float frictionMovementMult = 0.8f;
182
183 float TerrainBounce = 0.1f;
184 float TerrainFriction = 0.3f;
185
186 public float AvatarFriction = 0;// 0.9f * 0.5f;
187
188 private const uint m_regionWidth = Constants.RegionSize;
189 private const uint m_regionHeight = Constants.RegionSize;
190
191 public float ODE_STEPSIZE = 0.020f;
192 public float HalfOdeStep = 0.01f;
193 private float metersInSpace = 25.6f;
194 private float m_timeDilation = 1.0f;
195
196 DateTime m_lastframe;
197
198 public float gravityx = 0f;
199 public float gravityy = 0f;
200 public float gravityz = -9.8f;
201
202 private float waterlevel = 0f;
203 private int framecount = 0;
204
205 private IntPtr WaterGeom = IntPtr.Zero;
206 private IntPtr WaterHeightmapData = IntPtr.Zero;
207 private GCHandle WaterMapHandler = new GCHandle();
208
209 public float avPIDD = 2200f; // make it visible
210 public float avPIDP = 900f; // make it visible
211 private float avCapRadius = 0.37f;
212 private float avDensity = 3f;
213 private float avMovementDivisorWalk = 1.3f;
214 private float avMovementDivisorRun = 0.8f;
215 private float minimumGroundFlightOffset = 3f;
216 public float maximumMassObject = 10000.01f;
217
218 public bool meshSculptedPrim = true;
219 public bool forceSimplePrimMeshing = false;
220
221 public float meshSculptLOD = 32;
222 public float MeshSculptphysicalLOD = 32;
223
224 public float geomDefaultDensity = 10.000006836f;
225
226 public int geomContactPointsStartthrottle = 3;
227 public int geomUpdatesPerThrottledUpdate = 15;
228
229 public float bodyPIDD = 35f;
230 public float bodyPIDG = 25;
231
232// public int geomCrossingFailuresBeforeOutofbounds = 6;
233
234 public int bodyFramesAutoDisable = 5;
235
236
237 private d.NearCallback nearCallback;
238
239 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
240 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
241 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
242 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
243
244 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
245
246 /// <summary>
247 /// A list of actors that should receive collision events.
248 /// </summary>
249 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
250
251 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
252 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
253 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
254
255 private float contactsurfacelayer = 0.002f;
256
257 private int contactsPerCollision = 80;
258 internal IntPtr ContactgeomsArray = IntPtr.Zero;
259 private IntPtr GlobalContactsArray = IntPtr.Zero;
260
261 const int maxContactsbeforedeath = 4000;
262 private volatile int m_global_contactcount = 0;
263
264
265 private readonly IntPtr contactgroup;
266
267 public ContactData[] m_materialContactsData = new ContactData[8];
268
269 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
270 private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
271 private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
272
273 private int m_physicsiterations = 10;
274 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
275 private readonly PhysicsActor PANull = new NullPhysicsActor();
276 private float step_time = 0.0f;
277
278 public IntPtr world;
279
280 private uint obj2LocalID = 0;
281 private OdeCharacter cc1;
282 private OdePrim cp1;
283 private OdeCharacter cc2;
284 private OdePrim cp2;
285
286 // split the spaces acording to contents type
287 // ActiveSpace contains characters and active prims
288 // StaticSpace contains land and other that is mostly static in enviroment
289 // this can contain subspaces, like the grid in staticspace
290 // as now space only contains this 2 top spaces
291
292 public IntPtr TopSpace; // the global space
293 public IntPtr ActiveSpace; // space for active prims
294 public IntPtr StaticSpace; // space for the static things around
295
296 // some speedup variables
297 private int spaceGridMaxX;
298 private int spaceGridMaxY;
299 private float spacesPerMeter;
300
301 // split static geometry collision into a grid as before
302 private IntPtr[,] staticPrimspace;
303
304 public Object OdeLock;
305 private static Object SimulationLock;
306
307 public IMesher mesher;
308
309 private IConfigSource m_config;
310
311 public bool physics_logging = false;
312 public int physics_logging_interval = 0;
313 public bool physics_logging_append_existing_logfile = false;
314
315 private Vector3 m_worldOffset = Vector3.Zero;
316 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
317 private PhysicsScene m_parentScene = null;
318
319 private ODERayCastRequestManager m_rayCastManager;
320
321
322/* maybe needed if ode uses tls
323 private void checkThread()
324 {
325
326 int th = Thread.CurrentThread.ManagedThreadId;
327 if(th != threadid)
328 {
329 threadid = th;
330 d.AllocateODEDataForThread(~0U);
331 }
332 }
333 */
334 /// <summary>
335 /// Initiailizes the scene
336 /// Sets many properties that ODE requires to be stable
337 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
338 /// </summary>
339 public OdeScene(string sceneIdentifier)
340 {
341 m_log
342 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
343
344// checkThread();
345 Name = sceneIdentifier;
346
347 OdeLock = new Object();
348 SimulationLock = new Object();
349
350 nearCallback = near;
351
352 m_rayCastManager = new ODERayCastRequestManager(this);
353 lock (OdeLock)
354 {
355 // Create the world and the first space
356 try
357 {
358 world = d.WorldCreate();
359 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
360
361 // now the major subspaces
362 ActiveSpace = d.HashSpaceCreate(TopSpace);
363 StaticSpace = d.HashSpaceCreate(TopSpace);
364 }
365 catch
366 {
367 // i must RtC#FM
368 }
369
370 d.HashSpaceSetLevels(TopSpace, -2, 8);
371 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
372 d.HashSpaceSetLevels(StaticSpace, -2, 8);
373
374 // demote to second level
375 d.SpaceSetSublevel(ActiveSpace, 1);
376 d.SpaceSetSublevel(StaticSpace, 1);
377
378 d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
379 CollisionCategories.Geom |
380 CollisionCategories.Character |
381 CollisionCategories.Phantom |
382 CollisionCategories.VolumeDtc
383 ));
384 d.GeomSetCollideBits(ActiveSpace, 0);
385 d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
386 CollisionCategories.Geom |
387 CollisionCategories.Land |
388 CollisionCategories.Water |
389 CollisionCategories.Phantom |
390 CollisionCategories.VolumeDtc
391 ));
392 d.GeomSetCollideBits(StaticSpace, 0);
393
394 contactgroup = d.JointGroupCreate(0);
395 //contactgroup
396
397 d.WorldSetAutoDisableFlag(world, false);
398 }
399 }
400
401 // Initialize the mesh plugin
402// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
403 public override void Initialise(IMesher meshmerizer, IConfigSource config)
404 {
405// checkThread();
406 mesher = meshmerizer;
407 m_config = config;
408/*
409 string ode_config = d.GetConfiguration("ODE");
410 if (ode_config != null && ode_config != "")
411 {
412 m_log.WarnFormat("ODE configuration: {0}", ode_config);
413
414 if (ode_config.Contains("ODE_Ubit"))
415 {
416 OdeUbitLib = true;
417 }
418 }
419*/
420 /*
421 if (region != null)
422 {
423 WorldExtents.X = region.RegionSizeX;
424 WorldExtents.Y = region.RegionSizeY;
425 }
426 */
427
428 // Defaults
429
430 int contactsPerCollision = 80;
431
432 if (m_config != null)
433 {
434 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
435 if (physicsconfig != null)
436 {
437 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
438 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
439 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
440
441 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
442
443 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
444
445 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
446 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
447
448 avDensity = physicsconfig.GetFloat("av_density", avDensity);
449 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
450 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
451 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
452
453 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
454
455 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
456 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
457// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
458
459 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
460 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
461/*
462 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
463 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
464*/
465 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
466 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
467 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
468 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
469/*
470 if (Environment.OSVersion.Platform == PlatformID.Unix)
471 {
472 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
473 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
474 }
475 else
476 {
477
478 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
479 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
480 }
481*/
482 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
483 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
484 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
485
486 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
487 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
488 }
489 }
490
491 HalfOdeStep = ODE_STEPSIZE * 0.5f;
492
493 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
494 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
495
496 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
497 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
498
499 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
500 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
501
502 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
503 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
504
505 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
506 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
507
508 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
509 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
510
511 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
512 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
513
514 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
515 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
516
517 m_materialContactsData[(int)Material.light].mu = 0.0f;
518 m_materialContactsData[(int)Material.light].bounce = 0.0f;
519
520 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
521
522 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
523 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
524
525 d.WorldSetLinearDamping(world, 0.001f);
526 d.WorldSetAngularDamping(world, 0.001f);
527 d.WorldSetAngularDampingThreshold(world, 0f);
528 d.WorldSetLinearDampingThreshold(world, 0f);
529 d.WorldSetMaxAngularSpeed(world, 100f);
530
531 d.WorldSetCFM(world,1e-6f); // a bit harder than default
532 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
533 d.WorldSetERP(world, 0.6f); // higher than original
534
535 // Set how many steps we go without running collision testing
536 // This is in addition to the step size.
537 // Essentially Steps * m_physicsiterations
538 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
539
540 d.WorldSetContactMaxCorrectingVel(world, 60.0f);
541
542 spacesPerMeter = 1 / metersInSpace;
543 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
544 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
545
546 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
547
548 // create all spaces now
549 int i, j;
550 IntPtr newspace;
551 for (i = 0; i < spaceGridMaxX; i++)
552 for (j = 0; j < spaceGridMaxY; j++)
553 {
554 newspace = d.HashSpaceCreate(StaticSpace);
555 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
556 waitForSpaceUnlock(newspace);
557 d.SpaceSetSublevel(newspace, 2);
558 d.HashSpaceSetLevels(newspace, -2, 8);
559 d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
560 CollisionCategories.Geom |
561 CollisionCategories.Land |
562 CollisionCategories.Water |
563 CollisionCategories.Phantom |
564 CollisionCategories.VolumeDtc
565 ));
566 d.GeomSetCollideBits(newspace, 0);
567
568 staticPrimspace[i, j] = newspace;
569 }
570 // let this now be real maximum values
571 spaceGridMaxX--;
572 spaceGridMaxY--;
573 m_lastframe = DateTime.UtcNow;
574 }
575
576 internal void waitForSpaceUnlock(IntPtr space)
577 {
578 //if (space != IntPtr.Zero)
579 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
580 }
581
582 #region Collision Detection
583
584 // sets a global contact for a joint for contactgeom , and base contact description)
585
586 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
587 {
588 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
589 return IntPtr.Zero;
590
591 float erp = contactGeom.depth;
592 erp *= erpscale;
593 if (erp < minERP)
594 erp = minERP;
595 else if (erp > MaxERP)
596 erp = MaxERP;
597
598 float depth = contactGeom.depth * dscale;
599 if (depth > 0.5f)
600 depth = 0.5f;
601
602 d.Contact newcontact = new d.Contact();
603 newcontact.geom.depth = depth;
604 newcontact.geom.g1 = contactGeom.g1;
605 newcontact.geom.g2 = contactGeom.g2;
606 newcontact.geom.pos = contactGeom.pos;
607 newcontact.geom.normal = contactGeom.normal;
608 newcontact.geom.side1 = contactGeom.side1;
609 newcontact.geom.side2 = contactGeom.side2;
610
611 // this needs bounce also
612 newcontact.surface.mode = comumContactFlags;
613 newcontact.surface.mu = mu;
614 newcontact.surface.bounce = bounce;
615 newcontact.surface.soft_cfm = cfm;
616 newcontact.surface.soft_erp = erp;
617
618 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
619 Marshal.StructureToPtr(newcontact, contact, true);
620 return d.JointCreateContactPtr(world, contactgroup, contact);
621 }
622
623
624
625 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
626 {
627 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
628 return false;
629
630 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
631 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
632 return true;
633 }
634
635 /// <summary>
636 /// This is our near callback. A geometry is near a body
637 /// </summary>
638 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
639 /// <param name="g1">a geometry or space</param>
640 /// <param name="g2">another geometry or space</param>
641 ///
642
643 private void near(IntPtr space, IntPtr g1, IntPtr g2)
644 {
645 // no lock here! It's invoked from within Simulate(), which is thread-locked
646
647 if (m_global_contactcount >= maxContactsbeforedeath)
648 return;
649
650 // Test if we're colliding a geom with a space.
651 // If so we have to drill down into the space recursively
652
653 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
654 return;
655
656 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
657 {
658 // We'll be calling near recursivly if one
659 // of them is a space to find all of the
660 // contact points in the space
661 try
662 {
663 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
664 }
665 catch (AccessViolationException)
666 {
667 m_log.Warn("[PHYSICS]: Unable to collide test a space");
668 return;
669 }
670 //here one should check collisions of geoms inside a space
671 // but on each space we only should have geoms that not colide amoung each other
672 // so we don't dig inside spaces
673 return;
674 }
675
676 // get geom bodies to check if we already a joint contact
677 // guess this shouldn't happen now
678 IntPtr b1 = d.GeomGetBody(g1);
679 IntPtr b2 = d.GeomGetBody(g2);
680
681 // d.GeomClassID id = d.GeomGetClass(g1);
682
683 // Figure out how many contact points we have
684 int count = 0;
685 try
686 {
687 // Colliding Geom To Geom
688 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
689
690 if (g1 == g2)
691 return; // Can't collide with yourself
692
693 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
694 return;
695
696 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
697 }
698 catch (SEHException)
699 {
700 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.");
701// ode.drelease(world);
702 base.TriggerPhysicsBasedRestart();
703 }
704 catch (Exception e)
705 {
706 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
707 return;
708 }
709
710 // id contacts done
711 if (count == 0)
712 return;
713
714 // try get physical actors
715 PhysicsActor p1;
716 PhysicsActor p2;
717
718 if (!actor_name_map.TryGetValue(g1, out p1))
719 {
720 p1 = PANull;
721 }
722
723 if (!actor_name_map.TryGetValue(g2, out p2))
724 {
725 p2 = PANull;
726 }
727
728 // update actors collision score
729 if (p1.CollisionScore >= float.MaxValue - count)
730 p1.CollisionScore = 0;
731 p1.CollisionScore += count;
732
733 if (p2.CollisionScore >= float.MaxValue - count)
734 p2.CollisionScore = 0;
735 p2.CollisionScore += count;
736
737
738 // get first contact
739 d.ContactGeom curContact = new d.ContactGeom();
740 if (!GetCurContactGeom(0, ref curContact))
741 return;
742 // for now it's the one with max depth
743 ContactPoint maxDepthContact = new ContactPoint(
744 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
745 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
746 curContact.depth
747 );
748 // do volume detection case
749 if (
750 (p1.IsVolumeDtc || p2.IsVolumeDtc))
751 {
752 collision_accounting_events(p1, p2, maxDepthContact);
753 return;
754 }
755
756 // big messy collision analises
757
758 Vector3 normoverride = Vector3.Zero; //damm c#
759
760 float mu = 0;
761 float bounce = 0;
762 float cfm = 0.0001f;
763 float erpscale = 1.0f;
764 float dscale = 1.0f;
765 bool IgnoreNegSides = false;
766
767 ContactData contactdata1 = new ContactData(0, 0, false);
768 ContactData contactdata2 = new ContactData(0, 0, false);
769
770 String name = null;
771 bool dop1foot = false;
772 bool dop2foot = false;
773 bool ignore = false;
774 bool AvanormOverride = false;
775
776 switch (p1.PhysicsActorType)
777 {
778 case (int)ActorTypes.Agent:
779 {
780 AvanormOverride = true;
781 Vector3 tmp = p2.Position - p1.Position;
782 normoverride = p2.Velocity - p1.Velocity;
783 mu = normoverride.LengthSquared();
784
785 if (mu > 1e-6)
786 {
787 mu = 1.0f / (float)Math.Sqrt(mu);
788 normoverride *= mu;
789 mu = Vector3.Dot(tmp, normoverride);
790 if (mu > 0)
791 normoverride *= -1;
792 }
793 else
794 {
795 tmp.Normalize();
796 normoverride = -tmp;
797 }
798
799 switch (p2.PhysicsActorType)
800 {
801 case (int)ActorTypes.Agent:
802/*
803 p1.getContactData(ref contactdata1);
804 p2.getContactData(ref contactdata2);
805
806 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
807
808 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
809 mu *= frictionMovementMult;
810*/
811 p1.CollidingObj = true;
812 p2.CollidingObj = true;
813 break;
814 case (int)ActorTypes.Prim:
815/*
816 p1.getContactData(ref contactdata1);
817 p2.getContactData(ref contactdata2);
818
819
820 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
821
822 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
823 mu *= frictionMovementMult;
824 */
825 if (p2.Velocity.LengthSquared() > 0.0f)
826 p2.CollidingObj = true;
827
828 dop1foot = true;
829 break;
830 default:
831 ignore = true; // avatar to terrain and water ignored
832 break;
833 }
834 break;
835 }
836
837 case (int)ActorTypes.Prim:
838 switch (p2.PhysicsActorType)
839 {
840 case (int)ActorTypes.Agent:
841 // p1.getContactData(ref contactdata1);
842 // p2.getContactData(ref contactdata2);
843
844 AvanormOverride = true;
845
846 Vector3 tmp = p2.Position - p1.Position;
847 normoverride = p2.Velocity - p1.Velocity;
848 mu = normoverride.LengthSquared();
849 if (mu > 1e-6)
850 {
851 mu = 1.0f / (float)Math.Sqrt(mu);
852 normoverride *= mu;
853 mu = Vector3.Dot(tmp, normoverride);
854 if (mu > 0)
855 normoverride *= -1;
856 }
857 else
858 {
859 tmp.Normalize();
860 normoverride = -tmp;
861 }
862
863 bounce = 0;
864 mu = 0;
865 cfm = 0.0001f;
866 /*
867 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
868
869 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
870 mu *= frictionMovementMult;
871 */
872 dop2foot = true;
873 if (p1.Velocity.LengthSquared() > 0.0f)
874 p1.CollidingObj = true;
875 break;
876 case (int)ActorTypes.Prim:
877 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
878 {
879 p1.CollidingObj = true;
880 p2.CollidingObj = true;
881 }
882 p1.getContactData(ref contactdata1);
883 p2.getContactData(ref contactdata2);
884 bounce = contactdata1.bounce * contactdata2.bounce;
885 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
886
887 cfm = p1.Mass;
888 if (cfm > p2.Mass)
889 cfm = p2.Mass;
890 dscale = 10 / cfm;
891 dscale = (float)Math.Sqrt(dscale);
892 if (dscale > 1.0f)
893 dscale = 1.0f;
894 erpscale = cfm * 0.01f;
895 cfm = 0.0001f / cfm;
896 if (cfm > 0.01f)
897 cfm = 0.01f;
898
899 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
900 mu *= frictionMovementMult;
901
902 break;
903 default:
904 if (geom_name_map.TryGetValue(g2, out name))
905 {
906 if (name == "Terrain")
907 {
908 p1.getContactData(ref contactdata1);
909 bounce = contactdata1.bounce * TerrainBounce;
910 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
911 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
912 mu *= frictionMovementMult;
913 p1.CollidingGround = true;
914
915 cfm = p1.Mass;
916 dscale = 10 / cfm;
917 dscale = (float)Math.Sqrt(dscale);
918 if (dscale > 1.0f)
919 dscale = 1.0f;
920 erpscale = cfm * 0.01f;
921 cfm = 0.0001f / cfm;
922 if (cfm > 0.01f)
923 cfm = 0.01f;
924
925 if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
926 {
927 if (curContact.side1 > 0)
928 IgnoreNegSides = true;
929 }
930
931 }
932 else if (name == "Water")
933 {
934 ignore = true;
935 }
936 }
937 else
938 ignore = true;
939 break;
940 }
941 break;
942
943 default:
944 if (geom_name_map.TryGetValue(g1, out name))
945 {
946 if (name == "Terrain")
947 {
948 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
949 {
950 p2.CollidingGround = true;
951 p2.getContactData(ref contactdata2);
952 bounce = contactdata2.bounce * TerrainBounce;
953 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
954
955 cfm = p2.Mass;
956 dscale = 10 / cfm;
957 dscale = (float)Math.Sqrt(dscale);
958
959 if (dscale > 1.0f)
960 dscale = 1.0f;
961
962 erpscale = cfm * 0.01f;
963 cfm = 0.0001f / cfm;
964 if (cfm > 0.01f)
965 cfm = 0.01f;
966
967 if (curContact.side1 > 0) // should be 2 ?
968 IgnoreNegSides = true;
969
970 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
971 mu *= frictionMovementMult;
972 }
973 else
974 ignore = true;
975
976 }
977 else if (name == "Water" &&
978 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
979 {
980 ignore = true;
981 }
982 }
983 else
984 ignore = true;
985 break;
986 }
987
988 if (ignore)
989 return;
990
991 IntPtr Joint;
992
993 int i = 0;
994 while(true)
995 {
996
997 if (IgnoreNegSides && curContact.side1 < 0)
998 {
999 if (++i >= count)
1000 break;
1001
1002 if (!GetCurContactGeom(i, ref curContact))
1003 break;
1004 }
1005 else
1006
1007 {
1008 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
1009 p1.IsColliding = true;
1010 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
1011 p2.IsColliding = true;
1012
1013 if (AvanormOverride && curContact.depth > 0.3f)
1014 {
1015 curContact.normal.X = normoverride.X;
1016 curContact.normal.Y = normoverride.Y;
1017 curContact.normal.Z = normoverride.Z;
1018 }
1019
1020 Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
1021 d.JointAttach(Joint, b1, b2);
1022
1023 if (++m_global_contactcount >= maxContactsbeforedeath)
1024 break;
1025
1026 if (++i >= count)
1027 break;
1028
1029 if (!GetCurContactGeom(i, ref curContact))
1030 break;
1031
1032 if (curContact.depth > maxDepthContact.PenetrationDepth)
1033 {
1034 maxDepthContact.Position.X = curContact.pos.X;
1035 maxDepthContact.Position.Y = curContact.pos.Y;
1036 maxDepthContact.Position.Z = curContact.pos.Z;
1037 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
1038 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
1039 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
1040 maxDepthContact.PenetrationDepth = curContact.depth;
1041 }
1042 }
1043 }
1044
1045 collision_accounting_events(p1, p2, maxDepthContact);
1046
1047/*
1048 if (notskipedcount > geomContactPointsStartthrottle)
1049 {
1050 // If there are more then 3 contact points, it's likely
1051 // that we've got a pile of objects, so ...
1052 // We don't want to send out hundreds of terse updates over and over again
1053 // so lets throttle them and send them again after it's somewhat sorted out.
1054 this needs checking so out for now
1055 if (b1 != IntPtr.Zero)
1056 p1.ThrottleUpdates = true;
1057 if (b2 != IntPtr.Zero)
1058 p2.ThrottleUpdates = true;
1059
1060 }
1061 */
1062 }
1063
1064 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1065 {
1066 obj2LocalID = 0;
1067 bool p1events = p1.SubscribedEvents();
1068 bool p2events = p2.SubscribedEvents();
1069
1070 if (p1.IsVolumeDtc)
1071 p2events = false;
1072 if (p2.IsVolumeDtc)
1073 p1events = false;
1074
1075 if (!(p2events || p1events))
1076 return;
1077
1078 switch ((ActorTypes)p1.PhysicsActorType)
1079 {
1080 case ActorTypes.Agent:
1081 cc1 = (OdeCharacter)p1;
1082 switch ((ActorTypes)p2.PhysicsActorType)
1083 {
1084 case ActorTypes.Agent:
1085 cc2 = (OdeCharacter)p2;
1086 obj2LocalID = cc2.m_localID;
1087 if (p2events)
1088 cc2.AddCollisionEvent(cc1.m_localID, contact);
1089 break;
1090
1091 case ActorTypes.Prim:
1092 if (p2 is OdePrim)
1093 {
1094 cp2 = (OdePrim)p2;
1095 obj2LocalID = cp2.m_localID;
1096 if (p2events)
1097 cp2.AddCollisionEvent(cc1.m_localID, contact);
1098 }
1099 break;
1100
1101 case ActorTypes.Ground:
1102 case ActorTypes.Unknown:
1103 default:
1104 obj2LocalID = 0;
1105 break;
1106 }
1107 if (p1events)
1108 {
1109 contact.SurfaceNormal = -contact.SurfaceNormal;
1110 cc1.AddCollisionEvent(obj2LocalID, contact);
1111 }
1112 break;
1113
1114 case ActorTypes.Prim:
1115
1116 if (p1 is OdePrim)
1117 {
1118 cp1 = (OdePrim)p1;
1119
1120 // obj1LocalID = cp2.m_localID;
1121 switch ((ActorTypes)p2.PhysicsActorType)
1122 {
1123 case ActorTypes.Agent:
1124 if (p2 is OdeCharacter)
1125 {
1126 cc2 = (OdeCharacter)p2;
1127 obj2LocalID = cc2.m_localID;
1128 if (p2events)
1129 cc2.AddCollisionEvent(cp1.m_localID, contact);
1130 }
1131 break;
1132 case ActorTypes.Prim:
1133
1134 if (p2 is OdePrim)
1135 {
1136 cp2 = (OdePrim)p2;
1137 obj2LocalID = cp2.m_localID;
1138 if (p2events)
1139 cp2.AddCollisionEvent(cp1.m_localID, contact);
1140 }
1141 break;
1142
1143 case ActorTypes.Ground:
1144 case ActorTypes.Unknown:
1145 default:
1146 obj2LocalID = 0;
1147 break;
1148 }
1149 if (p1events)
1150 {
1151 contact.SurfaceNormal = -contact.SurfaceNormal;
1152 cp1.AddCollisionEvent(obj2LocalID, contact);
1153 }
1154 }
1155 break;
1156 }
1157 }
1158
1159 /// <summary>
1160 /// This is our collision testing routine in ODE
1161 /// </summary>
1162 /// <param name="timeStep"></param>
1163 private void collision_optimized()
1164 {
1165 lock (_characters)
1166 {
1167 try
1168 {
1169 foreach (OdeCharacter chr in _characters)
1170 {
1171 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1172 continue;
1173
1174 chr.IsColliding = false;
1175 // chr.CollidingGround = false; not done here
1176 chr.CollidingObj = false;
1177 // do colisions with static space
1178 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1179 }
1180 }
1181 catch (AccessViolationException)
1182 {
1183 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1184 }
1185
1186 }
1187
1188 lock (_activeprims)
1189 {
1190 foreach (OdePrim aprim in _activeprims)
1191 {
1192 aprim.CollisionScore = 0;
1193 aprim.IsColliding = false;
1194 }
1195 }
1196
1197 // collide active prims with static enviroment
1198 lock (_activegroups)
1199 {
1200 try
1201 {
1202 foreach (OdePrim prm in _activegroups)
1203 {
1204 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1205 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1206 }
1207 }
1208 catch (AccessViolationException)
1209 {
1210 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1211 }
1212 }
1213 // finally colide active things amoung them
1214 try
1215 {
1216 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1217 }
1218 catch (AccessViolationException)
1219 {
1220 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1221 }
1222// _perloopContact.Clear();
1223 }
1224
1225 #endregion
1226
1227
1228
1229 /// <summary>
1230 /// Add actor to the list that should receive collision events in the simulate loop.
1231 /// </summary>
1232 /// <param name="obj"></param>
1233 public void AddCollisionEventReporting(PhysicsActor obj)
1234 {
1235 lock (_collisionEventPrim)
1236 {
1237 if (!_collisionEventPrim.Contains(obj))
1238 _collisionEventPrim.Add(obj);
1239 }
1240 }
1241
1242 /// <summary>
1243 /// Remove actor from the list that should receive collision events in the simulate loop.
1244 /// </summary>
1245 /// <param name="obj"></param>
1246 public void RemoveCollisionEventReporting(PhysicsActor obj)
1247 {
1248 lock (_collisionEventPrim)
1249 {
1250 if (_collisionEventPrim.Contains(obj))
1251 _collisionEventPrim.Remove(obj);
1252 }
1253 }
1254
1255 #region Add/Remove Entities
1256
1257 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1258 {
1259 Vector3 pos;
1260 pos.X = position.X;
1261 pos.Y = position.Y;
1262 pos.Z = position.Z;
1263 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1264 newAv.Flying = isFlying;
1265 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1266
1267 return newAv;
1268 }
1269
1270 public void AddCharacter(OdeCharacter chr)
1271 {
1272 lock (_characters)
1273 {
1274 if (!_characters.Contains(chr))
1275 {
1276 _characters.Add(chr);
1277 if (chr.bad)
1278 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1279 }
1280 }
1281 }
1282
1283 public void RemoveCharacter(OdeCharacter chr)
1284 {
1285 lock (_characters)
1286 {
1287 if (_characters.Contains(chr))
1288 {
1289 _characters.Remove(chr);
1290 }
1291 }
1292 }
1293
1294 public void BadCharacter(OdeCharacter chr)
1295 {
1296 lock (_badCharacter)
1297 {
1298 if (!_badCharacter.Contains(chr))
1299 _badCharacter.Add(chr);
1300 }
1301 }
1302
1303 public override void RemoveAvatar(PhysicsActor actor)
1304 {
1305 //m_log.Debug("[PHYSICS]:ODELOCK");
1306 ((OdeCharacter) actor).Destroy();
1307 }
1308
1309 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1310 PrimitiveBaseShape pbs, bool isphysical, uint localID)
1311 {
1312 Vector3 pos = position;
1313 Vector3 siz = size;
1314 Quaternion rot = rotation;
1315
1316 OdePrim newPrim;
1317 lock (OdeLock)
1318 {
1319 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID);
1320
1321 lock (_prims)
1322 _prims.Add(newPrim);
1323 }
1324 return newPrim;
1325 }
1326
1327 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1328 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID)
1329 {
1330 Vector3 pos = position;
1331 Vector3 siz = size;
1332 Quaternion rot = rotation;
1333
1334 OdePrim newPrim;
1335 lock (OdeLock)
1336 {
1337 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID);
1338
1339 lock (_prims)
1340 _prims.Add(newPrim);
1341 }
1342 return newPrim;
1343 }
1344
1345 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1346 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
1347 {
1348 Vector3 pos = position;
1349 Vector3 siz = size;
1350 Quaternion rot = rotation;
1351
1352 OdePrim newPrim;
1353 lock (OdeLock)
1354 {
1355 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID);
1356
1357 lock (_prims)
1358 _prims.Add(newPrim);
1359 }
1360 return newPrim;
1361 }
1362
1363 public void addActivePrim(OdePrim activatePrim)
1364 {
1365 // adds active prim..
1366 lock (_activeprims)
1367 {
1368 if (!_activeprims.Contains(activatePrim))
1369 _activeprims.Add(activatePrim);
1370 }
1371 }
1372
1373 public void addActiveGroups(OdePrim activatePrim)
1374 {
1375 lock (_activegroups)
1376 {
1377 if (!_activegroups.Contains(activatePrim))
1378 _activegroups.Add(activatePrim);
1379 }
1380 }
1381
1382 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1383 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1384 {
1385 return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid);
1386 }
1387
1388
1389 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1390 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1391 {
1392#if SPAM
1393 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1394#endif
1395
1396 return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
1397 }
1398
1399 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1400 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
1401 {
1402#if SPAM
1403 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1404#endif
1405
1406 return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
1407 }
1408
1409 public override float TimeDilation
1410 {
1411 get { return m_timeDilation; }
1412 }
1413
1414 public override bool SupportsNINJAJoints
1415 {
1416 get { return false; }
1417 }
1418
1419
1420 public void remActivePrim(OdePrim deactivatePrim)
1421 {
1422 lock (_activeprims)
1423 {
1424 _activeprims.Remove(deactivatePrim);
1425 }
1426 }
1427 public void remActiveGroup(OdePrim deactivatePrim)
1428 {
1429 lock (_activegroups)
1430 {
1431 _activegroups.Remove(deactivatePrim);
1432 }
1433 }
1434
1435 public override void RemovePrim(PhysicsActor prim)
1436 {
1437 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1438 // removed in the next physics simulate pass.
1439 if (prim is OdePrim)
1440 {
1441// lock (OdeLock)
1442 {
1443 OdePrim p = (OdePrim)prim;
1444 p.setPrimForRemoval();
1445 }
1446 }
1447 }
1448 /// <summary>
1449 /// This is called from within simulate but outside the locked portion
1450 /// We need to do our own locking here
1451 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1452 /// Simulate() -- justincc).
1453 ///
1454 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1455 ///
1456 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1457 /// that the space was using.
1458 /// </summary>
1459 /// <param name="prim"></param>
1460 public void RemovePrimThreadLocked(OdePrim prim)
1461 {
1462 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1463 lock (prim)
1464 {
1465 RemoveCollisionEventReporting(prim);
1466 lock (_prims)
1467 _prims.Remove(prim);
1468 }
1469
1470 }
1471 #endregion
1472
1473 #region Space Separation Calculation
1474
1475 /// <summary>
1476 /// Called when a static prim moves or becomes static
1477 /// Places the prim in a space one the static sub-spaces grid
1478 /// </summary>
1479 /// <param name="geom">the pointer to the geom that moved</param>
1480 /// <param name="pos">the position that the geom moved to</param>
1481 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1482 /// <returns>a pointer to the new space it's in</returns>
1483 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1484 {
1485 // moves a prim into another static sub-space or from another space into a static sub-space
1486
1487 // Called ODEPrim so
1488 // it's already in locked space.
1489
1490 if (geom == IntPtr.Zero) // shouldn't happen
1491 return IntPtr.Zero;
1492
1493 // get the static sub-space for current position
1494 IntPtr newspace = calculateSpaceForGeom(pos);
1495
1496 if (newspace == currentspace) // if we are there all done
1497 return newspace;
1498
1499 // else remove it from its current space
1500 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1501 {
1502 if (d.GeomIsSpace(currentspace))
1503 {
1504 waitForSpaceUnlock(currentspace);
1505 d.SpaceRemove(currentspace, geom);
1506
1507 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1508 {
1509 d.SpaceDestroy(currentspace);
1510 }
1511 }
1512 else
1513 {
1514 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1515 " Geom:" + geom);
1516 }
1517 }
1518 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1519 {
1520 currentspace = d.GeomGetSpace(geom);
1521 if (currentspace != IntPtr.Zero)
1522 {
1523 if (d.GeomIsSpace(currentspace))
1524 {
1525 waitForSpaceUnlock(currentspace);
1526 d.SpaceRemove(currentspace, geom);
1527
1528 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1529 {
1530 d.SpaceDestroy(currentspace);
1531 }
1532
1533 }
1534 }
1535 }
1536
1537 // put the geom in the newspace
1538 waitForSpaceUnlock(newspace);
1539 d.SpaceAdd(newspace, geom);
1540
1541 // let caller know this newspace
1542 return newspace;
1543 }
1544
1545 /// <summary>
1546 /// Calculates the space the prim should be in by its position
1547 /// </summary>
1548 /// <param name="pos"></param>
1549 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1550 public IntPtr calculateSpaceForGeom(Vector3 pos)
1551 {
1552 int x, y;
1553 x = (int)(pos.X * spacesPerMeter);
1554 if (x < 0)
1555 x = 0;
1556 else if (x > spaceGridMaxX)
1557 x = spaceGridMaxX;
1558
1559 y = (int)(pos.Y * spacesPerMeter);
1560 if (y < 0)
1561 y = 0;
1562 else if (y >spaceGridMaxY)
1563 y = spaceGridMaxY;
1564
1565 IntPtr tmpSpace = staticPrimspace[x, y];
1566 return tmpSpace;
1567 }
1568
1569 #endregion
1570
1571 /// <summary>
1572 /// Routine to figure out if we need to mesh this prim with our mesher
1573 /// </summary>
1574 /// <param name="pbs"></param>
1575 /// <returns></returns>
1576 public bool needsMeshing(PrimitiveBaseShape pbs)
1577 {
1578 // most of this is redundant now as the mesher will return null if it cant mesh a prim
1579 // but we still need to check for sculptie meshing being enabled so this is the most
1580 // convenient place to do it for now...
1581
1582 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1583 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1584 int iPropertiesNotSupportedDefault = 0;
1585
1586 if (pbs.SculptEntry)
1587 {
1588 if(!meshSculptedPrim)
1589 return false;
1590 }
1591
1592 // 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
1593 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
1594 {
1595 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
1596 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
1597 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
1598 {
1599
1600 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
1601 && pbs.ProfileHollow == 0
1602 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
1603 && pbs.PathBegin == 0 && pbs.PathEnd == 0
1604 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
1605 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
1606 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
1607 {
1608#if SPAM
1609 m_log.Warn("NonMesh");
1610#endif
1611 return false;
1612 }
1613 }
1614 }
1615
1616 // following code doesn't give meshs to boxes and spheres ever
1617 // and it's odd.. so for now just return true if asked to force meshs
1618 // hopefully mesher will fail if doesn't suport so things still get basic boxes
1619
1620 if (forceSimplePrimMeshing)
1621 return true;
1622
1623 if (pbs.ProfileHollow != 0)
1624 iPropertiesNotSupportedDefault++;
1625
1626 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
1627 iPropertiesNotSupportedDefault++;
1628
1629 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
1630 iPropertiesNotSupportedDefault++;
1631
1632 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
1633 iPropertiesNotSupportedDefault++;
1634
1635 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
1636 iPropertiesNotSupportedDefault++;
1637
1638 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
1639 iPropertiesNotSupportedDefault++;
1640
1641 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
1642 iPropertiesNotSupportedDefault++;
1643
1644 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))
1645 iPropertiesNotSupportedDefault++;
1646
1647 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
1648 iPropertiesNotSupportedDefault++;
1649
1650 // test for torus
1651 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
1652 {
1653 if (pbs.PathCurve == (byte)Extrusion.Curve1)
1654 {
1655 iPropertiesNotSupportedDefault++;
1656 }
1657 }
1658 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1659 {
1660 if (pbs.PathCurve == (byte)Extrusion.Straight)
1661 {
1662 iPropertiesNotSupportedDefault++;
1663 }
1664
1665 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
1666 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1667 {
1668 iPropertiesNotSupportedDefault++;
1669 }
1670 }
1671 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
1672 {
1673 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
1674 {
1675 iPropertiesNotSupportedDefault++;
1676 }
1677 }
1678 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
1679 {
1680 if (pbs.PathCurve == (byte)Extrusion.Straight)
1681 {
1682 iPropertiesNotSupportedDefault++;
1683 }
1684 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1685 {
1686 iPropertiesNotSupportedDefault++;
1687 }
1688 }
1689
1690 if (pbs.SculptEntry && meshSculptedPrim)
1691 iPropertiesNotSupportedDefault++;
1692
1693 if (iPropertiesNotSupportedDefault == 0)
1694 {
1695#if SPAM
1696 m_log.Warn("NonMesh");
1697#endif
1698 return false;
1699 }
1700#if SPAM
1701 m_log.Debug("Mesh");
1702#endif
1703 return true;
1704 }
1705
1706 /// <summary>
1707 /// Called to queue a change to a actor
1708 /// to use in place of old taint mechanism so changes do have a time sequence
1709 /// </summary>
1710
1711 public void AddChange(PhysicsActor actor, changes what, Object arg)
1712 {
1713 ODEchangeitem item = new ODEchangeitem();
1714 item.actor = actor;
1715 item.what = what;
1716 item.arg = arg;
1717 ChangesQueue.Enqueue(item);
1718 }
1719
1720 /// <summary>
1721 /// Called after our prim properties are set Scale, position etc.
1722 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1723 /// This assures us that we have no race conditions
1724 /// </summary>
1725 /// <param name="prim"></param>
1726 public override void AddPhysicsActorTaint(PhysicsActor prim)
1727 {
1728 }
1729
1730 /// <summary>
1731 /// This is our main simulate loop
1732 /// It's thread locked by a Mutex in the scene.
1733 /// It holds Collisions, it instructs ODE to step through the physical reactions
1734 /// It moves the objects around in memory
1735 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1736 /// </summary>
1737 /// <param name="timeStep"></param>
1738 /// <returns></returns>
1739 public override float Simulate(float timeStep)
1740 {
1741
1742 DateTime now = DateTime.UtcNow;
1743 TimeSpan SinceLastFrame = now - m_lastframe;
1744 m_lastframe = now;
1745 timeStep = (float)SinceLastFrame.TotalSeconds;
1746
1747 // acumulate time so we can reduce error
1748 step_time += timeStep;
1749
1750 if (step_time < HalfOdeStep)
1751 return 0;
1752
1753 if (framecount < 0)
1754 framecount = 0;
1755
1756 framecount++;
1757
1758 int curphysiteractions;
1759
1760 // if in trouble reduce step resolution
1761 if (step_time >= m_SkipFramesAtms)
1762 curphysiteractions = m_physicsiterations / 2;
1763 else
1764 curphysiteractions = m_physicsiterations;
1765
1766 int nodeframes = 0;
1767
1768// checkThread();
1769
1770 lock (SimulationLock)
1771 lock(OdeLock)
1772 {
1773 // adjust number of iterations per step
1774 try
1775 {
1776 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1777 }
1778 catch (StackOverflowException)
1779 {
1780 m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
1781// ode.drelease(world);
1782 base.TriggerPhysicsBasedRestart();
1783 }
1784
1785 while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
1786 {
1787 try
1788 {
1789 // clear pointer/counter to contacts to pass into joints
1790 m_global_contactcount = 0;
1791
1792 ODEchangeitem item;
1793
1794 if(ChangesQueue.Count >0)
1795 {
1796 int ttmpstart = Util.EnvironmentTickCount();
1797 int ttmp;
1798 int ttmp2;
1799
1800 while(ChangesQueue.Dequeue(out item))
1801 {
1802 if (item.actor != null)
1803 {
1804 try
1805 {
1806 if (item.actor is OdeCharacter)
1807 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1808 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1809 RemovePrimThreadLocked((OdePrim)item.actor);
1810 }
1811 catch
1812 {
1813 m_log.Warn("[PHYSICS]: doChange failed for a actor");
1814 };
1815 }
1816 ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
1817 if (ttmp > 20)
1818 break;
1819 }
1820
1821 ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
1822 if (ttmp2 > 50)
1823 ttmp2 = 0;
1824
1825 }
1826
1827 // Move characters
1828 lock (_characters)
1829 {
1830 List<OdeCharacter> defects = new List<OdeCharacter>();
1831 foreach (OdeCharacter actor in _characters)
1832 {
1833 if (actor != null)
1834 actor.Move(ODE_STEPSIZE, defects);
1835 }
1836 if (defects.Count != 0)
1837 {
1838 foreach (OdeCharacter defect in defects)
1839 {
1840 RemoveCharacter(defect);
1841 }
1842 }
1843 }
1844
1845 // Move other active objects
1846 lock (_activegroups)
1847 {
1848 foreach (OdePrim aprim in _activegroups)
1849 {
1850 aprim.Move();
1851 }
1852 }
1853
1854 //if ((framecount % m_randomizeWater) == 0)
1855 // randomizeWater(waterlevel);
1856
1857 m_rayCastManager.ProcessQueuedRequests();
1858
1859 collision_optimized();
1860
1861 lock (_collisionEventPrim)
1862 {
1863 foreach (PhysicsActor obj in _collisionEventPrim)
1864 {
1865 if (obj == null)
1866 continue;
1867
1868 switch ((ActorTypes)obj.PhysicsActorType)
1869 {
1870 case ActorTypes.Agent:
1871 OdeCharacter cobj = (OdeCharacter)obj;
1872 cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
1873 cobj.SendCollisions();
1874 break;
1875
1876 case ActorTypes.Prim:
1877 OdePrim pobj = (OdePrim)obj;
1878 pobj.SendCollisions();
1879 break;
1880 }
1881 }
1882 }
1883
1884 // do a ode simulation step
1885 d.WorldQuickStep(world, ODE_STEPSIZE);
1886 d.JointGroupEmpty(contactgroup);
1887
1888 // update managed ideia of physical data and do updates to core
1889 /*
1890 lock (_characters)
1891 {
1892 foreach (OdeCharacter actor in _characters)
1893 {
1894 if (actor != null)
1895 {
1896 if (actor.bad)
1897 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1898
1899 actor.UpdatePositionAndVelocity();
1900 }
1901 }
1902 }
1903 */
1904
1905 lock (_activegroups)
1906 {
1907 {
1908 foreach (OdePrim actor in _activegroups)
1909 {
1910 if (actor.IsPhysical)
1911 {
1912 actor.UpdatePositionAndVelocity();
1913 }
1914 }
1915 }
1916 }
1917 }
1918 catch (Exception e)
1919 {
1920 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1921// ode.dunlock(world);
1922 }
1923
1924
1925 step_time -= ODE_STEPSIZE;
1926 nodeframes++;
1927 }
1928
1929 lock (_badCharacter)
1930 {
1931 if (_badCharacter.Count > 0)
1932 {
1933 foreach (OdeCharacter chr in _badCharacter)
1934 {
1935 RemoveCharacter(chr);
1936 }
1937
1938 _badCharacter.Clear();
1939 }
1940 }
1941
1942 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1943 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1944 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1945 int nbodies = d.NTotalBodies;
1946 int ngeoms = d.NTotalGeoms;
1947
1948 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1949 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1950 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1951 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1952 {
1953 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1954 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1955
1956 if (physics_logging_append_existing_logfile)
1957 {
1958 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1959 TextWriter fwriter = File.AppendText(fname);
1960 fwriter.WriteLine(header);
1961 fwriter.Close();
1962 }
1963
1964 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1965 }
1966
1967 // think time dilation as to do with dinamic step size that we dont' have
1968 // even so tell something to world
1969 if (nodeframes < 10) // we did the requested loops
1970 m_timeDilation = 1.0f;
1971 else if (step_time > 0)
1972 {
1973 m_timeDilation = timeStep / step_time;
1974 if (m_timeDilation > 1)
1975 m_timeDilation = 1;
1976 if (step_time > m_SkipFramesAtms)
1977 step_time = 0;
1978 }
1979 }
1980
1981// return nodeframes * ODE_STEPSIZE; // return real simulated time
1982 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1983 }
1984
1985 /// <summary>
1986 public override void GetResults()
1987 {
1988 }
1989
1990 public override bool IsThreaded
1991 {
1992 // for now we won't be multithreaded
1993 get { return (false); }
1994 }
1995
1996 public float GetTerrainHeightAtXY(float x, float y)
1997 {
1998
1999
2000 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2001 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2002
2003
2004 IntPtr heightFieldGeom = IntPtr.Zero;
2005
2006 // get region map
2007 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
2008 return 0f;
2009
2010 if (heightFieldGeom == IntPtr.Zero)
2011 return 0f;
2012
2013 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
2014 return 0f;
2015
2016 // TerrainHeightField for ODE as offset 1m
2017 x += 1f - offsetX;
2018 y += 1f - offsetY;
2019
2020 // make position fit into array
2021 if (x < 0)
2022 x = 0;
2023 if (y < 0)
2024 y = 0;
2025
2026 // integer indexs
2027 int ix;
2028 int iy;
2029 // interpolators offset
2030 float dx;
2031 float dy;
2032
2033 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
2034
2035 if (OdeUbitLib)
2036 {
2037 if (x < regsize - 1)
2038 {
2039 ix = (int)x;
2040 dx = x - (float)ix;
2041 }
2042 else // out world use external height
2043 {
2044 ix = regsize - 2;
2045 dx = 0;
2046 }
2047 if (y < regsize - 1)
2048 {
2049 iy = (int)y;
2050 dy = y - (float)iy;
2051 }
2052 else
2053 {
2054 iy = regsize - 2;
2055 dy = 0;
2056 }
2057 }
2058
2059 else
2060 {
2061 // we still have square fixed size regions
2062 // also flip x and y because of how map is done for ODE fliped axis
2063 // so ix,iy,dx and dy are inter exchanged
2064 if (x < regsize - 1)
2065 {
2066 iy = (int)x;
2067 dy = x - (float)iy;
2068 }
2069 else // out world use external height
2070 {
2071 iy = regsize - 2;
2072 dy = 0;
2073 }
2074 if (y < regsize - 1)
2075 {
2076 ix = (int)y;
2077 dx = y - (float)ix;
2078 }
2079 else
2080 {
2081 ix = regsize - 2;
2082 dx = 0;
2083 }
2084 }
2085
2086 float h0;
2087 float h1;
2088 float h2;
2089
2090 iy *= regsize;
2091 iy += ix; // all indexes have iy + ix
2092
2093 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
2094 /*
2095 if ((dx + dy) <= 1.0f)
2096 {
2097 h0 = ((float)heights[iy]); // 0,0 vertice
2098 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
2099 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
2100 }
2101 else
2102 {
2103 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
2104 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
2105 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
2106 }
2107 */
2108 h0 = ((float)heights[iy]); // 0,0 vertice
2109
2110 if ((dy > dx))
2111 {
2112 iy += regsize;
2113 h2 = (float)heights[iy]; // 0,1 vertice
2114 h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
2115 h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1
2116 }
2117 else
2118 {
2119 iy++;
2120 h2 = (float)heights[iy]; // vertice 1,0
2121 h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
2122 h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0
2123 }
2124
2125 return h0 + h1 + h2;
2126 }
2127
2128
2129 public override void SetTerrain(float[] heightMap)
2130 {
2131 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
2132 {
2133 if (m_parentScene is OdeScene)
2134 {
2135 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
2136 }
2137 }
2138 else
2139 {
2140 SetTerrain(heightMap, m_worldOffset);
2141 }
2142 }
2143
2144 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
2145 {
2146 SetTerrain(heightMap, pOffset);
2147 }
2148
2149 public void SetTerrain(float[] heightMap, Vector3 pOffset)
2150 {
2151 if (OdeUbitLib)
2152 UbitSetTerrain(heightMap, pOffset);
2153 else
2154 OriSetTerrain(heightMap, pOffset);
2155 }
2156
2157 public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
2158 {
2159 // assumes 1m size grid and constante size square regions
2160 // needs to know about sims around in future
2161
2162 float[] _heightmap;
2163
2164 uint heightmapWidth = Constants.RegionSize + 2;
2165 uint heightmapHeight = Constants.RegionSize + 2;
2166
2167 uint heightmapWidthSamples = heightmapWidth + 1;
2168 uint heightmapHeightSamples = heightmapHeight + 1;
2169
2170 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2171
2172 const float scale = 1.0f;
2173 const float offset = 0.0f;
2174 const float thickness = 10f;
2175 const int wrap = 0;
2176
2177 uint regionsize = Constants.RegionSize;
2178
2179 float hfmin = float.MaxValue;
2180 float hfmax = float.MinValue;
2181 float val;
2182 uint xx;
2183 uint yy;
2184
2185 uint maxXXYY = regionsize - 1;
2186 // flipping map adding one margin all around so things don't fall in edges
2187
2188 uint xt = 0;
2189 xx = 0;
2190
2191 for (uint x = 0; x < heightmapWidthSamples; x++)
2192 {
2193 if (x > 1 && xx < maxXXYY)
2194 xx++;
2195 yy = 0;
2196 for (uint y = 0; y < heightmapHeightSamples; y++)
2197 {
2198 if (y > 1 && y < maxXXYY)
2199 yy += regionsize;
2200
2201 val = heightMap[yy + xx];
2202 if (val < 0.0f)
2203 val = 0.0f; // no neg terrain as in chode
2204 _heightmap[xt + y] = val;
2205
2206 if (hfmin > val)
2207 hfmin = val;
2208 if (hfmax < val)
2209 hfmax = val;
2210 }
2211 xt += heightmapHeightSamples;
2212 }
2213 lock (OdeLock)
2214 {
2215 IntPtr GroundGeom = IntPtr.Zero;
2216 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2217 {
2218 RegionTerrain.Remove(pOffset);
2219 if (GroundGeom != IntPtr.Zero)
2220 {
2221 d.GeomDestroy(GroundGeom);
2222
2223 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2224 {
2225 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2226 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2227 TerrainHeightFieldHeights.Remove(GroundGeom);
2228 }
2229 }
2230 }
2231 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2232
2233 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2234
2235 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
2236 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2237 offset, thickness, wrap);
2238
2239 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2240 GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2241 if (GroundGeom != IntPtr.Zero)
2242 {
2243 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2244 d.GeomSetCollideBits(GroundGeom, 0);
2245
2246 }
2247 geom_name_map[GroundGeom] = "Terrain";
2248
2249 d.Matrix3 R = new d.Matrix3();
2250
2251 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2252 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2253
2254
2255 q1 = q1 * q2;
2256
2257 Vector3 v3;
2258 float angle;
2259 q1.GetAxisAngle(out v3, out angle);
2260
2261 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2262 d.GeomSetRotation(GroundGeom, ref R);
2263 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2264 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2265// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2266 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2267 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2268
2269 }
2270 }
2271
2272 public void UbitSetTerrain(float[] heightMap, Vector3 pOffset)
2273 {
2274 // assumes 1m size grid and constante size square regions
2275 // needs to know about sims around in future
2276
2277 float[] _heightmap;
2278
2279 uint heightmapWidth = Constants.RegionSize + 2;
2280 uint heightmapHeight = Constants.RegionSize + 2;
2281
2282 uint heightmapWidthSamples = heightmapWidth + 1;
2283 uint heightmapHeightSamples = heightmapHeight + 1;
2284
2285 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2286
2287
2288 uint regionsize = Constants.RegionSize;
2289
2290 float hfmin = float.MaxValue;
2291// float hfmax = float.MinValue;
2292 float val;
2293
2294
2295 uint maxXXYY = regionsize - 1;
2296 // adding one margin all around so things don't fall in edges
2297
2298 uint xx;
2299 uint yy = 0;
2300 uint yt = 0;
2301
2302 for (uint y = 0; y < heightmapHeightSamples; y++)
2303 {
2304 if (y > 1 && y < maxXXYY)
2305 yy += regionsize;
2306 xx = 0;
2307 for (uint x = 0; x < heightmapWidthSamples; x++)
2308 {
2309 if (x > 1 && x < maxXXYY)
2310 xx++;
2311
2312 val = heightMap[yy + xx];
2313 if (val < 0.0f)
2314 val = 0.0f; // no neg terrain as in chode
2315 _heightmap[yt + x] = val;
2316
2317 if (hfmin > val)
2318 hfmin = val;
2319// if (hfmax < val)
2320// hfmax = val;
2321 }
2322 yt += heightmapWidthSamples;
2323 }
2324 lock (OdeLock)
2325 {
2326 IntPtr GroundGeom = IntPtr.Zero;
2327 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2328 {
2329 RegionTerrain.Remove(pOffset);
2330 if (GroundGeom != IntPtr.Zero)
2331 {
2332 d.GeomDestroy(GroundGeom);
2333
2334 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2335 {
2336 if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated)
2337 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2338 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2339 TerrainHeightFieldHeights.Remove(GroundGeom);
2340 }
2341 }
2342 }
2343 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2344
2345 const int wrap = 0;
2346 float thickness = hfmin;
2347 if (thickness < 0)
2348 thickness = 1;
2349
2350 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2351
2352 d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
2353 (int)heightmapWidthSamples, (int)heightmapHeightSamples,
2354 thickness, wrap);
2355
2356// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2357 GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1);
2358 if (GroundGeom != IntPtr.Zero)
2359 {
2360 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2361 d.GeomSetCollideBits(GroundGeom, 0);
2362
2363 }
2364 geom_name_map[GroundGeom] = "Terrain";
2365
2366 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2367 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2368 // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2369 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2370 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2371 }
2372 }
2373
2374
2375 public override void DeleteTerrain()
2376 {
2377 }
2378
2379 public float GetWaterLevel()
2380 {
2381 return waterlevel;
2382 }
2383
2384 public override bool SupportsCombining()
2385 {
2386 return true;
2387 }
2388/*
2389 public override void UnCombine(PhysicsScene pScene)
2390 {
2391 IntPtr localGround = IntPtr.Zero;
2392// float[] localHeightfield;
2393 bool proceed = false;
2394 List<IntPtr> geomDestroyList = new List<IntPtr>();
2395
2396 lock (OdeLock)
2397 {
2398 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2399 {
2400 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2401 {
2402 if (geom == localGround)
2403 {
2404// localHeightfield = TerrainHeightFieldHeights[geom];
2405 proceed = true;
2406 }
2407 else
2408 {
2409 geomDestroyList.Add(geom);
2410 }
2411 }
2412
2413 if (proceed)
2414 {
2415 m_worldOffset = Vector3.Zero;
2416 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2417 m_parentScene = null;
2418
2419 foreach (IntPtr g in geomDestroyList)
2420 {
2421 // removingHeightField needs to be done or the garbage collector will
2422 // collect the terrain data before we tell ODE to destroy it causing
2423 // memory corruption
2424 if (TerrainHeightFieldHeights.ContainsKey(g))
2425 {
2426// float[] removingHeightField = TerrainHeightFieldHeights[g];
2427 TerrainHeightFieldHeights.Remove(g);
2428
2429 if (RegionTerrain.ContainsKey(g))
2430 {
2431 RegionTerrain.Remove(g);
2432 }
2433
2434 d.GeomDestroy(g);
2435 //removingHeightField = new float[0];
2436 }
2437 }
2438
2439 }
2440 else
2441 {
2442 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2443 }
2444 }
2445 }
2446 }
2447*/
2448 public override void SetWaterLevel(float baseheight)
2449 {
2450 waterlevel = baseheight;
2451 randomizeWater(waterlevel);
2452 }
2453
2454 public void randomizeWater(float baseheight)
2455 {
2456 const uint heightmapWidth = Constants.RegionSize + 2;
2457 const uint heightmapHeight = Constants.RegionSize + 2;
2458 const uint heightmapWidthSamples = heightmapWidth + 1;
2459 const uint heightmapHeightSamples = heightmapHeight + 1;
2460
2461 const float scale = 1.0f;
2462 const float offset = 0.0f;
2463 const int wrap = 0;
2464
2465 float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples];
2466
2467 float maxheigh = float.MinValue;
2468 float minheigh = float.MaxValue;
2469 float val;
2470 for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++)
2471 {
2472
2473 val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f);
2474 _watermap[i] = val;
2475 if (maxheigh < val)
2476 maxheigh = val;
2477 if (minheigh > val)
2478 minheigh = val;
2479 }
2480
2481 float thickness = minheigh;
2482
2483 lock (OdeLock)
2484 {
2485 if (WaterGeom != IntPtr.Zero)
2486 {
2487 d.GeomDestroy(WaterGeom);
2488 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2489 WaterGeom = IntPtr.Zero;
2490 WaterHeightmapData = IntPtr.Zero;
2491 if(WaterMapHandler.IsAllocated)
2492 WaterMapHandler.Free();
2493 }
2494
2495 WaterHeightmapData = d.GeomHeightfieldDataCreate();
2496
2497 WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned);
2498
2499 d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight,
2500 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2501 offset, thickness, wrap);
2502 d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh);
2503 WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1);
2504 if (WaterGeom != IntPtr.Zero)
2505 {
2506 d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water));
2507 d.GeomSetCollideBits(WaterGeom, 0);
2508
2509 geom_name_map[WaterGeom] = "Water";
2510
2511 d.Matrix3 R = new d.Matrix3();
2512
2513 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2514 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2515
2516 q1 = q1 * q2;
2517 Vector3 v3;
2518 float angle;
2519 q1.GetAxisAngle(out v3, out angle);
2520
2521 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2522 d.GeomSetRotation(WaterGeom, ref R);
2523 d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0);
2524 }
2525 }
2526 }
2527
2528 public override void Dispose()
2529 {
2530 m_rayCastManager.Dispose();
2531 m_rayCastManager = null;
2532
2533 lock (OdeLock)
2534 {
2535 lock (_prims)
2536 {
2537 foreach (OdePrim prm in _prims)
2538 {
2539 RemovePrim(prm);
2540 }
2541 }
2542
2543 if (TerrainHeightFieldHeightsHandlers.Count > 0)
2544 {
2545 foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
2546 {
2547 if (gch.IsAllocated)
2548 gch.Free();
2549 }
2550 }
2551
2552 if (WaterGeom != IntPtr.Zero)
2553 {
2554 d.GeomDestroy(WaterGeom);
2555 WaterGeom = IntPtr.Zero;
2556 if (WaterHeightmapData != IntPtr.Zero)
2557 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2558 WaterHeightmapData = IntPtr.Zero;
2559
2560 if (WaterMapHandler.IsAllocated)
2561 WaterMapHandler.Free();
2562 }
2563
2564
2565 if (ContactgeomsArray != IntPtr.Zero)
2566 Marshal.FreeHGlobal(ContactgeomsArray);
2567 if (GlobalContactsArray != IntPtr.Zero)
2568 Marshal.FreeHGlobal(GlobalContactsArray);
2569
2570
2571 d.WorldDestroy(world);
2572 //d.CloseODE();
2573 }
2574 }
2575
2576 public override Dictionary<uint, float> GetTopColliders()
2577 {
2578 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2579 int cnt = 0;
2580 lock (_prims)
2581 {
2582 foreach (OdePrim prm in _prims)
2583 {
2584 if (prm.CollisionScore > 0)
2585 {
2586 returncolliders.Add(prm.m_localID, prm.CollisionScore);
2587 cnt++;
2588 prm.CollisionScore = 0f;
2589 if (cnt > 25)
2590 {
2591 break;
2592 }
2593 }
2594 }
2595 }
2596 return returncolliders;
2597 }
2598
2599 public override bool SupportsRayCast()
2600 {
2601 return true;
2602 }
2603
2604 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2605 {
2606 if (retMethod != null)
2607 {
2608 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2609 }
2610 }
2611
2612 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2613 {
2614 if (retMethod != null)
2615 {
2616 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2617 }
2618 }
2619
2620 // don't like this
2621 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2622 {
2623 ContactResult[] ourResults = null;
2624 RayCallback retMethod = delegate(List<ContactResult> results)
2625 {
2626 ourResults = new ContactResult[results.Count];
2627 results.CopyTo(ourResults, 0);
2628 };
2629 int waitTime = 0;
2630 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2631 while (ourResults == null && waitTime < 1000)
2632 {
2633 Thread.Sleep(1);
2634 waitTime++;
2635 }
2636 if (ourResults == null)
2637 return new List<ContactResult>();
2638 return new List<ContactResult>(ourResults);
2639 }
2640
2641 public override bool SuportsRaycastWorldFiltered()
2642 {
2643 return true;
2644 }
2645
2646 public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
2647 {
2648 object SyncObject = new object();
2649 List<ContactResult> ourresults = new List<ContactResult>();
2650
2651 RayCallback retMethod = delegate(List<ContactResult> results)
2652 {
2653 lock (SyncObject)
2654 {
2655 ourresults = results;
2656 Monitor.PulseAll(SyncObject);
2657 }
2658 };
2659
2660 lock (SyncObject)
2661 {
2662 m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod);
2663 if (!Monitor.Wait(SyncObject, 500))
2664 return null;
2665 else
2666 return ourresults;
2667 }
2668 }
2669
2670 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2671 {
2672 if (retMethod != null && actor !=null)
2673 {
2674 IntPtr geom;
2675 if (actor is OdePrim)
2676 geom = ((OdePrim)actor).prim_geom;
2677 else if (actor is OdeCharacter)
2678 geom = ((OdePrim)actor).prim_geom;
2679 else
2680 return;
2681 if (geom == IntPtr.Zero)
2682 return;
2683 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2684 }
2685 }
2686
2687 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2688 {
2689 if (retMethod != null && actor != null)
2690 {
2691 IntPtr geom;
2692 if (actor is OdePrim)
2693 geom = ((OdePrim)actor).prim_geom;
2694 else if (actor is OdeCharacter)
2695 geom = ((OdePrim)actor).prim_geom;
2696 else
2697 return;
2698 if (geom == IntPtr.Zero)
2699 return;
2700
2701 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2702 }
2703 }
2704
2705 // don't like this
2706 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2707 {
2708 if (actor != null)
2709 {
2710 IntPtr geom;
2711 if (actor is OdePrim)
2712 geom = ((OdePrim)actor).prim_geom;
2713 else if (actor is OdeCharacter)
2714 geom = ((OdePrim)actor).prim_geom;
2715 else
2716 return new List<ContactResult>();
2717 if (geom == IntPtr.Zero)
2718 return new List<ContactResult>();
2719
2720 ContactResult[] ourResults = null;
2721 RayCallback retMethod = delegate(List<ContactResult> results)
2722 {
2723 ourResults = new ContactResult[results.Count];
2724 results.CopyTo(ourResults, 0);
2725 };
2726 int waitTime = 0;
2727 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2728 while (ourResults == null && waitTime < 1000)
2729 {
2730 Thread.Sleep(1);
2731 waitTime++;
2732 }
2733 if (ourResults == null)
2734 return new List<ContactResult>();
2735 return new List<ContactResult>(ourResults);
2736 }
2737 return new List<ContactResult>();
2738 }
2739 }
2740}
generated by cgit v1.1 at 2024-12-21 05:00:57 +0000