diff options
Diffstat (limited to 'OpenSim/Region/Physics/UbitOdePlugin')
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs | 58 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 1411 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs | 997 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 3935 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs | 603 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | 2005 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs | 90 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 2692 |
8 files changed, 11791 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 | |||
28 | using System.Reflection; | ||
29 | using 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..6ffcb9e --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | |||
@@ -0,0 +1,1411 @@ | |||
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 | |||
31 | using System; | ||
32 | using System.Collections.Generic; | ||
33 | using System.Reflection; | ||
34 | using OpenMetaverse; | ||
35 | using OdeAPI; | ||
36 | using OpenSim.Framework; | ||
37 | using OpenSim.Region.Physics.Manager; | ||
38 | using log4net; | ||
39 | |||
40 | namespace OpenSim.Region.Physics.OdePlugin | ||
41 | { | ||
42 | /// <summary> | ||
43 | /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. | ||
44 | /// </summary> | ||
45 | |||
46 | public enum dParam : int | ||
47 | { | ||
48 | LowStop = 0, | ||
49 | HiStop = 1, | ||
50 | Vel = 2, | ||
51 | FMax = 3, | ||
52 | FudgeFactor = 4, | ||
53 | Bounce = 5, | ||
54 | CFM = 6, | ||
55 | StopERP = 7, | ||
56 | StopCFM = 8, | ||
57 | LoStop2 = 256, | ||
58 | HiStop2 = 257, | ||
59 | Vel2 = 258, | ||
60 | FMax2 = 259, | ||
61 | StopERP2 = 7 + 256, | ||
62 | StopCFM2 = 8 + 256, | ||
63 | LoStop3 = 512, | ||
64 | HiStop3 = 513, | ||
65 | Vel3 = 514, | ||
66 | FMax3 = 515, | ||
67 | StopERP3 = 7 + 512, | ||
68 | StopCFM3 = 8 + 512 | ||
69 | } | ||
70 | |||
71 | public class OdeCharacter : PhysicsActor | ||
72 | { | ||
73 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
74 | |||
75 | private Vector3 _position; | ||
76 | private Vector3 _zeroPosition; | ||
77 | private bool _zeroFlag = false; | ||
78 | private Vector3 _velocity; | ||
79 | private Vector3 _target_velocity; | ||
80 | private Vector3 _acceleration; | ||
81 | private Vector3 m_rotationalVelocity; | ||
82 | private float m_mass = 80f; | ||
83 | public float m_density = 60f; | ||
84 | private bool m_pidControllerActive = true; | ||
85 | public float PID_D = 800.0f; | ||
86 | public float PID_P = 900.0f; | ||
87 | //private static float POSTURE_SERVO = 10000.0f; | ||
88 | public float CAPSULE_RADIUS = 0.37f; | ||
89 | public float CAPSULE_LENGTH = 2.140599f; | ||
90 | public float walkDivisor = 1.3f; | ||
91 | public float runDivisor = 0.8f; | ||
92 | private bool flying = false; | ||
93 | private bool m_iscolliding = false; | ||
94 | private bool m_iscollidingGround = false; | ||
95 | private bool m_iscollidingObj = false; | ||
96 | private bool m_alwaysRun = false; | ||
97 | private int m_requestedUpdateFrequency = 0; | ||
98 | public uint m_localID = 0; | ||
99 | public bool m_returnCollisions = false; | ||
100 | // taints and their non-tainted counterparts | ||
101 | public bool m_isPhysical = false; // the current physical status | ||
102 | public float MinimumGroundFlightOffset = 3f; | ||
103 | |||
104 | private float m_buoyancy = 0f; | ||
105 | |||
106 | // private CollisionLocker ode; | ||
107 | |||
108 | private string m_name = String.Empty; | ||
109 | // other filter control | ||
110 | int m_colliderfilter = 0; | ||
111 | // int m_colliderGroundfilter = 0; | ||
112 | int m_colliderObjectfilter = 0; | ||
113 | |||
114 | // Default we're a Character | ||
115 | private CollisionCategories m_collisionCategories = (CollisionCategories.Character); | ||
116 | |||
117 | // Default, Collide with Other Geometries, spaces, bodies and characters. | ||
118 | private CollisionCategories m_collisionFlags = (CollisionCategories.Character | ||
119 | | CollisionCategories.Geom | ||
120 | | CollisionCategories.VolumeDtc | ||
121 | ); | ||
122 | // we do land collisions not ode | CollisionCategories.Land); | ||
123 | public IntPtr Body = IntPtr.Zero; | ||
124 | private OdeScene _parent_scene; | ||
125 | public IntPtr Shell = IntPtr.Zero; | ||
126 | public IntPtr Amotor = IntPtr.Zero; | ||
127 | public d.Mass ShellMass; | ||
128 | // public bool collidelock = false; | ||
129 | |||
130 | private bool m_haseventsubscription = false; | ||
131 | public int m_eventsubscription = 0; | ||
132 | private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
133 | |||
134 | // unique UUID of this character object | ||
135 | public UUID m_uuid; | ||
136 | public bool bad = false; | ||
137 | |||
138 | float mu; | ||
139 | |||
140 | 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) | ||
141 | { | ||
142 | m_uuid = UUID.Random(); | ||
143 | |||
144 | if (pos.IsFinite()) | ||
145 | { | ||
146 | if (pos.Z > 99999f) | ||
147 | { | ||
148 | pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | ||
149 | } | ||
150 | if (pos.Z < -100f) // shouldn't this be 0 ? | ||
151 | { | ||
152 | pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | ||
153 | } | ||
154 | _position = pos; | ||
155 | } | ||
156 | else | ||
157 | { | ||
158 | _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f); | ||
159 | m_log.Warn("[PHYSICS]: Got NaN Position on Character Create"); | ||
160 | } | ||
161 | |||
162 | _parent_scene = parent_scene; | ||
163 | |||
164 | PID_D = pid_d; | ||
165 | PID_P = pid_p; | ||
166 | CAPSULE_RADIUS = capsule_radius; | ||
167 | m_density = density; | ||
168 | m_mass = 80f; // sure we have a default | ||
169 | |||
170 | mu = parent_scene.AvatarFriction; | ||
171 | |||
172 | walkDivisor = walk_divisor; | ||
173 | runDivisor = rundivisor; | ||
174 | |||
175 | CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f; | ||
176 | //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); | ||
177 | |||
178 | m_isPhysical = false; // current status: no ODE information exists | ||
179 | |||
180 | m_name = avName; | ||
181 | |||
182 | AddChange(changes.Add, null); | ||
183 | } | ||
184 | |||
185 | public override int PhysicsActorType | ||
186 | { | ||
187 | get { return (int)ActorTypes.Agent; } | ||
188 | set { return; } | ||
189 | } | ||
190 | |||
191 | public override void getContactData(ref ContactData cdata) | ||
192 | { | ||
193 | cdata.mu = mu; | ||
194 | cdata.bounce = 0; | ||
195 | cdata.softcolide = false; | ||
196 | } | ||
197 | |||
198 | public override bool Building { get; set; } | ||
199 | |||
200 | /// <summary> | ||
201 | /// If this is set, the avatar will move faster | ||
202 | /// </summary> | ||
203 | public override bool SetAlwaysRun | ||
204 | { | ||
205 | get { return m_alwaysRun; } | ||
206 | set { m_alwaysRun = value; } | ||
207 | } | ||
208 | |||
209 | public override uint LocalID | ||
210 | { | ||
211 | set { m_localID = value; } | ||
212 | } | ||
213 | |||
214 | public override bool Grabbed | ||
215 | { | ||
216 | set { return; } | ||
217 | } | ||
218 | |||
219 | public override bool Selected | ||
220 | { | ||
221 | set { return; } | ||
222 | } | ||
223 | |||
224 | public override float Buoyancy | ||
225 | { | ||
226 | get { return m_buoyancy; } | ||
227 | set { m_buoyancy = value; } | ||
228 | } | ||
229 | |||
230 | public override bool FloatOnWater | ||
231 | { | ||
232 | set { return; } | ||
233 | } | ||
234 | |||
235 | public override bool IsPhysical | ||
236 | { | ||
237 | get { return false; } | ||
238 | set { return; } | ||
239 | } | ||
240 | |||
241 | public override bool ThrottleUpdates | ||
242 | { | ||
243 | get { return false; } | ||
244 | set { return; } | ||
245 | } | ||
246 | |||
247 | public override bool Flying | ||
248 | { | ||
249 | get { return flying; } | ||
250 | set | ||
251 | { | ||
252 | flying = value; | ||
253 | // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying); | ||
254 | } | ||
255 | } | ||
256 | |||
257 | /// <summary> | ||
258 | /// Returns if the avatar is colliding in general. | ||
259 | /// This includes the ground and objects and avatar. | ||
260 | /// </summary> | ||
261 | public override bool IsColliding | ||
262 | { | ||
263 | get { return (m_iscolliding || m_iscollidingGround); } | ||
264 | set | ||
265 | { | ||
266 | if (value) | ||
267 | { | ||
268 | m_colliderfilter += 2; | ||
269 | if (m_colliderfilter > 2) | ||
270 | m_colliderfilter = 2; | ||
271 | } | ||
272 | else | ||
273 | { | ||
274 | m_colliderfilter--; | ||
275 | if (m_colliderfilter < 0) | ||
276 | m_colliderfilter = 0; | ||
277 | } | ||
278 | |||
279 | if (m_colliderfilter == 0) | ||
280 | m_iscolliding = false; | ||
281 | else | ||
282 | { | ||
283 | // SetPidStatus(false); | ||
284 | m_pidControllerActive = true; | ||
285 | m_iscolliding = true; | ||
286 | } | ||
287 | } | ||
288 | } | ||
289 | |||
290 | /// <summary> | ||
291 | /// Returns if an avatar is colliding with the ground | ||
292 | /// </summary> | ||
293 | public override bool CollidingGround | ||
294 | { | ||
295 | get { return m_iscollidingGround; } | ||
296 | set | ||
297 | { | ||
298 | /* we now control this | ||
299 | if (value) | ||
300 | { | ||
301 | m_colliderGroundfilter += 2; | ||
302 | if (m_colliderGroundfilter > 2) | ||
303 | m_colliderGroundfilter = 2; | ||
304 | } | ||
305 | else | ||
306 | { | ||
307 | m_colliderGroundfilter--; | ||
308 | if (m_colliderGroundfilter < 0) | ||
309 | m_colliderGroundfilter = 0; | ||
310 | } | ||
311 | |||
312 | if (m_colliderGroundfilter == 0) | ||
313 | m_iscollidingGround = false; | ||
314 | else | ||
315 | m_iscollidingGround = true; | ||
316 | */ | ||
317 | } | ||
318 | |||
319 | } | ||
320 | |||
321 | /// <summary> | ||
322 | /// Returns if the avatar is colliding with an object | ||
323 | /// </summary> | ||
324 | public override bool CollidingObj | ||
325 | { | ||
326 | get { return m_iscollidingObj; } | ||
327 | set | ||
328 | { | ||
329 | // Ubit filter this also | ||
330 | if (value) | ||
331 | { | ||
332 | m_colliderObjectfilter += 2; | ||
333 | if (m_colliderObjectfilter > 2) | ||
334 | m_colliderObjectfilter = 2; | ||
335 | } | ||
336 | else | ||
337 | { | ||
338 | m_colliderObjectfilter--; | ||
339 | if (m_colliderObjectfilter < 0) | ||
340 | m_colliderObjectfilter = 0; | ||
341 | } | ||
342 | |||
343 | if (m_colliderObjectfilter == 0) | ||
344 | m_iscollidingObj = false; | ||
345 | else | ||
346 | m_iscollidingObj = true; | ||
347 | |||
348 | // m_iscollidingObj = value; | ||
349 | /* | ||
350 | if (m_iscollidingObj) | ||
351 | m_pidControllerActive = false; | ||
352 | else | ||
353 | m_pidControllerActive = true; | ||
354 | */ | ||
355 | } | ||
356 | } | ||
357 | |||
358 | /// <summary> | ||
359 | /// turn the PID controller on or off. | ||
360 | /// The PID Controller will turn on all by itself in many situations | ||
361 | /// </summary> | ||
362 | /// <param name="status"></param> | ||
363 | public void SetPidStatus(bool status) | ||
364 | { | ||
365 | m_pidControllerActive = status; | ||
366 | } | ||
367 | |||
368 | public override bool Stopped | ||
369 | { | ||
370 | get { return _zeroFlag; } | ||
371 | } | ||
372 | |||
373 | /// <summary> | ||
374 | /// This 'puts' an avatar somewhere in the physics space. | ||
375 | /// Not really a good choice unless you 'know' it's a good | ||
376 | /// spot otherwise you're likely to orbit the avatar. | ||
377 | /// </summary> | ||
378 | public override Vector3 Position | ||
379 | { | ||
380 | get { return _position; } | ||
381 | set | ||
382 | { | ||
383 | if (Body == IntPtr.Zero || Shell == IntPtr.Zero) | ||
384 | { | ||
385 | if (value.IsFinite()) | ||
386 | { | ||
387 | if (value.Z > 9999999f) | ||
388 | { | ||
389 | value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | ||
390 | } | ||
391 | if (value.Z < -100f) | ||
392 | { | ||
393 | value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | ||
394 | } | ||
395 | AddChange(changes.Position, value); | ||
396 | } | ||
397 | else | ||
398 | { | ||
399 | m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character"); | ||
400 | } | ||
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 | |||
692 | d.BodySetAutoDisableFlag(Body, false); | ||
693 | d.BodySetPosition(Body, npositionX, npositionY, npositionZ); | ||
694 | |||
695 | _position.X = npositionX; | ||
696 | _position.Y = npositionY; | ||
697 | _position.Z = npositionZ; | ||
698 | |||
699 | d.BodySetMass(Body, ref ShellMass); | ||
700 | d.GeomSetBody(Shell, Body); | ||
701 | |||
702 | // The purpose of the AMotor here is to keep the avatar's physical | ||
703 | // surrogate from rotating while moving | ||
704 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | ||
705 | d.JointAttach(Amotor, Body, IntPtr.Zero); | ||
706 | |||
707 | d.JointSetAMotorMode(Amotor, 0); | ||
708 | d.JointSetAMotorNumAxes(Amotor, 3); | ||
709 | d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0); | ||
710 | d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0); | ||
711 | d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1); | ||
712 | |||
713 | d.JointSetAMotorAngle(Amotor, 0, 0); | ||
714 | d.JointSetAMotorAngle(Amotor, 1, 0); | ||
715 | d.JointSetAMotorAngle(Amotor, 2, 0); | ||
716 | |||
717 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD | ||
718 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f); | ||
719 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f); | ||
720 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f); | ||
721 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f); | ||
722 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f); | ||
723 | |||
724 | // These lowstops and high stops are effectively (no wiggle room) | ||
725 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f); | ||
726 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f); | ||
727 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f); | ||
728 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f); | ||
729 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f); | ||
730 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f); | ||
731 | |||
732 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | ||
733 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0); | ||
734 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0); | ||
735 | |||
736 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f); | ||
737 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f); | ||
738 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f); | ||
739 | } | ||
740 | |||
741 | /// <summary> | ||
742 | /// Destroys the avatar body and geom | ||
743 | |||
744 | private void AvatarGeomAndBodyDestroy() | ||
745 | { | ||
746 | // Kill the Amotor | ||
747 | if (Amotor != IntPtr.Zero) | ||
748 | { | ||
749 | d.JointDestroy(Amotor); | ||
750 | Amotor = IntPtr.Zero; | ||
751 | } | ||
752 | |||
753 | if (Body != IntPtr.Zero) | ||
754 | { | ||
755 | //kill the body | ||
756 | d.BodyDestroy(Body); | ||
757 | Body = IntPtr.Zero; | ||
758 | } | ||
759 | |||
760 | //kill the Geometry | ||
761 | if (Shell != IntPtr.Zero) | ||
762 | { | ||
763 | _parent_scene.geom_name_map.Remove(Shell); | ||
764 | _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace); | ||
765 | d.GeomDestroy(Shell); | ||
766 | Shell = IntPtr.Zero; | ||
767 | } | ||
768 | } | ||
769 | |||
770 | /// <summary> | ||
771 | /// Called from Simulate | ||
772 | /// This is the avatar's movement control + PID Controller | ||
773 | /// </summary> | ||
774 | /// <param name="timeStep"></param> | ||
775 | public void Move(float timeStep, List<OdeCharacter> defects) | ||
776 | { | ||
777 | if (Body == IntPtr.Zero) | ||
778 | return; | ||
779 | |||
780 | d.Vector3 dtmp = d.BodyGetPosition(Body); | ||
781 | Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
782 | |||
783 | // the Amotor still lets avatar rotation to drift during colisions | ||
784 | // so force it back to identity | ||
785 | |||
786 | d.Quaternion qtmp; | ||
787 | qtmp.W = 1; | ||
788 | qtmp.X = 0; | ||
789 | qtmp.Y = 0; | ||
790 | qtmp.Z = 0; | ||
791 | d.BodySetQuaternion(Body, ref qtmp); | ||
792 | |||
793 | if (m_pidControllerActive == false) | ||
794 | { | ||
795 | _zeroPosition = localpos; | ||
796 | } | ||
797 | |||
798 | if (!localpos.IsFinite()) | ||
799 | { | ||
800 | m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); | ||
801 | defects.Add(this); | ||
802 | // _parent_scene.RemoveCharacter(this); | ||
803 | |||
804 | // destroy avatar capsule and related ODE data | ||
805 | AvatarGeomAndBodyDestroy(); | ||
806 | return; | ||
807 | } | ||
808 | |||
809 | // check outbounds forcing to be in world | ||
810 | bool fixbody = false; | ||
811 | if (localpos.X < 0.0f) | ||
812 | { | ||
813 | fixbody = true; | ||
814 | localpos.X = 0.1f; | ||
815 | } | ||
816 | else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f) | ||
817 | { | ||
818 | fixbody = true; | ||
819 | localpos.X = _parent_scene.WorldExtents.X - 0.1f; | ||
820 | } | ||
821 | if (localpos.Y < 0.0f) | ||
822 | { | ||
823 | fixbody = true; | ||
824 | localpos.Y = 0.1f; | ||
825 | } | ||
826 | else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1) | ||
827 | { | ||
828 | fixbody = true; | ||
829 | localpos.Y = _parent_scene.WorldExtents.Y - 0.1f; | ||
830 | } | ||
831 | if (fixbody) | ||
832 | d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z); | ||
833 | |||
834 | Vector3 vec = Vector3.Zero; | ||
835 | dtmp = d.BodyGetLinearVel(Body); | ||
836 | Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
837 | |||
838 | float movementdivisor = 1f; | ||
839 | //Ubit change divisions into multiplications below | ||
840 | if (!m_alwaysRun) | ||
841 | movementdivisor = 1 / walkDivisor; | ||
842 | else | ||
843 | movementdivisor = 1 / runDivisor; | ||
844 | |||
845 | //****************************************** | ||
846 | // colide with land | ||
847 | d.AABB aabb; | ||
848 | d.GeomGetAABB(Shell, out aabb); | ||
849 | float chrminZ = aabb.MinZ; | ||
850 | |||
851 | Vector3 posch = localpos; | ||
852 | |||
853 | float ftmp; | ||
854 | |||
855 | if (flying) | ||
856 | { | ||
857 | ftmp = timeStep; | ||
858 | posch.X += vel.X * ftmp; | ||
859 | posch.Y += vel.Y * ftmp; | ||
860 | } | ||
861 | |||
862 | float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); | ||
863 | if (chrminZ < terrainheight) | ||
864 | { | ||
865 | float depth = terrainheight - chrminZ; | ||
866 | if (!flying) | ||
867 | { | ||
868 | vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50; | ||
869 | } | ||
870 | else | ||
871 | vec.Z = depth * PID_P * 50; | ||
872 | |||
873 | if (depth < 0.1f) | ||
874 | { | ||
875 | m_iscolliding = true; | ||
876 | m_colliderfilter = 2; | ||
877 | m_iscollidingGround = true; | ||
878 | |||
879 | ContactPoint contact = new ContactPoint(); | ||
880 | contact.PenetrationDepth = depth; | ||
881 | contact.Position.X = localpos.X; | ||
882 | contact.Position.Y = localpos.Y; | ||
883 | contact.Position.Z = chrminZ; | ||
884 | contact.SurfaceNormal.X = 0f; | ||
885 | contact.SurfaceNormal.Y = 0f; | ||
886 | contact.SurfaceNormal.Z = -1f; | ||
887 | AddCollisionEvent(0, contact); | ||
888 | |||
889 | vec.Z *= 0.5f; | ||
890 | } | ||
891 | |||
892 | else | ||
893 | m_iscollidingGround = false; | ||
894 | } | ||
895 | else | ||
896 | m_iscollidingGround = false; | ||
897 | |||
898 | //****************************************** | ||
899 | |||
900 | // if velocity is zero, use position control; otherwise, velocity control | ||
901 | if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f | ||
902 | && m_iscolliding) | ||
903 | { | ||
904 | // keep track of where we stopped. No more slippin' & slidin' | ||
905 | if (!_zeroFlag) | ||
906 | { | ||
907 | _zeroFlag = true; | ||
908 | _zeroPosition = localpos; | ||
909 | } | ||
910 | if (m_pidControllerActive) | ||
911 | { | ||
912 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | ||
913 | // react to the physics scene by moving it's position. | ||
914 | // Avatar to Avatar collisions | ||
915 | // Prim to avatar collisions | ||
916 | |||
917 | vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2); | ||
918 | vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2); | ||
919 | if (flying) | ||
920 | { | ||
921 | vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; | ||
922 | } | ||
923 | } | ||
924 | //PidStatus = true; | ||
925 | } | ||
926 | else | ||
927 | { | ||
928 | m_pidControllerActive = true; | ||
929 | _zeroFlag = false; | ||
930 | |||
931 | if (m_iscolliding) | ||
932 | { | ||
933 | if (!flying) | ||
934 | { | ||
935 | if (_target_velocity.Z > 0.0f) | ||
936 | { | ||
937 | // We're colliding with something and we're not flying but we're moving | ||
938 | // This means we're walking or running. JUMPING | ||
939 | vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P; | ||
940 | } | ||
941 | // We're standing on something | ||
942 | vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D); | ||
943 | vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D); | ||
944 | } | ||
945 | else | ||
946 | { | ||
947 | // We're flying and colliding with something | ||
948 | vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f); | ||
949 | vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f); | ||
950 | vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); | ||
951 | } | ||
952 | } | ||
953 | else // ie not colliding | ||
954 | { | ||
955 | if (flying) //(!m_iscolliding && flying) | ||
956 | { | ||
957 | // we're in mid air suspended | ||
958 | vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f); | ||
959 | vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f); | ||
960 | vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); | ||
961 | } | ||
962 | |||
963 | else | ||
964 | { | ||
965 | // we're not colliding and we're not flying so that means we're falling! | ||
966 | // m_iscolliding includes collisions with the ground. | ||
967 | |||
968 | // d.Vector3 pos = d.BodyGetPosition(Body); | ||
969 | vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f; | ||
970 | vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f; | ||
971 | } | ||
972 | } | ||
973 | } | ||
974 | |||
975 | if (flying) | ||
976 | { | ||
977 | vec.Z -= _parent_scene.gravityz * m_mass; | ||
978 | |||
979 | //Added for auto fly height. Kitto Flora | ||
980 | float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset; | ||
981 | |||
982 | if (localpos.Z < target_altitude) | ||
983 | { | ||
984 | vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f; | ||
985 | } | ||
986 | // end add Kitto Flora | ||
987 | } | ||
988 | |||
989 | if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50m/s apply breaks | ||
990 | { | ||
991 | float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall | ||
992 | vec.X -= breakfactor * vel.X; | ||
993 | vec.Y -= breakfactor * vel.Y; | ||
994 | vec.Z -= breakfactor * vel.Z; | ||
995 | } | ||
996 | |||
997 | if (vec.IsFinite()) | ||
998 | { | ||
999 | if (vec.X != 0 || vec.Y !=0 || vec.Z !=0) | ||
1000 | d.BodyAddForce(Body, vec.X, vec.Y, vec.Z); | ||
1001 | } | ||
1002 | else | ||
1003 | { | ||
1004 | m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()"); | ||
1005 | m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); | ||
1006 | defects.Add(this); | ||
1007 | // _parent_scene.RemoveCharacter(this); | ||
1008 | // destroy avatar capsule and related ODE data | ||
1009 | AvatarGeomAndBodyDestroy(); | ||
1010 | return; | ||
1011 | } | ||
1012 | |||
1013 | // update our local ideia of position velocity and aceleration | ||
1014 | _position = localpos; | ||
1015 | if (_zeroFlag) | ||
1016 | { | ||
1017 | _velocity = Vector3.Zero; | ||
1018 | _acceleration = Vector3.Zero; | ||
1019 | } | ||
1020 | else | ||
1021 | { | ||
1022 | _acceleration = _velocity; // previus velocity | ||
1023 | _velocity = vel; | ||
1024 | _acceleration = (vel - _acceleration) / timeStep; | ||
1025 | } | ||
1026 | |||
1027 | } | ||
1028 | |||
1029 | /// <summary> | ||
1030 | /// Updates the reported position and velocity. | ||
1031 | /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording | ||
1032 | /// also outbounds checking | ||
1033 | /// copy and outbounds now done in move(..) at ode rate | ||
1034 | /// | ||
1035 | /// </summary> | ||
1036 | public void UpdatePositionAndVelocity() | ||
1037 | { | ||
1038 | return; | ||
1039 | |||
1040 | // if (Body == IntPtr.Zero) | ||
1041 | // return; | ||
1042 | |||
1043 | } | ||
1044 | |||
1045 | /// <summary> | ||
1046 | /// Cleanup the things we use in the scene. | ||
1047 | /// </summary> | ||
1048 | public void Destroy() | ||
1049 | { | ||
1050 | AddChange(changes.Remove, null); | ||
1051 | } | ||
1052 | |||
1053 | public override void CrossingFailure() | ||
1054 | { | ||
1055 | } | ||
1056 | |||
1057 | public override Vector3 PIDTarget { set { return; } } | ||
1058 | public override bool PIDActive { set { return; } } | ||
1059 | public override float PIDTau { set { return; } } | ||
1060 | |||
1061 | public override float PIDHoverHeight { set { return; } } | ||
1062 | public override bool PIDHoverActive { set { return; } } | ||
1063 | public override PIDHoverType PIDHoverType { set { return; } } | ||
1064 | public override float PIDHoverTau { set { return; } } | ||
1065 | |||
1066 | public override Quaternion APIDTarget { set { return; } } | ||
1067 | |||
1068 | public override bool APIDActive { set { return; } } | ||
1069 | |||
1070 | public override float APIDStrength { set { return; } } | ||
1071 | |||
1072 | public override float APIDDamping { set { return; } } | ||
1073 | |||
1074 | |||
1075 | public override void SubscribeEvents(int ms) | ||
1076 | { | ||
1077 | m_requestedUpdateFrequency = ms; | ||
1078 | m_eventsubscription = ms; | ||
1079 | _parent_scene.AddCollisionEventReporting(this); | ||
1080 | m_haseventsubscription = true; | ||
1081 | } | ||
1082 | |||
1083 | public override void UnSubscribeEvents() | ||
1084 | { | ||
1085 | m_haseventsubscription = false; | ||
1086 | _parent_scene.RemoveCollisionEventReporting(this); | ||
1087 | m_requestedUpdateFrequency = 0; | ||
1088 | m_eventsubscription = 0; | ||
1089 | } | ||
1090 | |||
1091 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
1092 | { | ||
1093 | if (m_haseventsubscription) | ||
1094 | { | ||
1095 | // m_log.DebugFormat( | ||
1096 | // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact); | ||
1097 | |||
1098 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | ||
1099 | } | ||
1100 | } | ||
1101 | |||
1102 | public void SendCollisions() | ||
1103 | { | ||
1104 | if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency) | ||
1105 | { | ||
1106 | if (CollisionEventsThisFrame != null) | ||
1107 | { | ||
1108 | base.SendCollisionUpdate(CollisionEventsThisFrame); | ||
1109 | } | ||
1110 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
1111 | m_eventsubscription = 0; | ||
1112 | } | ||
1113 | } | ||
1114 | |||
1115 | public override bool SubscribedEvents() | ||
1116 | { | ||
1117 | return m_haseventsubscription; | ||
1118 | } | ||
1119 | |||
1120 | private void changePhysicsStatus(bool NewStatus) | ||
1121 | { | ||
1122 | if (NewStatus != m_isPhysical) | ||
1123 | { | ||
1124 | if (NewStatus) | ||
1125 | { | ||
1126 | // Create avatar capsule and related ODE data | ||
1127 | if ((Shell != IntPtr.Zero)) | ||
1128 | { | ||
1129 | // a lost shell ? | ||
1130 | m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - " | ||
1131 | + (Shell != IntPtr.Zero ? "Shell " : "") | ||
1132 | + (Body != IntPtr.Zero ? "Body " : "") | ||
1133 | + (Amotor != IntPtr.Zero ? "Amotor " : "")); | ||
1134 | AvatarGeomAndBodyDestroy(); | ||
1135 | } | ||
1136 | |||
1137 | AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); | ||
1138 | _parent_scene.geom_name_map[Shell] = m_name; | ||
1139 | _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; | ||
1140 | _parent_scene.AddCharacter(this); | ||
1141 | } | ||
1142 | else | ||
1143 | { | ||
1144 | _parent_scene.RemoveCharacter(this); | ||
1145 | // destroy avatar capsule and related ODE data | ||
1146 | AvatarGeomAndBodyDestroy(); | ||
1147 | } | ||
1148 | |||
1149 | m_isPhysical = NewStatus; | ||
1150 | } | ||
1151 | } | ||
1152 | |||
1153 | private void changeAdd() | ||
1154 | { | ||
1155 | changePhysicsStatus(true); | ||
1156 | } | ||
1157 | |||
1158 | private void changeRemove() | ||
1159 | { | ||
1160 | changePhysicsStatus(false); | ||
1161 | } | ||
1162 | |||
1163 | private void changeShape(PrimitiveBaseShape arg) | ||
1164 | { | ||
1165 | } | ||
1166 | |||
1167 | private void changeSize(Vector3 Size) | ||
1168 | { | ||
1169 | if (Size.IsFinite()) | ||
1170 | { | ||
1171 | float caplen = Size.Z; | ||
1172 | |||
1173 | caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f; | ||
1174 | |||
1175 | if (caplen != CAPSULE_LENGTH) | ||
1176 | { | ||
1177 | if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero) | ||
1178 | { | ||
1179 | AvatarGeomAndBodyDestroy(); | ||
1180 | |||
1181 | float prevCapsule = CAPSULE_LENGTH; | ||
1182 | CAPSULE_LENGTH = caplen; | ||
1183 | |||
1184 | AvatarGeomAndBodyCreation(_position.X, _position.Y, | ||
1185 | _position.Z + (CAPSULE_LENGTH - prevCapsule) * 0.5f); | ||
1186 | |||
1187 | Velocity = Vector3.Zero; | ||
1188 | |||
1189 | _parent_scene.geom_name_map[Shell] = m_name; | ||
1190 | _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; | ||
1191 | } | ||
1192 | else | ||
1193 | { | ||
1194 | m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - " | ||
1195 | + (Shell == IntPtr.Zero ? "Shell " : "") | ||
1196 | + (Body == IntPtr.Zero ? "Body " : "") | ||
1197 | + (Amotor == IntPtr.Zero ? "Amotor " : "")); | ||
1198 | } | ||
1199 | } | ||
1200 | |||
1201 | m_pidControllerActive = true; | ||
1202 | } | ||
1203 | else | ||
1204 | { | ||
1205 | m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character"); | ||
1206 | } | ||
1207 | } | ||
1208 | |||
1209 | private void changePosition( Vector3 newPos) | ||
1210 | { | ||
1211 | if (Body != IntPtr.Zero) | ||
1212 | d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z); | ||
1213 | _position = newPos; | ||
1214 | } | ||
1215 | |||
1216 | private void changeOrientation(Quaternion newOri) | ||
1217 | { | ||
1218 | } | ||
1219 | |||
1220 | private void changeVelocity(Vector3 newVel) | ||
1221 | { | ||
1222 | m_pidControllerActive = true; | ||
1223 | _target_velocity = newVel; | ||
1224 | } | ||
1225 | |||
1226 | private void changeSetTorque(Vector3 newTorque) | ||
1227 | { | ||
1228 | } | ||
1229 | |||
1230 | private void changeAddForce(Vector3 newForce) | ||
1231 | { | ||
1232 | } | ||
1233 | |||
1234 | private void changeAddAngularForce(Vector3 arg) | ||
1235 | { | ||
1236 | } | ||
1237 | |||
1238 | private void changeAngularLock(Vector3 arg) | ||
1239 | { | ||
1240 | } | ||
1241 | |||
1242 | private void changeFloatOnWater(bool arg) | ||
1243 | { | ||
1244 | } | ||
1245 | |||
1246 | private void changeVolumedetetion(bool arg) | ||
1247 | { | ||
1248 | } | ||
1249 | |||
1250 | private void changeSelectedStatus(bool arg) | ||
1251 | { | ||
1252 | } | ||
1253 | |||
1254 | private void changeDisable(bool arg) | ||
1255 | { | ||
1256 | } | ||
1257 | |||
1258 | private void changeBuilding(bool arg) | ||
1259 | { | ||
1260 | } | ||
1261 | |||
1262 | private void changeForce(Vector3 newForce) | ||
1263 | { | ||
1264 | m_pidControllerActive = false; | ||
1265 | if (Body != IntPtr.Zero) | ||
1266 | { | ||
1267 | if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0) | ||
1268 | d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z); | ||
1269 | } | ||
1270 | } | ||
1271 | |||
1272 | // for now momentum is actually velocity | ||
1273 | private void changeMomentum(Vector3 newmomentum) | ||
1274 | { | ||
1275 | _velocity = newmomentum; | ||
1276 | _target_velocity = newmomentum; | ||
1277 | m_pidControllerActive = true; | ||
1278 | if (Body != IntPtr.Zero) | ||
1279 | d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); | ||
1280 | } | ||
1281 | |||
1282 | private void donullchange() | ||
1283 | { | ||
1284 | } | ||
1285 | |||
1286 | public bool DoAChange(changes what, object arg) | ||
1287 | { | ||
1288 | if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove) | ||
1289 | { | ||
1290 | return false; | ||
1291 | } | ||
1292 | |||
1293 | // nasty switch | ||
1294 | switch (what) | ||
1295 | { | ||
1296 | case changes.Add: | ||
1297 | changeAdd(); | ||
1298 | break; | ||
1299 | case changes.Remove: | ||
1300 | changeRemove(); | ||
1301 | break; | ||
1302 | |||
1303 | case changes.Position: | ||
1304 | changePosition((Vector3)arg); | ||
1305 | break; | ||
1306 | |||
1307 | case changes.Orientation: | ||
1308 | changeOrientation((Quaternion)arg); | ||
1309 | break; | ||
1310 | |||
1311 | case changes.PosOffset: | ||
1312 | donullchange(); | ||
1313 | break; | ||
1314 | |||
1315 | case changes.OriOffset: | ||
1316 | donullchange(); | ||
1317 | break; | ||
1318 | |||
1319 | case changes.Velocity: | ||
1320 | changeVelocity((Vector3)arg); | ||
1321 | break; | ||
1322 | |||
1323 | // case changes.Acceleration: | ||
1324 | // changeacceleration((Vector3)arg); | ||
1325 | // break; | ||
1326 | // case changes.AngVelocity: | ||
1327 | // changeangvelocity((Vector3)arg); | ||
1328 | // break; | ||
1329 | |||
1330 | case changes.Force: | ||
1331 | changeForce((Vector3)arg); | ||
1332 | break; | ||
1333 | |||
1334 | case changes.Torque: | ||
1335 | changeSetTorque((Vector3)arg); | ||
1336 | break; | ||
1337 | |||
1338 | case changes.AddForce: | ||
1339 | changeAddForce((Vector3)arg); | ||
1340 | break; | ||
1341 | |||
1342 | case changes.AddAngForce: | ||
1343 | changeAddAngularForce((Vector3)arg); | ||
1344 | break; | ||
1345 | |||
1346 | case changes.AngLock: | ||
1347 | changeAngularLock((Vector3)arg); | ||
1348 | break; | ||
1349 | |||
1350 | case changes.Size: | ||
1351 | changeSize((Vector3)arg); | ||
1352 | break; | ||
1353 | |||
1354 | case changes.Momentum: | ||
1355 | changeMomentum((Vector3)arg); | ||
1356 | break; | ||
1357 | /* not in use for now | ||
1358 | case changes.Shape: | ||
1359 | changeShape((PrimitiveBaseShape)arg); | ||
1360 | break; | ||
1361 | |||
1362 | case changes.CollidesWater: | ||
1363 | changeFloatOnWater((bool)arg); | ||
1364 | break; | ||
1365 | |||
1366 | case changes.VolumeDtc: | ||
1367 | changeVolumedetetion((bool)arg); | ||
1368 | break; | ||
1369 | |||
1370 | case changes.Physical: | ||
1371 | changePhysicsStatus((bool)arg); | ||
1372 | break; | ||
1373 | |||
1374 | case changes.Selected: | ||
1375 | changeSelectedStatus((bool)arg); | ||
1376 | break; | ||
1377 | |||
1378 | case changes.disabled: | ||
1379 | changeDisable((bool)arg); | ||
1380 | break; | ||
1381 | |||
1382 | case changes.building: | ||
1383 | changeBuilding((bool)arg); | ||
1384 | break; | ||
1385 | */ | ||
1386 | case changes.Null: | ||
1387 | donullchange(); | ||
1388 | break; | ||
1389 | |||
1390 | default: | ||
1391 | donullchange(); | ||
1392 | break; | ||
1393 | } | ||
1394 | return false; | ||
1395 | } | ||
1396 | |||
1397 | public void AddChange(changes what, object arg) | ||
1398 | { | ||
1399 | _parent_scene.AddChange((PhysicsActor)this, what, arg); | ||
1400 | } | ||
1401 | |||
1402 | |||
1403 | internal void AddCollisionFrameTime(int p) | ||
1404 | { | ||
1405 | // protect it from overflow crashing | ||
1406 | if (m_eventsubscription + p >= int.MaxValue) | ||
1407 | m_eventsubscription = 0; | ||
1408 | m_eventsubscription += p; | ||
1409 | } | ||
1410 | } | ||
1411 | } | ||
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs new file mode 100644 index 0000000..dcd02e2 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs | |||
@@ -0,0 +1,997 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
29 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
30 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
31 | * characteristics and Kinetic motion. | ||
32 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
33 | * (dynamics) and the associated settings. Old Linear and angular | ||
34 | * motors for dynamic motion have been replace with MoveLinear() | ||
35 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
36 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
37 | * switch between 'VEHICLE' parameter use and general dynamics | ||
38 | * settings use. | ||
39 | */ | ||
40 | |||
41 | // Extensive change Ubit 2012 | ||
42 | |||
43 | using System; | ||
44 | using System.Collections.Generic; | ||
45 | using System.Reflection; | ||
46 | using System.Runtime.InteropServices; | ||
47 | using log4net; | ||
48 | using OpenMetaverse; | ||
49 | using OdeAPI; | ||
50 | using OpenSim.Framework; | ||
51 | using OpenSim.Region.Physics.Manager; | ||
52 | |||
53 | namespace OpenSim.Region.Physics.OdePlugin | ||
54 | { | ||
55 | public class ODEDynamics | ||
56 | { | ||
57 | public Vehicle Type | ||
58 | { | ||
59 | get { return m_type; } | ||
60 | } | ||
61 | |||
62 | private OdePrim rootPrim; | ||
63 | private OdeScene _pParentScene; | ||
64 | |||
65 | // Vehicle properties | ||
66 | private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | ||
67 | private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? | ||
68 | |||
69 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind | ||
70 | |||
71 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: | ||
72 | // HOVER_TERRAIN_ONLY | ||
73 | // HOVER_GLOBAL_HEIGHT | ||
74 | // NO_DEFLECTION_UP | ||
75 | // HOVER_WATER_ONLY | ||
76 | // HOVER_UP_ONLY | ||
77 | // LIMIT_MOTOR_UP | ||
78 | // LIMIT_ROLL_ONLY | ||
79 | private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl | ||
80 | |||
81 | // Linear properties | ||
82 | private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time | ||
83 | private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
84 | private float m_linearMotorDecayTimescale = 120; | ||
85 | private float m_linearMotorTimescale = 1000; | ||
86 | private Vector3 m_linearMotorOffset = Vector3.Zero; | ||
87 | |||
88 | //Angular properties | ||
89 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor | ||
90 | private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate | ||
91 | private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate | ||
92 | private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate | ||
93 | |||
94 | //Deflection properties | ||
95 | private float m_angularDeflectionEfficiency = 0; | ||
96 | private float m_angularDeflectionTimescale = 1000; | ||
97 | private float m_linearDeflectionEfficiency = 0; | ||
98 | private float m_linearDeflectionTimescale = 1000; | ||
99 | |||
100 | //Banking properties | ||
101 | private float m_bankingEfficiency = 0; | ||
102 | private float m_bankingMix = 0; | ||
103 | private float m_bankingTimescale = 1000; | ||
104 | |||
105 | //Hover and Buoyancy properties | ||
106 | private float m_VhoverHeight = 0f; | ||
107 | private float m_VhoverEfficiency = 0f; | ||
108 | private float m_VhoverTimescale = 1000f; | ||
109 | private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. | ||
110 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) | ||
111 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. | ||
112 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. | ||
113 | |||
114 | //Attractor properties | ||
115 | private float m_verticalAttractionEfficiency = 1.0f; // damped | ||
116 | private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor. | ||
117 | |||
118 | |||
119 | // auxiliar | ||
120 | private float m_lmEfect = 0; // current linear motor eficiency | ||
121 | private float m_amEfect = 0; // current angular motor eficiency | ||
122 | private float m_ffactor = 1.0f; | ||
123 | |||
124 | public float FrictionFactor | ||
125 | { | ||
126 | get | ||
127 | { | ||
128 | return m_ffactor; | ||
129 | } | ||
130 | } | ||
131 | |||
132 | public ODEDynamics(OdePrim rootp) | ||
133 | { | ||
134 | rootPrim = rootp; | ||
135 | _pParentScene = rootPrim._parent_scene; | ||
136 | } | ||
137 | |||
138 | public void DoSetVehicle(VehicleData vd) | ||
139 | { | ||
140 | |||
141 | float timestep = _pParentScene.ODE_STEPSIZE; | ||
142 | float invtimestep = 1.0f / timestep; | ||
143 | |||
144 | m_type = vd.m_type; | ||
145 | m_flags = vd.m_flags; | ||
146 | |||
147 | // Linear properties | ||
148 | m_linearMotorDirection = vd.m_linearMotorDirection; | ||
149 | |||
150 | m_linearFrictionTimescale = vd.m_linearFrictionTimescale; | ||
151 | if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep; | ||
152 | if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep; | ||
153 | if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep; | ||
154 | |||
155 | m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale; | ||
156 | if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep; | ||
157 | m_linearMotorDecayTimescale *= invtimestep; | ||
158 | |||
159 | m_linearMotorTimescale = vd.m_linearMotorTimescale; | ||
160 | if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep; | ||
161 | |||
162 | |||
163 | m_linearMotorOffset = vd.m_linearMotorOffset; | ||
164 | |||
165 | //Angular properties | ||
166 | m_angularMotorDirection = vd.m_angularMotorDirection; | ||
167 | m_angularMotorTimescale = vd.m_angularMotorTimescale; | ||
168 | if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep; | ||
169 | |||
170 | m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale; | ||
171 | if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep; | ||
172 | m_angularMotorDecayTimescale *= invtimestep; | ||
173 | |||
174 | m_angularFrictionTimescale = vd.m_angularFrictionTimescale; | ||
175 | if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep; | ||
176 | if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep; | ||
177 | if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep; | ||
178 | |||
179 | //Deflection properties | ||
180 | m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency; | ||
181 | m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale; | ||
182 | if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep; | ||
183 | |||
184 | m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency; | ||
185 | m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale; | ||
186 | if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep; | ||
187 | |||
188 | //Banking properties | ||
189 | m_bankingEfficiency = vd.m_bankingEfficiency; | ||
190 | m_bankingMix = vd.m_bankingMix; | ||
191 | m_bankingTimescale = vd.m_bankingTimescale; | ||
192 | if (m_bankingTimescale < timestep) m_bankingTimescale = timestep; | ||
193 | |||
194 | //Hover and Buoyancy properties | ||
195 | m_VhoverHeight = vd.m_VhoverHeight; | ||
196 | m_VhoverEfficiency = vd.m_VhoverEfficiency; | ||
197 | m_VhoverTimescale = vd.m_VhoverTimescale; | ||
198 | if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep; | ||
199 | |||
200 | m_VehicleBuoyancy = vd.m_VehicleBuoyancy; | ||
201 | |||
202 | //Attractor properties | ||
203 | m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency; | ||
204 | m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale; | ||
205 | if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep; | ||
206 | |||
207 | // Axis | ||
208 | m_referenceFrame = vd.m_referenceFrame; | ||
209 | |||
210 | m_lmEfect = 0; | ||
211 | m_amEfect = 0; | ||
212 | m_ffactor = 1.0f; | ||
213 | } | ||
214 | |||
215 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) | ||
216 | { | ||
217 | float len; | ||
218 | float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE; | ||
219 | float timestep = _pParentScene.ODE_STEPSIZE; | ||
220 | |||
221 | switch (pParam) | ||
222 | { | ||
223 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: | ||
224 | if (pValue < 0f) pValue = 0f; | ||
225 | if (pValue > 1f) pValue = 1f; | ||
226 | m_angularDeflectionEfficiency = pValue; | ||
227 | break; | ||
228 | case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: | ||
229 | if (pValue < timestep) pValue = timestep; | ||
230 | m_angularDeflectionTimescale = pValue; | ||
231 | break; | ||
232 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: | ||
233 | if (pValue < timestep) pValue = timestep; | ||
234 | // try to make impulses to work a bit better | ||
235 | // if (pValue < 0.5f) pValue = 0.5f; | ||
236 | else if (pValue > 120) pValue = 120; | ||
237 | m_angularMotorDecayTimescale = pValue * invtimestep; | ||
238 | break; | ||
239 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | ||
240 | if (pValue < timestep) pValue = timestep; | ||
241 | m_angularMotorTimescale = pValue; | ||
242 | break; | ||
243 | case Vehicle.BANKING_EFFICIENCY: | ||
244 | if (pValue < -1f) pValue = -1f; | ||
245 | if (pValue > 1f) pValue = 1f; | ||
246 | m_bankingEfficiency = pValue; | ||
247 | break; | ||
248 | case Vehicle.BANKING_MIX: | ||
249 | if (pValue < 0f) pValue = 0f; | ||
250 | if (pValue > 1f) pValue = 1f; | ||
251 | m_bankingMix = pValue; | ||
252 | break; | ||
253 | case Vehicle.BANKING_TIMESCALE: | ||
254 | if (pValue < timestep) pValue = timestep; | ||
255 | m_bankingTimescale = pValue; | ||
256 | break; | ||
257 | case Vehicle.BUOYANCY: | ||
258 | if (pValue < -1f) pValue = -1f; | ||
259 | if (pValue > 1f) pValue = 1f; | ||
260 | m_VehicleBuoyancy = pValue; | ||
261 | break; | ||
262 | case Vehicle.HOVER_EFFICIENCY: | ||
263 | if (pValue < 0f) pValue = 0f; | ||
264 | if (pValue > 1f) pValue = 1f; | ||
265 | m_VhoverEfficiency = pValue; | ||
266 | break; | ||
267 | case Vehicle.HOVER_HEIGHT: | ||
268 | m_VhoverHeight = pValue; | ||
269 | break; | ||
270 | case Vehicle.HOVER_TIMESCALE: | ||
271 | if (pValue < timestep) pValue = timestep; | ||
272 | m_VhoverTimescale = pValue; | ||
273 | break; | ||
274 | case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: | ||
275 | if (pValue < 0f) pValue = 0f; | ||
276 | if (pValue > 1f) pValue = 1f; | ||
277 | m_linearDeflectionEfficiency = pValue; | ||
278 | break; | ||
279 | case Vehicle.LINEAR_DEFLECTION_TIMESCALE: | ||
280 | if (pValue < timestep) pValue = timestep; | ||
281 | m_linearDeflectionTimescale = pValue; | ||
282 | break; | ||
283 | case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: | ||
284 | if (pValue < timestep) pValue = timestep; | ||
285 | // try to make impulses to work a bit better | ||
286 | //if (pValue < 0.5f) pValue = 0.5f; | ||
287 | else if (pValue > 120) pValue = 120; | ||
288 | m_linearMotorDecayTimescale = pValue * invtimestep; | ||
289 | break; | ||
290 | case Vehicle.LINEAR_MOTOR_TIMESCALE: | ||
291 | if (pValue < timestep) pValue = timestep; | ||
292 | m_linearMotorTimescale = pValue; | ||
293 | break; | ||
294 | case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: | ||
295 | if (pValue < 0f) pValue = 0f; | ||
296 | if (pValue > 1f) pValue = 1f; | ||
297 | m_verticalAttractionEfficiency = pValue; | ||
298 | break; | ||
299 | case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: | ||
300 | if (pValue < timestep) pValue = timestep; | ||
301 | m_verticalAttractionTimescale = pValue; | ||
302 | break; | ||
303 | |||
304 | // These are vector properties but the engine lets you use a single float value to | ||
305 | // set all of the components to the same value | ||
306 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
307 | if (pValue < timestep) pValue = timestep; | ||
308 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
309 | break; | ||
310 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
311 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | ||
312 | len = m_angularMotorDirection.Length(); | ||
313 | if (len > 12.566f) | ||
314 | m_angularMotorDirection *= (12.566f / len); | ||
315 | m_amEfect = 1.0f; // turn it on | ||
316 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | ||
317 | && !rootPrim.m_isSelected && !rootPrim.m_disabled) | ||
318 | d.BodyEnable(rootPrim.Body); | ||
319 | break; | ||
320 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
321 | if (pValue < timestep) pValue = timestep; | ||
322 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
323 | break; | ||
324 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
325 | m_linearMotorDirection = new Vector3(pValue, pValue, pValue); | ||
326 | len = m_linearMotorDirection.Length(); | ||
327 | if (len > 30.0f) | ||
328 | m_linearMotorDirection *= (30.0f / len); | ||
329 | m_lmEfect = 1.0f; // turn it on | ||
330 | m_ffactor = 0.01f; | ||
331 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | ||
332 | && !rootPrim.m_isSelected && !rootPrim.m_disabled) | ||
333 | d.BodyEnable(rootPrim.Body); | ||
334 | break; | ||
335 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
336 | m_linearMotorOffset = new Vector3(pValue, pValue, pValue); | ||
337 | len = m_linearMotorOffset.Length(); | ||
338 | if (len > 100.0f) | ||
339 | m_linearMotorOffset *= (100.0f / len); | ||
340 | break; | ||
341 | } | ||
342 | }//end ProcessFloatVehicleParam | ||
343 | |||
344 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | ||
345 | { | ||
346 | float len; | ||
347 | float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE; | ||
348 | float timestep = _pParentScene.ODE_STEPSIZE; | ||
349 | switch (pParam) | ||
350 | { | ||
351 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
352 | if (pValue.X < timestep) pValue.X = timestep; | ||
353 | if (pValue.Y < timestep) pValue.Y = timestep; | ||
354 | if (pValue.Z < timestep) pValue.Z = timestep; | ||
355 | |||
356 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
357 | break; | ||
358 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
359 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
360 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | ||
361 | len = m_angularMotorDirection.Length(); | ||
362 | if (len > 12.566f) | ||
363 | m_angularMotorDirection *= (12.566f / len); | ||
364 | m_amEfect = 1.0f; // turn it on | ||
365 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | ||
366 | && !rootPrim.m_isSelected && !rootPrim.m_disabled) | ||
367 | d.BodyEnable(rootPrim.Body); | ||
368 | break; | ||
369 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
370 | if (pValue.X < timestep) pValue.X = timestep; | ||
371 | if (pValue.Y < timestep) pValue.Y = timestep; | ||
372 | if (pValue.Z < timestep) pValue.Z = timestep; | ||
373 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
374 | break; | ||
375 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
376 | m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
377 | len = m_linearMotorDirection.Length(); | ||
378 | if (len > 30.0f) | ||
379 | m_linearMotorDirection *= (30.0f / len); | ||
380 | m_lmEfect = 1.0f; // turn it on | ||
381 | m_ffactor = 0.01f; | ||
382 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | ||
383 | && !rootPrim.m_isSelected && !rootPrim.m_disabled) | ||
384 | d.BodyEnable(rootPrim.Body); | ||
385 | break; | ||
386 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
387 | m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
388 | len = m_linearMotorOffset.Length(); | ||
389 | if (len > 100.0f) | ||
390 | m_linearMotorOffset *= (100.0f / len); | ||
391 | break; | ||
392 | case Vehicle.BLOCK_EXIT: | ||
393 | m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
394 | break; | ||
395 | } | ||
396 | }//end ProcessVectorVehicleParam | ||
397 | |||
398 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | ||
399 | { | ||
400 | switch (pParam) | ||
401 | { | ||
402 | case Vehicle.REFERENCE_FRAME: | ||
403 | m_referenceFrame = Quaternion.Inverse(pValue); | ||
404 | break; | ||
405 | case Vehicle.ROLL_FRAME: | ||
406 | m_RollreferenceFrame = pValue; | ||
407 | break; | ||
408 | } | ||
409 | }//end ProcessRotationVehicleParam | ||
410 | |||
411 | internal void ProcessVehicleFlags(int pParam, bool remove) | ||
412 | { | ||
413 | if (remove) | ||
414 | { | ||
415 | m_flags &= ~((VehicleFlag)pParam); | ||
416 | } | ||
417 | else | ||
418 | { | ||
419 | m_flags |= (VehicleFlag)pParam; | ||
420 | } | ||
421 | }//end ProcessVehicleFlags | ||
422 | |||
423 | internal void ProcessTypeChange(Vehicle pType) | ||
424 | { | ||
425 | float invtimestep = _pParentScene.ODE_STEPSIZE; | ||
426 | m_lmEfect = 0; | ||
427 | m_amEfect = 0; | ||
428 | m_ffactor = 1f; | ||
429 | |||
430 | m_linearMotorDirection = Vector3.Zero; | ||
431 | m_angularMotorDirection = Vector3.Zero; | ||
432 | |||
433 | m_BlockingEndPoint = Vector3.Zero; | ||
434 | m_RollreferenceFrame = Quaternion.Identity; | ||
435 | m_linearMotorOffset = Vector3.Zero; | ||
436 | |||
437 | m_referenceFrame = Quaternion.Identity; | ||
438 | |||
439 | // Set Defaults For Type | ||
440 | m_type = pType; | ||
441 | switch (pType) | ||
442 | { | ||
443 | case Vehicle.TYPE_NONE: | ||
444 | m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
445 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
446 | m_linearMotorTimescale = 1000; | ||
447 | m_linearMotorDecayTimescale = 120 * invtimestep; | ||
448 | m_angularMotorTimescale = 1000; | ||
449 | m_angularMotorDecayTimescale = 1000 * invtimestep; | ||
450 | m_VhoverHeight = 0; | ||
451 | m_VhoverEfficiency = 1; | ||
452 | m_VhoverTimescale = 1000; | ||
453 | m_VehicleBuoyancy = 0; | ||
454 | m_linearDeflectionEfficiency = 0; | ||
455 | m_linearDeflectionTimescale = 1000; | ||
456 | m_angularDeflectionEfficiency = 0; | ||
457 | m_angularDeflectionTimescale = 1000; | ||
458 | m_bankingEfficiency = 0; | ||
459 | m_bankingMix = 1; | ||
460 | m_bankingTimescale = 1000; | ||
461 | m_verticalAttractionEfficiency = 0; | ||
462 | m_verticalAttractionTimescale = 1000; | ||
463 | |||
464 | m_flags = (VehicleFlag)0; | ||
465 | break; | ||
466 | |||
467 | case Vehicle.TYPE_SLED: | ||
468 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); | ||
469 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
470 | m_linearMotorTimescale = 1000; | ||
471 | m_linearMotorDecayTimescale = 120 * invtimestep; | ||
472 | m_angularMotorTimescale = 1000; | ||
473 | m_angularMotorDecayTimescale = 120 * invtimestep; | ||
474 | m_VhoverHeight = 0; | ||
475 | m_VhoverEfficiency = 1; | ||
476 | m_VhoverTimescale = 10; | ||
477 | m_VehicleBuoyancy = 0; | ||
478 | m_linearDeflectionEfficiency = 1; | ||
479 | m_linearDeflectionTimescale = 1; | ||
480 | m_angularDeflectionEfficiency = 0; | ||
481 | m_angularDeflectionTimescale = 1000; | ||
482 | m_bankingEfficiency = 0; | ||
483 | m_bankingMix = 1; | ||
484 | m_bankingTimescale = 10; | ||
485 | m_flags &= | ||
486 | ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
487 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | ||
488 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); | ||
489 | break; | ||
490 | case Vehicle.TYPE_CAR: | ||
491 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); | ||
492 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
493 | m_linearMotorTimescale = 1; | ||
494 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
495 | m_angularMotorTimescale = 1; | ||
496 | m_angularMotorDecayTimescale = 0.8f * invtimestep; | ||
497 | m_VhoverHeight = 0; | ||
498 | m_VhoverEfficiency = 0; | ||
499 | m_VhoverTimescale = 1000; | ||
500 | m_VehicleBuoyancy = 0; | ||
501 | m_linearDeflectionEfficiency = 1; | ||
502 | m_linearDeflectionTimescale = 2; | ||
503 | m_angularDeflectionEfficiency = 0; | ||
504 | m_angularDeflectionTimescale = 10; | ||
505 | m_verticalAttractionEfficiency = 1f; | ||
506 | m_verticalAttractionTimescale = 10f; | ||
507 | m_bankingEfficiency = -0.2f; | ||
508 | m_bankingMix = 1; | ||
509 | m_bankingTimescale = 1; | ||
510 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
511 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | | ||
512 | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY); | ||
513 | break; | ||
514 | case Vehicle.TYPE_BOAT: | ||
515 | m_linearFrictionTimescale = new Vector3(10, 3, 2); | ||
516 | m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
517 | m_linearMotorTimescale = 5; | ||
518 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
519 | m_angularMotorTimescale = 4; | ||
520 | m_angularMotorDecayTimescale = 4 * invtimestep; | ||
521 | m_VhoverHeight = 0; | ||
522 | m_VhoverEfficiency = 0.5f; | ||
523 | m_VhoverTimescale = 2; | ||
524 | m_VehicleBuoyancy = 1; | ||
525 | m_linearDeflectionEfficiency = 0.5f; | ||
526 | m_linearDeflectionTimescale = 3; | ||
527 | m_angularDeflectionEfficiency = 0.5f; | ||
528 | m_angularDeflectionTimescale = 5; | ||
529 | m_verticalAttractionEfficiency = 0.5f; | ||
530 | m_verticalAttractionTimescale = 5f; | ||
531 | m_bankingEfficiency = -0.3f; | ||
532 | m_bankingMix = 0.8f; | ||
533 | m_bankingTimescale = 1; | ||
534 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | | ||
535 | VehicleFlag.HOVER_GLOBAL_HEIGHT | | ||
536 | VehicleFlag.HOVER_UP_ONLY | | ||
537 | VehicleFlag.LIMIT_ROLL_ONLY); | ||
538 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | | ||
539 | VehicleFlag.LIMIT_MOTOR_UP | | ||
540 | VehicleFlag.HOVER_WATER_ONLY); | ||
541 | break; | ||
542 | case Vehicle.TYPE_AIRPLANE: | ||
543 | m_linearFrictionTimescale = new Vector3(200, 10, 5); | ||
544 | m_angularFrictionTimescale = new Vector3(20, 20, 20); | ||
545 | m_linearMotorTimescale = 2; | ||
546 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
547 | m_angularMotorTimescale = 4; | ||
548 | m_angularMotorDecayTimescale = 8 * invtimestep; | ||
549 | m_VhoverHeight = 0; | ||
550 | m_VhoverEfficiency = 0.5f; | ||
551 | m_VhoverTimescale = 1000; | ||
552 | m_VehicleBuoyancy = 0; | ||
553 | m_linearDeflectionEfficiency = 0.5f; | ||
554 | m_linearDeflectionTimescale = 0.5f; | ||
555 | m_angularDeflectionEfficiency = 1; | ||
556 | m_angularDeflectionTimescale = 2; | ||
557 | m_verticalAttractionEfficiency = 0.9f; | ||
558 | m_verticalAttractionTimescale = 2f; | ||
559 | m_bankingEfficiency = 1; | ||
560 | m_bankingMix = 0.7f; | ||
561 | m_bankingTimescale = 2; | ||
562 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | | ||
563 | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
564 | VehicleFlag.HOVER_GLOBAL_HEIGHT | | ||
565 | VehicleFlag.HOVER_UP_ONLY | | ||
566 | VehicleFlag.NO_DEFLECTION_UP | | ||
567 | VehicleFlag.LIMIT_MOTOR_UP); | ||
568 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); | ||
569 | break; | ||
570 | case Vehicle.TYPE_BALLOON: | ||
571 | m_linearFrictionTimescale = new Vector3(5, 5, 5); | ||
572 | m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
573 | m_linearMotorTimescale = 5; | ||
574 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
575 | m_angularMotorTimescale = 6; | ||
576 | m_angularMotorDecayTimescale = 10 * invtimestep; | ||
577 | m_VhoverHeight = 5; | ||
578 | m_VhoverEfficiency = 0.8f; | ||
579 | m_VhoverTimescale = 10; | ||
580 | m_VehicleBuoyancy = 1; | ||
581 | m_linearDeflectionEfficiency = 0; | ||
582 | m_linearDeflectionTimescale = 5 * invtimestep; | ||
583 | m_angularDeflectionEfficiency = 0; | ||
584 | m_angularDeflectionTimescale = 5; | ||
585 | m_verticalAttractionEfficiency = 0f; | ||
586 | m_verticalAttractionTimescale = 1000f; | ||
587 | m_bankingEfficiency = 0; | ||
588 | m_bankingMix = 0.7f; | ||
589 | m_bankingTimescale = 5; | ||
590 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | | ||
591 | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
592 | VehicleFlag.HOVER_UP_ONLY | | ||
593 | VehicleFlag.NO_DEFLECTION_UP | | ||
594 | VehicleFlag.LIMIT_MOTOR_UP); | ||
595 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | | ||
596 | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
597 | break; | ||
598 | } | ||
599 | |||
600 | }//end SetDefaultsForType | ||
601 | |||
602 | internal void Stop() | ||
603 | { | ||
604 | m_lmEfect = 0; | ||
605 | m_amEfect = 0; | ||
606 | m_ffactor = 1f; | ||
607 | } | ||
608 | |||
609 | public static Vector3 Xrot(Quaternion rot) | ||
610 | { | ||
611 | Vector3 vec; | ||
612 | rot.Normalize(); // just in case | ||
613 | vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1; | ||
614 | vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W); | ||
615 | vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W); | ||
616 | return vec; | ||
617 | } | ||
618 | |||
619 | public static Vector3 Zrot(Quaternion rot) | ||
620 | { | ||
621 | Vector3 vec; | ||
622 | rot.Normalize(); // just in case | ||
623 | vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W); | ||
624 | vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W); | ||
625 | vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1; | ||
626 | |||
627 | return vec; | ||
628 | } | ||
629 | |||
630 | private const float pi = (float)Math.PI; | ||
631 | private const float halfpi = 0.5f * (float)Math.PI; | ||
632 | |||
633 | public static Vector3 ubitRot2Euler(Quaternion rot) | ||
634 | { | ||
635 | // returns roll in X | ||
636 | // pitch in Y | ||
637 | // yaw in Z | ||
638 | Vector3 vec; | ||
639 | |||
640 | // assuming rot is normalised | ||
641 | // rot.Normalize(); | ||
642 | |||
643 | float zX = rot.X * rot.Z + rot.Y * rot.W; | ||
644 | |||
645 | if (zX < -0.49999f) | ||
646 | { | ||
647 | vec.X = 0; | ||
648 | vec.Y = -halfpi; | ||
649 | vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W)); | ||
650 | } | ||
651 | else if (zX > 0.49999f) | ||
652 | { | ||
653 | vec.X = 0; | ||
654 | vec.Y = halfpi; | ||
655 | vec.Z = (float)(2d * Math.Atan(rot.X / rot.W)); | ||
656 | } | ||
657 | else | ||
658 | { | ||
659 | vec.Y = (float)Math.Asin(2 * zX); | ||
660 | |||
661 | float sqw = rot.W * rot.W; | ||
662 | |||
663 | float minuszY = rot.X * rot.W - rot.Y * rot.Z; | ||
664 | float zZ = rot.Z * rot.Z + sqw - 0.5f; | ||
665 | |||
666 | vec.X = (float)Math.Atan2(minuszY, zZ); | ||
667 | |||
668 | float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?) | ||
669 | float yY = rot.X * rot.X + sqw - 0.5f; | ||
670 | vec.Z = (float)Math.Atan2(yX, yY); | ||
671 | } | ||
672 | return vec; | ||
673 | } | ||
674 | |||
675 | public static void GetRollPitch(Quaternion rot, out float roll, out float pitch) | ||
676 | { | ||
677 | // assuming rot is normalised | ||
678 | // rot.Normalize(); | ||
679 | |||
680 | float zX = rot.X * rot.Z + rot.Y * rot.W; | ||
681 | |||
682 | if (zX < -0.49999f) | ||
683 | { | ||
684 | roll = 0; | ||
685 | pitch = -halfpi; | ||
686 | } | ||
687 | else if (zX > 0.49999f) | ||
688 | { | ||
689 | roll = 0; | ||
690 | pitch = halfpi; | ||
691 | } | ||
692 | else | ||
693 | { | ||
694 | pitch = (float)Math.Asin(2 * zX); | ||
695 | |||
696 | float minuszY = rot.X * rot.W - rot.Y * rot.Z; | ||
697 | float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f; | ||
698 | |||
699 | roll = (float)Math.Atan2(minuszY, zZ); | ||
700 | } | ||
701 | return ; | ||
702 | } | ||
703 | |||
704 | internal void Step()//float pTimestep) | ||
705 | { | ||
706 | IntPtr Body = rootPrim.Body; | ||
707 | |||
708 | d.Quaternion rot = d.BodyGetQuaternion(Body); | ||
709 | Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object | ||
710 | Quaternion rotq = objrotq; // rotq = rotation of object | ||
711 | rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame | ||
712 | Quaternion irotq = Quaternion.Inverse(rotq); | ||
713 | |||
714 | d.Vector3 dvtmp; | ||
715 | Vector3 tmpV; | ||
716 | Vector3 curVel; // velocity in world | ||
717 | Vector3 curAngVel; // angular velocity in world | ||
718 | Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame | ||
719 | Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame | ||
720 | d.Vector3 dtorque = new d.Vector3(); | ||
721 | |||
722 | dvtmp = d.BodyGetLinearVel(Body); | ||
723 | curVel.X = dvtmp.X; | ||
724 | curVel.Y = dvtmp.Y; | ||
725 | curVel.Z = dvtmp.Z; | ||
726 | Vector3 curLocalVel = curVel * irotq; // current velocity in local | ||
727 | |||
728 | dvtmp = d.BodyGetAngularVel(Body); | ||
729 | curAngVel.X = dvtmp.X; | ||
730 | curAngVel.Y = dvtmp.Y; | ||
731 | curAngVel.Z = dvtmp.Z; | ||
732 | Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local | ||
733 | |||
734 | // linear motor | ||
735 | if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) | ||
736 | { | ||
737 | tmpV = m_linearMotorDirection - curLocalVel; // velocity error | ||
738 | tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep | ||
739 | tmpV *= rotq; // to world | ||
740 | |||
741 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) | ||
742 | tmpV.Z = 0; | ||
743 | |||
744 | if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0) | ||
745 | { | ||
746 | // have offset, do it now | ||
747 | tmpV *= rootPrim.Mass; | ||
748 | d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z); | ||
749 | } | ||
750 | else | ||
751 | { | ||
752 | force.X += tmpV.X; | ||
753 | force.Y += tmpV.Y; | ||
754 | force.Z += tmpV.Z; | ||
755 | } | ||
756 | m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale); | ||
757 | |||
758 | m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); | ||
759 | } | ||
760 | else | ||
761 | { | ||
762 | m_lmEfect = 0; | ||
763 | m_ffactor = 1f; | ||
764 | } | ||
765 | |||
766 | // friction | ||
767 | if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0) | ||
768 | { | ||
769 | tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X; | ||
770 | tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y; | ||
771 | tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z; | ||
772 | tmpV *= rotq; // to world | ||
773 | force.X += tmpV.X; | ||
774 | force.Y += tmpV.Y; | ||
775 | force.Z += tmpV.Z; | ||
776 | } | ||
777 | |||
778 | // hover | ||
779 | if (m_VhoverTimescale < 300) | ||
780 | { | ||
781 | d.Vector3 pos = d.BodyGetPosition(Body); | ||
782 | |||
783 | // default to global | ||
784 | float perr = m_VhoverHeight - pos.Z;; | ||
785 | |||
786 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) | ||
787 | { | ||
788 | perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); | ||
789 | } | ||
790 | else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) | ||
791 | { | ||
792 | perr += _pParentScene.GetWaterLevel(); | ||
793 | } | ||
794 | else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0) | ||
795 | { | ||
796 | float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); | ||
797 | float w = _pParentScene.GetWaterLevel(); | ||
798 | if (t > w) | ||
799 | perr += t; | ||
800 | else | ||
801 | perr += w; | ||
802 | } | ||
803 | |||
804 | if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0) | ||
805 | { | ||
806 | force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE; | ||
807 | force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); | ||
808 | } | ||
809 | else // no buoyancy | ||
810 | force.Z += _pParentScene.gravityz; | ||
811 | } | ||
812 | else | ||
813 | { | ||
814 | // default gravity and buoancy | ||
815 | force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); | ||
816 | } | ||
817 | |||
818 | // linear deflection | ||
819 | if (m_linearDeflectionEfficiency > 0) | ||
820 | { | ||
821 | float len = curVel.Length(); | ||
822 | Vector3 atAxis; | ||
823 | atAxis = Xrot(rotq); // where are we pointing to | ||
824 | atAxis *= len; // make it same size as world velocity vector | ||
825 | tmpV = -atAxis; // oposite direction | ||
826 | atAxis -= curVel; // error to one direction | ||
827 | len = atAxis.LengthSquared(); | ||
828 | tmpV -= curVel; // error to oposite | ||
829 | float lens = tmpV.LengthSquared(); | ||
830 | if (len > 0.01 || lens > 0.01) // do nothing if close enougth | ||
831 | { | ||
832 | if (len < lens) | ||
833 | tmpV = atAxis; | ||
834 | |||
835 | tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep | ||
836 | force.X += tmpV.X; | ||
837 | force.Y += tmpV.Y; | ||
838 | if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0) | ||
839 | force.Z += tmpV.Z; | ||
840 | } | ||
841 | } | ||
842 | |||
843 | // angular motor | ||
844 | if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) | ||
845 | { | ||
846 | tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error | ||
847 | tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep | ||
848 | torque.X += tmpV.X; | ||
849 | torque.Y += tmpV.Y; | ||
850 | torque.Z += tmpV.Z; | ||
851 | m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale); | ||
852 | } | ||
853 | else | ||
854 | m_amEfect = 0; | ||
855 | |||
856 | // angular friction | ||
857 | if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0) | ||
858 | { | ||
859 | torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X; | ||
860 | torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y; | ||
861 | torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z; | ||
862 | } | ||
863 | |||
864 | // angular deflection | ||
865 | if (m_angularDeflectionEfficiency > 0) | ||
866 | { | ||
867 | Vector3 dirv; | ||
868 | |||
869 | if (curLocalVel.X > 0.01f) | ||
870 | dirv = curLocalVel; | ||
871 | else if (curLocalVel.X < -0.01f) | ||
872 | // use oposite | ||
873 | dirv = -curLocalVel; | ||
874 | else | ||
875 | { | ||
876 | // make it fall into small positive x case | ||
877 | dirv.X = 0.01f; | ||
878 | dirv.Y = curLocalVel.Y; | ||
879 | dirv.Z = curLocalVel.Z; | ||
880 | } | ||
881 | |||
882 | float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale; | ||
883 | |||
884 | if (Math.Abs(dirv.Z) > 0.01) | ||
885 | { | ||
886 | torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp; | ||
887 | } | ||
888 | |||
889 | if (Math.Abs(dirv.Y) > 0.01) | ||
890 | { | ||
891 | torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp; | ||
892 | } | ||
893 | } | ||
894 | |||
895 | // vertical atractor | ||
896 | if (m_verticalAttractionTimescale < 300) | ||
897 | { | ||
898 | float roll; | ||
899 | float pitch; | ||
900 | |||
901 | GetRollPitch(irotq, out roll, out pitch); | ||
902 | |||
903 | float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE; | ||
904 | float ftmp2; | ||
905 | if (m_bankingEfficiency == 0) | ||
906 | ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE; | ||
907 | else | ||
908 | ftmp2 = 0; | ||
909 | |||
910 | if (roll > halfpi) | ||
911 | roll = pi - roll; | ||
912 | else if (roll < -halfpi) | ||
913 | roll = -pi - roll; | ||
914 | |||
915 | float effroll = pitch / halfpi; | ||
916 | effroll *= effroll; | ||
917 | effroll = 1 - effroll; | ||
918 | effroll *= roll; | ||
919 | |||
920 | if (Math.Abs(effroll) > 0.01) // roll | ||
921 | { | ||
922 | torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2; | ||
923 | } | ||
924 | |||
925 | if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0) | ||
926 | { | ||
927 | float effpitch = roll / halfpi; | ||
928 | effpitch *= effpitch; | ||
929 | effpitch = 1 - effpitch; | ||
930 | effpitch *= pitch; | ||
931 | |||
932 | if (Math.Abs(effpitch) > 0.01) // pitch | ||
933 | { | ||
934 | torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2; | ||
935 | } | ||
936 | } | ||
937 | |||
938 | if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01) | ||
939 | { | ||
940 | |||
941 | float broll = effroll; | ||
942 | /* | ||
943 | if (broll > halfpi) | ||
944 | broll = pi - broll; | ||
945 | else if (broll < -halfpi) | ||
946 | broll = -pi - broll; | ||
947 | */ | ||
948 | broll *= m_bankingEfficiency; | ||
949 | if (m_bankingMix != 0) | ||
950 | { | ||
951 | float vfact = Math.Abs(curLocalVel.X) / 10.0f; | ||
952 | if (vfact > 1.0f) vfact = 1.0f; | ||
953 | |||
954 | if (curLocalVel.X >= 0) | ||
955 | broll *= (1 + (vfact - 1) * m_bankingMix); | ||
956 | else | ||
957 | broll *= -(1 + (vfact - 1) * m_bankingMix); | ||
958 | } | ||
959 | // make z rot be in world Z not local as seems to be in sl | ||
960 | |||
961 | broll = broll / m_bankingTimescale; | ||
962 | |||
963 | ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale; | ||
964 | |||
965 | tmpV.X = ftmp * curAngVel.X; | ||
966 | tmpV.Y = ftmp * curAngVel.Y; | ||
967 | tmpV.Z = broll + ftmp * curAngVel.Z; | ||
968 | tmpV *= irotq; | ||
969 | |||
970 | torque.X += tmpV.X; | ||
971 | torque.Y += tmpV.Y; | ||
972 | torque.Z += tmpV.Z; | ||
973 | } | ||
974 | } | ||
975 | |||
976 | d.Mass dmass; | ||
977 | d.BodyGetMass(Body,out dmass); | ||
978 | |||
979 | if (force.X != 0 || force.Y != 0 || force.Z != 0) | ||
980 | { | ||
981 | force *= dmass.mass; | ||
982 | d.BodySetForce(Body, force.X, force.Y, force.Z); | ||
983 | } | ||
984 | |||
985 | if (torque.X != 0 || torque.Y != 0 || torque.Z != 0) | ||
986 | { | ||
987 | torque *= m_referenceFrame; // to object frame | ||
988 | dtorque.X = torque.X; | ||
989 | dtorque.Y = torque.Y; | ||
990 | dtorque.Z = torque.Z; | ||
991 | |||
992 | d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque); | ||
993 | d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame | ||
994 | } | ||
995 | } | ||
996 | } | ||
997 | } | ||
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs new file mode 100644 index 0000000..dc6c18d --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | |||
@@ -0,0 +1,3935 @@ | |||
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 | |||
49 | using System; | ||
50 | using System.Collections.Generic; | ||
51 | using System.Reflection; | ||
52 | using System.Runtime.InteropServices; | ||
53 | using System.Threading; | ||
54 | using log4net; | ||
55 | using OpenMetaverse; | ||
56 | using OdeAPI; | ||
57 | using OpenSim.Framework; | ||
58 | using OpenSim.Region.Physics.Manager; | ||
59 | |||
60 | |||
61 | namespace 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 | d.Vector3 dtmp; | ||
453 | if (IsPhysical && !childPrim && Body != IntPtr.Zero) | ||
454 | { | ||
455 | dtmp = d.BodyGetPosition(Body); | ||
456 | return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
457 | } | ||
458 | else if (prim_geom != IntPtr.Zero) | ||
459 | { | ||
460 | d.Quaternion dq; | ||
461 | d.GeomCopyQuaternion(prim_geom, out dq); | ||
462 | Quaternion q; | ||
463 | q.X = dq.X; | ||
464 | q.Y = dq.Y; | ||
465 | q.Z = dq.Z; | ||
466 | q.W = dq.W; | ||
467 | |||
468 | Vector3 vtmp = primOOBoffset * q; | ||
469 | dtmp = d.GeomGetPosition(prim_geom); | ||
470 | return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z); | ||
471 | } | ||
472 | else | ||
473 | return Vector3.Zero; | ||
474 | } | ||
475 | } | ||
476 | /* | ||
477 | public override Vector3 PrimOOBsize | ||
478 | { | ||
479 | get | ||
480 | { | ||
481 | return primOOBsize; | ||
482 | } | ||
483 | } | ||
484 | |||
485 | public override Vector3 PrimOOBoffset | ||
486 | { | ||
487 | get | ||
488 | { | ||
489 | return primOOBoffset; | ||
490 | } | ||
491 | } | ||
492 | |||
493 | public override float PrimOOBRadiusSQ | ||
494 | { | ||
495 | get | ||
496 | { | ||
497 | return primOOBradiusSQ; | ||
498 | } | ||
499 | } | ||
500 | */ | ||
501 | public override PrimitiveBaseShape Shape | ||
502 | { | ||
503 | set | ||
504 | { | ||
505 | /* | ||
506 | IMesh mesh = null; | ||
507 | if (_parent_scene.needsMeshing(value)) | ||
508 | { | ||
509 | bool convex; | ||
510 | if (m_shapetype == 0) | ||
511 | convex = false; | ||
512 | else | ||
513 | convex = true; | ||
514 | mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex); | ||
515 | } | ||
516 | |||
517 | if (mesh != null) | ||
518 | { | ||
519 | lock (m_meshlock) | ||
520 | m_mesh = mesh; | ||
521 | } | ||
522 | */ | ||
523 | AddChange(changes.Shape, value); | ||
524 | } | ||
525 | } | ||
526 | |||
527 | public override byte PhysicsShapeType | ||
528 | { | ||
529 | get | ||
530 | { | ||
531 | return m_shapetype; | ||
532 | } | ||
533 | set | ||
534 | { | ||
535 | m_shapetype = value; | ||
536 | AddChange(changes.Shape, null); | ||
537 | } | ||
538 | } | ||
539 | |||
540 | |||
541 | public override Vector3 Velocity | ||
542 | { | ||
543 | get | ||
544 | { | ||
545 | if (_zeroFlag) | ||
546 | return Vector3.Zero; | ||
547 | return _velocity; | ||
548 | } | ||
549 | set | ||
550 | { | ||
551 | if (value.IsFinite()) | ||
552 | { | ||
553 | AddChange(changes.Velocity, value); | ||
554 | // _velocity = value; | ||
555 | |||
556 | } | ||
557 | else | ||
558 | { | ||
559 | m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); | ||
560 | } | ||
561 | |||
562 | } | ||
563 | } | ||
564 | |||
565 | public override Vector3 Torque | ||
566 | { | ||
567 | get | ||
568 | { | ||
569 | if (!IsPhysical || Body == IntPtr.Zero) | ||
570 | return Vector3.Zero; | ||
571 | |||
572 | return _torque; | ||
573 | } | ||
574 | |||
575 | set | ||
576 | { | ||
577 | if (value.IsFinite()) | ||
578 | { | ||
579 | AddChange(changes.Torque, value); | ||
580 | } | ||
581 | else | ||
582 | { | ||
583 | m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); | ||
584 | } | ||
585 | } | ||
586 | } | ||
587 | |||
588 | public override float CollisionScore | ||
589 | { | ||
590 | get { return m_collisionscore; } | ||
591 | set { m_collisionscore = value; } | ||
592 | } | ||
593 | |||
594 | public override bool Kinematic | ||
595 | { | ||
596 | get { return false; } | ||
597 | set { } | ||
598 | } | ||
599 | |||
600 | public override Quaternion Orientation | ||
601 | { | ||
602 | get | ||
603 | { | ||
604 | if (givefakeori > 0) | ||
605 | return fakeori; | ||
606 | else | ||
607 | |||
608 | return _orientation; | ||
609 | } | ||
610 | set | ||
611 | { | ||
612 | if (QuaternionIsFinite(value)) | ||
613 | { | ||
614 | fakeori = value; | ||
615 | givefakeori++; | ||
616 | AddChange(changes.Orientation, value); | ||
617 | } | ||
618 | else | ||
619 | m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); | ||
620 | |||
621 | } | ||
622 | } | ||
623 | |||
624 | public override Vector3 Acceleration | ||
625 | { | ||
626 | get { return _acceleration; } | ||
627 | set { } | ||
628 | } | ||
629 | |||
630 | public override Vector3 RotationalVelocity | ||
631 | { | ||
632 | get | ||
633 | { | ||
634 | Vector3 pv = Vector3.Zero; | ||
635 | if (_zeroFlag) | ||
636 | return pv; | ||
637 | |||
638 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | ||
639 | return pv; | ||
640 | |||
641 | return m_rotationalVelocity; | ||
642 | } | ||
643 | set | ||
644 | { | ||
645 | if (value.IsFinite()) | ||
646 | { | ||
647 | m_rotationalVelocity = value; | ||
648 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
649 | d.BodyEnable(Body); | ||
650 | } | ||
651 | else | ||
652 | { | ||
653 | m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); | ||
654 | } | ||
655 | } | ||
656 | } | ||
657 | |||
658 | |||
659 | public override float Buoyancy | ||
660 | { | ||
661 | get { return m_buoyancy; } | ||
662 | set | ||
663 | { | ||
664 | m_buoyancy = value; | ||
665 | } | ||
666 | } | ||
667 | |||
668 | public override bool FloatOnWater | ||
669 | { | ||
670 | set | ||
671 | { | ||
672 | AddChange(changes.CollidesWater, value); | ||
673 | } | ||
674 | } | ||
675 | |||
676 | public override Vector3 PIDTarget | ||
677 | { | ||
678 | set | ||
679 | { | ||
680 | if (value.IsFinite()) | ||
681 | { | ||
682 | m_PIDTarget = value; | ||
683 | } | ||
684 | else | ||
685 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | ||
686 | } | ||
687 | } | ||
688 | |||
689 | public override bool PIDActive { set { m_usePID = value; } } | ||
690 | public override float PIDTau | ||
691 | { | ||
692 | set | ||
693 | { | ||
694 | if (value <= 0) | ||
695 | m_PIDTau = 0; | ||
696 | else | ||
697 | { | ||
698 | float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); | ||
699 | if (value < mint) | ||
700 | m_PIDTau = mint; | ||
701 | else | ||
702 | m_PIDTau = value; | ||
703 | } | ||
704 | } | ||
705 | } | ||
706 | |||
707 | public override float PIDHoverHeight | ||
708 | { | ||
709 | set | ||
710 | { | ||
711 | m_PIDHoverHeight = value; | ||
712 | if (value == 0) | ||
713 | m_useHoverPID = false; | ||
714 | } | ||
715 | } | ||
716 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } | ||
717 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } | ||
718 | public override float PIDHoverTau | ||
719 | { | ||
720 | set | ||
721 | { | ||
722 | if (value <= 0) | ||
723 | m_PIDHoverTau = 0; | ||
724 | else | ||
725 | { | ||
726 | float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); | ||
727 | if (value < mint) | ||
728 | m_PIDHoverTau = mint; | ||
729 | else | ||
730 | m_PIDHoverTau = value; | ||
731 | } | ||
732 | } | ||
733 | } | ||
734 | |||
735 | public override Quaternion APIDTarget { set { return; } } | ||
736 | |||
737 | public override bool APIDActive { set { return; } } | ||
738 | |||
739 | public override float APIDStrength { set { return; } } | ||
740 | |||
741 | public override float APIDDamping { set { return; } } | ||
742 | |||
743 | public override int VehicleType | ||
744 | { | ||
745 | // we may need to put a fake on this | ||
746 | get | ||
747 | { | ||
748 | if (m_vehicle == null) | ||
749 | return (int)Vehicle.TYPE_NONE; | ||
750 | else | ||
751 | return (int)m_vehicle.Type; | ||
752 | } | ||
753 | set | ||
754 | { | ||
755 | AddChange(changes.VehicleType, value); | ||
756 | } | ||
757 | } | ||
758 | |||
759 | public override void VehicleFloatParam(int param, float value) | ||
760 | { | ||
761 | strVehicleFloatParam fp = new strVehicleFloatParam(); | ||
762 | fp.param = param; | ||
763 | fp.value = value; | ||
764 | AddChange(changes.VehicleFloatParam, fp); | ||
765 | } | ||
766 | |||
767 | public override void VehicleVectorParam(int param, Vector3 value) | ||
768 | { | ||
769 | strVehicleVectorParam fp = new strVehicleVectorParam(); | ||
770 | fp.param = param; | ||
771 | fp.value = value; | ||
772 | AddChange(changes.VehicleVectorParam, fp); | ||
773 | } | ||
774 | |||
775 | public override void VehicleRotationParam(int param, Quaternion value) | ||
776 | { | ||
777 | strVehicleQuatParam fp = new strVehicleQuatParam(); | ||
778 | fp.param = param; | ||
779 | fp.value = value; | ||
780 | AddChange(changes.VehicleRotationParam, fp); | ||
781 | } | ||
782 | |||
783 | public override void VehicleFlags(int param, bool value) | ||
784 | { | ||
785 | strVehicleBoolParam bp = new strVehicleBoolParam(); | ||
786 | bp.param = param; | ||
787 | bp.value = value; | ||
788 | AddChange(changes.VehicleFlags, bp); | ||
789 | } | ||
790 | |||
791 | public override void SetVehicle(object vdata) | ||
792 | { | ||
793 | AddChange(changes.SetVehicle, vdata); | ||
794 | } | ||
795 | public void SetAcceleration(Vector3 accel) | ||
796 | { | ||
797 | _acceleration = accel; | ||
798 | } | ||
799 | |||
800 | public override void AddForce(Vector3 force, bool pushforce) | ||
801 | { | ||
802 | if (force.IsFinite()) | ||
803 | { | ||
804 | AddChange(changes.AddForce, force * m_invTimeStep); | ||
805 | } | ||
806 | else | ||
807 | { | ||
808 | m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); | ||
809 | } | ||
810 | //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); | ||
811 | } | ||
812 | |||
813 | public override void AddAngularForce(Vector3 force, bool pushforce) | ||
814 | { | ||
815 | if (force.IsFinite()) | ||
816 | { | ||
817 | AddChange(changes.AddAngForce, force * m_invTimeStep); | ||
818 | } | ||
819 | else | ||
820 | { | ||
821 | m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); | ||
822 | } | ||
823 | } | ||
824 | |||
825 | public override void CrossingFailure() | ||
826 | { | ||
827 | if (m_outbounds) | ||
828 | { | ||
829 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); | ||
830 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | ||
831 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | ||
832 | |||
833 | m_lastposition = _position; | ||
834 | _velocity.X = 0; | ||
835 | _velocity.Y = 0; | ||
836 | _velocity.Z = 0; | ||
837 | |||
838 | m_lastVelocity = _velocity; | ||
839 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
840 | m_vehicle.Stop(); | ||
841 | |||
842 | if(Body != IntPtr.Zero) | ||
843 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
844 | if (prim_geom != IntPtr.Zero) | ||
845 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
846 | |||
847 | m_outbounds = false; | ||
848 | changeDisable(false); | ||
849 | base.RequestPhysicsterseUpdate(); | ||
850 | } | ||
851 | } | ||
852 | |||
853 | public override void SetMomentum(Vector3 momentum) | ||
854 | { | ||
855 | } | ||
856 | |||
857 | public override void SetMaterial(int pMaterial) | ||
858 | { | ||
859 | m_material = pMaterial; | ||
860 | mu = _parent_scene.m_materialContactsData[pMaterial].mu; | ||
861 | bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; | ||
862 | } | ||
863 | |||
864 | public void setPrimForRemoval() | ||
865 | { | ||
866 | AddChange(changes.Remove, null); | ||
867 | } | ||
868 | |||
869 | public override void link(PhysicsActor obj) | ||
870 | { | ||
871 | AddChange(changes.Link, obj); | ||
872 | } | ||
873 | |||
874 | public override void delink() | ||
875 | { | ||
876 | AddChange(changes.DeLink, null); | ||
877 | } | ||
878 | |||
879 | public override void LockAngularMotion(Vector3 axis) | ||
880 | { | ||
881 | // reverse the zero/non zero values for ODE. | ||
882 | if (axis.IsFinite()) | ||
883 | { | ||
884 | axis.X = (axis.X > 0) ? 1f : 0f; | ||
885 | axis.Y = (axis.Y > 0) ? 1f : 0f; | ||
886 | axis.Z = (axis.Z > 0) ? 1f : 0f; | ||
887 | m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); | ||
888 | AddChange(changes.AngLock, axis); | ||
889 | } | ||
890 | else | ||
891 | { | ||
892 | m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); | ||
893 | } | ||
894 | } | ||
895 | |||
896 | public override void SubscribeEvents(int ms) | ||
897 | { | ||
898 | m_eventsubscription = ms; | ||
899 | _parent_scene.AddCollisionEventReporting(this); | ||
900 | } | ||
901 | |||
902 | public override void UnSubscribeEvents() | ||
903 | { | ||
904 | _parent_scene.RemoveCollisionEventReporting(this); | ||
905 | m_eventsubscription = 0; | ||
906 | } | ||
907 | |||
908 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
909 | { | ||
910 | if (CollisionEventsThisFrame == null) | ||
911 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
912 | |||
913 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | ||
914 | } | ||
915 | |||
916 | public void SendCollisions() | ||
917 | { | ||
918 | if (CollisionEventsThisFrame == null) | ||
919 | return; | ||
920 | |||
921 | base.SendCollisionUpdate(CollisionEventsThisFrame); | ||
922 | |||
923 | if (CollisionEventsThisFrame.m_objCollisionList.Count == 0) | ||
924 | CollisionEventsThisFrame = null; | ||
925 | else | ||
926 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
927 | } | ||
928 | |||
929 | public override bool SubscribedEvents() | ||
930 | { | ||
931 | if (m_eventsubscription > 0) | ||
932 | return true; | ||
933 | return false; | ||
934 | } | ||
935 | |||
936 | |||
937 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, | ||
938 | Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) | ||
939 | { | ||
940 | Name = primName; | ||
941 | LocalID = plocalID; | ||
942 | |||
943 | m_vehicle = null; | ||
944 | |||
945 | if (!pos.IsFinite()) | ||
946 | { | ||
947 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), | ||
948 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | ||
949 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); | ||
950 | } | ||
951 | _position = pos; | ||
952 | givefakepos = 0; | ||
953 | |||
954 | m_timeStep = parent_scene.ODE_STEPSIZE; | ||
955 | m_invTimeStep = 1f / m_timeStep; | ||
956 | |||
957 | m_density = parent_scene.geomDefaultDensity; | ||
958 | // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; | ||
959 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | ||
960 | |||
961 | prim_geom = IntPtr.Zero; | ||
962 | collide_geom = IntPtr.Zero; | ||
963 | Body = IntPtr.Zero; | ||
964 | |||
965 | if (!size.IsFinite()) | ||
966 | { | ||
967 | size = new Vector3(0.5f, 0.5f, 0.5f); | ||
968 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); | ||
969 | } | ||
970 | |||
971 | if (size.X <= 0) size.X = 0.01f; | ||
972 | if (size.Y <= 0) size.Y = 0.01f; | ||
973 | if (size.Z <= 0) size.Z = 0.01f; | ||
974 | |||
975 | _size = size; | ||
976 | |||
977 | if (!QuaternionIsFinite(rotation)) | ||
978 | { | ||
979 | rotation = Quaternion.Identity; | ||
980 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); | ||
981 | } | ||
982 | |||
983 | _orientation = rotation; | ||
984 | givefakeori = 0; | ||
985 | |||
986 | _pbs = pbs; | ||
987 | |||
988 | _parent_scene = parent_scene; | ||
989 | m_targetSpace = IntPtr.Zero; | ||
990 | |||
991 | if (pos.Z < 0) | ||
992 | { | ||
993 | m_isphysical = false; | ||
994 | } | ||
995 | else | ||
996 | { | ||
997 | m_isphysical = pisPhysical; | ||
998 | } | ||
999 | m_fakeisphysical = m_isphysical; | ||
1000 | |||
1001 | m_isVolumeDetect = false; | ||
1002 | m_fakeisVolumeDetect = false; | ||
1003 | |||
1004 | m_force = Vector3.Zero; | ||
1005 | |||
1006 | m_iscolliding = false; | ||
1007 | m_colliderfilter = 0; | ||
1008 | m_NoColide = false; | ||
1009 | |||
1010 | hasOOBoffsetFromMesh = false; | ||
1011 | _triMeshData = IntPtr.Zero; | ||
1012 | |||
1013 | m_shapetype = _shapeType; | ||
1014 | |||
1015 | m_lastdoneSelected = false; | ||
1016 | m_isSelected = false; | ||
1017 | m_delaySelect = false; | ||
1018 | |||
1019 | m_isphantom = pisPhantom; | ||
1020 | m_fakeisphantom = pisPhantom; | ||
1021 | |||
1022 | mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; | ||
1023 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; | ||
1024 | |||
1025 | CalcPrimBodyData(); | ||
1026 | |||
1027 | m_mesh = null; | ||
1028 | if (_parent_scene.needsMeshing(pbs)) | ||
1029 | { | ||
1030 | bool convex; | ||
1031 | if (m_shapetype == 0) | ||
1032 | convex = false; | ||
1033 | else | ||
1034 | convex = true; | ||
1035 | |||
1036 | m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex); | ||
1037 | } | ||
1038 | |||
1039 | |||
1040 | m_building = true; // control must set this to false when done | ||
1041 | |||
1042 | AddChange(changes.Add, null); | ||
1043 | } | ||
1044 | |||
1045 | private void resetCollisionAccounting() | ||
1046 | { | ||
1047 | m_collisionscore = 0; | ||
1048 | } | ||
1049 | |||
1050 | private void UpdateCollisionCatFlags() | ||
1051 | { | ||
1052 | if(m_isphysical && m_disabled) | ||
1053 | { | ||
1054 | m_collisionCategories = 0; | ||
1055 | m_collisionFlags = 0; | ||
1056 | } | ||
1057 | |||
1058 | else if (m_isSelected) | ||
1059 | { | ||
1060 | m_collisionCategories = CollisionCategories.Selected; | ||
1061 | m_collisionFlags = 0; | ||
1062 | } | ||
1063 | |||
1064 | else if (m_isVolumeDetect) | ||
1065 | { | ||
1066 | m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1067 | if (m_isphysical) | ||
1068 | m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; | ||
1069 | else | ||
1070 | m_collisionFlags = 0; | ||
1071 | } | ||
1072 | else if (m_isphantom) | ||
1073 | { | ||
1074 | m_collisionCategories = CollisionCategories.Phantom; | ||
1075 | if (m_isphysical) | ||
1076 | m_collisionFlags = CollisionCategories.Land; | ||
1077 | else | ||
1078 | m_collisionFlags = 0; | ||
1079 | } | ||
1080 | else | ||
1081 | { | ||
1082 | m_collisionCategories = CollisionCategories.Geom; | ||
1083 | if (m_isphysical) | ||
1084 | m_collisionFlags = m_default_collisionFlagsPhysical; | ||
1085 | else | ||
1086 | m_collisionFlags = m_default_collisionFlagsNotPhysical; | ||
1087 | } | ||
1088 | } | ||
1089 | |||
1090 | private void ApplyCollisionCatFlags() | ||
1091 | { | ||
1092 | if (prim_geom != IntPtr.Zero) | ||
1093 | { | ||
1094 | if (!childPrim && childrenPrim.Count > 0) | ||
1095 | { | ||
1096 | foreach (OdePrim prm in childrenPrim) | ||
1097 | { | ||
1098 | if (m_isphysical && m_disabled) | ||
1099 | { | ||
1100 | prm.m_collisionCategories = 0; | ||
1101 | prm.m_collisionFlags = 0; | ||
1102 | } | ||
1103 | else | ||
1104 | { | ||
1105 | // preserve some | ||
1106 | if (prm.m_isSelected) | ||
1107 | { | ||
1108 | prm.m_collisionCategories = CollisionCategories.Selected; | ||
1109 | prm.m_collisionFlags = 0; | ||
1110 | } | ||
1111 | else if (prm.m_isVolumeDetect) | ||
1112 | { | ||
1113 | prm.m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1114 | if (m_isphysical) | ||
1115 | prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; | ||
1116 | else | ||
1117 | prm.m_collisionFlags = 0; | ||
1118 | } | ||
1119 | else if (prm.m_isphantom) | ||
1120 | { | ||
1121 | prm.m_collisionCategories = CollisionCategories.Phantom; | ||
1122 | if (m_isphysical) | ||
1123 | prm.m_collisionFlags = CollisionCategories.Land; | ||
1124 | else | ||
1125 | prm.m_collisionFlags = 0; | ||
1126 | } | ||
1127 | else | ||
1128 | { | ||
1129 | prm.m_collisionCategories = m_collisionCategories; | ||
1130 | prm.m_collisionFlags = m_collisionFlags; | ||
1131 | } | ||
1132 | } | ||
1133 | |||
1134 | if (prm.prim_geom != IntPtr.Zero) | ||
1135 | { | ||
1136 | if (prm.m_NoColide) | ||
1137 | { | ||
1138 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
1139 | if (m_isphysical) | ||
1140 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | ||
1141 | else | ||
1142 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
1143 | } | ||
1144 | else | ||
1145 | { | ||
1146 | d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); | ||
1147 | d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); | ||
1148 | } | ||
1149 | } | ||
1150 | } | ||
1151 | } | ||
1152 | |||
1153 | if (m_NoColide) | ||
1154 | { | ||
1155 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1156 | d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); | ||
1157 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
1158 | { | ||
1159 | d.GeomSetCategoryBits(collide_geom, 0); | ||
1160 | d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); | ||
1161 | } | ||
1162 | } | ||
1163 | else | ||
1164 | { | ||
1165 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1166 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1167 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
1168 | { | ||
1169 | d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); | ||
1170 | d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); | ||
1171 | } | ||
1172 | } | ||
1173 | } | ||
1174 | } | ||
1175 | |||
1176 | private void createAMotor(Vector3 axis) | ||
1177 | { | ||
1178 | if (Body == IntPtr.Zero) | ||
1179 | return; | ||
1180 | |||
1181 | if (Amotor != IntPtr.Zero) | ||
1182 | { | ||
1183 | d.JointDestroy(Amotor); | ||
1184 | Amotor = IntPtr.Zero; | ||
1185 | } | ||
1186 | |||
1187 | int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); | ||
1188 | |||
1189 | if (axisnum <= 0) | ||
1190 | return; | ||
1191 | |||
1192 | // stop it | ||
1193 | d.BodySetTorque(Body, 0, 0, 0); | ||
1194 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
1195 | |||
1196 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | ||
1197 | d.JointAttach(Amotor, Body, IntPtr.Zero); | ||
1198 | |||
1199 | d.JointSetAMotorMode(Amotor, 0); | ||
1200 | |||
1201 | d.JointSetAMotorNumAxes(Amotor, axisnum); | ||
1202 | |||
1203 | // get current orientation to lock | ||
1204 | |||
1205 | d.Quaternion dcur = d.BodyGetQuaternion(Body); | ||
1206 | Quaternion curr; // crap convertion between identical things | ||
1207 | curr.X = dcur.X; | ||
1208 | curr.Y = dcur.Y; | ||
1209 | curr.Z = dcur.Z; | ||
1210 | curr.W = dcur.W; | ||
1211 | Vector3 ax; | ||
1212 | |||
1213 | int i = 0; | ||
1214 | int j = 0; | ||
1215 | if (axis.X == 0) | ||
1216 | { | ||
1217 | ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X | ||
1218 | // ODE should do this with axis relative to body 1 but seems to fail | ||
1219 | d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); | ||
1220 | d.JointSetAMotorAngle(Amotor, 0, 0); | ||
1221 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f); | ||
1222 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f); | ||
1223 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | ||
1224 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1225 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); | ||
1226 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); | ||
1227 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); | ||
1228 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); | ||
1229 | i++; | ||
1230 | j = 256; // move to next axis set | ||
1231 | } | ||
1232 | |||
1233 | if (axis.Y == 0) | ||
1234 | { | ||
1235 | ax = (new Vector3(0, 1, 0)) * curr; | ||
1236 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
1237 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
1238 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); | ||
1239 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); | ||
1240 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
1241 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1242 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
1243 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
1244 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | ||
1245 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | ||
1246 | i++; | ||
1247 | j += 256; | ||
1248 | } | ||
1249 | |||
1250 | if (axis.Z == 0) | ||
1251 | { | ||
1252 | ax = (new Vector3(0, 0, 1)) * curr; | ||
1253 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
1254 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
1255 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); | ||
1256 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); | ||
1257 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
1258 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1259 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
1260 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
1261 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | ||
1262 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | ||
1263 | } | ||
1264 | } | ||
1265 | |||
1266 | private bool setMesh(OdeScene parent_scene) | ||
1267 | { | ||
1268 | IntPtr vertices, indices; | ||
1269 | int vertexCount, indexCount; | ||
1270 | int vertexStride, triStride; | ||
1271 | |||
1272 | if (Body != IntPtr.Zero) | ||
1273 | { | ||
1274 | if (childPrim) | ||
1275 | { | ||
1276 | if (_parent != null) | ||
1277 | { | ||
1278 | OdePrim parent = (OdePrim)_parent; | ||
1279 | parent.ChildDelink(this, false); | ||
1280 | } | ||
1281 | } | ||
1282 | else | ||
1283 | { | ||
1284 | DestroyBody(); | ||
1285 | } | ||
1286 | } | ||
1287 | |||
1288 | IMesh mesh = null; | ||
1289 | |||
1290 | |||
1291 | lock (m_meshlock) | ||
1292 | { | ||
1293 | if (m_mesh == null) | ||
1294 | { | ||
1295 | bool convex; | ||
1296 | if (m_shapetype == 0) | ||
1297 | convex = false; | ||
1298 | else | ||
1299 | convex = true; | ||
1300 | |||
1301 | mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex); | ||
1302 | } | ||
1303 | else | ||
1304 | { | ||
1305 | mesh = m_mesh; | ||
1306 | } | ||
1307 | |||
1308 | if (mesh == null) | ||
1309 | { | ||
1310 | m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z); | ||
1311 | return false; | ||
1312 | } | ||
1313 | |||
1314 | |||
1315 | mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap | ||
1316 | mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage | ||
1317 | |||
1318 | if (vertexCount == 0 || indexCount == 0) | ||
1319 | { | ||
1320 | m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", | ||
1321 | Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString()); | ||
1322 | mesh.releaseSourceMeshData(); | ||
1323 | return false; | ||
1324 | } | ||
1325 | |||
1326 | primOOBoffset = mesh.GetCentroid(); | ||
1327 | hasOOBoffsetFromMesh = true; | ||
1328 | |||
1329 | mesh.releaseSourceMeshData(); | ||
1330 | m_mesh = null; | ||
1331 | } | ||
1332 | |||
1333 | IntPtr geo = IntPtr.Zero; | ||
1334 | |||
1335 | try | ||
1336 | { | ||
1337 | _triMeshData = d.GeomTriMeshDataCreate(); | ||
1338 | |||
1339 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | ||
1340 | d.GeomTriMeshDataPreprocess(_triMeshData); | ||
1341 | |||
1342 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1343 | geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); | ||
1344 | } | ||
1345 | |||
1346 | catch (Exception e) | ||
1347 | { | ||
1348 | m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); | ||
1349 | if (_triMeshData != IntPtr.Zero) | ||
1350 | { | ||
1351 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1352 | _triMeshData = IntPtr.Zero; | ||
1353 | } | ||
1354 | return false; | ||
1355 | } | ||
1356 | |||
1357 | SetGeom(geo); | ||
1358 | return true; | ||
1359 | } | ||
1360 | |||
1361 | private void SetGeom(IntPtr geom) | ||
1362 | { | ||
1363 | prim_geom = geom; | ||
1364 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); | ||
1365 | if (prim_geom != IntPtr.Zero) | ||
1366 | { | ||
1367 | if (m_NoColide) | ||
1368 | { | ||
1369 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1370 | if (m_isphysical) | ||
1371 | { | ||
1372 | d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); | ||
1373 | } | ||
1374 | else | ||
1375 | { | ||
1376 | d.GeomSetCollideBits(prim_geom, 0); | ||
1377 | d.GeomDisable(prim_geom); | ||
1378 | } | ||
1379 | } | ||
1380 | else | ||
1381 | { | ||
1382 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1383 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1384 | } | ||
1385 | |||
1386 | CalcPrimBodyData(); | ||
1387 | |||
1388 | _parent_scene.geom_name_map[prim_geom] = Name; | ||
1389 | _parent_scene.actor_name_map[prim_geom] = this; | ||
1390 | |||
1391 | } | ||
1392 | else | ||
1393 | m_log.Warn("Setting bad Geom"); | ||
1394 | } | ||
1395 | |||
1396 | |||
1397 | /// <summary> | ||
1398 | /// Create a geometry for the given mesh in the given target space. | ||
1399 | /// </summary> | ||
1400 | /// <param name="m_targetSpace"></param> | ||
1401 | /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param> | ||
1402 | private void CreateGeom() | ||
1403 | { | ||
1404 | if (_triMeshData != IntPtr.Zero) | ||
1405 | { | ||
1406 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1407 | _triMeshData = IntPtr.Zero; | ||
1408 | } | ||
1409 | |||
1410 | bool haveMesh = false; | ||
1411 | hasOOBoffsetFromMesh = false; | ||
1412 | m_NoColide = false; | ||
1413 | |||
1414 | if (_parent_scene.needsMeshing(_pbs)) | ||
1415 | { | ||
1416 | haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims | ||
1417 | if (!haveMesh) | ||
1418 | m_NoColide = true; | ||
1419 | } | ||
1420 | |||
1421 | if (!haveMesh) | ||
1422 | { | ||
1423 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1424 | && _size.X == _size.Y && _size.Y == _size.Z) | ||
1425 | { // it's a sphere | ||
1426 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1427 | try | ||
1428 | { | ||
1429 | SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f)); | ||
1430 | } | ||
1431 | catch (Exception e) | ||
1432 | { | ||
1433 | m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); | ||
1434 | return; | ||
1435 | } | ||
1436 | } | ||
1437 | else | ||
1438 | {// do it as a box | ||
1439 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1440 | try | ||
1441 | { | ||
1442 | //Console.WriteLine(" CreateGeom 4"); | ||
1443 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); | ||
1444 | } | ||
1445 | catch (Exception e) | ||
1446 | { | ||
1447 | m_log.Warn("[PHYSICS]: Create box failed: {0}", e); | ||
1448 | return; | ||
1449 | } | ||
1450 | } | ||
1451 | } | ||
1452 | } | ||
1453 | |||
1454 | /// <summary> | ||
1455 | /// Set a new geometry for this prim. | ||
1456 | /// </summary> | ||
1457 | /// <param name="geom"></param> | ||
1458 | private void RemoveGeom() | ||
1459 | { | ||
1460 | if (prim_geom != IntPtr.Zero) | ||
1461 | { | ||
1462 | _parent_scene.geom_name_map.Remove(prim_geom); | ||
1463 | _parent_scene.actor_name_map.Remove(prim_geom); | ||
1464 | try | ||
1465 | { | ||
1466 | d.GeomDestroy(prim_geom); | ||
1467 | if (_triMeshData != IntPtr.Zero) | ||
1468 | { | ||
1469 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1470 | _triMeshData = IntPtr.Zero; | ||
1471 | } | ||
1472 | } | ||
1473 | // catch (System.AccessViolationException) | ||
1474 | catch (Exception e) | ||
1475 | { | ||
1476 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); | ||
1477 | } | ||
1478 | |||
1479 | prim_geom = IntPtr.Zero; | ||
1480 | collide_geom = IntPtr.Zero; | ||
1481 | } | ||
1482 | else | ||
1483 | { | ||
1484 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); | ||
1485 | } | ||
1486 | Body = IntPtr.Zero; | ||
1487 | hasOOBoffsetFromMesh = false; | ||
1488 | CalcPrimBodyData(); | ||
1489 | } | ||
1490 | /* | ||
1491 | private void ChildSetGeom(OdePrim odePrim) | ||
1492 | { | ||
1493 | // well.. | ||
1494 | DestroyBody(); | ||
1495 | MakeBody(); | ||
1496 | } | ||
1497 | */ | ||
1498 | //sets non physical prim m_targetSpace to right space in spaces grid for static prims | ||
1499 | // should only be called for non physical prims unless they are becoming non physical | ||
1500 | private void SetInStaticSpace(OdePrim prim) | ||
1501 | { | ||
1502 | IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); | ||
1503 | prim.m_targetSpace = targetSpace; | ||
1504 | collide_geom = IntPtr.Zero; | ||
1505 | } | ||
1506 | |||
1507 | public void enableBodySoft() | ||
1508 | { | ||
1509 | m_disabled = false; | ||
1510 | if (!childPrim && !m_isSelected) | ||
1511 | { | ||
1512 | if (m_isphysical && Body != IntPtr.Zero) | ||
1513 | { | ||
1514 | UpdateCollisionCatFlags(); | ||
1515 | ApplyCollisionCatFlags(); | ||
1516 | |||
1517 | d.BodyEnable(Body); | ||
1518 | } | ||
1519 | } | ||
1520 | resetCollisionAccounting(); | ||
1521 | } | ||
1522 | |||
1523 | private void disableBodySoft() | ||
1524 | { | ||
1525 | m_disabled = true; | ||
1526 | if (!childPrim) | ||
1527 | { | ||
1528 | if (m_isphysical && Body != IntPtr.Zero) | ||
1529 | { | ||
1530 | if (m_isSelected) | ||
1531 | m_collisionFlags = CollisionCategories.Selected; | ||
1532 | else | ||
1533 | m_collisionCategories = 0; | ||
1534 | m_collisionFlags = 0; | ||
1535 | ApplyCollisionCatFlags(); | ||
1536 | d.BodyDisable(Body); | ||
1537 | } | ||
1538 | } | ||
1539 | } | ||
1540 | |||
1541 | private void MakeBody() | ||
1542 | { | ||
1543 | if (!m_isphysical) // only physical get bodies | ||
1544 | return; | ||
1545 | |||
1546 | if (childPrim) // child prims don't get bodies; | ||
1547 | return; | ||
1548 | |||
1549 | if (m_building) | ||
1550 | return; | ||
1551 | |||
1552 | if (prim_geom == IntPtr.Zero) | ||
1553 | { | ||
1554 | m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); | ||
1555 | return; | ||
1556 | } | ||
1557 | |||
1558 | if (Body != IntPtr.Zero) | ||
1559 | { | ||
1560 | d.BodyDestroy(Body); | ||
1561 | Body = IntPtr.Zero; | ||
1562 | m_log.Warn("[PHYSICS]: MakeBody called having a body"); | ||
1563 | } | ||
1564 | |||
1565 | |||
1566 | if (d.GeomGetBody(prim_geom) != IntPtr.Zero) | ||
1567 | { | ||
1568 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1569 | m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); | ||
1570 | } | ||
1571 | |||
1572 | d.Matrix3 mymat = new d.Matrix3(); | ||
1573 | d.Quaternion myrot = new d.Quaternion(); | ||
1574 | d.Mass objdmass = new d.Mass { }; | ||
1575 | |||
1576 | Body = d.BodyCreate(_parent_scene.world); | ||
1577 | |||
1578 | DMassDup(ref primdMass, out objdmass); | ||
1579 | |||
1580 | // rotate inertia | ||
1581 | myrot.X = _orientation.X; | ||
1582 | myrot.Y = _orientation.Y; | ||
1583 | myrot.Z = _orientation.Z; | ||
1584 | myrot.W = _orientation.W; | ||
1585 | |||
1586 | d.RfromQ(out mymat, ref myrot); | ||
1587 | d.MassRotate(ref objdmass, ref mymat); | ||
1588 | |||
1589 | // set the body rotation | ||
1590 | d.BodySetRotation(Body, ref mymat); | ||
1591 | |||
1592 | // recompute full object inertia if needed | ||
1593 | if (childrenPrim.Count > 0) | ||
1594 | { | ||
1595 | d.Matrix3 mat = new d.Matrix3(); | ||
1596 | d.Quaternion quat = new d.Quaternion(); | ||
1597 | d.Mass tmpdmass = new d.Mass { }; | ||
1598 | Vector3 rcm; | ||
1599 | |||
1600 | rcm.X = _position.X + objdmass.c.X; | ||
1601 | rcm.Y = _position.Y + objdmass.c.Y; | ||
1602 | rcm.Z = _position.Z + objdmass.c.Z; | ||
1603 | |||
1604 | lock (childrenPrim) | ||
1605 | { | ||
1606 | foreach (OdePrim prm in childrenPrim) | ||
1607 | { | ||
1608 | if (prm.prim_geom == IntPtr.Zero) | ||
1609 | { | ||
1610 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); | ||
1611 | continue; | ||
1612 | } | ||
1613 | |||
1614 | DMassCopy(ref prm.primdMass, ref tmpdmass); | ||
1615 | |||
1616 | // apply prim current rotation to inertia | ||
1617 | quat.X = prm._orientation.X; | ||
1618 | quat.Y = prm._orientation.Y; | ||
1619 | quat.Z = prm._orientation.Z; | ||
1620 | quat.W = prm._orientation.W; | ||
1621 | d.RfromQ(out mat, ref quat); | ||
1622 | d.MassRotate(ref tmpdmass, ref mat); | ||
1623 | |||
1624 | Vector3 ppos = prm._position; | ||
1625 | ppos.X += tmpdmass.c.X - rcm.X; | ||
1626 | ppos.Y += tmpdmass.c.Y - rcm.Y; | ||
1627 | ppos.Z += tmpdmass.c.Z - rcm.Z; | ||
1628 | |||
1629 | // refer inertia to root prim center of mass position | ||
1630 | d.MassTranslate(ref tmpdmass, | ||
1631 | ppos.X, | ||
1632 | ppos.Y, | ||
1633 | ppos.Z); | ||
1634 | |||
1635 | d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia | ||
1636 | // fix prim colision cats | ||
1637 | |||
1638 | if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) | ||
1639 | { | ||
1640 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
1641 | m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); | ||
1642 | } | ||
1643 | |||
1644 | d.GeomClearOffset(prm.prim_geom); | ||
1645 | d.GeomSetBody(prm.prim_geom, Body); | ||
1646 | prm.Body = Body; | ||
1647 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation | ||
1648 | } | ||
1649 | } | ||
1650 | } | ||
1651 | |||
1652 | d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset | ||
1653 | // associate root geom with body | ||
1654 | d.GeomSetBody(prim_geom, Body); | ||
1655 | |||
1656 | d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); | ||
1657 | d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1658 | |||
1659 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
1660 | myrot.W = -myrot.W; | ||
1661 | d.RfromQ(out mymat, ref myrot); | ||
1662 | d.MassRotate(ref objdmass, ref mymat); | ||
1663 | d.BodySetMass(Body, ref objdmass); | ||
1664 | _mass = objdmass.mass; | ||
1665 | |||
1666 | // disconnect from world gravity so we can apply buoyancy | ||
1667 | d.BodySetGravityMode(Body, false); | ||
1668 | |||
1669 | d.BodySetAutoDisableFlag(Body, true); | ||
1670 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | ||
1671 | // d.BodySetLinearDampingThreshold(Body, 0.01f); | ||
1672 | // d.BodySetAngularDampingThreshold(Body, 0.001f); | ||
1673 | d.BodySetDamping(Body, .002f, .002f); | ||
1674 | |||
1675 | if (m_targetSpace != IntPtr.Zero) | ||
1676 | { | ||
1677 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1678 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | ||
1679 | d.SpaceRemove(m_targetSpace, prim_geom); | ||
1680 | } | ||
1681 | |||
1682 | |||
1683 | if (childrenPrim.Count == 0) | ||
1684 | { | ||
1685 | collide_geom = prim_geom; | ||
1686 | m_targetSpace = _parent_scene.ActiveSpace; | ||
1687 | d.SpaceAdd(m_targetSpace, prim_geom); | ||
1688 | } | ||
1689 | else | ||
1690 | { | ||
1691 | m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); | ||
1692 | d.HashSpaceSetLevels(m_targetSpace, -2, 8); | ||
1693 | d.SpaceSetSublevel(m_targetSpace, 3); | ||
1694 | d.SpaceSetCleanup(m_targetSpace, false); | ||
1695 | d.SpaceAdd(m_targetSpace, prim_geom); | ||
1696 | |||
1697 | d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | | ||
1698 | CollisionCategories.Geom | | ||
1699 | CollisionCategories.Phantom | | ||
1700 | CollisionCategories.VolumeDtc | ||
1701 | )); | ||
1702 | d.GeomSetCollideBits(m_targetSpace, 0); | ||
1703 | collide_geom = m_targetSpace; | ||
1704 | } | ||
1705 | |||
1706 | if (m_delaySelect) | ||
1707 | { | ||
1708 | m_isSelected = true; | ||
1709 | m_delaySelect = false; | ||
1710 | } | ||
1711 | |||
1712 | lock (childrenPrim) | ||
1713 | { | ||
1714 | foreach (OdePrim prm in childrenPrim) | ||
1715 | { | ||
1716 | if (prm.prim_geom == IntPtr.Zero) | ||
1717 | continue; | ||
1718 | |||
1719 | Vector3 ppos = prm._position; | ||
1720 | d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position | ||
1721 | |||
1722 | if (prm.m_targetSpace != m_targetSpace) | ||
1723 | { | ||
1724 | if (prm.m_targetSpace != IntPtr.Zero) | ||
1725 | { | ||
1726 | _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); | ||
1727 | if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) | ||
1728 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); | ||
1729 | } | ||
1730 | prm.m_targetSpace = m_targetSpace; | ||
1731 | d.SpaceAdd(m_targetSpace, prm.prim_geom); | ||
1732 | } | ||
1733 | |||
1734 | prm.m_collisionscore = 0; | ||
1735 | |||
1736 | if(!m_disabled) | ||
1737 | prm.m_disabled = false; | ||
1738 | |||
1739 | _parent_scene.addActivePrim(prm); | ||
1740 | } | ||
1741 | } | ||
1742 | |||
1743 | // The body doesn't already have a finite rotation mode set here | ||
1744 | if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) | ||
1745 | { | ||
1746 | createAMotor(m_angularlock); | ||
1747 | } | ||
1748 | |||
1749 | m_collisionscore = 0; | ||
1750 | |||
1751 | UpdateCollisionCatFlags(); | ||
1752 | ApplyCollisionCatFlags(); | ||
1753 | |||
1754 | if (m_isSelected || m_disabled) | ||
1755 | { | ||
1756 | d.BodyDisable(Body); | ||
1757 | } | ||
1758 | else | ||
1759 | { | ||
1760 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); | ||
1761 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | ||
1762 | } | ||
1763 | |||
1764 | _parent_scene.addActivePrim(this); | ||
1765 | _parent_scene.addActiveGroups(this); | ||
1766 | } | ||
1767 | |||
1768 | private void DestroyBody() | ||
1769 | { | ||
1770 | if (Body != IntPtr.Zero) | ||
1771 | { | ||
1772 | _parent_scene.remActivePrim(this); | ||
1773 | |||
1774 | collide_geom = IntPtr.Zero; | ||
1775 | |||
1776 | if (m_disabled) | ||
1777 | m_collisionCategories = 0; | ||
1778 | else if (m_isSelected) | ||
1779 | m_collisionCategories = CollisionCategories.Selected; | ||
1780 | else if (m_isVolumeDetect) | ||
1781 | m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1782 | else if (m_isphantom) | ||
1783 | m_collisionCategories = CollisionCategories.Phantom; | ||
1784 | else | ||
1785 | m_collisionCategories = CollisionCategories.Geom; | ||
1786 | |||
1787 | m_collisionFlags = 0; | ||
1788 | |||
1789 | if (prim_geom != IntPtr.Zero) | ||
1790 | { | ||
1791 | if (m_NoColide) | ||
1792 | { | ||
1793 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1794 | d.GeomSetCollideBits(prim_geom, 0); | ||
1795 | } | ||
1796 | else | ||
1797 | { | ||
1798 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1799 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1800 | } | ||
1801 | UpdateDataFromGeom(); | ||
1802 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1803 | SetInStaticSpace(this); | ||
1804 | } | ||
1805 | |||
1806 | if (!childPrim) | ||
1807 | { | ||
1808 | lock (childrenPrim) | ||
1809 | { | ||
1810 | foreach (OdePrim prm in childrenPrim) | ||
1811 | { | ||
1812 | _parent_scene.remActivePrim(prm); | ||
1813 | |||
1814 | if (prm.m_isSelected) | ||
1815 | prm.m_collisionCategories = CollisionCategories.Selected; | ||
1816 | else if (prm.m_isVolumeDetect) | ||
1817 | prm.m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1818 | else if (prm.m_isphantom) | ||
1819 | prm.m_collisionCategories = CollisionCategories.Phantom; | ||
1820 | else | ||
1821 | prm.m_collisionCategories = CollisionCategories.Geom; | ||
1822 | |||
1823 | prm.m_collisionFlags = 0; | ||
1824 | |||
1825 | if (prm.prim_geom != IntPtr.Zero) | ||
1826 | { | ||
1827 | if (prm.m_NoColide) | ||
1828 | { | ||
1829 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
1830 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
1831 | } | ||
1832 | else | ||
1833 | { | ||
1834 | d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); | ||
1835 | d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); | ||
1836 | } | ||
1837 | prm.UpdateDataFromGeom(); | ||
1838 | SetInStaticSpace(prm); | ||
1839 | } | ||
1840 | prm.Body = IntPtr.Zero; | ||
1841 | prm._mass = prm.primMass; | ||
1842 | prm.m_collisionscore = 0; | ||
1843 | } | ||
1844 | } | ||
1845 | if (Amotor != IntPtr.Zero) | ||
1846 | { | ||
1847 | d.JointDestroy(Amotor); | ||
1848 | Amotor = IntPtr.Zero; | ||
1849 | } | ||
1850 | _parent_scene.remActiveGroup(this); | ||
1851 | d.BodyDestroy(Body); | ||
1852 | } | ||
1853 | Body = IntPtr.Zero; | ||
1854 | } | ||
1855 | _mass = primMass; | ||
1856 | m_collisionscore = 0; | ||
1857 | } | ||
1858 | |||
1859 | private void FixInertia(Vector3 NewPos,Quaternion newrot) | ||
1860 | { | ||
1861 | d.Matrix3 mat = new d.Matrix3(); | ||
1862 | d.Quaternion quat = new d.Quaternion(); | ||
1863 | |||
1864 | d.Mass tmpdmass = new d.Mass { }; | ||
1865 | d.Mass objdmass = new d.Mass { }; | ||
1866 | |||
1867 | d.BodyGetMass(Body, out tmpdmass); | ||
1868 | objdmass = tmpdmass; | ||
1869 | |||
1870 | d.Vector3 dobjpos; | ||
1871 | d.Vector3 thispos; | ||
1872 | |||
1873 | // get current object position and rotation | ||
1874 | dobjpos = d.BodyGetPosition(Body); | ||
1875 | |||
1876 | // get prim own inertia in its local frame | ||
1877 | tmpdmass = primdMass; | ||
1878 | |||
1879 | // transform to object frame | ||
1880 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
1881 | d.MassRotate(ref tmpdmass, ref mat); | ||
1882 | |||
1883 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
1884 | d.MassTranslate(ref tmpdmass, | ||
1885 | thispos.X, | ||
1886 | thispos.Y, | ||
1887 | thispos.Z); | ||
1888 | |||
1889 | // subtract current prim inertia from object | ||
1890 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
1891 | |||
1892 | // back prim own inertia | ||
1893 | tmpdmass = primdMass; | ||
1894 | |||
1895 | // update to new position and orientation | ||
1896 | _position = NewPos; | ||
1897 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
1898 | _orientation = newrot; | ||
1899 | quat.X = newrot.X; | ||
1900 | quat.Y = newrot.Y; | ||
1901 | quat.Z = newrot.Z; | ||
1902 | quat.W = newrot.W; | ||
1903 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
1904 | |||
1905 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
1906 | d.MassRotate(ref tmpdmass, ref mat); | ||
1907 | |||
1908 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
1909 | d.MassTranslate(ref tmpdmass, | ||
1910 | thispos.X, | ||
1911 | thispos.Y, | ||
1912 | thispos.Z); | ||
1913 | |||
1914 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
1915 | |||
1916 | // fix all positions | ||
1917 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
1918 | while (g != IntPtr.Zero) | ||
1919 | { | ||
1920 | thispos = d.GeomGetOffsetPosition(g); | ||
1921 | thispos.X -= objdmass.c.X; | ||
1922 | thispos.Y -= objdmass.c.Y; | ||
1923 | thispos.Z -= objdmass.c.Z; | ||
1924 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
1925 | g = d.dBodyGetNextGeom(g); | ||
1926 | } | ||
1927 | d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); | ||
1928 | |||
1929 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
1930 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
1931 | d.BodySetMass(Body, ref objdmass); | ||
1932 | _mass = objdmass.mass; | ||
1933 | } | ||
1934 | |||
1935 | |||
1936 | |||
1937 | private void FixInertia(Vector3 NewPos) | ||
1938 | { | ||
1939 | d.Matrix3 primmat = new d.Matrix3(); | ||
1940 | d.Mass tmpdmass = new d.Mass { }; | ||
1941 | d.Mass objdmass = new d.Mass { }; | ||
1942 | d.Mass primmass = new d.Mass { }; | ||
1943 | |||
1944 | d.Vector3 dobjpos; | ||
1945 | d.Vector3 thispos; | ||
1946 | |||
1947 | d.BodyGetMass(Body, out objdmass); | ||
1948 | |||
1949 | // get prim own inertia in its local frame | ||
1950 | primmass = primdMass; | ||
1951 | // transform to object frame | ||
1952 | primmat = d.GeomGetOffsetRotation(prim_geom); | ||
1953 | d.MassRotate(ref primmass, ref primmat); | ||
1954 | |||
1955 | tmpdmass = primmass; | ||
1956 | |||
1957 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
1958 | d.MassTranslate(ref tmpdmass, | ||
1959 | thispos.X, | ||
1960 | thispos.Y, | ||
1961 | thispos.Z); | ||
1962 | |||
1963 | // subtract current prim inertia from object | ||
1964 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
1965 | |||
1966 | // update to new position | ||
1967 | _position = NewPos; | ||
1968 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
1969 | |||
1970 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
1971 | d.MassTranslate(ref primmass, | ||
1972 | thispos.X, | ||
1973 | thispos.Y, | ||
1974 | thispos.Z); | ||
1975 | |||
1976 | d.MassAdd(ref objdmass, ref primmass); | ||
1977 | |||
1978 | // fix all positions | ||
1979 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
1980 | while (g != IntPtr.Zero) | ||
1981 | { | ||
1982 | thispos = d.GeomGetOffsetPosition(g); | ||
1983 | thispos.X -= objdmass.c.X; | ||
1984 | thispos.Y -= objdmass.c.Y; | ||
1985 | thispos.Z -= objdmass.c.Z; | ||
1986 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
1987 | g = d.dBodyGetNextGeom(g); | ||
1988 | } | ||
1989 | |||
1990 | d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); | ||
1991 | |||
1992 | // get current object position and rotation | ||
1993 | dobjpos = d.BodyGetPosition(Body); | ||
1994 | |||
1995 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
1996 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
1997 | d.BodySetMass(Body, ref objdmass); | ||
1998 | _mass = objdmass.mass; | ||
1999 | } | ||
2000 | |||
2001 | private void FixInertia(Quaternion newrot) | ||
2002 | { | ||
2003 | d.Matrix3 mat = new d.Matrix3(); | ||
2004 | d.Quaternion quat = new d.Quaternion(); | ||
2005 | |||
2006 | d.Mass tmpdmass = new d.Mass { }; | ||
2007 | d.Mass objdmass = new d.Mass { }; | ||
2008 | d.Vector3 dobjpos; | ||
2009 | d.Vector3 thispos; | ||
2010 | |||
2011 | d.BodyGetMass(Body, out objdmass); | ||
2012 | |||
2013 | // get prim own inertia in its local frame | ||
2014 | tmpdmass = primdMass; | ||
2015 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2016 | d.MassRotate(ref tmpdmass, ref mat); | ||
2017 | // transform to object frame | ||
2018 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2019 | d.MassTranslate(ref tmpdmass, | ||
2020 | thispos.X, | ||
2021 | thispos.Y, | ||
2022 | thispos.Z); | ||
2023 | |||
2024 | // subtract current prim inertia from object | ||
2025 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2026 | |||
2027 | // update to new orientation | ||
2028 | _orientation = newrot; | ||
2029 | quat.X = newrot.X; | ||
2030 | quat.Y = newrot.Y; | ||
2031 | quat.Z = newrot.Z; | ||
2032 | quat.W = newrot.W; | ||
2033 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
2034 | |||
2035 | tmpdmass = primdMass; | ||
2036 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2037 | d.MassRotate(ref tmpdmass, ref mat); | ||
2038 | d.MassTranslate(ref tmpdmass, | ||
2039 | thispos.X, | ||
2040 | thispos.Y, | ||
2041 | thispos.Z); | ||
2042 | |||
2043 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
2044 | |||
2045 | // fix all positions | ||
2046 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2047 | while (g != IntPtr.Zero) | ||
2048 | { | ||
2049 | thispos = d.GeomGetOffsetPosition(g); | ||
2050 | thispos.X -= objdmass.c.X; | ||
2051 | thispos.Y -= objdmass.c.Y; | ||
2052 | thispos.Z -= objdmass.c.Z; | ||
2053 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2054 | g = d.dBodyGetNextGeom(g); | ||
2055 | } | ||
2056 | |||
2057 | d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); | ||
2058 | // get current object position and rotation | ||
2059 | dobjpos = d.BodyGetPosition(Body); | ||
2060 | |||
2061 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2062 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2063 | d.BodySetMass(Body, ref objdmass); | ||
2064 | _mass = objdmass.mass; | ||
2065 | } | ||
2066 | |||
2067 | |||
2068 | #region Mass Calculation | ||
2069 | |||
2070 | private float CalculatePrimVolume() | ||
2071 | { | ||
2072 | float volume = _size.X * _size.Y * _size.Z; // default | ||
2073 | float tmp; | ||
2074 | |||
2075 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; | ||
2076 | float hollowVolume = hollowAmount * hollowAmount; | ||
2077 | |||
2078 | switch (_pbs.ProfileShape) | ||
2079 | { | ||
2080 | case ProfileShape.Square: | ||
2081 | // default box | ||
2082 | |||
2083 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | ||
2084 | { | ||
2085 | if (hollowAmount > 0.0) | ||
2086 | { | ||
2087 | switch (_pbs.HollowShape) | ||
2088 | { | ||
2089 | case HollowShape.Square: | ||
2090 | case HollowShape.Same: | ||
2091 | break; | ||
2092 | |||
2093 | case HollowShape.Circle: | ||
2094 | |||
2095 | hollowVolume *= 0.78539816339f; | ||
2096 | break; | ||
2097 | |||
2098 | case HollowShape.Triangle: | ||
2099 | |||
2100 | hollowVolume *= (0.5f * .5f); | ||
2101 | break; | ||
2102 | |||
2103 | default: | ||
2104 | hollowVolume = 0; | ||
2105 | break; | ||
2106 | } | ||
2107 | volume *= (1.0f - hollowVolume); | ||
2108 | } | ||
2109 | } | ||
2110 | |||
2111 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
2112 | { | ||
2113 | //a tube | ||
2114 | |||
2115 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); | ||
2116 | tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); | ||
2117 | volume -= volume * tmp * tmp; | ||
2118 | |||
2119 | if (hollowAmount > 0.0) | ||
2120 | { | ||
2121 | hollowVolume *= hollowAmount; | ||
2122 | |||
2123 | switch (_pbs.HollowShape) | ||
2124 | { | ||
2125 | case HollowShape.Square: | ||
2126 | case HollowShape.Same: | ||
2127 | break; | ||
2128 | |||
2129 | case HollowShape.Circle: | ||
2130 | hollowVolume *= 0.78539816339f; | ||
2131 | break; | ||
2132 | |||
2133 | case HollowShape.Triangle: | ||
2134 | hollowVolume *= 0.5f * 0.5f; | ||
2135 | break; | ||
2136 | default: | ||
2137 | hollowVolume = 0; | ||
2138 | break; | ||
2139 | } | ||
2140 | volume *= (1.0f - hollowVolume); | ||
2141 | } | ||
2142 | } | ||
2143 | |||
2144 | break; | ||
2145 | |||
2146 | case ProfileShape.Circle: | ||
2147 | |||
2148 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | ||
2149 | { | ||
2150 | volume *= 0.78539816339f; // elipse base | ||
2151 | |||
2152 | if (hollowAmount > 0.0) | ||
2153 | { | ||
2154 | switch (_pbs.HollowShape) | ||
2155 | { | ||
2156 | case HollowShape.Same: | ||
2157 | case HollowShape.Circle: | ||
2158 | break; | ||
2159 | |||
2160 | case HollowShape.Square: | ||
2161 | hollowVolume *= 0.5f * 2.5984480504799f; | ||
2162 | break; | ||
2163 | |||
2164 | case HollowShape.Triangle: | ||
2165 | hollowVolume *= .5f * 1.27323954473516f; | ||
2166 | break; | ||
2167 | |||
2168 | default: | ||
2169 | hollowVolume = 0; | ||
2170 | break; | ||
2171 | } | ||
2172 | volume *= (1.0f - hollowVolume); | ||
2173 | } | ||
2174 | } | ||
2175 | |||
2176 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
2177 | { | ||
2178 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); | ||
2179 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | ||
2180 | volume *= (1.0f - tmp * tmp); | ||
2181 | |||
2182 | if (hollowAmount > 0.0) | ||
2183 | { | ||
2184 | |||
2185 | // calculate the hollow volume by it's shape compared to the prim shape | ||
2186 | hollowVolume *= hollowAmount; | ||
2187 | |||
2188 | switch (_pbs.HollowShape) | ||
2189 | { | ||
2190 | case HollowShape.Same: | ||
2191 | case HollowShape.Circle: | ||
2192 | break; | ||
2193 | |||
2194 | case HollowShape.Square: | ||
2195 | hollowVolume *= 0.5f * 2.5984480504799f; | ||
2196 | break; | ||
2197 | |||
2198 | case HollowShape.Triangle: | ||
2199 | hollowVolume *= .5f * 1.27323954473516f; | ||
2200 | break; | ||
2201 | |||
2202 | default: | ||
2203 | hollowVolume = 0; | ||
2204 | break; | ||
2205 | } | ||
2206 | volume *= (1.0f - hollowVolume); | ||
2207 | } | ||
2208 | } | ||
2209 | break; | ||
2210 | |||
2211 | case ProfileShape.HalfCircle: | ||
2212 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
2213 | { | ||
2214 | volume *= 0.52359877559829887307710723054658f; | ||
2215 | } | ||
2216 | break; | ||
2217 | |||
2218 | case ProfileShape.EquilateralTriangle: | ||
2219 | |||
2220 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | ||
2221 | { | ||
2222 | volume *= 0.32475953f; | ||
2223 | |||
2224 | if (hollowAmount > 0.0) | ||
2225 | { | ||
2226 | |||
2227 | // calculate the hollow volume by it's shape compared to the prim shape | ||
2228 | switch (_pbs.HollowShape) | ||
2229 | { | ||
2230 | case HollowShape.Same: | ||
2231 | case HollowShape.Triangle: | ||
2232 | hollowVolume *= .25f; | ||
2233 | break; | ||
2234 | |||
2235 | case HollowShape.Square: | ||
2236 | hollowVolume *= 0.499849f * 3.07920140172638f; | ||
2237 | break; | ||
2238 | |||
2239 | case HollowShape.Circle: | ||
2240 | // Hollow shape is a perfect cyllinder in respect to the cube's scale | ||
2241 | // Cyllinder hollow volume calculation | ||
2242 | |||
2243 | hollowVolume *= 0.1963495f * 3.07920140172638f; | ||
2244 | break; | ||
2245 | |||
2246 | default: | ||
2247 | hollowVolume = 0; | ||
2248 | break; | ||
2249 | } | ||
2250 | volume *= (1.0f - hollowVolume); | ||
2251 | } | ||
2252 | } | ||
2253 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
2254 | { | ||
2255 | volume *= 0.32475953f; | ||
2256 | volume *= 0.01f * (float)(200 - _pbs.PathScaleX); | ||
2257 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | ||
2258 | volume *= (1.0f - tmp * tmp); | ||
2259 | |||
2260 | if (hollowAmount > 0.0) | ||
2261 | { | ||
2262 | |||
2263 | hollowVolume *= hollowAmount; | ||
2264 | |||
2265 | switch (_pbs.HollowShape) | ||
2266 | { | ||
2267 | case HollowShape.Same: | ||
2268 | case HollowShape.Triangle: | ||
2269 | hollowVolume *= .25f; | ||
2270 | break; | ||
2271 | |||
2272 | case HollowShape.Square: | ||
2273 | hollowVolume *= 0.499849f * 3.07920140172638f; | ||
2274 | break; | ||
2275 | |||
2276 | case HollowShape.Circle: | ||
2277 | |||
2278 | hollowVolume *= 0.1963495f * 3.07920140172638f; | ||
2279 | break; | ||
2280 | |||
2281 | default: | ||
2282 | hollowVolume = 0; | ||
2283 | break; | ||
2284 | } | ||
2285 | volume *= (1.0f - hollowVolume); | ||
2286 | } | ||
2287 | } | ||
2288 | break; | ||
2289 | |||
2290 | default: | ||
2291 | break; | ||
2292 | } | ||
2293 | |||
2294 | float taperX1; | ||
2295 | float taperY1; | ||
2296 | float taperX; | ||
2297 | float taperY; | ||
2298 | float pathBegin; | ||
2299 | float pathEnd; | ||
2300 | float profileBegin; | ||
2301 | float profileEnd; | ||
2302 | |||
2303 | if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) | ||
2304 | { | ||
2305 | taperX1 = _pbs.PathScaleX * 0.01f; | ||
2306 | if (taperX1 > 1.0f) | ||
2307 | taperX1 = 2.0f - taperX1; | ||
2308 | taperX = 1.0f - taperX1; | ||
2309 | |||
2310 | taperY1 = _pbs.PathScaleY * 0.01f; | ||
2311 | if (taperY1 > 1.0f) | ||
2312 | taperY1 = 2.0f - taperY1; | ||
2313 | taperY = 1.0f - taperY1; | ||
2314 | } | ||
2315 | else | ||
2316 | { | ||
2317 | taperX = _pbs.PathTaperX * 0.01f; | ||
2318 | if (taperX < 0.0f) | ||
2319 | taperX = -taperX; | ||
2320 | taperX1 = 1.0f - taperX; | ||
2321 | |||
2322 | taperY = _pbs.PathTaperY * 0.01f; | ||
2323 | if (taperY < 0.0f) | ||
2324 | taperY = -taperY; | ||
2325 | taperY1 = 1.0f - taperY; | ||
2326 | } | ||
2327 | |||
2328 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); | ||
2329 | |||
2330 | pathBegin = (float)_pbs.PathBegin * 2.0e-5f; | ||
2331 | pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; | ||
2332 | volume *= (pathEnd - pathBegin); | ||
2333 | |||
2334 | // this is crude aproximation | ||
2335 | profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; | ||
2336 | profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; | ||
2337 | volume *= (profileEnd - profileBegin); | ||
2338 | |||
2339 | return volume; | ||
2340 | } | ||
2341 | |||
2342 | |||
2343 | private void CalcPrimBodyData() | ||
2344 | { | ||
2345 | float volume; | ||
2346 | |||
2347 | if (prim_geom == IntPtr.Zero) | ||
2348 | { | ||
2349 | // Ubit let's have a initial basic OOB | ||
2350 | primOOBsize.X = _size.X; | ||
2351 | primOOBsize.Y = _size.Y; | ||
2352 | primOOBsize.Z = _size.Z; | ||
2353 | primOOBoffset = Vector3.Zero; | ||
2354 | } | ||
2355 | else | ||
2356 | { | ||
2357 | d.AABB AABB; | ||
2358 | d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom | ||
2359 | |||
2360 | primOOBsize.X = (AABB.MaxX - AABB.MinX); | ||
2361 | primOOBsize.Y = (AABB.MaxY - AABB.MinY); | ||
2362 | primOOBsize.Z = (AABB.MaxZ - AABB.MinZ); | ||
2363 | if (!hasOOBoffsetFromMesh) | ||
2364 | { | ||
2365 | primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; | ||
2366 | primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; | ||
2367 | primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; | ||
2368 | } | ||
2369 | } | ||
2370 | |||
2371 | // also its own inertia and mass | ||
2372 | // keep using basic shape mass for now | ||
2373 | volume = CalculatePrimVolume(); | ||
2374 | |||
2375 | primVolume = volume; | ||
2376 | primMass = m_density * volume; | ||
2377 | |||
2378 | if (primMass <= 0) | ||
2379 | primMass = 0.0001f;//ckrinke: Mass must be greater then zero. | ||
2380 | if (primMass > _parent_scene.maximumMassObject) | ||
2381 | primMass = _parent_scene.maximumMassObject; | ||
2382 | |||
2383 | _mass = primMass; // just in case | ||
2384 | |||
2385 | d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); | ||
2386 | |||
2387 | d.MassTranslate(ref primdMass, | ||
2388 | primOOBoffset.X, | ||
2389 | primOOBoffset.Y, | ||
2390 | primOOBoffset.Z); | ||
2391 | |||
2392 | primOOBsize *= 0.5f; // let obb size be a corner coords | ||
2393 | primOOBradiusSQ = primOOBsize.LengthSquared(); | ||
2394 | } | ||
2395 | |||
2396 | |||
2397 | #endregion | ||
2398 | |||
2399 | |||
2400 | /// <summary> | ||
2401 | /// Add a child prim to this parent prim. | ||
2402 | /// </summary> | ||
2403 | /// <param name="prim">Child prim</param> | ||
2404 | // I'm the parent | ||
2405 | // prim is the child | ||
2406 | public void ParentPrim(OdePrim prim) | ||
2407 | { | ||
2408 | //Console.WriteLine("ParentPrim " + m_primName); | ||
2409 | if (this.m_localID != prim.m_localID) | ||
2410 | { | ||
2411 | DestroyBody(); // for now we need to rebuil entire object on link change | ||
2412 | |||
2413 | lock (childrenPrim) | ||
2414 | { | ||
2415 | // adopt the prim | ||
2416 | if (!childrenPrim.Contains(prim)) | ||
2417 | childrenPrim.Add(prim); | ||
2418 | |||
2419 | // see if this prim has kids and adopt them also | ||
2420 | // should not happen for now | ||
2421 | foreach (OdePrim prm in prim.childrenPrim) | ||
2422 | { | ||
2423 | if (!childrenPrim.Contains(prm)) | ||
2424 | { | ||
2425 | if (prm.Body != IntPtr.Zero) | ||
2426 | { | ||
2427 | if (prm.prim_geom != IntPtr.Zero) | ||
2428 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
2429 | if (prm.Body != prim.Body) | ||
2430 | prm.DestroyBody(); // don't loose bodies around | ||
2431 | prm.Body = IntPtr.Zero; | ||
2432 | } | ||
2433 | |||
2434 | childrenPrim.Add(prm); | ||
2435 | prm._parent = this; | ||
2436 | } | ||
2437 | } | ||
2438 | } | ||
2439 | //Remove old children from the prim | ||
2440 | prim.childrenPrim.Clear(); | ||
2441 | |||
2442 | if (prim.Body != IntPtr.Zero) | ||
2443 | { | ||
2444 | if (prim.prim_geom != IntPtr.Zero) | ||
2445 | d.GeomSetBody(prim.prim_geom, IntPtr.Zero); | ||
2446 | prim.DestroyBody(); // don't loose bodies around | ||
2447 | prim.Body = IntPtr.Zero; | ||
2448 | } | ||
2449 | |||
2450 | prim.childPrim = true; | ||
2451 | prim._parent = this; | ||
2452 | |||
2453 | MakeBody(); // full nasty reconstruction | ||
2454 | } | ||
2455 | } | ||
2456 | |||
2457 | private void UpdateChildsfromgeom() | ||
2458 | { | ||
2459 | if (childrenPrim.Count > 0) | ||
2460 | { | ||
2461 | foreach (OdePrim prm in childrenPrim) | ||
2462 | prm.UpdateDataFromGeom(); | ||
2463 | } | ||
2464 | } | ||
2465 | |||
2466 | private void UpdateDataFromGeom() | ||
2467 | { | ||
2468 | if (prim_geom != IntPtr.Zero) | ||
2469 | { | ||
2470 | d.Quaternion qtmp = new d.Quaternion { }; | ||
2471 | d.GeomCopyQuaternion(prim_geom, out qtmp); | ||
2472 | _orientation.W = qtmp.W; | ||
2473 | _orientation.X = qtmp.X; | ||
2474 | _orientation.Y = qtmp.Y; | ||
2475 | _orientation.Z = qtmp.Z; | ||
2476 | |||
2477 | d.Vector3 lpos; | ||
2478 | d.GeomCopyPosition(prim_geom, out lpos); | ||
2479 | _position.X = lpos.X; | ||
2480 | _position.Y = lpos.Y; | ||
2481 | _position.Z = lpos.Z; | ||
2482 | } | ||
2483 | } | ||
2484 | |||
2485 | private void ChildDelink(OdePrim odePrim, bool remakebodies) | ||
2486 | { | ||
2487 | // Okay, we have a delinked child.. destroy all body and remake | ||
2488 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
2489 | return; | ||
2490 | |||
2491 | DestroyBody(); | ||
2492 | |||
2493 | if (odePrim == this) // delinking the root prim | ||
2494 | { | ||
2495 | OdePrim newroot = null; | ||
2496 | lock (childrenPrim) | ||
2497 | { | ||
2498 | if (childrenPrim.Count > 0) | ||
2499 | { | ||
2500 | newroot = childrenPrim[0]; | ||
2501 | childrenPrim.RemoveAt(0); | ||
2502 | foreach (OdePrim prm in childrenPrim) | ||
2503 | { | ||
2504 | newroot.childrenPrim.Add(prm); | ||
2505 | } | ||
2506 | childrenPrim.Clear(); | ||
2507 | } | ||
2508 | if (newroot != null) | ||
2509 | { | ||
2510 | newroot.childPrim = false; | ||
2511 | newroot._parent = null; | ||
2512 | if (remakebodies) | ||
2513 | newroot.MakeBody(); | ||
2514 | } | ||
2515 | } | ||
2516 | } | ||
2517 | |||
2518 | else | ||
2519 | { | ||
2520 | lock (childrenPrim) | ||
2521 | { | ||
2522 | childrenPrim.Remove(odePrim); | ||
2523 | odePrim.childPrim = false; | ||
2524 | odePrim._parent = null; | ||
2525 | // odePrim.UpdateDataFromGeom(); | ||
2526 | if (remakebodies) | ||
2527 | odePrim.MakeBody(); | ||
2528 | } | ||
2529 | } | ||
2530 | if (remakebodies) | ||
2531 | MakeBody(); | ||
2532 | } | ||
2533 | |||
2534 | protected void ChildRemove(OdePrim odePrim, bool reMakeBody) | ||
2535 | { | ||
2536 | // Okay, we have a delinked child.. destroy all body and remake | ||
2537 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
2538 | return; | ||
2539 | |||
2540 | DestroyBody(); | ||
2541 | |||
2542 | if (odePrim == this) | ||
2543 | { | ||
2544 | OdePrim newroot = null; | ||
2545 | lock (childrenPrim) | ||
2546 | { | ||
2547 | if (childrenPrim.Count > 0) | ||
2548 | { | ||
2549 | newroot = childrenPrim[0]; | ||
2550 | childrenPrim.RemoveAt(0); | ||
2551 | foreach (OdePrim prm in childrenPrim) | ||
2552 | { | ||
2553 | newroot.childrenPrim.Add(prm); | ||
2554 | } | ||
2555 | childrenPrim.Clear(); | ||
2556 | } | ||
2557 | if (newroot != null) | ||
2558 | { | ||
2559 | newroot.childPrim = false; | ||
2560 | newroot._parent = null; | ||
2561 | newroot.MakeBody(); | ||
2562 | } | ||
2563 | } | ||
2564 | if (reMakeBody) | ||
2565 | MakeBody(); | ||
2566 | return; | ||
2567 | } | ||
2568 | else | ||
2569 | { | ||
2570 | lock (childrenPrim) | ||
2571 | { | ||
2572 | childrenPrim.Remove(odePrim); | ||
2573 | odePrim.childPrim = false; | ||
2574 | odePrim._parent = null; | ||
2575 | if (reMakeBody) | ||
2576 | odePrim.MakeBody(); | ||
2577 | } | ||
2578 | } | ||
2579 | MakeBody(); | ||
2580 | } | ||
2581 | |||
2582 | #region changes | ||
2583 | |||
2584 | private void changeadd() | ||
2585 | { | ||
2586 | CreateGeom(); | ||
2587 | |||
2588 | if (prim_geom != IntPtr.Zero) | ||
2589 | { | ||
2590 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2591 | d.Quaternion myrot = new d.Quaternion(); | ||
2592 | myrot.X = _orientation.X; | ||
2593 | myrot.Y = _orientation.Y; | ||
2594 | myrot.Z = _orientation.Z; | ||
2595 | myrot.W = _orientation.W; | ||
2596 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2597 | |||
2598 | if (!m_isphysical) | ||
2599 | { | ||
2600 | SetInStaticSpace(this); | ||
2601 | UpdateCollisionCatFlags(); | ||
2602 | ApplyCollisionCatFlags(); | ||
2603 | } | ||
2604 | else | ||
2605 | MakeBody(); | ||
2606 | } | ||
2607 | } | ||
2608 | |||
2609 | private void changeAngularLock(Vector3 newLock) | ||
2610 | { | ||
2611 | // do we have a Physical object? | ||
2612 | if (Body != IntPtr.Zero) | ||
2613 | { | ||
2614 | //Check that we have a Parent | ||
2615 | //If we have a parent then we're not authorative here | ||
2616 | if (_parent == null) | ||
2617 | { | ||
2618 | if (!newLock.ApproxEquals(Vector3.One, 0f)) | ||
2619 | { | ||
2620 | createAMotor(newLock); | ||
2621 | } | ||
2622 | else | ||
2623 | { | ||
2624 | if (Amotor != IntPtr.Zero) | ||
2625 | { | ||
2626 | d.JointDestroy(Amotor); | ||
2627 | Amotor = IntPtr.Zero; | ||
2628 | } | ||
2629 | } | ||
2630 | } | ||
2631 | } | ||
2632 | // Store this for later in case we get turned into a separate body | ||
2633 | m_angularlock = newLock; | ||
2634 | } | ||
2635 | |||
2636 | private void changeLink(OdePrim NewParent) | ||
2637 | { | ||
2638 | if (_parent == null && NewParent != null) | ||
2639 | { | ||
2640 | NewParent.ParentPrim(this); | ||
2641 | } | ||
2642 | else if (_parent != null) | ||
2643 | { | ||
2644 | if (_parent is OdePrim) | ||
2645 | { | ||
2646 | if (NewParent != _parent) | ||
2647 | { | ||
2648 | (_parent as OdePrim).ChildDelink(this, false); // for now... | ||
2649 | childPrim = false; | ||
2650 | |||
2651 | if (NewParent != null) | ||
2652 | { | ||
2653 | NewParent.ParentPrim(this); | ||
2654 | } | ||
2655 | } | ||
2656 | } | ||
2657 | } | ||
2658 | _parent = NewParent; | ||
2659 | } | ||
2660 | |||
2661 | |||
2662 | private void Stop() | ||
2663 | { | ||
2664 | if (!childPrim) | ||
2665 | { | ||
2666 | m_force = Vector3.Zero; | ||
2667 | m_forceacc = Vector3.Zero; | ||
2668 | m_angularForceacc = Vector3.Zero; | ||
2669 | _torque = Vector3.Zero; | ||
2670 | _velocity = Vector3.Zero; | ||
2671 | _acceleration = Vector3.Zero; | ||
2672 | m_rotationalVelocity = Vector3.Zero; | ||
2673 | _target_velocity = Vector3.Zero; | ||
2674 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
2675 | m_vehicle.Stop(); | ||
2676 | } | ||
2677 | |||
2678 | if (Body != IntPtr.Zero) | ||
2679 | { | ||
2680 | d.BodySetForce(Body, 0f, 0f, 0f); | ||
2681 | d.BodySetTorque(Body, 0f, 0f, 0f); | ||
2682 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | ||
2683 | d.BodySetAngularVel(Body, 0f, 0f, 0f); | ||
2684 | } | ||
2685 | } | ||
2686 | |||
2687 | private void changePhantomStatus(bool newval) | ||
2688 | { | ||
2689 | m_isphantom = newval; | ||
2690 | |||
2691 | UpdateCollisionCatFlags(); | ||
2692 | ApplyCollisionCatFlags(); | ||
2693 | } | ||
2694 | |||
2695 | /* not in use | ||
2696 | internal void ChildSelectedChange(bool childSelect) | ||
2697 | { | ||
2698 | if(childPrim) | ||
2699 | return; | ||
2700 | |||
2701 | if (childSelect == m_isSelected) | ||
2702 | return; | ||
2703 | |||
2704 | if (childSelect) | ||
2705 | { | ||
2706 | DoSelectedStatus(true); | ||
2707 | } | ||
2708 | |||
2709 | else | ||
2710 | { | ||
2711 | foreach (OdePrim prm in childrenPrim) | ||
2712 | { | ||
2713 | if (prm.m_isSelected) | ||
2714 | return; | ||
2715 | } | ||
2716 | DoSelectedStatus(false); | ||
2717 | } | ||
2718 | } | ||
2719 | */ | ||
2720 | private void changeSelectedStatus(bool newval) | ||
2721 | { | ||
2722 | if (m_lastdoneSelected == newval) | ||
2723 | return; | ||
2724 | |||
2725 | m_lastdoneSelected = newval; | ||
2726 | DoSelectedStatus(newval); | ||
2727 | } | ||
2728 | |||
2729 | private void CheckDelaySelect() | ||
2730 | { | ||
2731 | if (m_delaySelect) | ||
2732 | { | ||
2733 | DoSelectedStatus(m_isSelected); | ||
2734 | } | ||
2735 | } | ||
2736 | |||
2737 | private void DoSelectedStatus(bool newval) | ||
2738 | { | ||
2739 | m_isSelected = newval; | ||
2740 | Stop(); | ||
2741 | |||
2742 | if (newval) | ||
2743 | { | ||
2744 | if (!childPrim && Body != IntPtr.Zero) | ||
2745 | d.BodyDisable(Body); | ||
2746 | |||
2747 | if (m_delaySelect || m_isphysical) | ||
2748 | { | ||
2749 | m_collisionCategories = CollisionCategories.Selected; | ||
2750 | m_collisionFlags = 0; | ||
2751 | |||
2752 | if (!childPrim) | ||
2753 | { | ||
2754 | foreach (OdePrim prm in childrenPrim) | ||
2755 | { | ||
2756 | prm.m_collisionCategories = m_collisionCategories; | ||
2757 | prm.m_collisionFlags = m_collisionFlags; | ||
2758 | |||
2759 | if (prm.prim_geom != null) | ||
2760 | { | ||
2761 | |||
2762 | if (prm.m_NoColide) | ||
2763 | { | ||
2764 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
2765 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
2766 | } | ||
2767 | else | ||
2768 | { | ||
2769 | d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); | ||
2770 | d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); | ||
2771 | } | ||
2772 | } | ||
2773 | prm.m_delaySelect = false; | ||
2774 | } | ||
2775 | } | ||
2776 | // else if (_parent != null) | ||
2777 | // ((OdePrim)_parent).ChildSelectedChange(true); | ||
2778 | |||
2779 | |||
2780 | if (prim_geom != null) | ||
2781 | { | ||
2782 | if (m_NoColide) | ||
2783 | { | ||
2784 | d.GeomSetCategoryBits(prim_geom, 0); | ||
2785 | d.GeomSetCollideBits(prim_geom, 0); | ||
2786 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
2787 | { | ||
2788 | d.GeomSetCategoryBits(collide_geom, 0); | ||
2789 | d.GeomSetCollideBits(collide_geom, 0); | ||
2790 | } | ||
2791 | |||
2792 | } | ||
2793 | else | ||
2794 | { | ||
2795 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
2796 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
2797 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
2798 | { | ||
2799 | d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); | ||
2800 | d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); | ||
2801 | } | ||
2802 | } | ||
2803 | } | ||
2804 | |||
2805 | m_delaySelect = false; | ||
2806 | } | ||
2807 | else if(!m_isphysical) | ||
2808 | { | ||
2809 | m_delaySelect = true; | ||
2810 | } | ||
2811 | } | ||
2812 | else | ||
2813 | { | ||
2814 | if (!childPrim) | ||
2815 | { | ||
2816 | if (Body != IntPtr.Zero && !m_disabled) | ||
2817 | d.BodyEnable(Body); | ||
2818 | } | ||
2819 | // else if (_parent != null) | ||
2820 | // ((OdePrim)_parent).ChildSelectedChange(false); | ||
2821 | |||
2822 | UpdateCollisionCatFlags(); | ||
2823 | ApplyCollisionCatFlags(); | ||
2824 | |||
2825 | m_delaySelect = false; | ||
2826 | } | ||
2827 | |||
2828 | resetCollisionAccounting(); | ||
2829 | } | ||
2830 | |||
2831 | private void changePosition(Vector3 newPos) | ||
2832 | { | ||
2833 | CheckDelaySelect(); | ||
2834 | if (m_isphysical) | ||
2835 | { | ||
2836 | if (childPrim) // inertia is messed, must rebuild | ||
2837 | { | ||
2838 | if (m_building) | ||
2839 | { | ||
2840 | _position = newPos; | ||
2841 | } | ||
2842 | |||
2843 | else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) | ||
2844 | { | ||
2845 | FixInertia(newPos); | ||
2846 | if (!d.BodyIsEnabled(Body)) | ||
2847 | d.BodyEnable(Body); | ||
2848 | } | ||
2849 | } | ||
2850 | else | ||
2851 | { | ||
2852 | if (_position != newPos) | ||
2853 | { | ||
2854 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2855 | _position = newPos; | ||
2856 | } | ||
2857 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2858 | d.BodyEnable(Body); | ||
2859 | } | ||
2860 | } | ||
2861 | else | ||
2862 | { | ||
2863 | if (prim_geom != IntPtr.Zero) | ||
2864 | { | ||
2865 | if (newPos != _position) | ||
2866 | { | ||
2867 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2868 | _position = newPos; | ||
2869 | |||
2870 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2871 | } | ||
2872 | } | ||
2873 | } | ||
2874 | givefakepos--; | ||
2875 | if (givefakepos < 0) | ||
2876 | givefakepos = 0; | ||
2877 | // changeSelectedStatus(); | ||
2878 | resetCollisionAccounting(); | ||
2879 | } | ||
2880 | |||
2881 | private void changeOrientation(Quaternion newOri) | ||
2882 | { | ||
2883 | CheckDelaySelect(); | ||
2884 | if (m_isphysical) | ||
2885 | { | ||
2886 | if (childPrim) // inertia is messed, must rebuild | ||
2887 | { | ||
2888 | if (m_building) | ||
2889 | { | ||
2890 | _orientation = newOri; | ||
2891 | } | ||
2892 | /* | ||
2893 | else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) | ||
2894 | { | ||
2895 | FixInertia(_position, newOri); | ||
2896 | if (!d.BodyIsEnabled(Body)) | ||
2897 | d.BodyEnable(Body); | ||
2898 | } | ||
2899 | */ | ||
2900 | } | ||
2901 | else | ||
2902 | { | ||
2903 | if (newOri != _orientation) | ||
2904 | { | ||
2905 | d.Quaternion myrot = new d.Quaternion(); | ||
2906 | myrot.X = newOri.X; | ||
2907 | myrot.Y = newOri.Y; | ||
2908 | myrot.Z = newOri.Z; | ||
2909 | myrot.W = newOri.W; | ||
2910 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2911 | _orientation = newOri; | ||
2912 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | ||
2913 | createAMotor(m_angularlock); | ||
2914 | } | ||
2915 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2916 | d.BodyEnable(Body); | ||
2917 | } | ||
2918 | } | ||
2919 | else | ||
2920 | { | ||
2921 | if (prim_geom != IntPtr.Zero) | ||
2922 | { | ||
2923 | if (newOri != _orientation) | ||
2924 | { | ||
2925 | d.Quaternion myrot = new d.Quaternion(); | ||
2926 | myrot.X = newOri.X; | ||
2927 | myrot.Y = newOri.Y; | ||
2928 | myrot.Z = newOri.Z; | ||
2929 | myrot.W = newOri.W; | ||
2930 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2931 | _orientation = newOri; | ||
2932 | } | ||
2933 | } | ||
2934 | } | ||
2935 | givefakeori--; | ||
2936 | if (givefakeori < 0) | ||
2937 | givefakeori = 0; | ||
2938 | resetCollisionAccounting(); | ||
2939 | } | ||
2940 | |||
2941 | private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) | ||
2942 | { | ||
2943 | CheckDelaySelect(); | ||
2944 | if (m_isphysical) | ||
2945 | { | ||
2946 | if (childPrim && m_building) // inertia is messed, must rebuild | ||
2947 | { | ||
2948 | _position = newPos; | ||
2949 | _orientation = newOri; | ||
2950 | } | ||
2951 | else | ||
2952 | { | ||
2953 | if (newOri != _orientation) | ||
2954 | { | ||
2955 | d.Quaternion myrot = new d.Quaternion(); | ||
2956 | myrot.X = newOri.X; | ||
2957 | myrot.Y = newOri.Y; | ||
2958 | myrot.Z = newOri.Z; | ||
2959 | myrot.W = newOri.W; | ||
2960 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2961 | _orientation = newOri; | ||
2962 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | ||
2963 | createAMotor(m_angularlock); | ||
2964 | } | ||
2965 | if (_position != newPos) | ||
2966 | { | ||
2967 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2968 | _position = newPos; | ||
2969 | } | ||
2970 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2971 | d.BodyEnable(Body); | ||
2972 | } | ||
2973 | } | ||
2974 | else | ||
2975 | { | ||
2976 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | ||
2977 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | ||
2978 | |||
2979 | if (prim_geom != IntPtr.Zero) | ||
2980 | { | ||
2981 | if (newOri != _orientation) | ||
2982 | { | ||
2983 | d.Quaternion myrot = new d.Quaternion(); | ||
2984 | myrot.X = newOri.X; | ||
2985 | myrot.Y = newOri.Y; | ||
2986 | myrot.Z = newOri.Z; | ||
2987 | myrot.W = newOri.W; | ||
2988 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2989 | _orientation = newOri; | ||
2990 | } | ||
2991 | |||
2992 | if (newPos != _position) | ||
2993 | { | ||
2994 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2995 | _position = newPos; | ||
2996 | |||
2997 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2998 | } | ||
2999 | } | ||
3000 | } | ||
3001 | givefakepos--; | ||
3002 | if (givefakepos < 0) | ||
3003 | givefakepos = 0; | ||
3004 | givefakeori--; | ||
3005 | if (givefakeori < 0) | ||
3006 | givefakeori = 0; | ||
3007 | resetCollisionAccounting(); | ||
3008 | } | ||
3009 | |||
3010 | |||
3011 | private void changeDisable(bool disable) | ||
3012 | { | ||
3013 | if (disable) | ||
3014 | { | ||
3015 | if (!m_disabled) | ||
3016 | disableBodySoft(); | ||
3017 | } | ||
3018 | else | ||
3019 | { | ||
3020 | if (m_disabled) | ||
3021 | enableBodySoft(); | ||
3022 | } | ||
3023 | } | ||
3024 | |||
3025 | private void changePhysicsStatus(bool NewStatus) | ||
3026 | { | ||
3027 | CheckDelaySelect(); | ||
3028 | |||
3029 | m_isphysical = NewStatus; | ||
3030 | |||
3031 | if (!childPrim) | ||
3032 | { | ||
3033 | if (NewStatus) | ||
3034 | { | ||
3035 | if (Body == IntPtr.Zero) | ||
3036 | MakeBody(); | ||
3037 | } | ||
3038 | else | ||
3039 | { | ||
3040 | if (Body != IntPtr.Zero) | ||
3041 | { | ||
3042 | DestroyBody(); | ||
3043 | } | ||
3044 | Stop(); | ||
3045 | } | ||
3046 | } | ||
3047 | |||
3048 | resetCollisionAccounting(); | ||
3049 | } | ||
3050 | |||
3051 | private void changeprimsizeshape() | ||
3052 | { | ||
3053 | CheckDelaySelect(); | ||
3054 | |||
3055 | OdePrim parent = (OdePrim)_parent; | ||
3056 | |||
3057 | bool chp = childPrim; | ||
3058 | |||
3059 | if (chp) | ||
3060 | { | ||
3061 | if (parent != null) | ||
3062 | { | ||
3063 | parent.DestroyBody(); | ||
3064 | } | ||
3065 | } | ||
3066 | else | ||
3067 | { | ||
3068 | DestroyBody(); | ||
3069 | } | ||
3070 | |||
3071 | RemoveGeom(); | ||
3072 | |||
3073 | // we don't need to do space calculation because the client sends a position update also. | ||
3074 | if (_size.X <= 0) | ||
3075 | _size.X = 0.01f; | ||
3076 | if (_size.Y <= 0) | ||
3077 | _size.Y = 0.01f; | ||
3078 | if (_size.Z <= 0) | ||
3079 | _size.Z = 0.01f; | ||
3080 | // Construction of new prim | ||
3081 | |||
3082 | CreateGeom(); | ||
3083 | |||
3084 | if (prim_geom != IntPtr.Zero) | ||
3085 | { | ||
3086 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
3087 | d.Quaternion myrot = new d.Quaternion(); | ||
3088 | myrot.X = _orientation.X; | ||
3089 | myrot.Y = _orientation.Y; | ||
3090 | myrot.Z = _orientation.Z; | ||
3091 | myrot.W = _orientation.W; | ||
3092 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3093 | } | ||
3094 | |||
3095 | if (m_isphysical) | ||
3096 | { | ||
3097 | if (chp) | ||
3098 | { | ||
3099 | if (parent != null) | ||
3100 | { | ||
3101 | parent.MakeBody(); | ||
3102 | } | ||
3103 | } | ||
3104 | else | ||
3105 | MakeBody(); | ||
3106 | } | ||
3107 | |||
3108 | else | ||
3109 | { | ||
3110 | UpdateCollisionCatFlags(); | ||
3111 | ApplyCollisionCatFlags(); | ||
3112 | } | ||
3113 | |||
3114 | resetCollisionAccounting(); | ||
3115 | } | ||
3116 | |||
3117 | private void changeSize(Vector3 newSize) | ||
3118 | { | ||
3119 | _size = newSize; | ||
3120 | changeprimsizeshape(); | ||
3121 | } | ||
3122 | |||
3123 | private void changeShape(PrimitiveBaseShape newShape) | ||
3124 | { | ||
3125 | if(newShape != null) | ||
3126 | _pbs = newShape; | ||
3127 | changeprimsizeshape(); | ||
3128 | } | ||
3129 | |||
3130 | private void changeFloatOnWater(bool newval) | ||
3131 | { | ||
3132 | m_collidesWater = newval; | ||
3133 | |||
3134 | UpdateCollisionCatFlags(); | ||
3135 | ApplyCollisionCatFlags(); | ||
3136 | } | ||
3137 | |||
3138 | private void changeSetTorque(Vector3 newtorque) | ||
3139 | { | ||
3140 | if (!m_isSelected) | ||
3141 | { | ||
3142 | if (m_isphysical && Body != IntPtr.Zero) | ||
3143 | { | ||
3144 | if (m_disabled) | ||
3145 | enableBodySoft(); | ||
3146 | else if (!d.BodyIsEnabled(Body)) | ||
3147 | d.BodyEnable(Body); | ||
3148 | |||
3149 | } | ||
3150 | _torque = newtorque; | ||
3151 | } | ||
3152 | } | ||
3153 | |||
3154 | private void changeForce(Vector3 force) | ||
3155 | { | ||
3156 | m_force = force; | ||
3157 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
3158 | d.BodyEnable(Body); | ||
3159 | } | ||
3160 | |||
3161 | |||
3162 | private void changeAddImpulse(Vector3 impulse) | ||
3163 | { | ||
3164 | m_forceacc += impulse * m_invTimeStep; | ||
3165 | if (!m_isSelected) | ||
3166 | { | ||
3167 | lock (this) | ||
3168 | { | ||
3169 | //m_log.Info("[PHYSICS]: dequeing forcelist"); | ||
3170 | if (m_isphysical && Body != IntPtr.Zero) | ||
3171 | { | ||
3172 | if (m_disabled) | ||
3173 | enableBodySoft(); | ||
3174 | else if (!d.BodyIsEnabled(Body)) | ||
3175 | d.BodyEnable(Body); | ||
3176 | } | ||
3177 | } | ||
3178 | |||
3179 | m_collisionscore = 0; | ||
3180 | } | ||
3181 | } | ||
3182 | |||
3183 | // actually angular impulse | ||
3184 | private void changeAddAngularImpulse(Vector3 aimpulse) | ||
3185 | { | ||
3186 | m_angularForceacc += aimpulse * m_invTimeStep; | ||
3187 | if (!m_isSelected) | ||
3188 | { | ||
3189 | lock (this) | ||
3190 | { | ||
3191 | if (m_isphysical && Body != IntPtr.Zero) | ||
3192 | { | ||
3193 | if (m_disabled) | ||
3194 | enableBodySoft(); | ||
3195 | else if (!d.BodyIsEnabled(Body)) | ||
3196 | d.BodyEnable(Body); | ||
3197 | } | ||
3198 | } | ||
3199 | m_collisionscore = 0; | ||
3200 | } | ||
3201 | } | ||
3202 | |||
3203 | private void changevelocity(Vector3 newVel) | ||
3204 | { | ||
3205 | if (!m_isSelected) | ||
3206 | { | ||
3207 | if (Body != IntPtr.Zero) | ||
3208 | { | ||
3209 | if (m_disabled) | ||
3210 | enableBodySoft(); | ||
3211 | else if (!d.BodyIsEnabled(Body)) | ||
3212 | d.BodyEnable(Body); | ||
3213 | |||
3214 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); | ||
3215 | } | ||
3216 | //resetCollisionAccounting(); | ||
3217 | } | ||
3218 | _velocity = newVel; | ||
3219 | } | ||
3220 | |||
3221 | private void changeVolumedetetion(bool newVolDtc) | ||
3222 | { | ||
3223 | m_isVolumeDetect = newVolDtc; | ||
3224 | m_fakeisVolumeDetect = newVolDtc; | ||
3225 | UpdateCollisionCatFlags(); | ||
3226 | ApplyCollisionCatFlags(); | ||
3227 | } | ||
3228 | |||
3229 | protected void changeBuilding(bool newbuilding) | ||
3230 | { | ||
3231 | if ((bool)newbuilding) | ||
3232 | { | ||
3233 | m_building = true; | ||
3234 | if (!childPrim) | ||
3235 | DestroyBody(); | ||
3236 | } | ||
3237 | else | ||
3238 | { | ||
3239 | m_building = false; | ||
3240 | CheckDelaySelect(); | ||
3241 | if (!childPrim) | ||
3242 | MakeBody(); | ||
3243 | } | ||
3244 | if (!childPrim && childrenPrim.Count > 0) | ||
3245 | { | ||
3246 | foreach (OdePrim prm in childrenPrim) | ||
3247 | prm.changeBuilding(m_building); // call directly | ||
3248 | } | ||
3249 | } | ||
3250 | |||
3251 | public void changeSetVehicle(VehicleData vdata) | ||
3252 | { | ||
3253 | if (m_vehicle == null) | ||
3254 | m_vehicle = new ODEDynamics(this); | ||
3255 | m_vehicle.DoSetVehicle(vdata); | ||
3256 | } | ||
3257 | private void changeVehicleType(int value) | ||
3258 | { | ||
3259 | if (value == (int)Vehicle.TYPE_NONE) | ||
3260 | { | ||
3261 | if (m_vehicle != null) | ||
3262 | m_vehicle = null; | ||
3263 | } | ||
3264 | else | ||
3265 | { | ||
3266 | if (m_vehicle == null) | ||
3267 | m_vehicle = new ODEDynamics(this); | ||
3268 | |||
3269 | m_vehicle.ProcessTypeChange((Vehicle)value); | ||
3270 | } | ||
3271 | } | ||
3272 | |||
3273 | private void changeVehicleFloatParam(strVehicleFloatParam fp) | ||
3274 | { | ||
3275 | if (m_vehicle == null) | ||
3276 | return; | ||
3277 | |||
3278 | m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); | ||
3279 | } | ||
3280 | |||
3281 | private void changeVehicleVectorParam(strVehicleVectorParam vp) | ||
3282 | { | ||
3283 | if (m_vehicle == null) | ||
3284 | return; | ||
3285 | m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); | ||
3286 | } | ||
3287 | |||
3288 | private void changeVehicleRotationParam(strVehicleQuatParam qp) | ||
3289 | { | ||
3290 | if (m_vehicle == null) | ||
3291 | return; | ||
3292 | m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); | ||
3293 | } | ||
3294 | |||
3295 | private void changeVehicleFlags(strVehicleBoolParam bp) | ||
3296 | { | ||
3297 | if (m_vehicle == null) | ||
3298 | return; | ||
3299 | m_vehicle.ProcessVehicleFlags(bp.param, bp.value); | ||
3300 | } | ||
3301 | |||
3302 | #endregion | ||
3303 | |||
3304 | public void Move() | ||
3305 | { | ||
3306 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && | ||
3307 | !m_disabled && !m_isSelected && !m_building && !m_outbounds) | ||
3308 | { | ||
3309 | if (!d.BodyIsEnabled(Body)) | ||
3310 | { | ||
3311 | // let vehicles sleep | ||
3312 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
3313 | return; | ||
3314 | |||
3315 | if (++bodydisablecontrol < 20) | ||
3316 | return; | ||
3317 | |||
3318 | bodydisablecontrol = 0; | ||
3319 | d.BodyEnable(Body); | ||
3320 | } | ||
3321 | |||
3322 | // check outside region | ||
3323 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator | ||
3324 | |||
3325 | if (lpos.Z < -100 || lpos.Z > 100000f) | ||
3326 | { | ||
3327 | m_outbounds = true; | ||
3328 | |||
3329 | lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); | ||
3330 | _acceleration.X = 0; | ||
3331 | _acceleration.Y = 0; | ||
3332 | _acceleration.Z = 0; | ||
3333 | |||
3334 | _velocity.X = 0; | ||
3335 | _velocity.Y = 0; | ||
3336 | _velocity.Z = 0; | ||
3337 | m_rotationalVelocity.X = 0; | ||
3338 | m_rotationalVelocity.Y = 0; | ||
3339 | m_rotationalVelocity.Z = 0; | ||
3340 | |||
3341 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
3342 | d.BodySetAngularVel(Body, 0, 0, 0); // stop it | ||
3343 | d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere | ||
3344 | m_lastposition = _position; | ||
3345 | m_lastorientation = _orientation; | ||
3346 | |||
3347 | base.RequestPhysicsterseUpdate(); | ||
3348 | |||
3349 | throttleCounter = 0; | ||
3350 | _zeroFlag = true; | ||
3351 | |||
3352 | disableBodySoft(); // disable it and colisions | ||
3353 | base.RaiseOutOfBounds(_position); | ||
3354 | return; | ||
3355 | } | ||
3356 | |||
3357 | if (lpos.X < 0f) | ||
3358 | { | ||
3359 | _position.X = Util.Clip(lpos.X, -2f, -0.1f); | ||
3360 | m_outbounds = true; | ||
3361 | } | ||
3362 | else if (lpos.X > _parent_scene.WorldExtents.X) | ||
3363 | { | ||
3364 | _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); | ||
3365 | m_outbounds = true; | ||
3366 | } | ||
3367 | if (lpos.Y < 0f) | ||
3368 | { | ||
3369 | _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); | ||
3370 | m_outbounds = true; | ||
3371 | } | ||
3372 | else if (lpos.Y > _parent_scene.WorldExtents.Y) | ||
3373 | { | ||
3374 | _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); | ||
3375 | m_outbounds = true; | ||
3376 | } | ||
3377 | |||
3378 | if (m_outbounds) | ||
3379 | { | ||
3380 | m_lastposition = _position; | ||
3381 | m_lastorientation = _orientation; | ||
3382 | |||
3383 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | ||
3384 | m_rotationalVelocity.X = dtmp.X; | ||
3385 | m_rotationalVelocity.Y = dtmp.Y; | ||
3386 | m_rotationalVelocity.Z = dtmp.Z; | ||
3387 | |||
3388 | dtmp = d.BodyGetLinearVel(Body); | ||
3389 | _velocity.X = dtmp.X; | ||
3390 | _velocity.Y = dtmp.Y; | ||
3391 | _velocity.Z = dtmp.Z; | ||
3392 | |||
3393 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
3394 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
3395 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
3396 | disableBodySoft(); // stop collisions | ||
3397 | base.RequestPhysicsterseUpdate(); | ||
3398 | return; | ||
3399 | } | ||
3400 | |||
3401 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
3402 | { | ||
3403 | // 'VEHICLES' are dealt with in ODEDynamics.cs | ||
3404 | m_vehicle.Step(); | ||
3405 | return; | ||
3406 | } | ||
3407 | |||
3408 | float fx = 0; | ||
3409 | float fy = 0; | ||
3410 | float fz = 0; | ||
3411 | |||
3412 | float m_mass = _mass; | ||
3413 | |||
3414 | if (m_usePID && m_PIDTau > 0) | ||
3415 | { | ||
3416 | // for now position error | ||
3417 | _target_velocity = | ||
3418 | new Vector3( | ||
3419 | (m_PIDTarget.X - lpos.X), | ||
3420 | (m_PIDTarget.Y - lpos.Y), | ||
3421 | (m_PIDTarget.Z - lpos.Z) | ||
3422 | ); | ||
3423 | |||
3424 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) | ||
3425 | { | ||
3426 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | ||
3427 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
3428 | return; | ||
3429 | } | ||
3430 | else | ||
3431 | { | ||
3432 | _zeroFlag = false; | ||
3433 | |||
3434 | float tmp = 1 / m_PIDTau; | ||
3435 | _target_velocity *= tmp; | ||
3436 | |||
3437 | // apply limits | ||
3438 | tmp = _target_velocity.Length(); | ||
3439 | if (tmp > 50.0f) | ||
3440 | { | ||
3441 | tmp = 50 / tmp; | ||
3442 | _target_velocity *= tmp; | ||
3443 | } | ||
3444 | else if (tmp < 0.05f) | ||
3445 | { | ||
3446 | tmp = 0.05f / tmp; | ||
3447 | _target_velocity *= tmp; | ||
3448 | } | ||
3449 | |||
3450 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3451 | fx = (_target_velocity.X - vel.X) * m_invTimeStep; | ||
3452 | fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; | ||
3453 | fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; | ||
3454 | } | ||
3455 | } // end if (m_usePID) | ||
3456 | |||
3457 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | ||
3458 | else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) | ||
3459 | { | ||
3460 | |||
3461 | // Non-Vehicles have a limited set of Hover options. | ||
3462 | // determine what our target height really is based on HoverType | ||
3463 | |||
3464 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); | ||
3465 | |||
3466 | switch (m_PIDHoverType) | ||
3467 | { | ||
3468 | case PIDHoverType.Ground: | ||
3469 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
3470 | break; | ||
3471 | |||
3472 | case PIDHoverType.GroundAndWater: | ||
3473 | m_waterHeight = _parent_scene.GetWaterLevel(); | ||
3474 | if (m_groundHeight > m_waterHeight) | ||
3475 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
3476 | else | ||
3477 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | ||
3478 | break; | ||
3479 | } // end switch (m_PIDHoverType) | ||
3480 | |||
3481 | // don't go underground unless volumedetector | ||
3482 | |||
3483 | if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) | ||
3484 | { | ||
3485 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3486 | |||
3487 | fz = (m_targetHoverHeight - lpos.Z); | ||
3488 | |||
3489 | // if error is zero, use position control; otherwise, velocity control | ||
3490 | if (Math.Abs(fz) < 0.01f) | ||
3491 | { | ||
3492 | d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); | ||
3493 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | ||
3494 | return; | ||
3495 | } | ||
3496 | else | ||
3497 | { | ||
3498 | _zeroFlag = false; | ||
3499 | fz /= m_PIDHoverTau; | ||
3500 | |||
3501 | float tmp = Math.Abs(fz); | ||
3502 | if (tmp > 50) | ||
3503 | fz = 50 * Math.Sign(fz); | ||
3504 | else if (tmp < 0.1) | ||
3505 | fz = 0.1f * Math.Sign(fz); | ||
3506 | |||
3507 | fz = ((fz - vel.Z) * m_invTimeStep); | ||
3508 | } | ||
3509 | } | ||
3510 | } | ||
3511 | else | ||
3512 | { | ||
3513 | float b = (1.0f - m_buoyancy); | ||
3514 | fx = _parent_scene.gravityx * b; | ||
3515 | fy = _parent_scene.gravityy * b; | ||
3516 | fz = _parent_scene.gravityz * b; | ||
3517 | } | ||
3518 | |||
3519 | fx *= m_mass; | ||
3520 | fy *= m_mass; | ||
3521 | fz *= m_mass; | ||
3522 | |||
3523 | // constant force | ||
3524 | fx += m_force.X; | ||
3525 | fy += m_force.Y; | ||
3526 | fz += m_force.Z; | ||
3527 | |||
3528 | fx += m_forceacc.X; | ||
3529 | fy += m_forceacc.Y; | ||
3530 | fz += m_forceacc.Z; | ||
3531 | |||
3532 | m_forceacc = Vector3.Zero; | ||
3533 | |||
3534 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | ||
3535 | if (fx != 0 || fy != 0 || fz != 0) | ||
3536 | { | ||
3537 | d.BodyAddForce(Body, fx, fy, fz); | ||
3538 | //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); | ||
3539 | } | ||
3540 | |||
3541 | Vector3 trq; | ||
3542 | |||
3543 | trq = _torque; | ||
3544 | trq += m_angularForceacc; | ||
3545 | m_angularForceacc = Vector3.Zero; | ||
3546 | if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) | ||
3547 | { | ||
3548 | d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); | ||
3549 | } | ||
3550 | } | ||
3551 | else | ||
3552 | { // is not physical, or is not a body or is selected | ||
3553 | // _zeroPosition = d.BodyGetPosition(Body); | ||
3554 | return; | ||
3555 | //Console.WriteLine("Nothing " + Name); | ||
3556 | |||
3557 | } | ||
3558 | } | ||
3559 | |||
3560 | public void UpdatePositionAndVelocity() | ||
3561 | { | ||
3562 | if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) | ||
3563 | { | ||
3564 | if (d.BodyIsEnabled(Body) || !_zeroFlag) | ||
3565 | { | ||
3566 | bool lastZeroFlag = _zeroFlag; | ||
3567 | |||
3568 | d.Vector3 lpos; | ||
3569 | d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator | ||
3570 | |||
3571 | d.Quaternion ori; | ||
3572 | d.GeomCopyQuaternion(prim_geom, out ori); | ||
3573 | |||
3574 | // decide if moving | ||
3575 | // use positions since this are integrated quantities | ||
3576 | // tolerance values depende a lot on simulation noise... | ||
3577 | // use simple math.abs since we dont need to be exact | ||
3578 | |||
3579 | if ( | ||
3580 | (Math.Abs(_position.X - lpos.X) < 0.001f) | ||
3581 | && (Math.Abs(_position.Y - lpos.Y) < 0.001f) | ||
3582 | && (Math.Abs(_position.Z - lpos.Z) < 0.001f) | ||
3583 | && (Math.Abs(_orientation.X - ori.X) < 0.0001f) | ||
3584 | && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f) | ||
3585 | && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W | ||
3586 | ) | ||
3587 | { | ||
3588 | _zeroFlag = true; | ||
3589 | } | ||
3590 | else | ||
3591 | _zeroFlag = false; | ||
3592 | |||
3593 | // update velocities and aceleration | ||
3594 | if (!(_zeroFlag && lastZeroFlag)) | ||
3595 | { | ||
3596 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3597 | |||
3598 | _acceleration = _velocity; | ||
3599 | |||
3600 | if ((Math.Abs(vel.X) < 0.001f) && | ||
3601 | (Math.Abs(vel.Y) < 0.001f) && | ||
3602 | (Math.Abs(vel.Z) < 0.001f)) | ||
3603 | { | ||
3604 | _velocity = Vector3.Zero; | ||
3605 | float t = -m_invTimeStep; | ||
3606 | _acceleration = _acceleration * t; | ||
3607 | } | ||
3608 | else | ||
3609 | { | ||
3610 | _velocity.X = vel.X; | ||
3611 | _velocity.Y = vel.Y; | ||
3612 | _velocity.Z = vel.Z; | ||
3613 | _acceleration = (_velocity - _acceleration) * m_invTimeStep; | ||
3614 | } | ||
3615 | |||
3616 | if ((Math.Abs(_acceleration.X) < 0.01f) && | ||
3617 | (Math.Abs(_acceleration.Y) < 0.01f) && | ||
3618 | (Math.Abs(_acceleration.Z) < 0.01f)) | ||
3619 | { | ||
3620 | _acceleration = Vector3.Zero; | ||
3621 | } | ||
3622 | |||
3623 | if ((Math.Abs(_orientation.X - ori.X) < 0.0001) && | ||
3624 | (Math.Abs(_orientation.Y - ori.Y) < 0.0001) && | ||
3625 | (Math.Abs(_orientation.Z - ori.Z) < 0.0001) | ||
3626 | ) | ||
3627 | { | ||
3628 | m_rotationalVelocity = Vector3.Zero; | ||
3629 | } | ||
3630 | else | ||
3631 | { | ||
3632 | vel = d.BodyGetAngularVel(Body); | ||
3633 | m_rotationalVelocity.X = vel.X; | ||
3634 | m_rotationalVelocity.Y = vel.Y; | ||
3635 | m_rotationalVelocity.Z = vel.Z; | ||
3636 | } | ||
3637 | } | ||
3638 | |||
3639 | if (_zeroFlag) | ||
3640 | { | ||
3641 | if (lastZeroFlag) | ||
3642 | { | ||
3643 | _velocity = Vector3.Zero; | ||
3644 | _acceleration = Vector3.Zero; | ||
3645 | m_rotationalVelocity = Vector3.Zero; | ||
3646 | } | ||
3647 | |||
3648 | if (!m_lastUpdateSent) | ||
3649 | { | ||
3650 | base.RequestPhysicsterseUpdate(); | ||
3651 | if (lastZeroFlag) | ||
3652 | m_lastUpdateSent = true; | ||
3653 | } | ||
3654 | return; | ||
3655 | } | ||
3656 | |||
3657 | _position.X = lpos.X; | ||
3658 | _position.Y = lpos.Y; | ||
3659 | _position.Z = lpos.Z; | ||
3660 | |||
3661 | _orientation.X = ori.X; | ||
3662 | _orientation.Y = ori.Y; | ||
3663 | _orientation.Z = ori.Z; | ||
3664 | _orientation.W = ori.W; | ||
3665 | base.RequestPhysicsterseUpdate(); | ||
3666 | m_lastUpdateSent = false; | ||
3667 | } | ||
3668 | } | ||
3669 | } | ||
3670 | |||
3671 | internal static bool QuaternionIsFinite(Quaternion q) | ||
3672 | { | ||
3673 | if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) | ||
3674 | return false; | ||
3675 | if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) | ||
3676 | return false; | ||
3677 | if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) | ||
3678 | return false; | ||
3679 | if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) | ||
3680 | return false; | ||
3681 | return true; | ||
3682 | } | ||
3683 | |||
3684 | internal static void DMassCopy(ref d.Mass src, ref d.Mass dst) | ||
3685 | { | ||
3686 | dst.c.W = src.c.W; | ||
3687 | dst.c.X = src.c.X; | ||
3688 | dst.c.Y = src.c.Y; | ||
3689 | dst.c.Z = src.c.Z; | ||
3690 | dst.mass = src.mass; | ||
3691 | dst.I.M00 = src.I.M00; | ||
3692 | dst.I.M01 = src.I.M01; | ||
3693 | dst.I.M02 = src.I.M02; | ||
3694 | dst.I.M10 = src.I.M10; | ||
3695 | dst.I.M11 = src.I.M11; | ||
3696 | dst.I.M12 = src.I.M12; | ||
3697 | dst.I.M20 = src.I.M20; | ||
3698 | dst.I.M21 = src.I.M21; | ||
3699 | dst.I.M22 = src.I.M22; | ||
3700 | } | ||
3701 | |||
3702 | internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) | ||
3703 | { | ||
3704 | // assumes object center of mass is zero | ||
3705 | float smass = part.mass; | ||
3706 | theobj.mass -= smass; | ||
3707 | |||
3708 | smass *= 1.0f / (theobj.mass); ; | ||
3709 | |||
3710 | theobj.c.X -= part.c.X * smass; | ||
3711 | theobj.c.Y -= part.c.Y * smass; | ||
3712 | theobj.c.Z -= part.c.Z * smass; | ||
3713 | |||
3714 | theobj.I.M00 -= part.I.M00; | ||
3715 | theobj.I.M01 -= part.I.M01; | ||
3716 | theobj.I.M02 -= part.I.M02; | ||
3717 | theobj.I.M10 -= part.I.M10; | ||
3718 | theobj.I.M11 -= part.I.M11; | ||
3719 | theobj.I.M12 -= part.I.M12; | ||
3720 | theobj.I.M20 -= part.I.M20; | ||
3721 | theobj.I.M21 -= part.I.M21; | ||
3722 | theobj.I.M22 -= part.I.M22; | ||
3723 | } | ||
3724 | |||
3725 | private static void DMassDup(ref d.Mass src, out d.Mass dst) | ||
3726 | { | ||
3727 | dst = new d.Mass { }; | ||
3728 | |||
3729 | dst.c.W = src.c.W; | ||
3730 | dst.c.X = src.c.X; | ||
3731 | dst.c.Y = src.c.Y; | ||
3732 | dst.c.Z = src.c.Z; | ||
3733 | dst.mass = src.mass; | ||
3734 | dst.I.M00 = src.I.M00; | ||
3735 | dst.I.M01 = src.I.M01; | ||
3736 | dst.I.M02 = src.I.M02; | ||
3737 | dst.I.M10 = src.I.M10; | ||
3738 | dst.I.M11 = src.I.M11; | ||
3739 | dst.I.M12 = src.I.M12; | ||
3740 | dst.I.M20 = src.I.M20; | ||
3741 | dst.I.M21 = src.I.M21; | ||
3742 | dst.I.M22 = src.I.M22; | ||
3743 | } | ||
3744 | private void donullchange() | ||
3745 | { | ||
3746 | } | ||
3747 | |||
3748 | public bool DoAChange(changes what, object arg) | ||
3749 | { | ||
3750 | if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove) | ||
3751 | { | ||
3752 | return false; | ||
3753 | } | ||
3754 | |||
3755 | // nasty switch | ||
3756 | switch (what) | ||
3757 | { | ||
3758 | case changes.Add: | ||
3759 | changeadd(); | ||
3760 | break; | ||
3761 | case changes.Remove: | ||
3762 | //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... | ||
3763 | //When we return true, it destroys all of the prims in the linkset anyway | ||
3764 | if (_parent != null) | ||
3765 | { | ||
3766 | OdePrim parent = (OdePrim)_parent; | ||
3767 | parent.ChildRemove(this, false); | ||
3768 | } | ||
3769 | else | ||
3770 | ChildRemove(this, false); | ||
3771 | |||
3772 | m_vehicle = null; | ||
3773 | RemoveGeom(); | ||
3774 | m_targetSpace = IntPtr.Zero; | ||
3775 | if (m_eventsubscription > 0) | ||
3776 | UnSubscribeEvents(); | ||
3777 | return true; | ||
3778 | |||
3779 | case changes.Link: | ||
3780 | OdePrim tmp = (OdePrim)arg; | ||
3781 | changeLink(tmp); | ||
3782 | break; | ||
3783 | |||
3784 | case changes.DeLink: | ||
3785 | changeLink(null); | ||
3786 | break; | ||
3787 | |||
3788 | case changes.Position: | ||
3789 | changePosition((Vector3)arg); | ||
3790 | break; | ||
3791 | |||
3792 | case changes.Orientation: | ||
3793 | changeOrientation((Quaternion)arg); | ||
3794 | break; | ||
3795 | |||
3796 | case changes.PosOffset: | ||
3797 | donullchange(); | ||
3798 | break; | ||
3799 | |||
3800 | case changes.OriOffset: | ||
3801 | donullchange(); | ||
3802 | break; | ||
3803 | |||
3804 | case changes.Velocity: | ||
3805 | changevelocity((Vector3)arg); | ||
3806 | break; | ||
3807 | |||
3808 | // case changes.Acceleration: | ||
3809 | // changeacceleration((Vector3)arg); | ||
3810 | // break; | ||
3811 | // case changes.AngVelocity: | ||
3812 | // changeangvelocity((Vector3)arg); | ||
3813 | // break; | ||
3814 | |||
3815 | case changes.Force: | ||
3816 | changeForce((Vector3)arg); | ||
3817 | break; | ||
3818 | |||
3819 | case changes.Torque: | ||
3820 | changeSetTorque((Vector3)arg); | ||
3821 | break; | ||
3822 | |||
3823 | case changes.AddForce: | ||
3824 | changeAddImpulse((Vector3)arg); | ||
3825 | break; | ||
3826 | |||
3827 | case changes.AddAngForce: | ||
3828 | changeAddAngularImpulse((Vector3)arg); | ||
3829 | break; | ||
3830 | |||
3831 | case changes.AngLock: | ||
3832 | changeAngularLock((Vector3)arg); | ||
3833 | break; | ||
3834 | |||
3835 | case changes.Size: | ||
3836 | changeSize((Vector3)arg); | ||
3837 | break; | ||
3838 | |||
3839 | case changes.Shape: | ||
3840 | changeShape((PrimitiveBaseShape)arg); | ||
3841 | break; | ||
3842 | |||
3843 | case changes.CollidesWater: | ||
3844 | changeFloatOnWater((bool)arg); | ||
3845 | break; | ||
3846 | |||
3847 | case changes.VolumeDtc: | ||
3848 | changeVolumedetetion((bool)arg); | ||
3849 | break; | ||
3850 | |||
3851 | case changes.Phantom: | ||
3852 | changePhantomStatus((bool)arg); | ||
3853 | break; | ||
3854 | |||
3855 | case changes.Physical: | ||
3856 | changePhysicsStatus((bool)arg); | ||
3857 | break; | ||
3858 | |||
3859 | case changes.Selected: | ||
3860 | changeSelectedStatus((bool)arg); | ||
3861 | break; | ||
3862 | |||
3863 | case changes.disabled: | ||
3864 | changeDisable((bool)arg); | ||
3865 | break; | ||
3866 | |||
3867 | case changes.building: | ||
3868 | changeBuilding((bool)arg); | ||
3869 | break; | ||
3870 | |||
3871 | case changes.VehicleType: | ||
3872 | changeVehicleType((int)arg); | ||
3873 | break; | ||
3874 | |||
3875 | case changes.VehicleFlags: | ||
3876 | changeVehicleFlags((strVehicleBoolParam) arg); | ||
3877 | break; | ||
3878 | |||
3879 | case changes.VehicleFloatParam: | ||
3880 | changeVehicleFloatParam((strVehicleFloatParam) arg); | ||
3881 | break; | ||
3882 | |||
3883 | case changes.VehicleVectorParam: | ||
3884 | changeVehicleVectorParam((strVehicleVectorParam) arg); | ||
3885 | break; | ||
3886 | |||
3887 | case changes.VehicleRotationParam: | ||
3888 | changeVehicleRotationParam((strVehicleQuatParam) arg); | ||
3889 | break; | ||
3890 | |||
3891 | case changes.SetVehicle: | ||
3892 | changeSetVehicle((VehicleData) arg); | ||
3893 | break; | ||
3894 | case changes.Null: | ||
3895 | donullchange(); | ||
3896 | break; | ||
3897 | |||
3898 | default: | ||
3899 | donullchange(); | ||
3900 | break; | ||
3901 | } | ||
3902 | return false; | ||
3903 | } | ||
3904 | |||
3905 | public void AddChange(changes what, object arg) | ||
3906 | { | ||
3907 | _parent_scene.AddChange((PhysicsActor) this, what, arg); | ||
3908 | } | ||
3909 | |||
3910 | |||
3911 | private struct strVehicleBoolParam | ||
3912 | { | ||
3913 | public int param; | ||
3914 | public bool value; | ||
3915 | } | ||
3916 | |||
3917 | private struct strVehicleFloatParam | ||
3918 | { | ||
3919 | public int param; | ||
3920 | public float value; | ||
3921 | } | ||
3922 | |||
3923 | private struct strVehicleQuatParam | ||
3924 | { | ||
3925 | public int param; | ||
3926 | public Quaternion value; | ||
3927 | } | ||
3928 | |||
3929 | private struct strVehicleVectorParam | ||
3930 | { | ||
3931 | public int param; | ||
3932 | public Vector3 value; | ||
3933 | } | ||
3934 | } | ||
3935 | } \ 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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Reflection; | ||
31 | using System.Runtime.InteropServices; | ||
32 | using System.Text; | ||
33 | using OpenSim.Framework; | ||
34 | using OpenSim.Region.Physics.Manager; | ||
35 | using OdeAPI; | ||
36 | using log4net; | ||
37 | using OpenMetaverse; | ||
38 | |||
39 | namespace 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 | ||
7 | Open Dynamics Engine | ||
8 | Copyright (c) 2001-2007, Russell L. Smith. | ||
9 | All rights reserved. | ||
10 | |||
11 | Redistribution and use in source and binary forms, with or without | ||
12 | modification, are permitted provided that the following conditions | ||
13 | are met: | ||
14 | |||
15 | Redistributions of source code must retain the above copyright notice, | ||
16 | this list of conditions and the following disclaimer. | ||
17 | |||
18 | Redistributions in binary form must reproduce the above copyright notice, | ||
19 | this list of conditions and the following disclaimer in the documentation | ||
20 | and/or other materials provided with the distribution. | ||
21 | |||
22 | Neither the names of ODE's copyright owner nor the names of its | ||
23 | contributors may be used to endorse or promote products derived from | ||
24 | this software without specific prior written permission. | ||
25 | |||
26 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
27 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
28 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
29 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
30 | OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
31 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED | ||
32 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR | ||
33 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF | ||
34 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING | ||
35 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
36 | SOFTWARE, 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 | |||
44 | using System; | ||
45 | using System.Runtime.InteropServices; | ||
46 | using System.Security; | ||
47 | |||
48 | namespace 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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Reflection; | ||
31 | using System.Runtime.InteropServices; | ||
32 | using System.Threading; | ||
33 | using System.IO; | ||
34 | using System.Diagnostics; | ||
35 | using log4net; | ||
36 | using Nini.Config; | ||
37 | using OdeAPI; | ||
38 | using OpenSim.Framework; | ||
39 | using OpenSim.Region.Physics.Manager; | ||
40 | using OpenMetaverse; | ||
41 | |||
42 | namespace 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..cf74f14 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | |||
@@ -0,0 +1,2692 @@ | |||
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 | |||
30 | using System; | ||
31 | using System.Collections.Generic; | ||
32 | using System.Reflection; | ||
33 | using System.Runtime.InteropServices; | ||
34 | using System.Threading; | ||
35 | using System.IO; | ||
36 | using System.Diagnostics; | ||
37 | using log4net; | ||
38 | using Nini.Config; | ||
39 | using OdeAPI; | ||
40 | using OpenSim.Framework; | ||
41 | using OpenSim.Region.Physics.Manager; | ||
42 | using OpenMetaverse; | ||
43 | |||
44 | namespace OpenSim.Region.Physics.OdePlugin | ||
45 | { | ||
46 | public enum StatusIndicators : int | ||
47 | { | ||
48 | Generic = 0, | ||
49 | Start = 1, | ||
50 | End = 2 | ||
51 | } | ||
52 | |||
53 | public struct sCollisionData | ||
54 | { | ||
55 | public uint ColliderLocalId; | ||
56 | public uint CollidedWithLocalId; | ||
57 | public int NumberOfCollisions; | ||
58 | public int CollisionType; | ||
59 | public int StatusIndicator; | ||
60 | public int lastframe; | ||
61 | } | ||
62 | |||
63 | // colision flags of things others can colide with | ||
64 | // rays, sensors, probes removed since can't be colided with | ||
65 | // The top space where things are placed provided further selection | ||
66 | // ie physical are in active space nonphysical in static | ||
67 | // this should be exclusive as possible | ||
68 | |||
69 | [Flags] | ||
70 | public enum CollisionCategories : uint | ||
71 | { | ||
72 | Disabled = 0, | ||
73 | //by 'things' types | ||
74 | Space = 0x01, | ||
75 | Geom = 0x02, // aka prim/part | ||
76 | Character = 0x04, | ||
77 | Land = 0x08, | ||
78 | Water = 0x010, | ||
79 | |||
80 | // by state | ||
81 | Phantom = 0x01000, | ||
82 | VolumeDtc = 0x02000, | ||
83 | Selected = 0x04000, | ||
84 | NoShape = 0x08000, | ||
85 | |||
86 | |||
87 | All = 0xffffffff | ||
88 | } | ||
89 | |||
90 | /// <summary> | ||
91 | /// Material type for a primitive | ||
92 | /// </summary> | ||
93 | public enum Material : int | ||
94 | { | ||
95 | /// <summary></summary> | ||
96 | Stone = 0, | ||
97 | /// <summary></summary> | ||
98 | Metal = 1, | ||
99 | /// <summary></summary> | ||
100 | Glass = 2, | ||
101 | /// <summary></summary> | ||
102 | Wood = 3, | ||
103 | /// <summary></summary> | ||
104 | Flesh = 4, | ||
105 | /// <summary></summary> | ||
106 | Plastic = 5, | ||
107 | /// <summary></summary> | ||
108 | Rubber = 6, | ||
109 | |||
110 | light = 7 // compatibility with old viewers | ||
111 | } | ||
112 | |||
113 | public enum changes : int | ||
114 | { | ||
115 | Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) | ||
116 | Remove, | ||
117 | Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root | ||
118 | // or removes from a object if arg is null | ||
119 | DeLink, | ||
120 | Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child | ||
121 | Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child | ||
122 | PosOffset, // not in use | ||
123 | // arg Vector3 new position in local coords. Changes prim position in object | ||
124 | OriOffset, // not in use | ||
125 | // arg Vector3 new position in local coords. Changes prim position in object | ||
126 | Velocity, | ||
127 | AngVelocity, | ||
128 | Acceleration, | ||
129 | Force, | ||
130 | Torque, | ||
131 | Momentum, | ||
132 | |||
133 | AddForce, | ||
134 | AddAngForce, | ||
135 | AngLock, | ||
136 | |||
137 | Size, | ||
138 | Shape, | ||
139 | |||
140 | CollidesWater, | ||
141 | VolumeDtc, | ||
142 | |||
143 | Physical, | ||
144 | Phantom, | ||
145 | Selected, | ||
146 | disabled, | ||
147 | building, | ||
148 | |||
149 | VehicleType, | ||
150 | VehicleFloatParam, | ||
151 | VehicleVectorParam, | ||
152 | VehicleRotationParam, | ||
153 | VehicleFlags, | ||
154 | SetVehicle, | ||
155 | |||
156 | Null //keep this last used do dim the methods array. does nothing but pulsing the prim | ||
157 | } | ||
158 | |||
159 | public struct ODEchangeitem | ||
160 | { | ||
161 | public PhysicsActor actor; | ||
162 | public OdeCharacter character; | ||
163 | public changes what; | ||
164 | public Object arg; | ||
165 | } | ||
166 | |||
167 | public class OdeScene : PhysicsScene | ||
168 | { | ||
169 | private readonly ILog m_log; | ||
170 | // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); | ||
171 | |||
172 | public bool OdeUbitLib = false; | ||
173 | // private int threadid = 0; | ||
174 | private Random fluidRandomizer = new Random(Environment.TickCount); | ||
175 | |||
176 | const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; | ||
177 | const float MaxERP = 0.8f; | ||
178 | const float minERP = 0.1f; | ||
179 | const float comumContactCFM = 0.0001f; | ||
180 | |||
181 | float frictionMovementMult = 0.3f; | ||
182 | |||
183 | float TerrainBounce = 0.1f; | ||
184 | float TerrainFriction = 0.3f; | ||
185 | |||
186 | public float AvatarFriction = 0;// 0.9f * 0.5f; | ||
187 | |||
188 | private const uint m_regionWidth = Constants.RegionSize; | ||
189 | private const uint m_regionHeight = Constants.RegionSize; | ||
190 | |||
191 | public float ODE_STEPSIZE = 0.020f; | ||
192 | public float HalfOdeStep = 0.01f; | ||
193 | private float metersInSpace = 25.6f; | ||
194 | private float m_timeDilation = 1.0f; | ||
195 | |||
196 | DateTime m_lastframe; | ||
197 | |||
198 | public float gravityx = 0f; | ||
199 | public float gravityy = 0f; | ||
200 | public float gravityz = -9.8f; | ||
201 | |||
202 | private float waterlevel = 0f; | ||
203 | private int framecount = 0; | ||
204 | |||
205 | private IntPtr WaterGeom = IntPtr.Zero; | ||
206 | private IntPtr WaterHeightmapData = IntPtr.Zero; | ||
207 | private GCHandle WaterMapHandler = new GCHandle(); | ||
208 | |||
209 | public float avPIDD = 2200f; // make it visible | ||
210 | public float avPIDP = 900f; // make it visible | ||
211 | private float avCapRadius = 0.37f; | ||
212 | private float avDensity = 3f; | ||
213 | private float avMovementDivisorWalk = 1.3f; | ||
214 | private float avMovementDivisorRun = 0.8f; | ||
215 | private float minimumGroundFlightOffset = 3f; | ||
216 | public float maximumMassObject = 10000.01f; | ||
217 | |||
218 | public bool meshSculptedPrim = true; | ||
219 | public bool forceSimplePrimMeshing = false; | ||
220 | |||
221 | public float meshSculptLOD = 32; | ||
222 | public float MeshSculptphysicalLOD = 32; | ||
223 | |||
224 | public float geomDefaultDensity = 10.000006836f; | ||
225 | |||
226 | public int geomContactPointsStartthrottle = 3; | ||
227 | public int geomUpdatesPerThrottledUpdate = 15; | ||
228 | |||
229 | public float bodyPIDD = 35f; | ||
230 | public float bodyPIDG = 25; | ||
231 | |||
232 | // public int geomCrossingFailuresBeforeOutofbounds = 6; | ||
233 | |||
234 | public int bodyFramesAutoDisable = 5; | ||
235 | |||
236 | |||
237 | private d.NearCallback nearCallback; | ||
238 | |||
239 | private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); | ||
240 | private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>(); | ||
241 | private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); | ||
242 | private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>(); | ||
243 | |||
244 | public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>(); | ||
245 | |||
246 | /// <summary> | ||
247 | /// A list of actors that should receive collision events. | ||
248 | /// </summary> | ||
249 | private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>(); | ||
250 | |||
251 | private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); | ||
252 | public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); | ||
253 | public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); | ||
254 | |||
255 | private float contactsurfacelayer = 0.002f; | ||
256 | |||
257 | private int contactsPerCollision = 80; | ||
258 | internal IntPtr ContactgeomsArray = IntPtr.Zero; | ||
259 | private IntPtr GlobalContactsArray = IntPtr.Zero; | ||
260 | |||
261 | const int maxContactsbeforedeath = 4000; | ||
262 | private volatile int m_global_contactcount = 0; | ||
263 | |||
264 | |||
265 | private readonly IntPtr contactgroup; | ||
266 | |||
267 | public ContactData[] m_materialContactsData = new ContactData[8]; | ||
268 | |||
269 | private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>(); | ||
270 | private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>(); | ||
271 | private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>(); | ||
272 | |||
273 | private int m_physicsiterations = 10; | ||
274 | private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag | ||
275 | private readonly PhysicsActor PANull = new NullPhysicsActor(); | ||
276 | private float step_time = 0.0f; | ||
277 | |||
278 | public IntPtr world; | ||
279 | |||
280 | private uint obj2LocalID = 0; | ||
281 | private OdeCharacter cc1; | ||
282 | private OdePrim cp1; | ||
283 | private OdeCharacter cc2; | ||
284 | private OdePrim cp2; | ||
285 | |||
286 | // split the spaces acording to contents type | ||
287 | // ActiveSpace contains characters and active prims | ||
288 | // StaticSpace contains land and other that is mostly static in enviroment | ||
289 | // this can contain subspaces, like the grid in staticspace | ||
290 | // as now space only contains this 2 top spaces | ||
291 | |||
292 | public IntPtr TopSpace; // the global space | ||
293 | public IntPtr ActiveSpace; // space for active prims | ||
294 | public IntPtr StaticSpace; // space for the static things around | ||
295 | |||
296 | // some speedup variables | ||
297 | private int spaceGridMaxX; | ||
298 | private int spaceGridMaxY; | ||
299 | private float spacesPerMeter; | ||
300 | |||
301 | // split static geometry collision into a grid as before | ||
302 | private IntPtr[,] staticPrimspace; | ||
303 | |||
304 | private Object OdeLock; | ||
305 | private static Object SimulationLock; | ||
306 | |||
307 | public IMesher mesher; | ||
308 | |||
309 | private IConfigSource m_config; | ||
310 | |||
311 | public bool physics_logging = false; | ||
312 | public int physics_logging_interval = 0; | ||
313 | public bool physics_logging_append_existing_logfile = false; | ||
314 | |||
315 | private Vector3 m_worldOffset = Vector3.Zero; | ||
316 | public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
317 | private PhysicsScene m_parentScene = null; | ||
318 | |||
319 | private ODERayCastRequestManager m_rayCastManager; | ||
320 | |||
321 | |||
322 | /* maybe needed if ode uses tls | ||
323 | private void checkThread() | ||
324 | { | ||
325 | |||
326 | int th = Thread.CurrentThread.ManagedThreadId; | ||
327 | if(th != threadid) | ||
328 | { | ||
329 | threadid = th; | ||
330 | d.AllocateODEDataForThread(~0U); | ||
331 | } | ||
332 | } | ||
333 | */ | ||
334 | /// <summary> | ||
335 | /// Initiailizes the scene | ||
336 | /// Sets many properties that ODE requires to be stable | ||
337 | /// These settings need to be tweaked 'exactly' right or weird stuff happens. | ||
338 | /// </summary> | ||
339 | public OdeScene(string sceneIdentifier) | ||
340 | { | ||
341 | m_log | ||
342 | = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier); | ||
343 | |||
344 | // checkThread(); | ||
345 | Name = sceneIdentifier; | ||
346 | |||
347 | OdeLock = new Object(); | ||
348 | SimulationLock = new Object(); | ||
349 | |||
350 | nearCallback = near; | ||
351 | |||
352 | m_rayCastManager = new ODERayCastRequestManager(this); | ||
353 | lock (OdeLock) | ||
354 | { | ||
355 | // Create the world and the first space | ||
356 | try | ||
357 | { | ||
358 | world = d.WorldCreate(); | ||
359 | TopSpace = d.HashSpaceCreate(IntPtr.Zero); | ||
360 | |||
361 | // now the major subspaces | ||
362 | ActiveSpace = d.HashSpaceCreate(TopSpace); | ||
363 | StaticSpace = d.HashSpaceCreate(TopSpace); | ||
364 | } | ||
365 | catch | ||
366 | { | ||
367 | // i must RtC#FM | ||
368 | } | ||
369 | |||
370 | d.HashSpaceSetLevels(TopSpace, -2, 8); | ||
371 | d.HashSpaceSetLevels(ActiveSpace, -2, 8); | ||
372 | d.HashSpaceSetLevels(StaticSpace, -2, 8); | ||
373 | |||
374 | // demote to second level | ||
375 | d.SpaceSetSublevel(ActiveSpace, 1); | ||
376 | d.SpaceSetSublevel(StaticSpace, 1); | ||
377 | |||
378 | d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | | ||
379 | CollisionCategories.Geom | | ||
380 | CollisionCategories.Character | | ||
381 | CollisionCategories.Phantom | | ||
382 | CollisionCategories.VolumeDtc | ||
383 | )); | ||
384 | d.GeomSetCollideBits(ActiveSpace, 0); | ||
385 | d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space | | ||
386 | CollisionCategories.Geom | | ||
387 | CollisionCategories.Land | | ||
388 | CollisionCategories.Water | | ||
389 | CollisionCategories.Phantom | | ||
390 | CollisionCategories.VolumeDtc | ||
391 | )); | ||
392 | d.GeomSetCollideBits(StaticSpace, 0); | ||
393 | |||
394 | contactgroup = d.JointGroupCreate(0); | ||
395 | //contactgroup | ||
396 | |||
397 | d.WorldSetAutoDisableFlag(world, false); | ||
398 | } | ||
399 | } | ||
400 | |||
401 | // Initialize the mesh plugin | ||
402 | // public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region ) | ||
403 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | ||
404 | { | ||
405 | // checkThread(); | ||
406 | mesher = meshmerizer; | ||
407 | m_config = config; | ||
408 | /* | ||
409 | string ode_config = d.GetConfiguration("ODE"); | ||
410 | if (ode_config != null && ode_config != "") | ||
411 | { | ||
412 | m_log.WarnFormat("ODE configuration: {0}", ode_config); | ||
413 | |||
414 | if (ode_config.Contains("ODE_Ubit")) | ||
415 | { | ||
416 | OdeUbitLib = true; | ||
417 | } | ||
418 | } | ||
419 | */ | ||
420 | /* | ||
421 | if (region != null) | ||
422 | { | ||
423 | WorldExtents.X = region.RegionSizeX; | ||
424 | WorldExtents.Y = region.RegionSizeY; | ||
425 | } | ||
426 | */ | ||
427 | |||
428 | // Defaults | ||
429 | |||
430 | int contactsPerCollision = 80; | ||
431 | |||
432 | if (m_config != null) | ||
433 | { | ||
434 | IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; | ||
435 | if (physicsconfig != null) | ||
436 | { | ||
437 | gravityx = physicsconfig.GetFloat("world_gravityx", gravityx); | ||
438 | gravityy = physicsconfig.GetFloat("world_gravityy", gravityy); | ||
439 | gravityz = physicsconfig.GetFloat("world_gravityz", gravityz); | ||
440 | |||
441 | metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); | ||
442 | |||
443 | contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); | ||
444 | |||
445 | ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); | ||
446 | m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); | ||
447 | |||
448 | avDensity = physicsconfig.GetFloat("av_density", avDensity); | ||
449 | avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); | ||
450 | avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun); | ||
451 | avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius); | ||
452 | |||
453 | contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); | ||
454 | |||
455 | geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); | ||
456 | geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); | ||
457 | // geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); | ||
458 | |||
459 | geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); | ||
460 | bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable); | ||
461 | /* | ||
462 | bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD); | ||
463 | bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG); | ||
464 | */ | ||
465 | forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); | ||
466 | meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim); | ||
467 | meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD); | ||
468 | MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD); | ||
469 | /* | ||
470 | if (Environment.OSVersion.Platform == PlatformID.Unix) | ||
471 | { | ||
472 | avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD); | ||
473 | avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP); | ||
474 | } | ||
475 | else | ||
476 | { | ||
477 | |||
478 | avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD); | ||
479 | avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP); | ||
480 | } | ||
481 | */ | ||
482 | physics_logging = physicsconfig.GetBoolean("physics_logging", false); | ||
483 | physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); | ||
484 | physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); | ||
485 | |||
486 | minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset); | ||
487 | maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject); | ||
488 | } | ||
489 | } | ||
490 | |||
491 | HalfOdeStep = ODE_STEPSIZE * 0.5f; | ||
492 | |||
493 | ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); | ||
494 | GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); | ||
495 | |||
496 | m_materialContactsData[(int)Material.Stone].mu = 0.8f; | ||
497 | m_materialContactsData[(int)Material.Stone].bounce = 0.4f; | ||
498 | |||
499 | m_materialContactsData[(int)Material.Metal].mu = 0.3f; | ||
500 | m_materialContactsData[(int)Material.Metal].bounce = 0.4f; | ||
501 | |||
502 | m_materialContactsData[(int)Material.Glass].mu = 0.2f; | ||
503 | m_materialContactsData[(int)Material.Glass].bounce = 0.7f; | ||
504 | |||
505 | m_materialContactsData[(int)Material.Wood].mu = 0.6f; | ||
506 | m_materialContactsData[(int)Material.Wood].bounce = 0.5f; | ||
507 | |||
508 | m_materialContactsData[(int)Material.Flesh].mu = 0.9f; | ||
509 | m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; | ||
510 | |||
511 | m_materialContactsData[(int)Material.Plastic].mu = 0.4f; | ||
512 | m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; | ||
513 | |||
514 | m_materialContactsData[(int)Material.Rubber].mu = 0.9f; | ||
515 | m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; | ||
516 | |||
517 | m_materialContactsData[(int)Material.light].mu = 0.0f; | ||
518 | m_materialContactsData[(int)Material.light].bounce = 0.0f; | ||
519 | |||
520 | // Set the gravity,, don't disable things automatically (we set it explicitly on some things) | ||
521 | |||
522 | d.WorldSetGravity(world, gravityx, gravityy, gravityz); | ||
523 | d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); | ||
524 | |||
525 | d.WorldSetLinearDamping(world, 0.001f); | ||
526 | d.WorldSetAngularDamping(world, 0.001f); | ||
527 | d.WorldSetAngularDampingThreshold(world, 0f); | ||
528 | d.WorldSetLinearDampingThreshold(world, 0f); | ||
529 | d.WorldSetMaxAngularSpeed(world, 100f); | ||
530 | |||
531 | d.WorldSetCFM(world,1e-6f); // a bit harder than default | ||
532 | //d.WorldSetCFM(world, 1e-4f); // a bit harder than default | ||
533 | d.WorldSetERP(world, 0.6f); // higher than original | ||
534 | |||
535 | // Set how many steps we go without running collision testing | ||
536 | // This is in addition to the step size. | ||
537 | // Essentially Steps * m_physicsiterations | ||
538 | d.WorldSetQuickStepNumIterations(world, m_physicsiterations); | ||
539 | d.WorldSetContactMaxCorrectingVel(world, 100.0f); | ||
540 | |||
541 | spacesPerMeter = 1 / metersInSpace; | ||
542 | spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); | ||
543 | spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter); | ||
544 | |||
545 | staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; | ||
546 | |||
547 | // create all spaces now | ||
548 | int i, j; | ||
549 | IntPtr newspace; | ||
550 | for (i = 0; i < spaceGridMaxX; i++) | ||
551 | for (j = 0; j < spaceGridMaxY; j++) | ||
552 | { | ||
553 | newspace = d.HashSpaceCreate(StaticSpace); | ||
554 | d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); | ||
555 | waitForSpaceUnlock(newspace); | ||
556 | d.SpaceSetSublevel(newspace, 2); | ||
557 | d.HashSpaceSetLevels(newspace, -2, 8); | ||
558 | d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | | ||
559 | CollisionCategories.Geom | | ||
560 | CollisionCategories.Land | | ||
561 | CollisionCategories.Water | | ||
562 | CollisionCategories.Phantom | | ||
563 | CollisionCategories.VolumeDtc | ||
564 | )); | ||
565 | d.GeomSetCollideBits(newspace, 0); | ||
566 | |||
567 | staticPrimspace[i, j] = newspace; | ||
568 | } | ||
569 | // let this now be real maximum values | ||
570 | spaceGridMaxX--; | ||
571 | spaceGridMaxY--; | ||
572 | m_lastframe = DateTime.UtcNow; | ||
573 | } | ||
574 | |||
575 | internal void waitForSpaceUnlock(IntPtr space) | ||
576 | { | ||
577 | //if (space != IntPtr.Zero) | ||
578 | //while (d.SpaceLockQuery(space)) { } // Wait and do nothing | ||
579 | } | ||
580 | |||
581 | #region Collision Detection | ||
582 | |||
583 | // sets a global contact for a joint for contactgeom , and base contact description) | ||
584 | |||
585 | private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale) | ||
586 | { | ||
587 | if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) | ||
588 | return IntPtr.Zero; | ||
589 | |||
590 | float erp = contactGeom.depth; | ||
591 | erp *= erpscale; | ||
592 | if (erp < minERP) | ||
593 | erp = minERP; | ||
594 | else if (erp > MaxERP) | ||
595 | erp = MaxERP; | ||
596 | |||
597 | float depth = contactGeom.depth * dscale; | ||
598 | if (depth > 0.5f) | ||
599 | depth = 0.5f; | ||
600 | |||
601 | d.Contact newcontact = new d.Contact(); | ||
602 | newcontact.geom.depth = depth; | ||
603 | newcontact.geom.g1 = contactGeom.g1; | ||
604 | newcontact.geom.g2 = contactGeom.g2; | ||
605 | newcontact.geom.pos = contactGeom.pos; | ||
606 | newcontact.geom.normal = contactGeom.normal; | ||
607 | newcontact.geom.side1 = contactGeom.side1; | ||
608 | newcontact.geom.side2 = contactGeom.side2; | ||
609 | |||
610 | // this needs bounce also | ||
611 | newcontact.surface.mode = comumContactFlags; | ||
612 | newcontact.surface.mu = mu; | ||
613 | newcontact.surface.bounce = bounce; | ||
614 | newcontact.surface.soft_cfm = cfm; | ||
615 | newcontact.surface.soft_erp = erp; | ||
616 | |||
617 | IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); | ||
618 | Marshal.StructureToPtr(newcontact, contact, true); | ||
619 | return d.JointCreateContactPtr(world, contactgroup, contact); | ||
620 | } | ||
621 | |||
622 | |||
623 | |||
624 | private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) | ||
625 | { | ||
626 | if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision) | ||
627 | return false; | ||
628 | |||
629 | IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); | ||
630 | newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); | ||
631 | return true; | ||
632 | } | ||
633 | |||
634 | /// <summary> | ||
635 | /// This is our near callback. A geometry is near a body | ||
636 | /// </summary> | ||
637 | /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param> | ||
638 | /// <param name="g1">a geometry or space</param> | ||
639 | /// <param name="g2">another geometry or space</param> | ||
640 | /// | ||
641 | |||
642 | private void near(IntPtr space, IntPtr g1, IntPtr g2) | ||
643 | { | ||
644 | // no lock here! It's invoked from within Simulate(), which is thread-locked | ||
645 | |||
646 | if (m_global_contactcount >= maxContactsbeforedeath) | ||
647 | return; | ||
648 | |||
649 | // Test if we're colliding a geom with a space. | ||
650 | // If so we have to drill down into the space recursively | ||
651 | |||
652 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) | ||
653 | return; | ||
654 | |||
655 | if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) | ||
656 | { | ||
657 | // We'll be calling near recursivly if one | ||
658 | // of them is a space to find all of the | ||
659 | // contact points in the space | ||
660 | try | ||
661 | { | ||
662 | d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); | ||
663 | } | ||
664 | catch (AccessViolationException) | ||
665 | { | ||
666 | m_log.Warn("[PHYSICS]: Unable to collide test a space"); | ||
667 | return; | ||
668 | } | ||
669 | //here one should check collisions of geoms inside a space | ||
670 | // but on each space we only should have geoms that not colide amoung each other | ||
671 | // so we don't dig inside spaces | ||
672 | return; | ||
673 | } | ||
674 | |||
675 | // get geom bodies to check if we already a joint contact | ||
676 | // guess this shouldn't happen now | ||
677 | IntPtr b1 = d.GeomGetBody(g1); | ||
678 | IntPtr b2 = d.GeomGetBody(g2); | ||
679 | |||
680 | // d.GeomClassID id = d.GeomGetClass(g1); | ||
681 | |||
682 | // Figure out how many contact points we have | ||
683 | int count = 0; | ||
684 | try | ||
685 | { | ||
686 | // Colliding Geom To Geom | ||
687 | // This portion of the function 'was' blatantly ripped off from BoxStack.cs | ||
688 | |||
689 | if (g1 == g2) | ||
690 | return; // Can't collide with yourself | ||
691 | |||
692 | if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) | ||
693 | return; | ||
694 | |||
695 | count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); | ||
696 | } | ||
697 | catch (SEHException) | ||
698 | { | ||
699 | m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); | ||
700 | // ode.drelease(world); | ||
701 | base.TriggerPhysicsBasedRestart(); | ||
702 | } | ||
703 | catch (Exception e) | ||
704 | { | ||
705 | m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message); | ||
706 | return; | ||
707 | } | ||
708 | |||
709 | // id contacts done | ||
710 | if (count == 0) | ||
711 | return; | ||
712 | |||
713 | // try get physical actors | ||
714 | PhysicsActor p1; | ||
715 | PhysicsActor p2; | ||
716 | |||
717 | if (!actor_name_map.TryGetValue(g1, out p1)) | ||
718 | { | ||
719 | p1 = PANull; | ||
720 | } | ||
721 | |||
722 | if (!actor_name_map.TryGetValue(g2, out p2)) | ||
723 | { | ||
724 | p2 = PANull; | ||
725 | } | ||
726 | |||
727 | // update actors collision score | ||
728 | if (p1.CollisionScore >= float.MaxValue - count) | ||
729 | p1.CollisionScore = 0; | ||
730 | p1.CollisionScore += count; | ||
731 | |||
732 | if (p2.CollisionScore >= float.MaxValue - count) | ||
733 | p2.CollisionScore = 0; | ||
734 | p2.CollisionScore += count; | ||
735 | |||
736 | |||
737 | // get first contact | ||
738 | d.ContactGeom curContact = new d.ContactGeom(); | ||
739 | if (!GetCurContactGeom(0, ref curContact)) | ||
740 | return; | ||
741 | // for now it's the one with max depth | ||
742 | ContactPoint maxDepthContact = new ContactPoint( | ||
743 | new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), | ||
744 | new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), | ||
745 | curContact.depth | ||
746 | ); | ||
747 | // do volume detection case | ||
748 | if ( | ||
749 | (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) || | ||
750 | (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect)) | ||
751 | { | ||
752 | collision_accounting_events(p1, p2, maxDepthContact); | ||
753 | return; | ||
754 | } | ||
755 | |||
756 | // big messy collision analises | ||
757 | float mu = 0; | ||
758 | float bounce = 0; | ||
759 | float cfm = 0.0001f; | ||
760 | float erp = 0.1f; | ||
761 | float erpscale = 1.0f; | ||
762 | float dscale = 1.0f; | ||
763 | bool IgnoreNegSides = false; | ||
764 | |||
765 | |||
766 | ContactData contactdata1 = new ContactData(0, 0, false); | ||
767 | ContactData contactdata2 = new ContactData(0, 0, false); | ||
768 | |||
769 | String name = null; | ||
770 | bool dop1foot = false; | ||
771 | bool dop2foot = false; | ||
772 | bool ignore = false; | ||
773 | |||
774 | switch (p1.PhysicsActorType) | ||
775 | { | ||
776 | case (int)ActorTypes.Agent: | ||
777 | { | ||
778 | bounce = 0; | ||
779 | mu = 0; | ||
780 | cfm = 0.0001f; | ||
781 | |||
782 | switch (p2.PhysicsActorType) | ||
783 | { | ||
784 | case (int)ActorTypes.Agent: | ||
785 | /* | ||
786 | p1.getContactData(ref contactdata1); | ||
787 | p2.getContactData(ref contactdata2); | ||
788 | |||
789 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
790 | |||
791 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
792 | mu *= frictionMovementMult; | ||
793 | */ | ||
794 | p1.CollidingObj = true; | ||
795 | p2.CollidingObj = true; | ||
796 | break; | ||
797 | case (int)ActorTypes.Prim: | ||
798 | /* | ||
799 | p1.getContactData(ref contactdata1); | ||
800 | p2.getContactData(ref contactdata2); | ||
801 | |||
802 | |||
803 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
804 | |||
805 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
806 | mu *= frictionMovementMult; | ||
807 | */ | ||
808 | if (p2.Velocity.LengthSquared() > 0.0f) | ||
809 | p2.CollidingObj = true; | ||
810 | |||
811 | dop1foot = true; | ||
812 | break; | ||
813 | default: | ||
814 | ignore = true; // avatar to terrain and water ignored | ||
815 | break; | ||
816 | } | ||
817 | break; | ||
818 | } | ||
819 | |||
820 | case (int)ActorTypes.Prim: | ||
821 | switch (p2.PhysicsActorType) | ||
822 | { | ||
823 | case (int)ActorTypes.Agent: | ||
824 | // p1.getContactData(ref contactdata1); | ||
825 | // p2.getContactData(ref contactdata2); | ||
826 | |||
827 | bounce = 0; | ||
828 | mu = 0; | ||
829 | cfm = 0.0001f; | ||
830 | /* | ||
831 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
832 | |||
833 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
834 | mu *= frictionMovementMult; | ||
835 | */ | ||
836 | dop2foot = true; | ||
837 | if (p1.Velocity.LengthSquared() > 0.0f) | ||
838 | p1.CollidingObj = true; | ||
839 | break; | ||
840 | case (int)ActorTypes.Prim: | ||
841 | if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) | ||
842 | { | ||
843 | p1.CollidingObj = true; | ||
844 | p2.CollidingObj = true; | ||
845 | } | ||
846 | p1.getContactData(ref contactdata1); | ||
847 | p2.getContactData(ref contactdata2); | ||
848 | bounce = contactdata1.bounce * contactdata2.bounce; | ||
849 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
850 | |||
851 | cfm = p1.Mass; | ||
852 | if (cfm > p2.Mass) | ||
853 | cfm = p2.Mass; | ||
854 | dscale = 10 / cfm; | ||
855 | dscale = (float)Math.Sqrt(dscale); | ||
856 | if (dscale > 1.0f) | ||
857 | dscale = 1.0f; | ||
858 | erpscale = cfm * 0.01f; | ||
859 | cfm = 0.0001f / cfm; | ||
860 | if (cfm > 0.01f) | ||
861 | cfm = 0.01f; | ||
862 | |||
863 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
864 | mu *= frictionMovementMult; | ||
865 | |||
866 | break; | ||
867 | default: | ||
868 | if (geom_name_map.TryGetValue(g2, out name)) | ||
869 | { | ||
870 | if (name == "Terrain") | ||
871 | { | ||
872 | p1.getContactData(ref contactdata1); | ||
873 | bounce = contactdata1.bounce * TerrainBounce; | ||
874 | mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); | ||
875 | if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) | ||
876 | mu *= frictionMovementMult; | ||
877 | p1.CollidingGround = true; | ||
878 | |||
879 | cfm = p1.Mass; | ||
880 | dscale = 10 / cfm; | ||
881 | dscale = (float)Math.Sqrt(dscale); | ||
882 | if (dscale > 1.0f) | ||
883 | dscale = 1.0f; | ||
884 | erpscale = cfm * 0.01f; | ||
885 | cfm = 0.0001f / cfm; | ||
886 | if (cfm > 0.01f) | ||
887 | cfm = 0.01f; | ||
888 | |||
889 | if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) | ||
890 | { | ||
891 | if (curContact.side1 > 0) | ||
892 | IgnoreNegSides = true; | ||
893 | } | ||
894 | |||
895 | } | ||
896 | else if (name == "Water") | ||
897 | { | ||
898 | ignore = true; | ||
899 | } | ||
900 | } | ||
901 | else | ||
902 | ignore=true; | ||
903 | break; | ||
904 | } | ||
905 | break; | ||
906 | |||
907 | default: | ||
908 | if (geom_name_map.TryGetValue(g1, out name)) | ||
909 | { | ||
910 | if (name == "Terrain") | ||
911 | { | ||
912 | if (p2.PhysicsActorType == (int)ActorTypes.Prim) | ||
913 | { | ||
914 | p2.CollidingGround = true; | ||
915 | p2.getContactData(ref contactdata2); | ||
916 | bounce = contactdata2.bounce * TerrainBounce; | ||
917 | mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); | ||
918 | |||
919 | cfm = p2.Mass; | ||
920 | dscale = 10 / cfm; | ||
921 | dscale = (float)Math.Sqrt(dscale); | ||
922 | |||
923 | if (dscale > 1.0f) | ||
924 | dscale = 1.0f; | ||
925 | |||
926 | erpscale = cfm * 0.01f; | ||
927 | cfm = 0.0001f / cfm; | ||
928 | if (cfm > 0.01f) | ||
929 | cfm = 0.01f; | ||
930 | |||
931 | if (curContact.side1 > 0) // should be 2 ? | ||
932 | IgnoreNegSides = true; | ||
933 | |||
934 | if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) | ||
935 | mu *= frictionMovementMult; | ||
936 | } | ||
937 | else | ||
938 | ignore = true; | ||
939 | |||
940 | } | ||
941 | else if (name == "Water" && | ||
942 | (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent)) | ||
943 | { | ||
944 | ignore = true; | ||
945 | } | ||
946 | } | ||
947 | else | ||
948 | ignore = true; | ||
949 | break; | ||
950 | } | ||
951 | |||
952 | if (ignore) | ||
953 | return; | ||
954 | |||
955 | IntPtr Joint; | ||
956 | |||
957 | int i = 0; | ||
958 | while(true) | ||
959 | { | ||
960 | |||
961 | if (IgnoreNegSides && curContact.side1 < 0) | ||
962 | { | ||
963 | if (++i >= count) | ||
964 | break; | ||
965 | |||
966 | if (!GetCurContactGeom(i, ref curContact)) | ||
967 | break; | ||
968 | } | ||
969 | else | ||
970 | |||
971 | { | ||
972 | if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f) | ||
973 | p1.IsColliding = true; | ||
974 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) | ||
975 | p2.IsColliding = true; | ||
976 | |||
977 | Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); | ||
978 | d.JointAttach(Joint, b1, b2); | ||
979 | |||
980 | if (++m_global_contactcount >= maxContactsbeforedeath) | ||
981 | break; | ||
982 | |||
983 | if (++i >= count) | ||
984 | break; | ||
985 | |||
986 | if (!GetCurContactGeom(i, ref curContact)) | ||
987 | break; | ||
988 | |||
989 | if (curContact.depth > maxDepthContact.PenetrationDepth) | ||
990 | { | ||
991 | maxDepthContact.Position.X = curContact.pos.X; | ||
992 | maxDepthContact.Position.Y = curContact.pos.Y; | ||
993 | maxDepthContact.Position.Z = curContact.pos.Z; | ||
994 | maxDepthContact.SurfaceNormal.X = curContact.normal.X; | ||
995 | maxDepthContact.SurfaceNormal.Y = curContact.normal.Y; | ||
996 | maxDepthContact.SurfaceNormal.Z = curContact.normal.Z; | ||
997 | maxDepthContact.PenetrationDepth = curContact.depth; | ||
998 | } | ||
999 | } | ||
1000 | } | ||
1001 | |||
1002 | collision_accounting_events(p1, p2, maxDepthContact); | ||
1003 | |||
1004 | /* | ||
1005 | if (notskipedcount > geomContactPointsStartthrottle) | ||
1006 | { | ||
1007 | // If there are more then 3 contact points, it's likely | ||
1008 | // that we've got a pile of objects, so ... | ||
1009 | // We don't want to send out hundreds of terse updates over and over again | ||
1010 | // so lets throttle them and send them again after it's somewhat sorted out. | ||
1011 | this needs checking so out for now | ||
1012 | if (b1 != IntPtr.Zero) | ||
1013 | p1.ThrottleUpdates = true; | ||
1014 | if (b2 != IntPtr.Zero) | ||
1015 | p2.ThrottleUpdates = true; | ||
1016 | |||
1017 | } | ||
1018 | */ | ||
1019 | } | ||
1020 | |||
1021 | private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) | ||
1022 | { | ||
1023 | // obj1LocalID = 0; | ||
1024 | //returncollisions = false; | ||
1025 | obj2LocalID = 0; | ||
1026 | //ctype = 0; | ||
1027 | //cStartStop = 0; | ||
1028 | if (!(p2.SubscribedEvents() || p1.SubscribedEvents())) | ||
1029 | return; | ||
1030 | |||
1031 | switch ((ActorTypes)p1.PhysicsActorType) | ||
1032 | { | ||
1033 | case ActorTypes.Agent: | ||
1034 | cc1 = (OdeCharacter)p1; | ||
1035 | switch ((ActorTypes)p2.PhysicsActorType) | ||
1036 | { | ||
1037 | case ActorTypes.Agent: | ||
1038 | cc2 = (OdeCharacter)p2; | ||
1039 | obj2LocalID = cc2.m_localID; | ||
1040 | if (p2.SubscribedEvents()) | ||
1041 | cc2.AddCollisionEvent(cc1.m_localID, contact); | ||
1042 | break; | ||
1043 | |||
1044 | case ActorTypes.Prim: | ||
1045 | if (p2 is OdePrim) | ||
1046 | { | ||
1047 | cp2 = (OdePrim)p2; | ||
1048 | obj2LocalID = cp2.m_localID; | ||
1049 | if (p2.SubscribedEvents()) | ||
1050 | cp2.AddCollisionEvent(cc1.m_localID, contact); | ||
1051 | } | ||
1052 | break; | ||
1053 | |||
1054 | case ActorTypes.Ground: | ||
1055 | case ActorTypes.Unknown: | ||
1056 | default: | ||
1057 | obj2LocalID = 0; | ||
1058 | break; | ||
1059 | } | ||
1060 | if (p1.SubscribedEvents()) | ||
1061 | { | ||
1062 | contact.SurfaceNormal = -contact.SurfaceNormal; | ||
1063 | cc1.AddCollisionEvent(obj2LocalID, contact); | ||
1064 | } | ||
1065 | break; | ||
1066 | |||
1067 | case ActorTypes.Prim: | ||
1068 | |||
1069 | if (p1 is OdePrim) | ||
1070 | { | ||
1071 | cp1 = (OdePrim)p1; | ||
1072 | |||
1073 | // obj1LocalID = cp2.m_localID; | ||
1074 | switch ((ActorTypes)p2.PhysicsActorType) | ||
1075 | { | ||
1076 | case ActorTypes.Agent: | ||
1077 | if (p2 is OdeCharacter) | ||
1078 | { | ||
1079 | cc2 = (OdeCharacter)p2; | ||
1080 | obj2LocalID = cc2.m_localID; | ||
1081 | if (p2.SubscribedEvents()) | ||
1082 | cc2.AddCollisionEvent(cp1.m_localID, contact); | ||
1083 | } | ||
1084 | break; | ||
1085 | case ActorTypes.Prim: | ||
1086 | |||
1087 | if (p2 is OdePrim) | ||
1088 | { | ||
1089 | cp2 = (OdePrim)p2; | ||
1090 | obj2LocalID = cp2.m_localID; | ||
1091 | if (p2.SubscribedEvents()) | ||
1092 | cp2.AddCollisionEvent(cp1.m_localID, contact); | ||
1093 | } | ||
1094 | break; | ||
1095 | |||
1096 | case ActorTypes.Ground: | ||
1097 | case ActorTypes.Unknown: | ||
1098 | default: | ||
1099 | obj2LocalID = 0; | ||
1100 | break; | ||
1101 | } | ||
1102 | if (p1.SubscribedEvents()) | ||
1103 | { | ||
1104 | contact.SurfaceNormal = -contact.SurfaceNormal; | ||
1105 | cp1.AddCollisionEvent(obj2LocalID, contact); | ||
1106 | } | ||
1107 | } | ||
1108 | break; | ||
1109 | } | ||
1110 | } | ||
1111 | |||
1112 | /// <summary> | ||
1113 | /// This is our collision testing routine in ODE | ||
1114 | /// </summary> | ||
1115 | /// <param name="timeStep"></param> | ||
1116 | private void collision_optimized() | ||
1117 | { | ||
1118 | lock (_characters) | ||
1119 | { | ||
1120 | try | ||
1121 | { | ||
1122 | foreach (OdeCharacter chr in _characters) | ||
1123 | { | ||
1124 | if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) | ||
1125 | continue; | ||
1126 | |||
1127 | chr.IsColliding = false; | ||
1128 | // chr.CollidingGround = false; not done here | ||
1129 | chr.CollidingObj = false; | ||
1130 | // do colisions with static space | ||
1131 | d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback); | ||
1132 | } | ||
1133 | } | ||
1134 | catch (AccessViolationException) | ||
1135 | { | ||
1136 | m_log.Warn("[PHYSICS]: Unable to collide Character to static space"); | ||
1137 | } | ||
1138 | |||
1139 | } | ||
1140 | |||
1141 | lock (_activeprims) | ||
1142 | { | ||
1143 | foreach (OdePrim aprim in _activeprims) | ||
1144 | { | ||
1145 | aprim.CollisionScore = 0; | ||
1146 | aprim.IsColliding = false; | ||
1147 | } | ||
1148 | } | ||
1149 | |||
1150 | // collide active prims with static enviroment | ||
1151 | lock (_activegroups) | ||
1152 | { | ||
1153 | try | ||
1154 | { | ||
1155 | foreach (OdePrim prm in _activegroups) | ||
1156 | { | ||
1157 | if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds) | ||
1158 | d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback); | ||
1159 | } | ||
1160 | } | ||
1161 | catch (AccessViolationException) | ||
1162 | { | ||
1163 | m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); | ||
1164 | } | ||
1165 | } | ||
1166 | // finally colide active things amoung them | ||
1167 | try | ||
1168 | { | ||
1169 | d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); | ||
1170 | } | ||
1171 | catch (AccessViolationException) | ||
1172 | { | ||
1173 | m_log.Warn("[PHYSICS]: Unable to collide in Active space"); | ||
1174 | } | ||
1175 | // _perloopContact.Clear(); | ||
1176 | } | ||
1177 | |||
1178 | #endregion | ||
1179 | |||
1180 | |||
1181 | |||
1182 | /// <summary> | ||
1183 | /// Add actor to the list that should receive collision events in the simulate loop. | ||
1184 | /// </summary> | ||
1185 | /// <param name="obj"></param> | ||
1186 | public void AddCollisionEventReporting(PhysicsActor obj) | ||
1187 | { | ||
1188 | lock (_collisionEventPrim) | ||
1189 | { | ||
1190 | if (!_collisionEventPrim.Contains(obj)) | ||
1191 | _collisionEventPrim.Add(obj); | ||
1192 | } | ||
1193 | } | ||
1194 | |||
1195 | /// <summary> | ||
1196 | /// Remove actor from the list that should receive collision events in the simulate loop. | ||
1197 | /// </summary> | ||
1198 | /// <param name="obj"></param> | ||
1199 | public void RemoveCollisionEventReporting(PhysicsActor obj) | ||
1200 | { | ||
1201 | lock (_collisionEventPrim) | ||
1202 | { | ||
1203 | if (_collisionEventPrim.Contains(obj)) | ||
1204 | _collisionEventPrim.Remove(obj); | ||
1205 | } | ||
1206 | } | ||
1207 | |||
1208 | #region Add/Remove Entities | ||
1209 | |||
1210 | public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) | ||
1211 | { | ||
1212 | Vector3 pos; | ||
1213 | pos.X = position.X; | ||
1214 | pos.Y = position.Y; | ||
1215 | pos.Z = position.Z; | ||
1216 | OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun); | ||
1217 | newAv.Flying = isFlying; | ||
1218 | newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; | ||
1219 | |||
1220 | return newAv; | ||
1221 | } | ||
1222 | |||
1223 | public void AddCharacter(OdeCharacter chr) | ||
1224 | { | ||
1225 | lock (_characters) | ||
1226 | { | ||
1227 | if (!_characters.Contains(chr)) | ||
1228 | { | ||
1229 | _characters.Add(chr); | ||
1230 | if (chr.bad) | ||
1231 | m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid); | ||
1232 | } | ||
1233 | } | ||
1234 | } | ||
1235 | |||
1236 | public void RemoveCharacter(OdeCharacter chr) | ||
1237 | { | ||
1238 | lock (_characters) | ||
1239 | { | ||
1240 | if (_characters.Contains(chr)) | ||
1241 | { | ||
1242 | _characters.Remove(chr); | ||
1243 | } | ||
1244 | } | ||
1245 | } | ||
1246 | |||
1247 | public void BadCharacter(OdeCharacter chr) | ||
1248 | { | ||
1249 | lock (_badCharacter) | ||
1250 | { | ||
1251 | if (!_badCharacter.Contains(chr)) | ||
1252 | _badCharacter.Add(chr); | ||
1253 | } | ||
1254 | } | ||
1255 | |||
1256 | public override void RemoveAvatar(PhysicsActor actor) | ||
1257 | { | ||
1258 | //m_log.Debug("[PHYSICS]:ODELOCK"); | ||
1259 | ((OdeCharacter) actor).Destroy(); | ||
1260 | } | ||
1261 | |||
1262 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1263 | PrimitiveBaseShape pbs, bool isphysical, uint localID) | ||
1264 | { | ||
1265 | Vector3 pos = position; | ||
1266 | Vector3 siz = size; | ||
1267 | Quaternion rot = rotation; | ||
1268 | |||
1269 | OdePrim newPrim; | ||
1270 | lock (OdeLock) | ||
1271 | { | ||
1272 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID); | ||
1273 | |||
1274 | lock (_prims) | ||
1275 | _prims.Add(newPrim); | ||
1276 | } | ||
1277 | return newPrim; | ||
1278 | } | ||
1279 | |||
1280 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1281 | PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID) | ||
1282 | { | ||
1283 | Vector3 pos = position; | ||
1284 | Vector3 siz = size; | ||
1285 | Quaternion rot = rotation; | ||
1286 | |||
1287 | OdePrim newPrim; | ||
1288 | lock (OdeLock) | ||
1289 | { | ||
1290 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID); | ||
1291 | |||
1292 | lock (_prims) | ||
1293 | _prims.Add(newPrim); | ||
1294 | } | ||
1295 | return newPrim; | ||
1296 | } | ||
1297 | |||
1298 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1299 | PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID) | ||
1300 | { | ||
1301 | Vector3 pos = position; | ||
1302 | Vector3 siz = size; | ||
1303 | Quaternion rot = rotation; | ||
1304 | |||
1305 | OdePrim newPrim; | ||
1306 | lock (OdeLock) | ||
1307 | { | ||
1308 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID); | ||
1309 | |||
1310 | lock (_prims) | ||
1311 | _prims.Add(newPrim); | ||
1312 | } | ||
1313 | return newPrim; | ||
1314 | } | ||
1315 | |||
1316 | public void addActivePrim(OdePrim activatePrim) | ||
1317 | { | ||
1318 | // adds active prim.. | ||
1319 | lock (_activeprims) | ||
1320 | { | ||
1321 | if (!_activeprims.Contains(activatePrim)) | ||
1322 | _activeprims.Add(activatePrim); | ||
1323 | } | ||
1324 | } | ||
1325 | |||
1326 | public void addActiveGroups(OdePrim activatePrim) | ||
1327 | { | ||
1328 | lock (_activegroups) | ||
1329 | { | ||
1330 | if (!_activegroups.Contains(activatePrim)) | ||
1331 | _activegroups.Add(activatePrim); | ||
1332 | } | ||
1333 | } | ||
1334 | |||
1335 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
1336 | Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid) | ||
1337 | { | ||
1338 | return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid); | ||
1339 | } | ||
1340 | |||
1341 | |||
1342 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
1343 | Vector3 size, Quaternion rotation, bool isPhysical, uint localid) | ||
1344 | { | ||
1345 | #if SPAM | ||
1346 | m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); | ||
1347 | #endif | ||
1348 | |||
1349 | return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid); | ||
1350 | } | ||
1351 | |||
1352 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
1353 | Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid) | ||
1354 | { | ||
1355 | #if SPAM | ||
1356 | m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); | ||
1357 | #endif | ||
1358 | |||
1359 | return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid); | ||
1360 | } | ||
1361 | |||
1362 | public override float TimeDilation | ||
1363 | { | ||
1364 | get { return m_timeDilation; } | ||
1365 | } | ||
1366 | |||
1367 | public override bool SupportsNINJAJoints | ||
1368 | { | ||
1369 | get { return false; } | ||
1370 | } | ||
1371 | |||
1372 | |||
1373 | public void remActivePrim(OdePrim deactivatePrim) | ||
1374 | { | ||
1375 | lock (_activeprims) | ||
1376 | { | ||
1377 | _activeprims.Remove(deactivatePrim); | ||
1378 | } | ||
1379 | } | ||
1380 | public void remActiveGroup(OdePrim deactivatePrim) | ||
1381 | { | ||
1382 | lock (_activegroups) | ||
1383 | { | ||
1384 | _activegroups.Remove(deactivatePrim); | ||
1385 | } | ||
1386 | } | ||
1387 | |||
1388 | public override void RemovePrim(PhysicsActor prim) | ||
1389 | { | ||
1390 | // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be | ||
1391 | // removed in the next physics simulate pass. | ||
1392 | if (prim is OdePrim) | ||
1393 | { | ||
1394 | // lock (OdeLock) | ||
1395 | { | ||
1396 | OdePrim p = (OdePrim)prim; | ||
1397 | p.setPrimForRemoval(); | ||
1398 | } | ||
1399 | } | ||
1400 | } | ||
1401 | /// <summary> | ||
1402 | /// This is called from within simulate but outside the locked portion | ||
1403 | /// We need to do our own locking here | ||
1404 | /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in | ||
1405 | /// Simulate() -- justincc). | ||
1406 | /// | ||
1407 | /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. | ||
1408 | /// | ||
1409 | /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory | ||
1410 | /// that the space was using. | ||
1411 | /// </summary> | ||
1412 | /// <param name="prim"></param> | ||
1413 | public void RemovePrimThreadLocked(OdePrim prim) | ||
1414 | { | ||
1415 | //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); | ||
1416 | lock (prim) | ||
1417 | { | ||
1418 | RemoveCollisionEventReporting(prim); | ||
1419 | lock (_prims) | ||
1420 | _prims.Remove(prim); | ||
1421 | } | ||
1422 | |||
1423 | } | ||
1424 | #endregion | ||
1425 | |||
1426 | #region Space Separation Calculation | ||
1427 | |||
1428 | /// <summary> | ||
1429 | /// Called when a static prim moves or becomes static | ||
1430 | /// Places the prim in a space one the static sub-spaces grid | ||
1431 | /// </summary> | ||
1432 | /// <param name="geom">the pointer to the geom that moved</param> | ||
1433 | /// <param name="pos">the position that the geom moved to</param> | ||
1434 | /// <param name="currentspace">a pointer to the space it was in before it was moved.</param> | ||
1435 | /// <returns>a pointer to the new space it's in</returns> | ||
1436 | public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace) | ||
1437 | { | ||
1438 | // moves a prim into another static sub-space or from another space into a static sub-space | ||
1439 | |||
1440 | // Called ODEPrim so | ||
1441 | // it's already in locked space. | ||
1442 | |||
1443 | if (geom == IntPtr.Zero) // shouldn't happen | ||
1444 | return IntPtr.Zero; | ||
1445 | |||
1446 | // get the static sub-space for current position | ||
1447 | IntPtr newspace = calculateSpaceForGeom(pos); | ||
1448 | |||
1449 | if (newspace == currentspace) // if we are there all done | ||
1450 | return newspace; | ||
1451 | |||
1452 | // else remove it from its current space | ||
1453 | if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom)) | ||
1454 | { | ||
1455 | if (d.GeomIsSpace(currentspace)) | ||
1456 | { | ||
1457 | waitForSpaceUnlock(currentspace); | ||
1458 | d.SpaceRemove(currentspace, geom); | ||
1459 | |||
1460 | if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) | ||
1461 | { | ||
1462 | d.SpaceDestroy(currentspace); | ||
1463 | } | ||
1464 | } | ||
1465 | else | ||
1466 | { | ||
1467 | m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace + | ||
1468 | " Geom:" + geom); | ||
1469 | } | ||
1470 | } | ||
1471 | else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space | ||
1472 | { | ||
1473 | currentspace = d.GeomGetSpace(geom); | ||
1474 | if (currentspace != IntPtr.Zero) | ||
1475 | { | ||
1476 | if (d.GeomIsSpace(currentspace)) | ||
1477 | { | ||
1478 | waitForSpaceUnlock(currentspace); | ||
1479 | d.SpaceRemove(currentspace, geom); | ||
1480 | |||
1481 | if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) | ||
1482 | { | ||
1483 | d.SpaceDestroy(currentspace); | ||
1484 | } | ||
1485 | |||
1486 | } | ||
1487 | } | ||
1488 | } | ||
1489 | |||
1490 | // put the geom in the newspace | ||
1491 | waitForSpaceUnlock(newspace); | ||
1492 | d.SpaceAdd(newspace, geom); | ||
1493 | |||
1494 | // let caller know this newspace | ||
1495 | return newspace; | ||
1496 | } | ||
1497 | |||
1498 | /// <summary> | ||
1499 | /// Calculates the space the prim should be in by its position | ||
1500 | /// </summary> | ||
1501 | /// <param name="pos"></param> | ||
1502 | /// <returns>a pointer to the space. This could be a new space or reused space.</returns> | ||
1503 | public IntPtr calculateSpaceForGeom(Vector3 pos) | ||
1504 | { | ||
1505 | int x, y; | ||
1506 | x = (int)(pos.X * spacesPerMeter); | ||
1507 | if (x < 0) | ||
1508 | x = 0; | ||
1509 | else if (x > spaceGridMaxX) | ||
1510 | x = spaceGridMaxX; | ||
1511 | |||
1512 | y = (int)(pos.Y * spacesPerMeter); | ||
1513 | if (y < 0) | ||
1514 | y = 0; | ||
1515 | else if (y >spaceGridMaxY) | ||
1516 | y = spaceGridMaxY; | ||
1517 | |||
1518 | IntPtr tmpSpace = staticPrimspace[x, y]; | ||
1519 | return tmpSpace; | ||
1520 | } | ||
1521 | |||
1522 | #endregion | ||
1523 | |||
1524 | /// <summary> | ||
1525 | /// Routine to figure out if we need to mesh this prim with our mesher | ||
1526 | /// </summary> | ||
1527 | /// <param name="pbs"></param> | ||
1528 | /// <returns></returns> | ||
1529 | public bool needsMeshing(PrimitiveBaseShape pbs) | ||
1530 | { | ||
1531 | // most of this is redundant now as the mesher will return null if it cant mesh a prim | ||
1532 | // but we still need to check for sculptie meshing being enabled so this is the most | ||
1533 | // convenient place to do it for now... | ||
1534 | |||
1535 | // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f) | ||
1536 | // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString()); | ||
1537 | int iPropertiesNotSupportedDefault = 0; | ||
1538 | |||
1539 | if (pbs.SculptEntry) | ||
1540 | { | ||
1541 | if(!meshSculptedPrim) | ||
1542 | return false; | ||
1543 | } | ||
1544 | |||
1545 | // 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 | ||
1546 | if (!forceSimplePrimMeshing && !pbs.SculptEntry) | ||
1547 | { | ||
1548 | if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) | ||
1549 | || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1550 | && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) | ||
1551 | { | ||
1552 | |||
1553 | if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 | ||
1554 | && pbs.ProfileHollow == 0 | ||
1555 | && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 | ||
1556 | && pbs.PathBegin == 0 && pbs.PathEnd == 0 | ||
1557 | && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 | ||
1558 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 | ||
1559 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) | ||
1560 | { | ||
1561 | #if SPAM | ||
1562 | m_log.Warn("NonMesh"); | ||
1563 | #endif | ||
1564 | return false; | ||
1565 | } | ||
1566 | } | ||
1567 | } | ||
1568 | |||
1569 | // following code doesn't give meshs to boxes and spheres ever | ||
1570 | // and it's odd.. so for now just return true if asked to force meshs | ||
1571 | // hopefully mesher will fail if doesn't suport so things still get basic boxes | ||
1572 | |||
1573 | if (forceSimplePrimMeshing) | ||
1574 | return true; | ||
1575 | |||
1576 | if (pbs.ProfileHollow != 0) | ||
1577 | iPropertiesNotSupportedDefault++; | ||
1578 | |||
1579 | if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) | ||
1580 | iPropertiesNotSupportedDefault++; | ||
1581 | |||
1582 | if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) | ||
1583 | iPropertiesNotSupportedDefault++; | ||
1584 | |||
1585 | if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) | ||
1586 | iPropertiesNotSupportedDefault++; | ||
1587 | |||
1588 | if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) | ||
1589 | iPropertiesNotSupportedDefault++; | ||
1590 | |||
1591 | if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) | ||
1592 | iPropertiesNotSupportedDefault++; | ||
1593 | |||
1594 | if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) | ||
1595 | iPropertiesNotSupportedDefault++; | ||
1596 | |||
1597 | 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)) | ||
1598 | iPropertiesNotSupportedDefault++; | ||
1599 | |||
1600 | if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) | ||
1601 | iPropertiesNotSupportedDefault++; | ||
1602 | |||
1603 | // test for torus | ||
1604 | if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) | ||
1605 | { | ||
1606 | if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1607 | { | ||
1608 | iPropertiesNotSupportedDefault++; | ||
1609 | } | ||
1610 | } | ||
1611 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) | ||
1612 | { | ||
1613 | if (pbs.PathCurve == (byte)Extrusion.Straight) | ||
1614 | { | ||
1615 | iPropertiesNotSupportedDefault++; | ||
1616 | } | ||
1617 | |||
1618 | // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits | ||
1619 | else if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1620 | { | ||
1621 | iPropertiesNotSupportedDefault++; | ||
1622 | } | ||
1623 | } | ||
1624 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) | ||
1625 | { | ||
1626 | if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) | ||
1627 | { | ||
1628 | iPropertiesNotSupportedDefault++; | ||
1629 | } | ||
1630 | } | ||
1631 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) | ||
1632 | { | ||
1633 | if (pbs.PathCurve == (byte)Extrusion.Straight) | ||
1634 | { | ||
1635 | iPropertiesNotSupportedDefault++; | ||
1636 | } | ||
1637 | else if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1638 | { | ||
1639 | iPropertiesNotSupportedDefault++; | ||
1640 | } | ||
1641 | } | ||
1642 | |||
1643 | if (pbs.SculptEntry && meshSculptedPrim) | ||
1644 | iPropertiesNotSupportedDefault++; | ||
1645 | |||
1646 | if (iPropertiesNotSupportedDefault == 0) | ||
1647 | { | ||
1648 | #if SPAM | ||
1649 | m_log.Warn("NonMesh"); | ||
1650 | #endif | ||
1651 | return false; | ||
1652 | } | ||
1653 | #if SPAM | ||
1654 | m_log.Debug("Mesh"); | ||
1655 | #endif | ||
1656 | return true; | ||
1657 | } | ||
1658 | |||
1659 | /// <summary> | ||
1660 | /// Called to queue a change to a actor | ||
1661 | /// to use in place of old taint mechanism so changes do have a time sequence | ||
1662 | /// </summary> | ||
1663 | |||
1664 | public void AddChange(PhysicsActor actor, changes what, Object arg) | ||
1665 | { | ||
1666 | ODEchangeitem item = new ODEchangeitem(); | ||
1667 | item.actor = actor; | ||
1668 | item.what = what; | ||
1669 | item.arg = arg; | ||
1670 | ChangesQueue.Enqueue(item); | ||
1671 | } | ||
1672 | |||
1673 | /// <summary> | ||
1674 | /// Called after our prim properties are set Scale, position etc. | ||
1675 | /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex | ||
1676 | /// This assures us that we have no race conditions | ||
1677 | /// </summary> | ||
1678 | /// <param name="prim"></param> | ||
1679 | public override void AddPhysicsActorTaint(PhysicsActor prim) | ||
1680 | { | ||
1681 | } | ||
1682 | |||
1683 | /// <summary> | ||
1684 | /// This is our main simulate loop | ||
1685 | /// It's thread locked by a Mutex in the scene. | ||
1686 | /// It holds Collisions, it instructs ODE to step through the physical reactions | ||
1687 | /// It moves the objects around in memory | ||
1688 | /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup) | ||
1689 | /// </summary> | ||
1690 | /// <param name="timeStep"></param> | ||
1691 | /// <returns></returns> | ||
1692 | public override float Simulate(float timeStep) | ||
1693 | { | ||
1694 | |||
1695 | DateTime now = DateTime.UtcNow; | ||
1696 | TimeSpan SinceLastFrame = now - m_lastframe; | ||
1697 | m_lastframe = now; | ||
1698 | timeStep = (float)SinceLastFrame.TotalSeconds; | ||
1699 | |||
1700 | // acumulate time so we can reduce error | ||
1701 | step_time += timeStep; | ||
1702 | |||
1703 | if (step_time < HalfOdeStep) | ||
1704 | return 0; | ||
1705 | |||
1706 | if (framecount < 0) | ||
1707 | framecount = 0; | ||
1708 | |||
1709 | framecount++; | ||
1710 | |||
1711 | int curphysiteractions; | ||
1712 | |||
1713 | // if in trouble reduce step resolution | ||
1714 | if (step_time >= m_SkipFramesAtms) | ||
1715 | curphysiteractions = m_physicsiterations / 2; | ||
1716 | else | ||
1717 | curphysiteractions = m_physicsiterations; | ||
1718 | |||
1719 | int nodeframes = 0; | ||
1720 | |||
1721 | // checkThread(); | ||
1722 | |||
1723 | lock (SimulationLock) | ||
1724 | { | ||
1725 | // adjust number of iterations per step | ||
1726 | try | ||
1727 | { | ||
1728 | d.WorldSetQuickStepNumIterations(world, curphysiteractions); | ||
1729 | } | ||
1730 | catch (StackOverflowException) | ||
1731 | { | ||
1732 | m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim."); | ||
1733 | // ode.drelease(world); | ||
1734 | base.TriggerPhysicsBasedRestart(); | ||
1735 | } | ||
1736 | |||
1737 | while (step_time >= HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever | ||
1738 | { | ||
1739 | try | ||
1740 | { | ||
1741 | // clear pointer/counter to contacts to pass into joints | ||
1742 | m_global_contactcount = 0; | ||
1743 | |||
1744 | ODEchangeitem item; | ||
1745 | |||
1746 | if(ChangesQueue.Count >0) | ||
1747 | { | ||
1748 | int ttmpstart = Util.EnvironmentTickCount(); | ||
1749 | int ttmp; | ||
1750 | int ttmp2; | ||
1751 | |||
1752 | while(ChangesQueue.Dequeue(out item)) | ||
1753 | { | ||
1754 | if (item.actor != null) | ||
1755 | { | ||
1756 | try | ||
1757 | { | ||
1758 | if (item.actor is OdeCharacter) | ||
1759 | ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); | ||
1760 | else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) | ||
1761 | RemovePrimThreadLocked((OdePrim)item.actor); | ||
1762 | } | ||
1763 | catch | ||
1764 | { | ||
1765 | m_log.Warn("[PHYSICS]: doChange failed for a actor"); | ||
1766 | }; | ||
1767 | } | ||
1768 | ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); | ||
1769 | if (ttmp > 20) | ||
1770 | break; | ||
1771 | } | ||
1772 | |||
1773 | ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart); | ||
1774 | if (ttmp2 > 50) | ||
1775 | ttmp2 = 0; | ||
1776 | |||
1777 | } | ||
1778 | |||
1779 | // Move characters | ||
1780 | lock (_characters) | ||
1781 | { | ||
1782 | List<OdeCharacter> defects = new List<OdeCharacter>(); | ||
1783 | foreach (OdeCharacter actor in _characters) | ||
1784 | { | ||
1785 | if (actor != null) | ||
1786 | actor.Move(ODE_STEPSIZE, defects); | ||
1787 | } | ||
1788 | if (defects.Count != 0) | ||
1789 | { | ||
1790 | foreach (OdeCharacter defect in defects) | ||
1791 | { | ||
1792 | RemoveCharacter(defect); | ||
1793 | } | ||
1794 | } | ||
1795 | } | ||
1796 | |||
1797 | // Move other active objects | ||
1798 | lock (_activegroups) | ||
1799 | { | ||
1800 | foreach (OdePrim aprim in _activegroups) | ||
1801 | { | ||
1802 | aprim.Move(); | ||
1803 | } | ||
1804 | } | ||
1805 | |||
1806 | //if ((framecount % m_randomizeWater) == 0) | ||
1807 | // randomizeWater(waterlevel); | ||
1808 | |||
1809 | m_rayCastManager.ProcessQueuedRequests(); | ||
1810 | |||
1811 | collision_optimized(); | ||
1812 | |||
1813 | lock (_collisionEventPrim) | ||
1814 | { | ||
1815 | foreach (PhysicsActor obj in _collisionEventPrim) | ||
1816 | { | ||
1817 | if (obj == null) | ||
1818 | continue; | ||
1819 | |||
1820 | switch ((ActorTypes)obj.PhysicsActorType) | ||
1821 | { | ||
1822 | case ActorTypes.Agent: | ||
1823 | OdeCharacter cobj = (OdeCharacter)obj; | ||
1824 | cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f)); | ||
1825 | cobj.SendCollisions(); | ||
1826 | break; | ||
1827 | |||
1828 | case ActorTypes.Prim: | ||
1829 | OdePrim pobj = (OdePrim)obj; | ||
1830 | pobj.SendCollisions(); | ||
1831 | break; | ||
1832 | } | ||
1833 | } | ||
1834 | } | ||
1835 | |||
1836 | // do a ode simulation step | ||
1837 | d.WorldQuickStep(world, ODE_STEPSIZE); | ||
1838 | d.JointGroupEmpty(contactgroup); | ||
1839 | |||
1840 | // update managed ideia of physical data and do updates to core | ||
1841 | /* | ||
1842 | lock (_characters) | ||
1843 | { | ||
1844 | foreach (OdeCharacter actor in _characters) | ||
1845 | { | ||
1846 | if (actor != null) | ||
1847 | { | ||
1848 | if (actor.bad) | ||
1849 | m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); | ||
1850 | |||
1851 | actor.UpdatePositionAndVelocity(); | ||
1852 | } | ||
1853 | } | ||
1854 | } | ||
1855 | */ | ||
1856 | |||
1857 | lock (_activegroups) | ||
1858 | { | ||
1859 | { | ||
1860 | foreach (OdePrim actor in _activegroups) | ||
1861 | { | ||
1862 | if (actor.IsPhysical) | ||
1863 | { | ||
1864 | actor.UpdatePositionAndVelocity(); | ||
1865 | } | ||
1866 | } | ||
1867 | } | ||
1868 | } | ||
1869 | } | ||
1870 | catch (Exception e) | ||
1871 | { | ||
1872 | m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); | ||
1873 | // ode.dunlock(world); | ||
1874 | } | ||
1875 | |||
1876 | |||
1877 | step_time -= ODE_STEPSIZE; | ||
1878 | nodeframes++; | ||
1879 | } | ||
1880 | |||
1881 | lock (_badCharacter) | ||
1882 | { | ||
1883 | if (_badCharacter.Count > 0) | ||
1884 | { | ||
1885 | foreach (OdeCharacter chr in _badCharacter) | ||
1886 | { | ||
1887 | RemoveCharacter(chr); | ||
1888 | } | ||
1889 | |||
1890 | _badCharacter.Clear(); | ||
1891 | } | ||
1892 | } | ||
1893 | |||
1894 | int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); | ||
1895 | int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); | ||
1896 | int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); | ||
1897 | int nbodies = d.NTotalBodies; | ||
1898 | int ngeoms = d.NTotalGeoms; | ||
1899 | |||
1900 | // Finished with all sim stepping. If requested, dump world state to file for debugging. | ||
1901 | // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? | ||
1902 | // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots? | ||
1903 | if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0)) | ||
1904 | { | ||
1905 | string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename | ||
1906 | string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file | ||
1907 | |||
1908 | if (physics_logging_append_existing_logfile) | ||
1909 | { | ||
1910 | string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------"; | ||
1911 | TextWriter fwriter = File.AppendText(fname); | ||
1912 | fwriter.WriteLine(header); | ||
1913 | fwriter.Close(); | ||
1914 | } | ||
1915 | |||
1916 | d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); | ||
1917 | } | ||
1918 | |||
1919 | // think time dilation as to do with dinamic step size that we dont' have | ||
1920 | // even so tell something to world | ||
1921 | if (nodeframes < 10) // we did the requested loops | ||
1922 | m_timeDilation = 1.0f; | ||
1923 | else if (step_time > 0) | ||
1924 | { | ||
1925 | m_timeDilation = timeStep / step_time; | ||
1926 | if (m_timeDilation > 1) | ||
1927 | m_timeDilation = 1; | ||
1928 | if (step_time > m_SkipFramesAtms) | ||
1929 | step_time = 0; | ||
1930 | } | ||
1931 | } | ||
1932 | |||
1933 | // return nodeframes * ODE_STEPSIZE; // return real simulated time | ||
1934 | return 1000 * nodeframes; // return steps for now * 1000 to keep core happy | ||
1935 | } | ||
1936 | |||
1937 | /// <summary> | ||
1938 | public override void GetResults() | ||
1939 | { | ||
1940 | } | ||
1941 | |||
1942 | public override bool IsThreaded | ||
1943 | { | ||
1944 | // for now we won't be multithreaded | ||
1945 | get { return (false); } | ||
1946 | } | ||
1947 | |||
1948 | public float GetTerrainHeightAtXY(float x, float y) | ||
1949 | { | ||
1950 | |||
1951 | |||
1952 | int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
1953 | int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
1954 | |||
1955 | |||
1956 | IntPtr heightFieldGeom = IntPtr.Zero; | ||
1957 | |||
1958 | // get region map | ||
1959 | if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) | ||
1960 | return 0f; | ||
1961 | |||
1962 | if (heightFieldGeom == IntPtr.Zero) | ||
1963 | return 0f; | ||
1964 | |||
1965 | if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) | ||
1966 | return 0f; | ||
1967 | |||
1968 | // TerrainHeightField for ODE as offset 1m | ||
1969 | x += 1f - offsetX; | ||
1970 | y += 1f - offsetY; | ||
1971 | |||
1972 | // make position fit into array | ||
1973 | if (x < 0) | ||
1974 | x = 0; | ||
1975 | if (y < 0) | ||
1976 | y = 0; | ||
1977 | |||
1978 | // integer indexs | ||
1979 | int ix; | ||
1980 | int iy; | ||
1981 | // interpolators offset | ||
1982 | float dx; | ||
1983 | float dy; | ||
1984 | |||
1985 | int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples | ||
1986 | |||
1987 | if (OdeUbitLib) | ||
1988 | { | ||
1989 | if (x < regsize - 1) | ||
1990 | { | ||
1991 | ix = (int)x; | ||
1992 | dx = x - (float)ix; | ||
1993 | } | ||
1994 | else // out world use external height | ||
1995 | { | ||
1996 | ix = regsize - 2; | ||
1997 | dx = 0; | ||
1998 | } | ||
1999 | if (y < regsize - 1) | ||
2000 | { | ||
2001 | iy = (int)y; | ||
2002 | dy = y - (float)iy; | ||
2003 | } | ||
2004 | else | ||
2005 | { | ||
2006 | iy = regsize - 2; | ||
2007 | dy = 0; | ||
2008 | } | ||
2009 | } | ||
2010 | |||
2011 | else | ||
2012 | { | ||
2013 | // we still have square fixed size regions | ||
2014 | // also flip x and y because of how map is done for ODE fliped axis | ||
2015 | // so ix,iy,dx and dy are inter exchanged | ||
2016 | if (x < regsize - 1) | ||
2017 | { | ||
2018 | iy = (int)x; | ||
2019 | dy = x - (float)iy; | ||
2020 | } | ||
2021 | else // out world use external height | ||
2022 | { | ||
2023 | iy = regsize - 2; | ||
2024 | dy = 0; | ||
2025 | } | ||
2026 | if (y < regsize - 1) | ||
2027 | { | ||
2028 | ix = (int)y; | ||
2029 | dx = y - (float)ix; | ||
2030 | } | ||
2031 | else | ||
2032 | { | ||
2033 | ix = regsize - 2; | ||
2034 | dx = 0; | ||
2035 | } | ||
2036 | } | ||
2037 | |||
2038 | float h0; | ||
2039 | float h1; | ||
2040 | float h2; | ||
2041 | |||
2042 | iy *= regsize; | ||
2043 | iy += ix; // all indexes have iy + ix | ||
2044 | |||
2045 | float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; | ||
2046 | /* | ||
2047 | if ((dx + dy) <= 1.0f) | ||
2048 | { | ||
2049 | h0 = ((float)heights[iy]); // 0,0 vertice | ||
2050 | h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0 | ||
2051 | h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0 | ||
2052 | } | ||
2053 | else | ||
2054 | { | ||
2055 | h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice | ||
2056 | h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0 | ||
2057 | h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1 | ||
2058 | } | ||
2059 | */ | ||
2060 | h0 = ((float)heights[iy]); // 0,0 vertice | ||
2061 | |||
2062 | if ((dy > dx)) | ||
2063 | { | ||
2064 | iy += regsize; | ||
2065 | h2 = (float)heights[iy]; // 0,1 vertice | ||
2066 | h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0 | ||
2067 | h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1 | ||
2068 | } | ||
2069 | else | ||
2070 | { | ||
2071 | iy++; | ||
2072 | h2 = (float)heights[iy]; // vertice 1,0 | ||
2073 | h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0 | ||
2074 | h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0 | ||
2075 | } | ||
2076 | |||
2077 | return h0 + h1 + h2; | ||
2078 | } | ||
2079 | |||
2080 | |||
2081 | public override void SetTerrain(float[] heightMap) | ||
2082 | { | ||
2083 | if (m_worldOffset != Vector3.Zero && m_parentScene != null) | ||
2084 | { | ||
2085 | if (m_parentScene is OdeScene) | ||
2086 | { | ||
2087 | ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset); | ||
2088 | } | ||
2089 | } | ||
2090 | else | ||
2091 | { | ||
2092 | SetTerrain(heightMap, m_worldOffset); | ||
2093 | } | ||
2094 | } | ||
2095 | |||
2096 | public override void CombineTerrain(float[] heightMap, Vector3 pOffset) | ||
2097 | { | ||
2098 | SetTerrain(heightMap, pOffset); | ||
2099 | } | ||
2100 | |||
2101 | public void SetTerrain(float[] heightMap, Vector3 pOffset) | ||
2102 | { | ||
2103 | if (OdeUbitLib) | ||
2104 | UbitSetTerrain(heightMap, pOffset); | ||
2105 | else | ||
2106 | OriSetTerrain(heightMap, pOffset); | ||
2107 | } | ||
2108 | |||
2109 | public void OriSetTerrain(float[] heightMap, Vector3 pOffset) | ||
2110 | { | ||
2111 | // assumes 1m size grid and constante size square regions | ||
2112 | // needs to know about sims around in future | ||
2113 | |||
2114 | float[] _heightmap; | ||
2115 | |||
2116 | uint heightmapWidth = Constants.RegionSize + 2; | ||
2117 | uint heightmapHeight = Constants.RegionSize + 2; | ||
2118 | |||
2119 | uint heightmapWidthSamples = heightmapWidth + 1; | ||
2120 | uint heightmapHeightSamples = heightmapHeight + 1; | ||
2121 | |||
2122 | _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; | ||
2123 | |||
2124 | const float scale = 1.0f; | ||
2125 | const float offset = 0.0f; | ||
2126 | const float thickness = 10f; | ||
2127 | const int wrap = 0; | ||
2128 | |||
2129 | uint regionsize = Constants.RegionSize; | ||
2130 | |||
2131 | float hfmin = float.MaxValue; | ||
2132 | float hfmax = float.MinValue; | ||
2133 | float val; | ||
2134 | uint xx; | ||
2135 | uint yy; | ||
2136 | |||
2137 | uint maxXXYY = regionsize - 1; | ||
2138 | // flipping map adding one margin all around so things don't fall in edges | ||
2139 | |||
2140 | uint xt = 0; | ||
2141 | xx = 0; | ||
2142 | |||
2143 | for (uint x = 0; x < heightmapWidthSamples; x++) | ||
2144 | { | ||
2145 | if (x > 1 && xx < maxXXYY) | ||
2146 | xx++; | ||
2147 | yy = 0; | ||
2148 | for (uint y = 0; y < heightmapHeightSamples; y++) | ||
2149 | { | ||
2150 | if (y > 1 && y < maxXXYY) | ||
2151 | yy += regionsize; | ||
2152 | |||
2153 | val = heightMap[yy + xx]; | ||
2154 | if (val < 0.0f) | ||
2155 | val = 0.0f; // no neg terrain as in chode | ||
2156 | _heightmap[xt + y] = val; | ||
2157 | |||
2158 | if (hfmin > val) | ||
2159 | hfmin = val; | ||
2160 | if (hfmax < val) | ||
2161 | hfmax = val; | ||
2162 | } | ||
2163 | xt += heightmapHeightSamples; | ||
2164 | } | ||
2165 | lock (OdeLock) | ||
2166 | { | ||
2167 | IntPtr GroundGeom = IntPtr.Zero; | ||
2168 | if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) | ||
2169 | { | ||
2170 | RegionTerrain.Remove(pOffset); | ||
2171 | if (GroundGeom != IntPtr.Zero) | ||
2172 | { | ||
2173 | d.GeomDestroy(GroundGeom); | ||
2174 | |||
2175 | if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) | ||
2176 | { | ||
2177 | TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); | ||
2178 | TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); | ||
2179 | TerrainHeightFieldHeights.Remove(GroundGeom); | ||
2180 | } | ||
2181 | } | ||
2182 | } | ||
2183 | IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); | ||
2184 | |||
2185 | GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); | ||
2186 | |||
2187 | d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight, | ||
2188 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, | ||
2189 | offset, thickness, wrap); | ||
2190 | |||
2191 | d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); | ||
2192 | GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1); | ||
2193 | if (GroundGeom != IntPtr.Zero) | ||
2194 | { | ||
2195 | d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); | ||
2196 | d.GeomSetCollideBits(GroundGeom, 0); | ||
2197 | |||
2198 | } | ||
2199 | geom_name_map[GroundGeom] = "Terrain"; | ||
2200 | |||
2201 | d.Matrix3 R = new d.Matrix3(); | ||
2202 | |||
2203 | Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); | ||
2204 | Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); | ||
2205 | |||
2206 | |||
2207 | q1 = q1 * q2; | ||
2208 | |||
2209 | Vector3 v3; | ||
2210 | float angle; | ||
2211 | q1.GetAxisAngle(out v3, out angle); | ||
2212 | |||
2213 | d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); | ||
2214 | d.GeomSetRotation(GroundGeom, ref R); | ||
2215 | d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); | ||
2216 | RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); | ||
2217 | // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); | ||
2218 | TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); | ||
2219 | TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); | ||
2220 | |||
2221 | } | ||
2222 | } | ||
2223 | |||
2224 | public void UbitSetTerrain(float[] heightMap, Vector3 pOffset) | ||
2225 | { | ||
2226 | // assumes 1m size grid and constante size square regions | ||
2227 | // needs to know about sims around in future | ||
2228 | |||
2229 | float[] _heightmap; | ||
2230 | |||
2231 | uint heightmapWidth = Constants.RegionSize + 2; | ||
2232 | uint heightmapHeight = Constants.RegionSize + 2; | ||
2233 | |||
2234 | uint heightmapWidthSamples = heightmapWidth + 1; | ||
2235 | uint heightmapHeightSamples = heightmapHeight + 1; | ||
2236 | |||
2237 | _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; | ||
2238 | |||
2239 | |||
2240 | uint regionsize = Constants.RegionSize; | ||
2241 | |||
2242 | float hfmin = float.MaxValue; | ||
2243 | // float hfmax = float.MinValue; | ||
2244 | float val; | ||
2245 | |||
2246 | |||
2247 | uint maxXXYY = regionsize - 1; | ||
2248 | // adding one margin all around so things don't fall in edges | ||
2249 | |||
2250 | uint xx; | ||
2251 | uint yy = 0; | ||
2252 | uint yt = 0; | ||
2253 | |||
2254 | for (uint y = 0; y < heightmapHeightSamples; y++) | ||
2255 | { | ||
2256 | if (y > 1 && y < maxXXYY) | ||
2257 | yy += regionsize; | ||
2258 | xx = 0; | ||
2259 | for (uint x = 0; x < heightmapWidthSamples; x++) | ||
2260 | { | ||
2261 | if (x > 1 && x < maxXXYY) | ||
2262 | xx++; | ||
2263 | |||
2264 | val = heightMap[yy + xx]; | ||
2265 | if (val < 0.0f) | ||
2266 | val = 0.0f; // no neg terrain as in chode | ||
2267 | _heightmap[yt + x] = val; | ||
2268 | |||
2269 | if (hfmin > val) | ||
2270 | hfmin = val; | ||
2271 | // if (hfmax < val) | ||
2272 | // hfmax = val; | ||
2273 | } | ||
2274 | yt += heightmapWidthSamples; | ||
2275 | } | ||
2276 | lock (OdeLock) | ||
2277 | { | ||
2278 | IntPtr GroundGeom = IntPtr.Zero; | ||
2279 | if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) | ||
2280 | { | ||
2281 | RegionTerrain.Remove(pOffset); | ||
2282 | if (GroundGeom != IntPtr.Zero) | ||
2283 | { | ||
2284 | d.GeomDestroy(GroundGeom); | ||
2285 | |||
2286 | if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) | ||
2287 | { | ||
2288 | if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated) | ||
2289 | TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); | ||
2290 | TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); | ||
2291 | TerrainHeightFieldHeights.Remove(GroundGeom); | ||
2292 | } | ||
2293 | } | ||
2294 | } | ||
2295 | IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); | ||
2296 | |||
2297 | const int wrap = 0; | ||
2298 | float thickness = hfmin; | ||
2299 | if (thickness < 0) | ||
2300 | thickness = 1; | ||
2301 | |||
2302 | GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); | ||
2303 | |||
2304 | d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f, | ||
2305 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, | ||
2306 | thickness, wrap); | ||
2307 | |||
2308 | // d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); | ||
2309 | GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1); | ||
2310 | if (GroundGeom != IntPtr.Zero) | ||
2311 | { | ||
2312 | d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); | ||
2313 | d.GeomSetCollideBits(GroundGeom, 0); | ||
2314 | |||
2315 | } | ||
2316 | geom_name_map[GroundGeom] = "Terrain"; | ||
2317 | |||
2318 | d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); | ||
2319 | RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); | ||
2320 | // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); | ||
2321 | TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); | ||
2322 | TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); | ||
2323 | } | ||
2324 | } | ||
2325 | |||
2326 | |||
2327 | public override void DeleteTerrain() | ||
2328 | { | ||
2329 | } | ||
2330 | |||
2331 | public float GetWaterLevel() | ||
2332 | { | ||
2333 | return waterlevel; | ||
2334 | } | ||
2335 | |||
2336 | public override bool SupportsCombining() | ||
2337 | { | ||
2338 | return true; | ||
2339 | } | ||
2340 | /* | ||
2341 | public override void UnCombine(PhysicsScene pScene) | ||
2342 | { | ||
2343 | IntPtr localGround = IntPtr.Zero; | ||
2344 | // float[] localHeightfield; | ||
2345 | bool proceed = false; | ||
2346 | List<IntPtr> geomDestroyList = new List<IntPtr>(); | ||
2347 | |||
2348 | lock (OdeLock) | ||
2349 | { | ||
2350 | if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) | ||
2351 | { | ||
2352 | foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) | ||
2353 | { | ||
2354 | if (geom == localGround) | ||
2355 | { | ||
2356 | // localHeightfield = TerrainHeightFieldHeights[geom]; | ||
2357 | proceed = true; | ||
2358 | } | ||
2359 | else | ||
2360 | { | ||
2361 | geomDestroyList.Add(geom); | ||
2362 | } | ||
2363 | } | ||
2364 | |||
2365 | if (proceed) | ||
2366 | { | ||
2367 | m_worldOffset = Vector3.Zero; | ||
2368 | WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
2369 | m_parentScene = null; | ||
2370 | |||
2371 | foreach (IntPtr g in geomDestroyList) | ||
2372 | { | ||
2373 | // removingHeightField needs to be done or the garbage collector will | ||
2374 | // collect the terrain data before we tell ODE to destroy it causing | ||
2375 | // memory corruption | ||
2376 | if (TerrainHeightFieldHeights.ContainsKey(g)) | ||
2377 | { | ||
2378 | // float[] removingHeightField = TerrainHeightFieldHeights[g]; | ||
2379 | TerrainHeightFieldHeights.Remove(g); | ||
2380 | |||
2381 | if (RegionTerrain.ContainsKey(g)) | ||
2382 | { | ||
2383 | RegionTerrain.Remove(g); | ||
2384 | } | ||
2385 | |||
2386 | d.GeomDestroy(g); | ||
2387 | //removingHeightField = new float[0]; | ||
2388 | } | ||
2389 | } | ||
2390 | |||
2391 | } | ||
2392 | else | ||
2393 | { | ||
2394 | m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); | ||
2395 | } | ||
2396 | } | ||
2397 | } | ||
2398 | } | ||
2399 | */ | ||
2400 | public override void SetWaterLevel(float baseheight) | ||
2401 | { | ||
2402 | waterlevel = baseheight; | ||
2403 | randomizeWater(waterlevel); | ||
2404 | } | ||
2405 | |||
2406 | public void randomizeWater(float baseheight) | ||
2407 | { | ||
2408 | const uint heightmapWidth = Constants.RegionSize + 2; | ||
2409 | const uint heightmapHeight = Constants.RegionSize + 2; | ||
2410 | const uint heightmapWidthSamples = heightmapWidth + 1; | ||
2411 | const uint heightmapHeightSamples = heightmapHeight + 1; | ||
2412 | |||
2413 | const float scale = 1.0f; | ||
2414 | const float offset = 0.0f; | ||
2415 | const int wrap = 0; | ||
2416 | |||
2417 | float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples]; | ||
2418 | |||
2419 | float maxheigh = float.MinValue; | ||
2420 | float minheigh = float.MaxValue; | ||
2421 | float val; | ||
2422 | for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++) | ||
2423 | { | ||
2424 | |||
2425 | val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f); | ||
2426 | _watermap[i] = val; | ||
2427 | if (maxheigh < val) | ||
2428 | maxheigh = val; | ||
2429 | if (minheigh > val) | ||
2430 | minheigh = val; | ||
2431 | } | ||
2432 | |||
2433 | float thickness = minheigh; | ||
2434 | |||
2435 | lock (OdeLock) | ||
2436 | { | ||
2437 | if (WaterGeom != IntPtr.Zero) | ||
2438 | { | ||
2439 | d.GeomDestroy(WaterGeom); | ||
2440 | d.GeomHeightfieldDataDestroy(WaterHeightmapData); | ||
2441 | WaterGeom = IntPtr.Zero; | ||
2442 | WaterHeightmapData = IntPtr.Zero; | ||
2443 | if(WaterMapHandler.IsAllocated) | ||
2444 | WaterMapHandler.Free(); | ||
2445 | } | ||
2446 | |||
2447 | WaterHeightmapData = d.GeomHeightfieldDataCreate(); | ||
2448 | |||
2449 | WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned); | ||
2450 | |||
2451 | d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight, | ||
2452 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, | ||
2453 | offset, thickness, wrap); | ||
2454 | d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh); | ||
2455 | WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1); | ||
2456 | if (WaterGeom != IntPtr.Zero) | ||
2457 | { | ||
2458 | d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water)); | ||
2459 | d.GeomSetCollideBits(WaterGeom, 0); | ||
2460 | |||
2461 | geom_name_map[WaterGeom] = "Water"; | ||
2462 | |||
2463 | d.Matrix3 R = new d.Matrix3(); | ||
2464 | |||
2465 | Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); | ||
2466 | Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); | ||
2467 | |||
2468 | q1 = q1 * q2; | ||
2469 | Vector3 v3; | ||
2470 | float angle; | ||
2471 | q1.GetAxisAngle(out v3, out angle); | ||
2472 | |||
2473 | d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); | ||
2474 | d.GeomSetRotation(WaterGeom, ref R); | ||
2475 | d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0); | ||
2476 | } | ||
2477 | } | ||
2478 | } | ||
2479 | |||
2480 | public override void Dispose() | ||
2481 | { | ||
2482 | m_rayCastManager.Dispose(); | ||
2483 | m_rayCastManager = null; | ||
2484 | |||
2485 | lock (OdeLock) | ||
2486 | { | ||
2487 | lock (_prims) | ||
2488 | { | ||
2489 | foreach (OdePrim prm in _prims) | ||
2490 | { | ||
2491 | RemovePrim(prm); | ||
2492 | } | ||
2493 | } | ||
2494 | |||
2495 | if (TerrainHeightFieldHeightsHandlers.Count > 0) | ||
2496 | { | ||
2497 | foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values) | ||
2498 | { | ||
2499 | if (gch.IsAllocated) | ||
2500 | gch.Free(); | ||
2501 | } | ||
2502 | } | ||
2503 | |||
2504 | if (WaterGeom != IntPtr.Zero) | ||
2505 | { | ||
2506 | d.GeomDestroy(WaterGeom); | ||
2507 | WaterGeom = IntPtr.Zero; | ||
2508 | if (WaterHeightmapData != IntPtr.Zero) | ||
2509 | d.GeomHeightfieldDataDestroy(WaterHeightmapData); | ||
2510 | WaterHeightmapData = IntPtr.Zero; | ||
2511 | |||
2512 | if (WaterMapHandler.IsAllocated) | ||
2513 | WaterMapHandler.Free(); | ||
2514 | } | ||
2515 | |||
2516 | |||
2517 | if (ContactgeomsArray != IntPtr.Zero) | ||
2518 | Marshal.FreeHGlobal(ContactgeomsArray); | ||
2519 | if (GlobalContactsArray != IntPtr.Zero) | ||
2520 | Marshal.FreeHGlobal(GlobalContactsArray); | ||
2521 | |||
2522 | |||
2523 | d.WorldDestroy(world); | ||
2524 | //d.CloseODE(); | ||
2525 | } | ||
2526 | } | ||
2527 | |||
2528 | public override Dictionary<uint, float> GetTopColliders() | ||
2529 | { | ||
2530 | Dictionary<uint, float> returncolliders = new Dictionary<uint, float>(); | ||
2531 | int cnt = 0; | ||
2532 | lock (_prims) | ||
2533 | { | ||
2534 | foreach (OdePrim prm in _prims) | ||
2535 | { | ||
2536 | if (prm.CollisionScore > 0) | ||
2537 | { | ||
2538 | returncolliders.Add(prm.m_localID, prm.CollisionScore); | ||
2539 | cnt++; | ||
2540 | prm.CollisionScore = 0f; | ||
2541 | if (cnt > 25) | ||
2542 | { | ||
2543 | break; | ||
2544 | } | ||
2545 | } | ||
2546 | } | ||
2547 | } | ||
2548 | return returncolliders; | ||
2549 | } | ||
2550 | |||
2551 | public override bool SupportsRayCast() | ||
2552 | { | ||
2553 | return true; | ||
2554 | } | ||
2555 | |||
2556 | public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
2557 | { | ||
2558 | if (retMethod != null) | ||
2559 | { | ||
2560 | m_rayCastManager.QueueRequest(position, direction, length, retMethod); | ||
2561 | } | ||
2562 | } | ||
2563 | |||
2564 | public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) | ||
2565 | { | ||
2566 | if (retMethod != null) | ||
2567 | { | ||
2568 | m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod); | ||
2569 | } | ||
2570 | } | ||
2571 | |||
2572 | // don't like this | ||
2573 | public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) | ||
2574 | { | ||
2575 | ContactResult[] ourResults = null; | ||
2576 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2577 | { | ||
2578 | ourResults = new ContactResult[results.Count]; | ||
2579 | results.CopyTo(ourResults, 0); | ||
2580 | }; | ||
2581 | int waitTime = 0; | ||
2582 | m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod); | ||
2583 | while (ourResults == null && waitTime < 1000) | ||
2584 | { | ||
2585 | Thread.Sleep(1); | ||
2586 | waitTime++; | ||
2587 | } | ||
2588 | if (ourResults == null) | ||
2589 | return new List<ContactResult>(); | ||
2590 | return new List<ContactResult>(ourResults); | ||
2591 | } | ||
2592 | |||
2593 | public override bool SuportsRaycastWorldFiltered() | ||
2594 | { | ||
2595 | return true; | ||
2596 | } | ||
2597 | |||
2598 | public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) | ||
2599 | { | ||
2600 | object SyncObject = new object(); | ||
2601 | List<ContactResult> ourresults = new List<ContactResult>(); | ||
2602 | |||
2603 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2604 | { | ||
2605 | lock (SyncObject) | ||
2606 | { | ||
2607 | ourresults = results; | ||
2608 | Monitor.PulseAll(SyncObject); | ||
2609 | } | ||
2610 | }; | ||
2611 | |||
2612 | lock (SyncObject) | ||
2613 | { | ||
2614 | m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod); | ||
2615 | if (!Monitor.Wait(SyncObject, 500)) | ||
2616 | return null; | ||
2617 | else | ||
2618 | return ourresults; | ||
2619 | } | ||
2620 | } | ||
2621 | |||
2622 | public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
2623 | { | ||
2624 | if (retMethod != null && actor !=null) | ||
2625 | { | ||
2626 | IntPtr geom; | ||
2627 | if (actor is OdePrim) | ||
2628 | geom = ((OdePrim)actor).prim_geom; | ||
2629 | else if (actor is OdeCharacter) | ||
2630 | geom = ((OdePrim)actor).prim_geom; | ||
2631 | else | ||
2632 | return; | ||
2633 | if (geom == IntPtr.Zero) | ||
2634 | return; | ||
2635 | m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod); | ||
2636 | } | ||
2637 | } | ||
2638 | |||
2639 | public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) | ||
2640 | { | ||
2641 | if (retMethod != null && actor != null) | ||
2642 | { | ||
2643 | IntPtr geom; | ||
2644 | if (actor is OdePrim) | ||
2645 | geom = ((OdePrim)actor).prim_geom; | ||
2646 | else if (actor is OdeCharacter) | ||
2647 | geom = ((OdePrim)actor).prim_geom; | ||
2648 | else | ||
2649 | return; | ||
2650 | if (geom == IntPtr.Zero) | ||
2651 | return; | ||
2652 | |||
2653 | m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); | ||
2654 | } | ||
2655 | } | ||
2656 | |||
2657 | // don't like this | ||
2658 | public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count) | ||
2659 | { | ||
2660 | if (actor != null) | ||
2661 | { | ||
2662 | IntPtr geom; | ||
2663 | if (actor is OdePrim) | ||
2664 | geom = ((OdePrim)actor).prim_geom; | ||
2665 | else if (actor is OdeCharacter) | ||
2666 | geom = ((OdePrim)actor).prim_geom; | ||
2667 | else | ||
2668 | return new List<ContactResult>(); | ||
2669 | if (geom == IntPtr.Zero) | ||
2670 | return new List<ContactResult>(); | ||
2671 | |||
2672 | ContactResult[] ourResults = null; | ||
2673 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2674 | { | ||
2675 | ourResults = new ContactResult[results.Count]; | ||
2676 | results.CopyTo(ourResults, 0); | ||
2677 | }; | ||
2678 | int waitTime = 0; | ||
2679 | m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); | ||
2680 | while (ourResults == null && waitTime < 1000) | ||
2681 | { | ||
2682 | Thread.Sleep(1); | ||
2683 | waitTime++; | ||
2684 | } | ||
2685 | if (ourResults == null) | ||
2686 | return new List<ContactResult>(); | ||
2687 | return new List<ContactResult>(ourResults); | ||
2688 | } | ||
2689 | return new List<ContactResult>(); | ||
2690 | } | ||
2691 | } | ||
2692 | } | ||