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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs1400
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs997
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs3917
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs603
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs2005
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs2689
8 files changed, 11759 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d46341b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System.Reflection;
29using System.Runtime.InteropServices;
30
31// Information about this assembly is defined by the following
32// attributes.
33//
34// change them to the information which is associated with the assembly
35// you compile.
36
37[assembly : AssemblyTitle("OdePlugin")]
38[assembly : AssemblyDescription("Ubit Variation")]
39[assembly : AssemblyConfiguration("")]
40[assembly : AssemblyCompany("http://opensimulator.org")]
41[assembly : AssemblyProduct("OdePlugin")]
42[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
43[assembly : AssemblyTrademark("")]
44[assembly : AssemblyCulture("")]
45
46// This sets the default COM visibility of types in the assembly to invisible.
47// If you need to expose a type to COM, use [ComVisible(true)] on that type.
48
49[assembly : ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..ec4be58
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1400 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28
29// Revision by Ubit 2011/12
30
31using System;
32using System.Collections.Generic;
33using System.Reflection;
34using OpenMetaverse;
35using OdeAPI;
36using OpenSim.Framework;
37using OpenSim.Region.Physics.Manager;
38using log4net;
39
40namespace OpenSim.Region.Physics.OdePlugin
41{
42 /// <summary>
43 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
44 /// </summary>
45
46 public enum dParam : int
47 {
48 LowStop = 0,
49 HiStop = 1,
50 Vel = 2,
51 FMax = 3,
52 FudgeFactor = 4,
53 Bounce = 5,
54 CFM = 6,
55 StopERP = 7,
56 StopCFM = 8,
57 LoStop2 = 256,
58 HiStop2 = 257,
59 Vel2 = 258,
60 FMax2 = 259,
61 StopERP2 = 7 + 256,
62 StopCFM2 = 8 + 256,
63 LoStop3 = 512,
64 HiStop3 = 513,
65 Vel3 = 514,
66 FMax3 = 515,
67 StopERP3 = 7 + 512,
68 StopCFM3 = 8 + 512
69 }
70
71 public class OdeCharacter : PhysicsActor
72 {
73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
74
75 private Vector3 _position;
76 private Vector3 _zeroPosition;
77 private bool _zeroFlag = false;
78 private Vector3 _velocity;
79 private Vector3 _target_velocity;
80 private Vector3 _acceleration;
81 private Vector3 m_rotationalVelocity;
82 private float m_mass = 80f;
83 public float m_density = 60f;
84 private bool m_pidControllerActive = true;
85 public float PID_D = 800.0f;
86 public float PID_P = 900.0f;
87 //private static float POSTURE_SERVO = 10000.0f;
88 public float CAPSULE_RADIUS = 0.37f;
89 public float CAPSULE_LENGTH = 2.140599f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool m_iscolliding = false;
94 private bool m_iscollidingGround = false;
95 private bool m_iscollidingObj = false;
96 private bool m_alwaysRun = false;
97 private int m_requestedUpdateFrequency = 0;
98 public uint m_localID = 0;
99 public bool m_returnCollisions = false;
100 // taints and their non-tainted counterparts
101 public bool m_isPhysical = false; // the current physical status
102 public float MinimumGroundFlightOffset = 3f;
103
104 private float m_buoyancy = 0f;
105
106 // private CollisionLocker ode;
107
108 private string m_name = String.Empty;
109 // other filter control
110 int m_colliderfilter = 0;
111 // int m_colliderGroundfilter = 0;
112 int m_colliderObjectfilter = 0;
113
114 // Default we're a Character
115 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
116
117 // Default, Collide with Other Geometries, spaces, bodies and characters.
118 private CollisionCategories m_collisionFlags = (CollisionCategories.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 d.BodySetAutoDisableFlag(Body, false);
690 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
691
692 _position.X = npositionX;
693 _position.Y = npositionY;
694 _position.Z = npositionZ;
695
696 d.BodySetMass(Body, ref ShellMass);
697 d.GeomSetBody(Shell, Body);
698
699 // The purpose of the AMotor here is to keep the avatar's physical
700 // surrogate from rotating while moving
701 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
702 d.JointAttach(Amotor, Body, IntPtr.Zero);
703
704 d.JointSetAMotorMode(Amotor, 0);
705 d.JointSetAMotorNumAxes(Amotor, 3);
706 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
707 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
708 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
709
710 d.JointSetAMotorAngle(Amotor, 0, 0);
711 d.JointSetAMotorAngle(Amotor, 1, 0);
712 d.JointSetAMotorAngle(Amotor, 2, 0);
713
714 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
715 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
716 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
717 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
718 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
719 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
720
721 // These lowstops and high stops are effectively (no wiggle room)
722 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
723 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
724 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
725 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
726 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
727 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
728
729 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
730 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
731 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
732
733 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
734 d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
735 d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
736 }
737
738 /// <summary>
739 /// Destroys the avatar body and geom
740
741 private void AvatarGeomAndBodyDestroy()
742 {
743 // Kill the Amotor
744 if (Amotor != IntPtr.Zero)
745 {
746 d.JointDestroy(Amotor);
747 Amotor = IntPtr.Zero;
748 }
749
750 if (Body != IntPtr.Zero)
751 {
752 //kill the body
753 d.BodyDestroy(Body);
754 Body = IntPtr.Zero;
755 }
756
757 //kill the Geometry
758 if (Shell != IntPtr.Zero)
759 {
760 _parent_scene.geom_name_map.Remove(Shell);
761 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
762 d.GeomDestroy(Shell);
763 Shell = IntPtr.Zero;
764 }
765 }
766
767 /// <summary>
768 /// Called from Simulate
769 /// This is the avatar's movement control + PID Controller
770 /// </summary>
771 /// <param name="timeStep"></param>
772 public void Move(float timeStep, List<OdeCharacter> defects)
773 {
774 if (Body == IntPtr.Zero)
775 return;
776
777 d.Vector3 dtmp = d.BodyGetPosition(Body);
778 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
779
780 // the Amotor still lets avatar rotation to drift during colisions
781 // so force it back to identity
782
783 d.Quaternion qtmp;
784 qtmp.W = 1;
785 qtmp.X = 0;
786 qtmp.Y = 0;
787 qtmp.Z = 0;
788 d.BodySetQuaternion(Body, ref qtmp);
789
790 if (m_pidControllerActive == false)
791 {
792 _zeroPosition = localpos;
793 }
794
795 if (!localpos.IsFinite())
796 {
797 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
798 defects.Add(this);
799 // _parent_scene.RemoveCharacter(this);
800
801 // destroy avatar capsule and related ODE data
802 AvatarGeomAndBodyDestroy();
803 return;
804 }
805
806 // check outbounds forcing to be in world
807 bool fixbody = false;
808 if (localpos.X < 0.0f)
809 {
810 fixbody = true;
811 localpos.X = 0.1f;
812 }
813 else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
814 {
815 fixbody = true;
816 localpos.X = _parent_scene.WorldExtents.X - 0.1f;
817 }
818 if (localpos.Y < 0.0f)
819 {
820 fixbody = true;
821 localpos.Y = 0.1f;
822 }
823 else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
824 {
825 fixbody = true;
826 localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
827 }
828 if (fixbody)
829 d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
830
831 Vector3 vec = Vector3.Zero;
832 dtmp = d.BodyGetLinearVel(Body);
833 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
834
835 float movementdivisor = 1f;
836 //Ubit change divisions into multiplications below
837 if (!m_alwaysRun)
838 movementdivisor = 1 / walkDivisor;
839 else
840 movementdivisor = 1 / runDivisor;
841
842 //******************************************
843 // colide with land
844 d.AABB aabb;
845 d.GeomGetAABB(Shell, out aabb);
846 float chrminZ = aabb.MinZ;
847
848 Vector3 posch = localpos;
849
850 float ftmp;
851
852 if (flying)
853 {
854 ftmp = timeStep;
855 posch.X += vel.X * ftmp;
856 posch.Y += vel.Y * ftmp;
857 }
858
859 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
860 if (chrminZ < terrainheight)
861 {
862 float depth = terrainheight - chrminZ;
863 if (!flying)
864 {
865 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 60;
866 }
867 else
868 vec.Z = depth * PID_P * 60;
869
870 if (depth < 0.2f)
871 {
872 m_iscolliding = true;
873 m_colliderfilter = 2;
874 m_iscollidingGround = true;
875
876 ContactPoint contact = new ContactPoint();
877 contact.PenetrationDepth = depth;
878 contact.Position.X = localpos.X;
879 contact.Position.Y = localpos.Y;
880 contact.Position.Z = chrminZ;
881 contact.SurfaceNormal.X = 0f;
882 contact.SurfaceNormal.Y = 0f;
883 contact.SurfaceNormal.Z = -1f;
884 AddCollisionEvent(0, contact);
885
886 vec.Z *= 0.5f;
887 }
888
889 else
890 m_iscollidingGround = false;
891 }
892 else
893 m_iscollidingGround = false;
894
895 //******************************************
896
897 // if velocity is zero, use position control; otherwise, velocity control
898 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
899 && m_iscolliding)
900 {
901 // keep track of where we stopped. No more slippin' & slidin'
902 if (!_zeroFlag)
903 {
904 _zeroFlag = true;
905 _zeroPosition = localpos;
906 }
907 if (m_pidControllerActive)
908 {
909 // We only want to deactivate the PID Controller if we think we want to have our surrogate
910 // react to the physics scene by moving it's position.
911 // Avatar to Avatar collisions
912 // Prim to avatar collisions
913
914 vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
915 vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
916 if (flying)
917 {
918 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
919 }
920 }
921 //PidStatus = true;
922 }
923 else
924 {
925 m_pidControllerActive = true;
926 _zeroFlag = false;
927
928 if (m_iscolliding)
929 {
930 if (!flying)
931 {
932 if (_target_velocity.Z > 0.0f)
933 {
934 // We're colliding with something and we're not flying but we're moving
935 // This means we're walking or running. JUMPING
936 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
937 }
938 // We're standing on something
939 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
940 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
941 }
942 else
943 {
944 // We're flying and colliding with something
945 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
946 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
947 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
948 }
949 }
950 else // ie not colliding
951 {
952 if (flying) //(!m_iscolliding && flying)
953 {
954 // we're in mid air suspended
955 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
956 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
957 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
958 }
959
960 else
961 {
962 // we're not colliding and we're not flying so that means we're falling!
963 // m_iscolliding includes collisions with the ground.
964
965 // d.Vector3 pos = d.BodyGetPosition(Body);
966 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
967 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
968 }
969 }
970 }
971
972 if (flying)
973 {
974 vec.Z -= _parent_scene.gravityz * m_mass;
975
976 //Added for auto fly height. Kitto Flora
977 float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
978
979 if (localpos.Z < target_altitude)
980 {
981 vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
982 }
983 // end add Kitto Flora
984 }
985
986 if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50m/s apply breaks
987 {
988 float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall
989 vec.X -= breakfactor * vel.X;
990 vec.Y -= breakfactor * vel.Y;
991 vec.Z -= breakfactor * vel.Z;
992 }
993
994 if (vec.IsFinite())
995 {
996 if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
997 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
998 }
999 else
1000 {
1001 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1002 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1003 defects.Add(this);
1004 // _parent_scene.RemoveCharacter(this);
1005 // destroy avatar capsule and related ODE data
1006 AvatarGeomAndBodyDestroy();
1007 return;
1008 }
1009
1010 // update our local ideia of position velocity and aceleration
1011 _position = localpos;
1012 _acceleration = _velocity; // previus velocity
1013 _velocity = vel;
1014 _acceleration = (vel - _acceleration) / timeStep;
1015
1016 }
1017
1018 /// <summary>
1019 /// Updates the reported position and velocity.
1020 /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
1021 /// also outbounds checking
1022 /// copy and outbounds now done in move(..) at ode rate
1023 ///
1024 /// </summary>
1025 public void UpdatePositionAndVelocity()
1026 {
1027 return;
1028
1029// if (Body == IntPtr.Zero)
1030// return;
1031
1032 }
1033
1034 /// <summary>
1035 /// Cleanup the things we use in the scene.
1036 /// </summary>
1037 public void Destroy()
1038 {
1039 AddChange(changes.Remove, null);
1040 }
1041
1042 public override void CrossingFailure()
1043 {
1044 }
1045
1046 public override Vector3 PIDTarget { set { return; } }
1047 public override bool PIDActive { set { return; } }
1048 public override float PIDTau { set { return; } }
1049
1050 public override float PIDHoverHeight { set { return; } }
1051 public override bool PIDHoverActive { set { return; } }
1052 public override PIDHoverType PIDHoverType { set { return; } }
1053 public override float PIDHoverTau { set { return; } }
1054
1055 public override Quaternion APIDTarget { set { return; } }
1056
1057 public override bool APIDActive { set { return; } }
1058
1059 public override float APIDStrength { set { return; } }
1060
1061 public override float APIDDamping { set { return; } }
1062
1063
1064 public override void SubscribeEvents(int ms)
1065 {
1066 m_requestedUpdateFrequency = ms;
1067 m_eventsubscription = ms;
1068 _parent_scene.AddCollisionEventReporting(this);
1069 m_haseventsubscription = true;
1070 }
1071
1072 public override void UnSubscribeEvents()
1073 {
1074 m_haseventsubscription = false;
1075 _parent_scene.RemoveCollisionEventReporting(this);
1076 m_requestedUpdateFrequency = 0;
1077 m_eventsubscription = 0;
1078 }
1079
1080 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1081 {
1082 if (m_haseventsubscription)
1083 {
1084 // m_log.DebugFormat(
1085 // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1086
1087 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1088 }
1089 }
1090
1091 public void SendCollisions()
1092 {
1093 if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
1094 {
1095 if (CollisionEventsThisFrame != null)
1096 {
1097 base.SendCollisionUpdate(CollisionEventsThisFrame);
1098 }
1099 CollisionEventsThisFrame = new CollisionEventUpdate();
1100 m_eventsubscription = 0;
1101 }
1102 }
1103
1104 public override bool SubscribedEvents()
1105 {
1106 return m_haseventsubscription;
1107 }
1108
1109 private void changePhysicsStatus(bool NewStatus)
1110 {
1111 if (NewStatus != m_isPhysical)
1112 {
1113 if (NewStatus)
1114 {
1115 // Create avatar capsule and related ODE data
1116 if ((Shell != IntPtr.Zero))
1117 {
1118 // a lost shell ?
1119 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1120 + (Shell != IntPtr.Zero ? "Shell " : "")
1121 + (Body != IntPtr.Zero ? "Body " : "")
1122 + (Amotor != IntPtr.Zero ? "Amotor " : ""));
1123 AvatarGeomAndBodyDestroy();
1124 }
1125
1126 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1127 _parent_scene.geom_name_map[Shell] = m_name;
1128 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1129 _parent_scene.AddCharacter(this);
1130 }
1131 else
1132 {
1133 _parent_scene.RemoveCharacter(this);
1134 // destroy avatar capsule and related ODE data
1135 AvatarGeomAndBodyDestroy();
1136 }
1137
1138 m_isPhysical = NewStatus;
1139 }
1140 }
1141
1142 private void changeAdd()
1143 {
1144 changePhysicsStatus(true);
1145 }
1146
1147 private void changeRemove()
1148 {
1149 changePhysicsStatus(false);
1150 }
1151
1152 private void changeShape(PrimitiveBaseShape arg)
1153 {
1154 }
1155
1156 private void changeSize(Vector3 Size)
1157 {
1158 if (Size.IsFinite())
1159 {
1160 float caplen = Size.Z;
1161
1162 caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
1163
1164 if (caplen != CAPSULE_LENGTH)
1165 {
1166 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1167 {
1168 AvatarGeomAndBodyDestroy();
1169
1170 float prevCapsule = CAPSULE_LENGTH;
1171 CAPSULE_LENGTH = caplen;
1172
1173 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1174 _position.Z + (CAPSULE_LENGTH - prevCapsule) * 0.5f);
1175
1176 Velocity = Vector3.Zero;
1177
1178 _parent_scene.geom_name_map[Shell] = m_name;
1179 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1180 }
1181 else
1182 {
1183 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1184 + (Shell == IntPtr.Zero ? "Shell " : "")
1185 + (Body == IntPtr.Zero ? "Body " : "")
1186 + (Amotor == IntPtr.Zero ? "Amotor " : ""));
1187 }
1188 }
1189
1190 m_pidControllerActive = true;
1191 }
1192 else
1193 {
1194 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
1195 }
1196 }
1197
1198 private void changePosition( Vector3 newPos)
1199 {
1200 if (Body != IntPtr.Zero)
1201 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1202 _position = newPos;
1203 }
1204
1205 private void changeOrientation(Quaternion newOri)
1206 {
1207 }
1208
1209 private void changeVelocity(Vector3 newVel)
1210 {
1211 m_pidControllerActive = true;
1212 _target_velocity = newVel;
1213 }
1214
1215 private void changeSetTorque(Vector3 newTorque)
1216 {
1217 }
1218
1219 private void changeAddForce(Vector3 newForce)
1220 {
1221 }
1222
1223 private void changeAddAngularForce(Vector3 arg)
1224 {
1225 }
1226
1227 private void changeAngularLock(Vector3 arg)
1228 {
1229 }
1230
1231 private void changeFloatOnWater(bool arg)
1232 {
1233 }
1234
1235 private void changeVolumedetetion(bool arg)
1236 {
1237 }
1238
1239 private void changeSelectedStatus(bool arg)
1240 {
1241 }
1242
1243 private void changeDisable(bool arg)
1244 {
1245 }
1246
1247 private void changeBuilding(bool arg)
1248 {
1249 }
1250
1251 private void changeForce(Vector3 newForce)
1252 {
1253 m_pidControllerActive = false;
1254 if (Body != IntPtr.Zero)
1255 {
1256 if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
1257 d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
1258 }
1259 }
1260
1261 // for now momentum is actually velocity
1262 private void changeMomentum(Vector3 newmomentum)
1263 {
1264 _velocity = newmomentum;
1265 _target_velocity = newmomentum;
1266 m_pidControllerActive = true;
1267 if (Body != IntPtr.Zero)
1268 d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
1269 }
1270
1271 private void donullchange()
1272 {
1273 }
1274
1275 public bool DoAChange(changes what, object arg)
1276 {
1277 if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
1278 {
1279 return false;
1280 }
1281
1282 // nasty switch
1283 switch (what)
1284 {
1285 case changes.Add:
1286 changeAdd();
1287 break;
1288 case changes.Remove:
1289 changeRemove();
1290 break;
1291
1292 case changes.Position:
1293 changePosition((Vector3)arg);
1294 break;
1295
1296 case changes.Orientation:
1297 changeOrientation((Quaternion)arg);
1298 break;
1299
1300 case changes.PosOffset:
1301 donullchange();
1302 break;
1303
1304 case changes.OriOffset:
1305 donullchange();
1306 break;
1307
1308 case changes.Velocity:
1309 changeVelocity((Vector3)arg);
1310 break;
1311
1312 // case changes.Acceleration:
1313 // changeacceleration((Vector3)arg);
1314 // break;
1315 // case changes.AngVelocity:
1316 // changeangvelocity((Vector3)arg);
1317 // break;
1318
1319 case changes.Force:
1320 changeForce((Vector3)arg);
1321 break;
1322
1323 case changes.Torque:
1324 changeSetTorque((Vector3)arg);
1325 break;
1326
1327 case changes.AddForce:
1328 changeAddForce((Vector3)arg);
1329 break;
1330
1331 case changes.AddAngForce:
1332 changeAddAngularForce((Vector3)arg);
1333 break;
1334
1335 case changes.AngLock:
1336 changeAngularLock((Vector3)arg);
1337 break;
1338
1339 case changes.Size:
1340 changeSize((Vector3)arg);
1341 break;
1342
1343 case changes.Momentum:
1344 changeMomentum((Vector3)arg);
1345 break;
1346/* not in use for now
1347 case changes.Shape:
1348 changeShape((PrimitiveBaseShape)arg);
1349 break;
1350
1351 case changes.CollidesWater:
1352 changeFloatOnWater((bool)arg);
1353 break;
1354
1355 case changes.VolumeDtc:
1356 changeVolumedetetion((bool)arg);
1357 break;
1358
1359 case changes.Physical:
1360 changePhysicsStatus((bool)arg);
1361 break;
1362
1363 case changes.Selected:
1364 changeSelectedStatus((bool)arg);
1365 break;
1366
1367 case changes.disabled:
1368 changeDisable((bool)arg);
1369 break;
1370
1371 case changes.building:
1372 changeBuilding((bool)arg);
1373 break;
1374*/
1375 case changes.Null:
1376 donullchange();
1377 break;
1378
1379 default:
1380 donullchange();
1381 break;
1382 }
1383 return false;
1384 }
1385
1386 public void AddChange(changes what, object arg)
1387 {
1388 _parent_scene.AddChange((PhysicsActor)this, what, arg);
1389 }
1390
1391
1392 internal void AddCollisionFrameTime(int p)
1393 {
1394 // protect it from overflow crashing
1395 if (m_eventsubscription + p >= int.MaxValue)
1396 m_eventsubscription = 0;
1397 m_eventsubscription += p;
1398 }
1399 }
1400}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..dcd02e2
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,997 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
29 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
30 * ODEPrim.cs contains methods dealing with Prim editing, Prim
31 * characteristics and Kinetic motion.
32 * ODEDynamics.cs contains methods dealing with Prim Physical motion
33 * (dynamics) and the associated settings. Old Linear and angular
34 * motors for dynamic motion have been replace with MoveLinear()
35 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
36 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
37 * switch between 'VEHICLE' parameter use and general dynamics
38 * settings use.
39 */
40
41// Extensive change Ubit 2012
42
43using System;
44using System.Collections.Generic;
45using System.Reflection;
46using System.Runtime.InteropServices;
47using log4net;
48using OpenMetaverse;
49using OdeAPI;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager;
52
53namespace OpenSim.Region.Physics.OdePlugin
54{
55 public class ODEDynamics
56 {
57 public Vehicle Type
58 {
59 get { return m_type; }
60 }
61
62 private OdePrim rootPrim;
63 private OdeScene _pParentScene;
64
65 // Vehicle properties
66 private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
67 private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
68
69 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
70
71 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
72 // HOVER_TERRAIN_ONLY
73 // HOVER_GLOBAL_HEIGHT
74 // NO_DEFLECTION_UP
75 // HOVER_WATER_ONLY
76 // HOVER_UP_ONLY
77 // LIMIT_MOTOR_UP
78 // LIMIT_ROLL_ONLY
79 private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
80
81 // Linear properties
82 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
83 private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
84 private float m_linearMotorDecayTimescale = 120;
85 private float m_linearMotorTimescale = 1000;
86 private Vector3 m_linearMotorOffset = Vector3.Zero;
87
88 //Angular properties
89 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
90 private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
91 private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
92 private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
93
94 //Deflection properties
95 private float m_angularDeflectionEfficiency = 0;
96 private float m_angularDeflectionTimescale = 1000;
97 private float m_linearDeflectionEfficiency = 0;
98 private float m_linearDeflectionTimescale = 1000;
99
100 //Banking properties
101 private float m_bankingEfficiency = 0;
102 private float m_bankingMix = 0;
103 private float m_bankingTimescale = 1000;
104
105 //Hover and Buoyancy properties
106 private float m_VhoverHeight = 0f;
107 private float m_VhoverEfficiency = 0f;
108 private float m_VhoverTimescale = 1000f;
109 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
110 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
111 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
112 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
113
114 //Attractor properties
115 private float m_verticalAttractionEfficiency = 1.0f; // damped
116 private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
117
118
119 // auxiliar
120 private float m_lmEfect = 0; // current linear motor eficiency
121 private float m_amEfect = 0; // current angular motor eficiency
122 private float m_ffactor = 1.0f;
123
124 public float FrictionFactor
125 {
126 get
127 {
128 return m_ffactor;
129 }
130 }
131
132 public ODEDynamics(OdePrim rootp)
133 {
134 rootPrim = rootp;
135 _pParentScene = rootPrim._parent_scene;
136 }
137
138 public void DoSetVehicle(VehicleData vd)
139 {
140
141 float timestep = _pParentScene.ODE_STEPSIZE;
142 float invtimestep = 1.0f / timestep;
143
144 m_type = vd.m_type;
145 m_flags = vd.m_flags;
146
147 // Linear properties
148 m_linearMotorDirection = vd.m_linearMotorDirection;
149
150 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
151 if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
152 if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
153 if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
154
155 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
156 if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep;
157 m_linearMotorDecayTimescale *= invtimestep;
158
159 m_linearMotorTimescale = vd.m_linearMotorTimescale;
160 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
161
162
163 m_linearMotorOffset = vd.m_linearMotorOffset;
164
165 //Angular properties
166 m_angularMotorDirection = vd.m_angularMotorDirection;
167 m_angularMotorTimescale = vd.m_angularMotorTimescale;
168 if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
169
170 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
171 if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep;
172 m_angularMotorDecayTimescale *= invtimestep;
173
174 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
175 if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
176 if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
177 if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
178
179 //Deflection properties
180 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
181 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
182 if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
183
184 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
185 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
186 if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
187
188 //Banking properties
189 m_bankingEfficiency = vd.m_bankingEfficiency;
190 m_bankingMix = vd.m_bankingMix;
191 m_bankingTimescale = vd.m_bankingTimescale;
192 if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
193
194 //Hover and Buoyancy properties
195 m_VhoverHeight = vd.m_VhoverHeight;
196 m_VhoverEfficiency = vd.m_VhoverEfficiency;
197 m_VhoverTimescale = vd.m_VhoverTimescale;
198 if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
199
200 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
201
202 //Attractor properties
203 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
204 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
205 if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
206
207 // Axis
208 m_referenceFrame = vd.m_referenceFrame;
209
210 m_lmEfect = 0;
211 m_amEfect = 0;
212 m_ffactor = 1.0f;
213 }
214
215 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
216 {
217 float len;
218 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
219 float timestep = _pParentScene.ODE_STEPSIZE;
220
221 switch (pParam)
222 {
223 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
224 if (pValue < 0f) pValue = 0f;
225 if (pValue > 1f) pValue = 1f;
226 m_angularDeflectionEfficiency = pValue;
227 break;
228 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
229 if (pValue < timestep) pValue = timestep;
230 m_angularDeflectionTimescale = pValue;
231 break;
232 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
233 if (pValue < timestep) pValue = timestep;
234 // try to make impulses to work a bit better
235// if (pValue < 0.5f) pValue = 0.5f;
236 else if (pValue > 120) pValue = 120;
237 m_angularMotorDecayTimescale = pValue * invtimestep;
238 break;
239 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
240 if (pValue < timestep) pValue = timestep;
241 m_angularMotorTimescale = pValue;
242 break;
243 case Vehicle.BANKING_EFFICIENCY:
244 if (pValue < -1f) pValue = -1f;
245 if (pValue > 1f) pValue = 1f;
246 m_bankingEfficiency = pValue;
247 break;
248 case Vehicle.BANKING_MIX:
249 if (pValue < 0f) pValue = 0f;
250 if (pValue > 1f) pValue = 1f;
251 m_bankingMix = pValue;
252 break;
253 case Vehicle.BANKING_TIMESCALE:
254 if (pValue < timestep) pValue = timestep;
255 m_bankingTimescale = pValue;
256 break;
257 case Vehicle.BUOYANCY:
258 if (pValue < -1f) pValue = -1f;
259 if (pValue > 1f) pValue = 1f;
260 m_VehicleBuoyancy = pValue;
261 break;
262 case Vehicle.HOVER_EFFICIENCY:
263 if (pValue < 0f) pValue = 0f;
264 if (pValue > 1f) pValue = 1f;
265 m_VhoverEfficiency = pValue;
266 break;
267 case Vehicle.HOVER_HEIGHT:
268 m_VhoverHeight = pValue;
269 break;
270 case Vehicle.HOVER_TIMESCALE:
271 if (pValue < timestep) pValue = timestep;
272 m_VhoverTimescale = pValue;
273 break;
274 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
275 if (pValue < 0f) pValue = 0f;
276 if (pValue > 1f) pValue = 1f;
277 m_linearDeflectionEfficiency = pValue;
278 break;
279 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
280 if (pValue < timestep) pValue = timestep;
281 m_linearDeflectionTimescale = pValue;
282 break;
283 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
284 if (pValue < timestep) pValue = timestep;
285 // try to make impulses to work a bit better
286 //if (pValue < 0.5f) pValue = 0.5f;
287 else if (pValue > 120) pValue = 120;
288 m_linearMotorDecayTimescale = pValue * invtimestep;
289 break;
290 case Vehicle.LINEAR_MOTOR_TIMESCALE:
291 if (pValue < timestep) pValue = timestep;
292 m_linearMotorTimescale = pValue;
293 break;
294 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
295 if (pValue < 0f) pValue = 0f;
296 if (pValue > 1f) pValue = 1f;
297 m_verticalAttractionEfficiency = pValue;
298 break;
299 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
300 if (pValue < timestep) pValue = timestep;
301 m_verticalAttractionTimescale = pValue;
302 break;
303
304 // These are vector properties but the engine lets you use a single float value to
305 // set all of the components to the same value
306 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
307 if (pValue < timestep) pValue = timestep;
308 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
309 break;
310 case Vehicle.ANGULAR_MOTOR_DIRECTION:
311 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
312 len = m_angularMotorDirection.Length();
313 if (len > 12.566f)
314 m_angularMotorDirection *= (12.566f / len);
315 m_amEfect = 1.0f; // turn it on
316 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
317 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
318 d.BodyEnable(rootPrim.Body);
319 break;
320 case Vehicle.LINEAR_FRICTION_TIMESCALE:
321 if (pValue < timestep) pValue = timestep;
322 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
323 break;
324 case Vehicle.LINEAR_MOTOR_DIRECTION:
325 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
326 len = m_linearMotorDirection.Length();
327 if (len > 30.0f)
328 m_linearMotorDirection *= (30.0f / len);
329 m_lmEfect = 1.0f; // turn it on
330 m_ffactor = 0.01f;
331 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
332 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
333 d.BodyEnable(rootPrim.Body);
334 break;
335 case Vehicle.LINEAR_MOTOR_OFFSET:
336 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
337 len = m_linearMotorOffset.Length();
338 if (len > 100.0f)
339 m_linearMotorOffset *= (100.0f / len);
340 break;
341 }
342 }//end ProcessFloatVehicleParam
343
344 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
345 {
346 float len;
347 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
348 float timestep = _pParentScene.ODE_STEPSIZE;
349 switch (pParam)
350 {
351 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
352 if (pValue.X < timestep) pValue.X = timestep;
353 if (pValue.Y < timestep) pValue.Y = timestep;
354 if (pValue.Z < timestep) pValue.Z = timestep;
355
356 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
357 break;
358 case Vehicle.ANGULAR_MOTOR_DIRECTION:
359 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
360 // Limit requested angular speed to 2 rps= 4 pi rads/sec
361 len = m_angularMotorDirection.Length();
362 if (len > 12.566f)
363 m_angularMotorDirection *= (12.566f / len);
364 m_amEfect = 1.0f; // turn it on
365 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
366 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
367 d.BodyEnable(rootPrim.Body);
368 break;
369 case Vehicle.LINEAR_FRICTION_TIMESCALE:
370 if (pValue.X < timestep) pValue.X = timestep;
371 if (pValue.Y < timestep) pValue.Y = timestep;
372 if (pValue.Z < timestep) pValue.Z = timestep;
373 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
374 break;
375 case Vehicle.LINEAR_MOTOR_DIRECTION:
376 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
377 len = m_linearMotorDirection.Length();
378 if (len > 30.0f)
379 m_linearMotorDirection *= (30.0f / len);
380 m_lmEfect = 1.0f; // turn it on
381 m_ffactor = 0.01f;
382 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
383 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
384 d.BodyEnable(rootPrim.Body);
385 break;
386 case Vehicle.LINEAR_MOTOR_OFFSET:
387 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
388 len = m_linearMotorOffset.Length();
389 if (len > 100.0f)
390 m_linearMotorOffset *= (100.0f / len);
391 break;
392 case Vehicle.BLOCK_EXIT:
393 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
394 break;
395 }
396 }//end ProcessVectorVehicleParam
397
398 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
399 {
400 switch (pParam)
401 {
402 case Vehicle.REFERENCE_FRAME:
403 m_referenceFrame = Quaternion.Inverse(pValue);
404 break;
405 case Vehicle.ROLL_FRAME:
406 m_RollreferenceFrame = pValue;
407 break;
408 }
409 }//end ProcessRotationVehicleParam
410
411 internal void ProcessVehicleFlags(int pParam, bool remove)
412 {
413 if (remove)
414 {
415 m_flags &= ~((VehicleFlag)pParam);
416 }
417 else
418 {
419 m_flags |= (VehicleFlag)pParam;
420 }
421 }//end ProcessVehicleFlags
422
423 internal void ProcessTypeChange(Vehicle pType)
424 {
425 float invtimestep = _pParentScene.ODE_STEPSIZE;
426 m_lmEfect = 0;
427 m_amEfect = 0;
428 m_ffactor = 1f;
429
430 m_linearMotorDirection = Vector3.Zero;
431 m_angularMotorDirection = Vector3.Zero;
432
433 m_BlockingEndPoint = Vector3.Zero;
434 m_RollreferenceFrame = Quaternion.Identity;
435 m_linearMotorOffset = Vector3.Zero;
436
437 m_referenceFrame = Quaternion.Identity;
438
439 // Set Defaults For Type
440 m_type = pType;
441 switch (pType)
442 {
443 case Vehicle.TYPE_NONE:
444 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
445 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
446 m_linearMotorTimescale = 1000;
447 m_linearMotorDecayTimescale = 120 * invtimestep;
448 m_angularMotorTimescale = 1000;
449 m_angularMotorDecayTimescale = 1000 * invtimestep;
450 m_VhoverHeight = 0;
451 m_VhoverEfficiency = 1;
452 m_VhoverTimescale = 1000;
453 m_VehicleBuoyancy = 0;
454 m_linearDeflectionEfficiency = 0;
455 m_linearDeflectionTimescale = 1000;
456 m_angularDeflectionEfficiency = 0;
457 m_angularDeflectionTimescale = 1000;
458 m_bankingEfficiency = 0;
459 m_bankingMix = 1;
460 m_bankingTimescale = 1000;
461 m_verticalAttractionEfficiency = 0;
462 m_verticalAttractionTimescale = 1000;
463
464 m_flags = (VehicleFlag)0;
465 break;
466
467 case Vehicle.TYPE_SLED:
468 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
469 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
470 m_linearMotorTimescale = 1000;
471 m_linearMotorDecayTimescale = 120 * invtimestep;
472 m_angularMotorTimescale = 1000;
473 m_angularMotorDecayTimescale = 120 * invtimestep;
474 m_VhoverHeight = 0;
475 m_VhoverEfficiency = 1;
476 m_VhoverTimescale = 10;
477 m_VehicleBuoyancy = 0;
478 m_linearDeflectionEfficiency = 1;
479 m_linearDeflectionTimescale = 1;
480 m_angularDeflectionEfficiency = 0;
481 m_angularDeflectionTimescale = 1000;
482 m_bankingEfficiency = 0;
483 m_bankingMix = 1;
484 m_bankingTimescale = 10;
485 m_flags &=
486 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
487 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
488 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
489 break;
490 case Vehicle.TYPE_CAR:
491 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
492 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
493 m_linearMotorTimescale = 1;
494 m_linearMotorDecayTimescale = 60 * invtimestep;
495 m_angularMotorTimescale = 1;
496 m_angularMotorDecayTimescale = 0.8f * invtimestep;
497 m_VhoverHeight = 0;
498 m_VhoverEfficiency = 0;
499 m_VhoverTimescale = 1000;
500 m_VehicleBuoyancy = 0;
501 m_linearDeflectionEfficiency = 1;
502 m_linearDeflectionTimescale = 2;
503 m_angularDeflectionEfficiency = 0;
504 m_angularDeflectionTimescale = 10;
505 m_verticalAttractionEfficiency = 1f;
506 m_verticalAttractionTimescale = 10f;
507 m_bankingEfficiency = -0.2f;
508 m_bankingMix = 1;
509 m_bankingTimescale = 1;
510 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
511 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
512 VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
513 break;
514 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2);
516 m_angularFrictionTimescale = new Vector3(10, 10, 10);
517 m_linearMotorTimescale = 5;
518 m_linearMotorDecayTimescale = 60 * invtimestep;
519 m_angularMotorTimescale = 4;
520 m_angularMotorDecayTimescale = 4 * invtimestep;
521 m_VhoverHeight = 0;
522 m_VhoverEfficiency = 0.5f;
523 m_VhoverTimescale = 2;
524 m_VehicleBuoyancy = 1;
525 m_linearDeflectionEfficiency = 0.5f;
526 m_linearDeflectionTimescale = 3;
527 m_angularDeflectionEfficiency = 0.5f;
528 m_angularDeflectionTimescale = 5;
529 m_verticalAttractionEfficiency = 0.5f;
530 m_verticalAttractionTimescale = 5f;
531 m_bankingEfficiency = -0.3f;
532 m_bankingMix = 0.8f;
533 m_bankingTimescale = 1;
534 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
535 VehicleFlag.HOVER_GLOBAL_HEIGHT |
536 VehicleFlag.HOVER_UP_ONLY |
537 VehicleFlag.LIMIT_ROLL_ONLY);
538 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
539 VehicleFlag.LIMIT_MOTOR_UP |
540 VehicleFlag.HOVER_WATER_ONLY);
541 break;
542 case Vehicle.TYPE_AIRPLANE:
543 m_linearFrictionTimescale = new Vector3(200, 10, 5);
544 m_angularFrictionTimescale = new Vector3(20, 20, 20);
545 m_linearMotorTimescale = 2;
546 m_linearMotorDecayTimescale = 60 * invtimestep;
547 m_angularMotorTimescale = 4;
548 m_angularMotorDecayTimescale = 8 * invtimestep;
549 m_VhoverHeight = 0;
550 m_VhoverEfficiency = 0.5f;
551 m_VhoverTimescale = 1000;
552 m_VehicleBuoyancy = 0;
553 m_linearDeflectionEfficiency = 0.5f;
554 m_linearDeflectionTimescale = 0.5f;
555 m_angularDeflectionEfficiency = 1;
556 m_angularDeflectionTimescale = 2;
557 m_verticalAttractionEfficiency = 0.9f;
558 m_verticalAttractionTimescale = 2f;
559 m_bankingEfficiency = 1;
560 m_bankingMix = 0.7f;
561 m_bankingTimescale = 2;
562 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
563 VehicleFlag.HOVER_TERRAIN_ONLY |
564 VehicleFlag.HOVER_GLOBAL_HEIGHT |
565 VehicleFlag.HOVER_UP_ONLY |
566 VehicleFlag.NO_DEFLECTION_UP |
567 VehicleFlag.LIMIT_MOTOR_UP);
568 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
569 break;
570 case Vehicle.TYPE_BALLOON:
571 m_linearFrictionTimescale = new Vector3(5, 5, 5);
572 m_angularFrictionTimescale = new Vector3(10, 10, 10);
573 m_linearMotorTimescale = 5;
574 m_linearMotorDecayTimescale = 60 * invtimestep;
575 m_angularMotorTimescale = 6;
576 m_angularMotorDecayTimescale = 10 * invtimestep;
577 m_VhoverHeight = 5;
578 m_VhoverEfficiency = 0.8f;
579 m_VhoverTimescale = 10;
580 m_VehicleBuoyancy = 1;
581 m_linearDeflectionEfficiency = 0;
582 m_linearDeflectionTimescale = 5 * invtimestep;
583 m_angularDeflectionEfficiency = 0;
584 m_angularDeflectionTimescale = 5;
585 m_verticalAttractionEfficiency = 0f;
586 m_verticalAttractionTimescale = 1000f;
587 m_bankingEfficiency = 0;
588 m_bankingMix = 0.7f;
589 m_bankingTimescale = 5;
590 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
591 VehicleFlag.HOVER_TERRAIN_ONLY |
592 VehicleFlag.HOVER_UP_ONLY |
593 VehicleFlag.NO_DEFLECTION_UP |
594 VehicleFlag.LIMIT_MOTOR_UP);
595 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
596 VehicleFlag.HOVER_GLOBAL_HEIGHT);
597 break;
598 }
599
600 }//end SetDefaultsForType
601
602 internal void Stop()
603 {
604 m_lmEfect = 0;
605 m_amEfect = 0;
606 m_ffactor = 1f;
607 }
608
609 public static Vector3 Xrot(Quaternion rot)
610 {
611 Vector3 vec;
612 rot.Normalize(); // just in case
613 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
614 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
615 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
616 return vec;
617 }
618
619 public static Vector3 Zrot(Quaternion rot)
620 {
621 Vector3 vec;
622 rot.Normalize(); // just in case
623 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
624 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
625 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
626
627 return vec;
628 }
629
630 private const float pi = (float)Math.PI;
631 private const float halfpi = 0.5f * (float)Math.PI;
632
633 public static Vector3 ubitRot2Euler(Quaternion rot)
634 {
635 // returns roll in X
636 // pitch in Y
637 // yaw in Z
638 Vector3 vec;
639
640 // assuming rot is normalised
641 // rot.Normalize();
642
643 float zX = rot.X * rot.Z + rot.Y * rot.W;
644
645 if (zX < -0.49999f)
646 {
647 vec.X = 0;
648 vec.Y = -halfpi;
649 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
650 }
651 else if (zX > 0.49999f)
652 {
653 vec.X = 0;
654 vec.Y = halfpi;
655 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
656 }
657 else
658 {
659 vec.Y = (float)Math.Asin(2 * zX);
660
661 float sqw = rot.W * rot.W;
662
663 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
664 float zZ = rot.Z * rot.Z + sqw - 0.5f;
665
666 vec.X = (float)Math.Atan2(minuszY, zZ);
667
668 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
669 float yY = rot.X * rot.X + sqw - 0.5f;
670 vec.Z = (float)Math.Atan2(yX, yY);
671 }
672 return vec;
673 }
674
675 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
676 {
677 // assuming rot is normalised
678 // rot.Normalize();
679
680 float zX = rot.X * rot.Z + rot.Y * rot.W;
681
682 if (zX < -0.49999f)
683 {
684 roll = 0;
685 pitch = -halfpi;
686 }
687 else if (zX > 0.49999f)
688 {
689 roll = 0;
690 pitch = halfpi;
691 }
692 else
693 {
694 pitch = (float)Math.Asin(2 * zX);
695
696 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
697 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
698
699 roll = (float)Math.Atan2(minuszY, zZ);
700 }
701 return ;
702 }
703
704 internal void Step()//float pTimestep)
705 {
706 IntPtr Body = rootPrim.Body;
707
708 d.Quaternion rot = d.BodyGetQuaternion(Body);
709 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
710 Quaternion rotq = objrotq; // rotq = rotation of object
711 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
712 Quaternion irotq = Quaternion.Inverse(rotq);
713
714 d.Vector3 dvtmp;
715 Vector3 tmpV;
716 Vector3 curVel; // velocity in world
717 Vector3 curAngVel; // angular velocity in world
718 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
719 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
720 d.Vector3 dtorque = new d.Vector3();
721
722 dvtmp = d.BodyGetLinearVel(Body);
723 curVel.X = dvtmp.X;
724 curVel.Y = dvtmp.Y;
725 curVel.Z = dvtmp.Z;
726 Vector3 curLocalVel = curVel * irotq; // current velocity in local
727
728 dvtmp = d.BodyGetAngularVel(Body);
729 curAngVel.X = dvtmp.X;
730 curAngVel.Y = dvtmp.Y;
731 curAngVel.Z = dvtmp.Z;
732 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
733
734 // linear motor
735 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
736 {
737 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
738 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
739 tmpV *= rotq; // to world
740
741 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
742 tmpV.Z = 0;
743
744 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
745 {
746 // have offset, do it now
747 tmpV *= rootPrim.Mass;
748 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
749 }
750 else
751 {
752 force.X += tmpV.X;
753 force.Y += tmpV.Y;
754 force.Z += tmpV.Z;
755 }
756 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
757
758 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
759 }
760 else
761 {
762 m_lmEfect = 0;
763 m_ffactor = 1f;
764 }
765
766 // friction
767 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
768 {
769 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
770 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
771 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
772 tmpV *= rotq; // to world
773 force.X += tmpV.X;
774 force.Y += tmpV.Y;
775 force.Z += tmpV.Z;
776 }
777
778 // hover
779 if (m_VhoverTimescale < 300)
780 {
781 d.Vector3 pos = d.BodyGetPosition(Body);
782
783 // default to global
784 float perr = m_VhoverHeight - pos.Z;;
785
786 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
787 {
788 perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
789 }
790 else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
791 {
792 perr += _pParentScene.GetWaterLevel();
793 }
794 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
795 {
796 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
797 float w = _pParentScene.GetWaterLevel();
798 if (t > w)
799 perr += t;
800 else
801 perr += w;
802 }
803
804 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
805 {
806 force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
807 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
808 }
809 else // no buoyancy
810 force.Z += _pParentScene.gravityz;
811 }
812 else
813 {
814 // default gravity and buoancy
815 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
816 }
817
818 // linear deflection
819 if (m_linearDeflectionEfficiency > 0)
820 {
821 float len = curVel.Length();
822 Vector3 atAxis;
823 atAxis = Xrot(rotq); // where are we pointing to
824 atAxis *= len; // make it same size as world velocity vector
825 tmpV = -atAxis; // oposite direction
826 atAxis -= curVel; // error to one direction
827 len = atAxis.LengthSquared();
828 tmpV -= curVel; // error to oposite
829 float lens = tmpV.LengthSquared();
830 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
831 {
832 if (len < lens)
833 tmpV = atAxis;
834
835 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
836 force.X += tmpV.X;
837 force.Y += tmpV.Y;
838 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
839 force.Z += tmpV.Z;
840 }
841 }
842
843 // angular motor
844 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
845 {
846 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
847 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
848 torque.X += tmpV.X;
849 torque.Y += tmpV.Y;
850 torque.Z += tmpV.Z;
851 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
852 }
853 else
854 m_amEfect = 0;
855
856 // angular friction
857 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
858 {
859 torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
860 torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
861 torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
862 }
863
864 // angular deflection
865 if (m_angularDeflectionEfficiency > 0)
866 {
867 Vector3 dirv;
868
869 if (curLocalVel.X > 0.01f)
870 dirv = curLocalVel;
871 else if (curLocalVel.X < -0.01f)
872 // use oposite
873 dirv = -curLocalVel;
874 else
875 {
876 // make it fall into small positive x case
877 dirv.X = 0.01f;
878 dirv.Y = curLocalVel.Y;
879 dirv.Z = curLocalVel.Z;
880 }
881
882 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
883
884 if (Math.Abs(dirv.Z) > 0.01)
885 {
886 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
887 }
888
889 if (Math.Abs(dirv.Y) > 0.01)
890 {
891 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
892 }
893 }
894
895 // vertical atractor
896 if (m_verticalAttractionTimescale < 300)
897 {
898 float roll;
899 float pitch;
900
901 GetRollPitch(irotq, out roll, out pitch);
902
903 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
904 float ftmp2;
905 if (m_bankingEfficiency == 0)
906 ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
907 else
908 ftmp2 = 0;
909
910 if (roll > halfpi)
911 roll = pi - roll;
912 else if (roll < -halfpi)
913 roll = -pi - roll;
914
915 float effroll = pitch / halfpi;
916 effroll *= effroll;
917 effroll = 1 - effroll;
918 effroll *= roll;
919
920 if (Math.Abs(effroll) > 0.01) // roll
921 {
922 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
923 }
924
925 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
926 {
927 float effpitch = roll / halfpi;
928 effpitch *= effpitch;
929 effpitch = 1 - effpitch;
930 effpitch *= pitch;
931
932 if (Math.Abs(effpitch) > 0.01) // pitch
933 {
934 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
935 }
936 }
937
938 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
939 {
940
941 float broll = effroll;
942/*
943 if (broll > halfpi)
944 broll = pi - broll;
945 else if (broll < -halfpi)
946 broll = -pi - broll;
947*/
948 broll *= m_bankingEfficiency;
949 if (m_bankingMix != 0)
950 {
951 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
952 if (vfact > 1.0f) vfact = 1.0f;
953
954 if (curLocalVel.X >= 0)
955 broll *= (1 + (vfact - 1) * m_bankingMix);
956 else
957 broll *= -(1 + (vfact - 1) * m_bankingMix);
958 }
959 // make z rot be in world Z not local as seems to be in sl
960
961 broll = broll / m_bankingTimescale;
962
963 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
964
965 tmpV.X = ftmp * curAngVel.X;
966 tmpV.Y = ftmp * curAngVel.Y;
967 tmpV.Z = broll + ftmp * curAngVel.Z;
968 tmpV *= irotq;
969
970 torque.X += tmpV.X;
971 torque.Y += tmpV.Y;
972 torque.Z += tmpV.Z;
973 }
974 }
975
976 d.Mass dmass;
977 d.BodyGetMass(Body,out dmass);
978
979 if (force.X != 0 || force.Y != 0 || force.Z != 0)
980 {
981 force *= dmass.mass;
982 d.BodySetForce(Body, force.X, force.Y, force.Z);
983 }
984
985 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
986 {
987 torque *= m_referenceFrame; // to object frame
988 dtorque.X = torque.X;
989 dtorque.Y = torque.Y;
990 dtorque.Z = torque.Z;
991
992 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
993 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
994 }
995 }
996 }
997}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..5467b9f
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,3917 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/* Revision 2011/12 by Ubit Umarov
29 *
30 *
31 */
32
33/*
34 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
35 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
36 * ODEPrim.cs contains methods dealing with Prim editing, Prim
37 * characteristics and Kinetic motion.
38 * ODEDynamics.cs contains methods dealing with Prim Physical motion
39 * (dynamics) and the associated settings. Old Linear and angular
40 * motors for dynamic motion have been replace with MoveLinear()
41 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
42 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
43 * switch between 'VEHICLE' parameter use and general dynamics
44 * settings use.
45 */
46
47//#define SPAM
48
49using System;
50using System.Collections.Generic;
51using System.Reflection;
52using System.Runtime.InteropServices;
53using System.Threading;
54using log4net;
55using OpenMetaverse;
56using OdeAPI;
57using OpenSim.Framework;
58using OpenSim.Region.Physics.Manager;
59
60
61namespace OpenSim.Region.Physics.OdePlugin
62{
63 public class OdePrim : PhysicsActor
64 {
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66
67 private bool m_isphysical;
68 private bool m_fakeisphysical;
69 private bool m_isphantom;
70 private bool m_fakeisphantom;
71
72 protected bool m_building;
73 protected bool m_forcePosOrRotation;
74
75 private Quaternion m_lastorientation = new Quaternion();
76 private Quaternion _orientation;
77
78 private Vector3 _position;
79 private Vector3 _velocity;
80 private Vector3 _torque;
81 private Vector3 m_lastVelocity;
82 private Vector3 m_lastposition;
83 private Vector3 m_rotationalVelocity;
84 private Vector3 _size;
85 private Vector3 _acceleration;
86 private Vector3 m_angularlock = Vector3.One;
87 private IntPtr Amotor = IntPtr.Zero;
88
89 private Vector3 m_force;
90 private Vector3 m_forceacc;
91 private Vector3 m_angularForceacc;
92
93 private Vector3 m_PIDTarget;
94 private float m_PIDTau;
95 private float PID_D = 35f;
96 private float PID_G = 25f;
97 private bool m_usePID;
98
99 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
100 // and are for non-VEHICLES only.
101
102 private float m_PIDHoverHeight;
103 private float m_PIDHoverTau;
104 private bool m_useHoverPID;
105 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
106 private float m_targetHoverHeight;
107 private float m_groundHeight;
108 private float m_waterHeight;
109 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
110
111 private int body_autodisable_frames = 5;
112 private int bodydisablecontrol = 0;
113
114
115 // Default we're a Geometry
116 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
117 // Default colide nonphysical don't try to colide with anything
118 private const CollisionCategories m_default_collisionFlagsNotPhysical = 0;
119
120 private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom |
121 CollisionCategories.Character |
122 CollisionCategories.Land |
123 CollisionCategories.VolumeDtc);
124
125// private bool m_collidesLand = true;
126 private bool m_collidesWater;
127 public bool m_returnCollisions;
128
129 private bool m_NoColide; // for now only for internal use for bad meshs
130
131
132 // Default, Collide with Other Geometries, spaces and Bodies
133 private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical;
134
135 public bool m_disabled;
136
137 public uint m_localID;
138
139 private IMesh m_mesh;
140 private object m_meshlock = new object();
141 private PrimitiveBaseShape _pbs;
142 public OdeScene _parent_scene;
143
144 /// <summary>
145 /// The physics space which contains prim geometry
146 /// </summary>
147 public IntPtr m_targetSpace = IntPtr.Zero;
148
149 public IntPtr prim_geom;
150 public IntPtr _triMeshData;
151
152 private PhysicsActor _parent;
153
154 private List<OdePrim> childrenPrim = new List<OdePrim>();
155
156 private bool m_iscolliding;
157
158 public bool m_isSelected;
159 private bool m_delaySelect;
160 private bool m_lastdoneSelected;
161 public bool m_outbounds;
162
163 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
164
165 private bool m_throttleUpdates;
166 private int throttleCounter;
167 public float m_collisionscore;
168 int m_colliderfilter = 0;
169
170 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
171
172 private float m_density = 10.000006836f; // Aluminum g/cm3;
173 private byte m_shapetype;
174 public bool _zeroFlag;
175 private bool m_lastUpdateSent;
176
177 public IntPtr Body = IntPtr.Zero;
178 public String Name { get; private set; }
179 private Vector3 _target_velocity;
180
181 public Vector3 primOOBsize; // prim real dimensions from mesh
182 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
183 public float primOOBradiusSQ;
184 public d.Mass primdMass; // prim inertia information on it's own referencial
185 float primMass; // prim own mass
186 float primVolume; // prim own volume;
187 float _mass; // object mass acording to case
188 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
189
190 public int givefakepos = 0;
191 private Vector3 fakepos;
192 public int givefakeori = 0;
193 private Quaternion fakeori;
194
195 public int m_eventsubscription;
196 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
197
198 public volatile bool childPrim;
199
200 public ODEDynamics m_vehicle;
201
202 internal int m_material = (int)Material.Wood;
203 private float mu;
204 private float bounce;
205
206 /// <summary>
207 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
208 /// </summary>
209 public override bool IsPhysical // this is not reliable for internal use
210 {
211 get { return m_fakeisphysical; }
212 set
213 {
214 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
215 // and also to stop imediatly some updates
216 // but real change will only happen in taintprocessing
217
218 if (!value) // Zero the remembered last velocity
219 m_lastVelocity = Vector3.Zero;
220 AddChange(changes.Physical, value);
221 }
222 }
223
224 public override bool IsVolumeDtc
225 {
226 set { return; }
227 get { return m_isVolumeDetect; }
228
229 }
230
231
232 public override bool Phantom // this is not reliable for internal use
233 {
234 get { return m_fakeisphantom; }
235 set
236 {
237 m_fakeisphantom = value; // we show imediatly to outside that we changed physical
238 // and also to stop imediatly some updates
239 // but real change will only happen in taintprocessing
240
241 AddChange(changes.Phantom, value);
242 }
243 }
244
245 public override bool Building // this is not reliable for internal use
246 {
247 get { return m_building; }
248 set
249 {
250 if (value)
251 m_building = true;
252 AddChange(changes.building, value);
253 }
254 }
255
256 public override void getContactData(ref ContactData cdata)
257 {
258 cdata.mu = mu;
259 cdata.bounce = bounce;
260
261 // cdata.softcolide = m_softcolide;
262 cdata.softcolide = false;
263
264 if (m_isphysical)
265 {
266 ODEDynamics veh;
267 if (_parent != null)
268 veh = ((OdePrim)_parent).m_vehicle;
269 else
270 veh = m_vehicle;
271
272 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
273 cdata.mu *= veh.FrictionFactor;
274 }
275 }
276
277 public override int PhysicsActorType
278 {
279 get { return (int)ActorTypes.Prim; }
280 set { return; }
281 }
282
283 public override bool SetAlwaysRun
284 {
285 get { return false; }
286 set { return; }
287 }
288
289 public override uint LocalID
290 {
291 get
292 {
293 return m_localID;
294 }
295 set
296 {
297 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
298 m_localID = value;
299 }
300 }
301
302 public override bool Grabbed
303 {
304 set { return; }
305 }
306
307 public override bool Selected
308 {
309 set
310 {
311 if (value)
312 m_isSelected = value; // if true set imediatly to stop moves etc
313 AddChange(changes.Selected, value);
314 }
315 }
316
317 public override bool Flying
318 {
319 // no flying prims for you
320 get { return false; }
321 set { }
322 }
323
324 public override bool IsColliding
325 {
326 get { return m_iscolliding; }
327 set
328 {
329 if (value)
330 {
331 m_colliderfilter += 2;
332 if (m_colliderfilter > 2)
333 m_colliderfilter = 2;
334 }
335 else
336 {
337 m_colliderfilter--;
338 if (m_colliderfilter < 0)
339 m_colliderfilter = 0;
340 }
341
342 if (m_colliderfilter == 0)
343 m_iscolliding = false;
344 else
345 m_iscolliding = true;
346 }
347 }
348
349 public override bool CollidingGround
350 {
351 get { return false; }
352 set { return; }
353 }
354
355 public override bool CollidingObj
356 {
357 get { return false; }
358 set { return; }
359 }
360
361 public override bool ThrottleUpdates
362 {
363 get { return m_throttleUpdates; }
364 set { m_throttleUpdates = value; }
365 }
366
367 public override bool Stopped
368 {
369 get { return _zeroFlag; }
370 }
371
372 public override Vector3 Position
373 {
374 get
375 {
376 if (givefakepos > 0)
377 return fakepos;
378 else
379 return _position;
380 }
381
382 set
383 {
384 fakepos = value;
385 givefakepos++;
386 AddChange(changes.Position, value);
387 }
388 }
389
390 public override Vector3 Size
391 {
392 get { return _size; }
393 set
394 {
395 if (value.IsFinite())
396 {
397 AddChange(changes.Size, value);
398 }
399 else
400 {
401 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
402 }
403 }
404 }
405
406 public override float Mass
407 {
408 get { return primMass; }
409 }
410
411 public override Vector3 Force
412 {
413 //get { return Vector3.Zero; }
414 get { return m_force; }
415 set
416 {
417 if (value.IsFinite())
418 {
419 AddChange(changes.Force, value);
420 }
421 else
422 {
423 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
424 }
425 }
426 }
427
428 public override void SetVolumeDetect(int param)
429 {
430 AddChange(changes.VolumeDtc, (param != 0));
431 }
432
433 public override Vector3 GeometricCenter
434 {
435 // this is not real geometric center but a average of positions relative to root prim acording to
436 // http://wiki.secondlife.com/wiki/llGetGeometricCenter
437 // ignoring tortured prims details since sl also seems to ignore
438 // so no real use in doing it on physics
439 get
440 {
441 return Vector3.Zero;
442 }
443 }
444
445 public override Vector3 CenterOfMass
446 {
447 get
448 {
449 d.Vector3 dtmp;
450 if (IsPhysical && !childPrim && Body != IntPtr.Zero)
451 {
452 dtmp = d.BodyGetPosition(Body);
453 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
454 }
455 else if (prim_geom != IntPtr.Zero)
456 {
457 d.Quaternion dq;
458 d.GeomCopyQuaternion(prim_geom, out dq);
459 Quaternion q;
460 q.X = dq.X;
461 q.Y = dq.Y;
462 q.Z = dq.Z;
463 q.W = dq.W;
464
465 Vector3 vtmp = primOOBoffset * q;
466 dtmp = d.GeomGetPosition(prim_geom);
467 return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
468 }
469 else
470 return Vector3.Zero;
471 }
472 }
473 /*
474 public override Vector3 PrimOOBsize
475 {
476 get
477 {
478 return primOOBsize;
479 }
480 }
481
482 public override Vector3 PrimOOBoffset
483 {
484 get
485 {
486 return primOOBoffset;
487 }
488 }
489
490 public override float PrimOOBRadiusSQ
491 {
492 get
493 {
494 return primOOBradiusSQ;
495 }
496 }
497 */
498 public override PrimitiveBaseShape Shape
499 {
500 set
501 {
502/*
503 IMesh mesh = null;
504 if (_parent_scene.needsMeshing(value))
505 {
506 bool convex;
507 if (m_shapetype == 0)
508 convex = false;
509 else
510 convex = true;
511 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
512 }
513
514 if (mesh != null)
515 {
516 lock (m_meshlock)
517 m_mesh = mesh;
518 }
519*/
520 AddChange(changes.Shape, value);
521 }
522 }
523
524 public override byte PhysicsShapeType
525 {
526 get
527 {
528 return m_shapetype;
529 }
530 set
531 {
532 m_shapetype = value;
533 AddChange(changes.Shape, null);
534 }
535 }
536
537
538 public override Vector3 Velocity
539 {
540 get
541 {
542 if (_zeroFlag)
543 return Vector3.Zero;
544 return _velocity;
545 }
546 set
547 {
548 if (value.IsFinite())
549 {
550 AddChange(changes.Velocity, value);
551 // _velocity = value;
552
553 }
554 else
555 {
556 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
557 }
558
559 }
560 }
561
562 public override Vector3 Torque
563 {
564 get
565 {
566 if (!IsPhysical || Body == IntPtr.Zero)
567 return Vector3.Zero;
568
569 return _torque;
570 }
571
572 set
573 {
574 if (value.IsFinite())
575 {
576 AddChange(changes.Torque, value);
577 }
578 else
579 {
580 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
581 }
582 }
583 }
584
585 public override float CollisionScore
586 {
587 get { return m_collisionscore; }
588 set { m_collisionscore = value; }
589 }
590
591 public override bool Kinematic
592 {
593 get { return false; }
594 set { }
595 }
596
597 public override Quaternion Orientation
598 {
599 get
600 {
601 if (givefakeori > 0)
602 return fakeori;
603 else
604
605 return _orientation;
606 }
607 set
608 {
609 if (QuaternionIsFinite(value))
610 {
611 fakeori = value;
612 givefakeori++;
613 AddChange(changes.Orientation, value);
614 }
615 else
616 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
617
618 }
619 }
620
621 public override Vector3 Acceleration
622 {
623 get { return _acceleration; }
624 set { }
625 }
626
627 public override Vector3 RotationalVelocity
628 {
629 get
630 {
631 Vector3 pv = Vector3.Zero;
632 if (_zeroFlag)
633 return pv;
634 m_lastUpdateSent = false;
635
636 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
637 return pv;
638
639 return m_rotationalVelocity;
640 }
641 set
642 {
643 if (value.IsFinite())
644 {
645 m_rotationalVelocity = value;
646 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
647 d.BodyEnable(Body);
648 }
649 else
650 {
651 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
652 }
653 }
654 }
655
656
657 public override float Buoyancy
658 {
659 get { return m_buoyancy; }
660 set
661 {
662 m_buoyancy = value;
663 }
664 }
665
666 public override bool FloatOnWater
667 {
668 set
669 {
670 AddChange(changes.CollidesWater, value);
671 }
672 }
673
674 public override Vector3 PIDTarget
675 {
676 set
677 {
678 if (value.IsFinite())
679 {
680 m_PIDTarget = value;
681 }
682 else
683 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
684 }
685 }
686
687 public override bool PIDActive { set { m_usePID = value; } }
688 public override float PIDTau { set { m_PIDTau = value; } }
689
690 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
691 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
692 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
693 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
694
695 public override Quaternion APIDTarget { set { return; } }
696
697 public override bool APIDActive { set { return; } }
698
699 public override float APIDStrength { set { return; } }
700
701 public override float APIDDamping { set { return; } }
702
703 public override int VehicleType
704 {
705 // we may need to put a fake on this
706 get
707 {
708 if (m_vehicle == null)
709 return (int)Vehicle.TYPE_NONE;
710 else
711 return (int)m_vehicle.Type;
712 }
713 set
714 {
715 AddChange(changes.VehicleType, value);
716 }
717 }
718
719 public override void VehicleFloatParam(int param, float value)
720 {
721 strVehicleFloatParam fp = new strVehicleFloatParam();
722 fp.param = param;
723 fp.value = value;
724 AddChange(changes.VehicleFloatParam, fp);
725 }
726
727 public override void VehicleVectorParam(int param, Vector3 value)
728 {
729 strVehicleVectorParam fp = new strVehicleVectorParam();
730 fp.param = param;
731 fp.value = value;
732 AddChange(changes.VehicleVectorParam, fp);
733 }
734
735 public override void VehicleRotationParam(int param, Quaternion value)
736 {
737 strVehicleQuatParam fp = new strVehicleQuatParam();
738 fp.param = param;
739 fp.value = value;
740 AddChange(changes.VehicleRotationParam, fp);
741 }
742
743 public override void VehicleFlags(int param, bool value)
744 {
745 strVehicleBoolParam bp = new strVehicleBoolParam();
746 bp.param = param;
747 bp.value = value;
748 AddChange(changes.VehicleFlags, bp);
749 }
750
751 public override void SetVehicle(object vdata)
752 {
753 AddChange(changes.SetVehicle, vdata);
754 }
755 public void SetAcceleration(Vector3 accel)
756 {
757 _acceleration = accel;
758 }
759
760 public override void AddForce(Vector3 force, bool pushforce)
761 {
762 if (force.IsFinite())
763 {
764 AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);
765 }
766 else
767 {
768 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
769 }
770 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
771 }
772
773 public override void AddAngularForce(Vector3 force, bool pushforce)
774 {
775 if (force.IsFinite())
776 {
777 AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);
778 }
779 else
780 {
781 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
782 }
783 }
784
785 public override void CrossingFailure()
786 {
787 if (m_outbounds)
788 {
789 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
790 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
791 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
792
793 m_lastposition = _position;
794 _velocity.X = 0;
795 _velocity.Y = 0;
796 _velocity.Z = 0;
797
798 m_lastVelocity = _velocity;
799 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
800 m_vehicle.Stop();
801
802 if(Body != IntPtr.Zero)
803 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
804 if (prim_geom != IntPtr.Zero)
805 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
806
807 m_outbounds = false;
808 changeDisable(false);
809 base.RequestPhysicsterseUpdate();
810 }
811 }
812
813 public override void SetMomentum(Vector3 momentum)
814 {
815 }
816
817 public override void SetMaterial(int pMaterial)
818 {
819 m_material = pMaterial;
820 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
821 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
822 }
823
824 public void setPrimForRemoval()
825 {
826 AddChange(changes.Remove, null);
827 }
828
829 public override void link(PhysicsActor obj)
830 {
831 AddChange(changes.Link, obj);
832 }
833
834 public override void delink()
835 {
836 AddChange(changes.DeLink, null);
837 }
838
839 public override void LockAngularMotion(Vector3 axis)
840 {
841 // reverse the zero/non zero values for ODE.
842 if (axis.IsFinite())
843 {
844 axis.X = (axis.X > 0) ? 1f : 0f;
845 axis.Y = (axis.Y > 0) ? 1f : 0f;
846 axis.Z = (axis.Z > 0) ? 1f : 0f;
847 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
848 AddChange(changes.AngLock, axis);
849 }
850 else
851 {
852 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
853 }
854 }
855
856 public override void SubscribeEvents(int ms)
857 {
858 m_eventsubscription = ms;
859 _parent_scene.AddCollisionEventReporting(this);
860 }
861
862 public override void UnSubscribeEvents()
863 {
864 _parent_scene.RemoveCollisionEventReporting(this);
865 m_eventsubscription = 0;
866 }
867
868 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
869 {
870 if (CollisionEventsThisFrame == null)
871 CollisionEventsThisFrame = new CollisionEventUpdate();
872
873 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
874 }
875
876 public void SendCollisions()
877 {
878 if (CollisionEventsThisFrame == null)
879 return;
880
881 base.SendCollisionUpdate(CollisionEventsThisFrame);
882
883 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
884 CollisionEventsThisFrame = null;
885 else
886 CollisionEventsThisFrame = new CollisionEventUpdate();
887 }
888
889 public override bool SubscribedEvents()
890 {
891 if (m_eventsubscription > 0)
892 return true;
893 return false;
894 }
895
896
897 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
898 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
899 {
900 Name = primName;
901 LocalID = plocalID;
902
903 m_vehicle = null;
904
905 if (!pos.IsFinite())
906 {
907 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
908 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
909 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
910 }
911 _position = pos;
912 givefakepos = 0;
913
914 PID_D = parent_scene.bodyPIDD;
915 PID_G = parent_scene.bodyPIDG;
916 m_density = parent_scene.geomDefaultDensity;
917 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
918 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
919
920 prim_geom = IntPtr.Zero;
921 collide_geom = IntPtr.Zero;
922 Body = IntPtr.Zero;
923
924 if (!size.IsFinite())
925 {
926 size = new Vector3(0.5f, 0.5f, 0.5f);
927 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
928 }
929
930 if (size.X <= 0) size.X = 0.01f;
931 if (size.Y <= 0) size.Y = 0.01f;
932 if (size.Z <= 0) size.Z = 0.01f;
933
934 _size = size;
935
936 if (!QuaternionIsFinite(rotation))
937 {
938 rotation = Quaternion.Identity;
939 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
940 }
941
942 _orientation = rotation;
943 givefakeori = 0;
944
945 _pbs = pbs;
946
947 _parent_scene = parent_scene;
948 m_targetSpace = IntPtr.Zero;
949
950 if (pos.Z < 0)
951 {
952 m_isphysical = false;
953 }
954 else
955 {
956 m_isphysical = pisPhysical;
957 }
958 m_fakeisphysical = m_isphysical;
959
960 m_isVolumeDetect = false;
961
962 m_force = Vector3.Zero;
963
964 m_iscolliding = false;
965 m_colliderfilter = 0;
966 m_NoColide = false;
967
968 hasOOBoffsetFromMesh = false;
969 _triMeshData = IntPtr.Zero;
970
971 m_shapetype = _shapeType;
972
973 m_lastdoneSelected = false;
974 m_isSelected = false;
975 m_delaySelect = false;
976
977 m_isphantom = pisPhantom;
978 m_fakeisphantom = pisPhantom;
979
980 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
981 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
982
983 CalcPrimBodyData();
984
985 m_mesh = null;
986 if (_parent_scene.needsMeshing(pbs))
987 {
988 bool convex;
989 if (m_shapetype == 0)
990 convex = false;
991 else
992 convex = true;
993
994 m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
995 }
996
997
998 m_building = true; // control must set this to false when done
999
1000 AddChange(changes.Add, null);
1001 }
1002
1003 private void resetCollisionAccounting()
1004 {
1005 m_collisionscore = 0;
1006 }
1007
1008 private void UpdateCollisionCatFlags()
1009 {
1010 if(m_isphysical && m_disabled)
1011 {
1012 m_collisionCategories = 0;
1013 m_collisionFlags = 0;
1014 }
1015
1016 else if (m_isSelected)
1017 {
1018 m_collisionCategories = CollisionCategories.Selected;
1019 m_collisionFlags = 0;
1020 }
1021
1022 else if (m_isVolumeDetect)
1023 {
1024 m_collisionCategories = CollisionCategories.VolumeDtc;
1025 if (m_isphysical)
1026 m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1027 else
1028 m_collisionFlags = 0;
1029 }
1030 else if (m_isphantom)
1031 {
1032 m_collisionCategories = CollisionCategories.Phantom;
1033 if (m_isphysical)
1034 m_collisionFlags = CollisionCategories.Land;
1035 else
1036 m_collisionFlags = 0;
1037 }
1038 else
1039 {
1040 m_collisionCategories = CollisionCategories.Geom;
1041 if (m_isphysical)
1042 m_collisionFlags = m_default_collisionFlagsPhysical;
1043 else
1044 m_collisionFlags = m_default_collisionFlagsNotPhysical;
1045 }
1046 }
1047
1048 private void ApplyCollisionCatFlags()
1049 {
1050 if (prim_geom != IntPtr.Zero)
1051 {
1052 if (!childPrim && childrenPrim.Count > 0)
1053 {
1054 foreach (OdePrim prm in childrenPrim)
1055 {
1056 if (m_isphysical && m_disabled)
1057 {
1058 prm.m_collisionCategories = 0;
1059 prm.m_collisionFlags = 0;
1060 }
1061 else
1062 {
1063 // preserve some
1064 if (prm.m_isSelected)
1065 {
1066 prm.m_collisionCategories = CollisionCategories.Selected;
1067 prm.m_collisionFlags = 0;
1068 }
1069 else if (prm.IsVolumeDtc)
1070 {
1071 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1072 if (m_isphysical)
1073 prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character;
1074 else
1075 prm.m_collisionFlags = 0;
1076 }
1077 else if (prm.m_isphantom)
1078 {
1079 prm.m_collisionCategories = CollisionCategories.Phantom;
1080 if (m_isphysical)
1081 prm.m_collisionFlags = CollisionCategories.Land;
1082 else
1083 prm.m_collisionFlags = 0;
1084 }
1085 else
1086 {
1087 prm.m_collisionCategories = m_collisionCategories;
1088 prm.m_collisionFlags = m_collisionFlags;
1089 }
1090 }
1091
1092 if (prm.prim_geom != IntPtr.Zero)
1093 {
1094 if (prm.m_NoColide)
1095 {
1096 d.GeomSetCategoryBits(prm.prim_geom, 0);
1097 if (m_isphysical)
1098 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1099 else
1100 d.GeomSetCollideBits(prm.prim_geom, 0);
1101 }
1102 else
1103 {
1104 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1105 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1106 }
1107 }
1108 }
1109 }
1110
1111 if (m_NoColide)
1112 {
1113 d.GeomSetCategoryBits(prim_geom, 0);
1114 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1115 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1116 {
1117 d.GeomSetCategoryBits(collide_geom, 0);
1118 d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land);
1119 }
1120 }
1121 else
1122 {
1123 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1124 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1125 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
1126 {
1127 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
1128 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
1129 }
1130 }
1131 }
1132 }
1133
1134 private void createAMotor(Vector3 axis)
1135 {
1136 if (Body == IntPtr.Zero)
1137 return;
1138
1139 if (Amotor != IntPtr.Zero)
1140 {
1141 d.JointDestroy(Amotor);
1142 Amotor = IntPtr.Zero;
1143 }
1144
1145 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
1146
1147 if (axisnum <= 0)
1148 return;
1149
1150 // stop it
1151 d.BodySetTorque(Body, 0, 0, 0);
1152 d.BodySetAngularVel(Body, 0, 0, 0);
1153
1154 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
1155 d.JointAttach(Amotor, Body, IntPtr.Zero);
1156
1157 d.JointSetAMotorMode(Amotor, 0);
1158
1159 d.JointSetAMotorNumAxes(Amotor, axisnum);
1160
1161 // get current orientation to lock
1162
1163 d.Quaternion dcur = d.BodyGetQuaternion(Body);
1164 Quaternion curr; // crap convertion between identical things
1165 curr.X = dcur.X;
1166 curr.Y = dcur.Y;
1167 curr.Z = dcur.Z;
1168 curr.W = dcur.W;
1169 Vector3 ax;
1170
1171 int i = 0;
1172 int j = 0;
1173 if (axis.X == 0)
1174 {
1175 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
1176 // ODE should do this with axis relative to body 1 but seems to fail
1177 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
1178 d.JointSetAMotorAngle(Amotor, 0, 0);
1179 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
1180 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
1181 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
1182 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
1183 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
1184 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
1185 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
1186 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
1187 i++;
1188 j = 256; // move to next axis set
1189 }
1190
1191 if (axis.Y == 0)
1192 {
1193 ax = (new Vector3(0, 1, 0)) * curr;
1194 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1195 d.JointSetAMotorAngle(Amotor, i, 0);
1196 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1197 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1198 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1199 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1200 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1201 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1202 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1203 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1204 i++;
1205 j += 256;
1206 }
1207
1208 if (axis.Z == 0)
1209 {
1210 ax = (new Vector3(0, 0, 1)) * curr;
1211 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1212 d.JointSetAMotorAngle(Amotor, i, 0);
1213 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1214 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1215 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1216 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1217 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1218 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1219 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1220 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1221 }
1222 }
1223
1224 private bool setMesh(OdeScene parent_scene)
1225 {
1226 IntPtr vertices, indices;
1227 int vertexCount, indexCount;
1228 int vertexStride, triStride;
1229
1230 if (Body != IntPtr.Zero)
1231 {
1232 if (childPrim)
1233 {
1234 if (_parent != null)
1235 {
1236 OdePrim parent = (OdePrim)_parent;
1237 parent.ChildDelink(this, false);
1238 }
1239 }
1240 else
1241 {
1242 DestroyBody();
1243 }
1244 }
1245
1246 IMesh mesh = null;
1247
1248
1249 lock (m_meshlock)
1250 {
1251 if (m_mesh == null)
1252 {
1253 bool convex;
1254 if (m_shapetype == 0)
1255 convex = false;
1256 else
1257 convex = true;
1258
1259 mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex);
1260 }
1261 else
1262 {
1263 mesh = m_mesh;
1264 }
1265
1266 if (mesh == null)
1267 {
1268 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1269 return false;
1270 }
1271
1272
1273 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1274 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1275
1276 if (vertexCount == 0 || indexCount == 0)
1277 {
1278 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1279 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1280 mesh.releaseSourceMeshData();
1281 return false;
1282 }
1283
1284 primOOBoffset = mesh.GetCentroid();
1285 hasOOBoffsetFromMesh = true;
1286
1287 mesh.releaseSourceMeshData();
1288 m_mesh = null;
1289 }
1290
1291 IntPtr geo = IntPtr.Zero;
1292
1293 try
1294 {
1295 _triMeshData = d.GeomTriMeshDataCreate();
1296
1297 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1298 d.GeomTriMeshDataPreprocess(_triMeshData);
1299
1300 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1301 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1302 }
1303
1304 catch (Exception e)
1305 {
1306 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1307 if (_triMeshData != IntPtr.Zero)
1308 {
1309 d.GeomTriMeshDataDestroy(_triMeshData);
1310 _triMeshData = IntPtr.Zero;
1311 }
1312 return false;
1313 }
1314
1315 SetGeom(geo);
1316 return true;
1317 }
1318
1319 private void SetGeom(IntPtr geom)
1320 {
1321 prim_geom = geom;
1322 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1323 if (prim_geom != IntPtr.Zero)
1324 {
1325 if (m_NoColide)
1326 {
1327 d.GeomSetCategoryBits(prim_geom, 0);
1328 if (m_isphysical)
1329 {
1330 d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);
1331 }
1332 else
1333 {
1334 d.GeomSetCollideBits(prim_geom, 0);
1335 d.GeomDisable(prim_geom);
1336 }
1337 }
1338 else
1339 {
1340 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1341 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1342 }
1343
1344 CalcPrimBodyData();
1345
1346 _parent_scene.geom_name_map[prim_geom] = Name;
1347 _parent_scene.actor_name_map[prim_geom] = this;
1348
1349 }
1350 else
1351 m_log.Warn("Setting bad Geom");
1352 }
1353
1354
1355 /// <summary>
1356 /// Create a geometry for the given mesh in the given target space.
1357 /// </summary>
1358 /// <param name="m_targetSpace"></param>
1359 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1360 private void CreateGeom()
1361 {
1362 if (_triMeshData != IntPtr.Zero)
1363 {
1364 d.GeomTriMeshDataDestroy(_triMeshData);
1365 _triMeshData = IntPtr.Zero;
1366 }
1367
1368 bool haveMesh = false;
1369 hasOOBoffsetFromMesh = false;
1370 m_NoColide = false;
1371
1372 if (_parent_scene.needsMeshing(_pbs))
1373 {
1374 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1375 if (!haveMesh)
1376 m_NoColide = true;
1377 }
1378
1379 if (!haveMesh)
1380 {
1381 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1382 && _size.X == _size.Y && _size.Y == _size.Z)
1383 { // it's a sphere
1384 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1385 try
1386 {
1387 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1388 }
1389 catch (Exception e)
1390 {
1391 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1392 return;
1393 }
1394 }
1395 else
1396 {// do it as a box
1397 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1398 try
1399 {
1400 //Console.WriteLine(" CreateGeom 4");
1401 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1402 }
1403 catch (Exception e)
1404 {
1405 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1406 return;
1407 }
1408 }
1409 }
1410 }
1411
1412 /// <summary>
1413 /// Set a new geometry for this prim.
1414 /// </summary>
1415 /// <param name="geom"></param>
1416 private void RemoveGeom()
1417 {
1418 if (prim_geom != IntPtr.Zero)
1419 {
1420 _parent_scene.geom_name_map.Remove(prim_geom);
1421 _parent_scene.actor_name_map.Remove(prim_geom);
1422 try
1423 {
1424 d.GeomDestroy(prim_geom);
1425 if (_triMeshData != IntPtr.Zero)
1426 {
1427 d.GeomTriMeshDataDestroy(_triMeshData);
1428 _triMeshData = IntPtr.Zero;
1429 }
1430 }
1431 // catch (System.AccessViolationException)
1432 catch (Exception e)
1433 {
1434 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1435 }
1436
1437 prim_geom = IntPtr.Zero;
1438 collide_geom = IntPtr.Zero;
1439 }
1440 else
1441 {
1442 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1443 }
1444 Body = IntPtr.Zero;
1445 hasOOBoffsetFromMesh = false;
1446 CalcPrimBodyData();
1447 }
1448
1449 private void ChildSetGeom(OdePrim odePrim)
1450 {
1451 // well..
1452 DestroyBody();
1453 MakeBody();
1454 }
1455
1456 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1457 // should only be called for non physical prims unless they are becoming non physical
1458 private void SetInStaticSpace(OdePrim prim)
1459 {
1460 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1461 prim.m_targetSpace = targetSpace;
1462 collide_geom = IntPtr.Zero;
1463 }
1464
1465 public void enableBodySoft()
1466 {
1467 m_disabled = false;
1468 if (!childPrim && !m_isSelected)
1469 {
1470 if (m_isphysical && Body != IntPtr.Zero)
1471 {
1472 UpdateCollisionCatFlags();
1473 ApplyCollisionCatFlags();
1474
1475 d.BodyEnable(Body);
1476 }
1477 }
1478 resetCollisionAccounting();
1479 }
1480
1481 private void disableBodySoft()
1482 {
1483 m_disabled = true;
1484 if (!childPrim)
1485 {
1486 if (m_isphysical && Body != IntPtr.Zero)
1487 {
1488 if (m_isSelected)
1489 m_collisionFlags = CollisionCategories.Selected;
1490 else
1491 m_collisionCategories = 0;
1492 m_collisionFlags = 0;
1493 ApplyCollisionCatFlags();
1494 d.BodyDisable(Body);
1495 }
1496 }
1497 }
1498
1499 private void MakeBody()
1500 {
1501 if (!m_isphysical) // only physical get bodies
1502 return;
1503
1504 if (childPrim) // child prims don't get bodies;
1505 return;
1506
1507 if (m_building)
1508 return;
1509
1510 if (prim_geom == IntPtr.Zero)
1511 {
1512 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1513 return;
1514 }
1515
1516 if (Body != IntPtr.Zero)
1517 {
1518 d.BodyDestroy(Body);
1519 Body = IntPtr.Zero;
1520 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1521 }
1522
1523
1524 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1525 {
1526 d.GeomSetBody(prim_geom, IntPtr.Zero);
1527 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1528 }
1529
1530 d.Matrix3 mymat = new d.Matrix3();
1531 d.Quaternion myrot = new d.Quaternion();
1532 d.Mass objdmass = new d.Mass { };
1533
1534 Body = d.BodyCreate(_parent_scene.world);
1535
1536 DMassDup(ref primdMass, out objdmass);
1537
1538 // rotate inertia
1539 myrot.X = _orientation.X;
1540 myrot.Y = _orientation.Y;
1541 myrot.Z = _orientation.Z;
1542 myrot.W = _orientation.W;
1543
1544 d.RfromQ(out mymat, ref myrot);
1545 d.MassRotate(ref objdmass, ref mymat);
1546
1547 // set the body rotation
1548 d.BodySetRotation(Body, ref mymat);
1549
1550 // recompute full object inertia if needed
1551 if (childrenPrim.Count > 0)
1552 {
1553 d.Matrix3 mat = new d.Matrix3();
1554 d.Quaternion quat = new d.Quaternion();
1555 d.Mass tmpdmass = new d.Mass { };
1556 Vector3 rcm;
1557
1558 rcm.X = _position.X + objdmass.c.X;
1559 rcm.Y = _position.Y + objdmass.c.Y;
1560 rcm.Z = _position.Z + objdmass.c.Z;
1561
1562 lock (childrenPrim)
1563 {
1564 foreach (OdePrim prm in childrenPrim)
1565 {
1566 if (prm.prim_geom == IntPtr.Zero)
1567 {
1568 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1569 continue;
1570 }
1571
1572 DMassCopy(ref prm.primdMass, ref tmpdmass);
1573
1574 // apply prim current rotation to inertia
1575 quat.X = prm._orientation.X;
1576 quat.Y = prm._orientation.Y;
1577 quat.Z = prm._orientation.Z;
1578 quat.W = prm._orientation.W;
1579 d.RfromQ(out mat, ref quat);
1580 d.MassRotate(ref tmpdmass, ref mat);
1581
1582 Vector3 ppos = prm._position;
1583 ppos.X += tmpdmass.c.X - rcm.X;
1584 ppos.Y += tmpdmass.c.Y - rcm.Y;
1585 ppos.Z += tmpdmass.c.Z - rcm.Z;
1586
1587 // refer inertia to root prim center of mass position
1588 d.MassTranslate(ref tmpdmass,
1589 ppos.X,
1590 ppos.Y,
1591 ppos.Z);
1592
1593 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1594 // fix prim colision cats
1595
1596 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1597 {
1598 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1599 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1600 }
1601
1602 d.GeomClearOffset(prm.prim_geom);
1603 d.GeomSetBody(prm.prim_geom, Body);
1604 prm.Body = Body;
1605 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1606 }
1607 }
1608 }
1609
1610 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1611 // associate root geom with body
1612 d.GeomSetBody(prim_geom, Body);
1613
1614 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1615 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1616
1617 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1618 myrot.W = -myrot.W;
1619 d.RfromQ(out mymat, ref myrot);
1620 d.MassRotate(ref objdmass, ref mymat);
1621 d.BodySetMass(Body, ref objdmass);
1622 _mass = objdmass.mass;
1623
1624 // disconnect from world gravity so we can apply buoyancy
1625 d.BodySetGravityMode(Body, false);
1626
1627 d.BodySetAutoDisableFlag(Body, true);
1628 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1629 // d.BodySetLinearDampingThreshold(Body, 0.01f);
1630 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1631 d.BodySetDamping(Body, .002f, .002f);
1632
1633 if (m_targetSpace != IntPtr.Zero)
1634 {
1635 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1636 if (d.SpaceQuery(m_targetSpace, prim_geom))
1637 d.SpaceRemove(m_targetSpace, prim_geom);
1638 }
1639
1640
1641 if (childrenPrim.Count == 0)
1642 {
1643 collide_geom = prim_geom;
1644 m_targetSpace = _parent_scene.ActiveSpace;
1645 d.SpaceAdd(m_targetSpace, prim_geom);
1646 }
1647 else
1648 {
1649 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1650 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1651 d.SpaceSetSublevel(m_targetSpace, 3);
1652 d.SpaceSetCleanup(m_targetSpace, false);
1653 d.SpaceAdd(m_targetSpace, prim_geom);
1654
1655 d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space |
1656 CollisionCategories.Geom |
1657 CollisionCategories.Phantom |
1658 CollisionCategories.VolumeDtc
1659 ));
1660 d.GeomSetCollideBits(m_targetSpace, 0);
1661 collide_geom = m_targetSpace;
1662 }
1663
1664 if (m_delaySelect)
1665 {
1666 m_isSelected = true;
1667 m_delaySelect = false;
1668 }
1669
1670 lock (childrenPrim)
1671 {
1672 foreach (OdePrim prm in childrenPrim)
1673 {
1674 if (prm.prim_geom == IntPtr.Zero)
1675 continue;
1676
1677 Vector3 ppos = prm._position;
1678 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1679
1680 if (prm.m_targetSpace != m_targetSpace)
1681 {
1682 if (prm.m_targetSpace != IntPtr.Zero)
1683 {
1684 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1685 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1686 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1687 }
1688 prm.m_targetSpace = m_targetSpace;
1689 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1690 }
1691
1692 prm.m_collisionscore = 0;
1693
1694 if(!m_disabled)
1695 prm.m_disabled = false;
1696
1697 _parent_scene.addActivePrim(prm);
1698 }
1699 }
1700
1701 // The body doesn't already have a finite rotation mode set here
1702 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1703 {
1704 createAMotor(m_angularlock);
1705 }
1706
1707 m_collisionscore = 0;
1708
1709 UpdateCollisionCatFlags();
1710 ApplyCollisionCatFlags();
1711
1712 if (m_isSelected || m_disabled)
1713 {
1714 d.BodyDisable(Body);
1715 }
1716 else
1717 {
1718 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1719 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1720 }
1721
1722 _parent_scene.addActivePrim(this);
1723 _parent_scene.addActiveGroups(this);
1724 }
1725
1726 private void DestroyBody()
1727 {
1728 if (Body != IntPtr.Zero)
1729 {
1730 _parent_scene.remActivePrim(this);
1731
1732 collide_geom = IntPtr.Zero;
1733
1734 if (m_disabled)
1735 m_collisionCategories = 0;
1736 else if (m_isSelected)
1737 m_collisionCategories = CollisionCategories.Selected;
1738 else if (m_isVolumeDetect)
1739 m_collisionCategories = CollisionCategories.VolumeDtc;
1740 else if (m_isphantom)
1741 m_collisionCategories = CollisionCategories.Phantom;
1742 else
1743 m_collisionCategories = CollisionCategories.Geom;
1744
1745 m_collisionFlags = 0;
1746
1747 if (prim_geom != IntPtr.Zero)
1748 {
1749 if (m_NoColide)
1750 {
1751 d.GeomSetCategoryBits(prim_geom, 0);
1752 d.GeomSetCollideBits(prim_geom, 0);
1753 }
1754 else
1755 {
1756 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
1757 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
1758 }
1759 UpdateDataFromGeom();
1760 d.GeomSetBody(prim_geom, IntPtr.Zero);
1761 SetInStaticSpace(this);
1762 }
1763
1764 if (!childPrim)
1765 {
1766 lock (childrenPrim)
1767 {
1768 foreach (OdePrim prm in childrenPrim)
1769 {
1770 _parent_scene.remActivePrim(prm);
1771
1772 if (prm.m_isSelected)
1773 prm.m_collisionCategories = CollisionCategories.Selected;
1774 else if (prm.m_isVolumeDetect)
1775 prm.m_collisionCategories = CollisionCategories.VolumeDtc;
1776 else if (prm.m_isphantom)
1777 prm.m_collisionCategories = CollisionCategories.Phantom;
1778 else
1779 prm.m_collisionCategories = CollisionCategories.Geom;
1780
1781 prm.m_collisionFlags = 0;
1782
1783 if (prm.prim_geom != IntPtr.Zero)
1784 {
1785 if (prm.m_NoColide)
1786 {
1787 d.GeomSetCategoryBits(prm.prim_geom, 0);
1788 d.GeomSetCollideBits(prm.prim_geom, 0);
1789 }
1790 else
1791 {
1792 d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
1793 d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
1794 }
1795 prm.UpdateDataFromGeom();
1796 SetInStaticSpace(prm);
1797 }
1798 prm.Body = IntPtr.Zero;
1799 prm._mass = prm.primMass;
1800 prm.m_collisionscore = 0;
1801 }
1802 }
1803 if (Amotor != IntPtr.Zero)
1804 {
1805 d.JointDestroy(Amotor);
1806 Amotor = IntPtr.Zero;
1807 }
1808 _parent_scene.remActiveGroup(this);
1809 d.BodyDestroy(Body);
1810 }
1811 Body = IntPtr.Zero;
1812 }
1813 _mass = primMass;
1814 m_collisionscore = 0;
1815 }
1816
1817 private void FixInertia(Vector3 NewPos,Quaternion newrot)
1818 {
1819 d.Matrix3 mat = new d.Matrix3();
1820 d.Quaternion quat = new d.Quaternion();
1821
1822 d.Mass tmpdmass = new d.Mass { };
1823 d.Mass objdmass = new d.Mass { };
1824
1825 d.BodyGetMass(Body, out tmpdmass);
1826 objdmass = tmpdmass;
1827
1828 d.Vector3 dobjpos;
1829 d.Vector3 thispos;
1830
1831 // get current object position and rotation
1832 dobjpos = d.BodyGetPosition(Body);
1833
1834 // get prim own inertia in its local frame
1835 tmpdmass = primdMass;
1836
1837 // transform to object frame
1838 mat = d.GeomGetOffsetRotation(prim_geom);
1839 d.MassRotate(ref tmpdmass, ref mat);
1840
1841 thispos = d.GeomGetOffsetPosition(prim_geom);
1842 d.MassTranslate(ref tmpdmass,
1843 thispos.X,
1844 thispos.Y,
1845 thispos.Z);
1846
1847 // subtract current prim inertia from object
1848 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1849
1850 // back prim own inertia
1851 tmpdmass = primdMass;
1852
1853 // update to new position and orientation
1854 _position = NewPos;
1855 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1856 _orientation = newrot;
1857 quat.X = newrot.X;
1858 quat.Y = newrot.Y;
1859 quat.Z = newrot.Z;
1860 quat.W = newrot.W;
1861 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1862
1863 mat = d.GeomGetOffsetRotation(prim_geom);
1864 d.MassRotate(ref tmpdmass, ref mat);
1865
1866 thispos = d.GeomGetOffsetPosition(prim_geom);
1867 d.MassTranslate(ref tmpdmass,
1868 thispos.X,
1869 thispos.Y,
1870 thispos.Z);
1871
1872 d.MassAdd(ref objdmass, ref tmpdmass);
1873
1874 // fix all positions
1875 IntPtr g = d.BodyGetFirstGeom(Body);
1876 while (g != IntPtr.Zero)
1877 {
1878 thispos = d.GeomGetOffsetPosition(g);
1879 thispos.X -= objdmass.c.X;
1880 thispos.Y -= objdmass.c.Y;
1881 thispos.Z -= objdmass.c.Z;
1882 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1883 g = d.dBodyGetNextGeom(g);
1884 }
1885 d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
1886
1887 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1888 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1889 d.BodySetMass(Body, ref objdmass);
1890 _mass = objdmass.mass;
1891 }
1892
1893
1894
1895 private void FixInertia(Vector3 NewPos)
1896 {
1897 d.Matrix3 primmat = new d.Matrix3();
1898 d.Mass tmpdmass = new d.Mass { };
1899 d.Mass objdmass = new d.Mass { };
1900 d.Mass primmass = new d.Mass { };
1901
1902 d.Vector3 dobjpos;
1903 d.Vector3 thispos;
1904
1905 d.BodyGetMass(Body, out objdmass);
1906
1907 // get prim own inertia in its local frame
1908 primmass = primdMass;
1909 // transform to object frame
1910 primmat = d.GeomGetOffsetRotation(prim_geom);
1911 d.MassRotate(ref primmass, ref primmat);
1912
1913 tmpdmass = primmass;
1914
1915 thispos = d.GeomGetOffsetPosition(prim_geom);
1916 d.MassTranslate(ref tmpdmass,
1917 thispos.X,
1918 thispos.Y,
1919 thispos.Z);
1920
1921 // subtract current prim inertia from object
1922 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1923
1924 // update to new position
1925 _position = NewPos;
1926 d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
1927
1928 thispos = d.GeomGetOffsetPosition(prim_geom);
1929 d.MassTranslate(ref primmass,
1930 thispos.X,
1931 thispos.Y,
1932 thispos.Z);
1933
1934 d.MassAdd(ref objdmass, ref primmass);
1935
1936 // fix all positions
1937 IntPtr g = d.BodyGetFirstGeom(Body);
1938 while (g != IntPtr.Zero)
1939 {
1940 thispos = d.GeomGetOffsetPosition(g);
1941 thispos.X -= objdmass.c.X;
1942 thispos.Y -= objdmass.c.Y;
1943 thispos.Z -= objdmass.c.Z;
1944 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
1945 g = d.dBodyGetNextGeom(g);
1946 }
1947
1948 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
1949
1950 // get current object position and rotation
1951 dobjpos = d.BodyGetPosition(Body);
1952
1953 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
1954 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1955 d.BodySetMass(Body, ref objdmass);
1956 _mass = objdmass.mass;
1957 }
1958
1959 private void FixInertia(Quaternion newrot)
1960 {
1961 d.Matrix3 mat = new d.Matrix3();
1962 d.Quaternion quat = new d.Quaternion();
1963
1964 d.Mass tmpdmass = new d.Mass { };
1965 d.Mass objdmass = new d.Mass { };
1966 d.Vector3 dobjpos;
1967 d.Vector3 thispos;
1968
1969 d.BodyGetMass(Body, out objdmass);
1970
1971 // get prim own inertia in its local frame
1972 tmpdmass = primdMass;
1973 mat = d.GeomGetOffsetRotation(prim_geom);
1974 d.MassRotate(ref tmpdmass, ref mat);
1975 // transform to object frame
1976 thispos = d.GeomGetOffsetPosition(prim_geom);
1977 d.MassTranslate(ref tmpdmass,
1978 thispos.X,
1979 thispos.Y,
1980 thispos.Z);
1981
1982 // subtract current prim inertia from object
1983 DMassSubPartFromObj(ref tmpdmass, ref objdmass);
1984
1985 // update to new orientation
1986 _orientation = newrot;
1987 quat.X = newrot.X;
1988 quat.Y = newrot.Y;
1989 quat.Z = newrot.Z;
1990 quat.W = newrot.W;
1991 d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
1992
1993 tmpdmass = primdMass;
1994 mat = d.GeomGetOffsetRotation(prim_geom);
1995 d.MassRotate(ref tmpdmass, ref mat);
1996 d.MassTranslate(ref tmpdmass,
1997 thispos.X,
1998 thispos.Y,
1999 thispos.Z);
2000
2001 d.MassAdd(ref objdmass, ref tmpdmass);
2002
2003 // fix all positions
2004 IntPtr g = d.BodyGetFirstGeom(Body);
2005 while (g != IntPtr.Zero)
2006 {
2007 thispos = d.GeomGetOffsetPosition(g);
2008 thispos.X -= objdmass.c.X;
2009 thispos.Y -= objdmass.c.Y;
2010 thispos.Z -= objdmass.c.Z;
2011 d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
2012 g = d.dBodyGetNextGeom(g);
2013 }
2014
2015 d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
2016 // get current object position and rotation
2017 dobjpos = d.BodyGetPosition(Body);
2018
2019 d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
2020 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
2021 d.BodySetMass(Body, ref objdmass);
2022 _mass = objdmass.mass;
2023 }
2024
2025
2026 #region Mass Calculation
2027
2028 private float CalculatePrimVolume()
2029 {
2030 float volume = _size.X * _size.Y * _size.Z; // default
2031 float tmp;
2032
2033 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
2034 float hollowVolume = hollowAmount * hollowAmount;
2035
2036 switch (_pbs.ProfileShape)
2037 {
2038 case ProfileShape.Square:
2039 // default box
2040
2041 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2042 {
2043 if (hollowAmount > 0.0)
2044 {
2045 switch (_pbs.HollowShape)
2046 {
2047 case HollowShape.Square:
2048 case HollowShape.Same:
2049 break;
2050
2051 case HollowShape.Circle:
2052
2053 hollowVolume *= 0.78539816339f;
2054 break;
2055
2056 case HollowShape.Triangle:
2057
2058 hollowVolume *= (0.5f * .5f);
2059 break;
2060
2061 default:
2062 hollowVolume = 0;
2063 break;
2064 }
2065 volume *= (1.0f - hollowVolume);
2066 }
2067 }
2068
2069 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2070 {
2071 //a tube
2072
2073 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
2074 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
2075 volume -= volume * tmp * tmp;
2076
2077 if (hollowAmount > 0.0)
2078 {
2079 hollowVolume *= hollowAmount;
2080
2081 switch (_pbs.HollowShape)
2082 {
2083 case HollowShape.Square:
2084 case HollowShape.Same:
2085 break;
2086
2087 case HollowShape.Circle:
2088 hollowVolume *= 0.78539816339f;
2089 break;
2090
2091 case HollowShape.Triangle:
2092 hollowVolume *= 0.5f * 0.5f;
2093 break;
2094 default:
2095 hollowVolume = 0;
2096 break;
2097 }
2098 volume *= (1.0f - hollowVolume);
2099 }
2100 }
2101
2102 break;
2103
2104 case ProfileShape.Circle:
2105
2106 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2107 {
2108 volume *= 0.78539816339f; // elipse base
2109
2110 if (hollowAmount > 0.0)
2111 {
2112 switch (_pbs.HollowShape)
2113 {
2114 case HollowShape.Same:
2115 case HollowShape.Circle:
2116 break;
2117
2118 case HollowShape.Square:
2119 hollowVolume *= 0.5f * 2.5984480504799f;
2120 break;
2121
2122 case HollowShape.Triangle:
2123 hollowVolume *= .5f * 1.27323954473516f;
2124 break;
2125
2126 default:
2127 hollowVolume = 0;
2128 break;
2129 }
2130 volume *= (1.0f - hollowVolume);
2131 }
2132 }
2133
2134 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2135 {
2136 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
2137 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2138 volume *= (1.0f - tmp * tmp);
2139
2140 if (hollowAmount > 0.0)
2141 {
2142
2143 // calculate the hollow volume by it's shape compared to the prim shape
2144 hollowVolume *= hollowAmount;
2145
2146 switch (_pbs.HollowShape)
2147 {
2148 case HollowShape.Same:
2149 case HollowShape.Circle:
2150 break;
2151
2152 case HollowShape.Square:
2153 hollowVolume *= 0.5f * 2.5984480504799f;
2154 break;
2155
2156 case HollowShape.Triangle:
2157 hollowVolume *= .5f * 1.27323954473516f;
2158 break;
2159
2160 default:
2161 hollowVolume = 0;
2162 break;
2163 }
2164 volume *= (1.0f - hollowVolume);
2165 }
2166 }
2167 break;
2168
2169 case ProfileShape.HalfCircle:
2170 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2171 {
2172 volume *= 0.52359877559829887307710723054658f;
2173 }
2174 break;
2175
2176 case ProfileShape.EquilateralTriangle:
2177
2178 if (_pbs.PathCurve == (byte)Extrusion.Straight)
2179 {
2180 volume *= 0.32475953f;
2181
2182 if (hollowAmount > 0.0)
2183 {
2184
2185 // calculate the hollow volume by it's shape compared to the prim shape
2186 switch (_pbs.HollowShape)
2187 {
2188 case HollowShape.Same:
2189 case HollowShape.Triangle:
2190 hollowVolume *= .25f;
2191 break;
2192
2193 case HollowShape.Square:
2194 hollowVolume *= 0.499849f * 3.07920140172638f;
2195 break;
2196
2197 case HollowShape.Circle:
2198 // Hollow shape is a perfect cyllinder in respect to the cube's scale
2199 // Cyllinder hollow volume calculation
2200
2201 hollowVolume *= 0.1963495f * 3.07920140172638f;
2202 break;
2203
2204 default:
2205 hollowVolume = 0;
2206 break;
2207 }
2208 volume *= (1.0f - hollowVolume);
2209 }
2210 }
2211 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
2212 {
2213 volume *= 0.32475953f;
2214 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
2215 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
2216 volume *= (1.0f - tmp * tmp);
2217
2218 if (hollowAmount > 0.0)
2219 {
2220
2221 hollowVolume *= hollowAmount;
2222
2223 switch (_pbs.HollowShape)
2224 {
2225 case HollowShape.Same:
2226 case HollowShape.Triangle:
2227 hollowVolume *= .25f;
2228 break;
2229
2230 case HollowShape.Square:
2231 hollowVolume *= 0.499849f * 3.07920140172638f;
2232 break;
2233
2234 case HollowShape.Circle:
2235
2236 hollowVolume *= 0.1963495f * 3.07920140172638f;
2237 break;
2238
2239 default:
2240 hollowVolume = 0;
2241 break;
2242 }
2243 volume *= (1.0f - hollowVolume);
2244 }
2245 }
2246 break;
2247
2248 default:
2249 break;
2250 }
2251
2252 float taperX1;
2253 float taperY1;
2254 float taperX;
2255 float taperY;
2256 float pathBegin;
2257 float pathEnd;
2258 float profileBegin;
2259 float profileEnd;
2260
2261 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
2262 {
2263 taperX1 = _pbs.PathScaleX * 0.01f;
2264 if (taperX1 > 1.0f)
2265 taperX1 = 2.0f - taperX1;
2266 taperX = 1.0f - taperX1;
2267
2268 taperY1 = _pbs.PathScaleY * 0.01f;
2269 if (taperY1 > 1.0f)
2270 taperY1 = 2.0f - taperY1;
2271 taperY = 1.0f - taperY1;
2272 }
2273 else
2274 {
2275 taperX = _pbs.PathTaperX * 0.01f;
2276 if (taperX < 0.0f)
2277 taperX = -taperX;
2278 taperX1 = 1.0f - taperX;
2279
2280 taperY = _pbs.PathTaperY * 0.01f;
2281 if (taperY < 0.0f)
2282 taperY = -taperY;
2283 taperY1 = 1.0f - taperY;
2284 }
2285
2286 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
2287
2288 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
2289 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
2290 volume *= (pathEnd - pathBegin);
2291
2292 // this is crude aproximation
2293 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
2294 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
2295 volume *= (profileEnd - profileBegin);
2296
2297 return volume;
2298 }
2299
2300
2301 private void CalcPrimBodyData()
2302 {
2303 float volume;
2304
2305 if (prim_geom == IntPtr.Zero)
2306 {
2307 // Ubit let's have a initial basic OOB
2308 primOOBsize.X = _size.X;
2309 primOOBsize.Y = _size.Y;
2310 primOOBsize.Z = _size.Z;
2311 primOOBoffset = Vector3.Zero;
2312 }
2313 else
2314 {
2315 d.AABB AABB;
2316 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
2317
2318 primOOBsize.X = (AABB.MaxX - AABB.MinX);
2319 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
2320 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
2321 if (!hasOOBoffsetFromMesh)
2322 {
2323 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
2324 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
2325 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
2326 }
2327 }
2328
2329 // also its own inertia and mass
2330 // keep using basic shape mass for now
2331 volume = CalculatePrimVolume();
2332
2333 primVolume = volume;
2334 primMass = m_density * volume;
2335
2336 if (primMass <= 0)
2337 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2338 if (primMass > _parent_scene.maximumMassObject)
2339 primMass = _parent_scene.maximumMassObject;
2340
2341 _mass = primMass; // just in case
2342
2343 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
2344
2345 d.MassTranslate(ref primdMass,
2346 primOOBoffset.X,
2347 primOOBoffset.Y,
2348 primOOBoffset.Z);
2349
2350 primOOBsize *= 0.5f; // let obb size be a corner coords
2351 primOOBradiusSQ = primOOBsize.LengthSquared();
2352 }
2353
2354
2355 #endregion
2356
2357
2358 /// <summary>
2359 /// Add a child prim to this parent prim.
2360 /// </summary>
2361 /// <param name="prim">Child prim</param>
2362 // I'm the parent
2363 // prim is the child
2364 public void ParentPrim(OdePrim prim)
2365 {
2366 //Console.WriteLine("ParentPrim " + m_primName);
2367 if (this.m_localID != prim.m_localID)
2368 {
2369 DestroyBody(); // for now we need to rebuil entire object on link change
2370
2371 lock (childrenPrim)
2372 {
2373 // adopt the prim
2374 if (!childrenPrim.Contains(prim))
2375 childrenPrim.Add(prim);
2376
2377 // see if this prim has kids and adopt them also
2378 // should not happen for now
2379 foreach (OdePrim prm in prim.childrenPrim)
2380 {
2381 if (!childrenPrim.Contains(prm))
2382 {
2383 if (prm.Body != IntPtr.Zero)
2384 {
2385 if (prm.prim_geom != IntPtr.Zero)
2386 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2387 if (prm.Body != prim.Body)
2388 prm.DestroyBody(); // don't loose bodies around
2389 prm.Body = IntPtr.Zero;
2390 }
2391
2392 childrenPrim.Add(prm);
2393 prm._parent = this;
2394 }
2395 }
2396 }
2397 //Remove old children from the prim
2398 prim.childrenPrim.Clear();
2399
2400 if (prim.Body != IntPtr.Zero)
2401 {
2402 if (prim.prim_geom != IntPtr.Zero)
2403 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2404 prim.DestroyBody(); // don't loose bodies around
2405 prim.Body = IntPtr.Zero;
2406 }
2407
2408 prim.childPrim = true;
2409 prim._parent = this;
2410
2411 MakeBody(); // full nasty reconstruction
2412 }
2413 }
2414
2415 private void UpdateChildsfromgeom()
2416 {
2417 if (childrenPrim.Count > 0)
2418 {
2419 foreach (OdePrim prm in childrenPrim)
2420 prm.UpdateDataFromGeom();
2421 }
2422 }
2423
2424 private void UpdateDataFromGeom()
2425 {
2426 if (prim_geom != IntPtr.Zero)
2427 {
2428 d.Quaternion qtmp = new d.Quaternion { };
2429 d.GeomCopyQuaternion(prim_geom, out qtmp);
2430 _orientation.W = qtmp.W;
2431 _orientation.X = qtmp.X;
2432 _orientation.Y = qtmp.Y;
2433 _orientation.Z = qtmp.Z;
2434
2435 d.Vector3 lpos;
2436 d.GeomCopyPosition(prim_geom, out lpos);
2437 _position.X = lpos.X;
2438 _position.Y = lpos.Y;
2439 _position.Z = lpos.Z;
2440 }
2441 }
2442
2443 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2444 {
2445 // Okay, we have a delinked child.. destroy all body and remake
2446 if (odePrim != this && !childrenPrim.Contains(odePrim))
2447 return;
2448
2449 DestroyBody();
2450
2451 if (odePrim == this) // delinking the root prim
2452 {
2453 OdePrim newroot = null;
2454 lock (childrenPrim)
2455 {
2456 if (childrenPrim.Count > 0)
2457 {
2458 newroot = childrenPrim[0];
2459 childrenPrim.RemoveAt(0);
2460 foreach (OdePrim prm in childrenPrim)
2461 {
2462 newroot.childrenPrim.Add(prm);
2463 }
2464 childrenPrim.Clear();
2465 }
2466 if (newroot != null)
2467 {
2468 newroot.childPrim = false;
2469 newroot._parent = null;
2470 if (remakebodies)
2471 newroot.MakeBody();
2472 }
2473 }
2474 }
2475
2476 else
2477 {
2478 lock (childrenPrim)
2479 {
2480 childrenPrim.Remove(odePrim);
2481 odePrim.childPrim = false;
2482 odePrim._parent = null;
2483 // odePrim.UpdateDataFromGeom();
2484 if (remakebodies)
2485 odePrim.MakeBody();
2486 }
2487 }
2488 if (remakebodies)
2489 MakeBody();
2490 }
2491
2492 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2493 {
2494 // Okay, we have a delinked child.. destroy all body and remake
2495 if (odePrim != this && !childrenPrim.Contains(odePrim))
2496 return;
2497
2498 DestroyBody();
2499
2500 if (odePrim == this)
2501 {
2502 OdePrim newroot = null;
2503 lock (childrenPrim)
2504 {
2505 if (childrenPrim.Count > 0)
2506 {
2507 newroot = childrenPrim[0];
2508 childrenPrim.RemoveAt(0);
2509 foreach (OdePrim prm in childrenPrim)
2510 {
2511 newroot.childrenPrim.Add(prm);
2512 }
2513 childrenPrim.Clear();
2514 }
2515 if (newroot != null)
2516 {
2517 newroot.childPrim = false;
2518 newroot._parent = null;
2519 newroot.MakeBody();
2520 }
2521 }
2522 if (reMakeBody)
2523 MakeBody();
2524 return;
2525 }
2526 else
2527 {
2528 lock (childrenPrim)
2529 {
2530 childrenPrim.Remove(odePrim);
2531 odePrim.childPrim = false;
2532 odePrim._parent = null;
2533 if (reMakeBody)
2534 odePrim.MakeBody();
2535 }
2536 }
2537 MakeBody();
2538 }
2539
2540 #region changes
2541
2542 private void changeadd()
2543 {
2544 CreateGeom();
2545
2546 if (prim_geom != IntPtr.Zero)
2547 {
2548 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2549 d.Quaternion myrot = new d.Quaternion();
2550 myrot.X = _orientation.X;
2551 myrot.Y = _orientation.Y;
2552 myrot.Z = _orientation.Z;
2553 myrot.W = _orientation.W;
2554 d.GeomSetQuaternion(prim_geom, ref myrot);
2555
2556 if (!m_isphysical)
2557 {
2558 SetInStaticSpace(this);
2559 UpdateCollisionCatFlags();
2560 ApplyCollisionCatFlags();
2561 }
2562 else
2563 MakeBody();
2564 }
2565 }
2566
2567 private void changeAngularLock(Vector3 newLock)
2568 {
2569 // do we have a Physical object?
2570 if (Body != IntPtr.Zero)
2571 {
2572 //Check that we have a Parent
2573 //If we have a parent then we're not authorative here
2574 if (_parent == null)
2575 {
2576 if (!newLock.ApproxEquals(Vector3.One, 0f))
2577 {
2578 createAMotor(newLock);
2579 }
2580 else
2581 {
2582 if (Amotor != IntPtr.Zero)
2583 {
2584 d.JointDestroy(Amotor);
2585 Amotor = IntPtr.Zero;
2586 }
2587 }
2588 }
2589 }
2590 // Store this for later in case we get turned into a separate body
2591 m_angularlock = newLock;
2592 }
2593
2594 private void changeLink(OdePrim NewParent)
2595 {
2596 if (_parent == null && NewParent != null)
2597 {
2598 NewParent.ParentPrim(this);
2599 }
2600 else if (_parent != null)
2601 {
2602 if (_parent is OdePrim)
2603 {
2604 if (NewParent != _parent)
2605 {
2606 (_parent as OdePrim).ChildDelink(this, false); // for now...
2607 childPrim = false;
2608
2609 if (NewParent != null)
2610 {
2611 NewParent.ParentPrim(this);
2612 }
2613 }
2614 }
2615 }
2616 _parent = NewParent;
2617 }
2618
2619
2620 private void Stop()
2621 {
2622 if (!childPrim)
2623 {
2624 m_force = Vector3.Zero;
2625 m_forceacc = Vector3.Zero;
2626 m_angularForceacc = Vector3.Zero;
2627 _torque = Vector3.Zero;
2628 _velocity = Vector3.Zero;
2629 _acceleration = Vector3.Zero;
2630 m_rotationalVelocity = Vector3.Zero;
2631 _target_velocity = Vector3.Zero;
2632 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2633 m_vehicle.Stop();
2634 }
2635
2636 if (Body != IntPtr.Zero)
2637 {
2638 d.BodySetForce(Body, 0f, 0f, 0f);
2639 d.BodySetTorque(Body, 0f, 0f, 0f);
2640 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2641 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2642 }
2643 }
2644
2645 private void changePhantomStatus(bool newval)
2646 {
2647 m_isphantom = newval;
2648
2649 UpdateCollisionCatFlags();
2650 ApplyCollisionCatFlags();
2651 }
2652
2653 private void changeSelectedStatus(bool newval)
2654 {
2655 if (m_lastdoneSelected == newval)
2656 return;
2657
2658 m_lastdoneSelected = newval;
2659 DoSelectedStatus(newval);
2660 }
2661
2662 private void CheckDelaySelect()
2663 {
2664 if (m_delaySelect)
2665 {
2666 DoSelectedStatus(m_isSelected);
2667 }
2668 }
2669
2670 private void DoSelectedStatus(bool newval)
2671 {
2672 m_isSelected = newval;
2673 Stop();
2674
2675 if (newval)
2676 {
2677 if (!childPrim && Body != IntPtr.Zero)
2678 d.BodyDisable(Body);
2679
2680 if (m_delaySelect || m_isphysical)
2681 {
2682 m_collisionCategories = CollisionCategories.Selected;
2683 m_collisionFlags = 0;
2684
2685 if (!childPrim)
2686 {
2687 foreach (OdePrim prm in childrenPrim)
2688 {
2689 prm.m_collisionCategories = m_collisionCategories;
2690 prm.m_collisionFlags = m_collisionFlags;
2691
2692 if (prm.prim_geom != null)
2693 {
2694
2695 if (prm.m_NoColide)
2696 {
2697 d.GeomSetCategoryBits(prm.prim_geom, 0);
2698 d.GeomSetCollideBits(prm.prim_geom, 0);
2699 }
2700 else
2701 {
2702 d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories);
2703 d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags);
2704 }
2705 }
2706 prm.m_delaySelect = false;
2707 }
2708 }
2709
2710 if (prim_geom != null)
2711 {
2712 if (m_NoColide)
2713 {
2714 d.GeomSetCategoryBits(prim_geom, 0);
2715 d.GeomSetCollideBits(prim_geom, 0);
2716 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2717 {
2718 d.GeomSetCategoryBits(collide_geom, 0);
2719 d.GeomSetCollideBits(collide_geom, 0);
2720 }
2721
2722 }
2723 else
2724 {
2725 d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
2726 d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
2727 if (collide_geom != prim_geom && collide_geom != IntPtr.Zero)
2728 {
2729 d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories);
2730 d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags);
2731 }
2732 }
2733 }
2734
2735 m_delaySelect = false;
2736 }
2737 else if(!m_isphysical)
2738 {
2739 m_delaySelect = true;
2740 }
2741 }
2742 else
2743 {
2744 if (!childPrim && Body != IntPtr.Zero && !m_disabled)
2745 d.BodyEnable(Body);
2746
2747 UpdateCollisionCatFlags();
2748 ApplyCollisionCatFlags();
2749
2750 m_delaySelect = false;
2751 }
2752
2753 resetCollisionAccounting();
2754 }
2755
2756 private void changePosition(Vector3 newPos)
2757 {
2758 CheckDelaySelect();
2759 if (m_isphysical)
2760 {
2761 if (childPrim) // inertia is messed, must rebuild
2762 {
2763 if (m_building)
2764 {
2765 _position = newPos;
2766 }
2767
2768 else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
2769 {
2770 FixInertia(newPos);
2771 if (!d.BodyIsEnabled(Body))
2772 d.BodyEnable(Body);
2773 }
2774 }
2775 else
2776 {
2777 if (_position != newPos)
2778 {
2779 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2780 _position = newPos;
2781 }
2782 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2783 d.BodyEnable(Body);
2784 }
2785 }
2786 else
2787 {
2788 if (prim_geom != IntPtr.Zero)
2789 {
2790 if (newPos != _position)
2791 {
2792 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2793 _position = newPos;
2794
2795 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2796 }
2797 }
2798 }
2799 givefakepos--;
2800 if (givefakepos < 0)
2801 givefakepos = 0;
2802 // changeSelectedStatus();
2803 resetCollisionAccounting();
2804 }
2805
2806 private void changeOrientation(Quaternion newOri)
2807 {
2808 CheckDelaySelect();
2809 if (m_isphysical)
2810 {
2811 if (childPrim) // inertia is messed, must rebuild
2812 {
2813 if (m_building)
2814 {
2815 _orientation = newOri;
2816 }
2817 /*
2818 else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
2819 {
2820 FixInertia(_position, newOri);
2821 if (!d.BodyIsEnabled(Body))
2822 d.BodyEnable(Body);
2823 }
2824 */
2825 }
2826 else
2827 {
2828 if (newOri != _orientation)
2829 {
2830 d.Quaternion myrot = new d.Quaternion();
2831 myrot.X = newOri.X;
2832 myrot.Y = newOri.Y;
2833 myrot.Z = newOri.Z;
2834 myrot.W = newOri.W;
2835 d.GeomSetQuaternion(prim_geom, ref myrot);
2836 _orientation = newOri;
2837 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2838 createAMotor(m_angularlock);
2839 }
2840 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2841 d.BodyEnable(Body);
2842 }
2843 }
2844 else
2845 {
2846 if (prim_geom != IntPtr.Zero)
2847 {
2848 if (newOri != _orientation)
2849 {
2850 d.Quaternion myrot = new d.Quaternion();
2851 myrot.X = newOri.X;
2852 myrot.Y = newOri.Y;
2853 myrot.Z = newOri.Z;
2854 myrot.W = newOri.W;
2855 d.GeomSetQuaternion(prim_geom, ref myrot);
2856 _orientation = newOri;
2857 }
2858 }
2859 }
2860 givefakeori--;
2861 if (givefakeori < 0)
2862 givefakeori = 0;
2863 resetCollisionAccounting();
2864 }
2865
2866 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
2867 {
2868 CheckDelaySelect();
2869 if (m_isphysical)
2870 {
2871 if (childPrim && m_building) // inertia is messed, must rebuild
2872 {
2873 _position = newPos;
2874 _orientation = newOri;
2875 }
2876 else
2877 {
2878 if (newOri != _orientation)
2879 {
2880 d.Quaternion myrot = new d.Quaternion();
2881 myrot.X = newOri.X;
2882 myrot.Y = newOri.Y;
2883 myrot.Z = newOri.Z;
2884 myrot.W = newOri.W;
2885 d.GeomSetQuaternion(prim_geom, ref myrot);
2886 _orientation = newOri;
2887 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2888 createAMotor(m_angularlock);
2889 }
2890 if (_position != newPos)
2891 {
2892 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2893 _position = newPos;
2894 }
2895 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2896 d.BodyEnable(Body);
2897 }
2898 }
2899 else
2900 {
2901 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2902 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2903
2904 if (prim_geom != IntPtr.Zero)
2905 {
2906 if (newOri != _orientation)
2907 {
2908 d.Quaternion myrot = new d.Quaternion();
2909 myrot.X = newOri.X;
2910 myrot.Y = newOri.Y;
2911 myrot.Z = newOri.Z;
2912 myrot.W = newOri.W;
2913 d.GeomSetQuaternion(prim_geom, ref myrot);
2914 _orientation = newOri;
2915 }
2916
2917 if (newPos != _position)
2918 {
2919 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2920 _position = newPos;
2921
2922 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2923 }
2924 }
2925 }
2926 givefakepos--;
2927 if (givefakepos < 0)
2928 givefakepos = 0;
2929 givefakeori--;
2930 if (givefakeori < 0)
2931 givefakeori = 0;
2932
2933 resetCollisionAccounting();
2934 }
2935
2936
2937 private void changeDisable(bool disable)
2938 {
2939 if (disable)
2940 {
2941 if (!m_disabled)
2942 disableBodySoft();
2943 }
2944 else
2945 {
2946 if (m_disabled)
2947 enableBodySoft();
2948 }
2949 }
2950
2951 private void changePhysicsStatus(bool NewStatus)
2952 {
2953 CheckDelaySelect();
2954
2955 m_isphysical = NewStatus;
2956
2957 if (!childPrim)
2958 {
2959 if (NewStatus)
2960 {
2961 if (Body == IntPtr.Zero)
2962 MakeBody();
2963 }
2964 else
2965 {
2966 if (Body != IntPtr.Zero)
2967 {
2968 DestroyBody();
2969 }
2970 Stop();
2971 }
2972 }
2973
2974 resetCollisionAccounting();
2975 }
2976
2977 private void changeprimsizeshape()
2978 {
2979 CheckDelaySelect();
2980
2981 OdePrim parent = (OdePrim)_parent;
2982
2983 bool chp = childPrim;
2984
2985 if (chp)
2986 {
2987 if (parent != null)
2988 {
2989 parent.DestroyBody();
2990 }
2991 }
2992 else
2993 {
2994 DestroyBody();
2995 }
2996
2997 RemoveGeom();
2998
2999 // we don't need to do space calculation because the client sends a position update also.
3000 if (_size.X <= 0)
3001 _size.X = 0.01f;
3002 if (_size.Y <= 0)
3003 _size.Y = 0.01f;
3004 if (_size.Z <= 0)
3005 _size.Z = 0.01f;
3006 // Construction of new prim
3007
3008 CreateGeom();
3009
3010 if (prim_geom != IntPtr.Zero)
3011 {
3012 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3013 d.Quaternion myrot = new d.Quaternion();
3014 myrot.X = _orientation.X;
3015 myrot.Y = _orientation.Y;
3016 myrot.Z = _orientation.Z;
3017 myrot.W = _orientation.W;
3018 d.GeomSetQuaternion(prim_geom, ref myrot);
3019 }
3020
3021 if (m_isphysical)
3022 {
3023 if (chp)
3024 {
3025 if (parent != null)
3026 {
3027 parent.MakeBody();
3028 }
3029 }
3030 else
3031 MakeBody();
3032 }
3033
3034 else
3035 {
3036 UpdateCollisionCatFlags();
3037 ApplyCollisionCatFlags();
3038 }
3039
3040 resetCollisionAccounting();
3041 }
3042
3043 private void changeSize(Vector3 newSize)
3044 {
3045 _size = newSize;
3046 changeprimsizeshape();
3047 }
3048
3049 private void changeShape(PrimitiveBaseShape newShape)
3050 {
3051 if(newShape != null)
3052 _pbs = newShape;
3053 changeprimsizeshape();
3054 }
3055
3056 private void changeFloatOnWater(bool newval)
3057 {
3058 m_collidesWater = newval;
3059
3060 UpdateCollisionCatFlags();
3061 ApplyCollisionCatFlags();
3062 }
3063
3064 private void changeSetTorque(Vector3 newtorque)
3065 {
3066 if (!m_isSelected)
3067 {
3068 if (m_isphysical && Body != IntPtr.Zero)
3069 {
3070 if (m_disabled)
3071 enableBodySoft();
3072 else if (!d.BodyIsEnabled(Body))
3073 d.BodyEnable(Body);
3074
3075 }
3076 _torque = newtorque;
3077 }
3078 }
3079
3080 private void changeForce(Vector3 force)
3081 {
3082 m_force = force;
3083 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
3084 d.BodyEnable(Body);
3085 }
3086
3087 private void changeAddForce(Vector3 force)
3088 {
3089 m_forceacc += force;
3090 if (!m_isSelected)
3091 {
3092 lock (this)
3093 {
3094 //m_log.Info("[PHYSICS]: dequeing forcelist");
3095 if (m_isphysical && Body != IntPtr.Zero)
3096 {
3097 if (m_disabled)
3098 enableBodySoft();
3099 else if (!d.BodyIsEnabled(Body))
3100 d.BodyEnable(Body);
3101 }
3102 }
3103
3104 m_collisionscore = 0;
3105 }
3106 }
3107
3108 private void changeAddAngularForce(Vector3 aforce)
3109 {
3110 m_angularForceacc += aforce;
3111 if (!m_isSelected)
3112 {
3113 lock (this)
3114 {
3115 if (m_isphysical && Body != IntPtr.Zero)
3116 {
3117 if (m_disabled)
3118 enableBodySoft();
3119 else if (!d.BodyIsEnabled(Body))
3120 d.BodyEnable(Body);
3121 }
3122 }
3123 m_collisionscore = 0;
3124 }
3125 }
3126
3127 private void changevelocity(Vector3 newVel)
3128 {
3129 if (!m_isSelected)
3130 {
3131 if (Body != IntPtr.Zero)
3132 {
3133 if (m_disabled)
3134 enableBodySoft();
3135 else if (!d.BodyIsEnabled(Body))
3136 d.BodyEnable(Body);
3137
3138 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3139 }
3140 //resetCollisionAccounting();
3141 }
3142 _velocity = newVel;
3143 }
3144
3145 private void changeVolumedetetion(bool newVolDtc)
3146 {
3147 m_isVolumeDetect = newVolDtc;
3148 UpdateCollisionCatFlags();
3149 ApplyCollisionCatFlags();
3150 }
3151
3152 protected void changeBuilding(bool newbuilding)
3153 {
3154 if ((bool)newbuilding)
3155 {
3156 m_building = true;
3157 if (!childPrim)
3158 DestroyBody();
3159 }
3160 else
3161 {
3162 m_building = false;
3163 CheckDelaySelect();
3164 if (!childPrim)
3165 MakeBody();
3166 }
3167 if (!childPrim && childrenPrim.Count > 0)
3168 {
3169 foreach (OdePrim prm in childrenPrim)
3170 prm.changeBuilding(m_building); // call directly
3171 }
3172 }
3173
3174 public void changeSetVehicle(VehicleData vdata)
3175 {
3176 if (m_vehicle == null)
3177 m_vehicle = new ODEDynamics(this);
3178 m_vehicle.DoSetVehicle(vdata);
3179 }
3180 private void changeVehicleType(int value)
3181 {
3182 if (value == (int)Vehicle.TYPE_NONE)
3183 {
3184 if (m_vehicle != null)
3185 m_vehicle = null;
3186 }
3187 else
3188 {
3189 if (m_vehicle == null)
3190 m_vehicle = new ODEDynamics(this);
3191
3192 m_vehicle.ProcessTypeChange((Vehicle)value);
3193 }
3194 }
3195
3196 private void changeVehicleFloatParam(strVehicleFloatParam fp)
3197 {
3198 if (m_vehicle == null)
3199 return;
3200
3201 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
3202 }
3203
3204 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3205 {
3206 if (m_vehicle == null)
3207 return;
3208 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3209 }
3210
3211 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3212 {
3213 if (m_vehicle == null)
3214 return;
3215 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3216 }
3217
3218 private void changeVehicleFlags(strVehicleBoolParam bp)
3219 {
3220 if (m_vehicle == null)
3221 return;
3222 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3223 }
3224
3225 #endregion
3226
3227 public void Move()
3228 {
3229 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3230 !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3231 {
3232 if (d.BodyIsEnabled(Body))
3233 {
3234 float timestep = _parent_scene.ODE_STEPSIZE;
3235
3236 // check outside region
3237 d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
3238
3239 if (lpos.Z < -100 || lpos.Z > 100000f)
3240 {
3241 m_outbounds = true;
3242
3243 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3244 _acceleration.X = 0;
3245 _acceleration.Y = 0;
3246 _acceleration.Z = 0;
3247
3248 _velocity.X = 0;
3249 _velocity.Y = 0;
3250 _velocity.Z = 0;
3251 m_rotationalVelocity.X = 0;
3252 m_rotationalVelocity.Y = 0;
3253 m_rotationalVelocity.Z = 0;
3254
3255 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3256 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3257 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3258 m_lastposition = _position;
3259 m_lastorientation = _orientation;
3260
3261 base.RequestPhysicsterseUpdate();
3262
3263 m_throttleUpdates = false;
3264 throttleCounter = 0;
3265 _zeroFlag = true;
3266
3267 disableBodySoft(); // disable it and colisions
3268 base.RaiseOutOfBounds(_position);
3269 return;
3270 }
3271
3272 if (lpos.X < 0f)
3273 {
3274 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3275 m_outbounds = true;
3276 }
3277 else if (lpos.X > _parent_scene.WorldExtents.X)
3278 {
3279 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3280 m_outbounds = true;
3281 }
3282 if (lpos.Y < 0f)
3283 {
3284 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3285 m_outbounds = true;
3286 }
3287 else if (lpos.Y > _parent_scene.WorldExtents.Y)
3288 {
3289 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3290 m_outbounds = true;
3291 }
3292
3293 if (m_outbounds)
3294 {
3295 m_lastposition = _position;
3296 m_lastorientation = _orientation;
3297
3298 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3299 m_rotationalVelocity.X = dtmp.X;
3300 m_rotationalVelocity.Y = dtmp.Y;
3301 m_rotationalVelocity.Z = dtmp.Z;
3302
3303 dtmp = d.BodyGetLinearVel(Body);
3304 _velocity.X = dtmp.X;
3305 _velocity.Y = dtmp.Y;
3306 _velocity.Z = dtmp.Z;
3307
3308 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3309 d.BodySetAngularVel(Body, 0, 0, 0);
3310 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3311 disableBodySoft(); // stop collisions
3312 base.RequestPhysicsterseUpdate();
3313 return;
3314 }
3315
3316 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3317 {
3318 // 'VEHICLES' are dealt with in ODEDynamics.cs
3319 m_vehicle.Step();
3320 }
3321 else
3322 {
3323 float fx = 0;
3324 float fy = 0;
3325 float fz = 0;
3326
3327 float m_mass = _mass;
3328
3329 // fz = 0f;
3330 //m_log.Info(m_collisionFlags.ToString());
3331 if (m_usePID)
3332 {
3333
3334 // If the PID Controller isn't active then we set our force
3335 // calculating base velocity to the current position
3336
3337 if ((m_PIDTau < 1) && (m_PIDTau != 0))
3338 {
3339 //PID_G = PID_G / m_PIDTau;
3340 m_PIDTau = 1;
3341 }
3342
3343 if ((PID_G - m_PIDTau) <= 0)
3344 {
3345 PID_G = m_PIDTau + 1;
3346 }
3347
3348 d.Vector3 vel = d.BodyGetLinearVel(Body);
3349 d.Vector3 pos = d.BodyGetPosition(Body);
3350 _target_velocity =
3351 new Vector3(
3352 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
3353 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
3354 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
3355 );
3356
3357 // if velocity is zero, use position control; otherwise, velocity control
3358
3359 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3360 {
3361 // keep track of where we stopped. No more slippin' & slidin'
3362
3363 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3364 // react to the physics scene by moving it's position.
3365 // Avatar to Avatar collisions
3366 // Prim to avatar collisions
3367
3368 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
3369 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
3370 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
3371 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3372 d.BodySetLinearVel(Body, 0, 0, 0);
3373 d.BodyAddForce(Body, 0, 0, fz);
3374 return;
3375 }
3376 else
3377 {
3378 _zeroFlag = false;
3379
3380 // We're flying and colliding with something
3381 fx = ((_target_velocity.X) - vel.X) * (PID_D);
3382 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
3383
3384 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
3385
3386 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3387 }
3388 } // end if (m_usePID)
3389
3390 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3391 else if (m_useHoverPID)
3392 {
3393 //Console.WriteLine("Hover " + Name);
3394
3395 // If we're using the PID controller, then we have no gravity
3396
3397 // no lock; for now it's only called from within Simulate()
3398
3399 // If the PID Controller isn't active then we set our force
3400 // calculating base velocity to the current position
3401
3402 if ((m_PIDTau < 1))
3403 {
3404 PID_G = PID_G / m_PIDTau;
3405 }
3406
3407 if ((PID_G - m_PIDTau) <= 0)
3408 {
3409 PID_G = m_PIDTau + 1;
3410 }
3411
3412 // Where are we, and where are we headed?
3413 d.Vector3 pos = d.BodyGetPosition(Body);
3414 d.Vector3 vel = d.BodyGetLinearVel(Body);
3415
3416 // Non-Vehicles have a limited set of Hover options.
3417 // determine what our target height really is based on HoverType
3418 switch (m_PIDHoverType)
3419 {
3420 case PIDHoverType.Ground:
3421 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3422 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3423 break;
3424 case PIDHoverType.GroundAndWater:
3425 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3426 m_waterHeight = _parent_scene.GetWaterLevel();
3427 if (m_groundHeight > m_waterHeight)
3428 {
3429 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3430 }
3431 else
3432 {
3433 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3434 }
3435 break;
3436
3437 } // end switch (m_PIDHoverType)
3438
3439
3440 _target_velocity =
3441 new Vector3(0.0f, 0.0f,
3442 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3443 );
3444
3445 // if velocity is zero, use position control; otherwise, velocity control
3446
3447 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3448 {
3449 // keep track of where we stopped. No more slippin' & slidin'
3450
3451 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3452 // react to the physics scene by moving it's position.
3453 // Avatar to Avatar collisions
3454 // Prim to avatar collisions
3455
3456 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3457 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3458 // ? d.BodyAddForce(Body, 0, 0, fz);
3459 return;
3460 }
3461 else
3462 {
3463 _zeroFlag = false;
3464
3465 // We're flying and colliding with something
3466 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3467 }
3468 }
3469 else
3470 {
3471 float b = (1.0f - m_buoyancy);
3472 fx = _parent_scene.gravityx * b;
3473 fy = _parent_scene.gravityy * b;
3474 fz = _parent_scene.gravityz * b;
3475 }
3476
3477 fx *= m_mass;
3478 fy *= m_mass;
3479 fz *= m_mass;
3480
3481 // constant force
3482 fx += m_force.X;
3483 fy += m_force.Y;
3484 fz += m_force.Z;
3485
3486 fx += m_forceacc.X;
3487 fy += m_forceacc.Y;
3488 fz += m_forceacc.Z;
3489
3490 m_forceacc = Vector3.Zero;
3491
3492 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3493 if (fx != 0 || fy != 0 || fz != 0)
3494 {
3495 d.BodyAddForce(Body, fx, fy, fz);
3496 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3497 }
3498
3499 Vector3 trq;
3500
3501 trq = _torque;
3502 trq += m_angularForceacc;
3503 m_angularForceacc = Vector3.Zero;
3504 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3505 {
3506 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3507 }
3508 }
3509
3510 // update our ideia of velocities and acelerations
3511 d.Quaternion ori;
3512 d.Vector3 dtmpu;
3513
3514 _position.X = lpos.X;
3515 _position.Y = lpos.Y;
3516 _position.Z = lpos.Z;
3517
3518 d.GeomCopyQuaternion(prim_geom, out ori);
3519 _orientation.X = ori.X;
3520 _orientation.Y = ori.Y;
3521 _orientation.Z = ori.Z;
3522 _orientation.W = ori.W;
3523
3524 _acceleration = _velocity;
3525
3526 dtmpu = d.BodyGetLinearVel(Body);
3527 _velocity.X = dtmpu.X;
3528 _velocity.Y = dtmpu.Y;
3529 _velocity.Z = dtmpu.Z;
3530
3531 float invts = 1 / timestep;
3532 _acceleration = (_velocity - _acceleration) * invts;
3533
3534 dtmpu = d.BodyGetAngularVel(Body);
3535 m_rotationalVelocity.X = dtmpu.X;
3536 m_rotationalVelocity.Y = dtmpu.Y;
3537 m_rotationalVelocity.Z = dtmpu.Z;
3538 }
3539
3540 else // body disabled/sleeping
3541 {
3542 // let vehicles sleep
3543 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3544 return;
3545
3546 if (++bodydisablecontrol < 20)
3547 return;
3548
3549 bodydisablecontrol = 0;
3550 d.BodyEnable(Body);
3551 return;
3552 }
3553 }
3554 else
3555 { // is not physical, or is not a body or is selected
3556 // _zeroPosition = d.BodyGetPosition(Body);
3557 return;
3558 //Console.WriteLine("Nothing " + Name);
3559
3560 }
3561 }
3562
3563
3564 public void UpdatePositionAndVelocity(float simulatedtime)
3565 {
3566 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
3567 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
3568 {
3569 if (Body != IntPtr.Zero)
3570 {
3571 bool lastZeroFlag = _zeroFlag;
3572
3573 if ((Math.Abs(m_lastposition.X - _position.X) < 0.01)
3574 && (Math.Abs(m_lastposition.Y - _position.Y) < 0.01)
3575 && (Math.Abs(m_lastposition.Z - _position.Z) < 0.01)
3576 && (Math.Abs(m_lastorientation.X - _orientation.X) < 0.0001)
3577 && (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001)
3578 && (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)
3579 )
3580 {
3581 _zeroFlag = true;
3582 m_throttleUpdates = false;
3583 }
3584 else
3585 {
3586 _zeroFlag = false;
3587 m_lastUpdateSent = false;
3588 }
3589
3590 if (_zeroFlag)
3591 {
3592 m_lastposition = _position;
3593 m_lastorientation = _orientation;
3594
3595 _velocity = Vector3.Zero;
3596 _acceleration = Vector3.Zero;
3597 m_rotationalVelocity = Vector3.Zero;
3598
3599 if (!m_lastUpdateSent)
3600 {
3601 m_throttleUpdates = false;
3602 throttleCounter = 0;
3603
3604 base.RequestPhysicsterseUpdate();
3605
3606 m_lastUpdateSent = true;
3607 }
3608 }
3609 else
3610 {
3611 if (lastZeroFlag != _zeroFlag)
3612 {
3613 base.RequestPhysicsterseUpdate();
3614 }
3615
3616 m_lastUpdateSent = false;
3617 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3618 {
3619 m_lastposition = _position;
3620 m_lastorientation = _orientation;
3621 m_lastVelocity = _velocity;
3622 base.RequestPhysicsterseUpdate();
3623 }
3624 else
3625 {
3626 throttleCounter++;
3627 }
3628 }
3629 }
3630 else if (!m_lastUpdateSent || !_zeroFlag)
3631 {
3632 // Not a body.. so Make sure the client isn't interpolating
3633 _velocity = Vector3.Zero;
3634 _acceleration = Vector3.Zero;
3635 m_rotationalVelocity = Vector3.Zero;
3636 m_lastVelocity = Vector3.Zero;
3637
3638 _zeroFlag = true;
3639
3640 if (!m_lastUpdateSent)
3641 {
3642 m_throttleUpdates = false;
3643 throttleCounter = 0;
3644
3645 base.RequestPhysicsterseUpdate();
3646
3647 m_lastUpdateSent = true;
3648 }
3649 }
3650 }
3651 }
3652
3653 internal static bool QuaternionIsFinite(Quaternion q)
3654 {
3655 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3656 return false;
3657 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3658 return false;
3659 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3660 return false;
3661 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3662 return false;
3663 return true;
3664 }
3665
3666 internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3667 {
3668 dst.c.W = src.c.W;
3669 dst.c.X = src.c.X;
3670 dst.c.Y = src.c.Y;
3671 dst.c.Z = src.c.Z;
3672 dst.mass = src.mass;
3673 dst.I.M00 = src.I.M00;
3674 dst.I.M01 = src.I.M01;
3675 dst.I.M02 = src.I.M02;
3676 dst.I.M10 = src.I.M10;
3677 dst.I.M11 = src.I.M11;
3678 dst.I.M12 = src.I.M12;
3679 dst.I.M20 = src.I.M20;
3680 dst.I.M21 = src.I.M21;
3681 dst.I.M22 = src.I.M22;
3682 }
3683
3684 internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
3685 {
3686 // assumes object center of mass is zero
3687 float smass = part.mass;
3688 theobj.mass -= smass;
3689
3690 smass *= 1.0f / (theobj.mass); ;
3691
3692 theobj.c.X -= part.c.X * smass;
3693 theobj.c.Y -= part.c.Y * smass;
3694 theobj.c.Z -= part.c.Z * smass;
3695
3696 theobj.I.M00 -= part.I.M00;
3697 theobj.I.M01 -= part.I.M01;
3698 theobj.I.M02 -= part.I.M02;
3699 theobj.I.M10 -= part.I.M10;
3700 theobj.I.M11 -= part.I.M11;
3701 theobj.I.M12 -= part.I.M12;
3702 theobj.I.M20 -= part.I.M20;
3703 theobj.I.M21 -= part.I.M21;
3704 theobj.I.M22 -= part.I.M22;
3705 }
3706
3707 private static void DMassDup(ref d.Mass src, out d.Mass dst)
3708 {
3709 dst = new d.Mass { };
3710
3711 dst.c.W = src.c.W;
3712 dst.c.X = src.c.X;
3713 dst.c.Y = src.c.Y;
3714 dst.c.Z = src.c.Z;
3715 dst.mass = src.mass;
3716 dst.I.M00 = src.I.M00;
3717 dst.I.M01 = src.I.M01;
3718 dst.I.M02 = src.I.M02;
3719 dst.I.M10 = src.I.M10;
3720 dst.I.M11 = src.I.M11;
3721 dst.I.M12 = src.I.M12;
3722 dst.I.M20 = src.I.M20;
3723 dst.I.M21 = src.I.M21;
3724 dst.I.M22 = src.I.M22;
3725 }
3726 private void donullchange()
3727 {
3728 }
3729
3730 public bool DoAChange(changes what, object arg)
3731 {
3732 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3733 {
3734 return false;
3735 }
3736
3737 // nasty switch
3738 switch (what)
3739 {
3740 case changes.Add:
3741 changeadd();
3742 break;
3743 case changes.Remove:
3744 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3745 //When we return true, it destroys all of the prims in the linkset anyway
3746 if (_parent != null)
3747 {
3748 OdePrim parent = (OdePrim)_parent;
3749 parent.ChildRemove(this, false);
3750 }
3751 else
3752 ChildRemove(this, false);
3753
3754 m_vehicle = null;
3755 RemoveGeom();
3756 m_targetSpace = IntPtr.Zero;
3757 if (m_eventsubscription > 0)
3758 UnSubscribeEvents();
3759 return true;
3760
3761 case changes.Link:
3762 OdePrim tmp = (OdePrim)arg;
3763 changeLink(tmp);
3764 break;
3765
3766 case changes.DeLink:
3767 changeLink(null);
3768 break;
3769
3770 case changes.Position:
3771 changePosition((Vector3)arg);
3772 break;
3773
3774 case changes.Orientation:
3775 changeOrientation((Quaternion)arg);
3776 break;
3777
3778 case changes.PosOffset:
3779 donullchange();
3780 break;
3781
3782 case changes.OriOffset:
3783 donullchange();
3784 break;
3785
3786 case changes.Velocity:
3787 changevelocity((Vector3)arg);
3788 break;
3789
3790 // case changes.Acceleration:
3791 // changeacceleration((Vector3)arg);
3792 // break;
3793 // case changes.AngVelocity:
3794 // changeangvelocity((Vector3)arg);
3795 // break;
3796
3797 case changes.Force:
3798 changeForce((Vector3)arg);
3799 break;
3800
3801 case changes.Torque:
3802 changeSetTorque((Vector3)arg);
3803 break;
3804
3805 case changes.AddForce:
3806 changeAddForce((Vector3)arg);
3807 break;
3808
3809 case changes.AddAngForce:
3810 changeAddAngularForce((Vector3)arg);
3811 break;
3812
3813 case changes.AngLock:
3814 changeAngularLock((Vector3)arg);
3815 break;
3816
3817 case changes.Size:
3818 changeSize((Vector3)arg);
3819 break;
3820
3821 case changes.Shape:
3822 changeShape((PrimitiveBaseShape)arg);
3823 break;
3824
3825 case changes.CollidesWater:
3826 changeFloatOnWater((bool)arg);
3827 break;
3828
3829 case changes.VolumeDtc:
3830 changeVolumedetetion((bool)arg);
3831 break;
3832
3833 case changes.Phantom:
3834 changePhantomStatus((bool)arg);
3835 break;
3836
3837 case changes.Physical:
3838 changePhysicsStatus((bool)arg);
3839 break;
3840
3841 case changes.Selected:
3842 changeSelectedStatus((bool)arg);
3843 break;
3844
3845 case changes.disabled:
3846 changeDisable((bool)arg);
3847 break;
3848
3849 case changes.building:
3850 changeBuilding((bool)arg);
3851 break;
3852
3853 case changes.VehicleType:
3854 changeVehicleType((int)arg);
3855 break;
3856
3857 case changes.VehicleFlags:
3858 changeVehicleFlags((strVehicleBoolParam) arg);
3859 break;
3860
3861 case changes.VehicleFloatParam:
3862 changeVehicleFloatParam((strVehicleFloatParam) arg);
3863 break;
3864
3865 case changes.VehicleVectorParam:
3866 changeVehicleVectorParam((strVehicleVectorParam) arg);
3867 break;
3868
3869 case changes.VehicleRotationParam:
3870 changeVehicleRotationParam((strVehicleQuatParam) arg);
3871 break;
3872
3873 case changes.SetVehicle:
3874 changeSetVehicle((VehicleData) arg);
3875 break;
3876 case changes.Null:
3877 donullchange();
3878 break;
3879
3880 default:
3881 donullchange();
3882 break;
3883 }
3884 return false;
3885 }
3886
3887 public void AddChange(changes what, object arg)
3888 {
3889 _parent_scene.AddChange((PhysicsActor) this, what, arg);
3890 }
3891
3892
3893 private struct strVehicleBoolParam
3894 {
3895 public int param;
3896 public bool value;
3897 }
3898
3899 private struct strVehicleFloatParam
3900 {
3901 public int param;
3902 public float value;
3903 }
3904
3905 private struct strVehicleQuatParam
3906 {
3907 public int param;
3908 public Quaternion value;
3909 }
3910
3911 private struct strVehicleVectorParam
3912 {
3913 public int param;
3914 public Vector3 value;
3915 }
3916 }
3917} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..5122ebf
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,603 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using OdeAPI;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.OdePlugin
40{
41 /// <summary>
42 /// Processes raycast requests as ODE is in a state to be able to do them.
43 /// This ensures that it's thread safe and there will be no conflicts.
44 /// Requests get returned by a different thread then they were requested by.
45 /// </summary>
46 public class ODERayCastRequestManager
47 {
48 /// <summary>
49 /// Pending ray requests
50 /// </summary>
51 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
52
53 /// <summary>
54 /// Scene that created this object.
55 /// </summary>
56 private OdeScene m_scene;
57
58 IntPtr ray; // the ray. we only need one for our lifetime
59
60 private const int ColisionContactGeomsPerTest = 5;
61 private const int DefaultMaxCount = 25;
62 private const int MaxTimePerCallMS = 30;
63
64 /// <summary>
65 /// ODE near callback delegate
66 /// </summary>
67 private d.NearCallback nearCallback;
68 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
69 private List<ContactResult> m_contactResults = new List<ContactResult>();
70 private RayFilterFlags CurrentRayFilter;
71 private int CurrentMaxCount;
72
73 public ODERayCastRequestManager(OdeScene pScene)
74 {
75 m_scene = pScene;
76 nearCallback = near;
77 ray = d.CreateRay(IntPtr.Zero, 1.0f);
78 d.GeomSetCategoryBits(ray,0);
79 }
80
81 /// <summary>
82 /// Queues request for a raycast to all world
83 /// </summary>
84 /// <param name="position">Origin of Ray</param>
85 /// <param name="direction">Ray direction</param>
86 /// <param name="length">Ray length</param>
87 /// <param name="retMethod">Return method to send the results</param>
88 public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
89 {
90 ODERayRequest req = new ODERayRequest();
91 req.geom = IntPtr.Zero;
92 req.callbackMethod = retMethod;
93 req.Count = DefaultMaxCount;
94 req.length = length;
95 req.Normal = direction;
96 req.Origin = position;
97 req.filter = RayFilterFlags.AllPrims;
98
99 m_PendingRequests.Enqueue(req);
100 }
101
102 /// <summary>
103 /// Queues request for a raycast to particular part
104 /// </summary>
105 /// <param name="position">Origin of Ray</param>
106 /// <param name="direction">Ray direction</param>
107 /// <param name="length">Ray length</param>
108 /// <param name="retMethod">Return method to send the results</param>
109 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
110 {
111 ODERayRequest req = new ODERayRequest();
112 req.geom = geom;
113 req.callbackMethod = retMethod;
114 req.length = length;
115 req.Normal = direction;
116 req.Origin = position;
117 req.Count = DefaultMaxCount;
118 req.filter = RayFilterFlags.AllPrims;
119
120 m_PendingRequests.Enqueue(req);
121 }
122
123 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
124 {
125 ODERayRequest req = new ODERayRequest();
126 req.geom = IntPtr.Zero;
127 req.callbackMethod = retMethod;
128 req.Count = DefaultMaxCount;
129 req.length = length;
130 req.Normal = direction;
131 req.Origin = position;
132 req.filter = RayFilterFlags.AllPrims;
133
134 m_PendingRequests.Enqueue(req);
135 }
136
137 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
138 {
139 ODERayRequest req = new ODERayRequest();
140 req.geom = geom;
141 req.callbackMethod = retMethod;
142 req.length = length;
143 req.Normal = direction;
144 req.Origin = position;
145 req.Count = DefaultMaxCount;
146 req.filter = RayFilterFlags.AllPrims;
147
148 m_PendingRequests.Enqueue(req);
149 }
150
151 /// <summary>
152 /// Queues a raycast
153 /// </summary>
154 /// <param name="position">Origin of Ray</param>
155 /// <param name="direction">Ray normal</param>
156 /// <param name="length">Ray length</param>
157 /// <param name="count"></param>
158 /// <param name="retMethod">Return method to send the results</param>
159 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
160 {
161 ODERayRequest req = new ODERayRequest();
162 req.geom = IntPtr.Zero;
163 req.callbackMethod = retMethod;
164 req.length = length;
165 req.Normal = direction;
166 req.Origin = position;
167 req.Count = count;
168 req.filter = RayFilterFlags.AllPrims;
169
170 m_PendingRequests.Enqueue(req);
171 }
172
173
174 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count,RayFilterFlags filter , RayCallback retMethod)
175 {
176 ODERayRequest req = new ODERayRequest();
177 req.geom = IntPtr.Zero;
178 req.callbackMethod = retMethod;
179 req.length = length;
180 req.Normal = direction;
181 req.Origin = position;
182 req.Count = count;
183 req.filter = filter;
184
185 m_PendingRequests.Enqueue(req);
186 }
187
188 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
189 {
190 ODERayRequest req = new ODERayRequest();
191 req.geom = geom;
192 req.callbackMethod = retMethod;
193 req.length = length;
194 req.Normal = direction;
195 req.Origin = position;
196 req.Count = count;
197 req.filter = RayFilterFlags.AllPrims;
198
199 m_PendingRequests.Enqueue(req);
200 }
201
202 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
203 {
204 ODERayRequest req = new ODERayRequest();
205 req.geom = IntPtr.Zero;
206 req.callbackMethod = retMethod;
207 req.length = length;
208 req.Normal = direction;
209 req.Origin = position;
210 req.Count = count;
211 req.filter = RayFilterFlags.AllPrims;
212
213 m_PendingRequests.Enqueue(req);
214 }
215
216 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
217 {
218 ODERayRequest req = new ODERayRequest();
219 req.geom = geom;
220 req.callbackMethod = retMethod;
221 req.length = length;
222 req.Normal = direction;
223 req.Origin = position;
224 req.Count = count;
225 req.filter = RayFilterFlags.AllPrims;
226
227 m_PendingRequests.Enqueue(req);
228 }
229
230 /// <summary>
231 /// Process all queued raycast requests
232 /// </summary>
233 /// <returns>Time in MS the raycasts took to process.</returns>
234 public int ProcessQueuedRequests()
235 {
236
237 if (m_PendingRequests.Count <= 0)
238 return 0;
239
240 if (m_scene.ContactgeomsArray == IntPtr.Zero || ray == IntPtr.Zero)
241 // oops something got wrong or scene isn't ready still
242 {
243 m_PendingRequests.Clear();
244 return 0;
245 }
246
247 int time = Util.EnvironmentTickCount();
248
249 ODERayRequest req;
250 int closestHit;
251 int backfacecull;
252 CollisionCategories catflags;
253
254 while (m_PendingRequests.Dequeue(out req))
255 {
256 if (req.callbackMethod != null)
257 {
258 CurrentRayFilter = req.filter;
259 CurrentMaxCount = req.Count;
260
261 closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
262 backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
263
264 d.GeomRaySetLength(ray, req.length);
265 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
266 d.GeomRaySetParams(ray, 0, backfacecull);
267 d.GeomRaySetClosestHit(ray, closestHit);
268
269 if (req.callbackMethod is RaycastCallback)
270 // if we only want one get only one per colision pair saving memory
271 CurrentRayFilter |= RayFilterFlags.ClosestHit;
272
273 if (req.geom == IntPtr.Zero)
274 {
275 // translate ray filter to colision flags
276 catflags = 0;
277 if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
278 catflags |= CollisionCategories.VolumeDtc;
279 if ((CurrentRayFilter & RayFilterFlags.phantom) != 0)
280 catflags |= CollisionCategories.Phantom;
281 if ((CurrentRayFilter & RayFilterFlags.agent) != 0)
282 catflags |= CollisionCategories.Character;
283 if ((CurrentRayFilter & RayFilterFlags.PrimsNonPhantom) != 0)
284 catflags |= CollisionCategories.Geom;
285 if ((CurrentRayFilter & RayFilterFlags.land) != 0)
286 catflags |= CollisionCategories.Land;
287 if ((CurrentRayFilter & RayFilterFlags.water) != 0)
288 catflags |= CollisionCategories.Water;
289
290 if (catflags != 0)
291 doSpaceRay(req);
292 }
293 else
294 {
295 // if we select a geom don't use filters
296 d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
297 doGeomRay(req);
298 }
299 }
300
301 if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS)
302 break;
303 }
304
305 lock (m_contactResults)
306 m_contactResults.Clear();
307
308 return Util.EnvironmentTickCountSubtract(time);
309 }
310 /// <summary>
311 /// Method that actually initiates the raycast with spaces
312 /// </summary>
313 /// <param name="req"></param>
314 ///
315
316 private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhanton;
317 private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
318
319 private void doSpaceRay(ODERayRequest req)
320 {
321 // Collide tests
322 if ((CurrentRayFilter & FilterActiveSpace) != 0)
323 d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
324 if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
325 d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
326
327 if (req.callbackMethod is RaycastCallback)
328 {
329 // Define default results
330 bool hitYN = false;
331 uint hitConsumerID = 0;
332 float distance = float.MaxValue;
333 Vector3 closestcontact = Vector3.Zero;
334 Vector3 snormal = Vector3.Zero;
335
336 // Find closest contact and object.
337 lock (m_contactResults)
338 {
339 foreach (ContactResult cResult in m_contactResults)
340 {
341 if(cResult.Depth < distance)
342 {
343 closestcontact = cResult.Pos;
344 hitConsumerID = cResult.ConsumerID;
345 distance = cResult.Depth;
346 snormal = cResult.Normal;
347 }
348 }
349 m_contactResults.Clear();
350 }
351
352 if (distance > 0 && distance < float.MaxValue)
353 hitYN = true;
354 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
355 }
356 else
357 {
358 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
359 lock (m_PendingRequests)
360 {
361 cresult.AddRange(m_contactResults);
362 m_contactResults.Clear();
363 }
364 ((RayCallback)req.callbackMethod)(cresult);
365 }
366 }
367
368 /// <summary>
369 /// Method that actually initiates the raycast with a geom
370 /// </summary>
371 /// <param name="req"></param>
372 private void doGeomRay(ODERayRequest req)
373 {
374 // Collide test
375 d.SpaceCollide2(ray, req.geom, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
376
377 if (req.callbackMethod is RaycastCallback)
378 {
379 // Define default results
380 bool hitYN = false;
381 uint hitConsumerID = 0;
382 float distance = float.MaxValue;
383 Vector3 closestcontact = Vector3.Zero;
384 Vector3 snormal = Vector3.Zero;
385
386 // Find closest contact and object.
387 lock (m_contactResults)
388 {
389 foreach (ContactResult cResult in m_contactResults)
390 {
391 if(cResult.Depth < distance )
392 {
393 closestcontact = cResult.Pos;
394 hitConsumerID = cResult.ConsumerID;
395 distance = cResult.Depth;
396 snormal = cResult.Normal;
397 }
398 }
399 m_contactResults.Clear();
400 }
401
402 if (distance > 0 && distance < float.MaxValue)
403 hitYN = true;
404
405 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
406 }
407 else
408 {
409 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
410 lock (m_PendingRequests)
411 {
412 cresult.AddRange(m_contactResults);
413 m_contactResults.Clear();
414 }
415 ((RayCallback)req.callbackMethod)(cresult);
416 }
417 }
418
419 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
420 {
421 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
422 if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
423 return false;
424
425 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
426 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
427 return true;
428 }
429
430 // This is the standard Near. g1 is the ray
431 private void near(IntPtr space, IntPtr g1, IntPtr g2)
432 {
433 if (g2 == IntPtr.Zero || g1 == g2)
434 return;
435
436 if (m_contactResults.Count >= CurrentMaxCount)
437 return;
438
439 if (d.GeomIsSpace(g2))
440 {
441 try
442 {
443 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
444 }
445 catch (Exception e)
446 {
447 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
448 }
449 return;
450 }
451
452 int count = 0;
453 try
454 {
455 count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
456 }
457 catch (Exception e)
458 {
459 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
460 return;
461 }
462
463 if (count == 0)
464 return;
465
466 uint ID = 0;
467 PhysicsActor p2 = null;
468
469 m_scene.actor_name_map.TryGetValue(g2, out p2);
470
471 if (p2 == null)
472 {
473 string name;
474
475 if (!m_scene.geom_name_map.TryGetValue(g2, out name))
476 return;
477
478 if (name == "Terrain")
479 {
480 // land colision
481 if ((CurrentRayFilter & RayFilterFlags.land) == 0)
482 return;
483 }
484 else if (name == "Water")
485 {
486 if ((CurrentRayFilter & RayFilterFlags.water) == 0)
487 return;
488 }
489 else
490 return;
491 }
492 else
493 {
494 if (p2 is OdePrim)
495 {
496 RayFilterFlags thisFlags;
497
498 if (p2.IsPhysical)
499 thisFlags = RayFilterFlags.physical;
500 else
501 thisFlags = RayFilterFlags.nonphysical;
502
503 if (p2.Phantom)
504 thisFlags |= RayFilterFlags.phantom;
505
506 if (p2.IsVolumeDtc)
507 thisFlags |= RayFilterFlags.volumedtc;
508
509 if ((thisFlags & CurrentRayFilter) == 0)
510 return;
511
512 ID = ((OdePrim)p2).m_localID;
513 }
514 else if (p2 is OdeCharacter)
515 {
516 if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
517 return;
518 else
519 ID = ((OdeCharacter)p2).m_localID;
520 }
521 else //??
522 return;
523 }
524
525 d.ContactGeom curcontact = new d.ContactGeom();
526
527 // closestHit for now only works for meshs, so must do it for others
528 if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
529 {
530 // Loop all contacts, build results.
531 for (int i = 0; i < count; i++)
532 {
533 if (!GetCurContactGeom(i, ref curcontact))
534 break;
535
536 ContactResult collisionresult = new ContactResult();
537 collisionresult.ConsumerID = ID;
538 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
539 collisionresult.Depth = curcontact.depth;
540 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
541 curcontact.normal.Z);
542 lock (m_contactResults)
543 {
544 m_contactResults.Add(collisionresult);
545 if (m_contactResults.Count >= CurrentMaxCount)
546 return;
547 }
548 }
549 }
550 else
551 {
552 // keep only closest contact
553 ContactResult collisionresult = new ContactResult();
554 collisionresult.ConsumerID = ID;
555 collisionresult.Depth = float.MaxValue;
556
557 for (int i = 0; i < count; i++)
558 {
559 if (!GetCurContactGeom(i, ref curcontact))
560 break;
561
562 if (curcontact.depth < collisionresult.Depth)
563 {
564 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
565 collisionresult.Depth = curcontact.depth;
566 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
567 curcontact.normal.Z);
568 }
569 }
570
571 if (collisionresult.Depth != float.MaxValue)
572 {
573 lock (m_contactResults)
574 m_contactResults.Add(collisionresult);
575 }
576 }
577 }
578
579 /// <summary>
580 /// Dereference the creator scene so that it can be garbage collected if needed.
581 /// </summary>
582 internal void Dispose()
583 {
584 m_scene = null;
585 if (ray != IntPtr.Zero)
586 {
587 d.GeomDestroy(ray);
588 ray = IntPtr.Zero;
589 }
590 }
591 }
592
593 public struct ODERayRequest
594 {
595 public IntPtr geom;
596 public Vector3 Origin;
597 public Vector3 Normal;
598 public int Count;
599 public float length;
600 public object callbackMethod;
601 public RayFilterFlags filter;
602 }
603} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
new file mode 100644
index 0000000..0e4961b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,2005 @@
1/*
2 * based on:
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 * changes by opensim team;
39 * changes by Aurora team http://www.aurora-sim.org/
40
41 * Revision/fixs by Ubit Umarov
42 */
43
44using System;
45using System.Runtime.InteropServices;
46using System.Security;
47
48namespace OdeAPI
49{
50//#if dDOUBLE
51// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
52// at least we save same memory and memory access time, FPU performance on intel usually is similar
53// using dReal = System.Double;
54//#else
55 using dReal = System.Single;
56//#endif
57
58 public static class d
59 {
60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0;
63
64 #region Flags and Enumerations
65
66 [Flags]
67 public enum AllocateODEDataFlags : uint
68 {
69 BasicData = 0,
70 CollisionData = 0x00000001,
71 All = ~0u
72 }
73
74 [Flags]
75 public enum IniteODEFlags : uint
76 {
77 dInitFlagManualThreadCleanup = 0x00000001
78 }
79
80 [Flags]
81 public enum ContactFlags : int
82 {
83 Mu2 = 0x001,
84 FDir1 = 0x002,
85 Bounce = 0x004,
86 SoftERP = 0x008,
87 SoftCFM = 0x010,
88 Motion1 = 0x020,
89 Motion2 = 0x040,
90 MotionN = 0x080,
91 Slip1 = 0x100,
92 Slip2 = 0x200,
93 Approx0 = 0x0000,
94 Approx1_1 = 0x1000,
95 Approx1_2 = 0x2000,
96 Approx1 = 0x3000
97 }
98
99 public enum GeomClassID : int
100 {
101 SphereClass,
102 BoxClass,
103 CapsuleClass,
104 CylinderClass,
105 PlaneClass,
106 RayClass,
107 ConvexClass,
108 GeomTransformClass,
109 TriMeshClass,
110 HeightfieldClass,
111 FirstSpaceClass,
112 SimpleSpaceClass = FirstSpaceClass,
113 HashSpaceClass,
114 QuadTreeSpaceClass,
115 LastSpaceClass = QuadTreeSpaceClass,
116 UbitTerrainClass,
117 FirstUserClass,
118 LastUserClass = FirstUserClass + MaxUserClasses - 1,
119 NumClasses,
120 MaxUserClasses = 5
121 }
122
123 public enum JointType : int
124 {
125 None,
126 Ball,
127 Hinge,
128 Slider,
129 Contact,
130 Universal,
131 Hinge2,
132 Fixed,
133 Null,
134 AMotor,
135 LMotor,
136 Plane2D
137 }
138
139 public enum JointParam : int
140 {
141 LoStop,
142 HiStop,
143 Vel,
144 FMax,
145 FudgeFactor,
146 Bounce,
147 CFM,
148 StopERP,
149 StopCFM,
150 SuspensionERP,
151 SuspensionCFM,
152 LoStop2 = 256,
153 HiStop2,
154 Vel2,
155 FMax2,
156 FudgeFactor2,
157 Bounce2,
158 CFM2,
159 StopERP2,
160 StopCFM2,
161 SuspensionERP2,
162 SuspensionCFM2,
163 LoStop3 = 512,
164 HiStop3,
165 Vel3,
166 FMax3,
167 FudgeFactor3,
168 Bounce3,
169 CFM3,
170 StopERP3,
171 StopCFM3,
172 SuspensionERP3,
173 SuspensionCFM3
174 }
175
176 public enum dSweepAndPruneAxis : int
177 {
178 XYZ = ((0)|(1<<2)|(2<<4)),
179 XZY = ((0)|(2<<2)|(1<<4)),
180 YXZ = ((1)|(0<<2)|(2<<4)),
181 YZX = ((1)|(2<<2)|(0<<4)),
182 ZXY = ((2)|(0<<2)|(1<<4)),
183 ZYX = ((2)|(1<<2)|(0<<4))
184 }
185
186 #endregion
187
188 #region Callbacks
189
190 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
191 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
192
193 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
194 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
195
196 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
197 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
198
199 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
200 public delegate ColliderFn GetColliderFnFn(int num);
201
202 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
203 public delegate void GeomDtorFn(IntPtr o);
204
205 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
206 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
207
208 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
209 public delegate dReal UbitTerrainGetHeight(IntPtr p_user_data, int x, int z);
210
211 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
212 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
213
214 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
215 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
216
217 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
218 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
219
220 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
221 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
222
223 #endregion
224
225 #region Structs
226
227 [StructLayout(LayoutKind.Sequential)]
228 public struct AABB
229 {
230 public dReal MinX, MaxX;
231 public dReal MinY, MaxY;
232 public dReal MinZ, MaxZ;
233 }
234
235
236 [StructLayout(LayoutKind.Sequential)]
237 public struct Contact
238 {
239 public SurfaceParameters surface;
240 public ContactGeom geom;
241 public Vector3 fdir1;
242 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
243 }
244
245
246 [StructLayout(LayoutKind.Sequential)]
247 public struct ContactGeom
248 {
249
250 public Vector3 pos;
251 public Vector3 normal;
252 public dReal depth;
253 public IntPtr g1;
254 public IntPtr g2;
255 public int side1;
256 public int side2;
257 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
258 }
259
260 [StructLayout(LayoutKind.Sequential)]
261 public struct GeomClass
262 {
263 public int bytes;
264 public GetColliderFnFn collider;
265 public GetAABBFn aabb;
266 public AABBTestFn aabb_test;
267 public GeomDtorFn dtor;
268 }
269
270
271 [StructLayout(LayoutKind.Sequential)]
272 public struct JointFeedback
273 {
274 public Vector3 f1;
275 public Vector3 t1;
276 public Vector3 f2;
277 public Vector3 t2;
278 }
279
280
281 [StructLayout(LayoutKind.Sequential)]
282 public struct Mass
283 {
284 public dReal mass;
285 public Vector4 c;
286 public Matrix3 I;
287 }
288
289
290 [StructLayout(LayoutKind.Sequential)]
291 public struct Matrix3
292 {
293 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
294 {
295 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
296 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
297 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
298 }
299 public dReal M00, M10, M20;
300 private dReal _m30;
301 public dReal M01, M11, M21;
302 private dReal _m31;
303 public dReal M02, M12, M22;
304 private dReal _m32;
305 }
306
307 [StructLayout(LayoutKind.Sequential)]
308 public struct Matrix4
309 {
310 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
311 dReal m01, dReal m11, dReal m21, dReal m31,
312 dReal m02, dReal m12, dReal m22, dReal m32,
313 dReal m03, dReal m13, dReal m23, dReal m33)
314 {
315 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
316 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
317 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
318 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
319 }
320 public dReal M00, M10, M20, M30;
321 public dReal M01, M11, M21, M31;
322 public dReal M02, M12, M22, M32;
323 public dReal M03, M13, M23, M33;
324 }
325
326 [StructLayout(LayoutKind.Sequential)]
327 public struct Quaternion
328 {
329 public dReal W, X, Y, Z;
330 }
331
332
333 [StructLayout(LayoutKind.Sequential)]
334 public struct SurfaceParameters
335 {
336 public ContactFlags mode;
337 public dReal mu;
338 public dReal mu2;
339 public dReal bounce;
340 public dReal bounce_vel;
341 public dReal soft_erp;
342 public dReal soft_cfm;
343 public dReal motion1;
344 public dReal motion2;
345 public dReal motionN;
346 public dReal slip1;
347 public dReal slip2;
348 }
349
350
351 [StructLayout(LayoutKind.Sequential)]
352 public struct Vector3
353 {
354 public Vector3(dReal x, dReal y, dReal z)
355 {
356 X = x; Y = y; Z = z; _w = 0.0f;
357 }
358 public dReal X, Y, Z;
359 private dReal _w;
360 }
361
362
363 [StructLayout(LayoutKind.Sequential)]
364 public struct Vector4
365 {
366 public Vector4(dReal x, dReal y, dReal z, dReal w)
367 {
368 X = x; Y = y; Z = z; W = w;
369 }
370 public dReal X, Y, Z, W;
371 }
372
373 #endregion
374
375 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
376 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
377
378 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
379 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
380
381 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
382 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
383
384 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
385 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
386
387 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
388 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
389
390 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
391 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
392
393 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
394 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
395
396 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
397 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
398
399 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
400 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
401
402 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
403 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
404
405 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
406 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
407
408 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
409 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
410
411 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
412 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
413
414 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
415 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
416
417 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
418 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
419
420 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
421 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
422
423 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
424 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
425
426 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
427 public static extern IntPtr BodyiCreate(IntPtr world);
428 public static IntPtr BodyCreate(IntPtr world)
429 {
430 NTotalBodies++;
431 return BodyiCreate(world);
432 }
433
434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
435 public static extern void BodyiDestroy(IntPtr body);
436 public static void BodyDestroy(IntPtr body)
437 {
438 NTotalBodies--;
439 BodyiDestroy(body);
440 }
441
442 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
443 public static extern void BodyDisable(IntPtr body);
444
445 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
446 public static extern void BodyEnable(IntPtr body);
447
448 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
449 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
450
451 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
452 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
453
454 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
455 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
456
457 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
458 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
459
460 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
461 public static extern int BodyGetAutoDisableSteps(IntPtr body);
462
463 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
464 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
465
466 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
467 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
468 public static Vector3 BodyGetAngularVel(IntPtr body)
469 {
470 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
471 }
472
473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
474 public static extern IntPtr BodyGetData(IntPtr body);
475
476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
477 public static extern int BodyGetFiniteRotationMode(IntPtr body);
478
479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
480 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
481
482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
483 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
484 public static Vector3 BodyGetForce(IntPtr body)
485 {
486 unsafe { return *(BodyGetForceUnsafe(body)); }
487 }
488
489 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
490 public static extern bool BodyGetGravityMode(IntPtr body);
491
492 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
493 public static extern int BodyGetGyroscopicMode(IntPtr body);
494
495 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
496 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
497
498 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
499 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
500 public static Vector3 BodyGetLinearVel(IntPtr body)
501 {
502 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
503 }
504
505 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
506 public static extern void BodyGetMass(IntPtr body, out Mass mass);
507
508 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
509 public static extern int BodyGetNumJoints(IntPtr body);
510
511 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
512 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
513
514 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
515 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
516 public static Vector3 BodyGetPosition(IntPtr body)
517 {
518 unsafe { return *(BodyGetPositionUnsafe(body)); }
519 }
520
521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
522 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
523
524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
525 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
526 public static Quaternion BodyGetQuaternion(IntPtr body)
527 {
528 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
529 }
530
531 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
532 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
533
534 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
535 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
536
537 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
538 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
539 public static Matrix3 BodyGetRotation(IntPtr body)
540 {
541 unsafe { return *(BodyGetRotationUnsafe(body)); }
542 }
543
544 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
545 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
546 public static Vector3 BodyGetTorque(IntPtr body)
547 {
548 unsafe { return *(BodyGetTorqueUnsafe(body)); }
549 }
550
551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
552 public static extern IntPtr BodyGetWorld(IntPtr body);
553
554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
555 public static extern IntPtr BodyGetFirstGeom(IntPtr body);
556
557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
558 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
559
560
561 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
562 public static extern bool BodyIsEnabled(IntPtr body);
563
564 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
565 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
566
567 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
568 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
569
570 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
571 public static extern void BodySetAutoDisableDefaults(IntPtr body);
572
573 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
574 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
575
576 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
577 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
578
579 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
580 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
581
582 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
583 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
584
585 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
586 public static extern void BodySetData(IntPtr body, IntPtr data);
587
588 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
589 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
590
591 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
592 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
593
594 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
595 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
596
597 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
598 public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
599
600 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
601 public static extern dReal BodyGetLinearDamping(IntPtr body);
602
603 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
604 public static extern dReal BodyGetAngularDamping(IntPtr body);
605
606 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
607 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
608
609 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
610 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
611
612 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
613 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
614
615 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
616 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
617
618 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
619 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
620
621 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
622 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
623
624 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
625 public static extern void BodySetGravityMode(IntPtr body, bool mode);
626
627 /// <summary>
628 /// Sets the Gyroscopic term status on the body specified.
629 /// </summary>
630 /// <param name="body">Pointer to body</param>
631 /// <param name="enabled">NonZero enabled, Zero disabled</param>
632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
633 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
634
635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
636 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
637
638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
639 public static extern void BodySetMass(IntPtr body, ref Mass mass);
640
641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
642 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
643
644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
645 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
646
647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
648 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
649
650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
651 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
652
653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
654 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
655
656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
657 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
658
659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
660 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
661
662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
663 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
664
665 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
666 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
667 ref Vector3 side1, ref Vector3 p2,
668 ref Matrix3 R2, ref Vector3 side2,
669 ref Vector3 normal, out dReal depth, out int return_code,
670 int maxc, out ContactGeom contact, int skip);
671
672 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
673 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
674 ref Vector3 side1, ref Vector3 _p2,
675 ref Matrix3 R2, ref Vector3 side2);
676
677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
678 public static extern void CleanupODEAllDataForThread();
679
680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
681 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
682 ref Vector3 b1, ref Vector3 b2,
683 ref Vector3 cp1, ref Vector3 cp2);
684
685 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
686 public static extern void CloseODE();
687
688 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
689 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
690 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
691 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
692
693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
694 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
695
696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
697 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
698 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
699 {
700 NTotalGeoms++;
701 return CreateiBox(space, lx, ly, lz);
702 }
703
704 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
705 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
706 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
707 {
708 NTotalGeoms++;
709 return CreateiCapsule(space, radius, length);
710 }
711
712 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
713 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
714 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
715 {
716 NTotalGeoms++;
717 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
718 }
719
720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
721 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
722 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
723 {
724 NTotalGeoms++;
725 return CreateiCylinder(space, radius, length);
726 }
727
728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
729 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
730 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
731 {
732 NTotalGeoms++;
733 return CreateiHeightfield(space, data, bPlaceable);
734 }
735
736 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateUbitTerrain"), SuppressUnmanagedCodeSecurity]
737 public static extern IntPtr CreateiUbitTerrain(IntPtr space, IntPtr data, int bPlaceable);
738 public static IntPtr CreateUbitTerrain(IntPtr space, IntPtr data, int bPlaceable)
739 {
740 NTotalGeoms++;
741 return CreateiUbitTerrain(space, data, bPlaceable);
742 }
743
744
745
746
747
748 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
749 public static extern IntPtr CreateiGeom(int classnum);
750 public static IntPtr CreateGeom(int classnum)
751 {
752 NTotalGeoms++;
753 return CreateiGeom(classnum);
754 }
755
756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
757 public static extern int CreateGeomClass(ref GeomClass classptr);
758
759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
760 public static extern IntPtr CreateGeomTransform(IntPtr space);
761
762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
763 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
764 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
765 {
766 NTotalGeoms++;
767 return CreateiPlane(space, a, b, c, d);
768 }
769
770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
771 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
772 public static IntPtr CreateRay(IntPtr space, dReal length)
773 {
774 NTotalGeoms++;
775 return CreateiRay(space, length);
776 }
777
778 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
779 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
780 public static IntPtr CreateSphere(IntPtr space, dReal radius)
781 {
782 NTotalGeoms++;
783 return CreateiSphere(space, radius);
784 }
785
786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
787 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
788 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
789 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
790 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
791 {
792 NTotalGeoms++;
793 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
794 }
795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
796 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
797
798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
799 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
800
801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
802 public static extern int FactorCholesky(ref dReal A00, int n);
803
804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
805 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
806
807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
808 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
809
810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
811 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
812
813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
814 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
815
816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
817 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
818
819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
820 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
821
822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
823 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
824
825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
826 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
827
828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
829 public static extern void GeomClearOffset(IntPtr geom);
830
831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
832 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
833
834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
835 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
836
837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
838 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
839
840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
841 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
842
843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
844 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
845
846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
847 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
848
849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
850 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
851
852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
853 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
854
855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
856 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
857
858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
859 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
860
861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
862 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
863
864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
865 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
866
867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
868 public static extern void GeomiDestroy(IntPtr geom);
869 public static void GeomDestroy(IntPtr geom)
870 {
871 NTotalGeoms--;
872 GeomiDestroy(geom);
873 }
874
875
876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
877 public static extern void GeomDisable(IntPtr geom);
878
879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
880 public static extern void GeomEnable(IntPtr geom);
881
882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
883 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
884
885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
886 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
887
888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
889 public static extern IntPtr GeomGetBody(IntPtr geom);
890
891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
892 public static extern uint GeomGetCategoryBits(IntPtr geom);
893
894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
895 public static extern IntPtr GeomGetClassData(IntPtr geom);
896
897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
898 public static extern uint GeomGetCollideBits(IntPtr geom);
899
900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
901 public static extern GeomClassID GeomGetClass(IntPtr geom);
902
903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
904 public static extern IntPtr GeomGetData(IntPtr geom);
905
906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
907 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
908 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
909 {
910 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
911 }
912
913 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
914 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
915 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
916 {
917 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
918 }
919
920 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
921 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
922 public static Vector3 GeomGetPosition(IntPtr geom)
923 {
924 unsafe { return *(GeomGetPositionUnsafe(geom)); }
925 }
926
927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
928 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
929
930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
931 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
932
933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
934 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
935 public static Matrix3 GeomGetRotation(IntPtr geom)
936 {
937 unsafe { return *(GeomGetRotationUnsafe(geom)); }
938 }
939
940 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
941 public static extern IntPtr GeomGetSpace(IntPtr geom);
942
943 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
944 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
945 dReal width, dReal depth, int widthSamples, int depthSamples,
946 dReal scale, dReal offset, dReal thickness, int bWrap);
947
948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
949 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
950 dReal width, dReal depth, int widthSamples, int depthSamples,
951 dReal scale, dReal offset, dReal thickness, int bWrap);
952
953 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
954 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
955 dReal width, dReal depth, int widthSamples, int depthSamples,
956 dReal scale, dReal offset, dReal thickness, int bWrap);
957
958 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
959 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
960 dReal width, dReal depth, int widthSamples, int depthSamples,
961 dReal scale, dReal offset, dReal thickness, int bWrap);
962
963 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
964 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
965 dReal width, dReal depth, int widthSamples, int depthSamples,
966 dReal scale, dReal offset, dReal thickness, int bWrap);
967
968 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
969 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
970 dReal width, dReal depth, int widthSamples, int depthSamples,
971 dReal scale, dReal offset, dReal thickness, int bWrap);
972
973 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
974 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
975 dReal width, dReal depth, int widthSamples, int depthSamples,
976 dReal scale, dReal offset, dReal thickness, int bWrap);
977
978 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
979 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
980 dReal width, dReal depth, int widthSamples, int depthSamples,
981 dReal scale, dReal offset, dReal thickness, int bWrap);
982
983
984
985 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
986 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
987 dReal width, dReal depth, int widthSamples, int depthSamples,
988 dReal scale, dReal offset, dReal thickness, int bWrap);
989
990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
991 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
992 dReal width, dReal depth, int widthSamples, int depthSamples,
993 dReal scale, dReal offset, dReal thickness, int bWrap);
994
995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
996 public static extern IntPtr GeomHeightfieldDataCreate();
997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
999 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
1000
1001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
1002 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1003
1004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1005 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1008 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
1009
1010
1011 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1012 public static extern void GeomUbitTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData,
1013 dReal sampleSize, int widthSamples, int depthSamples,
1014 dReal offset, dReal thickness, int bWrap);
1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomUbitTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
1018 dReal sampleSize, int widthSamples, int depthSamples,
1019 dReal thickness, int bWrap);
1020
1021 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataCreate"), SuppressUnmanagedCodeSecurity]
1022 public static extern IntPtr GeomUbitTerrainDataCreate();
1023
1024 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataDestroy"), SuppressUnmanagedCodeSecurity]
1025 public static extern void GeomUbitTerrainDataDestroy(IntPtr d);
1026
1027 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity]
1028 public static extern void GeomUbitTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
1029
1030 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1031 public static extern IntPtr GeomUbitTerrainGetHeightfieldData(IntPtr g);
1032
1033 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
1034 public static extern void GeomUbitTerrainSetHeightfieldData(IntPtr g, IntPtr d);
1035
1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
1038 public static extern bool GeomIsEnabled(IntPtr geom);
1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
1041 public static extern bool GeomIsOffset(IntPtr geom);
1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
1044 public static extern bool GeomIsSpace(IntPtr geom);
1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1050 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1053 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1056 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1065 public static extern int GeomRayGetClosestHit(IntPtr ray);
1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1068 public static extern dReal GeomRayGetLength(IntPtr ray);
1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1071 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1077 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1080 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1083 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomSetCategoryBits(IntPtr geom, uint bits);
1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomSetCollideBits(IntPtr geom, uint bits);
1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1095 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1101 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1104 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1107 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1110 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1113 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1116 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1126
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1129
1130 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1131 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1132
1133 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1134 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1135
1136 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1137 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1138
1139 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1140 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1141
1142 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1143 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1144
1145 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1146 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1147
1148 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1149 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1150
1151 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1152 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1153
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1155 public static extern int GeomTransformGetCleanup(IntPtr geom);
1156
1157 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1158 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1159
1160 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1161 public static extern int GeomTransformGetInfo(IntPtr geom);
1162
1163 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1164 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1165
1166 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1167 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1168
1169 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1170 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1171
1172 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1173 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1174 double[] vertices, int vertexStride, int vertexCount,
1175 int[] indices, int indexCount, int triStride);
1176
1177 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1178 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1179 IntPtr vertices, int vertexStride, int vertexCount,
1180 IntPtr indices, int indexCount, int triStride);
1181
1182 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1183 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1184 double[] vertices, int vertexStride, int vertexCount,
1185 int[] indices, int indexCount, int triStride,
1186 double[] normals);
1187
1188 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1189 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1190 IntPtr vertices, int vertexStride, int vertexCount,
1191 IntPtr indices, int indexCount, int triStride,
1192 IntPtr normals);
1193
1194 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1195 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1196 dReal[] vertices, int vertexStride, int vertexCount,
1197 int[] indices, int indexCount, int triStride);
1198
1199 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1200 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1201 IntPtr vertices, int vertexStride, int vertexCount,
1202 IntPtr indices, int indexCount, int triStride);
1203
1204 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1205 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1206 dReal[] vertices, int vertexStride, int vertexCount,
1207 int[] indices, int indexCount, int triStride,
1208 dReal[] normals);
1209
1210 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1211 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1212 IntPtr vertices, int vertexStride, int vertexCount,
1213 IntPtr indices, int indexCount, int triStride,
1214 IntPtr normals);
1215
1216 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1217 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1218 float[] vertices, int vertexStride, int vertexCount,
1219 int[] indices, int indexCount, int triStride);
1220
1221 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1222 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1223 IntPtr vertices, int vertexStride, int vertexCount,
1224 IntPtr indices, int indexCount, int triStride);
1225
1226 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1227 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1228 float[] vertices, int vertexStride, int vertexCount,
1229 int[] indices, int indexCount, int triStride,
1230 float[] normals);
1231
1232 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1233 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1234 IntPtr vertices, int vertexStride, int vertexCount,
1235 IntPtr indices, int indexCount, int triStride,
1236 IntPtr normals);
1237
1238 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1239 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1240
1241 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1242 public static extern IntPtr GeomTriMeshDataCreate();
1243
1244 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1245 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1246
1247 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1248 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1249
1250 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1251 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1252
1253 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1254 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1255
1256 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1257 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1258
1259 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1260 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1261
1262 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1263 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1264
1265 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1266 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1267
1268 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1269 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1270
1271 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1272 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1273 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1274 {
1275 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1276 }
1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1279 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1282 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1285 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1286
1287 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1288 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1291 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1294 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1297 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1300 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1303 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1306 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1309 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1312 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1315 public static extern string GetConfiguration(string str);
1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1318 public static extern IntPtr HashSpaceCreate(IntPtr space);
1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1321 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1324 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1325
1326 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1327 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1328
1329 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1330 public static extern void InitODE();
1331
1332 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1333 public static extern int InitODE2(uint ODEInitFlags);
1334
1335 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1336 public static extern int IsPositiveDefinite(ref dReal A, int n);
1337
1338 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1339 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1340
1341 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1342 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1343
1344 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1345 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1346
1347 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1348 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1349
1350 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1351 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1352
1353 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1354 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1355
1356 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1357 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1358
1359 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1360 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1361
1362 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1363 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1364
1365 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1366 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1367
1368 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1369 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1371 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1374 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1377 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1380 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1383 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1390
1391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1392 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1393
1394 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1395 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1396
1397 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1398 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1399
1400 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1401 public static extern void JointDestroy(IntPtr j);
1402
1403 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1404 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1405
1406 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1407 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1408
1409 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1410 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1411
1412 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1413 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1414
1415 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1416 public static extern int JointGetAMotorMode(IntPtr j);
1417
1418 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1419 public static extern int JointGetAMotorNumAxes(IntPtr j);
1420
1421 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1422 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1423
1424 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1425 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1426
1427 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1428 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1429
1430 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1431 public static extern IntPtr JointGetBody(IntPtr j);
1432
1433 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1434 public static extern IntPtr JointGetData(IntPtr j);
1435
1436 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1437 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1438 public static JointFeedback JointGetFeedback(IntPtr j)
1439 {
1440 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1441 }
1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1444 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1447 public static extern dReal JointGetHingeAngle(IntPtr j);
1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1450 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1453 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1456 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1457
1458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1459 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1460
1461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1462 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1463
1464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1465 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1466
1467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1468 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1469
1470 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1471 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1472
1473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1474 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1475
1476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1477 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1478
1479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1480 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1481
1482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1483 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1484
1485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1486 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1487
1488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1489 public static extern int JointGetLMotorNumAxes(IntPtr j);
1490
1491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1492 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1493
1494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1495 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1496
1497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1498 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1499
1500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1501 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1502
1503 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1504 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1505
1506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1507 public static extern dReal JointGetPRPosition(IntPtr j);
1508
1509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1510 public static extern dReal JointGetPRPositionRate(IntPtr j);
1511
1512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1513 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1514
1515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1516 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1517
1518 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1519 public static extern dReal JointGetSliderPosition(IntPtr j);
1520
1521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1522 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1523
1524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1525 public static extern JointType JointGetType(IntPtr j);
1526
1527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1528 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1529
1530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1531 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1532
1533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1534 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1535
1536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1537 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1538
1539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1540 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1541
1542 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1543 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1544
1545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1546 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1547
1548 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1549 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1550
1551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1552 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1553
1554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1555 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1556
1557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1558 public static extern IntPtr JointGroupCreate(int max_size);
1559
1560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1561 public static extern void JointGroupDestroy(IntPtr group);
1562
1563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1564 public static extern void JointGroupEmpty(IntPtr group);
1565
1566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1567 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1568
1569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1570 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1571
1572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1573 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1574
1575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1576 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1577
1578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1579 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1580
1581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1582 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1583
1584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1585 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1586
1587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1588 public static extern void JointSetData(IntPtr j, IntPtr data);
1589
1590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1591 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1592
1593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1594 public static extern void JointSetFixed(IntPtr j);
1595
1596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1597 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1598
1599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1600 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1601
1602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1603 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1604
1605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1606 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1607
1608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1609 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1610
1611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1612 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1613
1614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1615 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1616
1617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1618 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1619
1620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1621 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1622
1623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1624 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1625
1626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1627 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1628
1629 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1630 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1631
1632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1633 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1634
1635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1636 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1637
1638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1639 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1640
1641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1642 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1643
1644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1645 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1646
1647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1648 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1649
1650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1651 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1652
1653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1654 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1655
1656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1657 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1658
1659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1660 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1661
1662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1663 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1664
1665 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1666 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1667
1668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1669 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1670
1671 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1672 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1673
1674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1675 public static extern void MassAdd(ref Mass a, ref Mass b);
1676
1677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1678 public static extern void MassAdjust(ref Mass m, dReal newmass);
1679
1680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1681 public static extern bool MassCheck(ref Mass m);
1682
1683 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1684 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1685
1686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1687 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1688
1689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1690 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1691
1692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1693 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1694
1695 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1696 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1697
1698 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1699 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1700
1701 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1702 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1703
1704 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1705 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1706
1707 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1708 public static extern void MassSetParameters(out Mass mass, dReal themass,
1709 dReal cgx, dReal cgy, dReal cgz,
1710 dReal i11, dReal i22, dReal i33,
1711 dReal i12, dReal i13, dReal i23);
1712
1713 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1714 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1715
1716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1717 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1718
1719 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1720 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1721
1722 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1723 public static extern void MassSetZero(out Mass mass);
1724
1725 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1726 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1727
1728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1729 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1730
1731 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1732 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1733 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1734 {
1735 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1736 }
1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1739 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1742 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1745 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1748 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1749
1750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1751 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1752
1753 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1754 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1755
1756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1757 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1758
1759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1760 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1761
1762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1763 public static extern void QSetIdentity(out Quaternion q);
1764
1765 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1766 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1767
1768 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1769 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1770
1771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1772 public static extern dReal RandReal();
1773
1774 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1775 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1776
1777 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1778 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1779
1780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1781 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1782
1783 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1784 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1785
1786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1787 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1788
1789 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1790 public static extern void RSetIdentity(out Matrix3 R);
1791
1792 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1793 public static extern void SetValue(out dReal a, int n);
1794
1795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1796 public static extern void SetZero(out dReal a, int n);
1797
1798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1799 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1800
1801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1802 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1803
1804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1805 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1806
1807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1808 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1809
1810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1811 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1812
1813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1814 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1815
1816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1817 public static extern bool SpaceLockQuery(IntPtr space);
1818
1819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1820 public static extern void SpaceClean(IntPtr space);
1821
1822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1823 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1824
1825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1826 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1827
1828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1829 public static extern void SpaceDestroy(IntPtr space);
1830
1831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1832 public static extern bool SpaceGetCleanup(IntPtr space);
1833
1834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1835 public static extern int SpaceGetNumGeoms(IntPtr space);
1836
1837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1838 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1839
1840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1841 public static extern int SpaceGetSublevel(IntPtr space);
1842
1843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1844 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1845
1846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1847 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1848
1849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1850 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1851
1852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1853 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1854
1855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1856 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1857
1858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1859 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1860
1861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1862 public static extern IntPtr WorldCreate();
1863
1864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1865 public static extern void WorldDestroy(IntPtr world);
1866
1867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1868 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1869
1870 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1871 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1872
1873 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1874 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1875
1876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1877 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1878
1879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1880 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1881
1882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1883 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1884
1885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1886 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1887
1888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1889 public static extern dReal WorldGetCFM(IntPtr world);
1890
1891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1892 public static extern dReal WorldGetERP(IntPtr world);
1893
1894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1895 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1896
1897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1898 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1899
1900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1901 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1902
1903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1904 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1905
1906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1907 public static extern dReal WorldGetAngularDamping(IntPtr world);
1908
1909 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1910 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1911
1912 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1913 public static extern dReal WorldGetLinearDamping(IntPtr world);
1914
1915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1916 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1917
1918 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1919 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1920
1921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1922 public static extern dReal WorldGetQuickStepW(IntPtr world);
1923
1924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1925 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1926
1927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1928 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1929
1930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1931 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1932
1933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1934 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1935
1936 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1937 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1938
1939 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1940 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1941
1942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1943 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1944
1945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1946 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1947
1948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1949 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1950
1951 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1952 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1953
1954 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1955 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1956
1957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1958 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1959
1960 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1961 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1962
1963 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1964 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1965
1966 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1967 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1968
1969 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1970 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1971
1972 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1973 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1974
1975 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1976 public static extern void WorldSetERP(IntPtr world, dReal erp);
1977
1978 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1979 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1980
1981 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
1982 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
1983
1984 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1985 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
1986
1987 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1988 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1989
1990 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1991 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1992
1993 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1994 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
1995
1996 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1997 public static extern void WorldStep(IntPtr world, dReal stepsize);
1998
1999 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
2000 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
2001
2002 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
2003 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
2004 }
2005}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..d32188e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
@@ -0,0 +1,90 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Threading;
33using System.IO;
34using System.Diagnostics;
35using log4net;
36using Nini.Config;
37using OdeAPI;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40using OpenMetaverse;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// ODE plugin
46 /// </summary>
47 public class OdePlugin : IPhysicsPlugin
48 {
49 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
50
51 private OdeScene m_scene;
52
53 public bool Init()
54 {
55 if (Util.IsWindows())
56 Util.LoadArchSpecificWindowsDll("ode.dll");
57
58 if (d.InitODE2(0) != 0)
59 {
60 if (d.AllocateODEDataForThread(~0U) == 0)
61 {
62 d.CloseODE();
63 return false;
64 }
65 return true;
66 }
67 return false;
68 }
69
70 public PhysicsScene GetScene(String sceneIdentifier)
71 {
72 if (m_scene == null)
73 {
74
75 m_scene = new OdeScene(sceneIdentifier);
76 }
77 return (m_scene);
78 }
79
80 public string GetName()
81 {
82 return ("UbitODE");
83 }
84
85 public void Dispose()
86 {
87 d.CloseODE();
88 }
89 }
90} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
new file mode 100644
index 0000000..9ca2d3f
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2689 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define SPAM
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using OdeAPI;
40using OpenSim.Framework;
41using OpenSim.Region.Physics.Manager;
42using OpenMetaverse;
43
44namespace OpenSim.Region.Physics.OdePlugin
45{
46 public enum StatusIndicators : int
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63 // colision flags of things others can colide with
64 // rays, sensors, probes removed since can't be colided with
65 // The top space where things are placed provided further selection
66 // ie physical are in active space nonphysical in static
67 // this should be exclusive as possible
68
69 [Flags]
70 public enum CollisionCategories : uint
71 {
72 Disabled = 0,
73 //by 'things' types
74 Space = 0x01,
75 Geom = 0x02, // aka prim/part
76 Character = 0x04,
77 Land = 0x08,
78 Water = 0x010,
79
80 // by state
81 Phantom = 0x01000,
82 VolumeDtc = 0x02000,
83 Selected = 0x04000,
84 NoShape = 0x08000,
85
86
87 All = 0xffffffff
88 }
89
90 /// <summary>
91 /// Material type for a primitive
92 /// </summary>
93 public enum Material : int
94 {
95 /// <summary></summary>
96 Stone = 0,
97 /// <summary></summary>
98 Metal = 1,
99 /// <summary></summary>
100 Glass = 2,
101 /// <summary></summary>
102 Wood = 3,
103 /// <summary></summary>
104 Flesh = 4,
105 /// <summary></summary>
106 Plastic = 5,
107 /// <summary></summary>
108 Rubber = 6,
109
110 light = 7 // compatibility with old viewers
111 }
112
113 public enum changes : int
114 {
115 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
116 Remove,
117 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
118 // or removes from a object if arg is null
119 DeLink,
120 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
121 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
122 PosOffset, // not in use
123 // arg Vector3 new position in local coords. Changes prim position in object
124 OriOffset, // not in use
125 // arg Vector3 new position in local coords. Changes prim position in object
126 Velocity,
127 AngVelocity,
128 Acceleration,
129 Force,
130 Torque,
131 Momentum,
132
133 AddForce,
134 AddAngForce,
135 AngLock,
136
137 Size,
138 Shape,
139
140 CollidesWater,
141 VolumeDtc,
142
143 Physical,
144 Phantom,
145 Selected,
146 disabled,
147 building,
148
149 VehicleType,
150 VehicleFloatParam,
151 VehicleVectorParam,
152 VehicleRotationParam,
153 VehicleFlags,
154 SetVehicle,
155
156 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
157 }
158
159 public struct ODEchangeitem
160 {
161 public PhysicsActor actor;
162 public OdeCharacter character;
163 public changes what;
164 public Object arg;
165 }
166
167 public class OdeScene : PhysicsScene
168 {
169 private readonly ILog m_log;
170 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
171
172 public bool OdeUbitLib = false;
173// private int threadid = 0;
174 private Random fluidRandomizer = new Random(Environment.TickCount);
175
176 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
177 const float MaxERP = 0.8f;
178 const float minERP = 0.1f;
179 const float comumContactCFM = 0.0001f;
180
181 float frictionMovementMult = 0.3f;
182
183 float TerrainBounce = 0.1f;
184 float TerrainFriction = 0.3f;
185
186 public float AvatarFriction = 0;// 0.9f * 0.5f;
187
188 private const uint m_regionWidth = Constants.RegionSize;
189 private const uint m_regionHeight = Constants.RegionSize;
190
191 public float ODE_STEPSIZE = 0.020f;
192 private float metersInSpace = 25.6f;
193 private float m_timeDilation = 1.0f;
194
195 public float gravityx = 0f;
196 public float gravityy = 0f;
197 public float gravityz = -9.8f;
198
199 private float waterlevel = 0f;
200 private int framecount = 0;
201
202 private IntPtr WaterGeom = IntPtr.Zero;
203 private IntPtr WaterHeightmapData = IntPtr.Zero;
204 private GCHandle WaterMapHandler = new GCHandle();
205
206 public float avPIDD = 2200f; // make it visible
207 public float avPIDP = 900f; // make it visible
208 private float avCapRadius = 0.37f;
209 private float avDensity = 3f;
210 private float avMovementDivisorWalk = 1.3f;
211 private float avMovementDivisorRun = 0.8f;
212 private float minimumGroundFlightOffset = 3f;
213 public float maximumMassObject = 10000.01f;
214
215 public bool meshSculptedPrim = true;
216 public bool forceSimplePrimMeshing = false;
217
218 public float meshSculptLOD = 32;
219 public float MeshSculptphysicalLOD = 32;
220
221 public float geomDefaultDensity = 10.000006836f;
222
223 public int geomContactPointsStartthrottle = 3;
224 public int geomUpdatesPerThrottledUpdate = 15;
225
226 public float bodyPIDD = 35f;
227 public float bodyPIDG = 25;
228
229// public int geomCrossingFailuresBeforeOutofbounds = 6;
230
231 public int bodyFramesAutoDisable = 5;
232
233
234 private d.NearCallback nearCallback;
235
236 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
237 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
238 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
239 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
240
241 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
242
243 /// <summary>
244 /// A list of actors that should receive collision events.
245 /// </summary>
246 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
247
248 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
249 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
250 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
251
252 private float contactsurfacelayer = 0.002f;
253
254 private int contactsPerCollision = 80;
255 internal IntPtr ContactgeomsArray = IntPtr.Zero;
256 private IntPtr GlobalContactsArray = IntPtr.Zero;
257
258 const int maxContactsbeforedeath = 4000;
259 private volatile int m_global_contactcount = 0;
260
261
262 private readonly IntPtr contactgroup;
263
264 public ContactData[] m_materialContactsData = new ContactData[8];
265
266 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
267 private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
268 private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
269
270 private int m_physicsiterations = 10;
271 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
272 private readonly PhysicsActor PANull = new NullPhysicsActor();
273 private float step_time = 0.0f;
274
275 public IntPtr world;
276
277 private uint obj2LocalID = 0;
278 private OdeCharacter cc1;
279 private OdePrim cp1;
280 private OdeCharacter cc2;
281 private OdePrim cp2;
282
283 // split the spaces acording to contents type
284 // ActiveSpace contains characters and active prims
285 // StaticSpace contains land and other that is mostly static in enviroment
286 // this can contain subspaces, like the grid in staticspace
287 // as now space only contains this 2 top spaces
288
289 public IntPtr TopSpace; // the global space
290 public IntPtr ActiveSpace; // space for active prims
291 public IntPtr StaticSpace; // space for the static things around
292
293 // some speedup variables
294 private int spaceGridMaxX;
295 private int spaceGridMaxY;
296 private float spacesPerMeter;
297
298 // split static geometry collision into a grid as before
299 private IntPtr[,] staticPrimspace;
300
301 private Object OdeLock;
302 private static Object SimulationLock;
303
304 public IMesher mesher;
305
306 private IConfigSource m_config;
307
308 public bool physics_logging = false;
309 public int physics_logging_interval = 0;
310 public bool physics_logging_append_existing_logfile = false;
311
312 private Vector3 m_worldOffset = Vector3.Zero;
313 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
314 private PhysicsScene m_parentScene = null;
315
316 private ODERayCastRequestManager m_rayCastManager;
317
318
319/* maybe needed if ode uses tls
320 private void checkThread()
321 {
322
323 int th = Thread.CurrentThread.ManagedThreadId;
324 if(th != threadid)
325 {
326 threadid = th;
327 d.AllocateODEDataForThread(~0U);
328 }
329 }
330 */
331 /// <summary>
332 /// Initiailizes the scene
333 /// Sets many properties that ODE requires to be stable
334 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
335 /// </summary>
336 public OdeScene(string sceneIdentifier)
337 {
338 m_log
339 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
340
341// checkThread();
342 Name = sceneIdentifier;
343
344 OdeLock = new Object();
345 SimulationLock = new Object();
346
347 nearCallback = near;
348
349 m_rayCastManager = new ODERayCastRequestManager(this);
350 lock (OdeLock)
351 {
352 // Create the world and the first space
353 try
354 {
355 world = d.WorldCreate();
356 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
357
358 // now the major subspaces
359 ActiveSpace = d.HashSpaceCreate(TopSpace);
360 StaticSpace = d.HashSpaceCreate(TopSpace);
361 }
362 catch
363 {
364 // i must RtC#FM
365 }
366
367 d.HashSpaceSetLevels(TopSpace, -2, 8);
368 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
369 d.HashSpaceSetLevels(StaticSpace, -2, 8);
370
371 // demote to second level
372 d.SpaceSetSublevel(ActiveSpace, 1);
373 d.SpaceSetSublevel(StaticSpace, 1);
374
375 d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
376 CollisionCategories.Geom |
377 CollisionCategories.Character |
378 CollisionCategories.Phantom |
379 CollisionCategories.VolumeDtc
380 ));
381 d.GeomSetCollideBits(ActiveSpace, 0);
382 d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
383 CollisionCategories.Geom |
384 CollisionCategories.Land |
385 CollisionCategories.Water |
386 CollisionCategories.Phantom |
387 CollisionCategories.VolumeDtc
388 ));
389 d.GeomSetCollideBits(StaticSpace, 0);
390
391 contactgroup = d.JointGroupCreate(0);
392 //contactgroup
393
394 d.WorldSetAutoDisableFlag(world, false);
395 }
396 }
397
398 // Initialize the mesh plugin
399// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
400 public override void Initialise(IMesher meshmerizer, IConfigSource config)
401 {
402// checkThread();
403 mesher = meshmerizer;
404 m_config = config;
405/*
406 string ode_config = d.GetConfiguration("ODE");
407 if (ode_config != null && ode_config != "")
408 {
409 m_log.WarnFormat("ODE configuration: {0}", ode_config);
410
411 if (ode_config.Contains("ODE_Ubit"))
412 {
413 OdeUbitLib = true;
414 }
415 }
416*/
417 /*
418 if (region != null)
419 {
420 WorldExtents.X = region.RegionSizeX;
421 WorldExtents.Y = region.RegionSizeY;
422 }
423 */
424
425 // Defaults
426
427 int contactsPerCollision = 80;
428
429 if (m_config != null)
430 {
431 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
432 if (physicsconfig != null)
433 {
434 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
435 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
436 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
437
438 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
439
440 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
441
442 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
443 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
444
445 avDensity = physicsconfig.GetFloat("av_density", avDensity);
446 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
447 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
448 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
449
450 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
451
452 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
453 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
454// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
455
456 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
457 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
458/*
459 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
460 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
461*/
462 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
463 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
464 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
465 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
466/*
467 if (Environment.OSVersion.Platform == PlatformID.Unix)
468 {
469 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
470 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
471 }
472 else
473 {
474
475 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
476 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
477 }
478*/
479 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
480 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
481 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
482
483 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
484 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
485 }
486 }
487
488 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
489 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
490
491 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
492 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
493
494 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
495 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
496
497 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
498 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
499
500 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
501 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
502
503 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
504 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
505
506 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
507 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
508
509 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
510 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
511
512 m_materialContactsData[(int)Material.light].mu = 0.0f;
513 m_materialContactsData[(int)Material.light].bounce = 0.0f;
514
515 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
516
517 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
518 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
519
520 d.WorldSetLinearDamping(world, 0.001f);
521 d.WorldSetAngularDamping(world, 0.001f);
522 d.WorldSetAngularDampingThreshold(world, 0f);
523 d.WorldSetLinearDampingThreshold(world, 0f);
524 d.WorldSetMaxAngularSpeed(world, 256f);
525
526 d.WorldSetCFM(world,1e-6f); // a bit harder than default
527 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
528 d.WorldSetERP(world, 0.6f); // higher than original
529
530 // Set how many steps we go without running collision testing
531 // This is in addition to the step size.
532 // Essentially Steps * m_physicsiterations
533 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
534 d.WorldSetContactMaxCorrectingVel(world, 100.0f);
535
536 spacesPerMeter = 1 / metersInSpace;
537 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
538 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
539
540 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
541
542 // create all spaces now
543 int i, j;
544 IntPtr newspace;
545 for (i = 0; i < spaceGridMaxX; i++)
546 for (j = 0; j < spaceGridMaxY; j++)
547 {
548 newspace = d.HashSpaceCreate(StaticSpace);
549 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
550 waitForSpaceUnlock(newspace);
551 d.SpaceSetSublevel(newspace, 2);
552 d.HashSpaceSetLevels(newspace, -2, 8);
553 d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
554 CollisionCategories.Geom |
555 CollisionCategories.Land |
556 CollisionCategories.Water |
557 CollisionCategories.Phantom |
558 CollisionCategories.VolumeDtc
559 ));
560 d.GeomSetCollideBits(newspace, 0);
561
562 staticPrimspace[i, j] = newspace;
563 }
564 // let this now be real maximum values
565 spaceGridMaxX--;
566 spaceGridMaxY--;
567 }
568
569 internal void waitForSpaceUnlock(IntPtr space)
570 {
571 //if (space != IntPtr.Zero)
572 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
573 }
574
575 #region Collision Detection
576
577 // sets a global contact for a joint for contactgeom , and base contact description)
578
579 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
580 {
581 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
582 return IntPtr.Zero;
583
584 float erp = contactGeom.depth;
585 erp *= erpscale;
586 if (erp < minERP)
587 erp = minERP;
588 else if (erp > MaxERP)
589 erp = MaxERP;
590
591 float depth = contactGeom.depth * dscale;
592 if (depth > 0.5f)
593 depth = 0.5f;
594
595 d.Contact newcontact = new d.Contact();
596 newcontact.geom.depth = depth;
597 newcontact.geom.g1 = contactGeom.g1;
598 newcontact.geom.g2 = contactGeom.g2;
599 newcontact.geom.pos = contactGeom.pos;
600 newcontact.geom.normal = contactGeom.normal;
601 newcontact.geom.side1 = contactGeom.side1;
602 newcontact.geom.side2 = contactGeom.side2;
603
604 // this needs bounce also
605 newcontact.surface.mode = comumContactFlags;
606 newcontact.surface.mu = mu;
607 newcontact.surface.bounce = bounce;
608 newcontact.surface.soft_cfm = cfm;
609 newcontact.surface.soft_erp = erp;
610
611 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
612 Marshal.StructureToPtr(newcontact, contact, true);
613 return d.JointCreateContactPtr(world, contactgroup, contact);
614 }
615
616
617
618 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
619 {
620 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
621 return false;
622
623 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
624 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
625 return true;
626 }
627
628 /// <summary>
629 /// This is our near callback. A geometry is near a body
630 /// </summary>
631 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
632 /// <param name="g1">a geometry or space</param>
633 /// <param name="g2">another geometry or space</param>
634 ///
635
636 private void near(IntPtr space, IntPtr g1, IntPtr g2)
637 {
638 // no lock here! It's invoked from within Simulate(), which is thread-locked
639
640 if (m_global_contactcount >= maxContactsbeforedeath)
641 return;
642
643 // Test if we're colliding a geom with a space.
644 // If so we have to drill down into the space recursively
645
646 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
647 return;
648
649 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
650 {
651 // We'll be calling near recursivly if one
652 // of them is a space to find all of the
653 // contact points in the space
654 try
655 {
656 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
657 }
658 catch (AccessViolationException)
659 {
660 m_log.Warn("[PHYSICS]: Unable to collide test a space");
661 return;
662 }
663 //here one should check collisions of geoms inside a space
664 // but on each space we only should have geoms that not colide amoung each other
665 // so we don't dig inside spaces
666 return;
667 }
668
669 // get geom bodies to check if we already a joint contact
670 // guess this shouldn't happen now
671 IntPtr b1 = d.GeomGetBody(g1);
672 IntPtr b2 = d.GeomGetBody(g2);
673
674 // d.GeomClassID id = d.GeomGetClass(g1);
675
676 // Figure out how many contact points we have
677 int count = 0;
678 try
679 {
680 // Colliding Geom To Geom
681 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
682
683 if (g1 == g2)
684 return; // Can't collide with yourself
685
686 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
687 return;
688
689 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
690 }
691 catch (SEHException)
692 {
693 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.");
694// ode.drelease(world);
695 base.TriggerPhysicsBasedRestart();
696 }
697 catch (Exception e)
698 {
699 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
700 return;
701 }
702
703 // id contacts done
704 if (count == 0)
705 return;
706
707 // try get physical actors
708 PhysicsActor p1;
709 PhysicsActor p2;
710
711 if (!actor_name_map.TryGetValue(g1, out p1))
712 {
713 p1 = PANull;
714 }
715
716 if (!actor_name_map.TryGetValue(g2, out p2))
717 {
718 p2 = PANull;
719 }
720
721 // update actors collision score
722 if (p1.CollisionScore >= float.MaxValue - count)
723 p1.CollisionScore = 0;
724 p1.CollisionScore += count;
725
726 if (p2.CollisionScore >= float.MaxValue - count)
727 p2.CollisionScore = 0;
728 p2.CollisionScore += count;
729
730
731 // get first contact
732 d.ContactGeom curContact = new d.ContactGeom();
733 if (!GetCurContactGeom(0, ref curContact))
734 return;
735 // for now it's the one with max depth
736 ContactPoint maxDepthContact = new ContactPoint(
737 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
738 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
739 curContact.depth
740 );
741 // do volume detection case
742 if (
743 (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
744 (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
745 {
746 collision_accounting_events(p1, p2, maxDepthContact);
747 return;
748 }
749
750 // big messy collision analises
751 float mu = 0;
752 float bounce = 0;
753 float cfm = 0.0001f;
754 float erp = 0.1f;
755 float erpscale = 1.0f;
756 float dscale = 1.0f;
757 bool IgnoreNegSides = false;
758
759
760 ContactData contactdata1 = new ContactData(0, 0, false);
761 ContactData contactdata2 = new ContactData(0, 0, false);
762
763 String name = null;
764 bool dop1foot = false;
765 bool dop2foot = false;
766 bool ignore = false;
767
768 switch (p1.PhysicsActorType)
769 {
770 case (int)ActorTypes.Agent:
771 {
772 bounce = 0;
773 mu = 0;
774 cfm = 0.0001f;
775
776 switch (p2.PhysicsActorType)
777 {
778 case (int)ActorTypes.Agent:
779/*
780 p1.getContactData(ref contactdata1);
781 p2.getContactData(ref contactdata2);
782
783 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
784
785 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
786 mu *= frictionMovementMult;
787*/
788 p1.CollidingObj = true;
789 p2.CollidingObj = true;
790 break;
791 case (int)ActorTypes.Prim:
792/*
793 p1.getContactData(ref contactdata1);
794 p2.getContactData(ref contactdata2);
795
796
797 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
798
799 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
800 mu *= frictionMovementMult;
801 */
802 if (p2.Velocity.LengthSquared() > 0.0f)
803 p2.CollidingObj = true;
804
805 dop1foot = true;
806 break;
807 default:
808 ignore = true; // avatar to terrain and water ignored
809 break;
810 }
811 break;
812 }
813
814 case (int)ActorTypes.Prim:
815 switch (p2.PhysicsActorType)
816 {
817 case (int)ActorTypes.Agent:
818// p1.getContactData(ref contactdata1);
819// p2.getContactData(ref contactdata2);
820
821 bounce = 0;
822 mu = 0;
823 cfm = 0.0001f;
824/*
825 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
826
827 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
828 mu *= frictionMovementMult;
829*/
830 dop2foot = true;
831 if (p1.Velocity.LengthSquared() > 0.0f)
832 p1.CollidingObj = true;
833 break;
834 case (int)ActorTypes.Prim:
835 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
836 {
837 p1.CollidingObj = true;
838 p2.CollidingObj = true;
839 }
840 p1.getContactData(ref contactdata1);
841 p2.getContactData(ref contactdata2);
842 bounce = contactdata1.bounce * contactdata2.bounce;
843 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
844
845 cfm = p1.Mass;
846 if (cfm > p2.Mass)
847 cfm = p2.Mass;
848 dscale = 10 / cfm;
849 dscale = (float)Math.Sqrt(dscale);
850 if (dscale > 1.0f)
851 dscale = 1.0f;
852 erpscale = cfm * 0.01f;
853 cfm = 0.0001f / cfm;
854 if (cfm > 0.01f)
855 cfm = 0.01f;
856
857 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
858 mu *= frictionMovementMult;
859
860 break;
861 default:
862 if (geom_name_map.TryGetValue(g2, out name))
863 {
864 if (name == "Terrain")
865 {
866 p1.getContactData(ref contactdata1);
867 bounce = contactdata1.bounce * TerrainBounce;
868 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
869 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
870 mu *= frictionMovementMult;
871 p1.CollidingGround = true;
872
873 cfm = p1.Mass;
874 dscale = 10 / cfm;
875 dscale = (float)Math.Sqrt(dscale);
876 if (dscale > 1.0f)
877 dscale = 1.0f;
878 erpscale = cfm * 0.01f;
879 cfm = 0.0001f / cfm;
880 if (cfm > 0.01f)
881 cfm = 0.01f;
882
883 if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
884 {
885 if (curContact.side1 > 0)
886 IgnoreNegSides = true;
887 }
888
889 }
890 else if (name == "Water")
891 {
892 ignore = true;
893 }
894 }
895 else
896 ignore=true;
897 break;
898 }
899 break;
900
901 default:
902 if (geom_name_map.TryGetValue(g1, out name))
903 {
904 if (name == "Terrain")
905 {
906 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
907 {
908 p2.CollidingGround = true;
909 p2.getContactData(ref contactdata2);
910 bounce = contactdata2.bounce * TerrainBounce;
911 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
912
913 cfm = p2.Mass;
914 dscale = 10 / cfm;
915 dscale = (float)Math.Sqrt(dscale);
916
917 if (dscale > 1.0f)
918 dscale = 1.0f;
919
920 erpscale = cfm * 0.01f;
921 cfm = 0.0001f / cfm;
922 if (cfm > 0.01f)
923 cfm = 0.01f;
924
925 if (curContact.side1 > 0) // should be 2 ?
926 IgnoreNegSides = true;
927
928 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
929 mu *= frictionMovementMult;
930 }
931 else
932 ignore = true;
933
934 }
935 else if (name == "Water" &&
936 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
937 {
938 ignore = true;
939 }
940 }
941 else
942 ignore = true;
943 break;
944 }
945
946 if (ignore)
947 return;
948
949 IntPtr Joint;
950
951 int i = 0;
952 while(true)
953 {
954
955 if (IgnoreNegSides && curContact.side1 < 0)
956 {
957 if (++i >= count)
958 break;
959
960 if (!GetCurContactGeom(i, ref curContact))
961 break;
962 }
963 else
964
965 {
966 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
967 p1.IsColliding = true;
968 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
969 p2.IsColliding = true;
970
971 Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
972 d.JointAttach(Joint, b1, b2);
973
974 if (++m_global_contactcount >= maxContactsbeforedeath)
975 break;
976
977 if (++i >= count)
978 break;
979
980 if (!GetCurContactGeom(i, ref curContact))
981 break;
982
983 if (curContact.depth > maxDepthContact.PenetrationDepth)
984 {
985 maxDepthContact.Position.X = curContact.pos.X;
986 maxDepthContact.Position.Y = curContact.pos.Y;
987 maxDepthContact.Position.Z = curContact.pos.Z;
988 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
989 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
990 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
991 maxDepthContact.PenetrationDepth = curContact.depth;
992 }
993 }
994 }
995
996 collision_accounting_events(p1, p2, maxDepthContact);
997
998/*
999 if (notskipedcount > geomContactPointsStartthrottle)
1000 {
1001 // If there are more then 3 contact points, it's likely
1002 // that we've got a pile of objects, so ...
1003 // We don't want to send out hundreds of terse updates over and over again
1004 // so lets throttle them and send them again after it's somewhat sorted out.
1005 this needs checking so out for now
1006 if (b1 != IntPtr.Zero)
1007 p1.ThrottleUpdates = true;
1008 if (b2 != IntPtr.Zero)
1009 p2.ThrottleUpdates = true;
1010
1011 }
1012 */
1013 }
1014
1015 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1016 {
1017 // obj1LocalID = 0;
1018 //returncollisions = false;
1019 obj2LocalID = 0;
1020 //ctype = 0;
1021 //cStartStop = 0;
1022 if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
1023 return;
1024
1025 switch ((ActorTypes)p1.PhysicsActorType)
1026 {
1027 case ActorTypes.Agent:
1028 cc1 = (OdeCharacter)p1;
1029 switch ((ActorTypes)p2.PhysicsActorType)
1030 {
1031 case ActorTypes.Agent:
1032 cc2 = (OdeCharacter)p2;
1033 obj2LocalID = cc2.m_localID;
1034 if (p2.SubscribedEvents())
1035 cc2.AddCollisionEvent(cc1.m_localID, contact);
1036 break;
1037
1038 case ActorTypes.Prim:
1039 if (p2 is OdePrim)
1040 {
1041 cp2 = (OdePrim)p2;
1042 obj2LocalID = cp2.m_localID;
1043 if (p2.SubscribedEvents())
1044 cp2.AddCollisionEvent(cc1.m_localID, contact);
1045 }
1046 break;
1047
1048 case ActorTypes.Ground:
1049 case ActorTypes.Unknown:
1050 default:
1051 obj2LocalID = 0;
1052 break;
1053 }
1054 if (p1.SubscribedEvents())
1055 {
1056 contact.SurfaceNormal = -contact.SurfaceNormal;
1057 cc1.AddCollisionEvent(obj2LocalID, contact);
1058 }
1059 break;
1060
1061 case ActorTypes.Prim:
1062
1063 if (p1 is OdePrim)
1064 {
1065 cp1 = (OdePrim)p1;
1066
1067 // obj1LocalID = cp2.m_localID;
1068 switch ((ActorTypes)p2.PhysicsActorType)
1069 {
1070 case ActorTypes.Agent:
1071 if (p2 is OdeCharacter)
1072 {
1073 cc2 = (OdeCharacter)p2;
1074 obj2LocalID = cc2.m_localID;
1075 if (p2.SubscribedEvents())
1076 cc2.AddCollisionEvent(cp1.m_localID, contact);
1077 }
1078 break;
1079 case ActorTypes.Prim:
1080
1081 if (p2 is OdePrim)
1082 {
1083 cp2 = (OdePrim)p2;
1084 obj2LocalID = cp2.m_localID;
1085 if (p2.SubscribedEvents())
1086 cp2.AddCollisionEvent(cp1.m_localID, contact);
1087 }
1088 break;
1089
1090 case ActorTypes.Ground:
1091 case ActorTypes.Unknown:
1092 default:
1093 obj2LocalID = 0;
1094 break;
1095 }
1096 if (p1.SubscribedEvents())
1097 {
1098 contact.SurfaceNormal = -contact.SurfaceNormal;
1099 cp1.AddCollisionEvent(obj2LocalID, contact);
1100 }
1101 }
1102 break;
1103 }
1104 }
1105
1106 /// <summary>
1107 /// This is our collision testing routine in ODE
1108 /// </summary>
1109 /// <param name="timeStep"></param>
1110 private void collision_optimized()
1111 {
1112 lock (_characters)
1113 {
1114 try
1115 {
1116 foreach (OdeCharacter chr in _characters)
1117 {
1118 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1119 continue;
1120
1121 chr.IsColliding = false;
1122 // chr.CollidingGround = false; not done here
1123 chr.CollidingObj = false;
1124 // do colisions with static space
1125 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1126 }
1127 }
1128 catch (AccessViolationException)
1129 {
1130 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1131 }
1132
1133 }
1134
1135 lock (_activeprims)
1136 {
1137 foreach (OdePrim aprim in _activeprims)
1138 {
1139 aprim.CollisionScore = 0;
1140 aprim.IsColliding = false;
1141 }
1142 }
1143
1144 // collide active prims with static enviroment
1145 lock (_activegroups)
1146 {
1147 try
1148 {
1149 foreach (OdePrim prm in _activegroups)
1150 {
1151 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1152 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1153 }
1154 }
1155 catch (AccessViolationException)
1156 {
1157 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1158 }
1159 }
1160 // finally colide active things amoung them
1161 try
1162 {
1163 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1164 }
1165 catch (AccessViolationException)
1166 {
1167 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1168 }
1169// _perloopContact.Clear();
1170 }
1171
1172 #endregion
1173
1174
1175
1176 /// <summary>
1177 /// Add actor to the list that should receive collision events in the simulate loop.
1178 /// </summary>
1179 /// <param name="obj"></param>
1180 public void AddCollisionEventReporting(PhysicsActor obj)
1181 {
1182 lock (_collisionEventPrim)
1183 {
1184 if (!_collisionEventPrim.Contains(obj))
1185 _collisionEventPrim.Add(obj);
1186 }
1187 }
1188
1189 /// <summary>
1190 /// Remove actor from the list that should receive collision events in the simulate loop.
1191 /// </summary>
1192 /// <param name="obj"></param>
1193 public void RemoveCollisionEventReporting(PhysicsActor obj)
1194 {
1195 lock (_collisionEventPrim)
1196 {
1197 if (_collisionEventPrim.Contains(obj))
1198 _collisionEventPrim.Remove(obj);
1199 }
1200 }
1201
1202 #region Add/Remove Entities
1203
1204 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1205 {
1206 Vector3 pos;
1207 pos.X = position.X;
1208 pos.Y = position.Y;
1209 pos.Z = position.Z;
1210 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1211 newAv.Flying = isFlying;
1212 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1213
1214 return newAv;
1215 }
1216
1217 public void AddCharacter(OdeCharacter chr)
1218 {
1219 lock (_characters)
1220 {
1221 if (!_characters.Contains(chr))
1222 {
1223 _characters.Add(chr);
1224 if (chr.bad)
1225 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1226 }
1227 }
1228 }
1229
1230 public void RemoveCharacter(OdeCharacter chr)
1231 {
1232 lock (_characters)
1233 {
1234 if (_characters.Contains(chr))
1235 {
1236 _characters.Remove(chr);
1237 }
1238 }
1239 }
1240
1241 public void BadCharacter(OdeCharacter chr)
1242 {
1243 lock (_badCharacter)
1244 {
1245 if (!_badCharacter.Contains(chr))
1246 _badCharacter.Add(chr);
1247 }
1248 }
1249
1250 public override void RemoveAvatar(PhysicsActor actor)
1251 {
1252 //m_log.Debug("[PHYSICS]:ODELOCK");
1253 ((OdeCharacter) actor).Destroy();
1254 }
1255
1256 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1257 PrimitiveBaseShape pbs, bool isphysical, uint localID)
1258 {
1259 Vector3 pos = position;
1260 Vector3 siz = size;
1261 Quaternion rot = rotation;
1262
1263 OdePrim newPrim;
1264 lock (OdeLock)
1265 {
1266 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID);
1267
1268 lock (_prims)
1269 _prims.Add(newPrim);
1270 }
1271 return newPrim;
1272 }
1273
1274 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1275 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID)
1276 {
1277 Vector3 pos = position;
1278 Vector3 siz = size;
1279 Quaternion rot = rotation;
1280
1281 OdePrim newPrim;
1282 lock (OdeLock)
1283 {
1284 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID);
1285
1286 lock (_prims)
1287 _prims.Add(newPrim);
1288 }
1289 return newPrim;
1290 }
1291
1292 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1293 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
1294 {
1295 Vector3 pos = position;
1296 Vector3 siz = size;
1297 Quaternion rot = rotation;
1298
1299 OdePrim newPrim;
1300 lock (OdeLock)
1301 {
1302 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID);
1303
1304 lock (_prims)
1305 _prims.Add(newPrim);
1306 }
1307 return newPrim;
1308 }
1309
1310 public void addActivePrim(OdePrim activatePrim)
1311 {
1312 // adds active prim..
1313 lock (_activeprims)
1314 {
1315 if (!_activeprims.Contains(activatePrim))
1316 _activeprims.Add(activatePrim);
1317 }
1318 }
1319
1320 public void addActiveGroups(OdePrim activatePrim)
1321 {
1322 lock (_activegroups)
1323 {
1324 if (!_activegroups.Contains(activatePrim))
1325 _activegroups.Add(activatePrim);
1326 }
1327 }
1328
1329 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1330 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1331 {
1332 return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid);
1333 }
1334
1335
1336 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1337 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1338 {
1339#if SPAM
1340 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1341#endif
1342
1343 return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
1344 }
1345
1346 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1347 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
1348 {
1349#if SPAM
1350 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1351#endif
1352
1353 return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
1354 }
1355
1356 public override float TimeDilation
1357 {
1358 get { return m_timeDilation; }
1359 }
1360
1361 public override bool SupportsNINJAJoints
1362 {
1363 get { return false; }
1364 }
1365
1366
1367 public void remActivePrim(OdePrim deactivatePrim)
1368 {
1369 lock (_activeprims)
1370 {
1371 _activeprims.Remove(deactivatePrim);
1372 }
1373 }
1374 public void remActiveGroup(OdePrim deactivatePrim)
1375 {
1376 lock (_activegroups)
1377 {
1378 _activegroups.Remove(deactivatePrim);
1379 }
1380 }
1381
1382 public override void RemovePrim(PhysicsActor prim)
1383 {
1384 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1385 // removed in the next physics simulate pass.
1386 if (prim is OdePrim)
1387 {
1388// lock (OdeLock)
1389 {
1390 OdePrim p = (OdePrim)prim;
1391 p.setPrimForRemoval();
1392 }
1393 }
1394 }
1395 /// <summary>
1396 /// This is called from within simulate but outside the locked portion
1397 /// We need to do our own locking here
1398 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1399 /// Simulate() -- justincc).
1400 ///
1401 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1402 ///
1403 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1404 /// that the space was using.
1405 /// </summary>
1406 /// <param name="prim"></param>
1407 public void RemovePrimThreadLocked(OdePrim prim)
1408 {
1409 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1410 lock (prim)
1411 {
1412 RemoveCollisionEventReporting(prim);
1413 lock (_prims)
1414 _prims.Remove(prim);
1415 }
1416
1417 }
1418 #endregion
1419
1420 #region Space Separation Calculation
1421
1422 /// <summary>
1423 /// Called when a static prim moves or becomes static
1424 /// Places the prim in a space one the static sub-spaces grid
1425 /// </summary>
1426 /// <param name="geom">the pointer to the geom that moved</param>
1427 /// <param name="pos">the position that the geom moved to</param>
1428 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1429 /// <returns>a pointer to the new space it's in</returns>
1430 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1431 {
1432 // moves a prim into another static sub-space or from another space into a static sub-space
1433
1434 // Called ODEPrim so
1435 // it's already in locked space.
1436
1437 if (geom == IntPtr.Zero) // shouldn't happen
1438 return IntPtr.Zero;
1439
1440 // get the static sub-space for current position
1441 IntPtr newspace = calculateSpaceForGeom(pos);
1442
1443 if (newspace == currentspace) // if we are there all done
1444 return newspace;
1445
1446 // else remove it from its current space
1447 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1448 {
1449 if (d.GeomIsSpace(currentspace))
1450 {
1451 waitForSpaceUnlock(currentspace);
1452 d.SpaceRemove(currentspace, geom);
1453
1454 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1455 {
1456 d.SpaceDestroy(currentspace);
1457 }
1458 }
1459 else
1460 {
1461 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1462 " Geom:" + geom);
1463 }
1464 }
1465 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1466 {
1467 currentspace = d.GeomGetSpace(geom);
1468 if (currentspace != IntPtr.Zero)
1469 {
1470 if (d.GeomIsSpace(currentspace))
1471 {
1472 waitForSpaceUnlock(currentspace);
1473 d.SpaceRemove(currentspace, geom);
1474
1475 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1476 {
1477 d.SpaceDestroy(currentspace);
1478 }
1479
1480 }
1481 }
1482 }
1483
1484 // put the geom in the newspace
1485 waitForSpaceUnlock(newspace);
1486 d.SpaceAdd(newspace, geom);
1487
1488 // let caller know this newspace
1489 return newspace;
1490 }
1491
1492 /// <summary>
1493 /// Calculates the space the prim should be in by its position
1494 /// </summary>
1495 /// <param name="pos"></param>
1496 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1497 public IntPtr calculateSpaceForGeom(Vector3 pos)
1498 {
1499 int x, y;
1500 x = (int)(pos.X * spacesPerMeter);
1501 if (x < 0)
1502 x = 0;
1503 else if (x > spaceGridMaxX)
1504 x = spaceGridMaxX;
1505
1506 y = (int)(pos.Y * spacesPerMeter);
1507 if (y < 0)
1508 y = 0;
1509 else if (y >spaceGridMaxY)
1510 y = spaceGridMaxY;
1511
1512 IntPtr tmpSpace = staticPrimspace[x, y];
1513 return tmpSpace;
1514 }
1515
1516 #endregion
1517
1518 /// <summary>
1519 /// Routine to figure out if we need to mesh this prim with our mesher
1520 /// </summary>
1521 /// <param name="pbs"></param>
1522 /// <returns></returns>
1523 public bool needsMeshing(PrimitiveBaseShape pbs)
1524 {
1525 // most of this is redundant now as the mesher will return null if it cant mesh a prim
1526 // but we still need to check for sculptie meshing being enabled so this is the most
1527 // convenient place to do it for now...
1528
1529 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1530 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1531 int iPropertiesNotSupportedDefault = 0;
1532
1533 if (pbs.SculptEntry)
1534 {
1535 if(!meshSculptedPrim)
1536 return false;
1537 }
1538
1539 // 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
1540 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
1541 {
1542 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
1543 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
1544 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
1545 {
1546
1547 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
1548 && pbs.ProfileHollow == 0
1549 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
1550 && pbs.PathBegin == 0 && pbs.PathEnd == 0
1551 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
1552 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
1553 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
1554 {
1555#if SPAM
1556 m_log.Warn("NonMesh");
1557#endif
1558 return false;
1559 }
1560 }
1561 }
1562
1563 // following code doesn't give meshs to boxes and spheres ever
1564 // and it's odd.. so for now just return true if asked to force meshs
1565 // hopefully mesher will fail if doesn't suport so things still get basic boxes
1566
1567 if (forceSimplePrimMeshing)
1568 return true;
1569
1570 if (pbs.ProfileHollow != 0)
1571 iPropertiesNotSupportedDefault++;
1572
1573 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
1574 iPropertiesNotSupportedDefault++;
1575
1576 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
1577 iPropertiesNotSupportedDefault++;
1578
1579 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
1580 iPropertiesNotSupportedDefault++;
1581
1582 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
1583 iPropertiesNotSupportedDefault++;
1584
1585 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
1586 iPropertiesNotSupportedDefault++;
1587
1588 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
1589 iPropertiesNotSupportedDefault++;
1590
1591 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))
1592 iPropertiesNotSupportedDefault++;
1593
1594 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
1595 iPropertiesNotSupportedDefault++;
1596
1597 // test for torus
1598 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
1599 {
1600 if (pbs.PathCurve == (byte)Extrusion.Curve1)
1601 {
1602 iPropertiesNotSupportedDefault++;
1603 }
1604 }
1605 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1606 {
1607 if (pbs.PathCurve == (byte)Extrusion.Straight)
1608 {
1609 iPropertiesNotSupportedDefault++;
1610 }
1611
1612 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
1613 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1614 {
1615 iPropertiesNotSupportedDefault++;
1616 }
1617 }
1618 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
1619 {
1620 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
1621 {
1622 iPropertiesNotSupportedDefault++;
1623 }
1624 }
1625 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
1626 {
1627 if (pbs.PathCurve == (byte)Extrusion.Straight)
1628 {
1629 iPropertiesNotSupportedDefault++;
1630 }
1631 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1632 {
1633 iPropertiesNotSupportedDefault++;
1634 }
1635 }
1636
1637 if (pbs.SculptEntry && meshSculptedPrim)
1638 iPropertiesNotSupportedDefault++;
1639
1640 if (iPropertiesNotSupportedDefault == 0)
1641 {
1642#if SPAM
1643 m_log.Warn("NonMesh");
1644#endif
1645 return false;
1646 }
1647#if SPAM
1648 m_log.Debug("Mesh");
1649#endif
1650 return true;
1651 }
1652
1653 /// <summary>
1654 /// Called to queue a change to a actor
1655 /// to use in place of old taint mechanism so changes do have a time sequence
1656 /// </summary>
1657
1658 public void AddChange(PhysicsActor actor, changes what, Object arg)
1659 {
1660 ODEchangeitem item = new ODEchangeitem();
1661 item.actor = actor;
1662 item.what = what;
1663 item.arg = arg;
1664 ChangesQueue.Enqueue(item);
1665 }
1666
1667 /// <summary>
1668 /// Called after our prim properties are set Scale, position etc.
1669 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1670 /// This assures us that we have no race conditions
1671 /// </summary>
1672 /// <param name="prim"></param>
1673 public override void AddPhysicsActorTaint(PhysicsActor prim)
1674 {
1675 }
1676
1677 /// <summary>
1678 /// This is our main simulate loop
1679 /// It's thread locked by a Mutex in the scene.
1680 /// It holds Collisions, it instructs ODE to step through the physical reactions
1681 /// It moves the objects around in memory
1682 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1683 /// </summary>
1684 /// <param name="timeStep"></param>
1685 /// <returns></returns>
1686 public override float Simulate(float timeStep)
1687 {
1688 int statstart;
1689 int statchanges = 0;
1690 int statchmove = 0;
1691 int statactmove = 0;
1692 int statray = 0;
1693 int statcol = 0;
1694 int statstep = 0;
1695 int statmovchar = 0;
1696 int statmovprim;
1697 int totjcontact = 0;
1698
1699 // acumulate time so we can reduce error
1700 step_time += timeStep;
1701
1702 if (step_time < ODE_STEPSIZE)
1703 return 0;
1704
1705 if (framecount >= int.MaxValue)
1706 framecount = 0;
1707
1708 framecount++;
1709
1710 int curphysiteractions = m_physicsiterations;
1711
1712 if (step_time >= m_SkipFramesAtms)
1713 {
1714 // if in trouble reduce step resolution
1715 curphysiteractions /= 2;
1716 }
1717
1718 int nodeframes = 0;
1719
1720// checkThread();
1721
1722 lock (SimulationLock)
1723 {
1724 // adjust number of iterations per step
1725 try
1726 {
1727 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1728 }
1729 catch (StackOverflowException)
1730 {
1731 m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
1732// ode.drelease(world);
1733 base.TriggerPhysicsBasedRestart();
1734 }
1735
1736
1737 while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever
1738 {
1739 try
1740 {
1741 statstart = Util.EnvironmentTickCount();
1742
1743 // clear pointer/counter to contacts to pass into joints
1744 m_global_contactcount = 0;
1745
1746 ODEchangeitem item;
1747
1748 if(ChangesQueue.Count >0)
1749 {
1750 int ttmpstart = Util.EnvironmentTickCount();
1751 int ttmp;
1752 int ttmp2;
1753
1754 while(ChangesQueue.Dequeue(out item))
1755 {
1756 if (item.actor != null)
1757 {
1758 try
1759 {
1760 if (item.actor is OdeCharacter)
1761 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1762 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1763 RemovePrimThreadLocked((OdePrim)item.actor);
1764 }
1765 catch
1766 {
1767 m_log.Warn("[PHYSICS]: doChange failed for a actor");
1768 };
1769 }
1770 ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
1771 if (ttmp > 20)
1772 break;
1773 }
1774
1775 ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
1776 if (ttmp2 > 50)
1777 ttmp2 = 0;
1778
1779 }
1780
1781 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1782
1783 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1784 //if ((framecount % m_randomizeWater) == 0)
1785 // randomizeWater(waterlevel);
1786
1787 m_rayCastManager.ProcessQueuedRequests();
1788
1789 statray += Util.EnvironmentTickCountSubtract(statstart);
1790 collision_optimized();
1791 statcol += Util.EnvironmentTickCountSubtract(statstart);
1792
1793 lock (_collisionEventPrim)
1794 {
1795 foreach (PhysicsActor obj in _collisionEventPrim)
1796 {
1797 if (obj == null)
1798 continue;
1799
1800 switch ((ActorTypes)obj.PhysicsActorType)
1801 {
1802 case ActorTypes.Agent:
1803 OdeCharacter cobj = (OdeCharacter)obj;
1804 cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
1805 cobj.SendCollisions();
1806 break;
1807
1808 case ActorTypes.Prim:
1809 OdePrim pobj = (OdePrim)obj;
1810 pobj.SendCollisions();
1811 break;
1812 }
1813 }
1814 }
1815
1816 d.WorldQuickStep(world, ODE_STEPSIZE);
1817 statstep += Util.EnvironmentTickCountSubtract(statstart);
1818
1819 // Move characters
1820 lock (_characters)
1821 {
1822 List<OdeCharacter> defects = new List<OdeCharacter>();
1823 foreach (OdeCharacter actor in _characters)
1824 {
1825 if (actor != null)
1826 actor.Move(ODE_STEPSIZE, defects);
1827 }
1828 if (defects.Count != 0)
1829 {
1830 foreach (OdeCharacter defect in defects)
1831 {
1832 RemoveCharacter(defect);
1833 }
1834 }
1835 }
1836 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1837
1838 // Move other active objects
1839 lock (_activegroups)
1840 {
1841 foreach (OdePrim aprim in _activegroups)
1842 {
1843 aprim.Move();
1844 }
1845 }
1846
1847 //ode.dunlock(world);
1848 }
1849 catch (Exception e)
1850 {
1851 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1852// ode.dunlock(world);
1853 }
1854
1855 d.JointGroupEmpty(contactgroup);
1856 totjcontact += m_global_contactcount;
1857
1858 step_time -= ODE_STEPSIZE;
1859 nodeframes++;
1860 }
1861
1862 statstart = Util.EnvironmentTickCount();
1863
1864/*
1865// now included in characters move() and done at ode rate
1866// maybe be needed later if we need to do any extra work at hearbeat rate
1867 lock (_characters)
1868 {
1869 foreach (OdeCharacter actor in _characters)
1870 {
1871 if (actor != null)
1872 {
1873 if (actor.bad)
1874 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1875
1876 actor.UpdatePositionAndVelocity();
1877 }
1878 }
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 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1894
1895 lock (_activegroups)
1896 {
1897 {
1898 foreach (OdePrim actor in _activegroups)
1899 {
1900 if (actor.IsPhysical)
1901 {
1902 actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
1903 }
1904 }
1905 }
1906 }
1907
1908 statmovprim = Util.EnvironmentTickCountSubtract(statstart);
1909
1910 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1911 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1912 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1913 int nbodies = d.NTotalBodies;
1914 int ngeoms = d.NTotalGeoms;
1915
1916 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1917 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1918 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1919 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1920 {
1921 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1922 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1923
1924 if (physics_logging_append_existing_logfile)
1925 {
1926 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1927 TextWriter fwriter = File.AppendText(fname);
1928 fwriter.WriteLine(header);
1929 fwriter.Close();
1930 }
1931
1932 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1933 }
1934
1935 // think time dilation is not a physics issue alone.. but ok let's fake something
1936 if (step_time < ODE_STEPSIZE) // we did the required loops
1937 m_timeDilation = 1.0f;
1938 else
1939 { // we didn't forget the lost ones and let user know something
1940 m_timeDilation = 1 - step_time / timeStep;
1941 if (m_timeDilation < 0)
1942 m_timeDilation = 0;
1943 step_time = 0;
1944 }
1945 }
1946
1947// return nodeframes * ODE_STEPSIZE; // return real simulated time
1948 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1949 }
1950
1951 /// <summary>
1952 public override void GetResults()
1953 {
1954 }
1955
1956 public override bool IsThreaded
1957 {
1958 // for now we won't be multithreaded
1959 get { return (false); }
1960 }
1961
1962 public float GetTerrainHeightAtXY(float x, float y)
1963 {
1964
1965
1966 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1967 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1968
1969
1970 IntPtr heightFieldGeom = IntPtr.Zero;
1971
1972 // get region map
1973 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
1974 return 0f;
1975
1976 if (heightFieldGeom == IntPtr.Zero)
1977 return 0f;
1978
1979 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1980 return 0f;
1981
1982 // TerrainHeightField for ODE as offset 1m
1983 x += 1f - offsetX;
1984 y += 1f - offsetY;
1985
1986 // make position fit into array
1987 if (x < 0)
1988 x = 0;
1989 if (y < 0)
1990 y = 0;
1991
1992 // integer indexs
1993 int ix;
1994 int iy;
1995 // interpolators offset
1996 float dx;
1997 float dy;
1998
1999 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
2000
2001 if (OdeUbitLib)
2002 {
2003 if (x < regsize - 1)
2004 {
2005 ix = (int)x;
2006 dx = x - (float)ix;
2007 }
2008 else // out world use external height
2009 {
2010 ix = regsize - 1;
2011 dx = 0;
2012 }
2013 if (y < regsize - 1)
2014 {
2015 iy = (int)y;
2016 dy = y - (float)iy;
2017 }
2018 else
2019 {
2020 iy = regsize - 1;
2021 dy = 0;
2022 }
2023 }
2024
2025 else
2026 {
2027 // we still have square fixed size regions
2028 // also flip x and y because of how map is done for ODE fliped axis
2029 // so ix,iy,dx and dy are inter exchanged
2030 if (x < regsize - 1)
2031 {
2032 iy = (int)x;
2033 dy = x - (float)iy;
2034 }
2035 else // out world use external height
2036 {
2037 iy = regsize - 1;
2038 dy = 0;
2039 }
2040 if (y < regsize - 1)
2041 {
2042 ix = (int)y;
2043 dx = y - (float)ix;
2044 }
2045 else
2046 {
2047 ix = regsize - 1;
2048 dx = 0;
2049 }
2050 }
2051
2052 float h0;
2053 float h1;
2054 float h2;
2055
2056 iy *= regsize;
2057 iy += ix; // all indexes have iy + ix
2058
2059 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
2060
2061 if ((dx + dy) <= 1.0f)
2062 {
2063 h0 = ((float)heights[iy]); // 0,0 vertice
2064 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
2065 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
2066 }
2067 else
2068 {
2069 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
2070 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
2071 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
2072 }
2073
2074 return h0 + h1 + h2;
2075 }
2076
2077
2078 public override void SetTerrain(float[] heightMap)
2079 {
2080 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
2081 {
2082 if (m_parentScene is OdeScene)
2083 {
2084 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
2085 }
2086 }
2087 else
2088 {
2089 SetTerrain(heightMap, m_worldOffset);
2090 }
2091 }
2092
2093 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
2094 {
2095 SetTerrain(heightMap, pOffset);
2096 }
2097
2098 public void SetTerrain(float[] heightMap, Vector3 pOffset)
2099 {
2100 if (OdeUbitLib)
2101 UbitSetTerrain(heightMap, pOffset);
2102 else
2103 OriSetTerrain(heightMap, pOffset);
2104 }
2105
2106 public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
2107 {
2108 // assumes 1m size grid and constante size square regions
2109 // needs to know about sims around in future
2110
2111 float[] _heightmap;
2112
2113 uint heightmapWidth = Constants.RegionSize + 2;
2114 uint heightmapHeight = Constants.RegionSize + 2;
2115
2116 uint heightmapWidthSamples = heightmapWidth + 1;
2117 uint heightmapHeightSamples = heightmapHeight + 1;
2118
2119 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2120
2121 const float scale = 1.0f;
2122 const float offset = 0.0f;
2123 const float thickness = 10f;
2124 const int wrap = 0;
2125
2126 uint regionsize = Constants.RegionSize;
2127
2128 float hfmin = float.MaxValue;
2129 float hfmax = float.MinValue;
2130 float val;
2131 uint xx;
2132 uint yy;
2133
2134 uint maxXXYY = regionsize - 1;
2135 // flipping map adding one margin all around so things don't fall in edges
2136
2137 uint xt = 0;
2138 xx = 0;
2139
2140 for (uint x = 0; x < heightmapWidthSamples; x++)
2141 {
2142 if (x > 1 && xx < maxXXYY)
2143 xx++;
2144 yy = 0;
2145 for (uint y = 0; y < heightmapHeightSamples; y++)
2146 {
2147 if (y > 1 && y < maxXXYY)
2148 yy += regionsize;
2149
2150 val = heightMap[yy + xx];
2151 if (val < 0.0f)
2152 val = 0.0f; // no neg terrain as in chode
2153 _heightmap[xt + y] = val;
2154
2155 if (hfmin > val)
2156 hfmin = val;
2157 if (hfmax < val)
2158 hfmax = val;
2159 }
2160 xt += heightmapHeightSamples;
2161 }
2162 lock (OdeLock)
2163 {
2164 IntPtr GroundGeom = IntPtr.Zero;
2165 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2166 {
2167 RegionTerrain.Remove(pOffset);
2168 if (GroundGeom != IntPtr.Zero)
2169 {
2170 d.GeomDestroy(GroundGeom);
2171
2172 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2173 {
2174 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2175 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2176 TerrainHeightFieldHeights.Remove(GroundGeom);
2177 }
2178 }
2179 }
2180 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2181
2182 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2183
2184 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
2185 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2186 offset, thickness, wrap);
2187
2188 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2189 GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2190 if (GroundGeom != IntPtr.Zero)
2191 {
2192 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2193 d.GeomSetCollideBits(GroundGeom, 0);
2194
2195 }
2196 geom_name_map[GroundGeom] = "Terrain";
2197
2198 d.Matrix3 R = new d.Matrix3();
2199
2200 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2201 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2202
2203
2204 q1 = q1 * q2;
2205
2206 Vector3 v3;
2207 float angle;
2208 q1.GetAxisAngle(out v3, out angle);
2209
2210 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2211 d.GeomSetRotation(GroundGeom, ref R);
2212 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2213 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2214// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2215 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2216 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2217
2218 }
2219 }
2220
2221 public void UbitSetTerrain(float[] heightMap, Vector3 pOffset)
2222 {
2223 // assumes 1m size grid and constante size square regions
2224 // needs to know about sims around in future
2225
2226 float[] _heightmap;
2227
2228 uint heightmapWidth = Constants.RegionSize + 2;
2229 uint heightmapHeight = Constants.RegionSize + 2;
2230
2231 uint heightmapWidthSamples = heightmapWidth + 1;
2232 uint heightmapHeightSamples = heightmapHeight + 1;
2233
2234 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2235
2236
2237 uint regionsize = Constants.RegionSize;
2238
2239 float hfmin = float.MaxValue;
2240// float hfmax = float.MinValue;
2241 float val;
2242
2243
2244 uint maxXXYY = regionsize - 1;
2245 // adding one margin all around so things don't fall in edges
2246
2247 uint xx;
2248 uint yy = 0;
2249 uint yt = 0;
2250
2251 for (uint y = 0; y < heightmapHeightSamples; y++)
2252 {
2253 if (y > 1 && y < maxXXYY)
2254 yy += regionsize;
2255 xx = 0;
2256 for (uint x = 0; x < heightmapWidthSamples; x++)
2257 {
2258 if (x > 1 && x < maxXXYY)
2259 xx++;
2260
2261 val = heightMap[yy + xx];
2262 if (val < 0.0f)
2263 val = 0.0f; // no neg terrain as in chode
2264 _heightmap[yt + x] = val;
2265
2266 if (hfmin > val)
2267 hfmin = val;
2268// if (hfmax < val)
2269// hfmax = val;
2270 }
2271 yt += heightmapWidthSamples;
2272 }
2273 lock (OdeLock)
2274 {
2275 IntPtr GroundGeom = IntPtr.Zero;
2276 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2277 {
2278 RegionTerrain.Remove(pOffset);
2279 if (GroundGeom != IntPtr.Zero)
2280 {
2281 d.GeomDestroy(GroundGeom);
2282
2283 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2284 {
2285 if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated)
2286 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2287 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2288 TerrainHeightFieldHeights.Remove(GroundGeom);
2289 }
2290 }
2291 }
2292 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2293
2294 const int wrap = 0;
2295 float thickness = hfmin;
2296 if (thickness < 0)
2297 thickness = 1;
2298
2299 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2300
2301 d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
2302 (int)heightmapWidthSamples, (int)heightmapHeightSamples,
2303 thickness, wrap);
2304
2305// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2306 GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1);
2307 if (GroundGeom != IntPtr.Zero)
2308 {
2309 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2310 d.GeomSetCollideBits(GroundGeom, 0);
2311
2312 }
2313 geom_name_map[GroundGeom] = "Terrain";
2314
2315 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2316 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2317 // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2318 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2319 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2320 }
2321 }
2322
2323
2324 public override void DeleteTerrain()
2325 {
2326 }
2327
2328 public float GetWaterLevel()
2329 {
2330 return waterlevel;
2331 }
2332
2333 public override bool SupportsCombining()
2334 {
2335 return true;
2336 }
2337/*
2338 public override void UnCombine(PhysicsScene pScene)
2339 {
2340 IntPtr localGround = IntPtr.Zero;
2341// float[] localHeightfield;
2342 bool proceed = false;
2343 List<IntPtr> geomDestroyList = new List<IntPtr>();
2344
2345 lock (OdeLock)
2346 {
2347 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2348 {
2349 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2350 {
2351 if (geom == localGround)
2352 {
2353// localHeightfield = TerrainHeightFieldHeights[geom];
2354 proceed = true;
2355 }
2356 else
2357 {
2358 geomDestroyList.Add(geom);
2359 }
2360 }
2361
2362 if (proceed)
2363 {
2364 m_worldOffset = Vector3.Zero;
2365 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2366 m_parentScene = null;
2367
2368 foreach (IntPtr g in geomDestroyList)
2369 {
2370 // removingHeightField needs to be done or the garbage collector will
2371 // collect the terrain data before we tell ODE to destroy it causing
2372 // memory corruption
2373 if (TerrainHeightFieldHeights.ContainsKey(g))
2374 {
2375// float[] removingHeightField = TerrainHeightFieldHeights[g];
2376 TerrainHeightFieldHeights.Remove(g);
2377
2378 if (RegionTerrain.ContainsKey(g))
2379 {
2380 RegionTerrain.Remove(g);
2381 }
2382
2383 d.GeomDestroy(g);
2384 //removingHeightField = new float[0];
2385 }
2386 }
2387
2388 }
2389 else
2390 {
2391 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2392 }
2393 }
2394 }
2395 }
2396*/
2397 public override void SetWaterLevel(float baseheight)
2398 {
2399 waterlevel = baseheight;
2400 randomizeWater(waterlevel);
2401 }
2402
2403 public void randomizeWater(float baseheight)
2404 {
2405 const uint heightmapWidth = Constants.RegionSize + 2;
2406 const uint heightmapHeight = Constants.RegionSize + 2;
2407 const uint heightmapWidthSamples = heightmapWidth + 1;
2408 const uint heightmapHeightSamples = heightmapHeight + 1;
2409
2410 const float scale = 1.0f;
2411 const float offset = 0.0f;
2412 const int wrap = 0;
2413
2414 float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples];
2415
2416 float maxheigh = float.MinValue;
2417 float minheigh = float.MaxValue;
2418 float val;
2419 for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++)
2420 {
2421
2422 val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f);
2423 _watermap[i] = val;
2424 if (maxheigh < val)
2425 maxheigh = val;
2426 if (minheigh > val)
2427 minheigh = val;
2428 }
2429
2430 float thickness = minheigh;
2431
2432 lock (OdeLock)
2433 {
2434 if (WaterGeom != IntPtr.Zero)
2435 {
2436 d.GeomDestroy(WaterGeom);
2437 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2438 WaterGeom = IntPtr.Zero;
2439 WaterHeightmapData = IntPtr.Zero;
2440 if(WaterMapHandler.IsAllocated)
2441 WaterMapHandler.Free();
2442 }
2443
2444 WaterHeightmapData = d.GeomHeightfieldDataCreate();
2445
2446 WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned);
2447
2448 d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight,
2449 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2450 offset, thickness, wrap);
2451 d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh);
2452 WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1);
2453 if (WaterGeom != IntPtr.Zero)
2454 {
2455 d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water));
2456 d.GeomSetCollideBits(WaterGeom, 0);
2457
2458 geom_name_map[WaterGeom] = "Water";
2459
2460 d.Matrix3 R = new d.Matrix3();
2461
2462 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2463 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2464
2465 q1 = q1 * q2;
2466 Vector3 v3;
2467 float angle;
2468 q1.GetAxisAngle(out v3, out angle);
2469
2470 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2471 d.GeomSetRotation(WaterGeom, ref R);
2472 d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0);
2473 }
2474 }
2475 }
2476
2477 public override void Dispose()
2478 {
2479 m_rayCastManager.Dispose();
2480 m_rayCastManager = null;
2481
2482 lock (OdeLock)
2483 {
2484 lock (_prims)
2485 {
2486 foreach (OdePrim prm in _prims)
2487 {
2488 RemovePrim(prm);
2489 }
2490 }
2491
2492 if (TerrainHeightFieldHeightsHandlers.Count > 0)
2493 {
2494 foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
2495 {
2496 if (gch.IsAllocated)
2497 gch.Free();
2498 }
2499 }
2500
2501 if (WaterGeom != IntPtr.Zero)
2502 {
2503 d.GeomDestroy(WaterGeom);
2504 WaterGeom = IntPtr.Zero;
2505 if (WaterHeightmapData != IntPtr.Zero)
2506 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2507 WaterHeightmapData = IntPtr.Zero;
2508
2509 if (WaterMapHandler.IsAllocated)
2510 WaterMapHandler.Free();
2511 }
2512
2513
2514 if (ContactgeomsArray != IntPtr.Zero)
2515 Marshal.FreeHGlobal(ContactgeomsArray);
2516 if (GlobalContactsArray != IntPtr.Zero)
2517 Marshal.FreeHGlobal(GlobalContactsArray);
2518
2519
2520 d.WorldDestroy(world);
2521 //d.CloseODE();
2522 }
2523 }
2524
2525 public override Dictionary<uint, float> GetTopColliders()
2526 {
2527 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2528 int cnt = 0;
2529 lock (_prims)
2530 {
2531 foreach (OdePrim prm in _prims)
2532 {
2533 if (prm.CollisionScore > 0)
2534 {
2535 returncolliders.Add(prm.m_localID, prm.CollisionScore);
2536 cnt++;
2537 prm.CollisionScore = 0f;
2538 if (cnt > 25)
2539 {
2540 break;
2541 }
2542 }
2543 }
2544 }
2545 return returncolliders;
2546 }
2547
2548 public override bool SupportsRayCast()
2549 {
2550 return true;
2551 }
2552
2553 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2554 {
2555 if (retMethod != null)
2556 {
2557 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2558 }
2559 }
2560
2561 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2562 {
2563 if (retMethod != null)
2564 {
2565 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2566 }
2567 }
2568
2569 // don't like this
2570 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2571 {
2572 ContactResult[] ourResults = null;
2573 RayCallback retMethod = delegate(List<ContactResult> results)
2574 {
2575 ourResults = new ContactResult[results.Count];
2576 results.CopyTo(ourResults, 0);
2577 };
2578 int waitTime = 0;
2579 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2580 while (ourResults == null && waitTime < 1000)
2581 {
2582 Thread.Sleep(1);
2583 waitTime++;
2584 }
2585 if (ourResults == null)
2586 return new List<ContactResult>();
2587 return new List<ContactResult>(ourResults);
2588 }
2589
2590 public override bool SuportsRaycastWorldFiltered()
2591 {
2592 return true;
2593 }
2594
2595 public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
2596 {
2597 object SyncObject = new object();
2598 List<ContactResult> ourresults = new List<ContactResult>();
2599
2600 RayCallback retMethod = delegate(List<ContactResult> results)
2601 {
2602 lock (SyncObject)
2603 {
2604 ourresults = results;
2605 Monitor.PulseAll(SyncObject);
2606 }
2607 };
2608
2609 lock (SyncObject)
2610 {
2611 m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod);
2612 if (!Monitor.Wait(SyncObject, 500))
2613 return null;
2614 else
2615 return ourresults;
2616 }
2617 }
2618
2619 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2620 {
2621 if (retMethod != null && actor !=null)
2622 {
2623 IntPtr geom;
2624 if (actor is OdePrim)
2625 geom = ((OdePrim)actor).prim_geom;
2626 else if (actor is OdeCharacter)
2627 geom = ((OdePrim)actor).prim_geom;
2628 else
2629 return;
2630 if (geom == IntPtr.Zero)
2631 return;
2632 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2633 }
2634 }
2635
2636 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2637 {
2638 if (retMethod != null && actor != null)
2639 {
2640 IntPtr geom;
2641 if (actor is OdePrim)
2642 geom = ((OdePrim)actor).prim_geom;
2643 else if (actor is OdeCharacter)
2644 geom = ((OdePrim)actor).prim_geom;
2645 else
2646 return;
2647 if (geom == IntPtr.Zero)
2648 return;
2649
2650 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2651 }
2652 }
2653
2654 // don't like this
2655 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2656 {
2657 if (actor != null)
2658 {
2659 IntPtr geom;
2660 if (actor is OdePrim)
2661 geom = ((OdePrim)actor).prim_geom;
2662 else if (actor is OdeCharacter)
2663 geom = ((OdePrim)actor).prim_geom;
2664 else
2665 return new List<ContactResult>();
2666 if (geom == IntPtr.Zero)
2667 return new List<ContactResult>();
2668
2669 ContactResult[] ourResults = null;
2670 RayCallback retMethod = delegate(List<ContactResult> results)
2671 {
2672 ourResults = new ContactResult[results.Count];
2673 results.CopyTo(ourResults, 0);
2674 };
2675 int waitTime = 0;
2676 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2677 while (ourResults == null && waitTime < 1000)
2678 {
2679 Thread.Sleep(1);
2680 waitTime++;
2681 }
2682 if (ourResults == null)
2683 return new List<ContactResult>();
2684 return new List<ContactResult>(ourResults);
2685 }
2686 return new List<ContactResult>();
2687 }
2688 }
2689}
generated by cgit v1.1 at 2024-12-21 15:50:15 +0000