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-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs33
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs102
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs99
-rw-r--r--OpenSim/Region/Physics/Meshing/PrimMesher.cs29
-rw-r--r--OpenSim/Region/Physics/Meshing/SculptMesh.cs84
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs4
6 files changed, 256 insertions, 95 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index 198962b..f13c323 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -108,12 +108,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
108 private bool[] m_colliderarr = new bool[11]; 108 private bool[] m_colliderarr = new bool[11];
109 private bool[] m_colliderGroundarr = new bool[11]; 109 private bool[] m_colliderGroundarr = new bool[11];
110 110
111
112
113 private BulletDotNETScene m_parent_scene; 111 private BulletDotNETScene m_parent_scene;
114 112
115 public int m_eventsubscription = 0; 113 public int m_eventsubscription = 0;
116 // private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); 114 private CollisionEventUpdate CollisionEventsThisFrame = null;
115 private int m_requestedUpdateFrequency = 0;
117 116
118 public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) 117 public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
119 { 118 {
@@ -212,7 +211,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
212 m_mass = Mass; 211 m_mass = Mass;
213 212
214 Body = new btRigidBody(m_mass, m_bodyMotionState, Shell); 213 Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
215 Body.setUserPointer(new IntPtr((int)Body.Handle)); 214 // this is used for self identification. User localID instead of body handle
215 Body.setUserPointer(new IntPtr((int)m_localID));
216 216
217 if (ClosestCastResult != null) 217 if (ClosestCastResult != null)
218 ClosestCastResult.Dispose(); 218 ClosestCastResult.Dispose();
@@ -716,6 +716,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
716 public override void SubscribeEvents(int ms) 716 public override void SubscribeEvents(int ms)
717 { 717 {
718 m_eventsubscription = ms; 718 m_eventsubscription = ms;
719 m_requestedUpdateFrequency = ms;
719 m_parent_scene.addCollisionEventReporting(this); 720 m_parent_scene.addCollisionEventReporting(this);
720 } 721 }
721 722
@@ -723,6 +724,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
723 { 724 {
724 m_parent_scene.remCollisionEventReporting(this); 725 m_parent_scene.remCollisionEventReporting(this);
725 m_eventsubscription = 0; 726 m_eventsubscription = 0;
727 m_requestedUpdateFrequency = 0;
726 } 728 }
727 729
728 public override bool SubscribedEvents() 730 public override bool SubscribedEvents()
@@ -732,6 +734,29 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
732 return false; 734 return false;
733 } 735 }
734 736
737 public void AddCollision(uint collideWith, ContactPoint contact)
738 {
739 if (CollisionEventsThisFrame == null)
740 {
741 CollisionEventsThisFrame = new CollisionEventUpdate();
742 }
743 CollisionEventsThisFrame.addCollider(collideWith, contact);
744 }
745
746 public void SendCollisions()
747 {
748 if (m_eventsubscription >= m_requestedUpdateFrequency)
749 {
750 if (CollisionEventsThisFrame != null)
751 {
752 base.SendCollisionUpdate(CollisionEventsThisFrame);
753 }
754 CollisionEventsThisFrame = new CollisionEventUpdate();
755 m_eventsubscription = 0;
756 }
757 return;
758 }
759
735 internal void Dispose() 760 internal void Dispose()
736 { 761 {
737 if (Body.isInWorld()) 762 if (Body.isInWorld())
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index 920ed96..dc3229a 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -154,7 +154,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
154 private Vector3 _target_velocity; 154 private Vector3 _target_velocity;
155 155
156 public int m_eventsubscription; 156 public int m_eventsubscription;
157 // private CollisionEventUpdate CollisionEventsThisFrame = null; 157 private int m_requestedUpdateFrequency = 0;
158 private CollisionEventUpdate CollisionEventsThisFrame = null;
158 159
159 public volatile bool childPrim; 160 public volatile bool childPrim;
160 161
@@ -595,6 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
595 public override void SubscribeEvents(int ms) 596 public override void SubscribeEvents(int ms)
596 { 597 {
597 m_eventsubscription = ms; 598 m_eventsubscription = ms;
599 m_requestedUpdateFrequency = ms;
598 _parent_scene.addCollisionEventReporting(this); 600 _parent_scene.addCollisionEventReporting(this);
599 } 601 }
600 602
@@ -602,6 +604,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
602 { 604 {
603 _parent_scene.remCollisionEventReporting(this); 605 _parent_scene.remCollisionEventReporting(this);
604 m_eventsubscription = 0; 606 m_eventsubscription = 0;
607 m_requestedUpdateFrequency = 0;
605 } 608 }
606 609
607 public override bool SubscribedEvents() 610 public override bool SubscribedEvents()
@@ -611,7 +614,28 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
611 614
612 #endregion 615 #endregion
613 616
617 public void AddCollision(uint collideWith, ContactPoint contact)
618 {
619 if (CollisionEventsThisFrame == null)
620 {
621 CollisionEventsThisFrame = new CollisionEventUpdate();
622 }
623 CollisionEventsThisFrame.addCollider(collideWith, contact);
624 }
614 625
626 public void SendCollisions()
627 {
628 if (m_eventsubscription >= m_requestedUpdateFrequency)
629 {
630 if (CollisionEventsThisFrame != null)
631 {
632 base.SendCollisionUpdate(CollisionEventsThisFrame);
633 }
634 CollisionEventsThisFrame = null;
635 // m_eventsubscription = 0;
636 }
637 return;
638 }
615 639
616 internal void Dispose() 640 internal void Dispose()
617 { 641 {
@@ -759,7 +783,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
759 { 783 {
760 if (m_taintadd) 784 if (m_taintadd)
761 { 785 {
762 m_log.Debug("[PHYSICS]: TaintAdd"); 786 // m_log.Debug("[PHYSICS]: TaintAdd");
763 changeadd(timestep); 787 changeadd(timestep);
764 } 788 }
765 789
@@ -771,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
771 SetBody(Mass); 795 SetBody(Mass);
772 else 796 else
773 SetBody(0); 797 SetBody(0);
774 m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); 798 // m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
775 } 799 }
776 800
777 if (prim_geom.Handle == IntPtr.Zero) 801 if (prim_geom.Handle == IntPtr.Zero)
@@ -782,31 +806,31 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
782 SetBody(Mass); 806 SetBody(Mass);
783 else 807 else
784 SetBody(0); 808 SetBody(0);
785 m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); 809 // m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
786 810
787 } 811 }
788 812
789 if (!_position.ApproxEquals(m_taintposition, 0f)) 813 if (!_position.ApproxEquals(m_taintposition, 0f))
790 { 814 {
791 m_log.Debug("[PHYSICS]: TaintMove"); 815 // m_log.Debug("[PHYSICS]: TaintMove");
792 changemove(timestep); 816 changemove(timestep);
793 } 817 }
794 if (m_taintrot != _orientation) 818 if (m_taintrot != _orientation)
795 { 819 {
796 m_log.Debug("[PHYSICS]: TaintRotate"); 820 // m_log.Debug("[PHYSICS]: TaintRotate");
797 rotate(timestep); 821 rotate(timestep);
798 } // 822 } //
799 823
800 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) 824 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
801 { 825 {
802 m_log.Debug("[PHYSICS]: TaintPhysics"); 826 // m_log.Debug("[PHYSICS]: TaintPhysics");
803 changePhysicsStatus(timestep); 827 changePhysicsStatus(timestep);
804 } 828 }
805 // 829 //
806 830
807 if (!_size.ApproxEquals(m_taintsize, 0f)) 831 if (!_size.ApproxEquals(m_taintsize, 0f))
808 { 832 {
809 m_log.Debug("[PHYSICS]: TaintSize"); 833 // m_log.Debug("[PHYSICS]: TaintSize");
810 changesize(timestep); 834 changesize(timestep);
811 } 835 }
812 836
@@ -814,43 +838,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
814 838
815 if (m_taintshape) 839 if (m_taintshape)
816 { 840 {
817 m_log.Debug("[PHYSICS]: TaintShape"); 841 // m_log.Debug("[PHYSICS]: TaintShape");
818 changeshape(timestep); 842 changeshape(timestep);
819 } // 843 } //
820 844
821 if (m_taintforce) 845 if (m_taintforce)
822 { 846 {
823 m_log.Debug("[PHYSICS]: TaintForce"); 847 // m_log.Debug("[PHYSICS]: TaintForce");
824 changeAddForce(timestep); 848 changeAddForce(timestep);
825 } 849 }
826 if (m_taintaddangularforce) 850 if (m_taintaddangularforce)
827 { 851 {
828 m_log.Debug("[PHYSICS]: TaintAngularForce"); 852 // m_log.Debug("[PHYSICS]: TaintAngularForce");
829 changeAddAngularForce(timestep); 853 changeAddAngularForce(timestep);
830 } 854 }
831 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) 855 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
832 { 856 {
833 m_log.Debug("[PHYSICS]: TaintTorque"); 857 // m_log.Debug("[PHYSICS]: TaintTorque");
834 changeSetTorque(timestep); 858 changeSetTorque(timestep);
835 } 859 }
836 if (m_taintdisable) 860 if (m_taintdisable)
837 { 861 {
838 m_log.Debug("[PHYSICS]: TaintDisable"); 862 // m_log.Debug("[PHYSICS]: TaintDisable");
839 changedisable(timestep); 863 changedisable(timestep);
840 } 864 }
841 if (m_taintselected != m_isSelected) 865 if (m_taintselected != m_isSelected)
842 { 866 {
843 m_log.Debug("[PHYSICS]: TaintSelected"); 867 // m_log.Debug("[PHYSICS]: TaintSelected");
844 changeSelectedStatus(timestep); 868 changeSelectedStatus(timestep);
845 } 869 }
846 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) 870 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
847 { 871 {
848 m_log.Debug("[PHYSICS]: TaintVelocity"); 872 // m_log.Debug("[PHYSICS]: TaintVelocity");
849 changevelocity(timestep); 873 changevelocity(timestep);
850 } 874 }
851 if (m_taintparent != _parent) 875 if (m_taintparent != _parent)
852 { 876 {
853 m_log.Debug("[PHYSICS]: TaintLink"); 877 // m_log.Debug("[PHYSICS]: TaintLink");
854 changelink(timestep); 878 changelink(timestep);
855 } 879 }
856 if (m_taintCollidesWater != m_collidesWater) 880 if (m_taintCollidesWater != m_collidesWater)
@@ -859,7 +883,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
859 } 883 }
860 if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0)) 884 if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
861 { 885 {
862 m_log.Debug("[PHYSICS]: TaintAngularLock"); 886 // m_log.Debug("[PHYSICS]: TaintAngularLock");
863 changeAngularLock(timestep); 887 changeAngularLock(timestep);
864 } 888 }
865 if (m_taintremove) 889 if (m_taintremove)
@@ -917,7 +941,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
917 private void changemove(float timestep) 941 private void changemove(float timestep)
918 { 942 {
919 943
920 m_log.Debug("[PHYSICS]: _________ChangeMove"); 944 // m_log.Debug("[PHYSICS]: _________ChangeMove");
921 if (!m_isphysical) 945 if (!m_isphysical)
922 { 946 {
923 tempTransform2 = Body.getWorldTransform(); 947 tempTransform2 = Body.getWorldTransform();
@@ -977,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
977 1001
978 private void rotate(float timestep) 1002 private void rotate(float timestep)
979 { 1003 {
980 m_log.Debug("[PHYSICS]: _________ChangeRotate"); 1004 // m_log.Debug("[PHYSICS]: _________ChangeRotate");
981 tempTransform2 = Body.getWorldTransform(); 1005 tempTransform2 = Body.getWorldTransform();
982 tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); 1006 tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
983 tempTransform2.setRotation(tempOrientation2); 1007 tempTransform2.setRotation(tempOrientation2);
@@ -1000,7 +1024,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1000 //Body = null; 1024 //Body = null;
1001 // TODO: dispose parts that make up body 1025 // TODO: dispose parts that make up body
1002 } 1026 }
1003 m_log.Debug("[PHYSICS]: _________ChangePhysics"); 1027 // m_log.Debug("[PHYSICS]: _________ChangePhysics");
1004 1028
1005 ProcessGeomCreation(); 1029 ProcessGeomCreation();
1006 1030
@@ -1092,7 +1116,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1092 // TODO: dispose parts that make up body 1116 // TODO: dispose parts that make up body
1093 } 1117 }
1094 1118
1095 m_log.Debug("[PHYSICS]: _________ChangeSize"); 1119 // m_log.Debug("[PHYSICS]: _________ChangeSize");
1096 SetCollisionShape(null); 1120 SetCollisionShape(null);
1097 // Construction of new prim 1121 // Construction of new prim
1098 ProcessGeomCreation(); 1122 ProcessGeomCreation();
@@ -1297,13 +1321,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1297 // TODO: throw new NotImplementedException(); 1321 // TODO: throw new NotImplementedException();
1298 if (m_taintselected) 1322 if (m_taintselected)
1299 { 1323 {
1300 Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE); 1324 // Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
1301 disableBodySoft(); 1325 disableBodySoft();
1302 1326
1303 } 1327 }
1304 else 1328 else
1305 { 1329 {
1306 Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK); 1330 // Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
1307 enableBodySoft(); 1331 enableBodySoft();
1308 } 1332 }
1309 m_isSelected = m_taintselected; 1333 m_isSelected = m_taintselected;
@@ -1605,6 +1629,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1605 enableBodySoft(); 1629 enableBodySoft();
1606 } 1630 }
1607 */ 1631 */
1632 if (!Body.isActive())
1633 {
1634 Body.clearForces();
1635 enableBodySoft();
1636 }
1608 // 35x10 = 350n times the mass per second applied maximum. 1637 // 35x10 = 350n times the mass per second applied maximum.
1609 1638
1610 float nmax = 35f * m_mass; 1639 float nmax = 35f * m_mass;
@@ -1632,6 +1661,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1632 Body.applyCentralImpulse(tempAddForce); 1661 Body.applyCentralImpulse(tempAddForce);
1633 } 1662 }
1634 } 1663 }
1664 else
1665 {
1666 // if no forces on the prim, make sure everything is zero
1667 Body.clearForces();
1668 enableBodySoft();
1669 }
1635 } 1670 }
1636 else 1671 else
1637 { 1672 {
@@ -1985,7 +2020,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1985 2020
1986 public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh) 2021 public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh)
1987 { 2022 {
1988 m_log.Debug("[PHYSICS]: _________CreateGeom"); 2023 // m_log.Debug("[PHYSICS]: _________CreateGeom");
1989 if (p_mesh != null) 2024 if (p_mesh != null)
1990 { 2025 {
1991 //_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); 2026 //_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
@@ -2042,7 +2077,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2042 // TODO: Set Collision Body Mesh 2077 // TODO: Set Collision Body Mesh
2043 // This sleeper is there to moderate how long it takes between 2078 // This sleeper is there to moderate how long it takes between
2044 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object 2079 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
2045 m_log.Debug("_________SetMesh"); 2080 // m_log.Debug("_________SetMesh");
2046 Thread.Sleep(10); 2081 Thread.Sleep(10);
2047 2082
2048 //Kill Body so that mesh can re-make the geom 2083 //Kill Body so that mesh can re-make the geom
@@ -2159,7 +2194,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2159 2194
2160 // Body = new btRigidBody(mass, tempMotionState1, prim_geom); 2195 // Body = new btRigidBody(mass, tempMotionState1, prim_geom);
2161 //else 2196 //else
2162 Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); 2197 // Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
2198 if (Body == null)
2199 {
2200 Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
2201 // add localID so we can later map bullet object back to OpenSim object
2202 Body.setUserPointer(new IntPtr((int)m_localID));
2203 }
2204
2163 2205
2164 if (prim_geom is btGImpactMeshShape) 2206 if (prim_geom is btGImpactMeshShape)
2165 { 2207 {
@@ -2250,7 +2292,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2250 2292
2251 // Body = new btRigidBody(mass, tempMotionState1, prim_geom); 2293 // Body = new btRigidBody(mass, tempMotionState1, prim_geom);
2252 //else 2294 //else
2253 Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); 2295 // Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
2296 if (Body == null)
2297 {
2298 Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
2299 // each body has the localID stored into it so we can identify collision objects
2300 Body.setUserPointer(new IntPtr((int)m_localID));
2301 }
2254 2302
2255 if (prim_geom is btGImpactMeshShape) 2303 if (prim_geom is btGImpactMeshShape)
2256 { 2304 {
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
index 9e048ab..85e34c1 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
@@ -47,7 +47,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
47 // private string m_sceneIdentifier = string.Empty; 47 // private string m_sceneIdentifier = string.Empty;
48 48
49 private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>(); 49 private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
50 private Dictionary<uint, BulletDotNETCharacter> m_charactersLocalID = new Dictionary<uint, BulletDotNETCharacter>();
50 private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>(); 51 private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
52 private Dictionary<uint, BulletDotNETPrim> m_primsLocalID = new Dictionary<uint, BulletDotNETPrim>();
51 private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>(); 53 private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
52 private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>(); 54 private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
53 private btDiscreteDynamicsWorld m_world; 55 private btDiscreteDynamicsWorld m_world;
@@ -134,7 +136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
134 m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); 136 m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
135 m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); 137 m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
136 m_world.setGravity(m_gravity); 138 m_world.setGravity(m_gravity);
137 //EnableCollisionInterface(); 139 EnableCollisionInterface();
138 140
139 141
140 } 142 }
@@ -145,7 +147,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
145 avCapRadius, avStandupTensor, avDensity, 147 avCapRadius, avStandupTensor, avDensity,
146 avHeightFudgeFactor, avMovementDivisorWalk, 148 avHeightFudgeFactor, avMovementDivisorWalk,
147 avMovementDivisorRun); 149 avMovementDivisorRun);
148 m_characters.Add(chr); 150 try
151 {
152 m_characters.Add(chr);
153 m_charactersLocalID.Add(chr.m_localID, chr);
154 }
155 catch
156 {
157 // noop if it's already there
158 m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate avatar localID");
159 }
149 AddPhysicsActorTaint(chr); 160 AddPhysicsActorTaint(chr);
150 return chr; 161 return chr;
151 } 162 }
@@ -154,6 +165,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
154 { 165 {
155 BulletDotNETCharacter chr = (BulletDotNETCharacter) actor; 166 BulletDotNETCharacter chr = (BulletDotNETCharacter) actor;
156 167
168 m_charactersLocalID.Remove(chr.m_localID);
157 m_characters.Remove(chr); 169 m_characters.Remove(chr);
158 m_world.removeRigidBody(chr.Body); 170 m_world.removeRigidBody(chr.Body);
159 m_world.removeCollisionObject(chr.Body); 171 m_world.removeCollisionObject(chr.Body);
@@ -279,7 +291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
279 prim.Move(timeStep); 291 prim.Move(timeStep);
280 } 292 }
281 } 293 }
282 float steps = m_world.stepSimulation(timeStep * 1000, 10, WorldTimeComp); 294 float steps = m_world.stepSimulation(timeStep, 10, WorldTimeComp);
283 295
284 foreach (BulletDotNETCharacter chr in m_characters) 296 foreach (BulletDotNETCharacter chr in m_characters)
285 { 297 {
@@ -296,20 +308,67 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
296 } 308 }
297 if (m_CollisionInterface != null) 309 if (m_CollisionInterface != null)
298 { 310 {
299 List<int> collisions = m_CollisionInterface.GetContactList(); 311 List<BulletDotNETPrim> primsWithCollisions = new List<BulletDotNETPrim>();
300 lock (collisions) 312 List<BulletDotNETCharacter> charactersWithCollisions = new List<BulletDotNETCharacter>();
313
314 // get the collisions that happened this tick
315 List<BulletDotNET.ContactAddedCallbackHandler.ContactInfo> collisions = m_CollisionInterface.GetContactList();
316 // passed back the localID of the prim so we can associate the prim
317 foreach (BulletDotNET.ContactAddedCallbackHandler.ContactInfo ci in collisions)
301 { 318 {
302 foreach (int pvalue in collisions) 319 // ContactPoint = { contactPoint, contactNormal, penetrationDepth }
303 { 320 ContactPoint contact = new ContactPoint(new Vector3(ci.pX, ci.pY, ci.pZ),
304 System.Console.Write(string.Format("{0} ", pvalue)); 321 new Vector3(ci.nX, ci.nY, ci.nZ), ci.depth);
305 } 322
323 ProcessContact(ci.contact, ci.contactWith, contact, ref primsWithCollisions, ref charactersWithCollisions);
324 ProcessContact(ci.contactWith, ci.contact, contact, ref primsWithCollisions, ref charactersWithCollisions);
325
306 } 326 }
307 m_CollisionInterface.Clear(); 327 m_CollisionInterface.Clear();
308 328 // for those prims and characters that had collisions cause collision events
329 foreach (BulletDotNETPrim bdnp in primsWithCollisions)
330 {
331 bdnp.SendCollisions();
332 }
333 foreach (BulletDotNETCharacter bdnc in charactersWithCollisions)
334 {
335 bdnc.SendCollisions();
336 }
309 } 337 }
310 return steps; 338 return steps;
311 } 339 }
312 340
341 private void ProcessContact(uint cont, uint contWith, ContactPoint contact,
342 ref List<BulletDotNETPrim> primsWithCollisions,
343 ref List<BulletDotNETCharacter> charactersWithCollisions)
344 {
345 BulletDotNETPrim bdnp;
346 // collisions with a normal prim?
347 if (m_primsLocalID.TryGetValue(cont, out bdnp))
348 {
349 // Added collision event to the prim. This creates a pile of events
350 // that will be sent to any subscribed listeners.
351 bdnp.AddCollision(contWith, contact);
352 if (!primsWithCollisions.Contains(bdnp))
353 {
354 primsWithCollisions.Add(bdnp);
355 }
356 }
357 else
358 {
359 BulletDotNETCharacter bdnc;
360 // if not a prim, maybe it's one of the characters
361 if (m_charactersLocalID.TryGetValue(cont, out bdnc))
362 {
363 bdnc.AddCollision(contWith, contact);
364 if (!charactersWithCollisions.Contains(bdnc))
365 {
366 charactersWithCollisions.Add(bdnc);
367 }
368 }
369 }
370 }
371
313 public override void GetResults() 372 public override void GetResults()
314 { 373 {
315 374
@@ -387,6 +446,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
387 m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition); 446 m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
388 m_terrainMotionState = new btDefaultMotionState(m_terrainTransform); 447 m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
389 TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape); 448 TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
449 TerrainBody.setUserPointer((IntPtr)0);
390 m_world.addRigidBody(TerrainBody); 450 m_world.addRigidBody(TerrainBody);
391 451
392 452
@@ -459,6 +519,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
459 { 519 {
460 lock (m_prims) 520 lock (m_prims)
461 { 521 {
522 m_primsLocalID.Clear();
462 foreach (BulletDotNETPrim prim in m_prims) 523 foreach (BulletDotNETPrim prim in m_prims)
463 { 524 {
464 if (prim.Body != null) 525 if (prim.Body != null)
@@ -513,6 +574,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
513 m_world.removeRigidBody(body); 574 m_world.removeRigidBody(body);
514 } 575 }
515 remActivePrim(prm); 576 remActivePrim(prm);
577 m_primsLocalID.Remove(prm.m_localID);
516 m_prims.Remove(prm); 578 m_prims.Remove(prm);
517 } 579 }
518 580
@@ -686,9 +748,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
686 { 748 {
687 if (!m_prims.Contains(pPrim)) 749 if (!m_prims.Contains(pPrim))
688 { 750 {
689 m_prims.Add(pPrim); 751 try
752 {
753 m_prims.Add(pPrim);
754 m_primsLocalID.Add(pPrim.m_localID, pPrim);
755 }
756 catch
757 {
758 // noop if it's already there
759 m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate prim localID");
760 }
690 m_world.addRigidBody(pPrim.Body); 761 m_world.addRigidBody(pPrim.Body);
691 m_log.Debug("ADDED"); 762 // m_log.Debug("[PHYSICS] added prim to scene");
692 } 763 }
693 } 764 }
694 } 765 }
@@ -696,8 +767,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
696 { 767 {
697 if (m_CollisionInterface == null) 768 if (m_CollisionInterface == null)
698 { 769 {
699 m_CollisionInterface = new ContactAddedCallbackHandler(); 770 m_CollisionInterface = new ContactAddedCallbackHandler(m_world);
700 m_world.SetCollisionAddedCallback(m_CollisionInterface); 771 // m_world.SetCollisionAddedCallback(m_CollisionInterface);
701 } 772 }
702 } 773 }
703 774
diff --git a/OpenSim/Region/Physics/Meshing/PrimMesher.cs b/OpenSim/Region/Physics/Meshing/PrimMesher.cs
index 2a213c3..932943c 100644
--- a/OpenSim/Region/Physics/Meshing/PrimMesher.cs
+++ b/OpenSim/Region/Physics/Meshing/PrimMesher.cs
@@ -827,15 +827,16 @@ namespace PrimMesher
827 827
828 if (createFaces) 828 if (createFaces)
829 { 829 {
830 int numOuterVerts = this.coords.Count; 830 //int numOuterVerts = this.coords.Count;
831 int numHollowVerts = hollowCoords.Count; 831 //numOuterVerts = this.coords.Count;
832 int numTotalVerts = numOuterVerts + numHollowVerts; 832 //int numHollowVerts = hollowCoords.Count;
833 int numTotalVerts = this.numOuterVerts + this.numHollowVerts;
833 834
834 if (numOuterVerts == numHollowVerts) 835 if (this.numOuterVerts == this.numHollowVerts)
835 { 836 {
836 Face newFace = new Face(); 837 Face newFace = new Face();
837 838
838 for (int coordIndex = 0; coordIndex < numOuterVerts - 1; coordIndex++) 839 for (int coordIndex = 0; coordIndex < this.numOuterVerts - 1; coordIndex++)
839 { 840 {
840 newFace.v1 = coordIndex; 841 newFace.v1 = coordIndex;
841 newFace.v2 = coordIndex + 1; 842 newFace.v2 = coordIndex + 1;
@@ -850,12 +851,12 @@ namespace PrimMesher
850 } 851 }
851 else 852 else
852 { 853 {
853 if (numOuterVerts < numHollowVerts) 854 if (this.numOuterVerts < this.numHollowVerts)
854 { 855 {
855 Face newFace = new Face(); 856 Face newFace = new Face();
856 int j = 0; // j is the index for outer vertices 857 int j = 0; // j is the index for outer vertices
857 int maxJ = numOuterVerts - 1; 858 int maxJ = this.numOuterVerts - 1;
858 for (int i = 0; i < numHollowVerts; i++) // i is the index for inner vertices 859 for (int i = 0; i < this.numHollowVerts; i++) // i is the index for inner vertices
859 { 860 {
860 if (j < maxJ) 861 if (j < maxJ)
861 if (angles.angles[j + 1].angle - hollowAngles.angles[i].angle < hollowAngles.angles[i].angle - angles.angles[j].angle + 0.000001f) 862 if (angles.angles[j + 1].angle - hollowAngles.angles[i].angle < hollowAngles.angles[i].angle - angles.angles[j].angle + 0.000001f)
@@ -879,8 +880,8 @@ namespace PrimMesher
879 { 880 {
880 Face newFace = new Face(); 881 Face newFace = new Face();
881 int j = 0; // j is the index for inner vertices 882 int j = 0; // j is the index for inner vertices
882 int maxJ = numHollowVerts - 1; 883 int maxJ = this.numHollowVerts - 1;
883 for (int i = 0; i < numOuterVerts; i++) 884 for (int i = 0; i < this.numOuterVerts; i++)
884 { 885 {
885 if (j < maxJ) 886 if (j < maxJ)
886 if (hollowAngles.angles[j + 1].angle - angles.angles[i].angle < angles.angles[i].angle - hollowAngles.angles[j].angle + 0.000001f) 887 if (hollowAngles.angles[j + 1].angle - angles.angles[i].angle < angles.angles[i].angle - hollowAngles.angles[j].angle + 0.000001f)
@@ -981,7 +982,7 @@ namespace PrimMesher
981 int startVert = hasProfileCut && !hasHollow ? 1 : 0; 982 int startVert = hasProfileCut && !hasHollow ? 1 : 0;
982 if (startVert > 0) 983 if (startVert > 0)
983 this.faceNumbers.Add(-1); 984 this.faceNumbers.Add(-1);
984 for (int i = 0; i < numOuterVerts - 1; i++) 985 for (int i = 0; i < this.numOuterVerts - 1; i++)
985 this.faceNumbers.Add(sides < 5 ? faceNum++ : faceNum); 986 this.faceNumbers.Add(sides < 5 ? faceNum++ : faceNum);
986 987
987 //if (!hasHollow && !hasProfileCut) 988 //if (!hasHollow && !hasProfileCut)
@@ -994,7 +995,7 @@ namespace PrimMesher
994 995
995 if (hasHollow) 996 if (hasHollow)
996 { 997 {
997 for (int i = 0; i < numHollowVerts; i++) 998 for (int i = 0; i < this.numHollowVerts; i++)
998 this.faceNumbers.Add(faceNum); 999 this.faceNumbers.Add(faceNum);
999 1000
1000 faceNum++; 1001 faceNum++;
@@ -1019,7 +1020,7 @@ namespace PrimMesher
1019 { 1020 {
1020 this.faceUVs = new List<UVCoord>(); 1021 this.faceUVs = new List<UVCoord>();
1021 foreach (Coord c in this.coords) 1022 foreach (Coord c in this.coords)
1022 this.faceUVs.Add(new UVCoord(1.0f - (0.5f + c.X), 1.0f - (0.5f - c.Y))); 1023 this.faceUVs.Add(new UVCoord(0.5f + c.X, 0.5f - c.Y));
1023 } 1024 }
1024 1025
1025 internal Profile Copy() 1026 internal Profile Copy()
@@ -1348,7 +1349,6 @@ namespace PrimMesher
1348 float stepSize = twoPi / this.stepsPerRevolution; 1349 float stepSize = twoPi / this.stepsPerRevolution;
1349 1350
1350 int step = (int)(startAngle / stepSize); 1351 int step = (int)(startAngle / stepSize);
1351// int firstStep = step;
1352 float angle = startAngle; 1352 float angle = startAngle;
1353 1353
1354 bool done = false; 1354 bool done = false;
@@ -1738,7 +1738,6 @@ namespace PrimMesher
1738 // append this layer 1738 // append this layer
1739 1739
1740 int coordsLen = this.coords.Count; 1740 int coordsLen = this.coords.Count;
1741// int lastCoordsLen = coordsLen;
1742 newLayer.AddValue2FaceVertexIndices(coordsLen); 1741 newLayer.AddValue2FaceVertexIndices(coordsLen);
1743 1742
1744 this.coords.AddRange(newLayer.coords); 1743 this.coords.AddRange(newLayer.coords);
diff --git a/OpenSim/Region/Physics/Meshing/SculptMesh.cs b/OpenSim/Region/Physics/Meshing/SculptMesh.cs
index 4dc6e2e..ebc5be6 100644
--- a/OpenSim/Region/Physics/Meshing/SculptMesh.cs
+++ b/OpenSim/Region/Physics/Meshing/SculptMesh.cs
@@ -53,42 +53,49 @@ namespace PrimMesher
53 public enum SculptType { sphere = 1, torus = 2, plane = 3, cylinder = 4 }; 53 public enum SculptType { sphere = 1, torus = 2, plane = 3, cylinder = 4 };
54 54
55#if SYSTEM_DRAWING 55#if SYSTEM_DRAWING
56 // private Bitmap ScaleImage(Bitmap srcImage, float scale) 56 private Bitmap ScaleImage(Bitmap srcImage, float scale, bool removeAlpha)
57 // { 57 {
58 // int sourceWidth = srcImage.Width; 58 int sourceWidth = srcImage.Width;
59 // int sourceHeight = srcImage.Height; 59 int sourceHeight = srcImage.Height;
60 // int sourceX = 0; 60 int sourceX = 0;
61 // int sourceY = 0; 61 int sourceY = 0;
62
63 int destX = 0;
64 int destY = 0;
65 int destWidth = (int)(srcImage.Width * scale);
66 int destHeight = (int)(srcImage.Height * scale);
62 67
63 // int destX = 0; 68 Bitmap scaledImage;
64 // int destY = 0;
65 // int destWidth = (int)(srcImage.Width * scale);
66 // int destHeight = (int)(srcImage.Height * scale);
67 69
68 // if (srcImage.PixelFormat == PixelFormat.Format32bppArgb) 70 if (removeAlpha)
69 // for (int y = 0; y < srcImage.Height; y++) 71 {
70 // for (int x = 0; x < srcImage.Width; x++) 72 if (srcImage.PixelFormat == PixelFormat.Format32bppArgb)
71 // { 73 for (int y = 0; y < srcImage.Height; y++)
72 // Color c = srcImage.GetPixel(x, y); 74 for (int x = 0; x < srcImage.Width; x++)
73 // srcImage.SetPixel(x, y, Color.FromArgb(255, c.R, c.G, c.B)); 75 {
74 // } 76 Color c = srcImage.GetPixel(x, y);
77 srcImage.SetPixel(x, y, Color.FromArgb(255, c.R, c.G, c.B));
78 }
75 79
76 // Bitmap scaledImage = new Bitmap(destWidth, destHeight, 80 scaledImage = new Bitmap(destWidth, destHeight,
77 // PixelFormat.Format24bppRgb); 81 PixelFormat.Format24bppRgb);
82 }
83 else
84 scaledImage = new Bitmap(srcImage, destWidth, destHeight);
78 85
79 // scaledImage.SetResolution(96.0f, 96.0f); 86 scaledImage.SetResolution(96.0f, 96.0f);
80 87
81 // Graphics grPhoto = Graphics.FromImage(scaledImage); 88 Graphics grPhoto = Graphics.FromImage(scaledImage);
82 // grPhoto.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.Low; 89 grPhoto.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.Low;
83 90
84 // grPhoto.DrawImage(srcImage, 91 grPhoto.DrawImage(srcImage,
85 // new Rectangle(destX, destY, destWidth, destHeight), 92 new Rectangle(destX, destY, destWidth, destHeight),
86 // new Rectangle(sourceX, sourceY, sourceWidth, sourceHeight), 93 new Rectangle(sourceX, sourceY, sourceWidth, sourceHeight),
87 // GraphicsUnit.Pixel); 94 GraphicsUnit.Pixel);
88 95
89 // grPhoto.Dispose(); 96 grPhoto.Dispose();
90 // return scaledImage; 97 return scaledImage;
91 // } 98 }
92 99
93 100
94 public SculptMesh SculptMeshFromFile(string fileName, SculptType sculptType, int lod, bool viewerMode) 101 public SculptMesh SculptMeshFromFile(string fileName, SculptType sculptType, int lod, bool viewerMode)
@@ -268,6 +275,11 @@ namespace PrimMesher
268 for (imageY = imageYStart; imageY < imageYEnd; imageY++) 275 for (imageY = imageYStart; imageY < imageYEnd; imageY++)
269 { 276 {
270 Color c = bitmap.GetPixel(imageX, imageY); 277 Color c = bitmap.GetPixel(imageX, imageY);
278 if (c.A != 255)
279 {
280 bitmap.SetPixel(imageX, imageY, Color.FromArgb(255, c.R, c.G, c.B));
281 c = bitmap.GetPixel(imageX, imageY);
282 }
271 rSum += c.R; 283 rSum += c.R;
272 gSum += c.G; 284 gSum += c.G;
273 bSum += c.B; 285 bSum += c.B;
@@ -298,12 +310,18 @@ namespace PrimMesher
298 if (sculptType == SculptType.plane) 310 if (sculptType == SculptType.plane)
299 invert = !invert; 311 invert = !invert;
300 312
301 float sourceScaleFactor = (float)(lod) / (float)Math.Sqrt(sculptBitmap.Width * sculptBitmap.Height); 313 float sculptBitmapLod = (float)Math.Sqrt(sculptBitmap.Width * sculptBitmap.Height);
314
315 float sourceScaleFactor = (float)(lod) / sculptBitmapLod;
302 316
303 int scale = (int)(1.0f / sourceScaleFactor); 317 float fScale = 1.0f / sourceScaleFactor;
304 if (scale < 1) scale = 1;
305 318
306 _SculptMesh(bitmap2Coords(sculptBitmap, scale, mirror), sculptType, viewerMode, mirror, invert); 319 int iScale = (int)fScale;
320 if (iScale < 1) iScale = 1;
321 if (iScale > 2 && iScale % 2 == 0)
322 _SculptMesh(bitmap2Coords(ScaleImage(sculptBitmap, 64.0f / sculptBitmapLod, true), 64 / lod, mirror), sculptType, viewerMode, mirror, invert);
323 else
324 _SculptMesh(bitmap2Coords(sculptBitmap, iScale, mirror), sculptType, viewerMode, mirror, invert);
307 } 325 }
308#endif 326#endif
309 327
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 2ab00a3..be7c348 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1575,11 +1575,11 @@ Console.WriteLine(" JointCreateFixed");
1575 { 1575 {
1576//Console.WriteLine("Move " + m_primName); 1576//Console.WriteLine("Move " + m_primName);
1577 if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 1577 if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
1578 /*
1579 // NON-'VEHICLES' are dealt with here 1578 // NON-'VEHICLES' are dealt with here
1580 if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) 1579 if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
1581 { 1580 {
1582 d.Vector3 avel2 = d.BodyGetAngularVel(Body); 1581 d.Vector3 avel2 = d.BodyGetAngularVel(Body);
1582 /*
1583 if (m_angularlock.X == 1) 1583 if (m_angularlock.X == 1)
1584 avel2.X = 0; 1584 avel2.X = 0;
1585 if (m_angularlock.Y == 1) 1585 if (m_angularlock.Y == 1)
@@ -1587,8 +1587,8 @@ Console.WriteLine(" JointCreateFixed");
1587 if (m_angularlock.Z == 1) 1587 if (m_angularlock.Z == 1)
1588 avel2.Z = 0; 1588 avel2.Z = 0;
1589 d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); 1589 d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
1590 */
1590 } 1591 }
1591 */
1592 //float PID_P = 900.0f; 1592 //float PID_P = 900.0f;
1593 1593
1594 float m_mass = CalculateMass(); 1594 float m_mass = CalculateMass();
generated by cgit v1.1 at 2024-12-29 00:12:56 +0000