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-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs42
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs314
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs41
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs472
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdeScene.cs3
5 files changed, 572 insertions, 300 deletions
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index b1a3ff9..e43136a 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -36,13 +36,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
36{ 36{
37 public class BasicActor : PhysicsActor 37 public class BasicActor : PhysicsActor
38 { 38 {
39 private Vector3 _position;
40 private Vector3 _velocity;
41 private Vector3 _acceleration;
42 private Vector3 _size; 39 private Vector3 _size;
43 private Vector3 m_rotationalVelocity;
44 private bool flying;
45 private bool iscolliding;
46 40
47 public BasicActor(Vector3 size) 41 public BasicActor(Vector3 size)
48 { 42 {
@@ -55,11 +49,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
55 set { return; } 49 set { return; }
56 } 50 }
57 51
58 public override Vector3 RotationalVelocity 52 public override Vector3 RotationalVelocity { get; set; }
59 {
60 get { return m_rotationalVelocity; }
61 set { m_rotationalVelocity = value; }
62 }
63 53
64 public override bool SetAlwaysRun 54 public override bool SetAlwaysRun
65 { 55 {
@@ -105,17 +95,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
105 set { return; } 95 set { return; }
106 } 96 }
107 97
108 public override bool Flying 98 public override bool Flying { get; set; }
109 {
110 get { return flying; }
111 set { flying = value; }
112 }
113 99
114 public override bool IsColliding 100 public override bool IsColliding { get; set; }
115 {
116 get { return iscolliding; }
117 set { iscolliding = value; }
118 }
119 101
120 public override bool CollidingGround 102 public override bool CollidingGround
121 { 103 {
@@ -134,11 +116,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
134 get { return false; } 116 get { return false; }
135 } 117 }
136 118
137 public override Vector3 Position 119 public override Vector3 Position { get; set; }
138 {
139 get { return _position; }
140 set { _position = value; }
141 }
142 120
143 public override Vector3 Size 121 public override Vector3 Size
144 { 122 {
@@ -206,11 +184,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
206 get { return Vector3.Zero; } 184 get { return Vector3.Zero; }
207 } 185 }
208 186
209 public override Vector3 Velocity 187 public override Vector3 Velocity { get; set; }
210 {
211 get { return _velocity; }
212 set { _velocity = value; }
213 }
214 188
215 public override Vector3 Torque 189 public override Vector3 Torque
216 { 190 {
@@ -230,11 +204,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
230 set { } 204 set { }
231 } 205 }
232 206
233 public override Vector3 Acceleration 207 public override Vector3 Acceleration { get; set; }
234 {
235 get { return _acceleration; }
236 set { _acceleration = value; }
237 }
238 208
239 public override bool Kinematic 209 public override bool Kinematic
240 { 210 {
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs
new file mode 100644
index 0000000..b89eeed
--- /dev/null
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs
@@ -0,0 +1,314 @@
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 Nini.Config;
31using OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.BasicPhysicsPlugin
36{
37 public class BasicPhysicsPrim : PhysicsActor
38 {
39 private Vector3 _size;
40 private PrimitiveBaseShape _shape;
41
42 public BasicPhysicsPrim(
43 string name, uint localId, Vector3 position, Vector3 size, Quaternion orientation, PrimitiveBaseShape shape)
44 {
45 Name = name;
46 LocalID = localId;
47 Position = position;
48 Size = size;
49 Orientation = orientation;
50 Shape = shape;
51 }
52
53 public override int PhysicsActorType
54 {
55 get { return (int) ActorTypes.Agent; }
56 set { return; }
57 }
58
59 public override Vector3 RotationalVelocity { get; set; }
60
61 public override bool SetAlwaysRun
62 {
63 get { return false; }
64 set { return; }
65 }
66
67 public override uint LocalID
68 {
69 set { return; }
70 }
71
72 public override bool Grabbed
73 {
74 set { return; }
75 }
76
77 public override bool Selected
78 {
79 set { return; }
80 }
81
82 public override float Buoyancy
83 {
84 get { return 0f; }
85 set { return; }
86 }
87
88 public override bool FloatOnWater
89 {
90 set { return; }
91 }
92
93 public override bool IsPhysical
94 {
95 get { return false; }
96 set { return; }
97 }
98
99 public override bool ThrottleUpdates
100 {
101 get { return false; }
102 set { return; }
103 }
104
105 public override bool Flying { get; set; }
106
107 public override bool IsColliding { get; set; }
108
109 public override bool CollidingGround
110 {
111 get { return false; }
112 set { return; }
113 }
114
115 public override bool CollidingObj
116 {
117 get { return false; }
118 set { return; }
119 }
120
121 public override bool Stopped
122 {
123 get { return false; }
124 }
125
126 public override Vector3 Position { get; set; }
127
128 public override Vector3 Size
129 {
130 get { return _size; }
131 set {
132 _size = value;
133 _size.Z = _size.Z / 2.0f;
134 }
135 }
136
137 public override PrimitiveBaseShape Shape
138 {
139 set { _shape = value; }
140 }
141
142 public override float Mass
143 {
144 get { return 0f; }
145 }
146
147 public override Vector3 Force
148 {
149 get { return Vector3.Zero; }
150 set { return; }
151 }
152
153 public override int VehicleType
154 {
155 get { return 0; }
156 set { return; }
157 }
158
159 public override void VehicleFloatParam(int param, float value)
160 {
161
162 }
163
164 public override void VehicleVectorParam(int param, Vector3 value)
165 {
166
167 }
168
169 public override void VehicleRotationParam(int param, Quaternion rotation)
170 {
171
172 }
173
174 public override void VehicleFlags(int param, bool remove)
175 {
176
177 }
178
179 public override void SetVolumeDetect(int param)
180 {
181
182 }
183
184 public override Vector3 CenterOfMass
185 {
186 get { return Vector3.Zero; }
187 }
188
189 public override Vector3 GeometricCenter
190 {
191 get { return Vector3.Zero; }
192 }
193
194 public override Vector3 Velocity { get; set; }
195
196 public override Vector3 Torque
197 {
198 get { return Vector3.Zero; }
199 set { return; }
200 }
201
202 public override float CollisionScore
203 {
204 get { return 0f; }
205 set { }
206 }
207
208 public override Quaternion Orientation { get; set; }
209
210 public override Vector3 Acceleration { get; set; }
211
212 public override bool Kinematic
213 {
214 get { return true; }
215 set { }
216 }
217
218 public override void link(PhysicsActor obj)
219 {
220 }
221
222 public override void delink()
223 {
224 }
225
226 public override void LockAngularMotion(Vector3 axis)
227 {
228 }
229
230 public override void AddForce(Vector3 force, bool pushforce)
231 {
232 }
233
234 public override void AddAngularForce(Vector3 force, bool pushforce)
235 {
236 }
237
238 public override void SetMomentum(Vector3 momentum)
239 {
240 }
241
242 public override void CrossingFailure()
243 {
244 }
245
246 public override Vector3 PIDTarget
247 {
248 set { return; }
249 }
250
251 public override bool PIDActive
252 {
253 set { return; }
254 }
255
256 public override float PIDTau
257 {
258 set { return; }
259 }
260
261 public override float PIDHoverHeight
262 {
263 set { return; }
264 }
265
266 public override bool PIDHoverActive
267 {
268 set { return; }
269 }
270
271 public override PIDHoverType PIDHoverType
272 {
273 set { return; }
274 }
275
276 public override float PIDHoverTau
277 {
278 set { return; }
279 }
280
281 public override Quaternion APIDTarget
282 {
283 set { return; }
284 }
285
286 public override bool APIDActive
287 {
288 set { return; }
289 }
290
291 public override float APIDStrength
292 {
293 set { return; }
294 }
295
296 public override float APIDDamping
297 {
298 set { return; }
299 }
300
301 public override void SubscribeEvents(int ms)
302 {
303 }
304
305 public override void UnSubscribeEvents()
306 {
307 }
308
309 public override bool SubscribedEvents()
310 {
311 return false;
312 }
313 }
314}
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index 2e14216..f5826ed 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -34,9 +34,17 @@ using OpenSim.Region.Physics.Manager;
34 34
35namespace OpenSim.Region.Physics.BasicPhysicsPlugin 35namespace OpenSim.Region.Physics.BasicPhysicsPlugin
36{ 36{
37 /// <summary>
38 /// This is an incomplete extremely basic physics implementation
39 /// </summary>
40 /// <remarks>
41 /// Not useful for anything at the moment apart from some regression testing in other components where some form
42 /// of physics plugin is needed.
43 /// </remarks>
37 public class BasicScene : PhysicsScene 44 public class BasicScene : PhysicsScene
38 { 45 {
39 private List<BasicActor> _actors = new List<BasicActor>(); 46 private List<BasicActor> _actors = new List<BasicActor>();
47 private List<BasicPhysicsPrim> _prims = new List<BasicPhysicsPrim>();
40 private float[] _heightMap; 48 private float[] _heightMap;
41 49
42 //protected internal string sceneIdentifier; 50 //protected internal string sceneIdentifier;
@@ -50,10 +58,19 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
50 { 58 {
51 } 59 }
52 60
53 public override void Dispose() 61 public override void Dispose() {}
62
63 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
64 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
54 { 65 {
66 BasicPhysicsPrim prim = new BasicPhysicsPrim(primName, localid, position, size, rotation, pbs);
67 prim.IsPhysical = isPhysical;
68
69 _prims.Add(prim);
55 70
71 return prim;
56 } 72 }
73
57 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) 74 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
58 { 75 {
59 BasicActor act = new BasicActor(size); 76 BasicActor act = new BasicActor(size);
@@ -63,30 +80,18 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
63 return act; 80 return act;
64 } 81 }
65 82
66 public override void RemovePrim(PhysicsActor prim) 83 public override void RemovePrim(PhysicsActor actor)
67 { 84 {
85 BasicPhysicsPrim prim = (BasicPhysicsPrim)actor;
86 if (_prims.Contains(prim))
87 _prims.Remove(prim);
68 } 88 }
69 89
70 public override void RemoveAvatar(PhysicsActor actor) 90 public override void RemoveAvatar(PhysicsActor actor)
71 { 91 {
72 BasicActor act = (BasicActor) actor; 92 BasicActor act = (BasicActor)actor;
73 if (_actors.Contains(act)) 93 if (_actors.Contains(act))
74 {
75 _actors.Remove(act); 94 _actors.Remove(act);
76 }
77 }
78
79/*
80 public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
81 {
82 return null;
83 }
84*/
85
86 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
87 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
88 {
89 return null;
90 } 95 }
91 96
92 public override void AddPhysicsActorTaint(PhysicsActor prim) 97 public override void AddPhysicsActorTaint(PhysicsActor prim)
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 6f37347..a41c856 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -156,7 +156,15 @@ namespace OpenSim.Region.Physics.OdePlugin
156 /// </summary> 156 /// </summary>
157 public IntPtr m_targetSpace = IntPtr.Zero; 157 public IntPtr m_targetSpace = IntPtr.Zero;
158 158
159 /// <summary>
160 /// The prim geometry, used for collision detection.
161 /// </summary>
162 /// <remarks>
163 /// This is never null except for a brief period when the geometry needs to be replaced (due to resizing or
164 /// mesh change) or when the physical prim is being removed from the scene.
165 /// </remarks>
159 public IntPtr prim_geom { get; private set; } 166 public IntPtr prim_geom { get; private set; }
167
160 public IntPtr _triMeshData { get; private set; } 168 public IntPtr _triMeshData { get; private set; }
161 169
162 private IntPtr _linkJointGroup = IntPtr.Zero; 170 private IntPtr _linkJointGroup = IntPtr.Zero;
@@ -325,14 +333,12 @@ namespace OpenSim.Region.Physics.OdePlugin
325 { 333 {
326 prim_geom = geom; 334 prim_geom = geom;
327//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); 335//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
328 if (prim_geom != IntPtr.Zero)
329 {
330 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
331 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
332 336
333 _parent_scene.geom_name_map[prim_geom] = Name; 337 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
334 _parent_scene.actor_name_map[prim_geom] = this; 338 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
335 } 339
340 _parent_scene.geom_name_map[prim_geom] = Name;
341 _parent_scene.actor_name_map[prim_geom] = this;
336 342
337 if (childPrim) 343 if (childPrim)
338 { 344 {
@@ -765,11 +771,8 @@ namespace OpenSim.Region.Physics.OdePlugin
765 m_collisionCategories &= ~CollisionCategories.Body; 771 m_collisionCategories &= ~CollisionCategories.Body;
766 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 772 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
767 773
768 if (prim_geom != IntPtr.Zero) 774 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
769 { 775 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
770 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
771 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
772 }
773 776
774 d.BodyDestroy(Body); 777 d.BodyDestroy(Body);
775 lock (childrenPrim) 778 lock (childrenPrim)
@@ -793,11 +796,8 @@ namespace OpenSim.Region.Physics.OdePlugin
793 m_collisionCategories &= ~CollisionCategories.Body; 796 m_collisionCategories &= ~CollisionCategories.Body;
794 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 797 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
795 798
796 if (prim_geom != IntPtr.Zero) 799 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
797 { 800 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
798 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
799 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
800 }
801 801
802 Body = IntPtr.Zero; 802 Body = IntPtr.Zero;
803 } 803 }
@@ -864,10 +864,7 @@ namespace OpenSim.Region.Physics.OdePlugin
864// _parent_scene.waitForSpaceUnlock(m_targetSpace); 864// _parent_scene.waitForSpaceUnlock(m_targetSpace);
865 try 865 try
866 { 866 {
867 if (prim_geom == IntPtr.Zero) 867 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
868 {
869 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
870 }
871 } 868 }
872 catch (AccessViolationException) 869 catch (AccessViolationException)
873 { 870 {
@@ -890,73 +887,67 @@ namespace OpenSim.Region.Physics.OdePlugin
890#if SPAM 887#if SPAM
891Console.WriteLine("ZProcessTaints for " + Name); 888Console.WriteLine("ZProcessTaints for " + Name);
892#endif 889#endif
890
891 // This must be processed as the very first taint so that later operations have a prim_geom to work with
892 // if this is a new prim.
893 if (m_taintadd) 893 if (m_taintadd)
894 {
895 changeadd(); 894 changeadd();
896 }
897
898 if (prim_geom != IntPtr.Zero)
899 {
900 if (!_position.ApproxEquals(m_taintposition, 0f))
901 changemove();
902 895
903 if (m_taintrot != _orientation) 896 if (!_position.ApproxEquals(m_taintposition, 0f))
904 { 897 changemove();
905 if (childPrim && IsPhysical) // For physical child prim... 898
906 { 899 if (m_taintrot != _orientation)
907 rotate(); 900 {
908 // KF: ODE will also rotate the parent prim! 901 if (childPrim && IsPhysical) // For physical child prim...
909 // so rotate the root back to where it was 902 {
910 OdePrim parent = (OdePrim)_parent; 903 rotate();
911 parent.rotate(); 904 // KF: ODE will also rotate the parent prim!
912 } 905 // so rotate the root back to where it was
913 else 906 OdePrim parent = (OdePrim)_parent;
914 { 907 parent.rotate();
915 //Just rotate the prim
916 rotate();
917 }
918 } 908 }
919 909 else
920 if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) 910 {
921 changePhysicsStatus(); 911 //Just rotate the prim
912 rotate();
913 }
914 }
915
916 if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent))
917 changePhysicsStatus();
922 918
923 if (!_size.ApproxEquals(m_taintsize, 0f)) 919 if (!_size.ApproxEquals(m_taintsize, 0f))
924 changesize(); 920 changesize();
925 921
926 if (m_taintshape) 922 if (m_taintshape)
927 changeshape(); 923 changeshape();
928 924
929 if (m_taintforce) 925 if (m_taintforce)
930 changeAddForce(); 926 changeAddForce();
931 927
932 if (m_taintaddangularforce) 928 if (m_taintaddangularforce)
933 changeAddAngularForce(); 929 changeAddAngularForce();
934 930
935 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) 931 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
936 changeSetTorque(); 932 changeSetTorque();
937 933
938 if (m_taintdisable) 934 if (m_taintdisable)
939 changedisable(); 935 changedisable();
940 936
941 if (m_taintselected != m_isSelected) 937 if (m_taintselected != m_isSelected)
942 changeSelectedStatus(); 938 changeSelectedStatus();
943 939
944 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) 940 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
945 changevelocity(); 941 changevelocity();
946 942
947 if (m_taintparent != _parent) 943 if (m_taintparent != _parent)
948 changelink(); 944 changelink();
949 945
950 if (m_taintCollidesWater != m_collidesWater) 946 if (m_taintCollidesWater != m_collidesWater)
951 changefloatonwater(); 947 changefloatonwater();
952 948
953 if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f)) 949 if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
954 changeAngularLock(); 950 changeAngularLock();
955 }
956 else
957 {
958 m_log.ErrorFormat("[PHYSICS]: The scene reused a disposed PhysActor for {0}! *waves finger*, Don't be evil. A couple of things can cause this. An improper prim breakdown(be sure to set prim_geom to zero after d.GeomDestroy! An improper buildup (creating the geom failed). Or, the Scene Reused a physics actor after disposing it.)", Name);
959 }
960 } 951 }
961 952
962 /// <summary> 953 /// <summary>
@@ -1052,150 +1043,146 @@ Console.WriteLine("ZProcessTaints for " + Name);
1052 /// <param name="prim">Child prim</param> 1043 /// <param name="prim">Child prim</param>
1053 private void AddChildPrim(OdePrim prim) 1044 private void AddChildPrim(OdePrim prim)
1054 { 1045 {
1055//Console.WriteLine("AddChildPrim " + Name); 1046 if (LocalID == prim.LocalID)
1056 if (LocalID != prim.LocalID) 1047 return;
1048
1049 if (Body == IntPtr.Zero)
1057 { 1050 {
1058 if (Body == IntPtr.Zero) 1051 Body = d.BodyCreate(_parent_scene.world);
1052 setMass();
1053 }
1054
1055 lock (childrenPrim)
1056 {
1057 if (childrenPrim.Contains(prim))
1058 return;
1059
1060// m_log.DebugFormat(
1061// "[ODE PRIM]: Linking prim {0} {1} to {2} {3}", prim.Name, prim.LocalID, Name, LocalID);
1062
1063 childrenPrim.Add(prim);
1064
1065 foreach (OdePrim prm in childrenPrim)
1059 { 1066 {
1060 Body = d.BodyCreate(_parent_scene.world); 1067 d.Mass m2;
1061 setMass(); 1068 d.MassSetZero(out m2);
1069 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
1070
1071 d.Quaternion quat = new d.Quaternion();
1072 quat.W = prm._orientation.W;
1073 quat.X = prm._orientation.X;
1074 quat.Y = prm._orientation.Y;
1075 quat.Z = prm._orientation.Z;
1076
1077 d.Matrix3 mat = new d.Matrix3();
1078 d.RfromQ(out mat, ref quat);
1079 d.MassRotate(ref m2, ref mat);
1080 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
1081 d.MassAdd(ref pMass, ref m2);
1062 } 1082 }
1063 if (Body != IntPtr.Zero) 1083
1084 foreach (OdePrim prm in childrenPrim)
1064 { 1085 {
1065 lock (childrenPrim) 1086 prm.m_collisionCategories |= CollisionCategories.Body;
1066 { 1087 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1067 if (!childrenPrim.Contains(prim))
1068 {
1069//Console.WriteLine("childrenPrim.Add " + prim);
1070 childrenPrim.Add(prim);
1071
1072 foreach (OdePrim prm in childrenPrim)
1073 {
1074 d.Mass m2;
1075 d.MassSetZero(out m2);
1076 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
1077
1078 d.Quaternion quat = new d.Quaternion();
1079 quat.W = prm._orientation.W;
1080 quat.X = prm._orientation.X;
1081 quat.Y = prm._orientation.Y;
1082 quat.Z = prm._orientation.Z;
1083
1084 d.Matrix3 mat = new d.Matrix3();
1085 d.RfromQ(out mat, ref quat);
1086 d.MassRotate(ref m2, ref mat);
1087 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
1088 d.MassAdd(ref pMass, ref m2);
1089 }
1090
1091 foreach (OdePrim prm in childrenPrim)
1092 {
1093 prm.m_collisionCategories |= CollisionCategories.Body;
1094 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1095 1088
1096 if (prm.prim_geom == IntPtr.Zero)
1097 {
1098 m_log.WarnFormat(
1099 "[PHYSICS]: Unable to link one of the linkset elements {0} for parent {1}. No geom yet",
1100 prm.Name, prim.Name);
1101 continue;
1102 }
1103//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); 1089//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
1104 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); 1090 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1105 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); 1091 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1106
1107 1092
1108 d.Quaternion quat = new d.Quaternion(); 1093 d.Quaternion quat = new d.Quaternion();
1109 quat.W = prm._orientation.W; 1094 quat.W = prm._orientation.W;
1110 quat.X = prm._orientation.X; 1095 quat.X = prm._orientation.X;
1111 quat.Y = prm._orientation.Y; 1096 quat.Y = prm._orientation.Y;
1112 quat.Z = prm._orientation.Z; 1097 quat.Z = prm._orientation.Z;
1113 1098
1114 d.Matrix3 mat = new d.Matrix3(); 1099 d.Matrix3 mat = new d.Matrix3();
1115 d.RfromQ(out mat, ref quat); 1100 d.RfromQ(out mat, ref quat);
1116 if (Body != IntPtr.Zero) 1101 if (Body != IntPtr.Zero)
1117 { 1102 {
1118 d.GeomSetBody(prm.prim_geom, Body); 1103 d.GeomSetBody(prm.prim_geom, Body);
1119 prm.childPrim = true; 1104 prm.childPrim = true;
1120 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); 1105 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
1121 //d.GeomSetOffsetPosition(prim.prim_geom, 1106 //d.GeomSetOffsetPosition(prim.prim_geom,
1122 // (Position.X - prm.Position.X) - pMass.c.X, 1107 // (Position.X - prm.Position.X) - pMass.c.X,
1123 // (Position.Y - prm.Position.Y) - pMass.c.Y, 1108 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1124 // (Position.Z - prm.Position.Z) - pMass.c.Z); 1109 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1125 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); 1110 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
1126 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); 1111 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
1127 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); 1112 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1128 d.BodySetMass(Body, ref pMass); 1113 d.BodySetMass(Body, ref pMass);
1129 } 1114 }
1130 else 1115 else
1131 { 1116 {
1132 m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); 1117 m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
1133 } 1118 }
1134 1119
1135 prm.m_interpenetrationcount = 0; 1120 prm.m_interpenetrationcount = 0;
1136 prm.m_collisionscore = 0; 1121 prm.m_collisionscore = 0;
1137 prm.m_disabled = false; 1122 prm.m_disabled = false;
1138 1123
1139 // The body doesn't already have a finite rotation mode set here 1124 // The body doesn't already have a finite rotation mode set here
1140 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) 1125 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
1141 { 1126 {
1142 prm.createAMotor(m_angularlock); 1127 prm.createAMotor(m_angularlock);
1143 } 1128 }
1144 prm.Body = Body; 1129 prm.Body = Body;
1145 _parent_scene.ActivatePrim(prm); 1130 _parent_scene.ActivatePrim(prm);
1146 } 1131 }
1147 1132
1148 m_collisionCategories |= CollisionCategories.Body; 1133 m_collisionCategories |= CollisionCategories.Body;
1149 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 1134 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1150 1135
1151//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); 1136//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
1152 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1137 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1153//Console.WriteLine(" Post GeomSetCategoryBits 2"); 1138//Console.WriteLine(" Post GeomSetCategoryBits 2");
1154 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1139 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1155
1156 d.Quaternion quat2 = new d.Quaternion();
1157 quat2.W = _orientation.W;
1158 quat2.X = _orientation.X;
1159 quat2.Y = _orientation.Y;
1160 quat2.Z = _orientation.Z;
1161
1162 d.Matrix3 mat2 = new d.Matrix3();
1163 d.RfromQ(out mat2, ref quat2);
1164 d.GeomSetBody(prim_geom, Body);
1165 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
1166 //d.GeomSetOffsetPosition(prim.prim_geom,
1167 // (Position.X - prm.Position.X) - pMass.c.X,
1168 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1169 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1170 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
1171 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1172 d.BodySetMass(Body, ref pMass);
1173
1174 d.BodySetAutoDisableFlag(Body, true);
1175 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1176 1140
1177 m_interpenetrationcount = 0; 1141 d.Quaternion quat2 = new d.Quaternion();
1178 m_collisionscore = 0; 1142 quat2.W = _orientation.W;
1179 m_disabled = false; 1143 quat2.X = _orientation.X;
1144 quat2.Y = _orientation.Y;
1145 quat2.Z = _orientation.Z;
1180 1146
1181 // The body doesn't already have a finite rotation mode set here 1147 d.Matrix3 mat2 = new d.Matrix3();
1182 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) 1148 d.RfromQ(out mat2, ref quat2);
1183 { 1149 d.GeomSetBody(prim_geom, Body);
1184 createAMotor(m_angularlock); 1150 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
1185 } 1151 //d.GeomSetOffsetPosition(prim.prim_geom,
1186 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); 1152 // (Position.X - prm.Position.X) - pMass.c.X,
1187 if (m_vehicle.Type != Vehicle.TYPE_NONE) 1153 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1188 m_vehicle.Enable(Body, _parent_scene); 1154 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1155 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
1156 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1157 d.BodySetMass(Body, ref pMass);
1189 1158
1190 _parent_scene.ActivatePrim(this); 1159 d.BodySetAutoDisableFlag(Body, true);
1191 } 1160 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1192 } 1161
1162 m_interpenetrationcount = 0;
1163 m_collisionscore = 0;
1164 m_disabled = false;
1165
1166 // The body doesn't already have a finite rotation mode set here
1167 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
1168 {
1169 createAMotor(m_angularlock);
1193 } 1170 }
1171
1172 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
1173
1174 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1175 m_vehicle.Enable(Body, _parent_scene);
1176
1177 _parent_scene.ActivatePrim(this);
1194 } 1178 }
1195 } 1179 }
1196 1180
1197 private void ChildSetGeom(OdePrim odePrim) 1181 private void ChildSetGeom(OdePrim odePrim)
1198 { 1182 {
1183// m_log.DebugFormat(
1184// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);
1185
1199 //if (IsPhysical && Body != IntPtr.Zero) 1186 //if (IsPhysical && Body != IntPtr.Zero)
1200 lock (childrenPrim) 1187 lock (childrenPrim)
1201 { 1188 {
@@ -1210,12 +1197,14 @@ Console.WriteLine("ZProcessTaints for " + Name);
1210 //prm.childPrim = false; 1197 //prm.childPrim = false;
1211 } 1198 }
1212 } 1199 }
1200
1213 disableBody(); 1201 disableBody();
1214 1202
1215 if (Body != IntPtr.Zero) 1203 // Spurious - Body == IntPtr.Zero after disableBody()
1216 { 1204// if (Body != IntPtr.Zero)
1217 _parent_scene.DeactivatePrim(this); 1205// {
1218 } 1206// _parent_scene.DeactivatePrim(this);
1207// }
1219 1208
1220 lock (childrenPrim) 1209 lock (childrenPrim)
1221 { 1210 {
@@ -1229,6 +1218,9 @@ Console.WriteLine("ZProcessTaints for " + Name);
1229 1218
1230 private void ChildDelink(OdePrim odePrim) 1219 private void ChildDelink(OdePrim odePrim)
1231 { 1220 {
1221// m_log.DebugFormat(
1222// "[ODE PRIM]: Delinking prim {0} {1} from {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);
1223
1232 // Okay, we have a delinked child.. need to rebuild the body. 1224 // Okay, we have a delinked child.. need to rebuild the body.
1233 lock (childrenPrim) 1225 lock (childrenPrim)
1234 { 1226 {
@@ -1243,6 +1235,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
1243 //prm.childPrim = false; 1235 //prm.childPrim = false;
1244 } 1236 }
1245 } 1237 }
1238
1246 disableBody(); 1239 disableBody();
1247 1240
1248 lock (childrenPrim) 1241 lock (childrenPrim)
@@ -1251,10 +1244,11 @@ Console.WriteLine("ZProcessTaints for " + Name);
1251 childrenPrim.Remove(odePrim); 1244 childrenPrim.Remove(odePrim);
1252 } 1245 }
1253 1246
1254 if (Body != IntPtr.Zero) 1247 // Spurious - Body == IntPtr.Zero after disableBody()
1255 { 1248// if (Body != IntPtr.Zero)
1256 _parent_scene.DeactivatePrim(this); 1249// {
1257 } 1250// _parent_scene.DeactivatePrim(this);
1251// }
1258 1252
1259 lock (childrenPrim) 1253 lock (childrenPrim)
1260 { 1254 {
@@ -1303,11 +1297,8 @@ Console.WriteLine("ZProcessTaints for " + Name);
1303 disableBodySoft(); 1297 disableBodySoft();
1304 } 1298 }
1305 1299
1306 if (prim_geom != IntPtr.Zero) 1300 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1307 { 1301 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1308 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1309 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1310 }
1311 1302
1312 if (IsPhysical) 1303 if (IsPhysical)
1313 { 1304 {
@@ -1328,11 +1319,8 @@ Console.WriteLine("ZProcessTaints for " + Name);
1328 if (m_collidesWater) 1319 if (m_collidesWater)
1329 m_collisionFlags |= CollisionCategories.Water; 1320 m_collisionFlags |= CollisionCategories.Water;
1330 1321
1331 if (prim_geom != IntPtr.Zero) 1322 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1332 { 1323 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1333 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1334 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1335 }
1336 1324
1337 if (IsPhysical) 1325 if (IsPhysical)
1338 { 1326 {
@@ -1472,6 +1460,9 @@ Console.WriteLine("CreateGeom:");
1472 } 1460 }
1473 else 1461 else
1474 { 1462 {
1463 m_log.WarnFormat(
1464 "[ODE PRIM]: Called RemoveGeom() on {0} {1} where geometry was already null.", Name, LocalID);
1465
1475 return false; 1466 return false;
1476 } 1467 }
1477 } 1468 }
@@ -1505,16 +1496,13 @@ Console.WriteLine("changeadd 1");
1505#endif 1496#endif
1506 CreateGeom(m_targetSpace, mesh); 1497 CreateGeom(m_targetSpace, mesh);
1507 1498
1508 if (prim_geom != IntPtr.Zero) 1499 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1509 { 1500 d.Quaternion myrot = new d.Quaternion();
1510 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1501 myrot.X = _orientation.X;
1511 d.Quaternion myrot = new d.Quaternion(); 1502 myrot.Y = _orientation.Y;
1512 myrot.X = _orientation.X; 1503 myrot.Z = _orientation.Z;
1513 myrot.Y = _orientation.Y; 1504 myrot.W = _orientation.W;
1514 myrot.Z = _orientation.Z; 1505 d.GeomSetQuaternion(prim_geom, ref myrot);
1515 myrot.W = _orientation.W;
1516 d.GeomSetQuaternion(prim_geom, ref myrot);
1517 }
1518 1506
1519 if (IsPhysical && Body == IntPtr.Zero) 1507 if (IsPhysical && Body == IntPtr.Zero)
1520 enableBody(); 1508 enableBody();
@@ -1579,24 +1567,20 @@ Console.WriteLine(" JointCreateFixed");
1579 //m_log.Debug("[BUG]: race!"); 1567 //m_log.Debug("[BUG]: race!");
1580 //} 1568 //}
1581 } 1569 }
1582 else
1583 {
1584 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
1585 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
1586// _parent_scene.waitForSpaceUnlock(m_targetSpace);
1587 1570
1588 IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); 1571 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
1589 m_targetSpace = tempspace; 1572 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
1573// _parent_scene.waitForSpaceUnlock(m_targetSpace);
1574
1575 IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
1576 m_targetSpace = tempspace;
1590 1577
1591// _parent_scene.waitForSpaceUnlock(m_targetSpace); 1578// _parent_scene.waitForSpaceUnlock(m_targetSpace);
1592 if (prim_geom != IntPtr.Zero) 1579
1593 { 1580 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1594 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1595 1581
1596// _parent_scene.waitForSpaceUnlock(m_targetSpace); 1582// _parent_scene.waitForSpaceUnlock(m_targetSpace);
1597 d.SpaceAdd(m_targetSpace, prim_geom); 1583 d.SpaceAdd(m_targetSpace, prim_geom);
1598 }
1599 }
1600 1584
1601 changeSelectedStatus(); 1585 changeSelectedStatus();
1602 1586
@@ -2047,18 +2031,16 @@ Console.WriteLine(" JointCreateFixed");
2047 { 2031 {
2048 m_collidesWater = m_taintCollidesWater; 2032 m_collidesWater = m_taintCollidesWater;
2049 2033
2050 if (prim_geom != IntPtr.Zero) 2034 if (m_collidesWater)
2051 { 2035 {
2052 if (m_collidesWater) 2036 m_collisionFlags |= CollisionCategories.Water;
2053 {
2054 m_collisionFlags |= CollisionCategories.Water;
2055 }
2056 else
2057 {
2058 m_collisionFlags &= ~CollisionCategories.Water;
2059 }
2060 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2061 } 2037 }
2038 else
2039 {
2040 m_collisionFlags &= ~CollisionCategories.Water;
2041 }
2042
2043 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2062 } 2044 }
2063 2045
2064 /// <summary> 2046 /// <summary>
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 842ff91..409b27b 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -2226,7 +2226,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2226 /// <param name="prim"></param> 2226 /// <param name="prim"></param>
2227 internal void RemovePrimThreadLocked(OdePrim prim) 2227 internal void RemovePrimThreadLocked(OdePrim prim)
2228 { 2228 {
2229//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); 2229// m_log.DebugFormat("[ODE SCENE]: Removing physical prim {0} {1}", prim.Name, prim.LocalID);
2230
2230 lock (prim) 2231 lock (prim)
2231 { 2232 {
2232 RemoveCollisionEventReporting(prim); 2233 RemoveCollisionEventReporting(prim);
generated by cgit v1.1 at 2024-12-19 18:43:39 +0000