1 files changed, 213 insertions, 0 deletions

diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 4c3f7ee..6c094ee 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -4404,5 +4404,218 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.ScriptSetVolumeDetect(detect != 0);
         }
 
+        /// <summary>
+        /// Get inertial data
+        /// </summary>
+        /// <remarks>
+        /// </remarks>
+        /// <returns>
+        /// a LSL list with contents:
+        ///     LSL_Float mass,  the total mass of a linkset
+        ///     LSL_Vector CenterOfMass, center mass relative to root prim
+        ///     LSL_Vector Inertia, elements of diagonal of inertia Ixx,Iyy,Izz divided by total mass
+        ///     LSL_Vector aux, elements of upper triagle of inertia Ixy (= Iyx), Ixz (= Izx), Iyz(= Izy) divided by total mass
+        /// </returns> 
+        public LSL_List osGetInertiaData()
+        {
+            LSL_List result = new LSL_List();
+            float TotalMass;
+            Vector3 CenterOfMass;
+            Vector3 Inertia;
+            Vector4 aux;
+
+            SceneObjectGroup sog = m_host.ParentGroup;
+            if(sog== null || sog.IsDeleted)
+                return result;          
+            
+            sog.GetInertiaData(out TotalMass, out CenterOfMass, out Inertia, out aux );
+            if(TotalMass > 0)
+            {
+                float t = 1.0f/TotalMass;
+                Inertia.X *= t;
+                Inertia.Y *= t;
+                Inertia.Z *= t;
+
+                aux.X *= t;
+                aux.Y *= t;
+                aux.Z *= t;
+            }
+
+            result.Add(new LSL_Float(TotalMass));
+            result.Add(new LSL_Vector(CenterOfMass.X, CenterOfMass.Y, CenterOfMass.Z));
+            result.Add(new LSL_Vector(Inertia.X, Inertia.Y, Inertia.Z));
+            result.Add(new LSL_Vector(aux.X, aux.Y, aux.Z));
+            return result;
+        }
+
+        /// <summary>
+        /// set inertial data
+        /// replaces the automatic calculation of mass, center of mass and inertia
+        /// 
+        /// </summary>
+        /// <param name="Mass">total mass of linkset</param>
+        /// <param name="centerOfMass">location of center of mass relative to root prim in local coords</param>
+        /// <param name="principalInertiaScaled">moment of inertia relative to principal axis and center of mass,Ixx, Iyy, Izz divided by mass</param>
+        /// <param name="lslrot">rotation of the inertia, relative to local axis</param>
+        /// <remarks>
+        /// the inertia argument is is inertia divided by mass, so corresponds only to the geometric distribution of mass and both can be changed independently.
+        /// </remarks>
+
+        public void osSetInertia(LSL_Float mass, LSL_Vector centerOfMass, LSL_Vector principalInertiaScaled,  LSL_Rotation lslrot)
+        {
+            SceneObjectGroup sog = m_host.ParentGroup;
+            if(sog== null || sog.IsDeleted)
+                return;
+
+            if(mass < 0 || principalInertiaScaled.x < 0 || principalInertiaScaled.y < 0 || principalInertiaScaled.z < 0)
+                return;
+
+            // need more checks
+
+            Vector3 CenterOfMass = new Vector3((float)centerOfMass.x,(float)centerOfMass.y,(float)centerOfMass.z);
+            Vector3 Inertia;          
+            float m = (float)mass;
+
+            Inertia.X = m * (float)principalInertiaScaled.x;
+            Inertia.Y = m * (float)principalInertiaScaled.y;
+            Inertia.Z = m * (float)principalInertiaScaled.z;
+
+            Vector4 rot = new Vector4((float)lslrot.x, (float)lslrot.y, (float)lslrot.y, (float)lslrot.s);
+            rot.Normalize();
+
+            sog.SetInertiaData(m, CenterOfMass, Inertia, rot );
+        }
+
+        /// <summary>
+        /// set inertial data as a sphere
+        /// replaces the automatic calculation of mass, center of mass and inertia
+        /// 
+        /// </summary>
+        /// <param name="Mass">total mass of linkset</param>
+        /// <param name="boxsize">size of the Box</param>
+        /// <param name="centerOfMass">location of center of mass relative to root prim in local coords</param>
+        /// <param name="lslrot">rotation of the box, and so inertia, relative to local axis</param>
+        /// <remarks>
+        /// </remarks>
+        public void osSetInertiaAsBox(LSL_Float mass, LSL_Vector boxSize, LSL_Vector centerOfMass, LSL_Rotation lslrot)
+        {
+            SceneObjectGroup sog = m_host.ParentGroup;
+            if(sog== null || sog.IsDeleted)
+                return;
+
+            if(mass < 0)
+                return;
+
+            // need more checks
+
+            Vector3 CenterOfMass = new Vector3((float)centerOfMass.x,(float)centerOfMass.y,(float)centerOfMass.z);
+            Vector3 Inertia;          
+            float lx = (float)boxSize.x;
+            float ly = (float)boxSize.y;
+            float lz = (float)boxSize.z;
+            float m = (float)mass;
+            float t = m / 12.0f;
+
+            Inertia.X = t * (ly*ly + lz*lz);
+            Inertia.Y = t * (lx*lx + lz*lz);
+            Inertia.Z = t * (lx*lx + ly*ly);
+
+            Vector4 rot = new Vector4((float)lslrot.x, (float)lslrot.y, (float)lslrot.z, (float)lslrot.s);
+            rot.Normalize();
+
+            sog.SetInertiaData(m, CenterOfMass, Inertia, rot );
+        }
+
+        /// <summary>
+        /// set inertial data as a sphere
+        /// replaces the automatic calculation of mass, center of mass and inertia
+        /// 
+        /// </summary>
+        /// <param name="Mass">total mass of linkset</param>
+        /// <param name="radius">radius of the sphere</param>
+        /// <param name="centerOfMass">location of center of mass relative to root prim in local coords</param>
+        /// <remarks>
+        /// </remarks>
+        public void osSetInertiaAsSphere(LSL_Float mass,  LSL_Float radius, LSL_Vector centerOfMass)
+        {
+            SceneObjectGroup sog = m_host.ParentGroup;
+            if(sog== null || sog.IsDeleted)
+                return;
+
+            if(mass < 0)
+                return;
+
+            // need more checks
+            
+            Vector3 CenterOfMass = new Vector3((float)centerOfMass.x,(float)centerOfMass.y,(float)centerOfMass.z);
+            Vector3 Inertia;          
+            float r = (float)radius;
+            float m = (float)mass;
+            float t = 0.4f * m * r * r;
+
+            Inertia.X = t;
+            Inertia.Y = t;
+            Inertia.Z = t;
+
+            sog.SetInertiaData(m, CenterOfMass, Inertia, new Vector4(0f, 0f, 0f,1.0f));
+        }
+
+        /// <summary>
+        /// set inertial data as a cylinder
+        /// replaces the automatic calculation of mass, center of mass and inertia
+        /// 
+        /// </summary>
+        /// <param name="Mass">total mass of linkset</param>
+        /// <param name="radius">radius of the cylinder</param>
+        /// <param name="lenght">lenght of the cylinder</param>
+        /// <param name="centerOfMass">location of center of mass relative to root prim in local coords</param>
+        /// <param name="lslrot">rotation of the cylinder, and so inertia, relative to local axis</param>
+        /// <remarks>
+        /// cylinder axis aligned with Z axis. For other orientations provide the rotation.
+        /// </remarks>
+        public void osSetInertiaAsCylinder(LSL_Float mass,  LSL_Float radius, LSL_Float lenght, LSL_Vector centerOfMass, LSL_Rotation lslrot)
+        {
+            SceneObjectGroup sog = m_host.ParentGroup;
+            if(sog== null || sog.IsDeleted)
+                return;
+
+            if(mass < 0)
+                return;
+
+            // need more checks
+            
+            Vector3 CenterOfMass = new Vector3((float)centerOfMass.x,(float)centerOfMass.y,(float)centerOfMass.z);
+            Vector3 Inertia;          
+            float m = (float)mass;
+            float r = (float)radius;
+            r *= r;
+            Inertia.Z = 0.5f * m * r;
+            float t = (float)lenght;
+            t *= t;
+            t += 3.0f * r;
+            t *= 8.333333e-2f * m;
+
+            Inertia.X = t;
+            Inertia.Y = t;
+
+            Vector4 rot = new Vector4((float)lslrot.x, (float)lslrot.y, (float)lslrot.z, (float)lslrot.s);
+            rot.Normalize();
+
+            sog.SetInertiaData(m, CenterOfMass, Inertia, rot);
+        }
+
+        /// <summary>
+        /// removes inertial data manual override
+        /// default automatic calculation is used again
+        /// 
+        /// </summary>
+        public void osClearInertia()
+        {
+            SceneObjectGroup sog = m_host.ParentGroup;
+            if(sog== null || sog.IsDeleted)
+                return;
+
+            sog.SetInertiaData(-1, Vector3.Zero, Vector3.Zero, Vector4.Zero );
+        }
     }
 }