diff options
Diffstat (limited to 'OpenSim')
26 files changed, 13705 insertions, 1094 deletions
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs index 5ca2ce4..c5cec59 100644 --- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs +++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs | |||
@@ -417,7 +417,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments | |||
417 | so.AttachedAvatar = UUID.Zero; | 417 | so.AttachedAvatar = UUID.Zero; |
418 | rootPart.SetParentLocalId(0); | 418 | rootPart.SetParentLocalId(0); |
419 | so.ClearPartAttachmentData(); | 419 | so.ClearPartAttachmentData(); |
420 | rootPart.ApplyPhysics(rootPart.GetEffectiveObjectFlags(), rootPart.VolumeDetectActive); | 420 | rootPart.ApplyPhysics(rootPart.GetEffectiveObjectFlags(), rootPart.VolumeDetectActive,false); |
421 | so.HasGroupChanged = true; | 421 | so.HasGroupChanged = true; |
422 | rootPart.Rezzed = DateTime.Now; | 422 | rootPart.Rezzed = DateTime.Now; |
423 | rootPart.RemFlag(PrimFlags.TemporaryOnRez); | 423 | rootPart.RemFlag(PrimFlags.TemporaryOnRez); |
diff --git a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs index 2c106eb..cb653ed 100644 --- a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs +++ b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs | |||
@@ -1658,35 +1658,38 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer | |||
1658 | } | 1658 | } |
1659 | 1659 | ||
1660 | // Offset the positions for the new region across the border | 1660 | // Offset the positions for the new region across the border |
1661 | Vector3 oldGroupPosition = grp.RootPart.GroupPosition; | 1661 | // NOT here |
1662 | grp.RootPart.GroupPosition = pos; | ||
1663 | 1662 | ||
1664 | // If we fail to cross the border, then reset the position of the scene object on that border. | 1663 | // If we fail to cross the border, then reset the position of the scene object on that border. |
1665 | uint x = 0, y = 0; | 1664 | uint x = 0, y = 0; |
1666 | Utils.LongToUInts(newRegionHandle, out x, out y); | 1665 | Utils.LongToUInts(newRegionHandle, out x, out y); |
1667 | GridRegion destination = scene.GridService.GetRegionByPosition(scene.RegionInfo.ScopeID, (int)x, (int)y); | 1666 | GridRegion destination = scene.GridService.GetRegionByPosition(scene.RegionInfo.ScopeID, (int)x, (int)y); |
1668 | 1667 | ||
1669 | if (destination == null || !CrossPrimGroupIntoNewRegion(destination, grp, silent)) | 1668 | Vector3 oldGroupPosition = grp.RootPart.GroupPosition; |
1669 | |||
1670 | if (destination != null) | ||
1670 | { | 1671 | { |
1671 | m_log.InfoFormat("[ENTITY TRANSFER MODULE] cross region transfer failed for object {0}",grp.UUID); | 1672 | grp.RootPart.GroupPosition = pos; // only change this if we think there is anywhere to go |
1673 | if (CrossPrimGroupIntoNewRegion(destination, grp, silent)) | ||
1674 | return; // we did it | ||
1675 | } | ||
1672 | 1676 | ||
1673 | // Need to turn off the physics flags, otherwise the object will continue to attempt to | 1677 | // no one or failed lets go back and tell physics to go on |
1674 | // move out of the region creating an infinite loop of failed attempts to cross | 1678 | oldGroupPosition.X = Util.Clamp<float>(oldGroupPosition.X, 0.5f, (float)Constants.RegionSize - 0.5f); |
1675 | grp.UpdatePrimFlags(grp.RootPart.LocalId,false,grp.IsTemporary,grp.IsPhantom,false); | 1679 | oldGroupPosition.Y = Util.Clamp<float>(oldGroupPosition.Y, 0.5f, (float)Constants.RegionSize - 0.5f); |
1680 | oldGroupPosition.Z = Util.Clamp<float>(oldGroupPosition.Z, 0.5f, 4096.0f); | ||
1676 | 1681 | ||
1677 | // We are going to move the object back to the old position so long as the old position | 1682 | grp.AbsolutePosition = oldGroupPosition; |
1678 | // is in the region | 1683 | grp.Velocity = Vector3.Zero; |
1679 | oldGroupPosition.X = Util.Clamp<float>(oldGroupPosition.X,1.0f,(float)Constants.RegionSize-1); | ||
1680 | oldGroupPosition.Y = Util.Clamp<float>(oldGroupPosition.Y,1.0f,(float)Constants.RegionSize-1); | ||
1681 | oldGroupPosition.Z = Util.Clamp<float>(oldGroupPosition.Z,1.0f,4096.0f); | ||
1682 | 1684 | ||
1683 | grp.AbsolutePosition = oldGroupPosition; | 1685 | if (grp.RootPart.PhysActor != null) |
1686 | grp.RootPart.PhysActor.CrossingFailure(); | ||
1684 | 1687 | ||
1685 | grp.ScheduleGroupForFullUpdate(); | 1688 | grp.ScheduleGroupForFullUpdate(); |
1686 | } | ||
1687 | } | 1689 | } |
1688 | 1690 | ||
1689 | 1691 | ||
1692 | |||
1690 | /// <summary> | 1693 | /// <summary> |
1691 | /// Move the given scene object into a new region | 1694 | /// Move the given scene object into a new region |
1692 | /// </summary> | 1695 | /// </summary> |
diff --git a/OpenSim/Region/Framework/Scenes/SOPVehicle.cs b/OpenSim/Region/Framework/Scenes/SOPVehicle.cs new file mode 100644 index 0000000..d3c2d27 --- /dev/null +++ b/OpenSim/Region/Framework/Scenes/SOPVehicle.cs | |||
@@ -0,0 +1,742 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using OpenMetaverse; | ||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Physics.Manager; | ||
33 | using System.Xml; | ||
34 | using OpenSim.Framework.Serialization; | ||
35 | using OpenSim.Framework.Serialization.External; | ||
36 | using OpenSim.Region.Framework.Scenes.Serialization; | ||
37 | using OpenSim.Region.Framework.Scenes.Serialization; | ||
38 | |||
39 | namespace OpenSim.Region.Framework.Scenes | ||
40 | { | ||
41 | public class SOPVehicle | ||
42 | { | ||
43 | public VehicleData vd; | ||
44 | |||
45 | public Vehicle Type | ||
46 | { | ||
47 | get { return vd.m_type; } | ||
48 | } | ||
49 | |||
50 | public SOPVehicle() | ||
51 | { | ||
52 | vd = new VehicleData(); | ||
53 | ProcessTypeChange(Vehicle.TYPE_NONE); // is needed? | ||
54 | } | ||
55 | |||
56 | public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) | ||
57 | { | ||
58 | float len; | ||
59 | float timestep = 0.01f; | ||
60 | switch (pParam) | ||
61 | { | ||
62 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: | ||
63 | if (pValue < 0f) pValue = 0f; | ||
64 | if (pValue > 1f) pValue = 1f; | ||
65 | vd.m_angularDeflectionEfficiency = pValue; | ||
66 | break; | ||
67 | case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: | ||
68 | if (pValue < timestep) pValue = timestep; | ||
69 | vd.m_angularDeflectionTimescale = pValue; | ||
70 | break; | ||
71 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: | ||
72 | if (pValue < timestep) pValue = timestep; | ||
73 | else if (pValue > 120) pValue = 120; | ||
74 | vd.m_angularMotorDecayTimescale = pValue; | ||
75 | break; | ||
76 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | ||
77 | if (pValue < timestep) pValue = timestep; | ||
78 | vd.m_angularMotorTimescale = pValue; | ||
79 | break; | ||
80 | case Vehicle.BANKING_EFFICIENCY: | ||
81 | if (pValue < -1f) pValue = -1f; | ||
82 | if (pValue > 1f) pValue = 1f; | ||
83 | vd.m_bankingEfficiency = pValue; | ||
84 | break; | ||
85 | case Vehicle.BANKING_MIX: | ||
86 | if (pValue < 0f) pValue = 0f; | ||
87 | if (pValue > 1f) pValue = 1f; | ||
88 | vd.m_bankingMix = pValue; | ||
89 | break; | ||
90 | case Vehicle.BANKING_TIMESCALE: | ||
91 | if (pValue < timestep) pValue = timestep; | ||
92 | vd.m_bankingTimescale = pValue; | ||
93 | break; | ||
94 | case Vehicle.BUOYANCY: | ||
95 | if (pValue < -1f) pValue = -1f; | ||
96 | if (pValue > 1f) pValue = 1f; | ||
97 | vd.m_VehicleBuoyancy = pValue; | ||
98 | break; | ||
99 | case Vehicle.HOVER_EFFICIENCY: | ||
100 | if (pValue < 0f) pValue = 0f; | ||
101 | if (pValue > 1f) pValue = 1f; | ||
102 | vd.m_VhoverEfficiency = pValue; | ||
103 | break; | ||
104 | case Vehicle.HOVER_HEIGHT: | ||
105 | vd.m_VhoverHeight = pValue; | ||
106 | break; | ||
107 | case Vehicle.HOVER_TIMESCALE: | ||
108 | if (pValue < timestep) pValue = timestep; | ||
109 | vd.m_VhoverTimescale = pValue; | ||
110 | break; | ||
111 | case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: | ||
112 | if (pValue < 0f) pValue = 0f; | ||
113 | if (pValue > 1f) pValue = 1f; | ||
114 | vd.m_linearDeflectionEfficiency = pValue; | ||
115 | break; | ||
116 | case Vehicle.LINEAR_DEFLECTION_TIMESCALE: | ||
117 | if (pValue < timestep) pValue = timestep; | ||
118 | vd.m_linearDeflectionTimescale = pValue; | ||
119 | break; | ||
120 | case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: | ||
121 | if (pValue < timestep) pValue = timestep; | ||
122 | else if (pValue > 120) pValue = 120; | ||
123 | vd.m_linearMotorDecayTimescale = pValue; | ||
124 | break; | ||
125 | case Vehicle.LINEAR_MOTOR_TIMESCALE: | ||
126 | if (pValue < timestep) pValue = timestep; | ||
127 | vd.m_linearMotorTimescale = pValue; | ||
128 | break; | ||
129 | case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: | ||
130 | if (pValue < 0f) pValue = 0f; | ||
131 | if (pValue > 1f) pValue = 1f; | ||
132 | vd.m_verticalAttractionEfficiency = pValue; | ||
133 | break; | ||
134 | case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: | ||
135 | if (pValue < timestep) pValue = timestep; | ||
136 | vd.m_verticalAttractionTimescale = pValue; | ||
137 | break; | ||
138 | |||
139 | // These are vector properties but the engine lets you use a single float value to | ||
140 | // set all of the components to the same value | ||
141 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
142 | if (pValue < timestep) pValue = timestep; | ||
143 | vd.m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
144 | break; | ||
145 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
146 | vd.m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | ||
147 | len = vd.m_angularMotorDirection.Length(); | ||
148 | if (len > 12.566f) | ||
149 | vd.m_angularMotorDirection *= (12.566f / len); | ||
150 | break; | ||
151 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
152 | if (pValue < timestep) pValue = timestep; | ||
153 | vd.m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
154 | break; | ||
155 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
156 | vd.m_linearMotorDirection = new Vector3(pValue, pValue, pValue); | ||
157 | len = vd.m_linearMotorDirection.Length(); | ||
158 | if (len > 30.0f) | ||
159 | vd.m_linearMotorDirection *= (30.0f / len); | ||
160 | break; | ||
161 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
162 | vd.m_linearMotorOffset = new Vector3(pValue, pValue, pValue); | ||
163 | len = vd.m_linearMotorOffset.Length(); | ||
164 | if (len > 100.0f) | ||
165 | vd.m_linearMotorOffset *= (100.0f / len); | ||
166 | break; | ||
167 | } | ||
168 | }//end ProcessFloatVehicleParam | ||
169 | |||
170 | public void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | ||
171 | { | ||
172 | float len; | ||
173 | float timestep = 0.01f; | ||
174 | switch (pParam) | ||
175 | { | ||
176 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
177 | if (pValue.X < timestep) pValue.X = timestep; | ||
178 | if (pValue.Y < timestep) pValue.Y = timestep; | ||
179 | if (pValue.Z < timestep) pValue.Z = timestep; | ||
180 | |||
181 | vd.m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
182 | break; | ||
183 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
184 | vd.m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
185 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | ||
186 | len = vd.m_angularMotorDirection.Length(); | ||
187 | if (len > 12.566f) | ||
188 | vd.m_angularMotorDirection *= (12.566f / len); | ||
189 | break; | ||
190 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
191 | if (pValue.X < timestep) pValue.X = timestep; | ||
192 | if (pValue.Y < timestep) pValue.Y = timestep; | ||
193 | if (pValue.Z < timestep) pValue.Z = timestep; | ||
194 | vd.m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
195 | break; | ||
196 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
197 | vd.m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
198 | len = vd.m_linearMotorDirection.Length(); | ||
199 | if (len > 30.0f) | ||
200 | vd.m_linearMotorDirection *= (30.0f / len); | ||
201 | break; | ||
202 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
203 | vd.m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
204 | len = vd.m_linearMotorOffset.Length(); | ||
205 | if (len > 100.0f) | ||
206 | vd.m_linearMotorOffset *= (100.0f / len); | ||
207 | break; | ||
208 | } | ||
209 | }//end ProcessVectorVehicleParam | ||
210 | |||
211 | public void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | ||
212 | { | ||
213 | switch (pParam) | ||
214 | { | ||
215 | case Vehicle.REFERENCE_FRAME: | ||
216 | vd.m_referenceFrame = Quaternion.Inverse(pValue); | ||
217 | break; | ||
218 | } | ||
219 | }//end ProcessRotationVehicleParam | ||
220 | |||
221 | public void ProcessVehicleFlags(int pParam, bool remove) | ||
222 | { | ||
223 | if (remove) | ||
224 | { | ||
225 | vd.m_flags &= ~((VehicleFlag)pParam); | ||
226 | } | ||
227 | else | ||
228 | { | ||
229 | vd.m_flags |= (VehicleFlag)pParam; | ||
230 | } | ||
231 | }//end ProcessVehicleFlags | ||
232 | |||
233 | public void ProcessTypeChange(Vehicle pType) | ||
234 | { | ||
235 | vd.m_linearMotorDirection = Vector3.Zero; | ||
236 | vd.m_angularMotorDirection = Vector3.Zero; | ||
237 | vd.m_linearMotorOffset = Vector3.Zero; | ||
238 | vd.m_referenceFrame = Quaternion.Identity; | ||
239 | |||
240 | // Set Defaults For Type | ||
241 | vd.m_type = pType; | ||
242 | switch (pType) | ||
243 | { | ||
244 | case Vehicle.TYPE_NONE: | ||
245 | vd.m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
246 | vd.m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
247 | vd.m_linearMotorTimescale = 1000; | ||
248 | vd.m_linearMotorDecayTimescale = 120; | ||
249 | vd.m_angularMotorTimescale = 1000; | ||
250 | vd.m_angularMotorDecayTimescale = 1000; | ||
251 | vd.m_VhoverHeight = 0; | ||
252 | vd.m_VhoverEfficiency = 1; | ||
253 | vd.m_VhoverTimescale = 1000; | ||
254 | vd.m_VehicleBuoyancy = 0; | ||
255 | vd.m_linearDeflectionEfficiency = 0; | ||
256 | vd.m_linearDeflectionTimescale = 1000; | ||
257 | vd.m_angularDeflectionEfficiency = 0; | ||
258 | vd.m_angularDeflectionTimescale = 1000; | ||
259 | vd.m_bankingEfficiency = 0; | ||
260 | vd.m_bankingMix = 1; | ||
261 | vd.m_bankingTimescale = 1000; | ||
262 | vd.m_verticalAttractionEfficiency = 0; | ||
263 | vd.m_verticalAttractionTimescale = 1000; | ||
264 | |||
265 | vd.m_flags = (VehicleFlag)0; | ||
266 | break; | ||
267 | |||
268 | case Vehicle.TYPE_SLED: | ||
269 | vd.m_linearFrictionTimescale = new Vector3(30, 1, 1000); | ||
270 | vd.m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
271 | vd.m_linearMotorTimescale = 1000; | ||
272 | vd.m_linearMotorDecayTimescale = 120; | ||
273 | vd.m_angularMotorTimescale = 1000; | ||
274 | vd.m_angularMotorDecayTimescale = 120; | ||
275 | vd.m_VhoverHeight = 0; | ||
276 | vd.m_VhoverEfficiency = 1; | ||
277 | vd.m_VhoverTimescale = 10; | ||
278 | vd.m_VehicleBuoyancy = 0; | ||
279 | vd.m_linearDeflectionEfficiency = 1; | ||
280 | vd.m_linearDeflectionTimescale = 1; | ||
281 | vd.m_angularDeflectionEfficiency = 0; | ||
282 | vd.m_angularDeflectionTimescale = 1000; | ||
283 | vd.m_bankingEfficiency = 0; | ||
284 | vd.m_bankingMix = 1; | ||
285 | vd.m_bankingTimescale = 10; | ||
286 | vd.m_flags &= | ||
287 | ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
288 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | ||
289 | vd.m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); | ||
290 | break; | ||
291 | case Vehicle.TYPE_CAR: | ||
292 | vd.m_linearFrictionTimescale = new Vector3(100, 2, 1000); | ||
293 | vd.m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
294 | vd.m_linearMotorTimescale = 1; | ||
295 | vd.m_linearMotorDecayTimescale = 60; | ||
296 | vd.m_angularMotorTimescale = 1; | ||
297 | vd.m_angularMotorDecayTimescale = 0.8f; | ||
298 | vd.m_VhoverHeight = 0; | ||
299 | vd.m_VhoverEfficiency = 0; | ||
300 | vd.m_VhoverTimescale = 1000; | ||
301 | vd.m_VehicleBuoyancy = 0; | ||
302 | vd.m_linearDeflectionEfficiency = 1; | ||
303 | vd.m_linearDeflectionTimescale = 2; | ||
304 | vd.m_angularDeflectionEfficiency = 0; | ||
305 | vd.m_angularDeflectionTimescale = 10; | ||
306 | vd.m_verticalAttractionEfficiency = 1f; | ||
307 | vd.m_verticalAttractionTimescale = 10f; | ||
308 | vd.m_bankingEfficiency = -0.2f; | ||
309 | vd.m_bankingMix = 1; | ||
310 | vd.m_bankingTimescale = 1; | ||
311 | vd.m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
312 | vd.m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | | ||
313 | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY); | ||
314 | break; | ||
315 | case Vehicle.TYPE_BOAT: | ||
316 | vd.m_linearFrictionTimescale = new Vector3(10, 3, 2); | ||
317 | vd.m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
318 | vd.m_linearMotorTimescale = 5; | ||
319 | vd.m_linearMotorDecayTimescale = 60; | ||
320 | vd.m_angularMotorTimescale = 4; | ||
321 | vd.m_angularMotorDecayTimescale = 4; | ||
322 | vd.m_VhoverHeight = 0; | ||
323 | vd.m_VhoverEfficiency = 0.5f; | ||
324 | vd.m_VhoverTimescale = 2; | ||
325 | vd.m_VehicleBuoyancy = 1; | ||
326 | vd.m_linearDeflectionEfficiency = 0.5f; | ||
327 | vd.m_linearDeflectionTimescale = 3; | ||
328 | vd.m_angularDeflectionEfficiency = 0.5f; | ||
329 | vd.m_angularDeflectionTimescale = 5; | ||
330 | vd.m_verticalAttractionEfficiency = 0.5f; | ||
331 | vd.m_verticalAttractionTimescale = 5f; | ||
332 | vd.m_bankingEfficiency = -0.3f; | ||
333 | vd.m_bankingMix = 0.8f; | ||
334 | vd.m_bankingTimescale = 1; | ||
335 | vd.m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | | ||
336 | VehicleFlag.HOVER_GLOBAL_HEIGHT | | ||
337 | VehicleFlag.HOVER_UP_ONLY | | ||
338 | VehicleFlag.LIMIT_ROLL_ONLY); | ||
339 | vd.m_flags |= (VehicleFlag.NO_DEFLECTION_UP | | ||
340 | VehicleFlag.LIMIT_MOTOR_UP | | ||
341 | VehicleFlag.HOVER_WATER_ONLY); | ||
342 | break; | ||
343 | case Vehicle.TYPE_AIRPLANE: | ||
344 | vd.m_linearFrictionTimescale = new Vector3(200, 10, 5); | ||
345 | vd.m_angularFrictionTimescale = new Vector3(20, 20, 20); | ||
346 | vd.m_linearMotorTimescale = 2; | ||
347 | vd.m_linearMotorDecayTimescale = 60; | ||
348 | vd.m_angularMotorTimescale = 4; | ||
349 | vd.m_angularMotorDecayTimescale = 8; | ||
350 | vd.m_VhoverHeight = 0; | ||
351 | vd.m_VhoverEfficiency = 0.5f; | ||
352 | vd.m_VhoverTimescale = 1000; | ||
353 | vd.m_VehicleBuoyancy = 0; | ||
354 | vd.m_linearDeflectionEfficiency = 0.5f; | ||
355 | vd.m_linearDeflectionTimescale = 0.5f; | ||
356 | vd.m_angularDeflectionEfficiency = 1; | ||
357 | vd.m_angularDeflectionTimescale = 2; | ||
358 | vd.m_verticalAttractionEfficiency = 0.9f; | ||
359 | vd.m_verticalAttractionTimescale = 2f; | ||
360 | vd.m_bankingEfficiency = 1; | ||
361 | vd.m_bankingMix = 0.7f; | ||
362 | vd.m_bankingTimescale = 2; | ||
363 | vd.m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | | ||
364 | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
365 | VehicleFlag.HOVER_GLOBAL_HEIGHT | | ||
366 | VehicleFlag.HOVER_UP_ONLY | | ||
367 | VehicleFlag.NO_DEFLECTION_UP | | ||
368 | VehicleFlag.LIMIT_MOTOR_UP); | ||
369 | vd.m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); | ||
370 | break; | ||
371 | case Vehicle.TYPE_BALLOON: | ||
372 | vd.m_linearFrictionTimescale = new Vector3(5, 5, 5); | ||
373 | vd.m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
374 | vd.m_linearMotorTimescale = 5; | ||
375 | vd.m_linearMotorDecayTimescale = 60; | ||
376 | vd.m_angularMotorTimescale = 6; | ||
377 | vd.m_angularMotorDecayTimescale = 10; | ||
378 | vd.m_VhoverHeight = 5; | ||
379 | vd.m_VhoverEfficiency = 0.8f; | ||
380 | vd.m_VhoverTimescale = 10; | ||
381 | vd.m_VehicleBuoyancy = 1; | ||
382 | vd.m_linearDeflectionEfficiency = 0; | ||
383 | vd.m_linearDeflectionTimescale = 5; | ||
384 | vd.m_angularDeflectionEfficiency = 0; | ||
385 | vd.m_angularDeflectionTimescale = 5; | ||
386 | vd.m_verticalAttractionEfficiency = 0f; | ||
387 | vd.m_verticalAttractionTimescale = 1000f; | ||
388 | vd.m_bankingEfficiency = 0; | ||
389 | vd.m_bankingMix = 0.7f; | ||
390 | vd.m_bankingTimescale = 5; | ||
391 | vd.m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | | ||
392 | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
393 | VehicleFlag.HOVER_UP_ONLY | | ||
394 | VehicleFlag.NO_DEFLECTION_UP | | ||
395 | VehicleFlag.LIMIT_MOTOR_UP); | ||
396 | vd.m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | | ||
397 | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
398 | break; | ||
399 | } | ||
400 | } | ||
401 | public void SetVehicle(PhysicsActor ph) | ||
402 | { | ||
403 | if (ph == null) | ||
404 | return; | ||
405 | ph.SetVehicle(vd); | ||
406 | } | ||
407 | |||
408 | private XmlTextWriter writer; | ||
409 | |||
410 | private void XWint(string name, int i) | ||
411 | { | ||
412 | writer.WriteElementString(name, i.ToString()); | ||
413 | } | ||
414 | |||
415 | private void XWfloat(string name, float f) | ||
416 | { | ||
417 | writer.WriteElementString(name, f.ToString(Utils.EnUsCulture)); | ||
418 | } | ||
419 | |||
420 | private void XWVector(string name, Vector3 vec) | ||
421 | { | ||
422 | writer.WriteStartElement(name); | ||
423 | writer.WriteElementString("X", vec.X.ToString(Utils.EnUsCulture)); | ||
424 | writer.WriteElementString("Y", vec.Y.ToString(Utils.EnUsCulture)); | ||
425 | writer.WriteElementString("Z", vec.Z.ToString(Utils.EnUsCulture)); | ||
426 | writer.WriteEndElement(); | ||
427 | } | ||
428 | |||
429 | private void XWQuat(string name, Quaternion quat) | ||
430 | { | ||
431 | writer.WriteStartElement(name); | ||
432 | writer.WriteElementString("X", quat.X.ToString(Utils.EnUsCulture)); | ||
433 | writer.WriteElementString("Y", quat.Y.ToString(Utils.EnUsCulture)); | ||
434 | writer.WriteElementString("Z", quat.Z.ToString(Utils.EnUsCulture)); | ||
435 | writer.WriteElementString("W", quat.W.ToString(Utils.EnUsCulture)); | ||
436 | writer.WriteEndElement(); | ||
437 | } | ||
438 | |||
439 | public void ToXml2(XmlTextWriter twriter) | ||
440 | { | ||
441 | writer = twriter; | ||
442 | writer.WriteStartElement("Vehicle"); | ||
443 | |||
444 | XWint("TYPE", (int)vd.m_type); | ||
445 | XWint("FLAGS", (int)vd.m_flags); | ||
446 | |||
447 | // Linear properties | ||
448 | XWVector("LMDIR", vd.m_linearMotorDirection); | ||
449 | XWVector("LMFTIME", vd.m_linearFrictionTimescale); | ||
450 | XWfloat("LMDTIME", vd.m_linearMotorDecayTimescale); | ||
451 | XWfloat("LMTIME", vd.m_linearMotorTimescale); | ||
452 | XWVector("LMOFF", vd.m_linearMotorOffset); | ||
453 | |||
454 | //Angular properties | ||
455 | XWVector("AMDIR", vd.m_angularMotorDirection); | ||
456 | XWfloat("AMTIME", vd.m_angularMotorTimescale); | ||
457 | XWfloat("AMDTIME", vd.m_angularMotorDecayTimescale); | ||
458 | XWVector("AMFTIME", vd.m_angularFrictionTimescale); | ||
459 | |||
460 | //Deflection properties | ||
461 | XWfloat("ADEFF", vd.m_angularDeflectionEfficiency); | ||
462 | XWfloat("ADTIME", vd.m_angularDeflectionTimescale); | ||
463 | XWfloat("LDEFF", vd.m_linearDeflectionEfficiency); | ||
464 | XWfloat("LDTIME", vd.m_linearDeflectionTimescale); | ||
465 | |||
466 | //Banking properties | ||
467 | XWfloat("BEFF", vd.m_bankingEfficiency); | ||
468 | XWfloat("BMIX", vd.m_bankingMix); | ||
469 | XWfloat("BTIME", vd.m_bankingTimescale); | ||
470 | |||
471 | //Hover and Buoyancy properties | ||
472 | XWfloat("HHEI", vd.m_VhoverHeight); | ||
473 | XWfloat("HEFF", vd.m_VhoverEfficiency); | ||
474 | XWfloat("HTIME", vd.m_VhoverTimescale); | ||
475 | XWfloat("VBUO", vd.m_VehicleBuoyancy); | ||
476 | |||
477 | //Attractor properties | ||
478 | XWfloat("VAEFF", vd.m_verticalAttractionEfficiency); | ||
479 | XWfloat("VATIME", vd.m_verticalAttractionTimescale); | ||
480 | |||
481 | XWQuat("REF_FRAME", vd.m_referenceFrame); | ||
482 | |||
483 | writer.WriteEndElement(); | ||
484 | writer = null; | ||
485 | } | ||
486 | |||
487 | |||
488 | |||
489 | XmlTextReader reader; | ||
490 | |||
491 | private int XRint() | ||
492 | { | ||
493 | return reader.ReadElementContentAsInt(); | ||
494 | } | ||
495 | |||
496 | private float XRfloat() | ||
497 | { | ||
498 | return reader.ReadElementContentAsFloat(); | ||
499 | } | ||
500 | |||
501 | public Vector3 XRvector() | ||
502 | { | ||
503 | Vector3 vec; | ||
504 | reader.ReadStartElement(); | ||
505 | vec.X = reader.ReadElementContentAsFloat(); | ||
506 | vec.Y = reader.ReadElementContentAsFloat(); | ||
507 | vec.Z = reader.ReadElementContentAsFloat(); | ||
508 | reader.ReadEndElement(); | ||
509 | return vec; | ||
510 | } | ||
511 | |||
512 | public Quaternion XRquat() | ||
513 | { | ||
514 | Quaternion q; | ||
515 | reader.ReadStartElement(); | ||
516 | q.X = reader.ReadElementContentAsFloat(); | ||
517 | q.Y = reader.ReadElementContentAsFloat(); | ||
518 | q.Z = reader.ReadElementContentAsFloat(); | ||
519 | q.W = reader.ReadElementContentAsFloat(); | ||
520 | reader.ReadEndElement(); | ||
521 | return q; | ||
522 | } | ||
523 | |||
524 | public static bool EReadProcessors( | ||
525 | Dictionary<string, Action> processors, | ||
526 | XmlTextReader xtr) | ||
527 | { | ||
528 | bool errors = false; | ||
529 | |||
530 | string nodeName = string.Empty; | ||
531 | while (xtr.NodeType != XmlNodeType.EndElement) | ||
532 | { | ||
533 | nodeName = xtr.Name; | ||
534 | |||
535 | // m_log.DebugFormat("[ExternalRepresentationUtils]: Processing: {0}", nodeName); | ||
536 | |||
537 | Action p = null; | ||
538 | if (processors.TryGetValue(xtr.Name, out p)) | ||
539 | { | ||
540 | // m_log.DebugFormat("[ExternalRepresentationUtils]: Found {0} processor, nodeName); | ||
541 | |||
542 | try | ||
543 | { | ||
544 | p(); | ||
545 | } | ||
546 | catch (Exception e) | ||
547 | { | ||
548 | errors = true; | ||
549 | if (xtr.NodeType == XmlNodeType.EndElement) | ||
550 | xtr.Read(); | ||
551 | } | ||
552 | } | ||
553 | else | ||
554 | { | ||
555 | // m_log.DebugFormat("[LandDataSerializer]: caught unknown element {0}", nodeName); | ||
556 | xtr.ReadOuterXml(); // ignore | ||
557 | } | ||
558 | } | ||
559 | |||
560 | return errors; | ||
561 | } | ||
562 | |||
563 | |||
564 | |||
565 | public void FromXml2(XmlTextReader _reader, out bool errors) | ||
566 | { | ||
567 | errors = false; | ||
568 | reader = _reader; | ||
569 | |||
570 | Dictionary<string, Action> m_VehicleXmlProcessors | ||
571 | = new Dictionary<string, Action>(); | ||
572 | |||
573 | m_VehicleXmlProcessors.Add("TYPE", ProcessXR_type); | ||
574 | m_VehicleXmlProcessors.Add("FLAGS", ProcessXR_flags); | ||
575 | |||
576 | // Linear properties | ||
577 | m_VehicleXmlProcessors.Add("LMDIR", ProcessXR_linearMotorDirection); | ||
578 | m_VehicleXmlProcessors.Add("LMFTIME", ProcessXR_linearFrictionTimescale); | ||
579 | m_VehicleXmlProcessors.Add("LMDTIME", ProcessXR_linearMotorDecayTimescale); | ||
580 | m_VehicleXmlProcessors.Add("LMTIME", ProcessXR_linearMotorTimescale); | ||
581 | m_VehicleXmlProcessors.Add("LMOFF", ProcessXR_linearMotorOffset); | ||
582 | |||
583 | //Angular properties | ||
584 | m_VehicleXmlProcessors.Add("AMDIR", ProcessXR_angularMotorDirection); | ||
585 | m_VehicleXmlProcessors.Add("AMTIME", ProcessXR_angularMotorTimescale); | ||
586 | m_VehicleXmlProcessors.Add("AMDTIME", ProcessXR_angularMotorDecayTimescale); | ||
587 | m_VehicleXmlProcessors.Add("AMFTIME", ProcessXR_angularFrictionTimescale); | ||
588 | |||
589 | //Deflection properties | ||
590 | m_VehicleXmlProcessors.Add("ADEFF", ProcessXR_angularDeflectionEfficiency); | ||
591 | m_VehicleXmlProcessors.Add("ADTIME", ProcessXR_angularDeflectionTimescale); | ||
592 | m_VehicleXmlProcessors.Add("LDEFF", ProcessXR_linearDeflectionEfficiency); | ||
593 | m_VehicleXmlProcessors.Add("LDTIME", ProcessXR_linearDeflectionTimescale); | ||
594 | |||
595 | //Banking properties | ||
596 | m_VehicleXmlProcessors.Add("BEFF", ProcessXR_bankingEfficiency); | ||
597 | m_VehicleXmlProcessors.Add("BMIX", ProcessXR_bankingMix); | ||
598 | m_VehicleXmlProcessors.Add("BTIME", ProcessXR_bankingTimescale); | ||
599 | |||
600 | //Hover and Buoyancy properties | ||
601 | m_VehicleXmlProcessors.Add("HHEI", ProcessXR_VhoverHeight); | ||
602 | m_VehicleXmlProcessors.Add("HEFF", ProcessXR_VhoverEfficiency); | ||
603 | m_VehicleXmlProcessors.Add("HTIME", ProcessXR_VhoverTimescale); | ||
604 | |||
605 | m_VehicleXmlProcessors.Add("VBUO", ProcessXR_VehicleBuoyancy); | ||
606 | |||
607 | //Attractor properties | ||
608 | m_VehicleXmlProcessors.Add("VAEFF", ProcessXR_verticalAttractionEfficiency); | ||
609 | m_VehicleXmlProcessors.Add("VATIME", ProcessXR_verticalAttractionTimescale); | ||
610 | |||
611 | m_VehicleXmlProcessors.Add("REF_FRAME", ProcessXR_referenceFrame); | ||
612 | |||
613 | vd = new VehicleData(); | ||
614 | |||
615 | reader.ReadStartElement("Vehicle", String.Empty); | ||
616 | |||
617 | errors = EReadProcessors( | ||
618 | m_VehicleXmlProcessors, | ||
619 | reader); | ||
620 | |||
621 | reader.ReadEndElement(); | ||
622 | reader = null; | ||
623 | } | ||
624 | |||
625 | private void ProcessXR_type() | ||
626 | { | ||
627 | vd.m_type = (Vehicle)XRint(); | ||
628 | } | ||
629 | private void ProcessXR_flags() | ||
630 | { | ||
631 | vd.m_flags = (VehicleFlag)XRint(); | ||
632 | } | ||
633 | // Linear properties | ||
634 | private void ProcessXR_linearMotorDirection() | ||
635 | { | ||
636 | vd.m_linearMotorDirection = XRvector(); | ||
637 | } | ||
638 | |||
639 | private void ProcessXR_linearFrictionTimescale() | ||
640 | { | ||
641 | vd.m_linearFrictionTimescale = XRvector(); | ||
642 | } | ||
643 | |||
644 | private void ProcessXR_linearMotorDecayTimescale() | ||
645 | { | ||
646 | vd.m_linearMotorDecayTimescale = XRfloat(); | ||
647 | } | ||
648 | private void ProcessXR_linearMotorTimescale() | ||
649 | { | ||
650 | vd.m_linearMotorTimescale = XRfloat(); | ||
651 | } | ||
652 | private void ProcessXR_linearMotorOffset() | ||
653 | { | ||
654 | vd.m_linearMotorOffset = XRvector(); | ||
655 | } | ||
656 | |||
657 | |||
658 | //Angular properties | ||
659 | private void ProcessXR_angularMotorDirection() | ||
660 | { | ||
661 | vd.m_angularMotorDirection = XRvector(); | ||
662 | } | ||
663 | private void ProcessXR_angularMotorTimescale() | ||
664 | { | ||
665 | vd.m_angularMotorTimescale = XRfloat(); | ||
666 | } | ||
667 | private void ProcessXR_angularMotorDecayTimescale() | ||
668 | { | ||
669 | vd.m_angularMotorDecayTimescale = XRfloat(); | ||
670 | } | ||
671 | private void ProcessXR_angularFrictionTimescale() | ||
672 | { | ||
673 | vd.m_angularFrictionTimescale = XRvector(); | ||
674 | } | ||
675 | |||
676 | //Deflection properties | ||
677 | private void ProcessXR_angularDeflectionEfficiency() | ||
678 | { | ||
679 | vd.m_angularDeflectionEfficiency = XRfloat(); | ||
680 | } | ||
681 | private void ProcessXR_angularDeflectionTimescale() | ||
682 | { | ||
683 | vd.m_angularDeflectionTimescale = XRfloat(); | ||
684 | } | ||
685 | private void ProcessXR_linearDeflectionEfficiency() | ||
686 | { | ||
687 | vd.m_linearDeflectionEfficiency = XRfloat(); | ||
688 | } | ||
689 | private void ProcessXR_linearDeflectionTimescale() | ||
690 | { | ||
691 | vd.m_linearDeflectionTimescale = XRfloat(); | ||
692 | } | ||
693 | |||
694 | //Banking properties | ||
695 | private void ProcessXR_bankingEfficiency() | ||
696 | { | ||
697 | vd.m_bankingEfficiency = XRfloat(); | ||
698 | } | ||
699 | private void ProcessXR_bankingMix() | ||
700 | { | ||
701 | vd.m_bankingMix = XRfloat(); | ||
702 | } | ||
703 | private void ProcessXR_bankingTimescale() | ||
704 | { | ||
705 | vd.m_bankingTimescale = XRfloat(); | ||
706 | } | ||
707 | |||
708 | //Hover and Buoyancy properties | ||
709 | private void ProcessXR_VhoverHeight() | ||
710 | { | ||
711 | vd.m_VhoverHeight = XRfloat(); | ||
712 | } | ||
713 | private void ProcessXR_VhoverEfficiency() | ||
714 | { | ||
715 | vd.m_VhoverEfficiency = XRfloat(); | ||
716 | } | ||
717 | private void ProcessXR_VhoverTimescale() | ||
718 | { | ||
719 | vd.m_VhoverTimescale = XRfloat(); | ||
720 | } | ||
721 | |||
722 | private void ProcessXR_VehicleBuoyancy() | ||
723 | { | ||
724 | vd.m_VehicleBuoyancy = XRfloat(); | ||
725 | } | ||
726 | |||
727 | //Attractor properties | ||
728 | private void ProcessXR_verticalAttractionEfficiency() | ||
729 | { | ||
730 | vd.m_verticalAttractionEfficiency = XRfloat(); | ||
731 | } | ||
732 | private void ProcessXR_verticalAttractionTimescale() | ||
733 | { | ||
734 | vd.m_verticalAttractionTimescale = XRfloat(); | ||
735 | } | ||
736 | |||
737 | private void ProcessXR_referenceFrame() | ||
738 | { | ||
739 | vd.m_referenceFrame = XRquat(); | ||
740 | } | ||
741 | } | ||
742 | } \ No newline at end of file | ||
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs index 552a75f..a2322b7 100644 --- a/OpenSim/Region/Framework/Scenes/Scene.cs +++ b/OpenSim/Region/Framework/Scenes/Scene.cs | |||
@@ -4792,7 +4792,7 @@ Environment.Exit(1); | |||
4792 | bool wasUsingPhysics = ((jointProxyObject.Flags & PrimFlags.Physics) != 0); | 4792 | bool wasUsingPhysics = ((jointProxyObject.Flags & PrimFlags.Physics) != 0); |
4793 | if (wasUsingPhysics) | 4793 | if (wasUsingPhysics) |
4794 | { | 4794 | { |
4795 | jointProxyObject.UpdatePrimFlags(false, false, true, false); // FIXME: possible deadlock here; check to make sure all the scene alterations set into motion here won't deadlock | 4795 | jointProxyObject.UpdatePrimFlags(false, false, true, false,false); // FIXME: possible deadlock here; check to make sure all the scene alterations set into motion here won't deadlock |
4796 | } | 4796 | } |
4797 | } | 4797 | } |
4798 | 4798 | ||
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs index 0d14b83..2481dd2 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs | |||
@@ -43,6 +43,7 @@ using OpenSim.Region.Framework.Scenes.Serialization; | |||
43 | 43 | ||
44 | namespace OpenSim.Region.Framework.Scenes | 44 | namespace OpenSim.Region.Framework.Scenes |
45 | { | 45 | { |
46 | |||
46 | [Flags] | 47 | [Flags] |
47 | public enum scriptEvents | 48 | public enum scriptEvents |
48 | { | 49 | { |
@@ -461,8 +462,11 @@ namespace OpenSim.Region.Framework.Scenes | |||
461 | 462 | ||
462 | if (Scene != null) | 463 | if (Scene != null) |
463 | { | 464 | { |
464 | if ((Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E) || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W) | 465 | // if ((Scene.TestBorderCross(val - Vector3.UnitX, Cardinals.E) || Scene.TestBorderCross(val + Vector3.UnitX, Cardinals.W) |
465 | || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N) || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S)) | 466 | // || Scene.TestBorderCross(val - Vector3.UnitY, Cardinals.N) || Scene.TestBorderCross(val + Vector3.UnitY, Cardinals.S)) |
467 | // && !IsAttachmentCheckFull() && (!Scene.LoadingPrims)) | ||
468 | if ((Scene.TestBorderCross(val, Cardinals.E) || Scene.TestBorderCross(val, Cardinals.W) | ||
469 | || Scene.TestBorderCross(val, Cardinals.N) || Scene.TestBorderCross(val, Cardinals.S)) | ||
466 | && !IsAttachmentCheckFull() && (!Scene.LoadingPrims)) | 470 | && !IsAttachmentCheckFull() && (!Scene.LoadingPrims)) |
467 | { | 471 | { |
468 | IEntityTransferModule entityTransfer = m_scene.RequestModuleInterface<IEntityTransferModule>(); | 472 | IEntityTransferModule entityTransfer = m_scene.RequestModuleInterface<IEntityTransferModule>(); |
@@ -489,7 +493,7 @@ namespace OpenSim.Region.Framework.Scenes | |||
489 | canCross = false; | 493 | canCross = false; |
490 | break; | 494 | break; |
491 | } | 495 | } |
492 | 496 | ||
493 | m_log.DebugFormat("[SCENE OBJECT]: Avatar {0} needs to be crossed to {1}", av.Name, destination.RegionName); | 497 | m_log.DebugFormat("[SCENE OBJECT]: Avatar {0} needs to be crossed to {1}", av.Name, destination.RegionName); |
494 | } | 498 | } |
495 | 499 | ||
@@ -534,8 +538,15 @@ namespace OpenSim.Region.Framework.Scenes | |||
534 | return; | 538 | return; |
535 | } | 539 | } |
536 | } | 540 | } |
541 | else if (RootPart.PhysActor != null) | ||
542 | { | ||
543 | RootPart.PhysActor.CrossingFailure(); | ||
544 | } | ||
537 | 545 | ||
538 | val = AbsolutePosition; | 546 | Vector3 oldp = AbsolutePosition; |
547 | val.X = Util.Clamp<float>(oldp.X, 0.5f, (float)Constants.RegionSize - 0.5f); | ||
548 | val.Y = Util.Clamp<float>(oldp.Y, 0.5f, (float)Constants.RegionSize - 0.5f); | ||
549 | val.Z = Util.Clamp<float>(oldp.Z, 0.5f, 4096.0f); | ||
539 | } | 550 | } |
540 | } | 551 | } |
541 | 552 | ||
@@ -1368,7 +1379,8 @@ namespace OpenSim.Region.Framework.Scenes | |||
1368 | 1379 | ||
1369 | m_rootPart.SetParentLocalId(0); | 1380 | m_rootPart.SetParentLocalId(0); |
1370 | AttachmentPoint = (byte)0; | 1381 | AttachmentPoint = (byte)0; |
1371 | m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive); | 1382 | // must check if buildind should be true or false here |
1383 | m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive,false); | ||
1372 | HasGroupChanged = true; | 1384 | HasGroupChanged = true; |
1373 | RootPart.Rezzed = DateTime.Now; | 1385 | RootPart.Rezzed = DateTime.Now; |
1374 | RootPart.RemFlag(PrimFlags.TemporaryOnRez); | 1386 | RootPart.RemFlag(PrimFlags.TemporaryOnRez); |
@@ -1667,22 +1679,32 @@ namespace OpenSim.Region.Framework.Scenes | |||
1667 | /// </summary> | 1679 | /// </summary> |
1668 | public void ApplyPhysics() | 1680 | public void ApplyPhysics() |
1669 | { | 1681 | { |
1670 | // Apply physics to the root prim | ||
1671 | m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive); | ||
1672 | |||
1673 | // Apply physics to child prims | ||
1674 | SceneObjectPart[] parts = m_parts.GetArray(); | 1682 | SceneObjectPart[] parts = m_parts.GetArray(); |
1675 | if (parts.Length > 1) | 1683 | if (parts.Length > 1) |
1676 | { | 1684 | { |
1685 | ResetChildPrimPhysicsPositions(); | ||
1686 | |||
1687 | // Apply physics to the root prim | ||
1688 | m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive, true); | ||
1689 | |||
1690 | |||
1677 | for (int i = 0; i < parts.Length; i++) | 1691 | for (int i = 0; i < parts.Length; i++) |
1678 | { | 1692 | { |
1679 | SceneObjectPart part = parts[i]; | 1693 | SceneObjectPart part = parts[i]; |
1680 | if (part.LocalId != m_rootPart.LocalId) | 1694 | if (part.LocalId != m_rootPart.LocalId) |
1681 | part.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), part.VolumeDetectActive); | 1695 | part.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), part.VolumeDetectActive, true); |
1682 | } | 1696 | } |
1683 | |||
1684 | // Hack to get the physics scene geometries in the right spot | 1697 | // Hack to get the physics scene geometries in the right spot |
1685 | ResetChildPrimPhysicsPositions(); | 1698 | // ResetChildPrimPhysicsPositions(); |
1699 | if (m_rootPart.PhysActor != null) | ||
1700 | { | ||
1701 | m_rootPart.PhysActor.Building = false; | ||
1702 | } | ||
1703 | } | ||
1704 | else | ||
1705 | { | ||
1706 | // Apply physics to the root prim | ||
1707 | m_rootPart.ApplyPhysics(m_rootPart.GetEffectiveObjectFlags(), m_rootPart.VolumeDetectActive, false); | ||
1686 | } | 1708 | } |
1687 | } | 1709 | } |
1688 | 1710 | ||
@@ -1853,6 +1875,7 @@ namespace OpenSim.Region.Framework.Scenes | |||
1853 | /// <returns></returns> | 1875 | /// <returns></returns> |
1854 | public SceneObjectGroup Copy(bool userExposed) | 1876 | public SceneObjectGroup Copy(bool userExposed) |
1855 | { | 1877 | { |
1878 | m_dupeInProgress = true; | ||
1856 | SceneObjectGroup dupe = (SceneObjectGroup)MemberwiseClone(); | 1879 | SceneObjectGroup dupe = (SceneObjectGroup)MemberwiseClone(); |
1857 | dupe.m_isBackedUp = false; | 1880 | dupe.m_isBackedUp = false; |
1858 | dupe.m_parts = new MapAndArray<OpenMetaverse.UUID, SceneObjectPart>(); | 1881 | dupe.m_parts = new MapAndArray<OpenMetaverse.UUID, SceneObjectPart>(); |
@@ -1916,13 +1939,16 @@ namespace OpenSim.Region.Framework.Scenes | |||
1916 | pbs, | 1939 | pbs, |
1917 | newPart.AbsolutePosition, | 1940 | newPart.AbsolutePosition, |
1918 | newPart.Scale, | 1941 | newPart.Scale, |
1919 | newPart.RotationOffset, | 1942 | //newPart.RotationOffset, |
1943 | newPart.GetWorldRotation(), | ||
1920 | part.PhysActor.IsPhysical, | 1944 | part.PhysActor.IsPhysical, |
1921 | newPart.LocalId); | 1945 | newPart.LocalId); |
1922 | 1946 | ||
1923 | newPart.DoPhysicsPropertyUpdate(part.PhysActor.IsPhysical, true); | 1947 | newPart.DoPhysicsPropertyUpdate(part.PhysActor.IsPhysical, true); |
1924 | } | 1948 | } |
1925 | } | 1949 | } |
1950 | if (dupe.m_rootPart.PhysActor != null && userExposed) | ||
1951 | dupe.m_rootPart.PhysActor.Building = false; // tell physics to finish building | ||
1926 | 1952 | ||
1927 | if (userExposed) | 1953 | if (userExposed) |
1928 | { | 1954 | { |
@@ -1933,6 +1959,7 @@ namespace OpenSim.Region.Framework.Scenes | |||
1933 | ScheduleGroupForFullUpdate(); | 1959 | ScheduleGroupForFullUpdate(); |
1934 | } | 1960 | } |
1935 | 1961 | ||
1962 | m_dupeInProgress = false; | ||
1936 | return dupe; | 1963 | return dupe; |
1937 | } | 1964 | } |
1938 | 1965 | ||
@@ -2940,12 +2967,31 @@ namespace OpenSim.Region.Framework.Scenes | |||
2940 | } | 2967 | } |
2941 | } | 2968 | } |
2942 | 2969 | ||
2970 | /* | ||
2943 | RootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect); | 2971 | RootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect); |
2944 | for (int i = 0; i < parts.Length; i++) | 2972 | for (int i = 0; i < parts.Length; i++) |
2945 | { | 2973 | { |
2946 | if (parts[i] != RootPart) | 2974 | if (parts[i] != RootPart) |
2947 | parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect); | 2975 | parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect); |
2948 | } | 2976 | } |
2977 | */ | ||
2978 | if (parts.Length > 1) | ||
2979 | { | ||
2980 | m_rootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, true); | ||
2981 | |||
2982 | for (int i = 0; i < parts.Length; i++) | ||
2983 | { | ||
2984 | |||
2985 | if (parts[i].UUID != m_rootPart.UUID) | ||
2986 | parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, true); | ||
2987 | } | ||
2988 | |||
2989 | if (m_rootPart.PhysActor != null) | ||
2990 | m_rootPart.PhysActor.Building = false; | ||
2991 | } | ||
2992 | else | ||
2993 | m_rootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, false); | ||
2994 | |||
2949 | } | 2995 | } |
2950 | } | 2996 | } |
2951 | 2997 | ||
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 4a08ce3..613f9b5 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | |||
@@ -310,6 +310,9 @@ namespace OpenSim.Region.Framework.Scenes | |||
310 | private UUID m_collisionSound; | 310 | private UUID m_collisionSound; |
311 | private float m_collisionSoundVolume; | 311 | private float m_collisionSoundVolume; |
312 | 312 | ||
313 | |||
314 | private SOPVehicle m_vehicle = null; | ||
315 | |||
313 | #endregion Fields | 316 | #endregion Fields |
314 | 317 | ||
315 | // ~SceneObjectPart() | 318 | // ~SceneObjectPart() |
@@ -1506,7 +1509,8 @@ namespace OpenSim.Region.Framework.Scenes | |||
1506 | /// </summary> | 1509 | /// </summary> |
1507 | /// <param name="rootObjectFlags"></param> | 1510 | /// <param name="rootObjectFlags"></param> |
1508 | /// <param name="VolumeDetectActive"></param> | 1511 | /// <param name="VolumeDetectActive"></param> |
1509 | public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive) | 1512 | // public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive) |
1513 | public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive, bool building) | ||
1510 | { | 1514 | { |
1511 | if (!ParentGroup.Scene.CollidablePrims) | 1515 | if (!ParentGroup.Scene.CollidablePrims) |
1512 | return; | 1516 | return; |
@@ -1542,7 +1546,8 @@ namespace OpenSim.Region.Framework.Scenes | |||
1542 | Shape, | 1546 | Shape, |
1543 | AbsolutePosition, | 1547 | AbsolutePosition, |
1544 | Scale, | 1548 | Scale, |
1545 | RotationOffset, | 1549 | // RotationOffset, |
1550 | GetWorldRotation(), // physics wants world rotation | ||
1546 | RigidBody, | 1551 | RigidBody, |
1547 | m_localId); | 1552 | m_localId); |
1548 | } | 1553 | } |
@@ -1557,8 +1562,16 @@ namespace OpenSim.Region.Framework.Scenes | |||
1557 | { | 1562 | { |
1558 | PhysActor.SOPName = this.Name; // save object into the PhysActor so ODE internals know the joint/body info | 1563 | PhysActor.SOPName = this.Name; // save object into the PhysActor so ODE internals know the joint/body info |
1559 | PhysActor.SetMaterial(Material); | 1564 | PhysActor.SetMaterial(Material); |
1565 | |||
1566 | // if root part apply vehicle | ||
1567 | if (m_vehicle != null && LocalId == ParentGroup.RootPart.LocalId) | ||
1568 | m_vehicle.SetVehicle(PhysActor); | ||
1569 | |||
1560 | DoPhysicsPropertyUpdate(RigidBody, true); | 1570 | DoPhysicsPropertyUpdate(RigidBody, true); |
1561 | PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0); | 1571 | PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0); |
1572 | |||
1573 | if (!building) | ||
1574 | PhysActor.Building = false; | ||
1562 | } | 1575 | } |
1563 | } | 1576 | } |
1564 | } | 1577 | } |
@@ -1794,6 +1807,10 @@ namespace OpenSim.Region.Framework.Scenes | |||
1794 | if (!isNew) | 1807 | if (!isNew) |
1795 | ParentGroup.Scene.RemovePhysicalPrim(1); | 1808 | ParentGroup.Scene.RemovePhysicalPrim(1); |
1796 | 1809 | ||
1810 | Velocity = new Vector3(0, 0, 0); | ||
1811 | Acceleration = new Vector3(0, 0, 0); | ||
1812 | AngularVelocity = new Vector3(0, 0, 0); | ||
1813 | |||
1797 | PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate; | 1814 | PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate; |
1798 | PhysActor.OnOutOfBounds -= PhysicsOutOfBounds; | 1815 | PhysActor.OnOutOfBounds -= PhysicsOutOfBounds; |
1799 | PhysActor.delink(); | 1816 | PhysActor.delink(); |
@@ -2615,9 +2632,9 @@ namespace OpenSim.Region.Framework.Scenes | |||
2615 | Vector3 newpos = new Vector3(PhysActor.Position.GetBytes(), 0); | 2632 | Vector3 newpos = new Vector3(PhysActor.Position.GetBytes(), 0); |
2616 | 2633 | ||
2617 | if (ParentGroup.Scene.TestBorderCross(newpos, Cardinals.N) | 2634 | if (ParentGroup.Scene.TestBorderCross(newpos, Cardinals.N) |
2618 | | ParentGroup.Scene.TestBorderCross(newpos, Cardinals.S) | 2635 | || ParentGroup.Scene.TestBorderCross(newpos, Cardinals.S) |
2619 | | ParentGroup.Scene.TestBorderCross(newpos, Cardinals.E) | 2636 | || ParentGroup.Scene.TestBorderCross(newpos, Cardinals.E) |
2620 | | ParentGroup.Scene.TestBorderCross(newpos, Cardinals.W)) | 2637 | || ParentGroup.Scene.TestBorderCross(newpos, Cardinals.W)) |
2621 | { | 2638 | { |
2622 | ParentGroup.AbsolutePosition = newpos; | 2639 | ParentGroup.AbsolutePosition = newpos; |
2623 | return; | 2640 | return; |
@@ -3163,17 +3180,74 @@ namespace OpenSim.Region.Framework.Scenes | |||
3163 | } | 3180 | } |
3164 | } | 3181 | } |
3165 | 3182 | ||
3183 | public SOPVehicle sopVehicle | ||
3184 | { | ||
3185 | get | ||
3186 | { | ||
3187 | return m_vehicle; | ||
3188 | } | ||
3189 | set | ||
3190 | { | ||
3191 | m_vehicle = value; | ||
3192 | } | ||
3193 | } | ||
3194 | |||
3195 | |||
3196 | public int VehicleType | ||
3197 | { | ||
3198 | get | ||
3199 | { | ||
3200 | if (m_vehicle == null) | ||
3201 | return (int)Vehicle.TYPE_NONE; | ||
3202 | else | ||
3203 | return (int)m_vehicle.Type; | ||
3204 | } | ||
3205 | set | ||
3206 | { | ||
3207 | SetVehicleType(value); | ||
3208 | } | ||
3209 | } | ||
3210 | |||
3166 | public void SetVehicleType(int type) | 3211 | public void SetVehicleType(int type) |
3167 | { | 3212 | { |
3168 | if (PhysActor != null) | 3213 | m_vehicle = null; |
3214 | |||
3215 | if (type == (int)Vehicle.TYPE_NONE) | ||
3216 | { | ||
3217 | if (_parentID ==0 && PhysActor != null) | ||
3218 | PhysActor.VehicleType = (int)Vehicle.TYPE_NONE; | ||
3219 | return; | ||
3220 | } | ||
3221 | m_vehicle = new SOPVehicle(); | ||
3222 | m_vehicle.ProcessTypeChange((Vehicle)type); | ||
3223 | { | ||
3224 | if (_parentID ==0 && PhysActor != null) | ||
3225 | PhysActor.VehicleType = type; | ||
3226 | return; | ||
3227 | } | ||
3228 | } | ||
3229 | |||
3230 | public void SetVehicleFlags(int param, bool remove) | ||
3231 | { | ||
3232 | if (m_vehicle == null) | ||
3233 | return; | ||
3234 | |||
3235 | m_vehicle.ProcessVehicleFlags(param, remove); | ||
3236 | |||
3237 | if (_parentID ==0 && PhysActor != null) | ||
3169 | { | 3238 | { |
3170 | PhysActor.VehicleType = type; | 3239 | PhysActor.VehicleFlags(param, remove); |
3171 | } | 3240 | } |
3172 | } | 3241 | } |
3173 | 3242 | ||
3174 | public void SetVehicleFloatParam(int param, float value) | 3243 | public void SetVehicleFloatParam(int param, float value) |
3175 | { | 3244 | { |
3176 | if (PhysActor != null) | 3245 | if (m_vehicle == null) |
3246 | return; | ||
3247 | |||
3248 | m_vehicle.ProcessFloatVehicleParam((Vehicle)param, value); | ||
3249 | |||
3250 | if (_parentID == 0 && PhysActor != null) | ||
3177 | { | 3251 | { |
3178 | PhysActor.VehicleFloatParam(param, value); | 3252 | PhysActor.VehicleFloatParam(param, value); |
3179 | } | 3253 | } |
@@ -3181,7 +3255,12 @@ namespace OpenSim.Region.Framework.Scenes | |||
3181 | 3255 | ||
3182 | public void SetVehicleVectorParam(int param, Vector3 value) | 3256 | public void SetVehicleVectorParam(int param, Vector3 value) |
3183 | { | 3257 | { |
3184 | if (PhysActor != null) | 3258 | if (m_vehicle == null) |
3259 | return; | ||
3260 | |||
3261 | m_vehicle.ProcessVectorVehicleParam((Vehicle)param, value); | ||
3262 | |||
3263 | if (_parentID == 0 && PhysActor != null) | ||
3185 | { | 3264 | { |
3186 | PhysActor.VehicleVectorParam(param, value); | 3265 | PhysActor.VehicleVectorParam(param, value); |
3187 | } | 3266 | } |
@@ -3189,7 +3268,12 @@ namespace OpenSim.Region.Framework.Scenes | |||
3189 | 3268 | ||
3190 | public void SetVehicleRotationParam(int param, Quaternion rotation) | 3269 | public void SetVehicleRotationParam(int param, Quaternion rotation) |
3191 | { | 3270 | { |
3192 | if (PhysActor != null) | 3271 | if (m_vehicle == null) |
3272 | return; | ||
3273 | |||
3274 | m_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); | ||
3275 | |||
3276 | if (_parentID == 0 && PhysActor != null) | ||
3193 | { | 3277 | { |
3194 | PhysActor.VehicleRotationParam(param, rotation); | 3278 | PhysActor.VehicleRotationParam(param, rotation); |
3195 | } | 3279 | } |
@@ -3376,13 +3460,6 @@ namespace OpenSim.Region.Framework.Scenes | |||
3376 | hasProfileCut = hasDimple; // is it the same thing? | 3460 | hasProfileCut = hasDimple; // is it the same thing? |
3377 | } | 3461 | } |
3378 | 3462 | ||
3379 | public void SetVehicleFlags(int param, bool remove) | ||
3380 | { | ||
3381 | if (PhysActor != null) | ||
3382 | { | ||
3383 | PhysActor.VehicleFlags(param, remove); | ||
3384 | } | ||
3385 | } | ||
3386 | 3463 | ||
3387 | public void SetGroup(UUID groupID, IClientAPI client) | 3464 | public void SetGroup(UUID groupID, IClientAPI client) |
3388 | { | 3465 | { |
@@ -4270,7 +4347,8 @@ namespace OpenSim.Region.Framework.Scenes | |||
4270 | /// <param name="SetTemporary"></param> | 4347 | /// <param name="SetTemporary"></param> |
4271 | /// <param name="SetPhantom"></param> | 4348 | /// <param name="SetPhantom"></param> |
4272 | /// <param name="SetVD"></param> | 4349 | /// <param name="SetVD"></param> |
4273 | public void UpdatePrimFlags(bool UsePhysics, bool SetTemporary, bool SetPhantom, bool SetVD) | 4350 | // public void UpdatePrimFlags(bool UsePhysics, bool SetTemporary, bool SetPhantom, bool SetVD) |
4351 | public void UpdatePrimFlags(bool UsePhysics, bool SetTemporary, bool SetPhantom, bool SetVD, bool building) | ||
4274 | { | 4352 | { |
4275 | bool wasUsingPhysics = ((Flags & PrimFlags.Physics) != 0); | 4353 | bool wasUsingPhysics = ((Flags & PrimFlags.Physics) != 0); |
4276 | bool wasTemporary = ((Flags & PrimFlags.TemporaryOnRez) != 0); | 4354 | bool wasTemporary = ((Flags & PrimFlags.TemporaryOnRez) != 0); |
@@ -4288,6 +4366,9 @@ namespace OpenSim.Region.Framework.Scenes | |||
4288 | // that... | 4366 | // that... |
4289 | // ... if VD is changed, all others are not. | 4367 | // ... if VD is changed, all others are not. |
4290 | // ... if one of the others is changed, VD is not. | 4368 | // ... if one of the others is changed, VD is not. |
4369 | // do this first | ||
4370 | if (building && PhysActor != null && PhysActor.Building != building) | ||
4371 | PhysActor.Building = building; | ||
4291 | if (SetVD) // VD is active, special logic applies | 4372 | if (SetVD) // VD is active, special logic applies |
4292 | { | 4373 | { |
4293 | // State machine logic for VolumeDetect | 4374 | // State machine logic for VolumeDetect |
@@ -4369,11 +4450,17 @@ namespace OpenSim.Region.Framework.Scenes | |||
4369 | Shape, | 4450 | Shape, |
4370 | AbsolutePosition, | 4451 | AbsolutePosition, |
4371 | Scale, | 4452 | Scale, |
4372 | RotationOffset, | 4453 | // RotationOffset, |
4454 | GetWorldRotation(), //physics wants world rotation like all other functions send | ||
4373 | UsePhysics, | 4455 | UsePhysics, |
4374 | m_localId); | 4456 | m_localId); |
4375 | 4457 | ||
4376 | PhysActor.SetMaterial(Material); | 4458 | PhysActor.SetMaterial(Material); |
4459 | |||
4460 | // if root part apply vehicle | ||
4461 | if (m_vehicle != null && LocalId == ParentGroup.RootPart.LocalId) | ||
4462 | m_vehicle.SetVehicle(PhysActor); | ||
4463 | |||
4377 | DoPhysicsPropertyUpdate(UsePhysics, true); | 4464 | DoPhysicsPropertyUpdate(UsePhysics, true); |
4378 | 4465 | ||
4379 | if (!ParentGroup.IsDeleted) | 4466 | if (!ParentGroup.IsDeleted) |
@@ -4449,6 +4536,9 @@ namespace OpenSim.Region.Framework.Scenes | |||
4449 | } | 4536 | } |
4450 | // m_log.Debug("Update: PHY:" + UsePhysics.ToString() + ", T:" + IsTemporary.ToString() + ", PHA:" + IsPhantom.ToString() + " S:" + CastsShadows.ToString()); | 4537 | // m_log.Debug("Update: PHY:" + UsePhysics.ToString() + ", T:" + IsTemporary.ToString() + ", PHA:" + IsPhantom.ToString() + " S:" + CastsShadows.ToString()); |
4451 | 4538 | ||
4539 | // and last in case we have a new actor and not building | ||
4540 | if (PhysActor != null && PhysActor.Building != building) | ||
4541 | PhysActor.Building = building; | ||
4452 | if (ParentGroup != null) | 4542 | if (ParentGroup != null) |
4453 | { | 4543 | { |
4454 | ParentGroup.HasGroupChanged = true; | 4544 | ParentGroup.HasGroupChanged = true; |
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs index db1a9d5..b38523f 100644 --- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs +++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs | |||
@@ -1843,8 +1843,11 @@ namespace OpenSim.Region.Framework.Scenes | |||
1843 | // m_log.DebugFormat("[SCENE PRESENCE]: StandUp() for {0}", Name); | 1843 | // m_log.DebugFormat("[SCENE PRESENCE]: StandUp() for {0}", Name); |
1844 | 1844 | ||
1845 | SitGround = false; | 1845 | SitGround = false; |
1846 | |||
1847 | /* move this down so avatar gets physical in the new position and not where it is siting | ||
1846 | if (PhysicsActor == null) | 1848 | if (PhysicsActor == null) |
1847 | AddToPhysicalScene(false); | 1849 | AddToPhysicalScene(false); |
1850 | */ | ||
1848 | 1851 | ||
1849 | if (ParentID != 0) | 1852 | if (ParentID != 0) |
1850 | { | 1853 | { |
@@ -1879,6 +1882,10 @@ namespace OpenSim.Region.Framework.Scenes | |||
1879 | ParentPosition = Vector3.Zero; | 1882 | ParentPosition = Vector3.Zero; |
1880 | 1883 | ||
1881 | ParentID = 0; | 1884 | ParentID = 0; |
1885 | |||
1886 | if (PhysicsActor == null) | ||
1887 | AddToPhysicalScene(false); | ||
1888 | |||
1882 | SendAvatarDataToAllAgents(); | 1889 | SendAvatarDataToAllAgents(); |
1883 | m_requestedSitTargetID = 0; | 1890 | m_requestedSitTargetID = 0; |
1884 | 1891 | ||
@@ -1886,6 +1893,9 @@ namespace OpenSim.Region.Framework.Scenes | |||
1886 | part.ParentGroup.TriggerScriptChangedEvent(Changed.LINK); | 1893 | part.ParentGroup.TriggerScriptChangedEvent(Changed.LINK); |
1887 | } | 1894 | } |
1888 | 1895 | ||
1896 | else if (PhysicsActor == null) | ||
1897 | AddToPhysicalScene(false); | ||
1898 | |||
1889 | Animator.TrySetMovementAnimation("STAND"); | 1899 | Animator.TrySetMovementAnimation("STAND"); |
1890 | } | 1900 | } |
1891 | 1901 | ||
diff --git a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs index 19cb9fb..72a0ec3 100644 --- a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs +++ b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs | |||
@@ -350,6 +350,11 @@ namespace OpenSim.Region.Framework.Scenes.Serialization | |||
350 | 350 | ||
351 | m_SOPXmlProcessors.Add("Buoyancy", ProcessBuoyancy); | 351 | m_SOPXmlProcessors.Add("Buoyancy", ProcessBuoyancy); |
352 | m_SOPXmlProcessors.Add("VolumeDetectActive", ProcessVolumeDetectActive); | 352 | m_SOPXmlProcessors.Add("VolumeDetectActive", ProcessVolumeDetectActive); |
353 | |||
354 | //Ubit comented until proper testing | ||
355 | m_SOPXmlProcessors.Add("Vehicle", ProcessVehicle); | ||
356 | |||
357 | |||
353 | #endregion | 358 | #endregion |
354 | 359 | ||
355 | #region TaskInventoryXmlProcessors initialization | 360 | #region TaskInventoryXmlProcessors initialization |
@@ -572,6 +577,25 @@ namespace OpenSim.Region.Framework.Scenes.Serialization | |||
572 | obj.ClickAction = (byte)reader.ReadElementContentAsInt("ClickAction", String.Empty); | 577 | obj.ClickAction = (byte)reader.ReadElementContentAsInt("ClickAction", String.Empty); |
573 | } | 578 | } |
574 | 579 | ||
580 | private static void ProcessVehicle(SceneObjectPart obj, XmlTextReader reader) | ||
581 | { | ||
582 | bool errors = false; | ||
583 | SOPVehicle _vehicle = new SOPVehicle(); | ||
584 | |||
585 | _vehicle.FromXml2(reader, out errors); | ||
586 | |||
587 | if (errors) | ||
588 | { | ||
589 | obj.sopVehicle = null; | ||
590 | m_log.DebugFormat( | ||
591 | "[SceneObjectSerializer]: Parsing Vehicle for object part {0} {1} encountered errors. Please see earlier log entries.", | ||
592 | obj.Name, obj.UUID); | ||
593 | } | ||
594 | else | ||
595 | obj.sopVehicle = _vehicle; | ||
596 | } | ||
597 | |||
598 | |||
575 | private static void ProcessShape(SceneObjectPart obj, XmlTextReader reader) | 599 | private static void ProcessShape(SceneObjectPart obj, XmlTextReader reader) |
576 | { | 600 | { |
577 | List<string> errorNodeNames; | 601 | List<string> errorNodeNames; |
@@ -1234,6 +1258,10 @@ namespace OpenSim.Region.Framework.Scenes.Serialization | |||
1234 | writer.WriteElementString("Buoyancy", sop.Buoyancy.ToString()); | 1258 | writer.WriteElementString("Buoyancy", sop.Buoyancy.ToString()); |
1235 | writer.WriteElementString("VolumeDetectActive", sop.VolumeDetectActive.ToString().ToLower()); | 1259 | writer.WriteElementString("VolumeDetectActive", sop.VolumeDetectActive.ToString().ToLower()); |
1236 | 1260 | ||
1261 | //Ubit comented until proper testing | ||
1262 | if (sop.sopVehicle != null) | ||
1263 | sop.sopVehicle.ToXml2(writer); | ||
1264 | |||
1237 | writer.WriteEndElement(); | 1265 | writer.WriteEndElement(); |
1238 | } | 1266 | } |
1239 | 1267 | ||
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs index 42e22ff..80c1277 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs | |||
@@ -22,11 +22,13 @@ | |||
22 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 22 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
23 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 23 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
24 | * | 24 | * |
25 | * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs | 25 | * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs |
26 | * Ubit 2012 | ||
26 | * rolled into ODEPrim.cs | 27 | * rolled into ODEPrim.cs |
27 | */ | 28 | */ |
28 | 29 | ||
29 | using System; | 30 | using System; |
31 | using System.IO; | ||
30 | using System.Collections.Generic; | 32 | using System.Collections.Generic; |
31 | using System.Reflection; | 33 | using System.Reflection; |
32 | using System.Runtime.InteropServices; | 34 | using System.Runtime.InteropServices; |
@@ -37,7 +39,6 @@ using Ode.NET; | |||
37 | using OpenSim.Framework; | 39 | using OpenSim.Framework; |
38 | using OpenSim.Region.Physics.Manager; | 40 | using OpenSim.Region.Physics.Manager; |
39 | 41 | ||
40 | |||
41 | namespace OpenSim.Region.Physics.OdePlugin | 42 | namespace OpenSim.Region.Physics.OdePlugin |
42 | { | 43 | { |
43 | /// <summary> | 44 | /// <summary> |
@@ -48,6 +49,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
48 | { | 49 | { |
49 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 50 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
50 | 51 | ||
52 | public class SerialControl | ||
53 | { | ||
54 | public object alock = new object(); | ||
55 | public byte[] data = new byte[0]; | ||
56 | } | ||
51 | private Vector3 _position; | 57 | private Vector3 _position; |
52 | private Vector3 _velocity; | 58 | private Vector3 _velocity; |
53 | private Vector3 _torque; | 59 | private Vector3 _torque; |
@@ -80,12 +86,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
80 | private float PID_D = 35f; | 86 | private float PID_D = 35f; |
81 | private float PID_G = 25f; | 87 | private float PID_G = 25f; |
82 | private bool m_usePID = false; | 88 | private bool m_usePID = false; |
83 | 89 | ||
84 | private Quaternion m_APIDTarget = new Quaternion(); | 90 | private Quaternion m_APIDTarget = new Quaternion(); |
85 | private float m_APIDStrength = 0.5f; | 91 | private float m_APIDStrength = 0.5f; |
86 | private float m_APIDDamping = 0.5f; | 92 | private float m_APIDDamping = 0.5f; |
87 | private bool m_useAPID = false; | 93 | private bool m_useAPID = false; |
88 | private float m_APIDdamper = 1.0f; | 94 | private float m_APIDdamper = 1.0f; |
89 | 95 | ||
90 | // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), | 96 | // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), |
91 | // do not confuse with VEHICLE HOVER | 97 | // do not confuse with VEHICLE HOVER |
@@ -112,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
112 | private bool m_taintPhysics; | 118 | private bool m_taintPhysics; |
113 | private bool m_collidesLand = true; | 119 | private bool m_collidesLand = true; |
114 | private bool m_collidesWater; | 120 | private bool m_collidesWater; |
115 | public bool m_returnCollisions; | 121 | // public bool m_returnCollisions; |
116 | 122 | ||
117 | // Default we're a Geometry | 123 | // Default we're a Geometry |
118 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); | 124 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); |
@@ -144,7 +150,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
144 | private OdeScene _parent_scene; | 150 | private OdeScene _parent_scene; |
145 | public IntPtr m_targetSpace = IntPtr.Zero; | 151 | public IntPtr m_targetSpace = IntPtr.Zero; |
146 | public IntPtr prim_geom; | 152 | public IntPtr prim_geom; |
147 | // public IntPtr prev_geom; | 153 | // public IntPtr prev_geom; |
148 | public IntPtr _triMeshData; | 154 | public IntPtr _triMeshData; |
149 | 155 | ||
150 | private IntPtr _linkJointGroup = IntPtr.Zero; | 156 | private IntPtr _linkJointGroup = IntPtr.Zero; |
@@ -163,10 +169,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
163 | private int throttleCounter; | 169 | private int throttleCounter; |
164 | public int m_interpenetrationcount; | 170 | public int m_interpenetrationcount; |
165 | public float m_collisionscore; | 171 | public float m_collisionscore; |
166 | public int m_roundsUnderMotionThreshold; | 172 | // public int m_roundsUnderMotionThreshold; |
167 | private int m_crossingfailures; | 173 | // private int m_crossingfailures; |
168 | 174 | ||
169 | public bool outofBounds; | 175 | public bool m_outofBounds; |
170 | private float m_density = 10.000006836f; // Aluminum g/cm3; | 176 | private float m_density = 10.000006836f; // Aluminum g/cm3; |
171 | 177 | ||
172 | public bool _zeroFlag; // if body has been stopped | 178 | public bool _zeroFlag; // if body has been stopped |
@@ -185,75 +191,525 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
185 | public volatile bool childPrim; | 191 | public volatile bool childPrim; |
186 | 192 | ||
187 | internal int m_material = (int)Material.Wood; | 193 | internal int m_material = (int)Material.Wood; |
188 | |||
189 | private int frcount = 0; // Used to limit dynamics debug output to | ||
190 | private int revcount = 0; // Reverse motion while > 0 | ||
191 | 194 | ||
192 | private IntPtr m_body = IntPtr.Zero; | 195 | private IntPtr m_body = IntPtr.Zero; |
193 | 196 | ||
194 | // Vehicle properties ============================================================================================ | 197 | // Vehicle properties ============================================================================================ |
195 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind | 198 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind |
196 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | 199 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier |
197 | private VehicleFlag m_flags = (VehicleFlag) 0; // Bit settings: | 200 | private VehicleFlag m_flags = (VehicleFlag)0; // Bit settings: |
198 | // HOVER_TERRAIN_ONLY | 201 | // HOVER_TERRAIN_ONLY |
199 | // HOVER_GLOBAL_HEIGHT | 202 | // HOVER_GLOBAL_HEIGHT |
200 | // NO_DEFLECTION_UP | 203 | // NO_DEFLECTION_UP |
201 | // HOVER_WATER_ONLY | 204 | // HOVER_WATER_ONLY |
202 | // HOVER_UP_ONLY | 205 | // HOVER_UP_ONLY |
203 | // LIMIT_MOTOR_UP | 206 | // LIMIT_MOTOR_UP |
204 | // LIMIT_ROLL_ONLY | 207 | // LIMIT_ROLL_ONLY |
205 | 208 | ||
206 | // Linear properties | 209 | // Linear properties |
207 | private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity | 210 | private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity |
208 | //requested by LSL | 211 | //requested by LSL |
209 | private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL | 212 | private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL |
210 | private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL | 213 | private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL |
211 | private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL | 214 | private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL |
212 | 215 | ||
213 | private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor | 216 | private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor |
214 | private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity | 217 | private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity |
215 | private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity | 218 | private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity |
216 | 219 | ||
217 | //Angular properties | 220 | //Angular properties |
218 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor | 221 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor |
219 | 222 | ||
220 | private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL | 223 | private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL |
221 | private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL | 224 | private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL |
222 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL | 225 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL |
223 | 226 | ||
224 | private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor | 227 | private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor |
225 | // private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity | 228 | // private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity |
226 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body | 229 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body |
227 | 230 | ||
228 | //Deflection properties | 231 | //Deflection properties |
229 | // private float m_angularDeflectionEfficiency = 0; | 232 | // private float m_angularDeflectionEfficiency = 0; |
230 | // private float m_angularDeflectionTimescale = 0; | 233 | // private float m_angularDeflectionTimescale = 0; |
231 | // private float m_linearDeflectionEfficiency = 0; | 234 | // private float m_linearDeflectionEfficiency = 0; |
232 | // private float m_linearDeflectionTimescale = 0; | 235 | // private float m_linearDeflectionTimescale = 0; |
233 | 236 | ||
234 | //Banking properties | 237 | //Banking properties |
235 | // private float m_bankingEfficiency = 0; | 238 | // private float m_bankingEfficiency = 0; |
236 | // private float m_bankingMix = 0; | 239 | // private float m_bankingMix = 0; |
237 | // private float m_bankingTimescale = 0; | 240 | // private float m_bankingTimescale = 0; |
238 | 241 | ||
239 | //Hover and Buoyancy properties | 242 | //Hover and Buoyancy properties |
240 | private float m_VhoverHeight = 0f; | 243 | private float m_VhoverHeight = 0f; |
241 | // private float m_VhoverEfficiency = 0f; | 244 | // private float m_VhoverEfficiency = 0f; |
242 | private float m_VhoverTimescale = 0f; | 245 | private float m_VhoverTimescale = 0f; |
243 | private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height | 246 | private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height |
244 | private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle. | 247 | private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle. |
245 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) | 248 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) |
246 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. | 249 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. |
247 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. | 250 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. |
248 | 251 | ||
249 | //Attractor properties | 252 | //Attractor properties |
250 | private float m_verticalAttractionEfficiency = 1.0f; // damped | 253 | private float m_verticalAttractionEfficiency = 1.0f; // damped |
251 | private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. | 254 | private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. |
252 | |||
253 | |||
254 | 255 | ||
256 | SerialControl m_taintserial = null; | ||
257 | object m_taintvehicledata = null; | ||
258 | |||
259 | public void DoSetVehicle() | ||
260 | { | ||
261 | VehicleData vd = (VehicleData)m_taintvehicledata; | ||
262 | |||
263 | m_type = vd.m_type; | ||
264 | m_flags = vd.m_flags; | ||
265 | |||
266 | // Linear properties | ||
267 | m_linearMotorDirection = vd.m_linearMotorDirection; | ||
268 | m_linearFrictionTimescale = vd.m_linearFrictionTimescale; | ||
269 | m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale; | ||
270 | m_linearMotorTimescale = vd.m_linearMotorTimescale; | ||
271 | // m_linearMotorOffset = vd.m_linearMotorOffset; | ||
272 | |||
273 | //Angular properties | ||
274 | m_angularMotorDirection = vd.m_angularMotorDirection; | ||
275 | m_angularMotorTimescale = vd.m_angularMotorTimescale; | ||
276 | m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale; | ||
277 | m_angularFrictionTimescale = vd.m_angularFrictionTimescale; | ||
278 | |||
279 | //Deflection properties | ||
280 | // m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency; | ||
281 | // m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale; | ||
282 | // m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency; | ||
283 | // m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale; | ||
284 | |||
285 | //Banking properties | ||
286 | // m_bankingEfficiency = vd.m_bankingEfficiency; | ||
287 | // m_bankingMix = vd.m_bankingMix; | ||
288 | // m_bankingTimescale = vd.m_bankingTimescale; | ||
289 | |||
290 | //Hover and Buoyancy properties | ||
291 | m_VhoverHeight = vd.m_VhoverHeight; | ||
292 | // m_VhoverEfficiency = vd.m_VhoverEfficiency; | ||
293 | m_VhoverTimescale = vd.m_VhoverTimescale; | ||
294 | m_VehicleBuoyancy = vd.m_VehicleBuoyancy; | ||
295 | |||
296 | //Attractor properties | ||
297 | m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency; | ||
298 | m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale; | ||
299 | |||
300 | // Axis | ||
301 | // m_referenceFrame = vd.m_referenceFrame; | ||
302 | |||
303 | |||
304 | m_taintvehicledata = null; | ||
305 | } | ||
306 | |||
307 | public override void SetVehicle(object vdata) | ||
308 | { | ||
309 | m_taintvehicledata = vdata; | ||
310 | _parent_scene.AddPhysicsActorTaint(this); | ||
311 | } | ||
312 | |||
313 | public override byte[] Serialize(bool PhysIsRunning) | ||
314 | { | ||
315 | SerialControl sc = new SerialControl(); | ||
316 | |||
317 | lock (sc.alock) | ||
318 | { | ||
319 | if (PhysIsRunning) | ||
320 | { | ||
321 | m_taintserial = sc; | ||
322 | |||
323 | if (!Monitor.Wait(sc.alock, 1000)) | ||
324 | { | ||
325 | m_log.Error("[chOde] prim data serialization timed out"); | ||
326 | m_taintserial = null; | ||
327 | return new byte[0]; | ||
328 | } | ||
329 | } | ||
330 | else | ||
331 | DoSerialize(sc); | ||
332 | } | ||
333 | |||
334 | return sc.data; | ||
335 | } | ||
336 | |||
337 | public void DoSerialize(SerialControl sc) | ||
338 | { | ||
339 | wstreamer st = new wstreamer(); | ||
340 | Vector3 vtmp; | ||
341 | |||
342 | ushort version = 2; | ||
343 | if (!BitConverter.IsLittleEndian) | ||
344 | version |= 1; | ||
345 | st.Wushort(version); //version lower bit codes endian type for future use | ||
346 | |||
347 | // compact booleans in a ushort | ||
348 | ushort flags = 0; | ||
349 | |||
350 | if (m_isphysical) // this should be true for now | ||
351 | flags |= 1; | ||
352 | if (m_isSelected) | ||
353 | flags |= 2; | ||
354 | if (m_isVolumeDetect) | ||
355 | flags |= 4; | ||
356 | if (m_disabled) | ||
357 | flags |= 8; | ||
358 | if (m_collidesWater) | ||
359 | flags |= 16; | ||
360 | if (m_collidesLand) | ||
361 | flags |= 32; | ||
362 | if (m_usePID) | ||
363 | flags |= 64; | ||
364 | if (m_useAPID) | ||
365 | flags |= 128; | ||
366 | if (m_useHoverPID) | ||
367 | flags |= 256; | ||
368 | if (m_throttleUpdates) | ||
369 | flags |= 512; | ||
370 | |||
371 | st.Wushort(flags); | ||
372 | |||
373 | st.Wvector3(_size); | ||
374 | st.Wint(m_material); | ||
375 | st.Wfloat(m_density); | ||
376 | st.Wfloat(0); // future gravity mod V3 | ||
377 | st.Wfloat(0); // future friction V3 | ||
378 | st.Wfloat(0); // future bounce V3 | ||
379 | |||
380 | // st.Wuint((uint)m_collisionCategories); | ||
381 | // st.Wuint((uint)m_collisionFlags); | ||
382 | |||
383 | if (_parent == null) | ||
384 | { | ||
385 | st.Wvector3(_position); // ?? | ||
386 | st.Wquat(_orientation); | ||
387 | } | ||
388 | else // for childs save offsets | ||
389 | { | ||
390 | Quaternion to; | ||
391 | Quaternion ipo = Quaternion.Inverse(_parent.Orientation); | ||
392 | |||
393 | if (m_isphysical && prim_geom != IntPtr.Zero) | ||
394 | { | ||
395 | d.Vector3 dvt; | ||
396 | d.GeomCopyPosition(prim_geom, out dvt); | ||
397 | |||
398 | vtmp.X = dvt.X; | ||
399 | vtmp.Y = dvt.Y; | ||
400 | vtmp.Z = dvt.Z; | ||
401 | |||
402 | d.Quaternion dqt; | ||
403 | d.GeomCopyQuaternion(prim_geom, out dqt); | ||
404 | |||
405 | to.X = dqt.X; | ||
406 | to.Y = dqt.Y; | ||
407 | to.Z = dqt.Z; | ||
408 | to.W = dqt.W; // rotation in world | ||
409 | } | ||
410 | else | ||
411 | { | ||
412 | vtmp = _position; | ||
413 | to = _orientation; | ||
414 | } | ||
415 | |||
416 | vtmp -= _parent.Position; // offset in world | ||
417 | vtmp *= ipo; // offset in local | ||
418 | st.Wvector3(vtmp); | ||
419 | |||
420 | ipo *= to; // own rotation | ||
421 | st.Wquat(ipo); | ||
422 | } | ||
423 | |||
424 | st.Wvector3(_velocity); | ||
425 | st.Wvector3(m_rotationalVelocity); | ||
426 | st.Wvector3(_acceleration); | ||
427 | st.Wvector3(m_rotateEnable); | ||
428 | |||
429 | vtmp = Vector3.Zero; | ||
430 | for (int i = 0; i < m_forcelist.Count; i++) | ||
431 | { | ||
432 | |||
433 | vtmp += (m_forcelist[i] * 100); | ||
434 | } | ||
435 | |||
436 | st.Wvector3(vtmp); // force acc | ||
437 | |||
438 | vtmp = Vector3.Zero; | ||
439 | for (int i = 0; i < m_angularforcelist.Count; i++) | ||
440 | { | ||
441 | vtmp += (m_angularforcelist[i] * 100); | ||
442 | } | ||
443 | |||
444 | st.Wvector3(vtmp); // angular force acc | ||
445 | |||
446 | st.Wvector3(m_PIDTarget); | ||
447 | st.Wfloat(m_PIDTau); | ||
448 | st.Wfloat(PID_D); | ||
449 | st.Wfloat(PID_G); | ||
450 | st.Wquat(m_APIDTarget); | ||
451 | st.Wfloat(m_APIDStrength); | ||
452 | st.Wfloat(m_APIDDamping); | ||
453 | st.Wfloat(m_APIDdamper); | ||
454 | |||
455 | st.Wint((int)m_PIDHoverType); | ||
456 | st.Wfloat(m_PIDHoverHeight); | ||
457 | st.Wfloat(m_PIDHoverTau); | ||
458 | st.Wfloat(m_targetHoverHeight); | ||
459 | |||
460 | st.Wfloat(m_groundHeight); | ||
461 | st.Wfloat(m_waterHeight); | ||
462 | |||
463 | st.Wfloat(m_buoyancy); | ||
464 | |||
465 | // this must be last since type none ends stream | ||
466 | if (m_type == Vehicle.TYPE_NONE) | ||
467 | st.Wint((int)Vehicle.TYPE_NONE); | ||
468 | else | ||
469 | { | ||
470 | st.Wint((int)m_type); | ||
471 | |||
472 | st.Wquat(Quaternion.Identity); //m_referenceFrame | ||
473 | |||
474 | st.Wint((int)m_flags); | ||
475 | |||
476 | st.Wvector3(m_linearMotorDirection); | ||
477 | st.Wfloat( | ||
478 | (float)Math.Sqrt(m_lLinMotorDVel.LengthSquared() / m_linearMotorDirection.LengthSquared())); | ||
479 | |||
480 | st.Wvector3(m_linearFrictionTimescale); | ||
481 | st.Wfloat(m_linearMotorDecayTimescale); | ||
482 | st.Wfloat(m_linearMotorTimescale); | ||
483 | st.Wvector3(new Vector3(0, 0, 0)); //m_linearMotorOffset); | ||
484 | |||
485 | st.Wvector3(m_angularMotorDirection); | ||
486 | st.Wfloat((float)Math.Sqrt(m_angularMotorDVel.LengthSquared() / m_angularMotorDirection.LengthSquared())); | ||
487 | |||
488 | st.Wvector3(m_angularFrictionTimescale); | ||
489 | st.Wfloat(m_angularMotorDecayTimescale); | ||
490 | st.Wfloat(m_angularMotorTimescale); | ||
491 | |||
492 | st.Wfloat(0); //m_linearDeflectionEfficiency); | ||
493 | st.Wfloat(1000); //m_linearDeflectionTimescale); | ||
494 | |||
495 | st.Wfloat(0); //m_angularDeflectionEfficiency); | ||
496 | st.Wfloat(120); //m_angularDeflectionTimescale); | ||
497 | |||
498 | st.Wfloat(0); // m_bankingEfficiency); | ||
499 | st.Wfloat(0); //m_bankingMix); | ||
500 | st.Wfloat(1000); //m_bankingTimescale); | ||
501 | |||
502 | st.Wfloat(m_VhoverHeight); | ||
503 | st.Wfloat(0.5f); //m_VhoverEfficiency); | ||
504 | st.Wfloat(m_VhoverTimescale); | ||
505 | |||
506 | st.Wfloat(m_VehicleBuoyancy); | ||
507 | |||
508 | st.Wfloat(m_verticalAttractionEfficiency); | ||
509 | st.Wfloat(m_verticalAttractionTimescale); | ||
510 | } | ||
511 | sc.data = st.close(); | ||
512 | m_taintserial = null; | ||
513 | Monitor.PulseAll(sc.alock); | ||
514 | } | ||
515 | |||
516 | public bool DeSerialize(byte[] data) | ||
517 | { | ||
518 | rstreamer st = new rstreamer(data); | ||
519 | |||
520 | int version =st.Rushort(); //version | ||
521 | |||
522 | // merge booleans in a ushort | ||
523 | ushort flags = st.Rushort(); | ||
524 | if ((flags & 1) != 0) | ||
525 | m_isphysical = true; | ||
526 | if ((flags & 2) != 0) | ||
527 | m_taintselected = true; | ||
528 | if ((flags & 4) != 0) | ||
529 | m_isVolumeDetect = true; | ||
530 | if ((flags & 8) != 0) | ||
531 | m_taintdisable = true; | ||
532 | if ((flags & 16) != 0) | ||
533 | m_taintCollidesWater = true; | ||
534 | if ((flags & 32) != 0) | ||
535 | m_collidesLand = true; | ||
536 | if ((flags & 64) != 0) | ||
537 | m_usePID = true; | ||
538 | if ((flags & 128) != 0) | ||
539 | m_useAPID = true; | ||
540 | if ((flags & 256) != 0) | ||
541 | m_useHoverPID = true; | ||
542 | if ((flags & 512) != 0) | ||
543 | m_throttleUpdates = true; | ||
544 | |||
545 | _size = st.Rvector3(); | ||
546 | m_taintsize = _size; | ||
547 | |||
548 | m_material= st.Rint(); | ||
549 | m_density = st.Rfloat(); | ||
550 | st.Rfloat(); // future gravity mod V3 | ||
551 | st.Rfloat(); // future friction V3 | ||
552 | st.Rfloat(); // future bounce V3 | ||
553 | |||
554 | // m_collisionCategories = (CollisionCategories)st.Ruint(); | ||
555 | // m_collisionFlags = (CollisionCategories) st.Ruint(); | ||
556 | |||
557 | if (m_taintparent == null) | ||
558 | { | ||
559 | st.Rvector3(); // ignore old position sop/sog as to tell the new one | ||
560 | m_taintrot = st.Rquat(); // | ||
561 | _orientation = m_taintrot; | ||
562 | } | ||
563 | else | ||
564 | { | ||
565 | m_taintrot = _parent.Orientation; | ||
566 | m_taintposition = st.Rvector3(); // ?? | ||
567 | _position = m_taintposition; | ||
568 | |||
569 | m_taintposition *= m_taintrot; | ||
570 | m_taintposition += _parent.Position; | ||
571 | |||
572 | m_taintrot *= st.Rquat(); // | ||
573 | _orientation = m_taintrot; | ||
574 | } | ||
575 | |||
576 | m_taintVelocity = st.Rvector3(); | ||
577 | m_rotationalVelocity = st.Rvector3(); | ||
578 | |||
579 | _acceleration = st.Rvector3(); | ||
580 | m_rotateEnableRequest = st.Rvector3(); | ||
581 | m_rotateEnableUpdate = true; | ||
582 | |||
583 | Vector3 vtmp; | ||
584 | |||
585 | vtmp = st.Rvector3(); // forces acc | ||
586 | m_forcelist.Add(vtmp); | ||
587 | m_taintforce = true; | ||
588 | |||
589 | vtmp = st.Rvector3(); // angular forces acc | ||
590 | m_angularforcelist.Add(vtmp); | ||
591 | m_taintaddangularforce = true; | ||
592 | |||
593 | m_PIDTarget = st.Rvector3(); | ||
594 | m_PIDTau = st.Rfloat(); | ||
595 | PID_D = st.Rfloat(); | ||
596 | PID_G = st.Rfloat(); | ||
597 | |||
598 | m_APIDTarget = st.Rquat(); | ||
599 | m_APIDStrength = st.Rfloat(); | ||
600 | m_APIDDamping = st.Rfloat(); | ||
601 | m_APIDdamper = st.Rfloat(); | ||
602 | |||
603 | m_PIDHoverType = (PIDHoverType) st.Rint(); | ||
604 | m_PIDHoverHeight = st.Rfloat(); | ||
605 | m_PIDHoverTau = st.Rfloat(); | ||
606 | m_targetHoverHeight = st.Rfloat(); | ||
607 | |||
608 | m_groundHeight = st.Rfloat(); | ||
609 | m_waterHeight = st.Rfloat(); | ||
610 | |||
611 | m_buoyancy = st.Rfloat(); | ||
612 | |||
613 | |||
614 | // this must be last since type none ends stream | ||
615 | |||
616 | m_type = (Vehicle) st.Rint(); | ||
617 | |||
618 | if (m_type != Vehicle.TYPE_NONE) | ||
619 | { | ||
620 | float ftmp; | ||
621 | |||
622 | st.Rquat(); //m_referenceFrame | ||
623 | |||
624 | m_flags = (VehicleFlag) st.Rint(); | ||
625 | |||
626 | m_linearMotorDirection = st.Rvector3(); | ||
627 | |||
628 | ftmp = st.Rfloat(); | ||
629 | m_lLinMotorDVel = m_linearMotorDirection * ftmp; | ||
630 | |||
631 | m_linearFrictionTimescale = st.Rvector3(); | ||
632 | m_linearMotorDecayTimescale = st.Rfloat(); | ||
633 | m_linearMotorTimescale = st.Rfloat(); | ||
634 | st.Rvector3(); //m_linearMotorOffset); | ||
635 | |||
636 | m_angularMotorDirection = st.Rvector3(); | ||
637 | ftmp = st.Rfloat(); | ||
638 | m_angularMotorDVel = m_angularMotorDirection * ftmp; | ||
639 | |||
640 | m_angularFrictionTimescale = st.Rvector3(); | ||
641 | m_angularMotorDecayTimescale = st.Rfloat(); | ||
642 | m_angularMotorTimescale = st.Rfloat(); | ||
643 | |||
644 | st.Rfloat(); //m_linearDeflectionEfficiency); | ||
645 | st.Rfloat(); //m_linearDeflectionTimescale); | ||
646 | |||
647 | st.Rfloat(); //m_angularDeflectionEfficiency); | ||
648 | st.Rfloat(); //m_angularDeflectionTimescale); | ||
649 | |||
650 | st.Rfloat(); // m_bankingEfficiency); | ||
651 | st.Rfloat(); //m_bankingMix); | ||
652 | st.Rfloat(); //m_bankingTimescale); | ||
653 | |||
654 | m_VhoverHeight = st.Rfloat(); | ||
655 | st.Rfloat(); //m_VhoverEfficiency); | ||
656 | m_VhoverTimescale = st.Rfloat(); | ||
657 | |||
658 | m_VehicleBuoyancy = st.Rfloat(); | ||
659 | |||
660 | m_verticalAttractionEfficiency = st.Rfloat(); | ||
661 | m_verticalAttractionTimescale = st.Rfloat(); | ||
662 | } | ||
663 | st.close(); | ||
664 | return true; | ||
665 | } | ||
666 | |||
667 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, PhysicsActor parent, | ||
668 | PrimitiveBaseShape pbs, CollisionLocker dode, uint localid, byte[] sdata) | ||
669 | { | ||
670 | m_localID = localid; | ||
671 | ode = dode; | ||
672 | |||
673 | if (parent == null) | ||
674 | { | ||
675 | m_taintparent = null; | ||
676 | |||
677 | if (!pos.IsFinite()) | ||
678 | { | ||
679 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), | ||
680 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | ||
681 | m_log.Warn("[PHYSICS]: Got nonFinite Object create Position"); | ||
682 | } | ||
683 | |||
684 | _position = pos; | ||
685 | m_taintposition = pos; | ||
686 | } | ||
687 | else | ||
688 | m_taintparent = parent; | ||
689 | |||
690 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | ||
691 | |||
692 | prim_geom = IntPtr.Zero; | ||
255 | 693 | ||
694 | _mesh = null; | ||
695 | m_meshfailed = false; | ||
696 | _pbs = pbs; | ||
697 | |||
698 | _parent_scene = parent_scene; | ||
699 | m_targetSpace = (IntPtr)0; | ||
700 | |||
701 | if(sdata != null && sdata.Length > 1) | ||
702 | DeSerialize(sdata); | ||
256 | 703 | ||
704 | if (m_isphysical) | ||
705 | m_targetSpace = _parent_scene.space; | ||
706 | |||
707 | m_primName = primName; | ||
708 | m_taintserial = null; | ||
709 | m_taintadd = true; | ||
710 | _parent_scene.AddPhysicsActorTaint(this); | ||
711 | // don't do .add() here; old geoms get recycled with the same hash | ||
712 | } | ||
257 | 713 | ||
258 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, | 714 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, |
259 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode, uint localid) | 715 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode, uint localid) |
@@ -266,7 +722,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
266 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | 722 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); |
267 | m_log.Warn("[PHYSICS]: Got nonFinite Object create Position"); | 723 | m_log.Warn("[PHYSICS]: Got nonFinite Object create Position"); |
268 | } | 724 | } |
269 | 725 | ||
270 | _position = pos; | 726 | _position = pos; |
271 | m_taintposition = pos; | 727 | m_taintposition = pos; |
272 | PID_D = parent_scene.bodyPIDD; | 728 | PID_D = parent_scene.bodyPIDD; |
@@ -275,9 +731,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
275 | // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; | 731 | // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; |
276 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | 732 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; |
277 | 733 | ||
278 | |||
279 | prim_geom = IntPtr.Zero; | 734 | prim_geom = IntPtr.Zero; |
280 | // prev_geom = IntPtr.Zero; | 735 | // prev_geom = IntPtr.Zero; |
281 | 736 | ||
282 | if (!pos.IsFinite()) | 737 | if (!pos.IsFinite()) |
283 | { | 738 | { |
@@ -306,7 +761,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
306 | _parent_scene = parent_scene; | 761 | _parent_scene = parent_scene; |
307 | m_targetSpace = (IntPtr)0; | 762 | m_targetSpace = (IntPtr)0; |
308 | 763 | ||
309 | // if (pos.Z < 0) | 764 | // if (pos.Z < 0) |
310 | if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y)) | 765 | if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y)) |
311 | m_isphysical = false; | 766 | m_isphysical = false; |
312 | else | 767 | else |
@@ -317,6 +772,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
317 | if (m_isphysical) | 772 | if (m_isphysical) |
318 | m_targetSpace = _parent_scene.space; | 773 | m_targetSpace = _parent_scene.space; |
319 | } | 774 | } |
775 | |||
776 | m_taintserial = null; | ||
320 | m_primName = primName; | 777 | m_primName = primName; |
321 | m_taintadd = true; | 778 | m_taintadd = true; |
322 | _parent_scene.AddPhysicsActorTaint(this); | 779 | _parent_scene.AddPhysicsActorTaint(this); |
@@ -325,7 +782,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
325 | 782 | ||
326 | public override int PhysicsActorType | 783 | public override int PhysicsActorType |
327 | { | 784 | { |
328 | get { return (int) ActorTypes.Prim; } | 785 | get { return (int)ActorTypes.Prim; } |
329 | set { return; } | 786 | set { return; } |
330 | } | 787 | } |
331 | 788 | ||
@@ -337,9 +794,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
337 | 794 | ||
338 | public override uint LocalID | 795 | public override uint LocalID |
339 | { | 796 | { |
340 | set { | 797 | set |
798 | { | ||
341 | //m_log.Info("[PHYSICS]: Setting TrackerID: " + value); | 799 | //m_log.Info("[PHYSICS]: Setting TrackerID: " + value); |
342 | m_localID = value; } | 800 | m_localID = value; |
801 | } | ||
343 | } | 802 | } |
344 | 803 | ||
345 | public override bool Grabbed | 804 | public override bool Grabbed |
@@ -349,9 +808,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
349 | 808 | ||
350 | public override bool Selected | 809 | public override bool Selected |
351 | { | 810 | { |
352 | set { | 811 | set |
353 | 812 | { | |
354 | //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical); | 813 | |
814 | //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical); | ||
355 | // This only makes the object not collidable if the object | 815 | // This only makes the object not collidable if the object |
356 | // is physical or the object is modified somehow *IN THE FUTURE* | 816 | // is physical or the object is modified somehow *IN THE FUTURE* |
357 | // without this, if an avatar selects prim, they can walk right | 817 | // without this, if an avatar selects prim, they can walk right |
@@ -367,21 +827,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
367 | m_taintselected = value; | 827 | m_taintselected = value; |
368 | m_isSelected = value; | 828 | m_isSelected = value; |
369 | } | 829 | } |
370 | if(m_isSelected) disableBodySoft(); | 830 | if (m_isSelected) disableBodySoft(); |
371 | } | 831 | } |
372 | } | 832 | } |
373 | 833 | ||
374 | public override bool IsPhysical | 834 | public override bool IsPhysical |
375 | { | 835 | { |
376 | get { return m_isphysical; } | 836 | get { return m_isphysical; } |
377 | set | 837 | set |
378 | { | 838 | { |
379 | m_isphysical = value; | 839 | m_isphysical = value; |
380 | if (!m_isphysical) | 840 | if (!m_isphysical) |
381 | { // Zero the remembered last velocity | 841 | { // Zero the remembered last velocity |
382 | m_lastVelocity = Vector3.Zero; | 842 | m_lastVelocity = Vector3.Zero; |
383 | if (m_type != Vehicle.TYPE_NONE) Halt(); | 843 | if (m_type != Vehicle.TYPE_NONE) Halt(); |
384 | } | 844 | } |
385 | } | 845 | } |
386 | } | 846 | } |
387 | 847 | ||
@@ -430,7 +890,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
430 | { | 890 | { |
431 | get { return _position; } | 891 | get { return _position; } |
432 | 892 | ||
433 | set { _position = value; | 893 | set |
894 | { | ||
895 | _position = value; | ||
434 | //m_log.Info("[PHYSICS]: " + _position.ToString()); | 896 | //m_log.Info("[PHYSICS]: " + _position.ToString()); |
435 | } | 897 | } |
436 | } | 898 | } |
@@ -481,29 +943,29 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
481 | 943 | ||
482 | public override void VehicleFloatParam(int param, float value) | 944 | public override void VehicleFloatParam(int param, float value) |
483 | { | 945 | { |
484 | ProcessFloatVehicleParam((Vehicle) param, value); | 946 | ProcessFloatVehicleParam((Vehicle)param, value); |
485 | } | 947 | } |
486 | 948 | ||
487 | public override void VehicleVectorParam(int param, Vector3 value) | 949 | public override void VehicleVectorParam(int param, Vector3 value) |
488 | { | 950 | { |
489 | ProcessVectorVehicleParam((Vehicle) param, value); | 951 | ProcessVectorVehicleParam((Vehicle)param, value); |
490 | } | 952 | } |
491 | 953 | ||
492 | public override void VehicleRotationParam(int param, Quaternion rotation) | 954 | public override void VehicleRotationParam(int param, Quaternion rotation) |
493 | { | 955 | { |
494 | ProcessRotationVehicleParam((Vehicle) param, rotation); | 956 | ProcessRotationVehicleParam((Vehicle)param, rotation); |
495 | } | 957 | } |
496 | 958 | ||
497 | public override void VehicleFlags(int param, bool remove) | 959 | public override void VehicleFlags(int param, bool remove) |
498 | { | 960 | { |
499 | ProcessVehicleFlags(param, remove); | 961 | ProcessVehicleFlags(param, remove); |
500 | } | 962 | } |
501 | 963 | ||
502 | public override void SetVolumeDetect(int param) | 964 | public override void SetVolumeDetect(int param) |
503 | { | 965 | { |
504 | lock (_parent_scene.OdeLock) | 966 | lock (_parent_scene.OdeLock) |
505 | { | 967 | { |
506 | m_isVolumeDetect = (param!=0); | 968 | m_isVolumeDetect = (param != 0); |
507 | } | 969 | } |
508 | } | 970 | } |
509 | 971 | ||
@@ -536,9 +998,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
536 | return Vector3.Zero; | 998 | return Vector3.Zero; |
537 | 999 | ||
538 | Vector3 returnVelocity = Vector3.Zero; | 1000 | Vector3 returnVelocity = Vector3.Zero; |
539 | returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2; | 1001 | returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2; |
540 | returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2; | 1002 | returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2; |
541 | returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2; | 1003 | returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2; |
542 | return returnVelocity; | 1004 | return returnVelocity; |
543 | } | 1005 | } |
544 | set | 1006 | set |
@@ -546,8 +1008,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
546 | if (value.IsFinite()) | 1008 | if (value.IsFinite()) |
547 | { | 1009 | { |
548 | _velocity = value; | 1010 | _velocity = value; |
549 | if (_velocity.ApproxEquals(Vector3.Zero,0.001f)) | 1011 | if (_velocity.ApproxEquals(Vector3.Zero, 0.001f)) |
550 | _acceleration = Vector3.Zero; | 1012 | _acceleration = Vector3.Zero; |
551 | 1013 | ||
552 | m_taintVelocity = value; | 1014 | m_taintVelocity = value; |
553 | _parent_scene.AddPhysicsActorTaint(this); | 1015 | _parent_scene.AddPhysicsActorTaint(this); |
@@ -604,17 +1066,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
604 | if (QuaternionIsFinite(value)) | 1066 | if (QuaternionIsFinite(value)) |
605 | { | 1067 | { |
606 | _orientation = value; | 1068 | _orientation = value; |
607 | } | 1069 | } |
608 | else | 1070 | else |
609 | m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object"); | 1071 | m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object"); |
610 | 1072 | ||
611 | } | 1073 | } |
612 | } | 1074 | } |
613 | 1075 | ||
614 | 1076 | ||
615 | public override bool FloatOnWater | 1077 | public override bool FloatOnWater |
616 | { | 1078 | { |
617 | set { | 1079 | set |
1080 | { | ||
618 | m_taintCollidesWater = value; | 1081 | m_taintCollidesWater = value; |
619 | _parent_scene.AddPhysicsActorTaint(this); | 1082 | _parent_scene.AddPhysicsActorTaint(this); |
620 | } | 1083 | } |
@@ -624,8 +1087,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
624 | { | 1087 | { |
625 | } | 1088 | } |
626 | 1089 | ||
627 | public override Vector3 PIDTarget | 1090 | public override Vector3 PIDTarget |
628 | { | 1091 | { |
629 | set | 1092 | set |
630 | { | 1093 | { |
631 | if (value.IsFinite()) | 1094 | if (value.IsFinite()) |
@@ -634,16 +1097,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
634 | } | 1097 | } |
635 | else | 1098 | else |
636 | m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object"); | 1099 | m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object"); |
637 | } | 1100 | } |
638 | } | 1101 | } |
639 | public override bool PIDActive { set { m_usePID = value; } } | 1102 | public override bool PIDActive { set { m_usePID = value; } } |
640 | public override float PIDTau { set { m_PIDTau = value; } } | 1103 | public override float PIDTau { set { m_PIDTau = value; } } |
641 | 1104 | ||
642 | // For RotLookAt | 1105 | // For RotLookAt |
643 | public override Quaternion APIDTarget { set { m_APIDTarget = value; } } | 1106 | public override Quaternion APIDTarget { set { m_APIDTarget = value; } } |
644 | public override bool APIDActive { set { m_useAPID = value; } } | 1107 | public override bool APIDActive { set { m_useAPID = value; } } |
645 | public override float APIDStrength { set { m_APIDStrength = value; } } | 1108 | public override float APIDStrength { set { m_APIDStrength = value; } } |
646 | public override float APIDDamping { set { m_APIDDamping = value; } } | 1109 | public override float APIDDamping { set { m_APIDDamping = value; } } |
647 | 1110 | ||
648 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } | 1111 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } |
649 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } | 1112 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } |
@@ -665,13 +1128,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
665 | 1128 | ||
666 | public override Vector3 Acceleration // client updates read data via here | 1129 | public override Vector3 Acceleration // client updates read data via here |
667 | { | 1130 | { |
668 | get | 1131 | get |
669 | { | 1132 | { |
670 | if (_zeroFlag) | 1133 | if (_zeroFlag) |
671 | { | 1134 | { |
672 | return Vector3.Zero; | 1135 | return Vector3.Zero; |
673 | } | 1136 | } |
674 | return _acceleration; | 1137 | return _acceleration; |
675 | } | 1138 | } |
676 | set { _acceleration = value; } | 1139 | set { _acceleration = value; } |
677 | } | 1140 | } |
@@ -732,16 +1195,38 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
732 | 1195 | ||
733 | public override void CrossingFailure() | 1196 | public override void CrossingFailure() |
734 | { | 1197 | { |
735 | m_crossingfailures++; | 1198 | if (m_outofBounds) |
736 | if (m_crossingfailures > _parent_scene.geomCrossingFailuresBeforeOutofbounds) | ||
737 | { | ||
738 | base.RaiseOutOfBounds(_position); | ||
739 | return; | ||
740 | } | ||
741 | else if (m_crossingfailures == _parent_scene.geomCrossingFailuresBeforeOutofbounds) | ||
742 | { | 1199 | { |
743 | m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName); | 1200 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); |
1201 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | ||
1202 | _position.Z = Util.Clip(_position.Z, -100f, 50000f); | ||
1203 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); | ||
1204 | |||
1205 | m_lastposition = _position; | ||
1206 | |||
1207 | _velocity = Vector3.Zero; | ||
1208 | m_lastVelocity = _velocity; | ||
1209 | |||
1210 | |||
1211 | if (m_type != Vehicle.TYPE_NONE) | ||
1212 | Halt(); | ||
1213 | |||
1214 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
1215 | base.RequestPhysicsterseUpdate(); | ||
1216 | m_outofBounds = false; | ||
744 | } | 1217 | } |
1218 | /* | ||
1219 | int tmp = Interlocked.Increment(ref m_crossingfailures); | ||
1220 | if (tmp > _parent_scene.geomCrossingFailuresBeforeOutofbounds) | ||
1221 | { | ||
1222 | base.RaiseOutOfBounds(_position); | ||
1223 | return; | ||
1224 | } | ||
1225 | else if (tmp == _parent_scene.geomCrossingFailuresBeforeOutofbounds) | ||
1226 | { | ||
1227 | m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName); | ||
1228 | } | ||
1229 | */ | ||
745 | } | 1230 | } |
746 | 1231 | ||
747 | public override float Buoyancy | 1232 | public override float Buoyancy |
@@ -784,26 +1269,26 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
784 | 1269 | ||
785 | public void SetGeom(IntPtr geom) | 1270 | public void SetGeom(IntPtr geom) |
786 | { | 1271 | { |
787 | if(prim_geom != IntPtr.Zero) | 1272 | if (prim_geom != IntPtr.Zero) |
788 | { | 1273 | { |
789 | // Remove any old entries | 1274 | // Remove any old entries |
790 | //string tPA; | 1275 | //string tPA; |
791 | //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA); | 1276 | //_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA); |
792 | //Console.WriteLine("**** Remove {0}", tPA); | 1277 | //Console.WriteLine("**** Remove {0}", tPA); |
793 | if(_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom); | 1278 | if (_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom); |
794 | if(_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom); | 1279 | if (_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom); |
795 | d.GeomDestroy(prim_geom); | 1280 | d.GeomDestroy(prim_geom); |
796 | } | 1281 | } |
797 | 1282 | ||
798 | prim_geom = geom; | 1283 | prim_geom = geom; |
799 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName); | 1284 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName); |
800 | if (prim_geom != IntPtr.Zero) | 1285 | if (prim_geom != IntPtr.Zero) |
801 | { | 1286 | { |
802 | _parent_scene.geom_name_map[prim_geom] = this.m_primName; | 1287 | _parent_scene.geom_name_map[prim_geom] = this.m_primName; |
803 | _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; | 1288 | _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; |
804 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1289 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
805 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1290 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
806 | //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName); | 1291 | //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName); |
807 | } | 1292 | } |
808 | 1293 | ||
809 | if (childPrim) | 1294 | if (childPrim) |
@@ -811,7 +1296,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
811 | if (_parent != null && _parent is OdePrim) | 1296 | if (_parent != null && _parent is OdePrim) |
812 | { | 1297 | { |
813 | OdePrim parent = (OdePrim)_parent; | 1298 | OdePrim parent = (OdePrim)_parent; |
814 | //Console.WriteLine("SetGeom calls ChildSetGeom"); | 1299 | //Console.WriteLine("SetGeom calls ChildSetGeom"); |
815 | parent.ChildSetGeom(this); | 1300 | parent.ChildSetGeom(this); |
816 | } | 1301 | } |
817 | } | 1302 | } |
@@ -826,7 +1311,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
826 | { | 1311 | { |
827 | d.BodyEnable(Body); | 1312 | d.BodyEnable(Body); |
828 | if (m_type != Vehicle.TYPE_NONE) | 1313 | if (m_type != Vehicle.TYPE_NONE) |
829 | Enable(Body, _parent_scene); | 1314 | Enable(Body, _parent_scene); |
830 | } | 1315 | } |
831 | 1316 | ||
832 | m_disabled = false; | 1317 | m_disabled = false; |
@@ -870,9 +1355,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
870 | 1355 | ||
871 | d.BodySetAutoDisableFlag(Body, true); | 1356 | d.BodySetAutoDisableFlag(Body, true); |
872 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | 1357 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
873 | 1358 | ||
874 | // disconnect from world gravity so we can apply buoyancy | 1359 | // disconnect from world gravity so we can apply buoyancy |
875 | d.BodySetGravityMode (Body, false); | 1360 | d.BodySetGravityMode(Body, false); |
876 | 1361 | ||
877 | m_interpenetrationcount = 0; | 1362 | m_interpenetrationcount = 0; |
878 | m_collisionscore = 0; | 1363 | m_collisionscore = 0; |
@@ -896,19 +1381,19 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
896 | 1381 | ||
897 | float returnMass = 0; | 1382 | float returnMass = 0; |
898 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; | 1383 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; |
899 | float hollowVolume = hollowAmount * hollowAmount; | 1384 | float hollowVolume = hollowAmount * hollowAmount; |
900 | 1385 | ||
901 | switch (_pbs.ProfileShape) | 1386 | switch (_pbs.ProfileShape) |
902 | { | 1387 | { |
903 | case ProfileShape.Square: | 1388 | case ProfileShape.Square: |
904 | // default box | 1389 | // default box |
905 | 1390 | ||
906 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | 1391 | if (_pbs.PathCurve == (byte)Extrusion.Straight) |
907 | { | 1392 | { |
908 | if (hollowAmount > 0.0) | 1393 | if (hollowAmount > 0.0) |
909 | { | 1394 | { |
910 | switch (_pbs.HollowShape) | 1395 | switch (_pbs.HollowShape) |
911 | { | 1396 | { |
912 | case HollowShape.Square: | 1397 | case HollowShape.Square: |
913 | case HollowShape.Same: | 1398 | case HollowShape.Same: |
914 | break; | 1399 | break; |
@@ -926,31 +1411,31 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
926 | default: | 1411 | default: |
927 | hollowVolume = 0; | 1412 | hollowVolume = 0; |
928 | break; | 1413 | break; |
929 | } | ||
930 | volume *= (1.0f - hollowVolume); | ||
931 | } | 1414 | } |
1415 | volume *= (1.0f - hollowVolume); | ||
932 | } | 1416 | } |
1417 | } | ||
933 | 1418 | ||
934 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 1419 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
935 | { | 1420 | { |
936 | //a tube | 1421 | //a tube |
937 | 1422 | ||
938 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); | 1423 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); |
939 | tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); | 1424 | tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); |
940 | volume -= volume*tmp*tmp; | 1425 | volume -= volume * tmp * tmp; |
941 | 1426 | ||
942 | if (hollowAmount > 0.0) | 1427 | if (hollowAmount > 0.0) |
943 | { | 1428 | { |
944 | hollowVolume *= hollowAmount; | 1429 | hollowVolume *= hollowAmount; |
945 | 1430 | ||
946 | switch (_pbs.HollowShape) | 1431 | switch (_pbs.HollowShape) |
947 | { | 1432 | { |
948 | case HollowShape.Square: | 1433 | case HollowShape.Square: |
949 | case HollowShape.Same: | 1434 | case HollowShape.Same: |
950 | break; | 1435 | break; |
951 | 1436 | ||
952 | case HollowShape.Circle: | 1437 | case HollowShape.Circle: |
953 | hollowVolume *= 0.78539816339f;; | 1438 | hollowVolume *= 0.78539816339f; ; |
954 | break; | 1439 | break; |
955 | 1440 | ||
956 | case HollowShape.Triangle: | 1441 | case HollowShape.Triangle: |
@@ -959,23 +1444,23 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
959 | default: | 1444 | default: |
960 | hollowVolume = 0; | 1445 | hollowVolume = 0; |
961 | break; | 1446 | break; |
962 | } | ||
963 | volume *= (1.0f - hollowVolume); | ||
964 | } | 1447 | } |
1448 | volume *= (1.0f - hollowVolume); | ||
965 | } | 1449 | } |
1450 | } | ||
966 | 1451 | ||
967 | break; | 1452 | break; |
968 | 1453 | ||
969 | case ProfileShape.Circle: | 1454 | case ProfileShape.Circle: |
970 | 1455 | ||
971 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | 1456 | if (_pbs.PathCurve == (byte)Extrusion.Straight) |
972 | { | 1457 | { |
973 | volume *= 0.78539816339f; // elipse base | 1458 | volume *= 0.78539816339f; // elipse base |
974 | 1459 | ||
975 | if (hollowAmount > 0.0) | 1460 | if (hollowAmount > 0.0) |
976 | { | 1461 | { |
977 | switch (_pbs.HollowShape) | 1462 | switch (_pbs.HollowShape) |
978 | { | 1463 | { |
979 | case HollowShape.Same: | 1464 | case HollowShape.Same: |
980 | case HollowShape.Circle: | 1465 | case HollowShape.Circle: |
981 | break; | 1466 | break; |
@@ -991,25 +1476,25 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
991 | default: | 1476 | default: |
992 | hollowVolume = 0; | 1477 | hollowVolume = 0; |
993 | break; | 1478 | break; |
994 | } | ||
995 | volume *= (1.0f - hollowVolume); | ||
996 | } | 1479 | } |
1480 | volume *= (1.0f - hollowVolume); | ||
997 | } | 1481 | } |
1482 | } | ||
998 | 1483 | ||
999 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 1484 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
1000 | { | 1485 | { |
1001 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); | 1486 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); |
1002 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | 1487 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); |
1003 | volume *= (1.0f - tmp * tmp); | 1488 | volume *= (1.0f - tmp * tmp); |
1004 | 1489 | ||
1005 | if (hollowAmount > 0.0) | 1490 | if (hollowAmount > 0.0) |
1006 | { | 1491 | { |
1007 | 1492 | ||
1008 | // calculate the hollow volume by it's shape compared to the prim shape | 1493 | // calculate the hollow volume by it's shape compared to the prim shape |
1009 | hollowVolume *= hollowAmount; | 1494 | hollowVolume *= hollowAmount; |
1010 | 1495 | ||
1011 | switch (_pbs.HollowShape) | 1496 | switch (_pbs.HollowShape) |
1012 | { | 1497 | { |
1013 | case HollowShape.Same: | 1498 | case HollowShape.Same: |
1014 | case HollowShape.Circle: | 1499 | case HollowShape.Circle: |
1015 | break; | 1500 | break; |
@@ -1025,31 +1510,31 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1025 | default: | 1510 | default: |
1026 | hollowVolume = 0; | 1511 | hollowVolume = 0; |
1027 | break; | 1512 | break; |
1028 | } | ||
1029 | volume *= (1.0f - hollowVolume); | ||
1030 | } | 1513 | } |
1514 | volume *= (1.0f - hollowVolume); | ||
1031 | } | 1515 | } |
1516 | } | ||
1032 | break; | 1517 | break; |
1033 | 1518 | ||
1034 | case ProfileShape.HalfCircle: | 1519 | case ProfileShape.HalfCircle: |
1035 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 1520 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
1036 | { | 1521 | { |
1037 | volume *= 0.52359877559829887307710723054658f; | 1522 | volume *= 0.52359877559829887307710723054658f; |
1038 | } | 1523 | } |
1039 | break; | 1524 | break; |
1040 | 1525 | ||
1041 | case ProfileShape.EquilateralTriangle: | 1526 | case ProfileShape.EquilateralTriangle: |
1042 | 1527 | ||
1043 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | 1528 | if (_pbs.PathCurve == (byte)Extrusion.Straight) |
1044 | { | 1529 | { |
1045 | volume *= 0.32475953f; | 1530 | volume *= 0.32475953f; |
1046 | 1531 | ||
1047 | if (hollowAmount > 0.0) | 1532 | if (hollowAmount > 0.0) |
1048 | { | 1533 | { |
1049 | 1534 | ||
1050 | // calculate the hollow volume by it's shape compared to the prim shape | 1535 | // calculate the hollow volume by it's shape compared to the prim shape |
1051 | switch (_pbs.HollowShape) | 1536 | switch (_pbs.HollowShape) |
1052 | { | 1537 | { |
1053 | case HollowShape.Same: | 1538 | case HollowShape.Same: |
1054 | case HollowShape.Triangle: | 1539 | case HollowShape.Triangle: |
1055 | hollowVolume *= .25f; | 1540 | hollowVolume *= .25f; |
@@ -1069,24 +1554,24 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1069 | default: | 1554 | default: |
1070 | hollowVolume = 0; | 1555 | hollowVolume = 0; |
1071 | break; | 1556 | break; |
1072 | } | ||
1073 | volume *= (1.0f - hollowVolume); | ||
1074 | } | 1557 | } |
1558 | volume *= (1.0f - hollowVolume); | ||
1075 | } | 1559 | } |
1560 | } | ||
1076 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 1561 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
1077 | { | 1562 | { |
1078 | volume *= 0.32475953f; | 1563 | volume *= 0.32475953f; |
1079 | volume *= 0.01f * (float)(200 - _pbs.PathScaleX); | 1564 | volume *= 0.01f * (float)(200 - _pbs.PathScaleX); |
1080 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | 1565 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); |
1081 | volume *= (1.0f - tmp * tmp); | 1566 | volume *= (1.0f - tmp * tmp); |
1082 | 1567 | ||
1083 | if (hollowAmount > 0.0) | 1568 | if (hollowAmount > 0.0) |
1084 | { | 1569 | { |
1085 | 1570 | ||
1086 | hollowVolume *= hollowAmount; | 1571 | hollowVolume *= hollowAmount; |
1087 | 1572 | ||
1088 | switch (_pbs.HollowShape) | 1573 | switch (_pbs.HollowShape) |
1089 | { | 1574 | { |
1090 | case HollowShape.Same: | 1575 | case HollowShape.Same: |
1091 | case HollowShape.Triangle: | 1576 | case HollowShape.Triangle: |
1092 | hollowVolume *= .25f; | 1577 | hollowVolume *= .25f; |
@@ -1104,15 +1589,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1104 | default: | 1589 | default: |
1105 | hollowVolume = 0; | 1590 | hollowVolume = 0; |
1106 | break; | 1591 | break; |
1107 | } | ||
1108 | volume *= (1.0f - hollowVolume); | ||
1109 | } | 1592 | } |
1593 | volume *= (1.0f - hollowVolume); | ||
1110 | } | 1594 | } |
1111 | break; | 1595 | } |
1596 | break; | ||
1112 | 1597 | ||
1113 | default: | 1598 | default: |
1114 | break; | 1599 | break; |
1115 | } | 1600 | } |
1116 | 1601 | ||
1117 | 1602 | ||
1118 | 1603 | ||
@@ -1126,7 +1611,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1126 | float profileEnd; | 1611 | float profileEnd; |
1127 | 1612 | ||
1128 | if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) | 1613 | if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) |
1129 | { | 1614 | { |
1130 | taperX1 = _pbs.PathScaleX * 0.01f; | 1615 | taperX1 = _pbs.PathScaleX * 0.01f; |
1131 | if (taperX1 > 1.0f) | 1616 | if (taperX1 > 1.0f) |
1132 | taperX1 = 2.0f - taperX1; | 1617 | taperX1 = 2.0f - taperX1; |
@@ -1136,9 +1621,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1136 | if (taperY1 > 1.0f) | 1621 | if (taperY1 > 1.0f) |
1137 | taperY1 = 2.0f - taperY1; | 1622 | taperY1 = 2.0f - taperY1; |
1138 | taperY = 1.0f - taperY1; | 1623 | taperY = 1.0f - taperY1; |
1139 | } | 1624 | } |
1140 | else | 1625 | else |
1141 | { | 1626 | { |
1142 | taperX = _pbs.PathTaperX * 0.01f; | 1627 | taperX = _pbs.PathTaperX * 0.01f; |
1143 | if (taperX < 0.0f) | 1628 | if (taperX < 0.0f) |
1144 | taperX = -taperX; | 1629 | taperX = -taperX; |
@@ -1146,10 +1631,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1146 | 1631 | ||
1147 | taperY = _pbs.PathTaperY * 0.01f; | 1632 | taperY = _pbs.PathTaperY * 0.01f; |
1148 | if (taperY < 0.0f) | 1633 | if (taperY < 0.0f) |
1149 | taperY = -taperY; | 1634 | taperY = -taperY; |
1150 | taperY1 = 1.0f - taperY; | 1635 | taperY1 = 1.0f - taperY; |
1151 | 1636 | ||
1152 | } | 1637 | } |
1153 | 1638 | ||
1154 | 1639 | ||
1155 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); | 1640 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); |
@@ -1158,7 +1643,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1158 | pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; | 1643 | pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; |
1159 | volume *= (pathEnd - pathBegin); | 1644 | volume *= (pathEnd - pathBegin); |
1160 | 1645 | ||
1161 | // this is crude aproximation | 1646 | // this is crude aproximation |
1162 | profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; | 1647 | profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; |
1163 | profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; | 1648 | profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; |
1164 | volume *= (profileEnd - profileBegin); | 1649 | volume *= (profileEnd - profileBegin); |
@@ -1167,8 +1652,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1167 | 1652 | ||
1168 | if (returnMass <= 0) | 1653 | if (returnMass <= 0) |
1169 | returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. | 1654 | returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. |
1170 | // else if (returnMass > _parent_scene.maximumMassObject) | 1655 | // else if (returnMass > _parent_scene.maximumMassObject) |
1171 | // returnMass = _parent_scene.maximumMassObject; | 1656 | // returnMass = _parent_scene.maximumMassObject; |
1172 | 1657 | ||
1173 | 1658 | ||
1174 | 1659 | ||
@@ -1208,7 +1693,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1208 | 1693 | ||
1209 | public void setMass() | 1694 | public void setMass() |
1210 | { | 1695 | { |
1211 | if (Body != (IntPtr) 0) | 1696 | if (Body != (IntPtr)0) |
1212 | { | 1697 | { |
1213 | float newmass = CalculateMass(); | 1698 | float newmass = CalculateMass(); |
1214 | 1699 | ||
@@ -1238,7 +1723,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1238 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1723 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1239 | } | 1724 | } |
1240 | 1725 | ||
1241 | 1726 | ||
1242 | d.BodyDestroy(Body); | 1727 | d.BodyDestroy(Body); |
1243 | lock (childrenPrim) | 1728 | lock (childrenPrim) |
1244 | { | 1729 | { |
@@ -1257,7 +1742,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1257 | else | 1742 | else |
1258 | { | 1743 | { |
1259 | _parent_scene.remActivePrim(this); | 1744 | _parent_scene.remActivePrim(this); |
1260 | 1745 | ||
1261 | m_collisionCategories &= ~CollisionCategories.Body; | 1746 | m_collisionCategories &= ~CollisionCategories.Body; |
1262 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 1747 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
1263 | 1748 | ||
@@ -1267,7 +1752,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1267 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1752 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1268 | } | 1753 | } |
1269 | 1754 | ||
1270 | 1755 | ||
1271 | Body = IntPtr.Zero; | 1756 | Body = IntPtr.Zero; |
1272 | } | 1757 | } |
1273 | } | 1758 | } |
@@ -1323,10 +1808,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1323 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1808 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1324 | try | 1809 | try |
1325 | { | 1810 | { |
1326 | // if (prim_geom == IntPtr.Zero) // setGeom takes care of phys engine recreate and prim_geom pointer | 1811 | // if (prim_geom == IntPtr.Zero) // setGeom takes care of phys engine recreate and prim_geom pointer |
1327 | // { | 1812 | // { |
1328 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); | 1813 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); |
1329 | // } | 1814 | // } |
1330 | } | 1815 | } |
1331 | catch (AccessViolationException) | 1816 | catch (AccessViolationException) |
1332 | { | 1817 | { |
@@ -1335,14 +1820,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1335 | } | 1820 | } |
1336 | 1821 | ||
1337 | 1822 | ||
1338 | // if (IsPhysical && Body == (IntPtr) 0) | 1823 | // if (IsPhysical && Body == (IntPtr) 0) |
1339 | // { | 1824 | // { |
1340 | // Recreate the body | 1825 | // Recreate the body |
1341 | // m_interpenetrationcount = 0; | 1826 | // m_interpenetrationcount = 0; |
1342 | // m_collisionscore = 0; | 1827 | // m_collisionscore = 0; |
1343 | 1828 | ||
1344 | // enableBody(); | 1829 | // enableBody(); |
1345 | // } | 1830 | // } |
1346 | } | 1831 | } |
1347 | 1832 | ||
1348 | public void ProcessTaints(float timestep) //============================================================================= | 1833 | public void ProcessTaints(float timestep) //============================================================================= |
@@ -1351,37 +1836,37 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1351 | { | 1836 | { |
1352 | changeadd(timestep); | 1837 | changeadd(timestep); |
1353 | } | 1838 | } |
1354 | 1839 | ||
1355 | if (prim_geom != IntPtr.Zero) | 1840 | if (prim_geom != IntPtr.Zero) |
1356 | { | 1841 | { |
1357 | if (!_position.ApproxEquals(m_taintposition, 0f)) | 1842 | if (!_position.ApproxEquals(m_taintposition, 0f)) |
1358 | { | 1843 | { |
1359 | changemove(timestep); | 1844 | changemove(timestep); |
1360 | } | 1845 | } |
1361 | if (m_taintrot != _orientation) | 1846 | if (m_taintrot != _orientation) |
1362 | { | 1847 | { |
1363 | if(childPrim && IsPhysical) // For physical child prim... | 1848 | if (childPrim && IsPhysical) // For physical child prim... |
1364 | { | 1849 | { |
1365 | rotate(timestep); | 1850 | rotate(timestep); |
1366 | // KF: ODE will also rotate the parent prim! | 1851 | // KF: ODE will also rotate the parent prim! |
1367 | // so rotate the root back to where it was | 1852 | // so rotate the root back to where it was |
1368 | OdePrim parent = (OdePrim)_parent; | 1853 | OdePrim parent = (OdePrim)_parent; |
1369 | parent.rotate(timestep); | 1854 | parent.rotate(timestep); |
1370 | } | 1855 | } |
1371 | else | 1856 | else |
1372 | { | 1857 | { |
1373 | //Just rotate the prim | 1858 | //Just rotate the prim |
1374 | rotate(timestep); | 1859 | rotate(timestep); |
1375 | } | 1860 | } |
1376 | } | 1861 | } |
1377 | // | 1862 | // |
1378 | 1863 | ||
1379 | if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) | 1864 | if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) |
1380 | { | 1865 | { |
1381 | changePhysicsStatus(timestep); | 1866 | changePhysicsStatus(timestep); |
1382 | }// | 1867 | }// |
1383 | 1868 | ||
1384 | if (!_size.ApproxEquals(m_taintsize,0f)) | 1869 | if (!_size.ApproxEquals(m_taintsize, 0f)) |
1385 | changesize(timestep); | 1870 | changesize(timestep); |
1386 | // | 1871 | // |
1387 | 1872 | ||
@@ -1412,10 +1897,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1412 | 1897 | ||
1413 | if (m_taintCollidesWater != m_collidesWater) | 1898 | if (m_taintCollidesWater != m_collidesWater) |
1414 | changefloatonwater(timestep); | 1899 | changefloatonwater(timestep); |
1415 | /* obsolete | 1900 | |
1416 | if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f)) | 1901 | if (m_taintvehicledata != null) |
1417 | changeAngularLock(timestep); | 1902 | DoSetVehicle(); |
1418 | */ | 1903 | |
1904 | if (m_taintserial != null) | ||
1905 | DoSerialize(m_taintserial); | ||
1906 | |||
1907 | /* obsolete | ||
1908 | if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f)) | ||
1909 | changeAngularLock(timestep); | ||
1910 | */ | ||
1419 | } | 1911 | } |
1420 | else | 1912 | else |
1421 | { | 1913 | { |
@@ -1423,16 +1915,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1423 | } | 1915 | } |
1424 | } | 1916 | } |
1425 | 1917 | ||
1426 | /* obsolete | 1918 | /* obsolete |
1427 | private void changeAngularLock(float timestep) | 1919 | private void changeAngularLock(float timestep) |
1428 | { | 1920 | { |
1429 | if (_parent == null) | 1921 | if (_parent == null) |
1430 | { | 1922 | { |
1431 | m_angularLock = m_taintAngularLock; | 1923 | m_angularLock = m_taintAngularLock; |
1432 | m_angularLockSet = true; | 1924 | m_angularLockSet = true; |
1433 | } | 1925 | } |
1434 | } | 1926 | } |
1435 | */ | 1927 | */ |
1436 | private void changelink(float timestep) | 1928 | private void changelink(float timestep) |
1437 | { | 1929 | { |
1438 | // If the newly set parent is not null | 1930 | // If the newly set parent is not null |
@@ -1467,7 +1959,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1467 | childPrim = false; | 1959 | childPrim = false; |
1468 | //_parent = null; | 1960 | //_parent = null; |
1469 | } | 1961 | } |
1470 | 1962 | ||
1471 | /* | 1963 | /* |
1472 | if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) | 1964 | if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) |
1473 | d.JointGroupDestroy(_linkJointGroup); | 1965 | d.JointGroupDestroy(_linkJointGroup); |
@@ -1476,7 +1968,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1476 | m_linkJoint = (IntPtr)0; | 1968 | m_linkJoint = (IntPtr)0; |
1477 | */ | 1969 | */ |
1478 | } | 1970 | } |
1479 | 1971 | ||
1480 | _parent = m_taintparent; | 1972 | _parent = m_taintparent; |
1481 | m_taintPhysics = m_isphysical; | 1973 | m_taintPhysics = m_isphysical; |
1482 | } | 1974 | } |
@@ -1490,8 +1982,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1490 | if (Body == IntPtr.Zero) | 1982 | if (Body == IntPtr.Zero) |
1491 | { | 1983 | { |
1492 | Body = d.BodyCreate(_parent_scene.world); | 1984 | Body = d.BodyCreate(_parent_scene.world); |
1493 | // disconnect from world gravity so we can apply buoyancy | 1985 | // disconnect from world gravity so we can apply buoyancy |
1494 | d.BodySetGravityMode (Body, false); | 1986 | d.BodySetGravityMode(Body, false); |
1495 | 1987 | ||
1496 | setMass(); | 1988 | setMass(); |
1497 | } | 1989 | } |
@@ -1502,7 +1994,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1502 | if (!childrenPrim.Contains(prim)) | 1994 | if (!childrenPrim.Contains(prim)) |
1503 | { | 1995 | { |
1504 | childrenPrim.Add(prim); | 1996 | childrenPrim.Add(prim); |
1505 | 1997 | ||
1506 | foreach (OdePrim prm in childrenPrim) | 1998 | foreach (OdePrim prm in childrenPrim) |
1507 | { | 1999 | { |
1508 | d.Mass m2; | 2000 | d.Mass m2; |
@@ -1524,7 +2016,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1524 | } | 2016 | } |
1525 | foreach (OdePrim prm in childrenPrim) | 2017 | foreach (OdePrim prm in childrenPrim) |
1526 | { | 2018 | { |
1527 | 2019 | ||
1528 | prm.m_collisionCategories |= CollisionCategories.Body; | 2020 | prm.m_collisionCategories |= CollisionCategories.Body; |
1529 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 2021 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1530 | 2022 | ||
@@ -1549,7 +2041,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1549 | { | 2041 | { |
1550 | d.GeomSetBody(prm.prim_geom, Body); | 2042 | d.GeomSetBody(prm.prim_geom, Body); |
1551 | prm.childPrim = true; | 2043 | prm.childPrim = true; |
1552 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); | 2044 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X, prm.Position.Y, prm.Position.Z); |
1553 | //d.GeomSetOffsetPosition(prim.prim_geom, | 2045 | //d.GeomSetOffsetPosition(prim.prim_geom, |
1554 | // (Position.X - prm.Position.X) - pMass.c.X, | 2046 | // (Position.X - prm.Position.X) - pMass.c.X, |
1555 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | 2047 | // (Position.Y - prm.Position.Y) - pMass.c.Y, |
@@ -1646,7 +2138,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1646 | ParentPrim(prm); | 2138 | ParentPrim(prm); |
1647 | } | 2139 | } |
1648 | } | 2140 | } |
1649 | 2141 | ||
1650 | } | 2142 | } |
1651 | 2143 | ||
1652 | private void ChildDelink(OdePrim odePrim) | 2144 | private void ChildDelink(OdePrim odePrim) |
@@ -1697,7 +2189,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1697 | // in between the disabling and the collision properties setting | 2189 | // in between the disabling and the collision properties setting |
1698 | // which would wake the physical body up from a soft disabling and potentially cause it to fall | 2190 | // which would wake the physical body up from a soft disabling and potentially cause it to fall |
1699 | // through the ground. | 2191 | // through the ground. |
1700 | 2192 | ||
1701 | // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select | 2193 | // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select |
1702 | // just one part of the assembly, the rest of the assembly is non-selected and still simulating, | 2194 | // just one part of the assembly, the rest of the assembly is non-selected and still simulating, |
1703 | // so that causes the selected part to wake up and continue moving. | 2195 | // so that causes the selected part to wake up and continue moving. |
@@ -1730,12 +2222,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1730 | { | 2222 | { |
1731 | disableBodySoft(); | 2223 | disableBodySoft(); |
1732 | } | 2224 | } |
1733 | if (Body != IntPtr.Zero) | 2225 | if (Body != IntPtr.Zero) |
1734 | { | 2226 | { |
1735 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | 2227 | d.BodySetLinearVel(Body, 0f, 0f, 0f); |
1736 | d.BodySetForce(Body, 0f, 0f, 0f); | 2228 | d.BodySetForce(Body, 0f, 0f, 0f); |
1737 | d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f); | 2229 | d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f); |
1738 | d.BodySetTorque (Body, 0.0f, 0.0f, 0.0f); | 2230 | d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f); |
1739 | } | 2231 | } |
1740 | 2232 | ||
1741 | } | 2233 | } |
@@ -1758,12 +2250,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1758 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 2250 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1759 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 2251 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1760 | } | 2252 | } |
1761 | if (Body != IntPtr.Zero) | 2253 | if (Body != IntPtr.Zero) |
1762 | { | 2254 | { |
1763 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | 2255 | d.BodySetLinearVel(Body, 0f, 0f, 0f); |
1764 | d.BodySetForce(Body, 0f, 0f, 0f); | 2256 | d.BodySetForce(Body, 0f, 0f, 0f); |
1765 | d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f); | 2257 | d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f); |
1766 | d.BodySetTorque (Body, 0.0f, 0.0f, 0.0f); | 2258 | d.BodySetTorque(Body, 0.0f, 0.0f, 0.0f); |
1767 | } | 2259 | } |
1768 | 2260 | ||
1769 | if (m_isphysical) | 2261 | if (m_isphysical) |
@@ -1891,7 +2383,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1891 | m_meshfailed = true; | 2383 | m_meshfailed = true; |
1892 | } | 2384 | } |
1893 | // createmesh returns null when it's a shape that isn't a cube. | 2385 | // createmesh returns null when it's a shape that isn't a cube. |
1894 | // m_log.Debug(m_localID); | 2386 | // m_log.Debug(m_localID); |
1895 | } | 2387 | } |
1896 | } | 2388 | } |
1897 | 2389 | ||
@@ -1926,7 +2418,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1926 | { | 2418 | { |
1927 | if (m_isphysical) | 2419 | if (m_isphysical) |
1928 | { | 2420 | { |
1929 | // if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits! | 2421 | // if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits! |
1930 | if (!m_taintremove && !childPrim) | 2422 | if (!m_taintremove && !childPrim) |
1931 | { | 2423 | { |
1932 | if (Body == IntPtr.Zero) | 2424 | if (Body == IntPtr.Zero) |
@@ -1950,8 +2442,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1950 | OdePrim odParent = (OdePrim)_parent; | 2442 | OdePrim odParent = (OdePrim)_parent; |
1951 | if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) | 2443 | if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) |
1952 | { | 2444 | { |
1953 | // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used?? | 2445 | // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used?? |
1954 | Console.WriteLine("ODEPrim JointCreateFixed !!!"); | 2446 | Console.WriteLine("ODEPrim JointCreateFixed !!!"); |
1955 | m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); | 2447 | m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); |
1956 | d.JointAttach(m_linkJoint, Body, odParent.Body); | 2448 | d.JointAttach(m_linkJoint, Body, odParent.Body); |
1957 | d.JointSetFixed(m_linkJoint); | 2449 | d.JointSetFixed(m_linkJoint); |
@@ -1969,8 +2461,8 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
1969 | } | 2461 | } |
1970 | } | 2462 | } |
1971 | //else | 2463 | //else |
1972 | // { | 2464 | // { |
1973 | //m_log.Debug("[BUG]: race!"); | 2465 | //m_log.Debug("[BUG]: race!"); |
1974 | //} | 2466 | //} |
1975 | } | 2467 | } |
1976 | else | 2468 | else |
@@ -2009,15 +2501,15 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2009 | myrot.W = _orientation.W; | 2501 | myrot.W = _orientation.W; |
2010 | if (Body != IntPtr.Zero) | 2502 | if (Body != IntPtr.Zero) |
2011 | { | 2503 | { |
2012 | // KF: If this is a root prim do BodySet | 2504 | // KF: If this is a root prim do BodySet |
2013 | d.BodySetQuaternion(Body, ref myrot); | 2505 | d.BodySetQuaternion(Body, ref myrot); |
2014 | } | ||
2015 | else | ||
2016 | { | ||
2017 | // daughter prim, do Geom set | ||
2018 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2019 | } | 2506 | } |
2020 | 2507 | else | |
2508 | { | ||
2509 | // daughter prim, do Geom set | ||
2510 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2511 | } | ||
2512 | |||
2021 | resetCollisionAccounting(); | 2513 | resetCollisionAccounting(); |
2022 | m_taintrot = _orientation; | 2514 | m_taintrot = _orientation; |
2023 | } | 2515 | } |
@@ -2089,7 +2581,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2089 | 2581 | ||
2090 | public void changesize(float timestamp) | 2582 | public void changesize(float timestamp) |
2091 | { | 2583 | { |
2092 | 2584 | ||
2093 | string oldname = _parent_scene.geom_name_map[prim_geom]; | 2585 | string oldname = _parent_scene.geom_name_map[prim_geom]; |
2094 | 2586 | ||
2095 | if (_size.X <= 0) _size.X = 0.01f; | 2587 | if (_size.X <= 0) _size.X = 0.01f; |
@@ -2148,7 +2640,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2148 | //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); | 2640 | //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); |
2149 | CreateGeom(m_targetSpace, mesh); | 2641 | CreateGeom(m_targetSpace, mesh); |
2150 | 2642 | ||
2151 | 2643 | ||
2152 | } | 2644 | } |
2153 | else | 2645 | else |
2154 | { | 2646 | { |
@@ -2188,7 +2680,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2188 | m_taintsize = _size; | 2680 | m_taintsize = _size; |
2189 | } | 2681 | } |
2190 | 2682 | ||
2191 | 2683 | ||
2192 | 2684 | ||
2193 | public void changefloatonwater(float timestep) | 2685 | public void changefloatonwater(float timestep) |
2194 | { | 2686 | { |
@@ -2376,7 +2868,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2376 | } | 2868 | } |
2377 | d.BodyEnable(Body); | 2869 | d.BodyEnable(Body); |
2378 | d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); | 2870 | d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); |
2379 | 2871 | ||
2380 | } | 2872 | } |
2381 | m_angularforcelist.Clear(); | 2873 | m_angularforcelist.Clear(); |
2382 | } | 2874 | } |
@@ -2398,7 +2890,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2398 | if (Body != IntPtr.Zero) | 2890 | if (Body != IntPtr.Zero) |
2399 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); | 2891 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); |
2400 | } | 2892 | } |
2401 | 2893 | ||
2402 | //resetCollisionAccounting(); | 2894 | //resetCollisionAccounting(); |
2403 | } | 2895 | } |
2404 | m_taintVelocity = Vector3.Zero; | 2896 | m_taintVelocity = Vector3.Zero; |
@@ -2406,9 +2898,9 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2406 | 2898 | ||
2407 | public void UpdatePositionAndVelocity() | 2899 | public void UpdatePositionAndVelocity() |
2408 | { | 2900 | { |
2409 | return; // moved to the Move () method | 2901 | return; // moved to the Move () method |
2410 | } | 2902 | } |
2411 | 2903 | ||
2412 | public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj) | 2904 | public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj) |
2413 | { | 2905 | { |
2414 | obj.I.M00 = pMat[0, 0]; | 2906 | obj.I.M00 = pMat[0, 0]; |
@@ -2433,7 +2925,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2433 | { | 2925 | { |
2434 | _parent_scene.remCollisionEventReporting(this); | 2926 | _parent_scene.remCollisionEventReporting(this); |
2435 | m_eventsubscription = 0; | 2927 | m_eventsubscription = 0; |
2436 | } | 2928 | } |
2437 | 2929 | ||
2438 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | 2930 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) |
2439 | { | 2931 | { |
@@ -2477,9 +2969,9 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2477 | public static Matrix4 Adjoint(Matrix4 pMat) | 2969 | public static Matrix4 Adjoint(Matrix4 pMat) |
2478 | { | 2970 | { |
2479 | Matrix4 adjointMatrix = new Matrix4(); | 2971 | Matrix4 adjointMatrix = new Matrix4(); |
2480 | for (int i=0; i<4; i++) | 2972 | for (int i = 0; i < 4; i++) |
2481 | { | 2973 | { |
2482 | for (int j=0; j<4; j++) | 2974 | for (int j = 0; j < 4; j++) |
2483 | { | 2975 | { |
2484 | Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j))))); | 2976 | Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j))))); |
2485 | } | 2977 | } |
@@ -2502,7 +2994,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2502 | { | 2994 | { |
2503 | if (j == iCol) | 2995 | if (j == iCol) |
2504 | continue; | 2996 | continue; |
2505 | Matrix4SetValue(ref minor, m,n, matrix[i, j]); | 2997 | Matrix4SetValue(ref minor, m, n, matrix[i, j]); |
2506 | n++; | 2998 | n++; |
2507 | } | 2999 | } |
2508 | m++; | 3000 | m++; |
@@ -2600,18 +3092,18 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2600 | private static float determinant3x3(Matrix4 pMat) | 3092 | private static float determinant3x3(Matrix4 pMat) |
2601 | { | 3093 | { |
2602 | float det = 0; | 3094 | float det = 0; |
2603 | float diag1 = pMat[0, 0]*pMat[1, 1]*pMat[2, 2]; | 3095 | float diag1 = pMat[0, 0] * pMat[1, 1] * pMat[2, 2]; |
2604 | float diag2 = pMat[0, 1]*pMat[2, 1]*pMat[2, 0]; | 3096 | float diag2 = pMat[0, 1] * pMat[2, 1] * pMat[2, 0]; |
2605 | float diag3 = pMat[0, 2]*pMat[1, 0]*pMat[2, 1]; | 3097 | float diag3 = pMat[0, 2] * pMat[1, 0] * pMat[2, 1]; |
2606 | float diag4 = pMat[2, 0]*pMat[1, 1]*pMat[0, 2]; | 3098 | float diag4 = pMat[2, 0] * pMat[1, 1] * pMat[0, 2]; |
2607 | float diag5 = pMat[2, 1]*pMat[1, 2]*pMat[0, 0]; | 3099 | float diag5 = pMat[2, 1] * pMat[1, 2] * pMat[0, 0]; |
2608 | float diag6 = pMat[2, 2]*pMat[1, 0]*pMat[0, 1]; | 3100 | float diag6 = pMat[2, 2] * pMat[1, 0] * pMat[0, 1]; |
2609 | 3101 | ||
2610 | det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6); | 3102 | det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6); |
2611 | return det; | 3103 | return det; |
2612 | 3104 | ||
2613 | } | 3105 | } |
2614 | 3106 | ||
2615 | private static void DMassCopy(ref d.Mass src, ref d.Mass dst) | 3107 | private static void DMassCopy(ref d.Mass src, ref d.Mass dst) |
2616 | { | 3108 | { |
2617 | dst.c.W = src.c.W; | 3109 | dst.c.W = src.c.W; |
@@ -2668,15 +3160,15 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2668 | // m_bankingTimescale = pValue; | 3160 | // m_bankingTimescale = pValue; |
2669 | break; | 3161 | break; |
2670 | case Vehicle.BUOYANCY: | 3162 | case Vehicle.BUOYANCY: |
2671 | if (pValue < -1f) pValue = -1f; | 3163 | if (pValue < -1f) pValue = -1f; |
2672 | if (pValue > 1f) pValue = 1f; | 3164 | if (pValue > 1f) pValue = 1f; |
2673 | m_VehicleBuoyancy = pValue; | 3165 | m_VehicleBuoyancy = pValue; |
2674 | break; | 3166 | break; |
2675 | // case Vehicle.HOVER_EFFICIENCY: | 3167 | // case Vehicle.HOVER_EFFICIENCY: |
2676 | // if (pValue < 0f) pValue = 0f; | 3168 | // if (pValue < 0f) pValue = 0f; |
2677 | // if (pValue > 1f) pValue = 1f; | 3169 | // if (pValue > 1f) pValue = 1f; |
2678 | // m_VhoverEfficiency = pValue; | 3170 | // m_VhoverEfficiency = pValue; |
2679 | // break; | 3171 | // break; |
2680 | case Vehicle.HOVER_HEIGHT: | 3172 | case Vehicle.HOVER_HEIGHT: |
2681 | m_VhoverHeight = pValue; | 3173 | m_VhoverHeight = pValue; |
2682 | break; | 3174 | break; |
@@ -2709,12 +3201,12 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2709 | if (pValue < 0.1f) pValue = 0.1f; | 3201 | if (pValue < 0.1f) pValue = 0.1f; |
2710 | m_verticalAttractionTimescale = pValue; | 3202 | m_verticalAttractionTimescale = pValue; |
2711 | break; | 3203 | break; |
2712 | 3204 | ||
2713 | // These are vector properties but the engine lets you use a single float value to | 3205 | // These are vector properties but the engine lets you use a single float value to |
2714 | // set all of the components to the same value | 3206 | // set all of the components to the same value |
2715 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 3207 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
2716 | if (pValue > 30f) pValue = 30f; | 3208 | if (pValue > 30f) pValue = 30f; |
2717 | if (pValue < 0.1f) pValue = 0.1f; | 3209 | if (pValue < 0.1f) pValue = 0.1f; |
2718 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | 3210 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); |
2719 | break; | 3211 | break; |
2720 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 3212 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
@@ -2722,7 +3214,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2722 | UpdateAngDecay(); | 3214 | UpdateAngDecay(); |
2723 | break; | 3215 | break; |
2724 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 3216 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
2725 | if (pValue < 0.1f) pValue = 0.1f; | 3217 | if (pValue < 0.1f) pValue = 0.1f; |
2726 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | 3218 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); |
2727 | break; | 3219 | break; |
2728 | case Vehicle.LINEAR_MOTOR_DIRECTION: | 3220 | case Vehicle.LINEAR_MOTOR_DIRECTION: |
@@ -2734,7 +3226,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2734 | break; | 3226 | break; |
2735 | 3227 | ||
2736 | } | 3228 | } |
2737 | 3229 | ||
2738 | }//end ProcessFloatVehicleParam | 3230 | }//end ProcessFloatVehicleParam |
2739 | 3231 | ||
2740 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | 3232 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) |
@@ -2742,29 +3234,29 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2742 | switch (pParam) | 3234 | switch (pParam) |
2743 | { | 3235 | { |
2744 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 3236 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
2745 | if (pValue.X > 30f) pValue.X = 30f; | 3237 | if (pValue.X > 30f) pValue.X = 30f; |
2746 | if (pValue.X < 0.1f) pValue.X = 0.1f; | 3238 | if (pValue.X < 0.1f) pValue.X = 0.1f; |
2747 | if (pValue.Y > 30f) pValue.Y = 30f; | 3239 | if (pValue.Y > 30f) pValue.Y = 30f; |
2748 | if (pValue.Y < 0.1f) pValue.Y = 0.1f; | 3240 | if (pValue.Y < 0.1f) pValue.Y = 0.1f; |
2749 | if (pValue.Z > 30f) pValue.Z = 30f; | 3241 | if (pValue.Z > 30f) pValue.Z = 30f; |
2750 | if (pValue.Z < 0.1f) pValue.Z = 0.1f; | 3242 | if (pValue.Z < 0.1f) pValue.Z = 0.1f; |
2751 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | 3243 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
2752 | break; | 3244 | break; |
2753 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 3245 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
2754 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | 3246 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
2755 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | 3247 | // Limit requested angular speed to 2 rps= 4 pi rads/sec |
2756 | if(m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; | 3248 | if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; |
2757 | if(m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f; | 3249 | if (m_angularMotorDirection.X < -12.56f) m_angularMotorDirection.X = -12.56f; |
2758 | if(m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; | 3250 | if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; |
2759 | if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; | 3251 | if (m_angularMotorDirection.Y < -12.56f) m_angularMotorDirection.Y = -12.56f; |
2760 | if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; | 3252 | if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; |
2761 | if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; | 3253 | if (m_angularMotorDirection.Z < -12.56f) m_angularMotorDirection.Z = -12.56f; |
2762 | UpdateAngDecay(); | 3254 | UpdateAngDecay(); |
2763 | break; | 3255 | break; |
2764 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 3256 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
2765 | if (pValue.X < 0.1f) pValue.X = 0.1f; | 3257 | if (pValue.X < 0.1f) pValue.X = 0.1f; |
2766 | if (pValue.Y < 0.1f) pValue.Y = 0.1f; | 3258 | if (pValue.Y < 0.1f) pValue.Y = 0.1f; |
2767 | if (pValue.Z < 0.1f) pValue.Z = 0.1f; | 3259 | if (pValue.Z < 0.1f) pValue.Z = 0.1f; |
2768 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | 3260 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
2769 | break; | 3261 | break; |
2770 | case Vehicle.LINEAR_MOTOR_DIRECTION: | 3262 | case Vehicle.LINEAR_MOTOR_DIRECTION: |
@@ -2775,7 +3267,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2775 | // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); | 3267 | // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); |
2776 | break; | 3268 | break; |
2777 | } | 3269 | } |
2778 | 3270 | ||
2779 | }//end ProcessVectorVehicleParam | 3271 | }//end ProcessVectorVehicleParam |
2780 | 3272 | ||
2781 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | 3273 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) |
@@ -2786,31 +3278,31 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2786 | // m_referenceFrame = pValue; | 3278 | // m_referenceFrame = pValue; |
2787 | break; | 3279 | break; |
2788 | } | 3280 | } |
2789 | 3281 | ||
2790 | }//end ProcessRotationVehicleParam | 3282 | }//end ProcessRotationVehicleParam |
2791 | 3283 | ||
2792 | internal void ProcessVehicleFlags(int pParam, bool remove) | 3284 | internal void ProcessVehicleFlags(int pParam, bool remove) |
2793 | { | 3285 | { |
2794 | if (remove) | 3286 | if (remove) |
2795 | { | 3287 | { |
2796 | m_flags &= ~((VehicleFlag)pParam); | 3288 | m_flags &= ~((VehicleFlag)pParam); |
2797 | } | 3289 | } |
2798 | else | 3290 | else |
2799 | { | 3291 | { |
2800 | m_flags |= (VehicleFlag)pParam; | 3292 | m_flags |= (VehicleFlag)pParam; |
2801 | } | 3293 | } |
2802 | } | 3294 | } |
2803 | 3295 | ||
2804 | internal void ProcessTypeChange(Vehicle pType) | 3296 | internal void ProcessTypeChange(Vehicle pType) |
2805 | { | 3297 | { |
2806 | // Set Defaults For Type | 3298 | // Set Defaults For Type |
2807 | m_type = pType; | 3299 | m_type = pType; |
2808 | switch (pType) | 3300 | switch (pType) |
2809 | { | 3301 | { |
2810 | case Vehicle.TYPE_SLED: | 3302 | case Vehicle.TYPE_SLED: |
2811 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); | 3303 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); |
2812 | m_angularFrictionTimescale = new Vector3(30, 30, 30); | 3304 | m_angularFrictionTimescale = new Vector3(30, 30, 30); |
2813 | // m_lLinMotorVel = Vector3.Zero; | 3305 | // m_lLinMotorVel = Vector3.Zero; |
2814 | m_linearMotorTimescale = 1000; | 3306 | m_linearMotorTimescale = 1000; |
2815 | m_linearMotorDecayTimescale = 120; | 3307 | m_linearMotorDecayTimescale = 120; |
2816 | m_angularMotorDirection = Vector3.Zero; | 3308 | m_angularMotorDirection = Vector3.Zero; |
@@ -2818,7 +3310,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2818 | m_angularMotorTimescale = 1000; | 3310 | m_angularMotorTimescale = 1000; |
2819 | m_angularMotorDecayTimescale = 120; | 3311 | m_angularMotorDecayTimescale = 120; |
2820 | m_VhoverHeight = 0; | 3312 | m_VhoverHeight = 0; |
2821 | // m_VhoverEfficiency = 1; | 3313 | // m_VhoverEfficiency = 1; |
2822 | m_VhoverTimescale = 10; | 3314 | m_VhoverTimescale = 10; |
2823 | m_VehicleBuoyancy = 0; | 3315 | m_VehicleBuoyancy = 0; |
2824 | // m_linearDeflectionEfficiency = 1; | 3316 | // m_linearDeflectionEfficiency = 1; |
@@ -2837,7 +3329,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2837 | case Vehicle.TYPE_CAR: | 3329 | case Vehicle.TYPE_CAR: |
2838 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); | 3330 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); |
2839 | m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30. | 3331 | m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30. |
2840 | // m_lLinMotorVel = Vector3.Zero; | 3332 | // m_lLinMotorVel = Vector3.Zero; |
2841 | m_linearMotorTimescale = 1; | 3333 | m_linearMotorTimescale = 1; |
2842 | m_linearMotorDecayTimescale = 60; | 3334 | m_linearMotorDecayTimescale = 60; |
2843 | m_angularMotorDirection = Vector3.Zero; | 3335 | m_angularMotorDirection = Vector3.Zero; |
@@ -2845,7 +3337,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2845 | m_angularMotorTimescale = 1; | 3337 | m_angularMotorTimescale = 1; |
2846 | m_angularMotorDecayTimescale = 0.8f; | 3338 | m_angularMotorDecayTimescale = 0.8f; |
2847 | m_VhoverHeight = 0; | 3339 | m_VhoverHeight = 0; |
2848 | // m_VhoverEfficiency = 0; | 3340 | // m_VhoverEfficiency = 0; |
2849 | m_VhoverTimescale = 1000; | 3341 | m_VhoverTimescale = 1000; |
2850 | m_VehicleBuoyancy = 0; | 3342 | m_VehicleBuoyancy = 0; |
2851 | // // m_linearDeflectionEfficiency = 1; | 3343 | // // m_linearDeflectionEfficiency = 1; |
@@ -2864,8 +3356,8 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2864 | break; | 3356 | break; |
2865 | case Vehicle.TYPE_BOAT: | 3357 | case Vehicle.TYPE_BOAT: |
2866 | m_linearFrictionTimescale = new Vector3(10, 3, 2); | 3358 | m_linearFrictionTimescale = new Vector3(10, 3, 2); |
2867 | m_angularFrictionTimescale = new Vector3(10,10,10); | 3359 | m_angularFrictionTimescale = new Vector3(10, 10, 10); |
2868 | // m_lLinMotorVel = Vector3.Zero; | 3360 | // m_lLinMotorVel = Vector3.Zero; |
2869 | m_linearMotorTimescale = 5; | 3361 | m_linearMotorTimescale = 5; |
2870 | m_linearMotorDecayTimescale = 60; | 3362 | m_linearMotorDecayTimescale = 60; |
2871 | m_angularMotorDirection = Vector3.Zero; | 3363 | m_angularMotorDirection = Vector3.Zero; |
@@ -2873,7 +3365,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2873 | m_angularMotorTimescale = 4; | 3365 | m_angularMotorTimescale = 4; |
2874 | m_angularMotorDecayTimescale = 4; | 3366 | m_angularMotorDecayTimescale = 4; |
2875 | m_VhoverHeight = 0; | 3367 | m_VhoverHeight = 0; |
2876 | // m_VhoverEfficiency = 0.5f; | 3368 | // m_VhoverEfficiency = 0.5f; |
2877 | m_VhoverTimescale = 2; | 3369 | m_VhoverTimescale = 2; |
2878 | m_VehicleBuoyancy = 1; | 3370 | m_VehicleBuoyancy = 1; |
2879 | // m_linearDeflectionEfficiency = 0.5f; | 3371 | // m_linearDeflectionEfficiency = 0.5f; |
@@ -2886,15 +3378,15 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2886 | // m_bankingMix = 0.8f; | 3378 | // m_bankingMix = 0.8f; |
2887 | // m_bankingTimescale = 1; | 3379 | // m_bankingTimescale = 1; |
2888 | // m_referenceFrame = Quaternion.Identity; | 3380 | // m_referenceFrame = Quaternion.Identity; |
2889 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | | 3381 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | |
2890 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | 3382 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); |
2891 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | | 3383 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | |
2892 | VehicleFlag.LIMIT_MOTOR_UP); | 3384 | VehicleFlag.LIMIT_MOTOR_UP); |
2893 | break; | 3385 | break; |
2894 | case Vehicle.TYPE_AIRPLANE: | 3386 | case Vehicle.TYPE_AIRPLANE: |
2895 | m_linearFrictionTimescale = new Vector3(200, 10, 5); | 3387 | m_linearFrictionTimescale = new Vector3(200, 10, 5); |
2896 | m_angularFrictionTimescale = new Vector3(20, 20, 20); | 3388 | m_angularFrictionTimescale = new Vector3(20, 20, 20); |
2897 | // m_lLinMotorVel = Vector3.Zero; | 3389 | // m_lLinMotorVel = Vector3.Zero; |
2898 | m_linearMotorTimescale = 2; | 3390 | m_linearMotorTimescale = 2; |
2899 | m_linearMotorDecayTimescale = 60; | 3391 | m_linearMotorDecayTimescale = 60; |
2900 | m_angularMotorDirection = Vector3.Zero; | 3392 | m_angularMotorDirection = Vector3.Zero; |
@@ -2902,7 +3394,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2902 | m_angularMotorTimescale = 4; | 3394 | m_angularMotorTimescale = 4; |
2903 | m_angularMotorDecayTimescale = 4; | 3395 | m_angularMotorDecayTimescale = 4; |
2904 | m_VhoverHeight = 0; | 3396 | m_VhoverHeight = 0; |
2905 | // m_VhoverEfficiency = 0.5f; | 3397 | // m_VhoverEfficiency = 0.5f; |
2906 | m_VhoverTimescale = 1000; | 3398 | m_VhoverTimescale = 1000; |
2907 | m_VehicleBuoyancy = 0; | 3399 | m_VehicleBuoyancy = 0; |
2908 | // m_linearDeflectionEfficiency = 0.5f; | 3400 | // m_linearDeflectionEfficiency = 0.5f; |
@@ -2929,7 +3421,7 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2929 | m_angularMotorTimescale = 6; | 3421 | m_angularMotorTimescale = 6; |
2930 | m_angularMotorDecayTimescale = 10; | 3422 | m_angularMotorDecayTimescale = 10; |
2931 | m_VhoverHeight = 5; | 3423 | m_VhoverHeight = 5; |
2932 | // m_VhoverEfficiency = 0.8f; | 3424 | // m_VhoverEfficiency = 0.8f; |
2933 | m_VhoverTimescale = 10; | 3425 | m_VhoverTimescale = 10; |
2934 | m_VehicleBuoyancy = 1; | 3426 | m_VehicleBuoyancy = 1; |
2935 | // m_linearDeflectionEfficiency = 0; | 3427 | // m_linearDeflectionEfficiency = 0; |
@@ -2959,63 +3451,48 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
2959 | } | 3451 | } |
2960 | 3452 | ||
2961 | 3453 | ||
2962 | internal void Halt() | 3454 | internal void Halt() |
2963 | { // Kill all motions, when non-physical | 3455 | { // Kill all motions, when non-physical |
2964 | // m_linearMotorDirection = Vector3.Zero; | 3456 | // m_linearMotorDirection = Vector3.Zero; |
2965 | m_lLinMotorDVel = Vector3.Zero; | 3457 | m_lLinMotorDVel = Vector3.Zero; |
2966 | m_lLinObjectVel = Vector3.Zero; | 3458 | m_lLinObjectVel = Vector3.Zero; |
2967 | m_wLinObjectVel = Vector3.Zero; | 3459 | m_wLinObjectVel = Vector3.Zero; |
2968 | m_angularMotorDirection = Vector3.Zero; | 3460 | m_angularMotorDirection = Vector3.Zero; |
2969 | m_lastAngularVelocity = Vector3.Zero; | 3461 | m_lastAngularVelocity = Vector3.Zero; |
2970 | m_angularMotorDVel = Vector3.Zero; | 3462 | m_angularMotorDVel = Vector3.Zero; |
2971 | _acceleration = Vector3.Zero; | 3463 | _acceleration = Vector3.Zero; |
2972 | } | 3464 | } |
2973 | 3465 | ||
2974 | private void UpdateLinDecay() | 3466 | private void UpdateLinDecay() |
2975 | { | 3467 | { |
2976 | // if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X; | 3468 | m_lLinMotorDVel.X = m_linearMotorDirection.X; |
2977 | // if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y; | 3469 | m_lLinMotorDVel.Y = m_linearMotorDirection.Y; |
2978 | // if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z; | 3470 | m_lLinMotorDVel.Z = m_linearMotorDirection.Z; |
2979 | m_lLinMotorDVel.X = m_linearMotorDirection.X; | 3471 | } // else let the motor decay on its own |
2980 | m_lLinMotorDVel.Y = m_linearMotorDirection.Y; | 3472 | |
2981 | m_lLinMotorDVel.Z = m_linearMotorDirection.Z; | 3473 | private void UpdateAngDecay() |
2982 | } // else let the motor decay on its own | 3474 | { |
2983 | 3475 | m_angularMotorDVel.X = m_angularMotorDirection.X; | |
2984 | private void UpdateAngDecay() | 3476 | m_angularMotorDVel.Y = m_angularMotorDirection.Y; |
2985 | { | 3477 | m_angularMotorDVel.Z = m_angularMotorDirection.Z; |
2986 | // if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X; | 3478 | } // else let the motor decay on its own |
2987 | // if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y; | 3479 | |
2988 | // if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z; | ||
2989 | m_angularMotorDVel.X = m_angularMotorDirection.X; | ||
2990 | m_angularMotorDVel.Y = m_angularMotorDirection.Y; | ||
2991 | m_angularMotorDVel.Z = m_angularMotorDirection.Z; | ||
2992 | } // else let the motor decay on its own | ||
2993 | |||
2994 | public void Move(float timestep) | 3480 | public void Move(float timestep) |
2995 | { | 3481 | { |
2996 | float fx = 0; | 3482 | float fx = 0; |
2997 | float fy = 0; | 3483 | float fy = 0; |
2998 | float fz = 0; | 3484 | float fz = 0; |
2999 | Vector3 linvel; // velocity applied, including any reversal | 3485 | Vector3 linvel; // velocity applied, including any reversal |
3000 | int outside = 0; | 3486 | |
3001 | |||
3002 | // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders. | 3487 | // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders. |
3003 | // This is a temp patch until proper region crossing is developed. | 3488 | // This is a temp patch until proper region crossing is developed. |
3004 | 3489 | ||
3005 | int failureLimit = _parent_scene.geomCrossingFailuresBeforeOutofbounds; | 3490 | |
3006 | float fence = _parent_scene.geomRegionFence; | 3491 | if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim && !m_outofBounds) // Only move root prims. |
3007 | |||
3008 | frcount++; // used to limit debug comment output | ||
3009 | if (frcount > 50) | ||
3010 | frcount = 0; | ||
3011 | |||
3012 | if(revcount > 0) revcount--; | ||
3013 | |||
3014 | if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // Only move root prims. | ||
3015 | { | 3492 | { |
3016 | // Old public void UpdatePositionAndVelocity(), more accuratley calculated here | 3493 | // Old public void UpdatePositionAndVelocity(), more accuratley calculated here |
3017 | bool lastZeroFlag = _zeroFlag; // was it stopped | 3494 | bool lastZeroFlag = _zeroFlag; // was it stopped |
3018 | 3495 | ||
3019 | d.Vector3 vec = d.BodyGetPosition(Body); | 3496 | d.Vector3 vec = d.BodyGetPosition(Body); |
3020 | Vector3 l_position = Vector3.Zero; | 3497 | Vector3 l_position = Vector3.Zero; |
3021 | l_position.X = vec.X; | 3498 | l_position.X = vec.X; |
@@ -3023,96 +3500,44 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3023 | l_position.Z = vec.Z; | 3500 | l_position.Z = vec.Z; |
3024 | m_lastposition = _position; | 3501 | m_lastposition = _position; |
3025 | _position = l_position; | 3502 | _position = l_position; |
3026 | 3503 | ||
3027 | d.Quaternion ori = d.BodyGetQuaternion(Body); | 3504 | d.Quaternion ori = d.BodyGetQuaternion(Body); |
3028 | // Quaternion l_orientation = Quaternion.Identity; | 3505 | // Quaternion l_orientation = Quaternion.Identity; |
3029 | _orientation.X = ori.X; | 3506 | _orientation.X = ori.X; |
3030 | _orientation.Y = ori.Y; | 3507 | _orientation.Y = ori.Y; |
3031 | _orientation.Z = ori.Z; | 3508 | _orientation.Z = ori.Z; |
3032 | _orientation.W = ori.W; | 3509 | _orientation.W = ori.W; |
3033 | m_lastorientation = _orientation; | 3510 | m_lastorientation = _orientation; |
3034 | 3511 | ||
3035 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 3512 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
3036 | m_lastVelocity = _velocity; | 3513 | m_lastVelocity = _velocity; |
3037 | _velocity.X = vel.X; | 3514 | _velocity.X = vel.X; |
3038 | _velocity.Y = vel.Y; | 3515 | _velocity.Y = vel.Y; |
3039 | _velocity.Z = vel.Z; | 3516 | _velocity.Z = vel.Z; |
3040 | _acceleration = ((_velocity - m_lastVelocity) / timestep); | 3517 | _acceleration = ((_velocity - m_lastVelocity) / timestep); |
3041 | 3518 | ||
3042 | d.Vector3 torque = d.BodyGetTorque(Body); | 3519 | d.Vector3 torque = d.BodyGetTorque(Body); |
3043 | _torque = new Vector3(torque.X, torque.Y, torque.Z); | 3520 | _torque = new Vector3(torque.X, torque.Y, torque.Z); |
3044 | 3521 | ||
3045 | base.RequestPhysicsterseUpdate(); | 3522 | |
3046 | 3523 | if (_position.X < 0f || _position.X > _parent_scene.WorldExtents.X | |
3047 | //Console.WriteLine("Move {0} at {1}", m_primName, l_position); | 3524 | || _position.Y < 0f || _position.Y > _parent_scene.WorldExtents.Y |
3048 | 3525 | ) | |
3049 | // Check if outside region | ||
3050 | // In Scene.cs/CrossPrimGroupIntoNewRegion the object is checked for 0.1M from border! | ||
3051 | if (l_position.X > ((float)_parent_scene.WorldExtents.X - fence)) | ||
3052 | { | 3526 | { |
3053 | l_position.X = ((float)_parent_scene.WorldExtents.X - fence); | 3527 | // we are outside current region |
3054 | outside = 1; | 3528 | // clip position to a stop just outside region and stop it only internally |
3529 | // do it only once using m_crossingfailures as control | ||
3530 | _position.X = Util.Clip(l_position.X, -0.2f, _parent_scene.WorldExtents.X + .2f); | ||
3531 | _position.Y = Util.Clip(l_position.Y, -0.2f, _parent_scene.WorldExtents.Y + .2f); | ||
3532 | _position.Z = Util.Clip(l_position.Z, -100f, 50000f); | ||
3533 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); | ||
3534 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
3535 | m_outofBounds = true; | ||
3536 | base.RequestPhysicsterseUpdate(); | ||
3537 | return; | ||
3055 | } | 3538 | } |
3056 | 3539 | ||
3057 | if (l_position.X < fence) | 3540 | base.RequestPhysicsterseUpdate(); |
3058 | { | ||
3059 | l_position.X = fence; | ||
3060 | outside = 2; | ||
3061 | } | ||
3062 | if (l_position.Y > ((float)_parent_scene.WorldExtents.Y - fence)) | ||
3063 | { | ||
3064 | l_position.Y = ((float)_parent_scene.WorldExtents.Y - fence); | ||
3065 | outside = 3; | ||
3066 | } | ||
3067 | |||
3068 | if (l_position.Y < fence) | ||
3069 | { | ||
3070 | l_position.Y = fence; | ||
3071 | outside = 4; | ||
3072 | } | ||
3073 | |||
3074 | if (outside > 0) | ||
3075 | { | ||
3076 | |||
3077 | //Console.WriteLine("Border {0} fence={1}", l_position, fence); | ||
3078 | if (fence > 0.0f) // bounce object off boundary | ||
3079 | { | ||
3080 | if (revcount == 0) | ||
3081 | { | ||
3082 | if (outside < 3) | ||
3083 | { | ||
3084 | _velocity.X = -_velocity.X; | ||
3085 | } | ||
3086 | else | ||
3087 | { | ||
3088 | _velocity.Y = -_velocity.Y; | ||
3089 | } | ||
3090 | if (m_type != Vehicle.TYPE_NONE) Halt(); | ||
3091 | _position = l_position; | ||
3092 | m_taintposition = _position; | ||
3093 | m_lastVelocity = _velocity; | ||
3094 | _acceleration = Vector3.Zero; | ||
3095 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); | ||
3096 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | ||
3097 | base.RequestPhysicsterseUpdate(); | ||
3098 | |||
3099 | revcount = 25; // wait for object to move away from border | ||
3100 | } | ||
3101 | } // else old crossing mode | ||
3102 | else if (m_crossingfailures < failureLimit) | ||
3103 | { // keep trying to cross? | ||
3104 | _position = l_position; | ||
3105 | //_parent_scene.remActivePrim(this); | ||
3106 | if (_parent == null) base.RequestPhysicsterseUpdate(); | ||
3107 | return; // Dont process any other motion? | ||
3108 | } | ||
3109 | else | ||
3110 | { // Too many tries | ||
3111 | if (_parent == null) base.RaiseOutOfBounds(l_position); | ||
3112 | return; // Dont process any other motion? | ||
3113 | } // end various methods | ||
3114 | } // end outside region horizontally | ||
3115 | |||
3116 | 3541 | ||
3117 | if (l_position.Z < 0) | 3542 | if (l_position.Z < 0) |
3118 | { | 3543 | { |
@@ -3124,8 +3549,8 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3124 | 3549 | ||
3125 | //IsPhysical = false; | 3550 | //IsPhysical = false; |
3126 | if (_parent == null) base.RaiseOutOfBounds(_position); | 3551 | if (_parent == null) base.RaiseOutOfBounds(_position); |
3127 | 3552 | ||
3128 | 3553 | ||
3129 | _acceleration.X = 0; // This stuff may stop client display but it has no | 3554 | _acceleration.X = 0; // This stuff may stop client display but it has no |
3130 | _acceleration.Y = 0; // effect on the object in phys engine! | 3555 | _acceleration.Y = 0; // effect on the object in phys engine! |
3131 | _acceleration.Z = 0; | 3556 | _acceleration.Z = 0; |
@@ -3146,13 +3571,13 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3146 | //outofBounds = true; | 3571 | //outofBounds = true; |
3147 | } // end neg Z check | 3572 | } // end neg Z check |
3148 | 3573 | ||
3149 | // Is it moving? | 3574 | // Is it moving? |
3150 | /* if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) | 3575 | /* if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) |
3151 | && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) | 3576 | && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) |
3152 | && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */ | 3577 | && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */ |
3153 | if ( (Vector3.Mag(_velocity) < 0.01) && // moving very slowly | 3578 | if ((Vector3.Mag(_velocity) < 0.01) && // moving very slowly |
3154 | (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) && // decelerating | 3579 | (Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) && // decelerating |
3155 | (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001) ) // spinning very slowly | 3580 | (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // spinning very slowly |
3156 | { | 3581 | { |
3157 | _zeroFlag = true; | 3582 | _zeroFlag = true; |
3158 | m_throttleUpdates = false; | 3583 | m_throttleUpdates = false; |
@@ -3169,18 +3594,18 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3169 | { // Its stopped | 3594 | { // Its stopped |
3170 | _velocity.X = 0.0f; | 3595 | _velocity.X = 0.0f; |
3171 | _velocity.Y = 0.0f; | 3596 | _velocity.Y = 0.0f; |
3172 | // _velocity.Z = 0.0f; | 3597 | // _velocity.Z = 0.0f; |
3173 | 3598 | ||
3174 | _acceleration.X = 0; | 3599 | _acceleration.X = 0; |
3175 | _acceleration.Y = 0; | 3600 | _acceleration.Y = 0; |
3176 | // _acceleration.Z = 0; | 3601 | // _acceleration.Z = 0; |
3177 | 3602 | ||
3178 | m_rotationalVelocity.X = 0; | 3603 | m_rotationalVelocity.X = 0; |
3179 | m_rotationalVelocity.Y = 0; | 3604 | m_rotationalVelocity.Y = 0; |
3180 | m_rotationalVelocity.Z = 0; | 3605 | m_rotationalVelocity.Z = 0; |
3181 | // Stop it in the phys engine | 3606 | // Stop it in the phys engine |
3182 | d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z); | 3607 | d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z); |
3183 | d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f); | 3608 | d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f); |
3184 | d.BodySetForce(Body, 0f, 0f, 0f); | 3609 | d.BodySetForce(Body, 0f, 0f, 0f); |
3185 | 3610 | ||
3186 | if (!m_lastUpdateSent) | 3611 | if (!m_lastUpdateSent) |
@@ -3218,71 +3643,71 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3218 | } | 3643 | } |
3219 | } | 3644 | } |
3220 | m_lastposition = l_position; | 3645 | m_lastposition = l_position; |
3221 | 3646 | ||
3222 | /// End UpdatePositionAndVelocity insert | 3647 | /// End UpdatePositionAndVelocity insert |
3223 | 3648 | ||
3224 | 3649 | ||
3225 | // Rotation lock ===================================== | 3650 | // Rotation lock ===================================== |
3226 | if(m_rotateEnableUpdate) | 3651 | if (m_rotateEnableUpdate) |
3227 | { | 3652 | { |
3228 | // Snapshot current angles, set up Amotor(s) | 3653 | // Snapshot current angles, set up Amotor(s) |
3229 | m_rotateEnableUpdate = false; | 3654 | m_rotateEnableUpdate = false; |
3230 | m_rotateEnable = m_rotateEnableRequest; | 3655 | m_rotateEnable = m_rotateEnableRequest; |
3231 | //Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable); | 3656 | //Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable); |
3232 | 3657 | ||
3233 | if (Amotor != IntPtr.Zero) | 3658 | if (Amotor != IntPtr.Zero) |
3234 | { | 3659 | { |
3235 | d.JointDestroy(Amotor); | 3660 | d.JointDestroy(Amotor); |
3236 | Amotor = IntPtr.Zero; | 3661 | Amotor = IntPtr.Zero; |
3237 | //Console.WriteLine("Old Amotor Destroyed"); | 3662 | //Console.WriteLine("Old Amotor Destroyed"); |
3238 | } | 3663 | } |
3239 | 3664 | ||
3240 | if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f)) | 3665 | if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f)) |
3241 | { // not all are enabled | 3666 | { // not all are enabled |
3242 | d.Quaternion r = d.BodyGetQuaternion(Body); | 3667 | d.Quaternion r = d.BodyGetQuaternion(Body); |
3243 | Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W); | 3668 | Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W); |
3244 | // extract the axes vectors | 3669 | // extract the axes vectors |
3245 | Vector3 vX = new Vector3(1f,0f,0f); | 3670 | Vector3 vX = new Vector3(1f, 0f, 0f); |
3246 | Vector3 vY = new Vector3(0f,1f,0f); | 3671 | Vector3 vY = new Vector3(0f, 1f, 0f); |
3247 | Vector3 vZ = new Vector3(0f,0f,1f); | 3672 | Vector3 vZ = new Vector3(0f, 0f, 1f); |
3248 | vX = vX * locrot; | 3673 | vX = vX * locrot; |
3249 | vY = vY * locrot; | 3674 | vY = vY * locrot; |
3250 | vZ = vZ * locrot; | 3675 | vZ = vZ * locrot; |
3251 | // snapshot the current angle vectors | 3676 | // snapshot the current angle vectors |
3252 | m_lockX = vX; | 3677 | m_lockX = vX; |
3253 | m_lockY = vY; | 3678 | m_lockY = vY; |
3254 | m_lockZ = vZ; | 3679 | m_lockZ = vZ; |
3255 | // m_lockRot = locrot; | 3680 | // m_lockRot = locrot; |
3256 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | 3681 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); |
3257 | d.JointAttach(Amotor, Body, IntPtr.Zero); | 3682 | d.JointAttach(Amotor, Body, IntPtr.Zero); |
3258 | d.JointSetAMotorMode(Amotor, 0); // User mode?? | 3683 | d.JointSetAMotorMode(Amotor, 0); // User mode?? |
3259 | //Console.WriteLine("New Amotor Created for {0}", m_primName); | 3684 | //Console.WriteLine("New Amotor Created for {0}", m_primName); |
3260 | 3685 | ||
3261 | float axisnum = 3; // how many to lock | 3686 | float axisnum = 3; // how many to lock |
3262 | axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z)); | 3687 | axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z)); |
3263 | d.JointSetAMotorNumAxes(Amotor,(int)axisnum); | 3688 | d.JointSetAMotorNumAxes(Amotor, (int)axisnum); |
3264 | //Console.WriteLine("AxisNum={0}",(int)axisnum); | 3689 | //Console.WriteLine("AxisNum={0}",(int)axisnum); |
3265 | 3690 | ||
3266 | int i = 0; | 3691 | int i = 0; |
3267 | 3692 | ||
3268 | if (m_rotateEnable.X == 0) | 3693 | if (m_rotateEnable.X == 0) |
3269 | { | 3694 | { |
3270 | d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z); | 3695 | d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z); |
3271 | //Console.WriteLine("AxisX {0} set to {1}", i, m_lockX); | 3696 | //Console.WriteLine("AxisX {0} set to {1}", i, m_lockX); |
3272 | i++; | 3697 | i++; |
3273 | } | 3698 | } |
3274 | 3699 | ||
3275 | if (m_rotateEnable.Y == 0) | 3700 | if (m_rotateEnable.Y == 0) |
3276 | { | 3701 | { |
3277 | d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z); | 3702 | d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z); |
3278 | //Console.WriteLine("AxisY {0} set to {1}", i, m_lockY); | 3703 | //Console.WriteLine("AxisY {0} set to {1}", i, m_lockY); |
3279 | i++; | 3704 | i++; |
3280 | } | 3705 | } |
3281 | 3706 | ||
3282 | if (m_rotateEnable.Z == 0) | 3707 | if (m_rotateEnable.Z == 0) |
3283 | { | 3708 | { |
3284 | d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z); | 3709 | d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z); |
3285 | //Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ); | 3710 | //Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ); |
3286 | i++; | 3711 | i++; |
3287 | } | 3712 | } |
3288 | 3713 | ||
@@ -3293,519 +3718,519 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3293 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f); | 3718 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f); |
3294 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); | 3719 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); |
3295 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f); | 3720 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f); |
3296 | d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 0f); | 3721 | d.JointSetAMotorParam(Amotor, (int)dParam.Vel, 0f); |
3297 | d.JointSetAMotorParam(Amotor, (int) dParam.Vel3, 0f); | 3722 | d.JointSetAMotorParam(Amotor, (int)dParam.Vel3, 0f); |
3298 | d.JointSetAMotorParam(Amotor, (int) dParam.Vel2, 0f); | 3723 | d.JointSetAMotorParam(Amotor, (int)dParam.Vel2, 0f); |
3299 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); | 3724 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); |
3300 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f); | 3725 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f); |
3301 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f); | 3726 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f); |
3302 | } // else none are locked | 3727 | } // else none are locked |
3303 | } // end Rotation Update | 3728 | } // end Rotation Update |
3304 | 3729 | ||
3305 | 3730 | ||
3306 | // VEHICLE processing ========================================== | 3731 | // VEHICLE processing ========================================== |
3307 | if (m_type != Vehicle.TYPE_NONE) | 3732 | if (m_type != Vehicle.TYPE_NONE) |
3308 | { | 3733 | { |
3309 | // get body attitude | 3734 | // get body attitude |
3310 | d.Quaternion rot = d.BodyGetQuaternion(Body); | 3735 | d.Quaternion rot = d.BodyGetQuaternion(Body); |
3311 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object | 3736 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object |
3312 | Quaternion irotq = Quaternion.Inverse(rotq); | 3737 | Quaternion irotq = Quaternion.Inverse(rotq); |
3313 | 3738 | ||
3314 | // VEHICLE Linear Motion | 3739 | // VEHICLE Linear Motion |
3315 | d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame | 3740 | d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame |
3316 | Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z); | 3741 | Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z); |
3317 | m_lLinObjectVel = vel_now * irotq; | 3742 | m_lLinObjectVel = vel_now * irotq; |
3318 | if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate | 3743 | if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate |
3319 | { | 3744 | { |
3320 | if ( Vector3.Mag(m_lLinMotorDVel) < 1.0f) | 3745 | if (Vector3.Mag(m_lLinMotorDVel) < 1.0f) |
3321 | { | 3746 | { |
3322 | float decayfactor = m_linearMotorDecayTimescale/timestep; | 3747 | float decayfactor = m_linearMotorDecayTimescale / timestep; |
3323 | Vector3 decayAmount = (m_lLinMotorDVel/decayfactor); | 3748 | Vector3 decayAmount = (m_lLinMotorDVel / decayfactor); |
3324 | m_lLinMotorDVel -= decayAmount; | 3749 | m_lLinMotorDVel -= decayAmount; |
3325 | } | 3750 | } |
3326 | else | 3751 | else |
3327 | { | 3752 | { |
3328 | float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale))); | 3753 | float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale))); |
3329 | Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep; | 3754 | Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep; |
3330 | m_lLinMotorDVel -= decel; | 3755 | m_lLinMotorDVel -= decel; |
3331 | } | 3756 | } |
3332 | if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) | 3757 | if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) |
3333 | { | 3758 | { |
3334 | m_lLinMotorDVel = Vector3.Zero; | 3759 | m_lLinMotorDVel = Vector3.Zero; |
3335 | } | 3760 | } |
3336 | 3761 | ||
3337 | /* else | 3762 | /* else |
3338 | { | 3763 | { |
3339 | if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X; | 3764 | if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X; |
3340 | if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y; | 3765 | if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y; |
3341 | if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z; | 3766 | if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z; |
3342 | } */ | 3767 | } */ |
3343 | } // end linear motor decay | 3768 | } // end linear motor decay |
3344 | 3769 | ||
3345 | if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) ) | 3770 | if ((!m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f))) |
3346 | { | 3771 | { |
3347 | if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); | 3772 | if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); |
3348 | if (m_linearMotorTimescale < 300.0f) | 3773 | if (m_linearMotorTimescale < 300.0f) |
3349 | { | 3774 | { |
3350 | Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel; | 3775 | Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel; |
3351 | float linfactor = m_linearMotorTimescale/timestep; | 3776 | float linfactor = m_linearMotorTimescale / timestep; |
3352 | Vector3 attackAmount = (attack_error/linfactor) * 1.3f; | 3777 | Vector3 attackAmount = (attack_error / linfactor) * 1.3f; |
3353 | m_lLinObjectVel += attackAmount; | 3778 | m_lLinObjectVel += attackAmount; |
3354 | } | 3779 | } |
3355 | if (m_linearFrictionTimescale.X < 300.0f) | 3780 | if (m_linearFrictionTimescale.X < 300.0f) |
3356 | { | 3781 | { |
3357 | float fricfactor = m_linearFrictionTimescale.X / timestep; | 3782 | float fricfactor = m_linearFrictionTimescale.X / timestep; |
3358 | float fricX = m_lLinObjectVel.X / fricfactor; | 3783 | float fricX = m_lLinObjectVel.X / fricfactor; |
3359 | m_lLinObjectVel.X -= fricX; | 3784 | m_lLinObjectVel.X -= fricX; |
3360 | } | 3785 | } |
3361 | if (m_linearFrictionTimescale.Y < 300.0f) | 3786 | if (m_linearFrictionTimescale.Y < 300.0f) |
3362 | { | 3787 | { |
3363 | float fricfactor = m_linearFrictionTimescale.Y / timestep; | 3788 | float fricfactor = m_linearFrictionTimescale.Y / timestep; |
3364 | float fricY = m_lLinObjectVel.Y / fricfactor; | 3789 | float fricY = m_lLinObjectVel.Y / fricfactor; |
3365 | m_lLinObjectVel.Y -= fricY; | 3790 | m_lLinObjectVel.Y -= fricY; |
3366 | } | 3791 | } |
3367 | if (m_linearFrictionTimescale.Z < 300.0f) | 3792 | if (m_linearFrictionTimescale.Z < 300.0f) |
3368 | { | 3793 | { |
3369 | float fricfactor = m_linearFrictionTimescale.Z / timestep; | 3794 | float fricfactor = m_linearFrictionTimescale.Z / timestep; |
3370 | float fricZ = m_lLinObjectVel.Z / fricfactor; | 3795 | float fricZ = m_lLinObjectVel.Z / fricfactor; |
3371 | m_lLinObjectVel.Z -= fricZ; | 3796 | m_lLinObjectVel.Z -= fricZ; |
3372 | } | 3797 | } |
3373 | } | 3798 | } |
3374 | m_wLinObjectVel = m_lLinObjectVel * rotq; | 3799 | m_wLinObjectVel = m_lLinObjectVel * rotq; |
3375 | 3800 | ||
3376 | // Gravity and Buoyancy | 3801 | // Gravity and Buoyancy |
3377 | Vector3 grav = Vector3.Zero; | 3802 | Vector3 grav = Vector3.Zero; |
3378 | if(m_VehicleBuoyancy < 1.0f) | 3803 | if (m_VehicleBuoyancy < 1.0f) |
3379 | { | 3804 | { |
3380 | // There is some gravity, make a gravity force vector | 3805 | // There is some gravity, make a gravity force vector |
3381 | // that is applied after object velocity. | 3806 | // that is applied after object velocity. |
3382 | d.Mass objMass; | 3807 | d.Mass objMass; |
3383 | d.BodyGetMass(Body, out objMass); | 3808 | d.BodyGetMass(Body, out objMass); |
3384 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; | 3809 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; |
3385 | grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force | 3810 | grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force |
3386 | } // else its 1.0, no gravity. | 3811 | } // else its 1.0, no gravity. |
3387 | 3812 | ||
3388 | // Hovering | 3813 | // Hovering |
3389 | if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) | 3814 | if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) |
3390 | { | 3815 | { |
3391 | // We should hover, get the target height | 3816 | // We should hover, get the target height |
3392 | d.Vector3 pos = d.BodyGetPosition(Body); | 3817 | d.Vector3 pos = d.BodyGetPosition(Body); |
3393 | if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY) | 3818 | if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY) |
3394 | { | 3819 | { |
3395 | m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight; | 3820 | m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight; |
3396 | } | 3821 | } |
3397 | else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY) | 3822 | else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY) |
3398 | { | 3823 | { |
3399 | m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; | 3824 | m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; |
3400 | } | 3825 | } |
3401 | else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT) | 3826 | else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT) |
3402 | { | 3827 | { |
3403 | m_VhoverTargetHeight = m_VhoverHeight; | 3828 | m_VhoverTargetHeight = m_VhoverHeight; |
3404 | } | 3829 | } |
3405 | 3830 | ||
3406 | if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY) | 3831 | if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY) |
3407 | { | 3832 | { |
3408 | // If body is aready heigher, use its height as target height | 3833 | // If body is aready heigher, use its height as target height |
3409 | if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; | 3834 | if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; |
3410 | } | 3835 | } |
3411 | 3836 | ||
3412 | // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped | 3837 | // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped |
3413 | // m_VhoverTimescale = 0f; // time to acheive height | 3838 | // m_VhoverTimescale = 0f; // time to acheive height |
3414 | // timestep is time since last frame,in secs | 3839 | // timestep is time since last frame,in secs |
3415 | float herr0 = pos.Z - m_VhoverTargetHeight; | 3840 | float herr0 = pos.Z - m_VhoverTargetHeight; |
3416 | // Replace Vertical speed with correction figure if significant | 3841 | // Replace Vertical speed with correction figure if significant |
3417 | if(Math.Abs(herr0) > 0.01f ) | 3842 | if (Math.Abs(herr0) > 0.01f) |
3418 | { | 3843 | { |
3419 | //? d.Mass objMass; | 3844 | //? d.Mass objMass; |
3420 | //? d.BodyGetMass(Body, out objMass); | 3845 | //? d.BodyGetMass(Body, out objMass); |
3421 | m_wLinObjectVel.Z = - ( (herr0 * timestep * 50.0f) / m_VhoverTimescale); | 3846 | m_wLinObjectVel.Z = -((herr0 * timestep * 50.0f) / m_VhoverTimescale); |
3422 | //KF: m_VhoverEfficiency is not yet implemented | 3847 | //KF: m_VhoverEfficiency is not yet implemented |
3423 | } | 3848 | } |
3424 | else | 3849 | else |
3425 | { | 3850 | { |
3426 | m_wLinObjectVel.Z = 0f; | 3851 | m_wLinObjectVel.Z = 0f; |
3427 | } | 3852 | } |
3428 | } | 3853 | } |
3429 | else | 3854 | else |
3430 | { // not hovering | 3855 | { // not hovering |
3431 | if (m_wLinObjectVel.Z == 0f) | 3856 | if (m_wLinObjectVel.Z == 0f) |
3432 | { // Gravity rules | 3857 | { // Gravity rules |
3433 | m_wLinObjectVel.Z = vel_now.Z; | 3858 | m_wLinObjectVel.Z = vel_now.Z; |
3434 | } // else the motor has it | 3859 | } // else the motor has it |
3435 | } | 3860 | } |
3436 | linvel = m_wLinObjectVel; | 3861 | linvel = m_wLinObjectVel; |
3437 | 3862 | ||
3438 | // Vehicle Linear Motion done ======================================= | 3863 | // Vehicle Linear Motion done ======================================= |
3439 | // Apply velocity | 3864 | // Apply velocity |
3440 | d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z); | 3865 | d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z); |
3441 | // apply gravity force | 3866 | // apply gravity force |
3442 | d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); | 3867 | d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); |
3443 | //if(frcount == 0) Console.WriteLine("Vel={0} Force={1}",linvel , grav); | 3868 | //if(frcount == 0) Console.WriteLine("Vel={0} Force={1}",linvel , grav); |
3444 | // end MoveLinear() | 3869 | // end MoveLinear() |
3445 | 3870 | ||
3446 | 3871 | ||
3447 | // MoveAngular | 3872 | // MoveAngular |
3448 | /* | 3873 | /* |
3449 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor | 3874 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor |
3450 | |||
3451 | private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL | ||
3452 | private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL | ||
3453 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL | ||
3454 | |||
3455 | private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor | ||
3456 | private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body | ||
3457 | */ | ||
3458 | //if(frcount == 0) Console.WriteLine("MoveAngular "); | ||
3459 | 3875 | ||
3460 | d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body); | 3876 | private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL |
3461 | Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z); | 3877 | private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL |
3462 | angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation | 3878 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL |
3463 | 3879 | ||
3464 | //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel); | 3880 | private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor |
3465 | 3881 | private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body | |
3466 | // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack. | 3882 | */ |
3467 | float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep); | 3883 | //if(frcount == 0) Console.WriteLine("MoveAngular "); |
3468 | m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor; | 3884 | |
3469 | // Decay Angular Motor 2. | 3885 | d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body); |
3470 | if (m_angularMotorDecayTimescale < 300.0f) | 3886 | Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z); |
3471 | { | 3887 | angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation |
3472 | if ( Vector3.Mag(m_angularMotorDVel) < 1.0f) | 3888 | |
3473 | { | 3889 | //if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel); |
3474 | float decayfactor = (m_angularMotorDecayTimescale)/timestep; | 3890 | |
3475 | Vector3 decayAmount = (m_angularMotorDVel/decayfactor); | 3891 | // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack. |
3476 | m_angularMotorDVel -= decayAmount; | 3892 | float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep); |
3477 | } | 3893 | m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor; |
3478 | else | 3894 | // Decay Angular Motor 2. |
3479 | { | 3895 | if (m_angularMotorDecayTimescale < 300.0f) |
3480 | Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale; | 3896 | { |
3481 | m_angularMotorDVel -= decel; | 3897 | if (Vector3.Mag(m_angularMotorDVel) < 1.0f) |
3482 | } | 3898 | { |
3483 | 3899 | float decayfactor = (m_angularMotorDecayTimescale) / timestep; | |
3484 | if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) | 3900 | Vector3 decayAmount = (m_angularMotorDVel / decayfactor); |
3485 | { | 3901 | m_angularMotorDVel -= decayAmount; |
3486 | m_angularMotorDVel = Vector3.Zero; | 3902 | } |
3487 | } | 3903 | else |
3488 | else | 3904 | { |
3489 | { | 3905 | Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale; |
3490 | if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X; | 3906 | m_angularMotorDVel -= decel; |
3491 | if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y; | 3907 | } |
3492 | if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z; | 3908 | |
3493 | } | 3909 | if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) |
3494 | } // end decay angular motor | 3910 | { |
3495 | //if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel); | 3911 | m_angularMotorDVel = Vector3.Zero; |
3496 | 3912 | } | |
3497 | //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel); | 3913 | else |
3498 | 3914 | { | |
3499 | if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) ) | 3915 | if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X; |
3500 | { // if motor or object have motion | 3916 | if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y; |
3501 | if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); | 3917 | if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z; |
3502 | 3918 | } | |
3503 | if (m_angularMotorTimescale < 300.0f) | 3919 | } // end decay angular motor |
3504 | { | 3920 | //if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel); |
3505 | Vector3 attack_error = m_angularMotorDVel - angObjectVel; | 3921 | |
3506 | float angfactor = m_angularMotorTimescale/timestep; | 3922 | //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel); |
3507 | Vector3 attackAmount = (attack_error/angfactor); | 3923 | |
3508 | angObjectVel += attackAmount; | 3924 | if ((!m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (!angObjectVel.ApproxEquals(Vector3.Zero, 0.01f))) |
3509 | //if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount); | 3925 | { // if motor or object have motion |
3510 | //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel); | 3926 | if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); |
3511 | } | 3927 | |
3512 | 3928 | if (m_angularMotorTimescale < 300.0f) | |
3513 | angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep); | 3929 | { |
3514 | angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep); | 3930 | Vector3 attack_error = m_angularMotorDVel - angObjectVel; |
3515 | angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep); | 3931 | float angfactor = m_angularMotorTimescale / timestep; |
3516 | } // else no signif. motion | 3932 | Vector3 attackAmount = (attack_error / angfactor); |
3517 | 3933 | angObjectVel += attackAmount; | |
3518 | //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel); | 3934 | //if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount); |
3519 | // Bank section tba | 3935 | //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel); |
3520 | // Deflection section tba | 3936 | } |
3521 | //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel); | 3937 | |
3522 | 3938 | angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep); | |
3523 | 3939 | angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep); | |
3524 | /* // Rotation Axis Disables: | 3940 | angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep); |
3525 | if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f)) | 3941 | } // else no signif. motion |
3526 | { | 3942 | |
3527 | if (m_angularEnable.X == 0) | 3943 | //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel); |
3528 | angObjectVel.X = 0f; | 3944 | // Bank section tba |
3529 | if (m_angularEnable.Y == 0) | 3945 | // Deflection section tba |
3530 | angObjectVel.Y = 0f; | 3946 | //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel); |
3531 | if (m_angularEnable.Z == 0) | 3947 | |
3532 | angObjectVel.Z = 0f; | 3948 | |
3533 | } | 3949 | /* // Rotation Axis Disables: |
3534 | */ | 3950 | if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f)) |
3535 | angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation | 3951 | { |
3536 | 3952 | if (m_angularEnable.X == 0) | |
3537 | // Vertical attractor section | 3953 | angObjectVel.X = 0f; |
3538 | Vector3 vertattr = Vector3.Zero; | 3954 | if (m_angularEnable.Y == 0) |
3539 | 3955 | angObjectVel.Y = 0f; | |
3540 | if(m_verticalAttractionTimescale < 300) | 3956 | if (m_angularEnable.Z == 0) |
3541 | { | 3957 | angObjectVel.Z = 0f; |
3542 | float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep); | 3958 | } |
3543 | // make a vector pointing up | 3959 | */ |
3544 | Vector3 verterr = Vector3.Zero; | 3960 | angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation |
3545 | verterr.Z = 1.0f; | 3961 | |
3546 | // rotate it to Body Angle | 3962 | // Vertical attractor section |
3547 | verterr = verterr * rotq; | 3963 | Vector3 vertattr = Vector3.Zero; |
3548 | // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. | 3964 | |
3549 | // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go | 3965 | if (m_verticalAttractionTimescale < 300) |
3550 | // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. | 3966 | { |
3551 | 3967 | float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep); | |
3552 | if (verterr.Z < 0.0f) | 3968 | // make a vector pointing up |
3553 | { // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to | 3969 | Vector3 verterr = Vector3.Zero; |
3554 | // vertical, BUT for some reason a z-rotation is imparted to the object. TBI. | 3970 | verterr.Z = 1.0f; |
3555 | //Console.WriteLine("InvertFlip"); | 3971 | // rotate it to Body Angle |
3556 | verterr.X = 2.0f - verterr.X; | 3972 | verterr = verterr * rotq; |
3557 | verterr.Y = 2.0f - verterr.Y; | 3973 | // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. |
3558 | } | 3974 | // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go |
3559 | verterr *= 0.5f; | 3975 | // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. |
3560 | // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt) | 3976 | |
3561 | Vector3 xyav = angObjectVel; | 3977 | if (verterr.Z < 0.0f) |
3562 | xyav.Z = 0.0f; | 3978 | { // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to |
3563 | if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f)) | 3979 | // vertical, BUT for some reason a z-rotation is imparted to the object. TBI. |
3564 | { | 3980 | //Console.WriteLine("InvertFlip"); |
3565 | // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so | 3981 | verterr.X = 2.0f - verterr.X; |
3566 | // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. | 3982 | verterr.Y = 2.0f - verterr.Y; |
3567 | vertattr.X = verterr.Y; | 3983 | } |
3568 | vertattr.Y = - verterr.X; | 3984 | verterr *= 0.5f; |
3569 | vertattr.Z = 0f; | 3985 | // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt) |
3570 | //if(frcount == 0) Console.WriteLine("VAerr=" + verterr); | 3986 | Vector3 xyav = angObjectVel; |
3571 | 3987 | xyav.Z = 0.0f; | |
3572 | // scaling appears better usingsquare-law | 3988 | if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f)) |
3573 | float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; | 3989 | { |
3574 | float bounce = 1.0f - damped; | 3990 | // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so |
3575 | // 0 = crit damp, 1 = bouncy | 3991 | // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. |
3576 | float oavz = angObjectVel.Z; // retain z velocity | 3992 | vertattr.X = verterr.Y; |
3577 | // time-scaled correction, which sums, therefore is bouncy: | 3993 | vertattr.Y = -verterr.X; |
3578 | angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce; | 3994 | vertattr.Z = 0f; |
3579 | // damped, good @ < 90: | 3995 | //if(frcount == 0) Console.WriteLine("VAerr=" + verterr); |
3580 | angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped); | 3996 | |
3581 | angObjectVel.Z = oavz; | 3997 | // scaling appears better usingsquare-law |
3582 | //if(frcount == 0) Console.WriteLine("VA+"); | 3998 | float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; |
3583 | //Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel); | 3999 | float bounce = 1.0f - damped; |
3584 | } | 4000 | // 0 = crit damp, 1 = bouncy |
3585 | else | 4001 | float oavz = angObjectVel.Z; // retain z velocity |
3586 | { | 4002 | // time-scaled correction, which sums, therefore is bouncy: |
3587 | // else error is very small | 4003 | angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce; |
3588 | angObjectVel.X = 0f; | 4004 | // damped, good @ < 90: |
3589 | angObjectVel.Y = 0f; | 4005 | angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped); |
3590 | //if(frcount == 0) Console.WriteLine("VA0"); | 4006 | angObjectVel.Z = oavz; |
3591 | } | 4007 | //if(frcount == 0) Console.WriteLine("VA+"); |
3592 | } // else vertical attractor is off | 4008 | //Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel); |
3593 | //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel); | 4009 | } |
3594 | 4010 | else | |
3595 | 4011 | { | |
3596 | m_lastAngularVelocity = angObjectVel; | 4012 | // else error is very small |
3597 | // apply Angular Velocity to body | 4013 | angObjectVel.X = 0f; |
3598 | d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); | 4014 | angObjectVel.Y = 0f; |
3599 | //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity); | 4015 | //if(frcount == 0) Console.WriteLine("VA0"); |
3600 | 4016 | } | |
3601 | } // end VEHICLES | 4017 | } // else vertical attractor is off |
3602 | else | 4018 | //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel); |
3603 | { | 4019 | |
3604 | // Dyamics (NON-'VEHICLES') are dealt with here ================================================================ | 4020 | |
3605 | 4021 | m_lastAngularVelocity = angObjectVel; | |
3606 | if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 | 4022 | // apply Angular Velocity to body |
3607 | 4023 | d.BodySetAngularVel(Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); | |
3608 | /// Dynamics Buoyancy | 4024 | //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity); |
3609 | //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle. | 4025 | |
3610 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up | 4026 | } // end VEHICLES |
3611 | // NB Prims in ODE are no subject to global gravity | 4027 | else |
3612 | // This should only affect gravity operations | 4028 | { |
3613 | 4029 | // Dyamics (NON-'VEHICLES') are dealt with here ================================================================ | |
3614 | float m_mass = CalculateMass(); | 4030 | |
3615 | // calculate z-force due togravity on object. | 4031 | if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 |
3616 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass | 4032 | |
3617 | if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget. | 4033 | /// Dynamics Buoyancy |
3618 | { | 4034 | //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle. |
3619 | fz = 0; // llMoveToTarget ignores gravity. | 4035 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up |
3620 | // it also ignores mass of object, and any physical resting on it. | 4036 | // NB Prims in ODE are no subject to global gravity |
3621 | // Vector3 m_PIDTarget is where we are going | 4037 | // This should only affect gravity operations |
3622 | // float m_PIDTau is time to get there | 4038 | |
4039 | float m_mass = CalculateMass(); | ||
4040 | // calculate z-force due togravity on object. | ||
4041 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass | ||
4042 | if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget. | ||
4043 | { | ||
4044 | fz = 0; // llMoveToTarget ignores gravity. | ||
4045 | // it also ignores mass of object, and any physical resting on it. | ||
4046 | // Vector3 m_PIDTarget is where we are going | ||
4047 | // float m_PIDTau is time to get there | ||
3623 | fx = 0; | 4048 | fx = 0; |
3624 | fy = 0; | 4049 | fy = 0; |
3625 | d.Vector3 pos = d.BodyGetPosition(Body); | 4050 | d.Vector3 pos = d.BodyGetPosition(Body); |
3626 | Vector3 error = new Vector3( | 4051 | Vector3 error = new Vector3( |
3627 | (m_PIDTarget.X - pos.X), | 4052 | (m_PIDTarget.X - pos.X), |
3628 | (m_PIDTarget.Y - pos.Y), | 4053 | (m_PIDTarget.Y - pos.Y), |
3629 | (m_PIDTarget.Z - pos.Z)); | 4054 | (m_PIDTarget.Z - pos.Z)); |
3630 | if (error.ApproxEquals(Vector3.Zero,0.01f)) | 4055 | if (error.ApproxEquals(Vector3.Zero, 0.01f)) |
3631 | { // Very close, Jump there and quit move | 4056 | { // Very close, Jump there and quit move |
3632 | 4057 | ||
3633 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | 4058 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); |
3634 | _target_velocity = Vector3.Zero; | 4059 | _target_velocity = Vector3.Zero; |
3635 | d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); | 4060 | d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); |
3636 | d.BodySetForce(Body, 0f, 0f, 0f); | 4061 | d.BodySetForce(Body, 0f, 0f, 0f); |
3637 | } | ||
3638 | else | ||
3639 | { | ||
3640 | float scale = 50.0f * timestep / m_PIDTau; | ||
3641 | if ((error.ApproxEquals(Vector3.Zero,0.5f)) && (_target_velocity != Vector3.Zero)) | ||
3642 | { | ||
3643 | // Nearby, quit update of velocity | ||
3644 | } | ||
3645 | else | ||
3646 | { // Far, calc damped velocity | ||
3647 | _target_velocity = error * scale; | ||
3648 | } | ||
3649 | d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); | ||
3650 | } | 4062 | } |
3651 | } // end PID MoveToTarget | 4063 | else |
3652 | 4064 | { | |
3653 | 4065 | float scale = 50.0f * timestep / m_PIDTau; | |
3654 | /// Dynamics Hover =================================================================================== | 4066 | if ((error.ApproxEquals(Vector3.Zero, 0.5f)) && (_target_velocity != Vector3.Zero)) |
3655 | // Hover PID Controller can only run if the PIDcontroller is not in use. | 4067 | { |
3656 | if (m_useHoverPID && !m_usePID) | 4068 | // Nearby, quit update of velocity |
3657 | { | 4069 | } |
3658 | //Console.WriteLine("Hover " + m_primName); | 4070 | else |
3659 | 4071 | { // Far, calc damped velocity | |
3660 | // If we're using the PID controller, then we have no gravity | 4072 | _target_velocity = error * scale; |
3661 | fz = (-1 * _parent_scene.gravityz) * m_mass; | 4073 | } |
3662 | 4074 | d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); | |
3663 | // no lock; for now it's only called from within Simulate() | 4075 | } |
3664 | 4076 | } // end PID MoveToTarget | |
3665 | // If the PID Controller isn't active then we set our force | 4077 | |
3666 | // calculating base velocity to the current position | 4078 | |
3667 | 4079 | /// Dynamics Hover =================================================================================== | |
3668 | if ((m_PIDTau < 1)) | 4080 | // Hover PID Controller can only run if the PIDcontroller is not in use. |
3669 | { | 4081 | if (m_useHoverPID && !m_usePID) |
3670 | PID_G = PID_G / m_PIDTau; | 4082 | { |
3671 | } | 4083 | //Console.WriteLine("Hover " + m_primName); |
3672 | 4084 | ||
3673 | if ((PID_G - m_PIDTau) <= 0) | 4085 | // If we're using the PID controller, then we have no gravity |
3674 | { | 4086 | fz = (-1 * _parent_scene.gravityz) * m_mass; |
3675 | PID_G = m_PIDTau + 1; | 4087 | |
3676 | } | 4088 | // no lock; for now it's only called from within Simulate() |
3677 | 4089 | ||
3678 | 4090 | // If the PID Controller isn't active then we set our force | |
3679 | // Where are we, and where are we headed? | 4091 | // calculating base velocity to the current position |
3680 | d.Vector3 pos = d.BodyGetPosition(Body); | 4092 | |
3681 | // d.Vector3 vel = d.BodyGetLinearVel(Body); | 4093 | if ((m_PIDTau < 1)) |
3682 | 4094 | { | |
3683 | 4095 | PID_G = PID_G / m_PIDTau; | |
3684 | // Non-Vehicles have a limited set of Hover options. | 4096 | } |
3685 | // determine what our target height really is based on HoverType | 4097 | |
3686 | switch (m_PIDHoverType) | 4098 | if ((PID_G - m_PIDTau) <= 0) |
3687 | { | 4099 | { |
3688 | case PIDHoverType.Ground: | 4100 | PID_G = m_PIDTau + 1; |
3689 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | 4101 | } |
3690 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | 4102 | |
3691 | break; | 4103 | |
3692 | case PIDHoverType.GroundAndWater: | 4104 | // Where are we, and where are we headed? |
3693 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | 4105 | d.Vector3 pos = d.BodyGetPosition(Body); |
3694 | m_waterHeight = _parent_scene.GetWaterLevel(); | 4106 | // d.Vector3 vel = d.BodyGetLinearVel(Body); |
3695 | if (m_groundHeight > m_waterHeight) | 4107 | |
3696 | { | 4108 | |
3697 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | 4109 | // Non-Vehicles have a limited set of Hover options. |
3698 | } | 4110 | // determine what our target height really is based on HoverType |
3699 | else | 4111 | switch (m_PIDHoverType) |
3700 | { | 4112 | { |
3701 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | 4113 | case PIDHoverType.Ground: |
3702 | } | 4114 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); |
3703 | break; | 4115 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; |
3704 | 4116 | break; | |
3705 | } // end switch (m_PIDHoverType) | 4117 | case PIDHoverType.GroundAndWater: |
3706 | 4118 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | |
3707 | 4119 | m_waterHeight = _parent_scene.GetWaterLevel(); | |
3708 | _target_velocity = | 4120 | if (m_groundHeight > m_waterHeight) |
4121 | { | ||
4122 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
4123 | } | ||
4124 | else | ||
4125 | { | ||
4126 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | ||
4127 | } | ||
4128 | break; | ||
4129 | |||
4130 | } // end switch (m_PIDHoverType) | ||
4131 | |||
4132 | |||
4133 | _target_velocity = | ||
3709 | new Vector3(0.0f, 0.0f, | 4134 | new Vector3(0.0f, 0.0f, |
3710 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) | 4135 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) |
3711 | ); | 4136 | ); |
3712 | 4137 | ||
3713 | // if velocity is zero, use position control; otherwise, velocity control | 4138 | // if velocity is zero, use position control; otherwise, velocity control |
3714 | 4139 | ||
3715 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) | 4140 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) |
3716 | { | 4141 | { |
3717 | // keep track of where we stopped. No more slippin' & slidin' | 4142 | // keep track of where we stopped. No more slippin' & slidin' |
3718 | 4143 | ||
3719 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 4144 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
3720 | // react to the physics scene by moving it's position. | 4145 | // react to the physics scene by moving it's position. |
3721 | // Avatar to Avatar collisions | 4146 | // Avatar to Avatar collisions |
3722 | // Prim to avatar collisions | 4147 | // Prim to avatar collisions |
3723 | d.Vector3 dlinvel = vel; | 4148 | d.Vector3 dlinvel = vel; |
3724 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); | 4149 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); |
3725 | d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z); | 4150 | d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z); |
3726 | d.BodyAddForce(Body, 0, 0, fz); | 4151 | d.BodyAddForce(Body, 0, 0, fz); |
3727 | //KF this prevents furthur motions return; | 4152 | //KF this prevents furthur motions return; |
3728 | } | 4153 | } |
3729 | else | 4154 | else |
3730 | { | 4155 | { |
3731 | _zeroFlag = false; | 4156 | _zeroFlag = false; |
3732 | 4157 | ||
3733 | // We're flying and colliding with something | 4158 | // We're flying and colliding with something |
3734 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 4159 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); |
3735 | } | 4160 | } |
3736 | } // end m_useHoverPID && !m_usePID | 4161 | } // end m_useHoverPID && !m_usePID |
3737 | 4162 | ||
3738 | 4163 | ||
3739 | /// Dynamics Apply Forces =================================================================================== | 4164 | /// Dynamics Apply Forces =================================================================================== |
3740 | fx *= m_mass; | 4165 | fx *= m_mass; |
3741 | fy *= m_mass; | 4166 | fy *= m_mass; |
3742 | //fz *= m_mass; | 4167 | //fz *= m_mass; |
3743 | fx += m_force.X; | 4168 | fx += m_force.X; |
3744 | fy += m_force.Y; | 4169 | fy += m_force.Y; |
3745 | fz += m_force.Z; | 4170 | fz += m_force.Z; |
3746 | 4171 | ||
3747 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | 4172 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); |
3748 | if (fx != 0 || fy != 0 || fz != 0) | 4173 | if (fx != 0 || fy != 0 || fz != 0) |
3749 | { | 4174 | { |
3750 | //m_taintdisable = true; | 4175 | //m_taintdisable = true; |
3751 | //base.RaiseOutOfBounds(Position); | 4176 | //base.RaiseOutOfBounds(Position); |
3752 | //d.BodySetLinearVel(Body, fx, fy, 0f); | 4177 | //d.BodySetLinearVel(Body, fx, fy, 0f); |
3753 | if (!d.BodyIsEnabled(Body)) | 4178 | if (!d.BodyIsEnabled(Body)) |
3754 | { | 4179 | { |
3755 | // A physical body at rest on a surface will auto-disable after a while, | 4180 | // A physical body at rest on a surface will auto-disable after a while, |
3756 | // this appears to re-enable it incase the surface it is upon vanishes, | 4181 | // this appears to re-enable it incase the surface it is upon vanishes, |
3757 | // and the body should fall again. | 4182 | // and the body should fall again. |
3758 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | 4183 | d.BodySetLinearVel(Body, 0f, 0f, 0f); |
3759 | d.BodySetForce(Body, 0f, 0f, 0f); | 4184 | d.BodySetForce(Body, 0f, 0f, 0f); |
3760 | enableBodySoft(); | 4185 | enableBodySoft(); |
3761 | } | 4186 | } |
3762 | 4187 | ||
3763 | // 35x10 = 350n times the mass per second applied maximum. | 4188 | // 35x10 = 350n times the mass per second applied maximum. |
3764 | float nmax = 35f * m_mass; | 4189 | float nmax = 35f * m_mass; |
3765 | float nmin = -35f * m_mass; | 4190 | float nmin = -35f * m_mass; |
3766 | 4191 | ||
3767 | 4192 | ||
3768 | if (fx > nmax) | 4193 | if (fx > nmax) |
3769 | fx = nmax; | 4194 | fx = nmax; |
3770 | if (fx < nmin) | 4195 | if (fx < nmin) |
3771 | fx = nmin; | 4196 | fx = nmin; |
3772 | if (fy > nmax) | 4197 | if (fy > nmax) |
3773 | fy = nmax; | 4198 | fy = nmax; |
3774 | if (fy < nmin) | 4199 | if (fy < nmin) |
3775 | fy = nmin; | 4200 | fy = nmin; |
3776 | d.BodyAddForce(Body, fx, fy, fz); | 4201 | d.BodyAddForce(Body, fx, fy, fz); |
3777 | } // end apply forces | 4202 | } // end apply forces |
3778 | } // end Vehicle/Dynamics | 4203 | } // end Vehicle/Dynamics |
3779 | 4204 | ||
3780 | /// RotLookAt / LookAt ================================================================================= | 4205 | /// RotLookAt / LookAt ================================================================================= |
3781 | if (m_useAPID) | 4206 | if (m_useAPID) |
3782 | { | 4207 | { |
3783 | // RotLookAt, apparently overrides all other rotation sources. Inputs: | 4208 | // RotLookAt, apparently overrides all other rotation sources. Inputs: |
3784 | // Quaternion m_APIDTarget | 4209 | // Quaternion m_APIDTarget |
3785 | // float m_APIDStrength // From SL experiments, this is the time to get there | 4210 | // float m_APIDStrength // From SL experiments, this is the time to get there |
3786 | // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly | 4211 | // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly |
3787 | // Also in SL the mass of the object has no effect on time to get there. | 4212 | // Also in SL the mass of the object has no effect on time to get there. |
3788 | // Factors: | 4213 | // Factors: |
3789 | // get present body rotation | 4214 | // get present body rotation |
3790 | float limit = 1.0f; | 4215 | float limit = 1.0f; |
3791 | float rscaler = 50f; // adjusts rotation damping time | 4216 | float rscaler = 50f; // adjusts rotation damping time |
3792 | float lscaler = 10f; // adjusts linear damping time in llLookAt | 4217 | float lscaler = 10f; // adjusts linear damping time in llLookAt |
3793 | float RLAservo = 0f; | 4218 | float RLAservo = 0f; |
3794 | Vector3 diff_axis; | 4219 | Vector3 diff_axis; |
3795 | float diff_angle; | 4220 | float diff_angle; |
3796 | d.Quaternion rot = d.BodyGetQuaternion(Body); // prim present rotation | 4221 | d.Quaternion rot = d.BodyGetQuaternion(Body); // prim present rotation |
3797 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); | 4222 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); |
3798 | Quaternion rtarget = new Quaternion(); | 4223 | Quaternion rtarget = new Quaternion(); |
3799 | 4224 | ||
3800 | if(m_APIDTarget.W == -99.9f) | 4225 | if (m_APIDTarget.W == -99.9f) |
3801 | { | 4226 | { |
3802 | // this is really a llLookAt(), x,y,z is the target vector | 4227 | // this is really a llLookAt(), x,y,z is the target vector |
3803 | Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z); | 4228 | Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z); |
3804 | Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq; | 4229 | Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq; |
3805 | Vector3 error = new Vector3(0.0f, 0.0f, 0.0f); | 4230 | Vector3 error = new Vector3(0.0f, 0.0f, 0.0f); |
3806 | float twopi = 2.0f * (float)Math.PI; | 4231 | float twopi = 2.0f * (float)Math.PI; |
3807 | Vector3 dir = target - _position; | 4232 | Vector3 dir = target - _position; |
3808 | dir.Normalize(); | 4233 | dir.Normalize(); |
3809 | float tzrot = (float)Math.Atan2(dir.Y, dir.X); | 4234 | float tzrot = (float)Math.Atan2(dir.Y, dir.X); |
3810 | float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y)); | 4235 | float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y)); |
3811 | float terot = (float)Math.Atan2(dir.Z, txy); | 4236 | float terot = (float)Math.Atan2(dir.Z, txy); |
@@ -3813,63 +4238,63 @@ Console.WriteLine("ODEPrim JointCreateFixed !!!"); | |||
3813 | float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y)); | 4238 | float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y)); |
3814 | float oerot = (float)Math.Atan2(ospin.Z, oxy); | 4239 | float oerot = (float)Math.Atan2(ospin.Z, oxy); |
3815 | float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z)); | 4240 | float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z)); |
3816 | float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y)+(rotq.X * rotq.X)); | 4241 | float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y) + (rotq.X * rotq.X)); |
3817 | float roll = (float)Math.Atan2(ra, rb); | 4242 | float roll = (float)Math.Atan2(ra, rb); |
3818 | float errorz = tzrot - ozrot; | 4243 | float errorz = tzrot - ozrot; |
3819 | if(errorz > (float)Math.PI) errorz -= twopi; | 4244 | if (errorz > (float)Math.PI) errorz -= twopi; |
3820 | else if(errorz < -(float)Math.PI) errorz += twopi; | 4245 | else if (errorz < -(float)Math.PI) errorz += twopi; |
3821 | float errory = oerot - terot; | 4246 | float errory = oerot - terot; |
3822 | if(errory > (float)Math.PI) errory -= twopi; | 4247 | if (errory > (float)Math.PI) errory -= twopi; |
3823 | else if(errory < -(float)Math.PI) errory += twopi; | 4248 | else if (errory < -(float)Math.PI) errory += twopi; |
3824 | diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll); | 4249 | diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll); |
3825 | if(diff_angle > 0.01f * m_APIDdamper) | 4250 | if (diff_angle > 0.01f * m_APIDdamper) |
3826 | { | 4251 | { |
3827 | m_APIDdamper = 1.0f; | 4252 | m_APIDdamper = 1.0f; |
3828 | RLAservo = timestep / m_APIDStrength * rscaler; | 4253 | RLAservo = timestep / m_APIDStrength * rscaler; |
3829 | errorz *= RLAservo; | 4254 | errorz *= RLAservo; |
3830 | errory *= RLAservo; | 4255 | errory *= RLAservo; |
3831 | error.X = -roll * 8.0f; | 4256 | error.X = -roll * 8.0f; |
3832 | error.Y = errory; | 4257 | error.Y = errory; |
3833 | error.Z = errorz; | 4258 | error.Z = errorz; |
3834 | error *= rotq; | 4259 | error *= rotq; |
3835 | d.BodySetAngularVel (Body, error.X, error.Y, error.Z); | 4260 | d.BodySetAngularVel(Body, error.X, error.Y, error.Z); |
3836 | } | 4261 | } |
3837 | else | 4262 | else |
3838 | { | 4263 | { |
3839 | d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f); | 4264 | d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f); |
3840 | m_APIDdamper = 2.0f; | 4265 | m_APIDdamper = 2.0f; |
3841 | } | 4266 | } |
3842 | } | 4267 | } |
3843 | else | 4268 | else |
3844 | { | 4269 | { |
3845 | // this is a llRotLookAt() | 4270 | // this is a llRotLookAt() |
3846 | rtarget = m_APIDTarget; | 4271 | rtarget = m_APIDTarget; |
3847 | 4272 | ||
3848 | Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget; // difference to desired rot | 4273 | Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget; // difference to desired rot |
3849 | rot_diff.GetAxisAngle(out diff_axis, out diff_angle); // convert to axis to point at & error angle | 4274 | rot_diff.GetAxisAngle(out diff_axis, out diff_angle); // convert to axis to point at & error angle |
3850 | //if(frcount == 0) Console.WriteLine("axis {0} angle {1}",diff_axis * 57.3f, diff_angle); | 4275 | //if(frcount == 0) Console.WriteLine("axis {0} angle {1}",diff_axis * 57.3f, diff_angle); |
3851 | 4276 | ||
3852 | // diff_axis.Normalize(); it already is! | 4277 | // diff_axis.Normalize(); it already is! |
3853 | if(diff_angle > 0.01f * m_APIDdamper) // diff_angle is always +ve // if there is enough error | 4278 | if (diff_angle > 0.01f * m_APIDdamper) // diff_angle is always +ve // if there is enough error |
3854 | { | 4279 | { |
3855 | m_APIDdamper = 1.0f; | 4280 | m_APIDdamper = 1.0f; |
3856 | Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z); | 4281 | Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z); |
3857 | rotforce = rotforce * rotq; | 4282 | rotforce = rotforce * rotq; |
3858 | if(diff_angle > limit) diff_angle = limit; // cap the rotate rate | 4283 | if (diff_angle > limit) diff_angle = limit; // cap the rotate rate |
3859 | RLAservo = timestep / m_APIDStrength * lscaler; | 4284 | RLAservo = timestep / m_APIDStrength * lscaler; |
3860 | rotforce = rotforce * RLAservo * diff_angle ; | 4285 | rotforce = rotforce * RLAservo * diff_angle; |
3861 | d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z); | 4286 | d.BodySetAngularVel(Body, rotforce.X, rotforce.Y, rotforce.Z); |
3862 | //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo); | 4287 | //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo); |
3863 | } | 4288 | } |
3864 | else | 4289 | else |
3865 | { // close enough | 4290 | { // close enough |
3866 | d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f); | 4291 | d.BodySetAngularVel(Body, 0.0f, 0.0f, 0.0f); |
3867 | m_APIDdamper = 2.0f; | 4292 | m_APIDdamper = 2.0f; |
3868 | } | 4293 | } |
3869 | } // end llLookAt/llRotLookAt | 4294 | } // end llLookAt/llRotLookAt |
3870 | //if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle); | 4295 | //if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle); |
3871 | } // end m_useAPID | 4296 | } // end m_useAPID |
3872 | } // end root prims | 4297 | } // end root prims |
3873 | } // end Move() | 4298 | } // end Move() |
3874 | } // end class | 4299 | } // end class |
3875 | } | 4300 | } |
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs index 353db44..b5b30ee 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs | |||
@@ -1536,7 +1536,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1536 | List<OdePrim> removeprims = null; | 1536 | List<OdePrim> removeprims = null; |
1537 | foreach (OdePrim chr in _activeprims) | 1537 | foreach (OdePrim chr in _activeprims) |
1538 | { | 1538 | { |
1539 | if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) | 1539 | if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled) && !chr.m_outofBounds) |
1540 | { | 1540 | { |
1541 | try | 1541 | try |
1542 | { | 1542 | { |
@@ -1736,6 +1736,23 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1736 | return newPrim; | 1736 | return newPrim; |
1737 | } | 1737 | } |
1738 | 1738 | ||
1739 | private PhysicsActor AddPrim(String name, Vector3 position, PhysicsActor parent, | ||
1740 | PrimitiveBaseShape pbs, uint localid, byte[] sdata) | ||
1741 | { | ||
1742 | Vector3 pos = position; | ||
1743 | |||
1744 | OdePrim newPrim; | ||
1745 | lock (OdeLock) | ||
1746 | { | ||
1747 | newPrim = new OdePrim(name, this, pos, parent, pbs, ode, localid, sdata); | ||
1748 | lock (_prims) | ||
1749 | _prims.Add(newPrim); | ||
1750 | } | ||
1751 | |||
1752 | return newPrim; | ||
1753 | } | ||
1754 | |||
1755 | |||
1739 | public void addActivePrim(OdePrim activatePrim) | 1756 | public void addActivePrim(OdePrim activatePrim) |
1740 | { | 1757 | { |
1741 | // adds active prim.. (ones that should be iterated over in collisions_optimized | 1758 | // adds active prim.. (ones that should be iterated over in collisions_optimized |
@@ -1762,6 +1779,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1762 | return result; | 1779 | return result; |
1763 | } | 1780 | } |
1764 | 1781 | ||
1782 | public override PhysicsActor AddPrimShape(string primName, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position, | ||
1783 | uint localid, byte[] sdata) | ||
1784 | { | ||
1785 | PhysicsActor result; | ||
1786 | |||
1787 | result = AddPrim(primName, position, parent, | ||
1788 | pbs, localid, sdata); | ||
1789 | |||
1790 | return result; | ||
1791 | } | ||
1792 | |||
1765 | public override float TimeDilation | 1793 | public override float TimeDilation |
1766 | { | 1794 | { |
1767 | get { return m_timeDilation; } | 1795 | get { return m_timeDilation; } |
@@ -3410,17 +3438,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
3410 | public void SetTerrain(float[] heightMap, Vector3 pOffset) | 3438 | public void SetTerrain(float[] heightMap, Vector3 pOffset) |
3411 | { | 3439 | { |
3412 | 3440 | ||
3413 | uint regionsize = (uint) Constants.RegionSize; // visible region size eg. 256(M) | 3441 | int regionsize = (int) Constants.RegionSize; // visible region size eg. 256(M) |
3414 | 3442 | ||
3415 | uint heightmapWidth = regionsize + 1; // ODE map size 257 x 257 (Meters) (1 extra | 3443 | int heightmapWidth = regionsize + 2; // ODE map size 258 x 258 (Meters) (1 extra each side) |
3416 | uint heightmapHeight = regionsize + 1; | 3444 | int heightmapHeight = regionsize + 2; |
3417 | 3445 | ||
3418 | uint heightmapWidthSamples = (uint)regionsize + 2; // Sample file size, 258 x 258 samples | 3446 | int heightmapWidthSamples = (int)regionsize + 3; // to have 258m we need 259 samples |
3419 | uint heightmapHeightSamples = (uint)regionsize + 2; | 3447 | int heightmapHeightSamples = (int)regionsize + 3; |
3420 | 3448 | ||
3421 | // Array of height samples for ODE | 3449 | // Array of height samples for ODE |
3422 | float[] _heightmap; | 3450 | float[] _heightmap; |
3423 | _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258 | 3451 | _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 259 x 259 |
3424 | 3452 | ||
3425 | // Other ODE parameters | 3453 | // Other ODE parameters |
3426 | const float scale = 1.0f; | 3454 | const float scale = 1.0f; |
@@ -3432,10 +3460,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
3432 | float hfmax = -2000f; | 3460 | float hfmax = -2000f; |
3433 | float minele = 0.0f; // Dont allow -ve heights | 3461 | float minele = 0.0f; // Dont allow -ve heights |
3434 | 3462 | ||
3435 | uint x = 0; | 3463 | int x = 0; |
3436 | uint y = 0; | 3464 | int y = 0; |
3437 | uint xx = 0; | 3465 | int xx = 0; |
3438 | uint yy = 0; | 3466 | int yy = 0; |
3439 | 3467 | ||
3440 | // load the height samples array from the heightMap | 3468 | // load the height samples array from the heightMap |
3441 | for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257 | 3469 | for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257 |
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs new file mode 100644 index 0000000..e7e7bb3 --- /dev/null +++ b/OpenSim/Region/Physics/ChOdePlugin/OdeUtils.cs | |||
@@ -0,0 +1,353 @@ | |||
1 | /* Ubit 2012 | ||
2 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
3 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
4 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
5 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
6 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
7 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
8 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
9 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
10 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
11 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
12 | */ | ||
13 | |||
14 | // no endian conversion. So can't be use to pass information around diferent cpus with diferent endian | ||
15 | |||
16 | using System; | ||
17 | using System.IO; | ||
18 | using OpenMetaverse; | ||
19 | |||
20 | namespace OpenSim.Region.Physics.OdePlugin | ||
21 | { | ||
22 | |||
23 | unsafe public class wstreamer | ||
24 | { | ||
25 | byte[] buf; | ||
26 | int index; | ||
27 | byte* src; | ||
28 | |||
29 | public wstreamer() | ||
30 | { | ||
31 | buf = new byte[1024]; | ||
32 | index = 0; | ||
33 | } | ||
34 | public wstreamer(int size) | ||
35 | { | ||
36 | buf = new byte[size]; | ||
37 | index = 0; | ||
38 | } | ||
39 | |||
40 | public byte[] close() | ||
41 | { | ||
42 | byte[] data = new byte[index]; | ||
43 | Buffer.BlockCopy(buf, 0, data, 0, index); | ||
44 | return data; | ||
45 | } | ||
46 | |||
47 | public void Seek(int pos) | ||
48 | { | ||
49 | index = pos; | ||
50 | } | ||
51 | |||
52 | public void Seekrel(int pos) | ||
53 | { | ||
54 | index += pos; | ||
55 | } | ||
56 | |||
57 | public void Wbyte(byte value) | ||
58 | { | ||
59 | buf[index++] = value; | ||
60 | } | ||
61 | public void Wshort(short value) | ||
62 | { | ||
63 | src = (byte*)&value; | ||
64 | buf[index++] = *src++; | ||
65 | buf[index++] = *src; | ||
66 | } | ||
67 | public void Wushort(ushort value) | ||
68 | { | ||
69 | src = (byte*)&value; | ||
70 | buf[index++] = *src++; | ||
71 | buf[index++] = *src; | ||
72 | } | ||
73 | public void Wint(int value) | ||
74 | { | ||
75 | src = (byte*)&value; | ||
76 | buf[index++] = *src++; | ||
77 | buf[index++] = *src++; | ||
78 | buf[index++] = *src++; | ||
79 | buf[index++] = *src; | ||
80 | } | ||
81 | public void Wuint(uint value) | ||
82 | { | ||
83 | src = (byte*)&value; | ||
84 | buf[index++] = *src++; | ||
85 | buf[index++] = *src++; | ||
86 | buf[index++] = *src++; | ||
87 | buf[index++] = *src; | ||
88 | } | ||
89 | public void Wlong(long value) | ||
90 | { | ||
91 | src = (byte*)&value; | ||
92 | buf[index++] = *src++; | ||
93 | buf[index++] = *src++; | ||
94 | buf[index++] = *src++; | ||
95 | buf[index++] = *src++; | ||
96 | buf[index++] = *src++; | ||
97 | buf[index++] = *src++; | ||
98 | buf[index++] = *src++; | ||
99 | buf[index++] = *src; | ||
100 | } | ||
101 | public void Wulong(ulong value) | ||
102 | { | ||
103 | src = (byte*)&value; | ||
104 | buf[index++] = *src++; | ||
105 | buf[index++] = *src++; | ||
106 | buf[index++] = *src++; | ||
107 | buf[index++] = *src++; | ||
108 | buf[index++] = *src++; | ||
109 | buf[index++] = *src++; | ||
110 | buf[index++] = *src++; | ||
111 | buf[index++] = *src; | ||
112 | } | ||
113 | |||
114 | public void Wfloat(float value) | ||
115 | { | ||
116 | src = (byte*)&value; | ||
117 | buf[index++] = *src++; | ||
118 | buf[index++] = *src++; | ||
119 | buf[index++] = *src++; | ||
120 | buf[index++] = *src; | ||
121 | } | ||
122 | |||
123 | public void Wdouble(double value) | ||
124 | { | ||
125 | src = (byte*)&value; | ||
126 | buf[index++] = *src++; | ||
127 | buf[index++] = *src++; | ||
128 | buf[index++] = *src++; | ||
129 | buf[index++] = *src++; | ||
130 | buf[index++] = *src++; | ||
131 | buf[index++] = *src++; | ||
132 | buf[index++] = *src++; | ||
133 | buf[index++] = *src; | ||
134 | } | ||
135 | |||
136 | public void Wvector3(Vector3 value) | ||
137 | { | ||
138 | src = (byte*)&value.X; | ||
139 | buf[index++] = *src++; | ||
140 | buf[index++] = *src++; | ||
141 | buf[index++] = *src++; | ||
142 | buf[index++] = *src; | ||
143 | src = (byte*)&value.Y; // it may have padding ?? | ||
144 | buf[index++] = *src++; | ||
145 | buf[index++] = *src++; | ||
146 | buf[index++] = *src++; | ||
147 | buf[index++] = *src; | ||
148 | src = (byte*)&value.Z; | ||
149 | buf[index++] = *src++; | ||
150 | buf[index++] = *src++; | ||
151 | buf[index++] = *src++; | ||
152 | buf[index++] = *src; | ||
153 | } | ||
154 | public void Wquat(Quaternion value) | ||
155 | { | ||
156 | src = (byte*)&value.X; | ||
157 | buf[index++] = *src++; | ||
158 | buf[index++] = *src++; | ||
159 | buf[index++] = *src++; | ||
160 | buf[index++] = *src; | ||
161 | src = (byte*)&value.Y; // it may have padding ?? | ||
162 | buf[index++] = *src++; | ||
163 | buf[index++] = *src++; | ||
164 | buf[index++] = *src++; | ||
165 | buf[index++] = *src; | ||
166 | src = (byte*)&value.Z; | ||
167 | buf[index++] = *src++; | ||
168 | buf[index++] = *src++; | ||
169 | buf[index++] = *src++; | ||
170 | buf[index++] = *src; | ||
171 | src = (byte*)&value.W; | ||
172 | buf[index++] = *src++; | ||
173 | buf[index++] = *src++; | ||
174 | buf[index++] = *src++; | ||
175 | buf[index++] = *src; | ||
176 | } | ||
177 | } | ||
178 | |||
179 | unsafe public class rstreamer | ||
180 | { | ||
181 | private byte[] rbuf; | ||
182 | private int ptr; | ||
183 | private byte* dst; | ||
184 | |||
185 | public rstreamer(byte[] data) | ||
186 | { | ||
187 | rbuf = data; | ||
188 | ptr = 0; | ||
189 | } | ||
190 | |||
191 | public void close() | ||
192 | { | ||
193 | } | ||
194 | |||
195 | public void Seek(int pos) | ||
196 | { | ||
197 | ptr = pos; | ||
198 | } | ||
199 | |||
200 | public void Seekrel(int pos) | ||
201 | { | ||
202 | ptr += pos; | ||
203 | } | ||
204 | |||
205 | public byte Rbyte() | ||
206 | { | ||
207 | return (byte)rbuf[ptr++]; | ||
208 | } | ||
209 | |||
210 | public short Rshort() | ||
211 | { | ||
212 | short v; | ||
213 | dst = (byte*)&v; | ||
214 | *dst++ = rbuf[ptr++]; | ||
215 | *dst = rbuf[ptr++]; | ||
216 | return v; | ||
217 | } | ||
218 | public ushort Rushort() | ||
219 | { | ||
220 | ushort v; | ||
221 | dst = (byte*)&v; | ||
222 | *dst++ = rbuf[ptr++]; | ||
223 | *dst = rbuf[ptr++]; | ||
224 | return v; | ||
225 | } | ||
226 | public int Rint() | ||
227 | { | ||
228 | int v; | ||
229 | dst = (byte*)&v; | ||
230 | *dst++ = rbuf[ptr++]; | ||
231 | *dst++ = rbuf[ptr++]; | ||
232 | *dst++ = rbuf[ptr++]; | ||
233 | *dst = rbuf[ptr++]; | ||
234 | return v; | ||
235 | } | ||
236 | public uint Ruint() | ||
237 | { | ||
238 | uint v; | ||
239 | dst = (byte*)&v; | ||
240 | *dst++ = rbuf[ptr++]; | ||
241 | *dst++ = rbuf[ptr++]; | ||
242 | *dst++ = rbuf[ptr++]; | ||
243 | *dst = rbuf[ptr++]; | ||
244 | return v; | ||
245 | } | ||
246 | public long Rlong() | ||
247 | { | ||
248 | long v; | ||
249 | dst = (byte*)&v; | ||
250 | *dst++ = rbuf[ptr++]; | ||
251 | *dst++ = rbuf[ptr++]; | ||
252 | *dst++ = rbuf[ptr++]; | ||
253 | *dst++ = rbuf[ptr++]; | ||
254 | *dst++ = rbuf[ptr++]; | ||
255 | *dst++ = rbuf[ptr++]; | ||
256 | *dst++ = rbuf[ptr++]; | ||
257 | *dst = rbuf[ptr++]; | ||
258 | return v; | ||
259 | } | ||
260 | public ulong Rulong() | ||
261 | { | ||
262 | ulong v; | ||
263 | dst = (byte*)&v; | ||
264 | *dst++ = rbuf[ptr++]; | ||
265 | *dst++ = rbuf[ptr++]; | ||
266 | *dst++ = rbuf[ptr++]; | ||
267 | *dst++ = rbuf[ptr++]; | ||
268 | *dst++ = rbuf[ptr++]; | ||
269 | *dst++ = rbuf[ptr++]; | ||
270 | *dst++ = rbuf[ptr++]; | ||
271 | *dst = rbuf[ptr++]; | ||
272 | return v; | ||
273 | } | ||
274 | public float Rfloat() | ||
275 | { | ||
276 | float v; | ||
277 | dst = (byte*)&v; | ||
278 | *dst++ = rbuf[ptr++]; | ||
279 | *dst++ = rbuf[ptr++]; | ||
280 | *dst++ = rbuf[ptr++]; | ||
281 | *dst = rbuf[ptr++]; | ||
282 | return v; | ||
283 | } | ||
284 | |||
285 | public double Rdouble() | ||
286 | { | ||
287 | double v; | ||
288 | dst = (byte*)&v; | ||
289 | *dst++ = rbuf[ptr++]; | ||
290 | *dst++ = rbuf[ptr++]; | ||
291 | *dst++ = rbuf[ptr++]; | ||
292 | *dst++ = rbuf[ptr++]; | ||
293 | *dst++ = rbuf[ptr++]; | ||
294 | *dst++ = rbuf[ptr++]; | ||
295 | *dst++ = rbuf[ptr++]; | ||
296 | *dst = rbuf[ptr++]; | ||
297 | return v; | ||
298 | } | ||
299 | |||
300 | public Vector3 Rvector3() | ||
301 | { | ||
302 | Vector3 v; | ||
303 | dst = (byte*)&v.X; | ||
304 | *dst++ = rbuf[ptr++]; | ||
305 | *dst++ = rbuf[ptr++]; | ||
306 | *dst++ = rbuf[ptr++]; | ||
307 | *dst = rbuf[ptr++]; | ||
308 | |||
309 | dst = (byte*)&v.Y; | ||
310 | *dst++ = rbuf[ptr++]; | ||
311 | *dst++ = rbuf[ptr++]; | ||
312 | *dst++ = rbuf[ptr++]; | ||
313 | *dst = rbuf[ptr++]; | ||
314 | |||
315 | dst = (byte*)&v.Z; | ||
316 | *dst++ = rbuf[ptr++]; | ||
317 | *dst++ = rbuf[ptr++]; | ||
318 | *dst++ = rbuf[ptr++]; | ||
319 | *dst = rbuf[ptr++]; | ||
320 | return v; | ||
321 | } | ||
322 | |||
323 | public Quaternion Rquat() | ||
324 | { | ||
325 | Quaternion v; | ||
326 | dst = (byte*)&v.X; | ||
327 | *dst++ = rbuf[ptr++]; | ||
328 | *dst++ = rbuf[ptr++]; | ||
329 | *dst++ = rbuf[ptr++]; | ||
330 | *dst = rbuf[ptr++]; | ||
331 | |||
332 | dst = (byte*)&v.Y; | ||
333 | *dst++ = rbuf[ptr++]; | ||
334 | *dst++ = rbuf[ptr++]; | ||
335 | *dst++ = rbuf[ptr++]; | ||
336 | *dst = rbuf[ptr++]; | ||
337 | |||
338 | dst = (byte*)&v.Z; | ||
339 | *dst++ = rbuf[ptr++]; | ||
340 | *dst++ = rbuf[ptr++]; | ||
341 | *dst++ = rbuf[ptr++]; | ||
342 | *dst = rbuf[ptr++]; | ||
343 | |||
344 | dst = (byte*)&v.W; | ||
345 | *dst++ = rbuf[ptr++]; | ||
346 | *dst++ = rbuf[ptr++]; | ||
347 | *dst++ = rbuf[ptr++]; | ||
348 | *dst = rbuf[ptr++]; | ||
349 | |||
350 | return v; | ||
351 | } | ||
352 | } | ||
353 | } | ||
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index 3a9ca1b..cc92484 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs | |||
@@ -65,5 +65,6 @@ namespace OpenSim.Region.Physics.Manager | |||
65 | void releasePinned(); | 65 | void releasePinned(); |
66 | void Append(IMesh newMesh); | 66 | void Append(IMesh newMesh); |
67 | void TransformLinear(float[,] matrix, float[] offset); | 67 | void TransformLinear(float[,] matrix, float[] offset); |
68 | Vector3 GetCentroid(); | ||
68 | } | 69 | } |
69 | } | 70 | } |
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs index 0587054..f525e9e 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs | |||
@@ -68,6 +68,17 @@ namespace OpenSim.Region.Physics.Manager | |||
68 | } | 68 | } |
69 | } | 69 | } |
70 | 70 | ||
71 | public struct ContactData | ||
72 | { | ||
73 | public float mu; | ||
74 | public float bounce; | ||
75 | |||
76 | public ContactData(float _mu, float _bounce) | ||
77 | { | ||
78 | mu = _mu; | ||
79 | bounce = _bounce; | ||
80 | } | ||
81 | } | ||
71 | /// <summary> | 82 | /// <summary> |
72 | /// Used to pass collision information to OnCollisionUpdate listeners. | 83 | /// Used to pass collision information to OnCollisionUpdate listeners. |
73 | /// </summary> | 84 | /// </summary> |
@@ -135,6 +146,8 @@ namespace OpenSim.Region.Physics.Manager | |||
135 | /// </summary> | 146 | /// </summary> |
136 | public event CollisionUpdate OnCollisionUpdate; | 147 | public event CollisionUpdate OnCollisionUpdate; |
137 | 148 | ||
149 | public virtual void SetVehicle(object vdata) { } | ||
150 | |||
138 | public event OutOfBounds OnOutOfBounds; | 151 | public event OutOfBounds OnOutOfBounds; |
139 | #pragma warning restore 67 | 152 | #pragma warning restore 67 |
140 | 153 | ||
@@ -142,6 +155,13 @@ namespace OpenSim.Region.Physics.Manager | |||
142 | { | 155 | { |
143 | get { return new NullPhysicsActor(); } | 156 | get { return new NullPhysicsActor(); } |
144 | } | 157 | } |
158 | |||
159 | public virtual bool Building { get; set; } | ||
160 | |||
161 | public virtual ContactData ContactData | ||
162 | { | ||
163 | get { return new ContactData(0, 0); } | ||
164 | } | ||
145 | 165 | ||
146 | public abstract bool Stopped { get; } | 166 | public abstract bool Stopped { get; } |
147 | 167 | ||
@@ -195,6 +215,11 @@ namespace OpenSim.Region.Physics.Manager | |||
195 | } | 215 | } |
196 | } | 216 | } |
197 | 217 | ||
218 | public virtual byte[] Serialize(bool PhysIsRunning) | ||
219 | { | ||
220 | return new byte[0]; | ||
221 | } | ||
222 | |||
198 | public virtual void RaiseOutOfBounds(Vector3 pos) | 223 | public virtual void RaiseOutOfBounds(Vector3 pos) |
199 | { | 224 | { |
200 | // Make a temporary copy of the event to avoid possibility of | 225 | // Make a temporary copy of the event to avoid possibility of |
@@ -554,5 +579,6 @@ namespace OpenSim.Region.Physics.Manager | |||
554 | { | 579 | { |
555 | return false; | 580 | return false; |
556 | } | 581 | } |
582 | |||
557 | } | 583 | } |
558 | } | 584 | } |
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 514d9ad..0346d4e 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs | |||
@@ -128,6 +128,12 @@ namespace OpenSim.Region.Physics.Manager | |||
128 | public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | 128 | public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, |
129 | Vector3 size, Quaternion rotation, bool isPhysical, uint localid); | 129 | Vector3 size, Quaternion rotation, bool isPhysical, uint localid); |
130 | 130 | ||
131 | public virtual PhysicsActor AddPrimShape(string primName, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position, | ||
132 | uint localid, byte[] sdata) | ||
133 | { | ||
134 | return null; | ||
135 | } | ||
136 | |||
131 | public virtual float TimeDilation | 137 | public virtual float TimeDilation |
132 | { | 138 | { |
133 | get { return 1.0f; } | 139 | get { return 1.0f; } |
@@ -225,7 +231,7 @@ namespace OpenSim.Region.Physics.Manager | |||
225 | } | 231 | } |
226 | 232 | ||
227 | public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {} | 233 | public virtual void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) {} |
228 | 234 | public virtual void CombineTerrain(float[] heightMap, Vector3 pOffset) {} | |
229 | public virtual void UnCombine(PhysicsScene pScene) {} | 235 | public virtual void UnCombine(PhysicsScene pScene) {} |
230 | 236 | ||
231 | /// <summary> | 237 | /// <summary> |
@@ -263,5 +269,13 @@ namespace OpenSim.Region.Physics.Manager | |||
263 | { | 269 | { |
264 | return new List<ContactResult>(); | 270 | return new List<ContactResult>(); |
265 | } | 271 | } |
272 | |||
273 | public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod){} | ||
274 | public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { } | ||
275 | public virtual List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count) | ||
276 | { | ||
277 | return new List<ContactResult>(); | ||
278 | } | ||
279 | |||
266 | } | 280 | } |
267 | } | 281 | } |
diff --git a/OpenSim/Region/Physics/Manager/VehicleConstants.cs b/OpenSim/Region/Physics/Manager/VehicleConstants.cs index f0775c1..8e24b4c 100644 --- a/OpenSim/Region/Physics/Manager/VehicleConstants.cs +++ b/OpenSim/Region/Physics/Manager/VehicleConstants.cs | |||
@@ -26,6 +26,7 @@ | |||
26 | */ | 26 | */ |
27 | 27 | ||
28 | using System; | 28 | using System; |
29 | using OpenMetaverse; | ||
29 | 30 | ||
30 | namespace OpenSim.Region.Physics.Manager | 31 | namespace OpenSim.Region.Physics.Manager |
31 | { | 32 | { |
@@ -117,5 +118,47 @@ namespace OpenSim.Region.Physics.Manager | |||
117 | NO_DEFLECTION = 16392, | 118 | NO_DEFLECTION = 16392, |
118 | LOCK_ROTATION = 32784 | 119 | LOCK_ROTATION = 32784 |
119 | } | 120 | } |
120 | 121 | ||
122 | public struct VehicleData | ||
123 | { | ||
124 | public Vehicle m_type; | ||
125 | public VehicleFlag m_flags; | ||
126 | |||
127 | // Linear properties | ||
128 | public Vector3 m_linearMotorDirection; | ||
129 | public Vector3 m_linearFrictionTimescale; | ||
130 | public float m_linearMotorDecayTimescale; | ||
131 | public float m_linearMotorTimescale; | ||
132 | public Vector3 m_linearMotorOffset; | ||
133 | |||
134 | //Angular properties | ||
135 | public Vector3 m_angularMotorDirection; | ||
136 | public float m_angularMotorTimescale; | ||
137 | public float m_angularMotorDecayTimescale; | ||
138 | public Vector3 m_angularFrictionTimescale; | ||
139 | |||
140 | //Deflection properties | ||
141 | public float m_angularDeflectionEfficiency; | ||
142 | public float m_angularDeflectionTimescale; | ||
143 | public float m_linearDeflectionEfficiency; | ||
144 | public float m_linearDeflectionTimescale; | ||
145 | |||
146 | //Banking properties | ||
147 | public float m_bankingEfficiency; | ||
148 | public float m_bankingMix; | ||
149 | public float m_bankingTimescale; | ||
150 | |||
151 | //Hover and Buoyancy properties | ||
152 | public float m_VhoverHeight; | ||
153 | public float m_VhoverEfficiency; | ||
154 | public float m_VhoverTimescale; | ||
155 | public float m_VehicleBuoyancy; | ||
156 | |||
157 | //Attractor properties | ||
158 | public float m_verticalAttractionEfficiency; | ||
159 | public float m_verticalAttractionTimescale; | ||
160 | |||
161 | // Axis | ||
162 | public Quaternion m_referenceFrame; | ||
163 | } | ||
121 | } | 164 | } |
diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs index f781ff9..c715642 100644 --- a/OpenSim/Region/Physics/Meshing/Mesh.cs +++ b/OpenSim/Region/Physics/Meshing/Mesh.cs | |||
@@ -46,11 +46,36 @@ namespace OpenSim.Region.Physics.Meshing | |||
46 | IntPtr m_indicesPtr = IntPtr.Zero; | 46 | IntPtr m_indicesPtr = IntPtr.Zero; |
47 | int m_indexCount = 0; | 47 | int m_indexCount = 0; |
48 | public float[] m_normals; | 48 | public float[] m_normals; |
49 | Vector3 _centroid; | ||
50 | int _centroidDiv; | ||
51 | |||
52 | private class vertexcomp : IEqualityComparer<Vertex> | ||
53 | { | ||
54 | public bool Equals(Vertex v1, Vertex v2) | ||
55 | { | ||
56 | if (v1.X == v2.X && v1.Y == v2.Y && v1.Z == v2.Z) | ||
57 | return true; | ||
58 | else | ||
59 | return false; | ||
60 | } | ||
61 | public int GetHashCode(Vertex v) | ||
62 | { | ||
63 | int a = v.X.GetHashCode(); | ||
64 | int b = v.Y.GetHashCode(); | ||
65 | int c = v.Z.GetHashCode(); | ||
66 | return (a << 16) ^ (b << 8) ^ c; | ||
67 | } | ||
68 | |||
69 | } | ||
49 | 70 | ||
50 | public Mesh() | 71 | public Mesh() |
51 | { | 72 | { |
52 | m_vertices = new Dictionary<Vertex, int>(); | 73 | vertexcomp vcomp = new vertexcomp(); |
74 | |||
75 | m_vertices = new Dictionary<Vertex, int>(vcomp); | ||
53 | m_triangles = new List<Triangle>(); | 76 | m_triangles = new List<Triangle>(); |
77 | _centroid = Vector3.Zero; | ||
78 | _centroidDiv = 0; | ||
54 | } | 79 | } |
55 | 80 | ||
56 | public Mesh Clone() | 81 | public Mesh Clone() |
@@ -61,7 +86,8 @@ namespace OpenSim.Region.Physics.Meshing | |||
61 | { | 86 | { |
62 | result.Add(new Triangle(t.v1.Clone(), t.v2.Clone(), t.v3.Clone())); | 87 | result.Add(new Triangle(t.v1.Clone(), t.v2.Clone(), t.v3.Clone())); |
63 | } | 88 | } |
64 | 89 | result._centroid = _centroid; | |
90 | result._centroidDiv = _centroidDiv; | ||
65 | return result; | 91 | return result; |
66 | } | 92 | } |
67 | 93 | ||
@@ -71,15 +97,57 @@ namespace OpenSim.Region.Physics.Meshing | |||
71 | throw new NotSupportedException("Attempt to Add to a pinned Mesh"); | 97 | throw new NotSupportedException("Attempt to Add to a pinned Mesh"); |
72 | // If a vertex of the triangle is not yet in the vertices list, | 98 | // If a vertex of the triangle is not yet in the vertices list, |
73 | // add it and set its index to the current index count | 99 | // add it and set its index to the current index count |
100 | // vertex == seems broken | ||
101 | // skip colapsed triangles | ||
102 | if ((triangle.v1.X == triangle.v2.X && triangle.v1.Y == triangle.v2.Y && triangle.v1.Z == triangle.v2.Z) | ||
103 | || (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z) | ||
104 | || (triangle.v2.X == triangle.v3.X && triangle.v2.Y == triangle.v3.Y && triangle.v2.Z == triangle.v3.Z) | ||
105 | ) | ||
106 | { | ||
107 | return; | ||
108 | } | ||
109 | |||
110 | if (m_vertices.Count == 0) | ||
111 | { | ||
112 | _centroidDiv = 0; | ||
113 | _centroid = Vector3.Zero; | ||
114 | } | ||
115 | |||
74 | if (!m_vertices.ContainsKey(triangle.v1)) | 116 | if (!m_vertices.ContainsKey(triangle.v1)) |
117 | { | ||
75 | m_vertices[triangle.v1] = m_vertices.Count; | 118 | m_vertices[triangle.v1] = m_vertices.Count; |
119 | _centroid.X += triangle.v1.X; | ||
120 | _centroid.Y += triangle.v1.Y; | ||
121 | _centroid.Z += triangle.v1.Z; | ||
122 | _centroidDiv++; | ||
123 | } | ||
76 | if (!m_vertices.ContainsKey(triangle.v2)) | 124 | if (!m_vertices.ContainsKey(triangle.v2)) |
125 | { | ||
77 | m_vertices[triangle.v2] = m_vertices.Count; | 126 | m_vertices[triangle.v2] = m_vertices.Count; |
127 | _centroid.X += triangle.v2.X; | ||
128 | _centroid.Y += triangle.v2.Y; | ||
129 | _centroid.Z += triangle.v2.Z; | ||
130 | _centroidDiv++; | ||
131 | } | ||
78 | if (!m_vertices.ContainsKey(triangle.v3)) | 132 | if (!m_vertices.ContainsKey(triangle.v3)) |
133 | { | ||
79 | m_vertices[triangle.v3] = m_vertices.Count; | 134 | m_vertices[triangle.v3] = m_vertices.Count; |
135 | _centroid.X += triangle.v3.X; | ||
136 | _centroid.Y += triangle.v3.Y; | ||
137 | _centroid.Z += triangle.v3.Z; | ||
138 | _centroidDiv++; | ||
139 | } | ||
80 | m_triangles.Add(triangle); | 140 | m_triangles.Add(triangle); |
81 | } | 141 | } |
82 | 142 | ||
143 | public Vector3 GetCentroid() | ||
144 | { | ||
145 | if (_centroidDiv > 0) | ||
146 | return new Vector3(_centroid.X / _centroidDiv, _centroid.Y / _centroidDiv, _centroid.Z / _centroidDiv); | ||
147 | else | ||
148 | return Vector3.Zero; | ||
149 | } | ||
150 | |||
83 | public void CalcNormals() | 151 | public void CalcNormals() |
84 | { | 152 | { |
85 | int iTriangles = m_triangles.Count; | 153 | int iTriangles = m_triangles.Count; |
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 6f6ed7f..c4b245f 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs | |||
@@ -74,6 +74,8 @@ namespace OpenSim.Region.Physics.Meshing | |||
74 | #endif | 74 | #endif |
75 | 75 | ||
76 | private bool cacheSculptMaps = true; | 76 | private bool cacheSculptMaps = true; |
77 | private bool cacheSculptAlphaMaps = true; | ||
78 | |||
77 | private string decodedSculptMapPath = null; | 79 | private string decodedSculptMapPath = null; |
78 | private bool useMeshiesPhysicsMesh = false; | 80 | private bool useMeshiesPhysicsMesh = false; |
79 | 81 | ||
@@ -87,7 +89,16 @@ namespace OpenSim.Region.Physics.Meshing | |||
87 | IConfig mesh_config = config.Configs["Mesh"]; | 89 | IConfig mesh_config = config.Configs["Mesh"]; |
88 | 90 | ||
89 | decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache"); | 91 | decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache"); |
92 | |||
90 | cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps); | 93 | cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps); |
94 | |||
95 | if (Environment.OSVersion.Platform == PlatformID.Unix) | ||
96 | { | ||
97 | cacheSculptAlphaMaps = false; | ||
98 | } | ||
99 | else | ||
100 | cacheSculptAlphaMaps = cacheSculptMaps; | ||
101 | |||
91 | if(mesh_config != null) | 102 | if(mesh_config != null) |
92 | useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); | 103 | useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); |
93 | 104 | ||
@@ -268,15 +279,18 @@ namespace OpenSim.Region.Physics.Meshing | |||
268 | { | 279 | { |
269 | if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces)) | 280 | if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces)) |
270 | return null; | 281 | return null; |
282 | // Remove the reference to any JPEG2000 sculpt data so it can be GCed | ||
283 | // don't loose it | ||
284 | // primShape.SculptData = Utils.EmptyBytes; | ||
271 | } | 285 | } |
286 | // primShape.SculptDataLoaded = true; | ||
272 | } | 287 | } |
273 | else | 288 | else |
274 | { | 289 | { |
275 | if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces)) | 290 | if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces)) |
276 | return null; | 291 | return null; |
277 | } | 292 | } |
278 | 293 | // keep compatible | |
279 | // Remove the reference to any JPEG2000 sculpt data so it can be GCed | ||
280 | primShape.SculptData = Utils.EmptyBytes; | 294 | primShape.SculptData = Utils.EmptyBytes; |
281 | 295 | ||
282 | int numCoords = coords.Count; | 296 | int numCoords = coords.Count; |
@@ -482,7 +496,8 @@ namespace OpenSim.Region.Physics.Meshing | |||
482 | 496 | ||
483 | //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData); | 497 | //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData); |
484 | 498 | ||
485 | if (cacheSculptMaps) | 499 | if (cacheSculptMaps && (cacheSculptAlphaMaps || (((ImageFlags)(idata.Flags) & ImageFlags.HasAlpha) ==0))) |
500 | // don't cache images with alpha channel in linux since mono can't load them correctly) | ||
486 | { | 501 | { |
487 | try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); } | 502 | try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); } |
488 | catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); } | 503 | catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); } |
diff --git a/OpenSim/Region/Physics/Meshing/SculptMap.cs b/OpenSim/Region/Physics/Meshing/SculptMap.cs index 740424e..b3d9cb6 100644 --- a/OpenSim/Region/Physics/Meshing/SculptMap.cs +++ b/OpenSim/Region/Physics/Meshing/SculptMap.cs | |||
@@ -58,28 +58,24 @@ namespace PrimMesher | |||
58 | if (bmW == 0 || bmH == 0) | 58 | if (bmW == 0 || bmH == 0) |
59 | throw new Exception("SculptMap: bitmap has no data"); | 59 | throw new Exception("SculptMap: bitmap has no data"); |
60 | 60 | ||
61 | int numLodPixels = lod * 2 * lod * 2; // (32 * 2)^2 = 64^2 pixels for default sculpt map image | 61 | int numLodPixels = lod * lod; // (32 * 2)^2 = 64^2 pixels for default sculpt map image |
62 | 62 | ||
63 | bool smallMap = bmW * bmH <= numLodPixels; | ||
63 | bool needsScaling = false; | 64 | bool needsScaling = false; |
64 | 65 | ||
65 | bool smallMap = bmW * bmH <= lod * lod; | ||
66 | |||
67 | width = bmW; | 66 | width = bmW; |
68 | height = bmH; | 67 | height = bmH; |
69 | while (width * height > numLodPixels) | 68 | while (width * height > numLodPixels * 4) |
70 | { | 69 | { |
71 | width >>= 1; | 70 | width >>= 1; |
72 | height >>= 1; | 71 | height >>= 1; |
73 | needsScaling = true; | 72 | needsScaling = true; |
74 | } | 73 | } |
75 | 74 | ||
76 | |||
77 | |||
78 | try | 75 | try |
79 | { | 76 | { |
80 | if (needsScaling) | 77 | if (needsScaling) |
81 | bm = ScaleImage(bm, width, height, | 78 | bm = ScaleImage(bm, width, height); |
82 | System.Drawing.Drawing2D.InterpolationMode.NearestNeighbor); | ||
83 | } | 79 | } |
84 | 80 | ||
85 | catch (Exception e) | 81 | catch (Exception e) |
@@ -87,7 +83,7 @@ namespace PrimMesher | |||
87 | throw new Exception("Exception in ScaleImage(): e: " + e.ToString()); | 83 | throw new Exception("Exception in ScaleImage(): e: " + e.ToString()); |
88 | } | 84 | } |
89 | 85 | ||
90 | if (width * height > lod * lod) | 86 | if (width * height > numLodPixels) |
91 | { | 87 | { |
92 | width >>= 1; | 88 | width >>= 1; |
93 | height >>= 1; | 89 | height >>= 1; |
@@ -144,15 +140,17 @@ namespace PrimMesher | |||
144 | int rowNdx, colNdx; | 140 | int rowNdx, colNdx; |
145 | int smNdx = 0; | 141 | int smNdx = 0; |
146 | 142 | ||
143 | |||
147 | for (rowNdx = 0; rowNdx < numRows; rowNdx++) | 144 | for (rowNdx = 0; rowNdx < numRows; rowNdx++) |
148 | { | 145 | { |
149 | List<Coord> row = new List<Coord>(numCols); | 146 | List<Coord> row = new List<Coord>(numCols); |
150 | for (colNdx = 0; colNdx < numCols; colNdx++) | 147 | for (colNdx = 0; colNdx < numCols; colNdx++) |
151 | { | 148 | { |
149 | |||
152 | if (mirror) | 150 | if (mirror) |
153 | row.Add(new Coord(-(redBytes[smNdx] * pixScale - 0.5f), (greenBytes[smNdx] * pixScale - 0.5f), blueBytes[smNdx] * pixScale - 0.5f)); | 151 | row.Add(new Coord(-((float)redBytes[smNdx] * pixScale - 0.5f), ((float)greenBytes[smNdx] * pixScale - 0.5f), (float)blueBytes[smNdx] * pixScale - 0.5f)); |
154 | else | 152 | else |
155 | row.Add(new Coord(redBytes[smNdx] * pixScale - 0.5f, greenBytes[smNdx] * pixScale - 0.5f, blueBytes[smNdx] * pixScale - 0.5f)); | 153 | row.Add(new Coord((float)redBytes[smNdx] * pixScale - 0.5f, (float)greenBytes[smNdx] * pixScale - 0.5f, (float)blueBytes[smNdx] * pixScale - 0.5f)); |
156 | 154 | ||
157 | ++smNdx; | 155 | ++smNdx; |
158 | } | 156 | } |
@@ -161,23 +159,39 @@ namespace PrimMesher | |||
161 | return rows; | 159 | return rows; |
162 | } | 160 | } |
163 | 161 | ||
164 | private Bitmap ScaleImage(Bitmap srcImage, int destWidth, int destHeight, | 162 | private Bitmap ScaleImage(Bitmap srcImage, int destWidth, int destHeight) |
165 | System.Drawing.Drawing2D.InterpolationMode interpMode) | ||
166 | { | 163 | { |
167 | Bitmap scaledImage = new Bitmap(srcImage, destWidth, destHeight); | ||
168 | scaledImage.SetResolution(96.0f, 96.0f); | ||
169 | |||
170 | Graphics grPhoto = Graphics.FromImage(scaledImage); | ||
171 | grPhoto.InterpolationMode = interpMode; | ||
172 | 164 | ||
173 | grPhoto.DrawImage(srcImage, | 165 | Bitmap scaledImage = new Bitmap(destWidth, destHeight, PixelFormat.Format24bppRgb); |
174 | new Rectangle(0, 0, destWidth, destHeight), | 166 | |
175 | new Rectangle(0, 0, srcImage.Width, srcImage.Height), | 167 | Color c; |
176 | GraphicsUnit.Pixel); | 168 | float xscale = srcImage.Width / destWidth; |
169 | float yscale = srcImage.Height / destHeight; | ||
170 | |||
171 | float sy = 0.5f; | ||
172 | for (int y = 0; y < destHeight; y++) | ||
173 | { | ||
174 | float sx = 0.5f; | ||
175 | for (int x = 0; x < destWidth; x++) | ||
176 | { | ||
177 | try | ||
178 | { | ||
179 | c = srcImage.GetPixel((int)(sx), (int)(sy)); | ||
180 | scaledImage.SetPixel(x, y, Color.FromArgb(c.R, c.G, c.B)); | ||
181 | } | ||
182 | catch (IndexOutOfRangeException) | ||
183 | { | ||
184 | } | ||
177 | 185 | ||
178 | grPhoto.Dispose(); | 186 | sx += xscale; |
187 | } | ||
188 | sy += yscale; | ||
189 | } | ||
190 | srcImage.Dispose(); | ||
179 | return scaledImage; | 191 | return scaledImage; |
180 | } | 192 | } |
193 | |||
194 | } | ||
195 | |||
181 | } | 196 | } |
182 | } | ||
183 | #endif | 197 | #endif |
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs new file mode 100644 index 0000000..d46341b --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs | |||
@@ -0,0 +1,58 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | using System.Reflection; | ||
29 | using System.Runtime.InteropServices; | ||
30 | |||
31 | // Information about this assembly is defined by the following | ||
32 | // attributes. | ||
33 | // | ||
34 | // change them to the information which is associated with the assembly | ||
35 | // you compile. | ||
36 | |||
37 | [assembly : AssemblyTitle("OdePlugin")] | ||
38 | [assembly : AssemblyDescription("Ubit Variation")] | ||
39 | [assembly : AssemblyConfiguration("")] | ||
40 | [assembly : AssemblyCompany("http://opensimulator.org")] | ||
41 | [assembly : AssemblyProduct("OdePlugin")] | ||
42 | [assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")] | ||
43 | [assembly : AssemblyTrademark("")] | ||
44 | [assembly : AssemblyCulture("")] | ||
45 | |||
46 | // This sets the default COM visibility of types in the assembly to invisible. | ||
47 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. | ||
48 | |||
49 | [assembly : ComVisible(false)] | ||
50 | |||
51 | // The assembly version has following format : | ||
52 | // | ||
53 | // Major.Minor.Build.Revision | ||
54 | // | ||
55 | // You can specify all values by your own or you can build default build and revision | ||
56 | // numbers with the '*' character (the default): | ||
57 | |||
58 | [assembly : AssemblyVersion("0.6.5.*")] | ||
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs new file mode 100644 index 0000000..793e281 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | |||
@@ -0,0 +1,1451 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | |||
29 | // Revision by Ubit 2011/12 | ||
30 | |||
31 | using System; | ||
32 | using System.Collections.Generic; | ||
33 | using System.Reflection; | ||
34 | using OpenMetaverse; | ||
35 | using OdeAPI; | ||
36 | using OpenSim.Framework; | ||
37 | using OpenSim.Region.Physics.Manager; | ||
38 | using log4net; | ||
39 | |||
40 | namespace OpenSim.Region.Physics.OdePlugin | ||
41 | { | ||
42 | /// <summary> | ||
43 | /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. | ||
44 | /// </summary> | ||
45 | |||
46 | public enum dParam : int | ||
47 | { | ||
48 | LowStop = 0, | ||
49 | HiStop = 1, | ||
50 | Vel = 2, | ||
51 | FMax = 3, | ||
52 | FudgeFactor = 4, | ||
53 | Bounce = 5, | ||
54 | CFM = 6, | ||
55 | StopERP = 7, | ||
56 | StopCFM = 8, | ||
57 | LoStop2 = 256, | ||
58 | HiStop2 = 257, | ||
59 | Vel2 = 258, | ||
60 | FMax2 = 259, | ||
61 | StopERP2 = 7 + 256, | ||
62 | StopCFM2 = 8 + 256, | ||
63 | LoStop3 = 512, | ||
64 | HiStop3 = 513, | ||
65 | Vel3 = 514, | ||
66 | FMax3 = 515, | ||
67 | StopERP3 = 7 + 512, | ||
68 | StopCFM3 = 8 + 512 | ||
69 | } | ||
70 | |||
71 | public class OdeCharacter : PhysicsActor | ||
72 | { | ||
73 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
74 | |||
75 | private Vector3 _position; | ||
76 | private Vector3 _zeroPosition; | ||
77 | private bool _zeroFlag = false; | ||
78 | private Vector3 _velocity; | ||
79 | private Vector3 _target_velocity; | ||
80 | private Vector3 _acceleration; | ||
81 | private Vector3 m_rotationalVelocity; | ||
82 | private float m_mass = 80f; | ||
83 | public float m_density = 60f; | ||
84 | private bool m_pidControllerActive = true; | ||
85 | public float PID_D = 800.0f; | ||
86 | public float PID_P = 900.0f; | ||
87 | //private static float POSTURE_SERVO = 10000.0f; | ||
88 | public float CAPSULE_RADIUS = 0.37f; | ||
89 | public float CAPSULE_LENGTH = 2.140599f; | ||
90 | public float walkDivisor = 1.3f; | ||
91 | public float runDivisor = 0.8f; | ||
92 | private bool flying = false; | ||
93 | private bool m_iscolliding = false; | ||
94 | private bool m_iscollidingGround = false; | ||
95 | private bool m_iscollidingObj = false; | ||
96 | private bool m_alwaysRun = false; | ||
97 | private int m_requestedUpdateFrequency = 0; | ||
98 | public uint m_localID = 0; | ||
99 | public bool m_returnCollisions = false; | ||
100 | // taints and their non-tainted counterparts | ||
101 | public bool m_isPhysical = false; // the current physical status | ||
102 | public float MinimumGroundFlightOffset = 3f; | ||
103 | |||
104 | private float m_buoyancy = 0f; | ||
105 | |||
106 | // private CollisionLocker ode; | ||
107 | |||
108 | private string m_name = String.Empty; | ||
109 | // other filter control | ||
110 | int m_colliderfilter = 0; | ||
111 | // int m_colliderGroundfilter = 0; | ||
112 | int m_colliderObjectfilter = 0; | ||
113 | |||
114 | // Default we're a Character | ||
115 | private CollisionCategories m_collisionCategories = (CollisionCategories.Character); | ||
116 | |||
117 | // Default, Collide with Other Geometries, spaces, bodies and characters. | ||
118 | private CollisionCategories m_collisionFlags = (CollisionCategories.Geom | ||
119 | | CollisionCategories.Space | ||
120 | | CollisionCategories.Body | ||
121 | | CollisionCategories.Character | ||
122 | ); | ||
123 | // we do land collisions not ode | CollisionCategories.Land); | ||
124 | public IntPtr Body = IntPtr.Zero; | ||
125 | private OdeScene _parent_scene; | ||
126 | public IntPtr Shell = IntPtr.Zero; | ||
127 | public IntPtr Amotor = IntPtr.Zero; | ||
128 | public d.Mass ShellMass; | ||
129 | // public bool collidelock = false; | ||
130 | |||
131 | private bool m_haseventsubscription = false; | ||
132 | public int m_eventsubscription = 0; | ||
133 | private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
134 | |||
135 | // unique UUID of this character object | ||
136 | public UUID m_uuid; | ||
137 | public bool bad = false; | ||
138 | |||
139 | public ContactData AvatarContactData = new ContactData(10f, 0.3f); | ||
140 | |||
141 | 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) | ||
142 | { | ||
143 | m_uuid = UUID.Random(); | ||
144 | |||
145 | if (pos.IsFinite()) | ||
146 | { | ||
147 | if (pos.Z > 99999f) | ||
148 | { | ||
149 | pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | ||
150 | } | ||
151 | if (pos.Z < -100f) // shouldn't this be 0 ? | ||
152 | { | ||
153 | pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; | ||
154 | } | ||
155 | _position = pos; | ||
156 | } | ||
157 | else | ||
158 | { | ||
159 | _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f); | ||
160 | m_log.Warn("[PHYSICS]: Got NaN Position on Character Create"); | ||
161 | } | ||
162 | |||
163 | _parent_scene = parent_scene; | ||
164 | |||
165 | PID_D = pid_d; | ||
166 | PID_P = pid_p; | ||
167 | CAPSULE_RADIUS = capsule_radius; | ||
168 | m_density = density; | ||
169 | m_mass = 80f; // sure we have a default | ||
170 | |||
171 | AvatarContactData.mu = parent_scene.AvatarFriction; | ||
172 | AvatarContactData.bounce = parent_scene.AvatarBounce; | ||
173 | |||
174 | walkDivisor = walk_divisor; | ||
175 | runDivisor = rundivisor; | ||
176 | |||
177 | CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f; | ||
178 | //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); | ||
179 | |||
180 | m_isPhysical = false; // current status: no ODE information exists | ||
181 | |||
182 | m_name = avName; | ||
183 | |||
184 | AddChange(changes.Add, null); | ||
185 | } | ||
186 | |||
187 | public override int PhysicsActorType | ||
188 | { | ||
189 | get { return (int)ActorTypes.Agent; } | ||
190 | set { return; } | ||
191 | } | ||
192 | |||
193 | public override ContactData ContactData | ||
194 | { | ||
195 | get { return AvatarContactData; } | ||
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 | } | ||
642 | |||
643 | |||
644 | // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access | ||
645 | // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only | ||
646 | // place that is safe to call this routine AvatarGeomAndBodyCreation. | ||
647 | private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) | ||
648 | { | ||
649 | _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace); | ||
650 | if (CAPSULE_LENGTH <= 0) | ||
651 | { | ||
652 | m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); | ||
653 | CAPSULE_LENGTH = 0.01f; | ||
654 | |||
655 | } | ||
656 | |||
657 | if (CAPSULE_RADIUS <= 0) | ||
658 | { | ||
659 | m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); | ||
660 | CAPSULE_RADIUS = 0.01f; | ||
661 | |||
662 | } | ||
663 | Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH); | ||
664 | |||
665 | d.GeomSetCategoryBits(Shell, (int)m_collisionCategories); | ||
666 | d.GeomSetCollideBits(Shell, (int)m_collisionFlags); | ||
667 | |||
668 | d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH); | ||
669 | |||
670 | m_mass = ShellMass.mass; // update mass | ||
671 | |||
672 | // rescale PID parameters | ||
673 | PID_D = _parent_scene.avPIDD; | ||
674 | PID_P = _parent_scene.avPIDP; | ||
675 | |||
676 | // rescale PID parameters so that this aren't affected by mass | ||
677 | // and so don't get unstable for some masses | ||
678 | // also scale by ode time step so you don't need to refix them | ||
679 | |||
680 | PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps | ||
681 | PID_D *= m_mass / _parent_scene.ODE_STEPSIZE; | ||
682 | PID_P /= 50 * 80; | ||
683 | PID_P *= m_mass / _parent_scene.ODE_STEPSIZE; | ||
684 | |||
685 | Body = d.BodyCreate(_parent_scene.world); | ||
686 | |||
687 | d.BodySetAutoDisableFlag(Body, false); | ||
688 | d.BodySetPosition(Body, npositionX, npositionY, npositionZ); | ||
689 | |||
690 | _position.X = npositionX; | ||
691 | _position.Y = npositionY; | ||
692 | _position.Z = npositionZ; | ||
693 | |||
694 | d.BodySetMass(Body, ref ShellMass); | ||
695 | d.GeomSetBody(Shell, Body); | ||
696 | |||
697 | // The purpose of the AMotor here is to keep the avatar's physical | ||
698 | // surrogate from rotating while moving | ||
699 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | ||
700 | d.JointAttach(Amotor, Body, IntPtr.Zero); | ||
701 | |||
702 | d.JointSetAMotorMode(Amotor, 0); | ||
703 | d.JointSetAMotorNumAxes(Amotor, 3); | ||
704 | d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0); | ||
705 | d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0); | ||
706 | d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1); | ||
707 | |||
708 | d.JointSetAMotorAngle(Amotor, 0, 0); | ||
709 | d.JointSetAMotorAngle(Amotor, 1, 0); | ||
710 | d.JointSetAMotorAngle(Amotor, 2, 0); | ||
711 | |||
712 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD | ||
713 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f); | ||
714 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f); | ||
715 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f); | ||
716 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f); | ||
717 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f); | ||
718 | |||
719 | // These lowstops and high stops are effectively (no wiggle room) | ||
720 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f); | ||
721 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f); | ||
722 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f); | ||
723 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f); | ||
724 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f); | ||
725 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f); | ||
726 | |||
727 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | ||
728 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0); | ||
729 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0); | ||
730 | |||
731 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f); | ||
732 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f); | ||
733 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f); | ||
734 | } | ||
735 | |||
736 | /// <summary> | ||
737 | /// Destroys the avatar body and geom | ||
738 | |||
739 | private void AvatarGeomAndBodyDestroy() | ||
740 | { | ||
741 | // Kill the Amotor | ||
742 | if (Amotor != IntPtr.Zero) | ||
743 | { | ||
744 | d.JointDestroy(Amotor); | ||
745 | Amotor = IntPtr.Zero; | ||
746 | } | ||
747 | |||
748 | if (Body != IntPtr.Zero) | ||
749 | { | ||
750 | //kill the body | ||
751 | d.BodyDestroy(Body); | ||
752 | Body = IntPtr.Zero; | ||
753 | } | ||
754 | |||
755 | //kill the Geometry | ||
756 | if (Shell != IntPtr.Zero) | ||
757 | { | ||
758 | _parent_scene.geom_name_map.Remove(Shell); | ||
759 | _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace); | ||
760 | d.GeomDestroy(Shell); | ||
761 | _parent_scene.geom_name_map.Remove(Shell); | ||
762 | Shell = IntPtr.Zero; | ||
763 | } | ||
764 | } | ||
765 | |||
766 | /// <summary> | ||
767 | /// Called from Simulate | ||
768 | /// This is the avatar's movement control + PID Controller | ||
769 | /// </summary> | ||
770 | /// <param name="timeStep"></param> | ||
771 | public void Move(float timeStep, List<OdeCharacter> defects) | ||
772 | { | ||
773 | // no lock; for now it's only called from within Simulate() | ||
774 | |||
775 | // If the PID Controller isn't active then we set our force | ||
776 | // calculating base velocity to the current position | ||
777 | |||
778 | if (Body == IntPtr.Zero) | ||
779 | return; | ||
780 | |||
781 | d.Vector3 dtmp; | ||
782 | d.BodyCopyPosition(Body, out dtmp); | ||
783 | Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
784 | |||
785 | // the Amotor still lets avatar rotation to drift during colisions | ||
786 | // so force it back to identity | ||
787 | |||
788 | d.Quaternion qtmp; | ||
789 | qtmp.W = 1; | ||
790 | qtmp.X = 0; | ||
791 | qtmp.Y = 0; | ||
792 | qtmp.Z = 0; | ||
793 | d.BodySetQuaternion(Body, ref qtmp); | ||
794 | |||
795 | if (m_pidControllerActive == false) | ||
796 | { | ||
797 | _zeroPosition = localpos; | ||
798 | } | ||
799 | //PidStatus = true; | ||
800 | |||
801 | |||
802 | if (!localpos.IsFinite()) | ||
803 | { | ||
804 | |||
805 | m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); | ||
806 | defects.Add(this); | ||
807 | // _parent_scene.RemoveCharacter(this); | ||
808 | |||
809 | // destroy avatar capsule and related ODE data | ||
810 | AvatarGeomAndBodyDestroy(); | ||
811 | |||
812 | return; | ||
813 | } | ||
814 | |||
815 | Vector3 vec = Vector3.Zero; | ||
816 | dtmp = d.BodyGetLinearVel(Body); | ||
817 | Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
818 | |||
819 | float movementdivisor = 1f; | ||
820 | //Ubit change divisions into multiplications below | ||
821 | if (!m_alwaysRun) | ||
822 | { | ||
823 | movementdivisor = 1 / walkDivisor; | ||
824 | } | ||
825 | else | ||
826 | { | ||
827 | movementdivisor = 1 / runDivisor; | ||
828 | } | ||
829 | |||
830 | // colide with land | ||
831 | |||
832 | d.AABB aabb; | ||
833 | d.GeomGetAABB(Shell, out aabb); | ||
834 | float chrminZ = aabb.MinZ; | ||
835 | |||
836 | Vector3 posch = localpos; | ||
837 | |||
838 | float ftmp; | ||
839 | |||
840 | if (flying) | ||
841 | { | ||
842 | ftmp = timeStep; | ||
843 | posch.X += vel.X * ftmp; | ||
844 | posch.Y += vel.Y * ftmp; | ||
845 | } | ||
846 | |||
847 | float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); | ||
848 | if (chrminZ < terrainheight) | ||
849 | { | ||
850 | float depth = terrainheight - chrminZ; | ||
851 | if (!flying) | ||
852 | { | ||
853 | vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50; | ||
854 | } | ||
855 | else | ||
856 | vec.Z = depth * PID_P * 50; | ||
857 | |||
858 | /* | ||
859 | Vector3 vtmp; | ||
860 | vtmp.X = _target_velocity.X * timeStep; | ||
861 | vtmp.Y = _target_velocity.Y * timeStep; | ||
862 | // fake and avoid squares | ||
863 | float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y)); | ||
864 | if (k > 0) | ||
865 | { | ||
866 | posch.X += vtmp.X; | ||
867 | posch.Y += vtmp.Y; | ||
868 | terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); | ||
869 | k = 1 + Math.Abs(terrainheight) / k; | ||
870 | movementdivisor /= k; | ||
871 | |||
872 | if (k < 1) | ||
873 | k = 1; | ||
874 | } | ||
875 | */ | ||
876 | |||
877 | |||
878 | if (depth < 0.1f) | ||
879 | { | ||
880 | m_iscolliding = true; | ||
881 | m_colliderfilter = 2; | ||
882 | m_iscollidingGround = true; | ||
883 | |||
884 | ContactPoint contact = new ContactPoint(); | ||
885 | contact.PenetrationDepth = depth; | ||
886 | contact.Position.X = localpos.X; | ||
887 | contact.Position.Y = localpos.Y; | ||
888 | contact.Position.Z = chrminZ; | ||
889 | contact.SurfaceNormal.X = 0f; | ||
890 | contact.SurfaceNormal.Y = 0f; | ||
891 | contact.SurfaceNormal.Z = -1f; | ||
892 | AddCollisionEvent(0, contact); | ||
893 | |||
894 | vec.Z *= 0.5f; | ||
895 | } | ||
896 | |||
897 | else | ||
898 | m_iscollidingGround = false; | ||
899 | } | ||
900 | else | ||
901 | m_iscollidingGround = false; | ||
902 | |||
903 | |||
904 | // if velocity is zero, use position control; otherwise, velocity control | ||
905 | if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f | ||
906 | && m_iscolliding) | ||
907 | { | ||
908 | // keep track of where we stopped. No more slippin' & slidin' | ||
909 | if (!_zeroFlag) | ||
910 | { | ||
911 | _zeroFlag = true; | ||
912 | _zeroPosition = localpos; | ||
913 | } | ||
914 | if (m_pidControllerActive) | ||
915 | { | ||
916 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | ||
917 | // react to the physics scene by moving it's position. | ||
918 | // Avatar to Avatar collisions | ||
919 | // Prim to avatar collisions | ||
920 | |||
921 | vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2); | ||
922 | vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2); | ||
923 | if (flying) | ||
924 | { | ||
925 | vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; | ||
926 | } | ||
927 | } | ||
928 | //PidStatus = true; | ||
929 | } | ||
930 | else | ||
931 | { | ||
932 | m_pidControllerActive = true; | ||
933 | _zeroFlag = false; | ||
934 | |||
935 | if (m_iscolliding) | ||
936 | { | ||
937 | if (!flying) | ||
938 | { | ||
939 | if (_target_velocity.Z > 0.0f) | ||
940 | { | ||
941 | // We're colliding with something and we're not flying but we're moving | ||
942 | // This means we're walking or running. JUMPING | ||
943 | vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P; | ||
944 | } | ||
945 | // We're standing on something | ||
946 | vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D); | ||
947 | vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D); | ||
948 | } | ||
949 | else | ||
950 | { | ||
951 | // We're flying and colliding with something | ||
952 | vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f); | ||
953 | vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f); | ||
954 | vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); | ||
955 | } | ||
956 | } | ||
957 | else // ie not colliding | ||
958 | { | ||
959 | if (flying) //(!m_iscolliding && flying) | ||
960 | { | ||
961 | // we're in mid air suspended | ||
962 | vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f); | ||
963 | vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f); | ||
964 | vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); | ||
965 | } | ||
966 | |||
967 | else | ||
968 | { | ||
969 | // we're not colliding and we're not flying so that means we're falling! | ||
970 | // m_iscolliding includes collisions with the ground. | ||
971 | |||
972 | // d.Vector3 pos = d.BodyGetPosition(Body); | ||
973 | vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f; | ||
974 | vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f; | ||
975 | } | ||
976 | } | ||
977 | } | ||
978 | |||
979 | if (flying) | ||
980 | { | ||
981 | vec.Z -= _parent_scene.gravityz * m_mass; | ||
982 | |||
983 | //Added for auto fly height. Kitto Flora | ||
984 | float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset; | ||
985 | |||
986 | if (localpos.Z < target_altitude) | ||
987 | { | ||
988 | vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f; | ||
989 | } | ||
990 | // end add Kitto Flora | ||
991 | } | ||
992 | |||
993 | if (vec.IsFinite()) | ||
994 | { | ||
995 | if (vec.X != 0 || vec.Y !=0 || vec.Z !=0) | ||
996 | d.BodyAddForce(Body, vec.X, vec.Y, vec.Z); | ||
997 | } | ||
998 | else | ||
999 | { | ||
1000 | m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()"); | ||
1001 | m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); | ||
1002 | defects.Add(this); | ||
1003 | // _parent_scene.RemoveCharacter(this); | ||
1004 | // destroy avatar capsule and related ODE data | ||
1005 | AvatarGeomAndBodyDestroy(); | ||
1006 | } | ||
1007 | } | ||
1008 | |||
1009 | /// <summary> | ||
1010 | /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. | ||
1011 | /// </summary> | ||
1012 | public void UpdatePositionAndVelocity() | ||
1013 | { | ||
1014 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! | ||
1015 | if (Body == IntPtr.Zero) | ||
1016 | return; | ||
1017 | |||
1018 | d.Vector3 vec; | ||
1019 | try | ||
1020 | { | ||
1021 | d.BodyCopyPosition(Body, out vec); | ||
1022 | } | ||
1023 | catch (NullReferenceException) | ||
1024 | { | ||
1025 | bad = true; | ||
1026 | _parent_scene.BadCharacter(this); | ||
1027 | vec = new d.Vector3(_position.X, _position.Y, _position.Z); | ||
1028 | base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! | ||
1029 | m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid); | ||
1030 | } | ||
1031 | |||
1032 | _position.X = vec.X; | ||
1033 | _position.Y = vec.Y; | ||
1034 | _position.Z = vec.Z; | ||
1035 | |||
1036 | bool fixbody = false; | ||
1037 | |||
1038 | if (_position.X < 0.0f) | ||
1039 | { | ||
1040 | fixbody = true; | ||
1041 | _position.X = 0.1f; | ||
1042 | } | ||
1043 | else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f) | ||
1044 | { | ||
1045 | fixbody = true; | ||
1046 | _position.X = (int)_parent_scene.WorldExtents.X - 0.1f; | ||
1047 | } | ||
1048 | |||
1049 | if (_position.Y < 0.0f) | ||
1050 | { | ||
1051 | fixbody = true; | ||
1052 | _position.Y = 0.1f; | ||
1053 | } | ||
1054 | else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1) | ||
1055 | { | ||
1056 | fixbody = true; | ||
1057 | _position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f; | ||
1058 | } | ||
1059 | |||
1060 | if (fixbody) | ||
1061 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); | ||
1062 | |||
1063 | // Did we move last? = zeroflag | ||
1064 | // This helps keep us from sliding all over | ||
1065 | /* | ||
1066 | if (_zeroFlag) | ||
1067 | { | ||
1068 | _velocity.X = 0.0f; | ||
1069 | _velocity.Y = 0.0f; | ||
1070 | _velocity.Z = 0.0f; | ||
1071 | |||
1072 | // Did we send out the 'stopped' message? | ||
1073 | if (!m_lastUpdateSent) | ||
1074 | { | ||
1075 | m_lastUpdateSent = true; | ||
1076 | base.RequestPhysicsterseUpdate(); | ||
1077 | } | ||
1078 | } | ||
1079 | else | ||
1080 | { | ||
1081 | m_lastUpdateSent = false; | ||
1082 | */ | ||
1083 | try | ||
1084 | { | ||
1085 | vec = d.BodyGetLinearVel(Body); | ||
1086 | } | ||
1087 | catch (NullReferenceException) | ||
1088 | { | ||
1089 | vec.X = _velocity.X; | ||
1090 | vec.Y = _velocity.Y; | ||
1091 | vec.Z = _velocity.Z; | ||
1092 | } | ||
1093 | _velocity.X = (vec.X); | ||
1094 | _velocity.Y = (vec.Y); | ||
1095 | _velocity.Z = (vec.Z); | ||
1096 | // } | ||
1097 | } | ||
1098 | |||
1099 | /// <summary> | ||
1100 | /// Cleanup the things we use in the scene. | ||
1101 | /// </summary> | ||
1102 | public void Destroy() | ||
1103 | { | ||
1104 | AddChange(changes.Remove, null); | ||
1105 | } | ||
1106 | |||
1107 | public override void CrossingFailure() | ||
1108 | { | ||
1109 | } | ||
1110 | |||
1111 | public override Vector3 PIDTarget { set { return; } } | ||
1112 | public override bool PIDActive { set { return; } } | ||
1113 | public override float PIDTau { set { return; } } | ||
1114 | |||
1115 | public override float PIDHoverHeight { set { return; } } | ||
1116 | public override bool PIDHoverActive { set { return; } } | ||
1117 | public override PIDHoverType PIDHoverType { set { return; } } | ||
1118 | public override float PIDHoverTau { set { return; } } | ||
1119 | |||
1120 | public override Quaternion APIDTarget { set { return; } } | ||
1121 | |||
1122 | public override bool APIDActive { set { return; } } | ||
1123 | |||
1124 | public override float APIDStrength { set { return; } } | ||
1125 | |||
1126 | public override float APIDDamping { set { return; } } | ||
1127 | |||
1128 | |||
1129 | public override void SubscribeEvents(int ms) | ||
1130 | { | ||
1131 | m_requestedUpdateFrequency = ms; | ||
1132 | m_eventsubscription = ms; | ||
1133 | _parent_scene.AddCollisionEventReporting(this); | ||
1134 | m_haseventsubscription = true; | ||
1135 | } | ||
1136 | |||
1137 | public override void UnSubscribeEvents() | ||
1138 | { | ||
1139 | m_haseventsubscription = false; | ||
1140 | _parent_scene.RemoveCollisionEventReporting(this); | ||
1141 | m_requestedUpdateFrequency = 0; | ||
1142 | m_eventsubscription = 0; | ||
1143 | } | ||
1144 | |||
1145 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
1146 | { | ||
1147 | if (m_haseventsubscription) | ||
1148 | { | ||
1149 | // m_log.DebugFormat( | ||
1150 | // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact); | ||
1151 | |||
1152 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | ||
1153 | } | ||
1154 | } | ||
1155 | |||
1156 | public void SendCollisions() | ||
1157 | { | ||
1158 | if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency) | ||
1159 | { | ||
1160 | if (CollisionEventsThisFrame != null) | ||
1161 | { | ||
1162 | base.SendCollisionUpdate(CollisionEventsThisFrame); | ||
1163 | } | ||
1164 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
1165 | m_eventsubscription = 0; | ||
1166 | } | ||
1167 | } | ||
1168 | |||
1169 | public override bool SubscribedEvents() | ||
1170 | { | ||
1171 | return m_haseventsubscription; | ||
1172 | } | ||
1173 | |||
1174 | private void changePhysicsStatus(bool NewStatus) | ||
1175 | { | ||
1176 | if (NewStatus != m_isPhysical) | ||
1177 | { | ||
1178 | if (NewStatus) | ||
1179 | { | ||
1180 | // Create avatar capsule and related ODE data | ||
1181 | if ((Shell != IntPtr.Zero)) | ||
1182 | { | ||
1183 | // a lost shell ? | ||
1184 | m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - " | ||
1185 | + (Shell != IntPtr.Zero ? "Shell " : "") | ||
1186 | + (Body != IntPtr.Zero ? "Body " : "") | ||
1187 | + (Amotor != IntPtr.Zero ? "Amotor " : "")); | ||
1188 | AvatarGeomAndBodyDestroy(); | ||
1189 | } | ||
1190 | |||
1191 | AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); | ||
1192 | _parent_scene.geom_name_map[Shell] = m_name; | ||
1193 | _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; | ||
1194 | _parent_scene.AddCharacter(this); | ||
1195 | } | ||
1196 | else | ||
1197 | { | ||
1198 | _parent_scene.RemoveCharacter(this); | ||
1199 | // destroy avatar capsule and related ODE data | ||
1200 | AvatarGeomAndBodyDestroy(); | ||
1201 | } | ||
1202 | |||
1203 | m_isPhysical = NewStatus; | ||
1204 | } | ||
1205 | } | ||
1206 | |||
1207 | private void changeAdd() | ||
1208 | { | ||
1209 | changePhysicsStatus(true); | ||
1210 | } | ||
1211 | |||
1212 | private void changeRemove() | ||
1213 | { | ||
1214 | changePhysicsStatus(false); | ||
1215 | } | ||
1216 | |||
1217 | private void changeShape(PrimitiveBaseShape arg) | ||
1218 | { | ||
1219 | } | ||
1220 | |||
1221 | private void changeSize(Vector3 Size) | ||
1222 | { | ||
1223 | if (Size.IsFinite()) | ||
1224 | { | ||
1225 | float caplen = Size.Z; | ||
1226 | |||
1227 | caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f; | ||
1228 | |||
1229 | if (caplen != CAPSULE_LENGTH) | ||
1230 | { | ||
1231 | if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero) | ||
1232 | { | ||
1233 | AvatarGeomAndBodyDestroy(); | ||
1234 | |||
1235 | float prevCapsule = CAPSULE_LENGTH; | ||
1236 | CAPSULE_LENGTH = caplen; | ||
1237 | |||
1238 | AvatarGeomAndBodyCreation(_position.X, _position.Y, | ||
1239 | _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2)); | ||
1240 | |||
1241 | Velocity = Vector3.Zero; | ||
1242 | |||
1243 | _parent_scene.geom_name_map[Shell] = m_name; | ||
1244 | _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; | ||
1245 | } | ||
1246 | else | ||
1247 | { | ||
1248 | m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - " | ||
1249 | + (Shell == IntPtr.Zero ? "Shell " : "") | ||
1250 | + (Body == IntPtr.Zero ? "Body " : "") | ||
1251 | + (Amotor == IntPtr.Zero ? "Amotor " : "")); | ||
1252 | } | ||
1253 | } | ||
1254 | |||
1255 | m_pidControllerActive = true; | ||
1256 | } | ||
1257 | else | ||
1258 | { | ||
1259 | m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character"); | ||
1260 | } | ||
1261 | } | ||
1262 | |||
1263 | private void changePosition( Vector3 newPos) | ||
1264 | { | ||
1265 | if (Body != IntPtr.Zero) | ||
1266 | d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z); | ||
1267 | _position = newPos; | ||
1268 | } | ||
1269 | |||
1270 | private void changeOrientation(Quaternion newOri) | ||
1271 | { | ||
1272 | } | ||
1273 | |||
1274 | private void changeVelocity(Vector3 newVel) | ||
1275 | { | ||
1276 | m_pidControllerActive = true; | ||
1277 | _target_velocity = newVel; | ||
1278 | } | ||
1279 | |||
1280 | private void changeSetTorque(Vector3 newTorque) | ||
1281 | { | ||
1282 | } | ||
1283 | |||
1284 | private void changeAddForce(Vector3 newForce) | ||
1285 | { | ||
1286 | } | ||
1287 | |||
1288 | private void changeAddAngularForce(Vector3 arg) | ||
1289 | { | ||
1290 | } | ||
1291 | |||
1292 | private void changeAngularLock(Vector3 arg) | ||
1293 | { | ||
1294 | } | ||
1295 | |||
1296 | private void changeFloatOnWater(bool arg) | ||
1297 | { | ||
1298 | } | ||
1299 | |||
1300 | private void changeVolumedetetion(bool arg) | ||
1301 | { | ||
1302 | } | ||
1303 | |||
1304 | private void changeSelectedStatus(bool arg) | ||
1305 | { | ||
1306 | } | ||
1307 | |||
1308 | private void changeDisable(bool arg) | ||
1309 | { | ||
1310 | } | ||
1311 | |||
1312 | private void changeBuilding(bool arg) | ||
1313 | { | ||
1314 | } | ||
1315 | |||
1316 | private void changeForce(Vector3 newForce) | ||
1317 | { | ||
1318 | m_pidControllerActive = false; | ||
1319 | if (Body != IntPtr.Zero) | ||
1320 | { | ||
1321 | if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0) | ||
1322 | d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z); | ||
1323 | } | ||
1324 | } | ||
1325 | |||
1326 | private void donullchange() | ||
1327 | { | ||
1328 | } | ||
1329 | |||
1330 | public bool DoAChange(changes what, object arg) | ||
1331 | { | ||
1332 | if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove) | ||
1333 | { | ||
1334 | return false; | ||
1335 | } | ||
1336 | |||
1337 | // nasty switch | ||
1338 | switch (what) | ||
1339 | { | ||
1340 | case changes.Add: | ||
1341 | changeAdd(); | ||
1342 | break; | ||
1343 | case changes.Remove: | ||
1344 | changeRemove(); | ||
1345 | break; | ||
1346 | |||
1347 | case changes.Position: | ||
1348 | changePosition((Vector3)arg); | ||
1349 | break; | ||
1350 | |||
1351 | case changes.Orientation: | ||
1352 | changeOrientation((Quaternion)arg); | ||
1353 | break; | ||
1354 | |||
1355 | case changes.PosOffset: | ||
1356 | donullchange(); | ||
1357 | break; | ||
1358 | |||
1359 | case changes.OriOffset: | ||
1360 | donullchange(); | ||
1361 | break; | ||
1362 | |||
1363 | case changes.Velocity: | ||
1364 | changeVelocity((Vector3)arg); | ||
1365 | break; | ||
1366 | |||
1367 | // case changes.Acceleration: | ||
1368 | // changeacceleration((Vector3)arg); | ||
1369 | // break; | ||
1370 | // case changes.AngVelocity: | ||
1371 | // changeangvelocity((Vector3)arg); | ||
1372 | // break; | ||
1373 | |||
1374 | case changes.Force: | ||
1375 | changeForce((Vector3)arg); | ||
1376 | break; | ||
1377 | |||
1378 | case changes.Torque: | ||
1379 | changeSetTorque((Vector3)arg); | ||
1380 | break; | ||
1381 | |||
1382 | case changes.AddForce: | ||
1383 | changeAddForce((Vector3)arg); | ||
1384 | break; | ||
1385 | |||
1386 | case changes.AddAngForce: | ||
1387 | changeAddAngularForce((Vector3)arg); | ||
1388 | break; | ||
1389 | |||
1390 | case changes.AngLock: | ||
1391 | changeAngularLock((Vector3)arg); | ||
1392 | break; | ||
1393 | |||
1394 | case changes.Size: | ||
1395 | changeSize((Vector3)arg); | ||
1396 | break; | ||
1397 | /* not in use for now | ||
1398 | case changes.Shape: | ||
1399 | changeShape((PrimitiveBaseShape)arg); | ||
1400 | break; | ||
1401 | |||
1402 | case changes.CollidesWater: | ||
1403 | changeFloatOnWater((bool)arg); | ||
1404 | break; | ||
1405 | |||
1406 | case changes.VolumeDtc: | ||
1407 | changeVolumedetetion((bool)arg); | ||
1408 | break; | ||
1409 | |||
1410 | case changes.Physical: | ||
1411 | changePhysicsStatus((bool)arg); | ||
1412 | break; | ||
1413 | |||
1414 | case changes.Selected: | ||
1415 | changeSelectedStatus((bool)arg); | ||
1416 | break; | ||
1417 | |||
1418 | case changes.disabled: | ||
1419 | changeDisable((bool)arg); | ||
1420 | break; | ||
1421 | |||
1422 | case changes.building: | ||
1423 | changeBuilding((bool)arg); | ||
1424 | break; | ||
1425 | */ | ||
1426 | case changes.Null: | ||
1427 | donullchange(); | ||
1428 | break; | ||
1429 | |||
1430 | default: | ||
1431 | donullchange(); | ||
1432 | break; | ||
1433 | } | ||
1434 | return false; | ||
1435 | } | ||
1436 | |||
1437 | public void AddChange(changes what, object arg) | ||
1438 | { | ||
1439 | _parent_scene.AddChange((PhysicsActor)this, what, arg); | ||
1440 | } | ||
1441 | |||
1442 | |||
1443 | internal void AddCollisionFrameTime(int p) | ||
1444 | { | ||
1445 | // protect it from overflow crashing | ||
1446 | if (m_eventsubscription + p >= int.MaxValue) | ||
1447 | m_eventsubscription = 0; | ||
1448 | m_eventsubscription += p; | ||
1449 | } | ||
1450 | } | ||
1451 | } | ||
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs new file mode 100644 index 0000000..80218e7 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs | |||
@@ -0,0 +1,849 @@ | |||
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 | // Ubit 2012 | ||
42 | |||
43 | using System; | ||
44 | using System.Collections.Generic; | ||
45 | using System.Reflection; | ||
46 | using System.Runtime.InteropServices; | ||
47 | using log4net; | ||
48 | using OpenMetaverse; | ||
49 | using OdeAPI; | ||
50 | using OpenSim.Framework; | ||
51 | using OpenSim.Region.Physics.Manager; | ||
52 | |||
53 | namespace OpenSim.Region.Physics.OdePlugin | ||
54 | { | ||
55 | public class ODEDynamics | ||
56 | { | ||
57 | public Vehicle Type | ||
58 | { | ||
59 | get { return m_type; } | ||
60 | } | ||
61 | |||
62 | private OdePrim rootPrim; | ||
63 | private OdeScene _pParentScene; | ||
64 | |||
65 | // Vehicle properties | ||
66 | private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | ||
67 | private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? | ||
68 | |||
69 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind | ||
70 | |||
71 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: | ||
72 | // HOVER_TERRAIN_ONLY | ||
73 | // HOVER_GLOBAL_HEIGHT | ||
74 | // NO_DEFLECTION_UP | ||
75 | // HOVER_WATER_ONLY | ||
76 | // HOVER_UP_ONLY | ||
77 | // LIMIT_MOTOR_UP | ||
78 | // LIMIT_ROLL_ONLY | ||
79 | private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl | ||
80 | |||
81 | // Linear properties | ||
82 | private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time | ||
83 | private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
84 | private float m_linearMotorDecayTimescale = 120; | ||
85 | private float m_linearMotorTimescale = 1000; | ||
86 | private Vector3 m_lastLinearVelocityVector = Vector3.Zero; | ||
87 | private Vector3 m_linearMotorOffset = Vector3.Zero; | ||
88 | |||
89 | //Angular properties | ||
90 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor | ||
91 | private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate | ||
92 | private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate | ||
93 | private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate | ||
94 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body | ||
95 | |||
96 | //Deflection properties | ||
97 | private float m_angularDeflectionEfficiency = 0; | ||
98 | private float m_angularDeflectionTimescale = 1000; | ||
99 | private float m_linearDeflectionEfficiency = 0; | ||
100 | private float m_linearDeflectionTimescale = 1000; | ||
101 | |||
102 | //Banking properties | ||
103 | private float m_bankingEfficiency = 0; | ||
104 | private float m_bankingMix = 0; | ||
105 | private float m_bankingTimescale = 0; | ||
106 | |||
107 | //Hover and Buoyancy properties | ||
108 | private float m_VhoverHeight = 0f; | ||
109 | private float m_VhoverEfficiency = 0f; | ||
110 | private float m_VhoverTimescale = 1000f; | ||
111 | private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. | ||
112 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) | ||
113 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. | ||
114 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. | ||
115 | |||
116 | //Attractor properties | ||
117 | private float m_verticalAttractionEfficiency = 1.0f; // damped | ||
118 | private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor. | ||
119 | |||
120 | // auxiliar | ||
121 | private Vector3 m_dir = Vector3.Zero; // velocity applied to body | ||
122 | |||
123 | private float m_lmEfect = 0; // current linear motor eficiency | ||
124 | private float m_amEfect = 0; // current angular motor eficiency | ||
125 | |||
126 | |||
127 | public ODEDynamics(OdePrim rootp) | ||
128 | { | ||
129 | rootPrim = rootp; | ||
130 | _pParentScene = rootPrim._parent_scene; | ||
131 | } | ||
132 | |||
133 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) | ||
134 | { | ||
135 | float len; | ||
136 | float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE; | ||
137 | float timestep = _pParentScene.ODE_STEPSIZE; | ||
138 | |||
139 | switch (pParam) | ||
140 | { | ||
141 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: | ||
142 | if (pValue < 0f) pValue = 0f; | ||
143 | if (pValue > 1f) pValue = 1f; | ||
144 | m_angularDeflectionEfficiency = pValue; | ||
145 | break; | ||
146 | case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: | ||
147 | if (pValue < timestep) pValue = timestep; | ||
148 | m_angularDeflectionTimescale = pValue; | ||
149 | break; | ||
150 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: | ||
151 | // if (pValue < timestep) pValue = timestep; | ||
152 | // try to make impulses to work a bit better | ||
153 | if (pValue < 0.5f) pValue = 0.5f; | ||
154 | else if (pValue > 120) pValue = 120; | ||
155 | m_angularMotorDecayTimescale = pValue * invtimestep; | ||
156 | break; | ||
157 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | ||
158 | if (pValue < timestep) pValue = timestep; | ||
159 | m_angularMotorTimescale = pValue; | ||
160 | break; | ||
161 | case Vehicle.BANKING_EFFICIENCY: | ||
162 | if (pValue < -1f) pValue = -1f; | ||
163 | if (pValue > 1f) pValue = 1f; | ||
164 | m_bankingEfficiency = pValue; | ||
165 | break; | ||
166 | case Vehicle.BANKING_MIX: | ||
167 | if (pValue < 0f) pValue = 0f; | ||
168 | if (pValue > 1f) pValue = 1f; | ||
169 | m_bankingMix = pValue; | ||
170 | break; | ||
171 | case Vehicle.BANKING_TIMESCALE: | ||
172 | if (pValue < timestep) pValue = timestep; | ||
173 | m_bankingTimescale = pValue; | ||
174 | break; | ||
175 | case Vehicle.BUOYANCY: | ||
176 | if (pValue < -1f) pValue = -1f; | ||
177 | if (pValue > 1f) pValue = 1f; | ||
178 | m_VehicleBuoyancy = pValue; | ||
179 | break; | ||
180 | case Vehicle.HOVER_EFFICIENCY: | ||
181 | if (pValue < 0f) pValue = 0f; | ||
182 | if (pValue > 1f) pValue = 1f; | ||
183 | m_VhoverEfficiency = pValue; | ||
184 | break; | ||
185 | case Vehicle.HOVER_HEIGHT: | ||
186 | m_VhoverHeight = pValue; | ||
187 | break; | ||
188 | case Vehicle.HOVER_TIMESCALE: | ||
189 | if (pValue < timestep) pValue = timestep; | ||
190 | m_VhoverTimescale = pValue; | ||
191 | break; | ||
192 | case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: | ||
193 | if (pValue < 0f) pValue = 0f; | ||
194 | if (pValue > 1f) pValue = 1f; | ||
195 | m_linearDeflectionEfficiency = pValue; | ||
196 | break; | ||
197 | case Vehicle.LINEAR_DEFLECTION_TIMESCALE: | ||
198 | if (pValue < timestep) pValue = timestep; | ||
199 | m_linearDeflectionTimescale = pValue; | ||
200 | break; | ||
201 | case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: | ||
202 | // if (pValue < timestep) pValue = timestep; | ||
203 | // try to make impulses to work a bit better | ||
204 | if (pValue < 0.5f) pValue = 0.5f; | ||
205 | else if (pValue > 120) pValue = 120; | ||
206 | m_linearMotorDecayTimescale = pValue * invtimestep; | ||
207 | break; | ||
208 | case Vehicle.LINEAR_MOTOR_TIMESCALE: | ||
209 | if (pValue < timestep) pValue = timestep; | ||
210 | m_linearMotorTimescale = pValue; | ||
211 | break; | ||
212 | case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: | ||
213 | if (pValue < 0f) pValue = 0f; | ||
214 | if (pValue > 1f) pValue = 1f; | ||
215 | m_verticalAttractionEfficiency = pValue; | ||
216 | break; | ||
217 | case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: | ||
218 | if (pValue < timestep) pValue = timestep; | ||
219 | m_verticalAttractionTimescale = pValue; | ||
220 | break; | ||
221 | |||
222 | // These are vector properties but the engine lets you use a single float value to | ||
223 | // set all of the components to the same value | ||
224 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
225 | if (pValue < timestep) pValue = timestep; | ||
226 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
227 | break; | ||
228 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
229 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | ||
230 | len = m_angularMotorDirection.Length(); | ||
231 | if (len > 12.566f) | ||
232 | m_angularMotorDirection *= (12.566f / len); | ||
233 | m_amEfect = 1.0f; // turn it on | ||
234 | break; | ||
235 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
236 | if (pValue < timestep) pValue = timestep; | ||
237 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
238 | break; | ||
239 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
240 | m_linearMotorDirection = new Vector3(pValue, pValue, pValue); | ||
241 | len = m_linearMotorDirection.Length(); | ||
242 | if (len > 30.0f) | ||
243 | m_linearMotorDirection *= (30.0f / len); | ||
244 | m_lmEfect = 1.0f; // turn it on | ||
245 | break; | ||
246 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
247 | m_linearMotorOffset = new Vector3(pValue, pValue, pValue); | ||
248 | len = m_linearMotorOffset.Length(); | ||
249 | if (len > 100.0f) | ||
250 | m_linearMotorOffset *= (100.0f / len); | ||
251 | break; | ||
252 | } | ||
253 | }//end ProcessFloatVehicleParam | ||
254 | |||
255 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | ||
256 | { | ||
257 | float len; | ||
258 | float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE; | ||
259 | float timestep = _pParentScene.ODE_STEPSIZE; | ||
260 | switch (pParam) | ||
261 | { | ||
262 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
263 | if (pValue.X < timestep) pValue.X = timestep; | ||
264 | if (pValue.Y < timestep) pValue.Y = timestep; | ||
265 | if (pValue.Z < timestep) pValue.Z = timestep; | ||
266 | |||
267 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
268 | break; | ||
269 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
270 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
271 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | ||
272 | len = m_angularMotorDirection.Length(); | ||
273 | if (len > 12.566f) | ||
274 | m_angularMotorDirection *= (12.566f / len); | ||
275 | m_amEfect = 1.0f; // turn it on | ||
276 | break; | ||
277 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
278 | if (pValue.X < timestep) pValue.X = timestep; | ||
279 | if (pValue.Y < timestep) pValue.Y = timestep; | ||
280 | if (pValue.Z < timestep) pValue.Z = timestep; | ||
281 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
282 | break; | ||
283 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
284 | m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
285 | len = m_linearMotorDirection.Length(); | ||
286 | if (len > 30.0f) | ||
287 | m_linearMotorDirection *= (30.0f / len); | ||
288 | m_lmEfect = 1.0f; // turn it on | ||
289 | break; | ||
290 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
291 | m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
292 | len = m_linearMotorOffset.Length(); | ||
293 | if (len > 100.0f) | ||
294 | m_linearMotorOffset *= (100.0f / len); | ||
295 | break; | ||
296 | case Vehicle.BLOCK_EXIT: | ||
297 | m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
298 | break; | ||
299 | } | ||
300 | }//end ProcessVectorVehicleParam | ||
301 | |||
302 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | ||
303 | { | ||
304 | switch (pParam) | ||
305 | { | ||
306 | case Vehicle.REFERENCE_FRAME: | ||
307 | m_referenceFrame = Quaternion.Inverse(pValue); | ||
308 | break; | ||
309 | case Vehicle.ROLL_FRAME: | ||
310 | m_RollreferenceFrame = pValue; | ||
311 | break; | ||
312 | } | ||
313 | }//end ProcessRotationVehicleParam | ||
314 | |||
315 | internal void ProcessVehicleFlags(int pParam, bool remove) | ||
316 | { | ||
317 | if (remove) | ||
318 | { | ||
319 | m_flags &= ~((VehicleFlag)pParam); | ||
320 | } | ||
321 | else | ||
322 | { | ||
323 | m_flags |= (VehicleFlag)pParam; | ||
324 | } | ||
325 | }//end ProcessVehicleFlags | ||
326 | |||
327 | internal void ProcessTypeChange(Vehicle pType) | ||
328 | { | ||
329 | float invtimestep = _pParentScene.ODE_STEPSIZE; | ||
330 | m_lmEfect = 0; | ||
331 | m_amEfect = 0; | ||
332 | |||
333 | m_linearMotorDirection = Vector3.Zero; | ||
334 | m_angularMotorDirection = Vector3.Zero; | ||
335 | |||
336 | m_BlockingEndPoint = Vector3.Zero; | ||
337 | m_RollreferenceFrame = Quaternion.Identity; | ||
338 | m_linearMotorOffset = Vector3.Zero; | ||
339 | |||
340 | m_referenceFrame = Quaternion.Identity; | ||
341 | |||
342 | // Set Defaults For Type | ||
343 | m_type = pType; | ||
344 | switch (pType) | ||
345 | { | ||
346 | case Vehicle.TYPE_NONE: | ||
347 | m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
348 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
349 | m_linearMotorTimescale = 1000; | ||
350 | m_linearMotorDecayTimescale = 120 * invtimestep; | ||
351 | m_angularMotorTimescale = 1000; | ||
352 | m_angularMotorDecayTimescale = 1000 * invtimestep; | ||
353 | m_VhoverHeight = 0; | ||
354 | m_VhoverTimescale = 1000; | ||
355 | m_VehicleBuoyancy = 0; | ||
356 | m_flags = (VehicleFlag)0; | ||
357 | break; | ||
358 | |||
359 | case Vehicle.TYPE_SLED: | ||
360 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); | ||
361 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
362 | m_linearMotorTimescale = 1000; | ||
363 | m_linearMotorDecayTimescale = 120 * invtimestep; | ||
364 | m_angularMotorTimescale = 1000; | ||
365 | m_angularMotorDecayTimescale = 120 * invtimestep; | ||
366 | m_VhoverHeight = 0; | ||
367 | m_VhoverEfficiency = 1; | ||
368 | m_VhoverTimescale = 10; | ||
369 | m_VehicleBuoyancy = 0; | ||
370 | m_linearDeflectionEfficiency = 1; | ||
371 | m_linearDeflectionTimescale = 1; | ||
372 | m_angularDeflectionEfficiency = 0; | ||
373 | m_angularDeflectionTimescale = 1000; | ||
374 | m_bankingEfficiency = 0; | ||
375 | m_bankingMix = 1; | ||
376 | m_bankingTimescale = 10; | ||
377 | m_flags &= | ||
378 | ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
379 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | ||
380 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); | ||
381 | break; | ||
382 | case Vehicle.TYPE_CAR: | ||
383 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); | ||
384 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
385 | m_linearMotorTimescale = 1; | ||
386 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
387 | m_angularMotorTimescale = 1; | ||
388 | m_angularMotorDecayTimescale = 0.8f * invtimestep; | ||
389 | m_VhoverHeight = 0; | ||
390 | m_VhoverEfficiency = 0; | ||
391 | m_VhoverTimescale = 1000; | ||
392 | m_VehicleBuoyancy = 0; | ||
393 | m_linearDeflectionEfficiency = 1; | ||
394 | m_linearDeflectionTimescale = 2; | ||
395 | m_angularDeflectionEfficiency = 0; | ||
396 | m_angularDeflectionTimescale = 10; | ||
397 | m_verticalAttractionEfficiency = 1f; | ||
398 | m_verticalAttractionTimescale = 10f; | ||
399 | m_bankingEfficiency = -0.2f; | ||
400 | m_bankingMix = 1; | ||
401 | m_bankingTimescale = 1; | ||
402 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
403 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | | ||
404 | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY); | ||
405 | break; | ||
406 | case Vehicle.TYPE_BOAT: | ||
407 | m_linearFrictionTimescale = new Vector3(10, 3, 2); | ||
408 | m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
409 | m_linearMotorTimescale = 5; | ||
410 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
411 | m_angularMotorTimescale = 4; | ||
412 | m_angularMotorDecayTimescale = 4 * invtimestep; | ||
413 | m_VhoverHeight = 0; | ||
414 | m_VhoverEfficiency = 0.5f; | ||
415 | m_VhoverTimescale = 2; | ||
416 | m_VehicleBuoyancy = 1; | ||
417 | m_linearDeflectionEfficiency = 0.5f; | ||
418 | m_linearDeflectionTimescale = 3; | ||
419 | m_angularDeflectionEfficiency = 0.5f; | ||
420 | m_angularDeflectionTimescale = 5; | ||
421 | m_verticalAttractionEfficiency = 0.5f; | ||
422 | m_verticalAttractionTimescale = 5f; | ||
423 | m_bankingEfficiency = -0.3f; | ||
424 | m_bankingMix = 0.8f; | ||
425 | m_bankingTimescale = 1; | ||
426 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | | ||
427 | VehicleFlag.HOVER_GLOBAL_HEIGHT | | ||
428 | VehicleFlag.HOVER_UP_ONLY | | ||
429 | VehicleFlag.LIMIT_ROLL_ONLY); | ||
430 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | | ||
431 | VehicleFlag.LIMIT_MOTOR_UP | | ||
432 | VehicleFlag.HOVER_WATER_ONLY); | ||
433 | break; | ||
434 | case Vehicle.TYPE_AIRPLANE: | ||
435 | m_linearFrictionTimescale = new Vector3(200, 10, 5); | ||
436 | m_angularFrictionTimescale = new Vector3(20, 20, 20); | ||
437 | m_linearMotorTimescale = 2; | ||
438 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
439 | m_angularMotorTimescale = 4; | ||
440 | m_angularMotorDecayTimescale = 8 * invtimestep; | ||
441 | m_VhoverHeight = 0; | ||
442 | m_VhoverEfficiency = 0.5f; | ||
443 | m_VhoverTimescale = 1000; | ||
444 | m_VehicleBuoyancy = 0; | ||
445 | m_linearDeflectionEfficiency = 0.5f; | ||
446 | m_linearDeflectionTimescale = 0.5f; | ||
447 | m_angularDeflectionEfficiency = 1; | ||
448 | m_angularDeflectionTimescale = 2; | ||
449 | m_verticalAttractionEfficiency = 0.9f; | ||
450 | m_verticalAttractionTimescale = 2f; | ||
451 | m_bankingEfficiency = 1; | ||
452 | m_bankingMix = 0.7f; | ||
453 | m_bankingTimescale = 2; | ||
454 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | | ||
455 | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
456 | VehicleFlag.HOVER_GLOBAL_HEIGHT | | ||
457 | VehicleFlag.HOVER_UP_ONLY | | ||
458 | VehicleFlag.NO_DEFLECTION_UP | | ||
459 | VehicleFlag.LIMIT_MOTOR_UP); | ||
460 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); | ||
461 | break; | ||
462 | case Vehicle.TYPE_BALLOON: | ||
463 | m_linearFrictionTimescale = new Vector3(5, 5, 5); | ||
464 | m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
465 | m_linearMotorTimescale = 5; | ||
466 | m_linearMotorDecayTimescale = 60 * invtimestep; | ||
467 | m_angularMotorTimescale = 6; | ||
468 | m_angularMotorDecayTimescale = 10 * invtimestep; | ||
469 | m_VhoverHeight = 5; | ||
470 | m_VhoverEfficiency = 0.8f; | ||
471 | m_VhoverTimescale = 10; | ||
472 | m_VehicleBuoyancy = 1; | ||
473 | m_linearDeflectionEfficiency = 0; | ||
474 | m_linearDeflectionTimescale = 5 * invtimestep; | ||
475 | m_angularDeflectionEfficiency = 0; | ||
476 | m_angularDeflectionTimescale = 5; | ||
477 | m_verticalAttractionEfficiency = 0f; | ||
478 | m_verticalAttractionTimescale = 1000f; | ||
479 | m_bankingEfficiency = 0; | ||
480 | m_bankingMix = 0.7f; | ||
481 | m_bankingTimescale = 5; | ||
482 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | | ||
483 | VehicleFlag.HOVER_TERRAIN_ONLY | | ||
484 | VehicleFlag.HOVER_UP_ONLY | | ||
485 | VehicleFlag.NO_DEFLECTION_UP | | ||
486 | VehicleFlag.LIMIT_MOTOR_UP); | ||
487 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | | ||
488 | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
489 | break; | ||
490 | } | ||
491 | |||
492 | }//end SetDefaultsForType | ||
493 | |||
494 | internal void Stop() | ||
495 | { | ||
496 | m_lmEfect = 0; | ||
497 | m_amEfect = 0; | ||
498 | } | ||
499 | |||
500 | public static Vector3 Xrot(Quaternion rot) | ||
501 | { | ||
502 | Vector3 vec; | ||
503 | rot.Normalize(); // just in case | ||
504 | vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1; | ||
505 | vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W); | ||
506 | vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W); | ||
507 | return vec; | ||
508 | } | ||
509 | |||
510 | public static Vector3 Zrot(Quaternion rot) | ||
511 | { | ||
512 | Vector3 vec; | ||
513 | rot.Normalize(); // just in case | ||
514 | vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W); | ||
515 | vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W); | ||
516 | vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1; | ||
517 | |||
518 | return vec; | ||
519 | } | ||
520 | |||
521 | private const float halfpi = 0.5f * (float)Math.PI; | ||
522 | |||
523 | public static Vector3 ubitRot2Euler(Quaternion rot) | ||
524 | { | ||
525 | // returns roll in X | ||
526 | // pitch in Y | ||
527 | // yaw in Z | ||
528 | Vector3 vec; | ||
529 | |||
530 | // assuming rot is normalised | ||
531 | // rot.Normalize(); | ||
532 | |||
533 | float zX = rot.X * rot.Z + rot.Y * rot.W; | ||
534 | |||
535 | if (zX < -0.49999f) | ||
536 | { | ||
537 | vec.X = 0; | ||
538 | vec.Y = -halfpi; | ||
539 | vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W)); | ||
540 | } | ||
541 | else if (zX > 0.49999f) | ||
542 | { | ||
543 | vec.X = 0; | ||
544 | vec.Y = halfpi; | ||
545 | vec.Z = (float)(2d * Math.Atan(rot.X / rot.W)); | ||
546 | } | ||
547 | else | ||
548 | { | ||
549 | vec.Y = (float)Math.Asin(2 * zX); | ||
550 | |||
551 | float sqw = rot.W * rot.W; | ||
552 | |||
553 | float minuszY = rot.X * rot.W - rot.Y * rot.Z; | ||
554 | float zZ = rot.Z * rot.Z + sqw - 0.5f; | ||
555 | |||
556 | vec.X = (float)Math.Atan2(minuszY, zZ); | ||
557 | |||
558 | float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?) | ||
559 | float yY = rot.X * rot.X + sqw - 0.5f; | ||
560 | vec.Z = (float)Math.Atan2(yX, yY); | ||
561 | } | ||
562 | return vec; | ||
563 | } | ||
564 | |||
565 | public static void GetRollPitch(Quaternion rot, out float roll, out float pitch) | ||
566 | { | ||
567 | // assuming rot is normalised | ||
568 | // rot.Normalize(); | ||
569 | |||
570 | float zX = rot.X * rot.Z + rot.Y * rot.W; | ||
571 | |||
572 | if (zX < -0.49999f) | ||
573 | { | ||
574 | roll = 0; | ||
575 | pitch = -halfpi; | ||
576 | } | ||
577 | else if (zX > 0.49999f) | ||
578 | { | ||
579 | roll = 0; | ||
580 | pitch = halfpi; | ||
581 | } | ||
582 | else | ||
583 | { | ||
584 | pitch = (float)Math.Asin(2 * zX); | ||
585 | |||
586 | float minuszY = rot.X * rot.W - rot.Y * rot.Z; | ||
587 | float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f; | ||
588 | |||
589 | roll = (float)Math.Atan2(minuszY, zZ); | ||
590 | } | ||
591 | return ; | ||
592 | } | ||
593 | |||
594 | internal void Step()//float pTimestep) | ||
595 | { | ||
596 | IntPtr Body = rootPrim.Body; | ||
597 | |||
598 | d.Quaternion rot = d.BodyGetQuaternion(Body); | ||
599 | Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object | ||
600 | Quaternion rotq = objrotq; // rotq = rotation of object | ||
601 | rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame | ||
602 | Quaternion irotq = Quaternion.Inverse(rotq); | ||
603 | |||
604 | d.Vector3 dvtmp; | ||
605 | Vector3 tmpV; | ||
606 | Vector3 curVel; // velocity in world | ||
607 | Vector3 curAngVel; // angular velocity in world | ||
608 | Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame | ||
609 | Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame | ||
610 | d.Vector3 dtorque = new d.Vector3(); | ||
611 | |||
612 | dvtmp = d.BodyGetLinearVel(Body); | ||
613 | curVel.X = dvtmp.X; | ||
614 | curVel.Y = dvtmp.Y; | ||
615 | curVel.Z = dvtmp.Z; | ||
616 | Vector3 curLocalVel = curVel * irotq; // current velocity in local | ||
617 | |||
618 | dvtmp = d.BodyGetAngularVel(Body); | ||
619 | curAngVel.X = dvtmp.X; | ||
620 | curAngVel.Y = dvtmp.Y; | ||
621 | curAngVel.Z = dvtmp.Z; | ||
622 | Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local | ||
623 | |||
624 | // linear motor | ||
625 | if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) | ||
626 | { | ||
627 | tmpV = m_linearMotorDirection - curLocalVel; // velocity error | ||
628 | tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep | ||
629 | tmpV *= rotq; // to world | ||
630 | |||
631 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) | ||
632 | tmpV.Z = 0; | ||
633 | |||
634 | if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0) | ||
635 | { | ||
636 | // have offset, do it now | ||
637 | tmpV *= rootPrim.Mass; | ||
638 | d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z); | ||
639 | } | ||
640 | else | ||
641 | { | ||
642 | force.X += tmpV.X; | ||
643 | force.Y += tmpV.Y; | ||
644 | force.Z += tmpV.Z; | ||
645 | } | ||
646 | m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale); | ||
647 | } | ||
648 | else | ||
649 | m_lmEfect = 0; | ||
650 | |||
651 | // friction | ||
652 | if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0) | ||
653 | { | ||
654 | tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X; | ||
655 | tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y; | ||
656 | tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z; | ||
657 | tmpV *= rotq; // to world | ||
658 | force.X += tmpV.X; | ||
659 | force.Y += tmpV.Y; | ||
660 | force.Z += tmpV.Z; | ||
661 | } | ||
662 | |||
663 | // hover | ||
664 | if (m_VhoverTimescale < 300) | ||
665 | { | ||
666 | d.Vector3 pos = d.BodyGetPosition(Body); | ||
667 | |||
668 | // default to global | ||
669 | float perr = m_VhoverHeight - pos.Z;; | ||
670 | |||
671 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) | ||
672 | { | ||
673 | perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); | ||
674 | } | ||
675 | else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) | ||
676 | { | ||
677 | perr += _pParentScene.GetWaterLevel(); | ||
678 | } | ||
679 | else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0) | ||
680 | { | ||
681 | float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); | ||
682 | float w = _pParentScene.GetWaterLevel(); | ||
683 | if (t > w) | ||
684 | perr += t; | ||
685 | else | ||
686 | perr += w; | ||
687 | } | ||
688 | |||
689 | if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0) | ||
690 | { | ||
691 | force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE; | ||
692 | force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); | ||
693 | } | ||
694 | else // no buoyancy | ||
695 | force.Z += _pParentScene.gravityz; | ||
696 | } | ||
697 | else | ||
698 | { | ||
699 | // default gravity and buoancy | ||
700 | force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); | ||
701 | } | ||
702 | |||
703 | // linear deflection | ||
704 | if (m_linearDeflectionEfficiency > 0) | ||
705 | { | ||
706 | float len = curVel.Length(); | ||
707 | Vector3 atAxis; | ||
708 | atAxis = Xrot(rotq); // where are we pointing to | ||
709 | atAxis *= len; // make it same size as world velocity vector | ||
710 | tmpV = -atAxis; // oposite direction | ||
711 | atAxis -= curVel; // error to one direction | ||
712 | len = atAxis.LengthSquared(); | ||
713 | tmpV -= curVel; // error to oposite | ||
714 | float lens = tmpV.LengthSquared(); | ||
715 | if (len > 0.01 || lens > 0.01) // do nothing if close enougth | ||
716 | { | ||
717 | if (len < lens) | ||
718 | tmpV = atAxis; | ||
719 | |||
720 | tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep | ||
721 | force.X += tmpV.X; | ||
722 | force.Y += tmpV.Y; | ||
723 | if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0) | ||
724 | force.Z += tmpV.Z; | ||
725 | } | ||
726 | } | ||
727 | |||
728 | // angular motor | ||
729 | if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) | ||
730 | { | ||
731 | tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error | ||
732 | tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep | ||
733 | torque.X += tmpV.X; | ||
734 | torque.Y += tmpV.Y; | ||
735 | torque.Z += tmpV.Z; | ||
736 | m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale); | ||
737 | } | ||
738 | else | ||
739 | m_amEfect = 0; | ||
740 | |||
741 | // angular friction | ||
742 | if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0) | ||
743 | { | ||
744 | torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X; | ||
745 | torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y; | ||
746 | torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z; | ||
747 | } | ||
748 | |||
749 | // angular deflection | ||
750 | if (m_angularDeflectionEfficiency > 0) | ||
751 | { | ||
752 | Vector3 dirv; | ||
753 | |||
754 | if (curLocalVel.X > 0.01f) | ||
755 | dirv = curLocalVel; | ||
756 | else if (curLocalVel.X < -0.01f) | ||
757 | // use oposite | ||
758 | dirv = -curLocalVel; | ||
759 | else | ||
760 | { | ||
761 | // make it fall into small positive x case | ||
762 | dirv.X = 0.01f; | ||
763 | dirv.Y = curLocalVel.Y; | ||
764 | dirv.Z = curLocalVel.Z; | ||
765 | } | ||
766 | |||
767 | float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale; | ||
768 | |||
769 | if (Math.Abs(dirv.Z) > 0.01) | ||
770 | { | ||
771 | torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp; | ||
772 | } | ||
773 | |||
774 | if (Math.Abs(dirv.Y) > 0.01) | ||
775 | { | ||
776 | torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp; | ||
777 | } | ||
778 | } | ||
779 | |||
780 | // vertical atractor | ||
781 | if (m_verticalAttractionTimescale < 300) | ||
782 | { | ||
783 | float roll; | ||
784 | float pitch; | ||
785 | |||
786 | GetRollPitch(irotq, out roll, out pitch); | ||
787 | |||
788 | float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE; | ||
789 | float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE; | ||
790 | |||
791 | if (Math.Abs(roll) > 0.01) // roll | ||
792 | { | ||
793 | torque.X -= -roll * ftmp + curLocalAngVel.X * ftmp2; | ||
794 | } | ||
795 | |||
796 | if (Math.Abs(pitch) > 0.01 && ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)) // pitch | ||
797 | { | ||
798 | torque.Y -= -pitch * ftmp + curLocalAngVel.Y * ftmp2; | ||
799 | } | ||
800 | |||
801 | if (m_bankingEfficiency != 0 && Math.Abs(roll) > 0.01) | ||
802 | { | ||
803 | float broll = roll * m_bankingEfficiency; ; | ||
804 | if (m_bankingMix != 0) | ||
805 | { | ||
806 | float vfact = Math.Abs(curLocalVel.X) / 10.0f; | ||
807 | if (vfact > 1.0f) vfact = 1.0f; | ||
808 | if (curLocalVel.X >= 0) | ||
809 | broll *= ((1 - m_bankingMix) + vfact); | ||
810 | else | ||
811 | broll *= -((1 - m_bankingMix) + vfact); | ||
812 | } | ||
813 | broll = (broll - curLocalAngVel.Z) / m_bankingTimescale; | ||
814 | // torque.Z += broll; | ||
815 | |||
816 | // make z rot be in world Z not local as seems to be in sl | ||
817 | tmpV.X = 0; | ||
818 | tmpV.Y = 0; | ||
819 | tmpV.Z = broll; | ||
820 | tmpV *= irotq; | ||
821 | |||
822 | torque.X += tmpV.X; | ||
823 | torque.Y += tmpV.Y; | ||
824 | torque.Z += tmpV.Z; | ||
825 | } | ||
826 | } | ||
827 | |||
828 | d.Mass dmass; | ||
829 | d.BodyGetMass(Body,out dmass); | ||
830 | |||
831 | if (force.X != 0 || force.Y != 0 || force.Z != 0) | ||
832 | { | ||
833 | force *= dmass.mass; | ||
834 | d.BodySetForce(Body, force.X, force.Y, force.Z); | ||
835 | } | ||
836 | |||
837 | if (torque.X != 0 || torque.Y != 0 || torque.Z != 0) | ||
838 | { | ||
839 | torque *= m_referenceFrame; // to object frame | ||
840 | dtorque.X = torque.X; | ||
841 | dtorque.Y = torque.Y; | ||
842 | dtorque.Z = torque.Z; | ||
843 | |||
844 | d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque); | ||
845 | d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame | ||
846 | } | ||
847 | } | ||
848 | } | ||
849 | } | ||
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs new file mode 100644 index 0000000..3b7f562 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | |||
@@ -0,0 +1,3317 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | /* Revision 2011/12 by Ubit Umarov | ||
29 | * | ||
30 | * | ||
31 | */ | ||
32 | |||
33 | /* | ||
34 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
35 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
36 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
37 | * characteristics and Kinetic motion. | ||
38 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
39 | * (dynamics) and the associated settings. Old Linear and angular | ||
40 | * motors for dynamic motion have been replace with MoveLinear() | ||
41 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
42 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
43 | * switch between 'VEHICLE' parameter use and general dynamics | ||
44 | * settings use. | ||
45 | */ | ||
46 | |||
47 | //#define SPAM | ||
48 | |||
49 | using System; | ||
50 | using System.Collections.Generic; | ||
51 | using System.Reflection; | ||
52 | using System.Runtime.InteropServices; | ||
53 | using System.Threading; | ||
54 | using log4net; | ||
55 | using OpenMetaverse; | ||
56 | using OdeAPI; | ||
57 | using OpenSim.Framework; | ||
58 | using OpenSim.Region.Physics.Manager; | ||
59 | |||
60 | |||
61 | namespace OpenSim.Region.Physics.OdePlugin | ||
62 | { | ||
63 | public class OdePrim : PhysicsActor | ||
64 | { | ||
65 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
66 | |||
67 | private bool m_isphysical; | ||
68 | private bool m_fakeisphysical; | ||
69 | |||
70 | protected bool m_building; | ||
71 | private Quaternion m_lastorientation = new Quaternion(); | ||
72 | private Quaternion _orientation; | ||
73 | |||
74 | private Vector3 _position; | ||
75 | private Vector3 _velocity; | ||
76 | private Vector3 _torque; | ||
77 | private Vector3 m_lastVelocity; | ||
78 | private Vector3 m_lastposition; | ||
79 | private Vector3 m_rotationalVelocity; | ||
80 | private Vector3 _size; | ||
81 | private Vector3 _acceleration; | ||
82 | private Vector3 m_angularlock = Vector3.One; | ||
83 | private IntPtr Amotor = IntPtr.Zero; | ||
84 | |||
85 | private Vector3 m_force; | ||
86 | private Vector3 m_forceacc; | ||
87 | private Vector3 m_angularForceacc; | ||
88 | |||
89 | private Vector3 m_PIDTarget; | ||
90 | private float m_PIDTau; | ||
91 | private float PID_D = 35f; | ||
92 | private float PID_G = 25f; | ||
93 | private bool m_usePID; | ||
94 | |||
95 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), | ||
96 | // and are for non-VEHICLES only. | ||
97 | |||
98 | private float m_PIDHoverHeight; | ||
99 | private float m_PIDHoverTau; | ||
100 | private bool m_useHoverPID; | ||
101 | private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; | ||
102 | private float m_targetHoverHeight; | ||
103 | private float m_groundHeight; | ||
104 | private float m_waterHeight; | ||
105 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | ||
106 | |||
107 | private int body_autodisable_frames = 20; | ||
108 | |||
109 | private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom | ||
110 | | CollisionCategories.Space | ||
111 | | CollisionCategories.Body | ||
112 | | CollisionCategories.Character | ||
113 | ); | ||
114 | private bool m_collidesLand = true; | ||
115 | private bool m_collidesWater; | ||
116 | public bool m_returnCollisions; | ||
117 | |||
118 | // Default we're a Geometry | ||
119 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); | ||
120 | |||
121 | // Default, Collide with Other Geometries, spaces and Bodies | ||
122 | private CollisionCategories m_collisionFlags = m_default_collisionFlags; | ||
123 | |||
124 | public bool m_disabled; | ||
125 | public bool m_taintselected; | ||
126 | |||
127 | public uint m_localID; | ||
128 | |||
129 | private PrimitiveBaseShape _pbs; | ||
130 | public OdeScene _parent_scene; | ||
131 | |||
132 | /// <summary> | ||
133 | /// The physics space which contains prim geometry | ||
134 | /// </summary> | ||
135 | public IntPtr m_targetSpace = IntPtr.Zero; | ||
136 | |||
137 | public IntPtr prim_geom; | ||
138 | public IntPtr _triMeshData; | ||
139 | |||
140 | private PhysicsActor _parent; | ||
141 | |||
142 | private List<OdePrim> childrenPrim = new List<OdePrim>(); | ||
143 | |||
144 | private bool m_iscolliding; | ||
145 | private bool m_wascolliding; | ||
146 | private bool m_isSelected; | ||
147 | |||
148 | internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | ||
149 | |||
150 | private bool m_throttleUpdates; | ||
151 | private int throttleCounter; | ||
152 | public int m_interpenetrationcount; | ||
153 | public float m_collisionscore; | ||
154 | int m_colliderfilter = 0; | ||
155 | public int m_roundsUnderMotionThreshold; | ||
156 | private int m_crossingfailures; | ||
157 | |||
158 | public bool outofBounds; | ||
159 | private float m_density = 10.000006836f; // Aluminum g/cm3; | ||
160 | |||
161 | public bool _zeroFlag; | ||
162 | private bool m_lastUpdateSent; | ||
163 | |||
164 | public IntPtr Body = IntPtr.Zero; | ||
165 | public String Name { get; private set; } | ||
166 | private Vector3 _target_velocity; | ||
167 | |||
168 | public Vector3 primOOBsize; // prim real dimensions from mesh | ||
169 | public Vector3 primOOBoffset; // is centroid out of mesh or rest aabb | ||
170 | public float primOOBradiusSQ; | ||
171 | public d.Mass primdMass; // prim inertia information on it's own referencial | ||
172 | float primMass; // prim own mass | ||
173 | float _mass; // object mass acording to case | ||
174 | public d.Mass objectpMass; // object last computed inertia | ||
175 | private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb | ||
176 | |||
177 | public int givefakepos = 0; | ||
178 | private Vector3 fakepos; | ||
179 | public int givefakeori = 0; | ||
180 | private Quaternion fakeori; | ||
181 | |||
182 | public int m_eventsubscription; | ||
183 | private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
184 | |||
185 | private IntPtr m_linkJoint = IntPtr.Zero; | ||
186 | private IntPtr _linkJointGroup = IntPtr.Zero; | ||
187 | |||
188 | public volatile bool childPrim; | ||
189 | |||
190 | public ODEDynamics m_vehicle; | ||
191 | |||
192 | internal int m_material = (int)Material.Wood; | ||
193 | protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f }; | ||
194 | |||
195 | /// <summary> | ||
196 | /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. | ||
197 | /// </summary> | ||
198 | public override bool IsPhysical // this is not reliable for internal use | ||
199 | { | ||
200 | get { return m_fakeisphysical; } | ||
201 | set | ||
202 | { | ||
203 | m_fakeisphysical = value; // we show imediatly to outside that we changed physical | ||
204 | // and also to stop imediatly some updates | ||
205 | // but real change will only happen in taintprocessing | ||
206 | |||
207 | if (!value) // Zero the remembered last velocity | ||
208 | m_lastVelocity = Vector3.Zero; | ||
209 | AddChange(changes.Physical, value); | ||
210 | } | ||
211 | } | ||
212 | |||
213 | public override bool Building // this is not reliable for internal use | ||
214 | { | ||
215 | get { return m_building; } | ||
216 | set | ||
217 | { | ||
218 | if (value) | ||
219 | m_building = true; | ||
220 | AddChange(changes.building, value); | ||
221 | } | ||
222 | } | ||
223 | |||
224 | public override ContactData ContactData | ||
225 | { | ||
226 | get | ||
227 | { | ||
228 | return primContactData; | ||
229 | } | ||
230 | } | ||
231 | |||
232 | public override int PhysicsActorType | ||
233 | { | ||
234 | get { return (int)ActorTypes.Prim; } | ||
235 | set { return; } | ||
236 | } | ||
237 | |||
238 | public override bool SetAlwaysRun | ||
239 | { | ||
240 | get { return false; } | ||
241 | set { return; } | ||
242 | } | ||
243 | |||
244 | public override uint LocalID | ||
245 | { | ||
246 | get | ||
247 | { | ||
248 | return m_localID; | ||
249 | } | ||
250 | set | ||
251 | { | ||
252 | //m_log.Info("[PHYSICS]: Setting TrackerID: " + value); | ||
253 | m_localID = value; | ||
254 | } | ||
255 | } | ||
256 | |||
257 | public override bool Grabbed | ||
258 | { | ||
259 | set { return; } | ||
260 | } | ||
261 | |||
262 | public override bool Selected | ||
263 | { | ||
264 | set | ||
265 | { | ||
266 | if (value) | ||
267 | m_isSelected = value; | ||
268 | AddChange(changes.Selected, value); | ||
269 | } | ||
270 | } | ||
271 | |||
272 | public override bool Flying | ||
273 | { | ||
274 | // no flying prims for you | ||
275 | get { return false; } | ||
276 | set { } | ||
277 | } | ||
278 | |||
279 | public override bool IsColliding | ||
280 | { | ||
281 | get { return m_iscolliding; } | ||
282 | set | ||
283 | { | ||
284 | if (value) | ||
285 | { | ||
286 | m_colliderfilter += 2; | ||
287 | if (m_colliderfilter > 2) | ||
288 | m_colliderfilter = 2; | ||
289 | } | ||
290 | else | ||
291 | { | ||
292 | m_colliderfilter--; | ||
293 | if (m_colliderfilter < 0) | ||
294 | m_colliderfilter = 0; | ||
295 | } | ||
296 | |||
297 | if (m_colliderfilter == 0) | ||
298 | m_iscolliding = false; | ||
299 | else | ||
300 | m_iscolliding = true; | ||
301 | |||
302 | if (m_wascolliding != m_iscolliding) | ||
303 | { | ||
304 | if (m_wascolliding && !m_isSelected && Body != IntPtr.Zero) | ||
305 | d.BodyEnable(Body); | ||
306 | m_wascolliding = m_iscolliding; | ||
307 | } | ||
308 | } | ||
309 | } | ||
310 | |||
311 | public override bool CollidingGround | ||
312 | { | ||
313 | get { return false; } | ||
314 | set { return; } | ||
315 | } | ||
316 | |||
317 | public override bool CollidingObj | ||
318 | { | ||
319 | get { return false; } | ||
320 | set { return; } | ||
321 | } | ||
322 | |||
323 | public override bool ThrottleUpdates | ||
324 | { | ||
325 | get { return m_throttleUpdates; } | ||
326 | set { m_throttleUpdates = value; } | ||
327 | } | ||
328 | |||
329 | public override bool Stopped | ||
330 | { | ||
331 | get { return _zeroFlag; } | ||
332 | } | ||
333 | |||
334 | public override Vector3 Position | ||
335 | { | ||
336 | get | ||
337 | { | ||
338 | if (givefakepos > 0) | ||
339 | return fakepos; | ||
340 | else | ||
341 | return _position; | ||
342 | } | ||
343 | |||
344 | set | ||
345 | { | ||
346 | fakepos = value; | ||
347 | givefakepos++; | ||
348 | AddChange(changes.Position, value); | ||
349 | } | ||
350 | } | ||
351 | |||
352 | public override Vector3 Size | ||
353 | { | ||
354 | get { return _size; } | ||
355 | set | ||
356 | { | ||
357 | if (value.IsFinite()) | ||
358 | { | ||
359 | AddChange(changes.Size, value); | ||
360 | } | ||
361 | else | ||
362 | { | ||
363 | m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); | ||
364 | } | ||
365 | } | ||
366 | } | ||
367 | |||
368 | public override float Mass | ||
369 | { | ||
370 | get { return _mass; } | ||
371 | } | ||
372 | |||
373 | public override Vector3 Force | ||
374 | { | ||
375 | //get { return Vector3.Zero; } | ||
376 | get { return m_force; } | ||
377 | set | ||
378 | { | ||
379 | if (value.IsFinite()) | ||
380 | { | ||
381 | AddChange(changes.Force, value); | ||
382 | } | ||
383 | else | ||
384 | { | ||
385 | m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); | ||
386 | } | ||
387 | } | ||
388 | } | ||
389 | |||
390 | public override void SetVolumeDetect(int param) | ||
391 | { | ||
392 | AddChange(changes.VolumeDtc, (param != 0)); | ||
393 | } | ||
394 | |||
395 | public override Vector3 GeometricCenter | ||
396 | { | ||
397 | get | ||
398 | { | ||
399 | return Vector3.Zero; | ||
400 | } | ||
401 | } | ||
402 | |||
403 | public override Vector3 CenterOfMass | ||
404 | { | ||
405 | get | ||
406 | { | ||
407 | d.Vector3 dtmp; | ||
408 | if (IsPhysical && !childPrim && Body != IntPtr.Zero) | ||
409 | { | ||
410 | dtmp = d.BodyGetPosition(Body); | ||
411 | return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
412 | } | ||
413 | else if (prim_geom != IntPtr.Zero) | ||
414 | { | ||
415 | d.Quaternion dq; | ||
416 | d.GeomCopyQuaternion(prim_geom, out dq); | ||
417 | Quaternion q; | ||
418 | q.X = dq.X; | ||
419 | q.Y = dq.Y; | ||
420 | q.Z = dq.Z; | ||
421 | q.W = dq.W; | ||
422 | |||
423 | Vector3 vtmp = primOOBoffset * q; | ||
424 | dtmp = d.GeomGetPosition(prim_geom); | ||
425 | return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z); | ||
426 | } | ||
427 | else | ||
428 | return Vector3.Zero; | ||
429 | } | ||
430 | } | ||
431 | /* | ||
432 | public override Vector3 PrimOOBsize | ||
433 | { | ||
434 | get | ||
435 | { | ||
436 | return primOOBsize; | ||
437 | } | ||
438 | } | ||
439 | |||
440 | public override Vector3 PrimOOBoffset | ||
441 | { | ||
442 | get | ||
443 | { | ||
444 | return primOOBoffset; | ||
445 | } | ||
446 | } | ||
447 | |||
448 | public override float PrimOOBRadiusSQ | ||
449 | { | ||
450 | get | ||
451 | { | ||
452 | return primOOBradiusSQ; | ||
453 | } | ||
454 | } | ||
455 | */ | ||
456 | public override PrimitiveBaseShape Shape | ||
457 | { | ||
458 | set | ||
459 | { | ||
460 | AddChange(changes.Shape, value); | ||
461 | } | ||
462 | } | ||
463 | |||
464 | public override Vector3 Velocity | ||
465 | { | ||
466 | get | ||
467 | { | ||
468 | // Averate previous velocity with the new one so | ||
469 | // client object interpolation works a 'little' better | ||
470 | if (_zeroFlag) | ||
471 | return Vector3.Zero; | ||
472 | return _velocity; | ||
473 | } | ||
474 | set | ||
475 | { | ||
476 | if (value.IsFinite()) | ||
477 | { | ||
478 | AddChange(changes.Velocity, value); | ||
479 | // _velocity = value; | ||
480 | |||
481 | } | ||
482 | else | ||
483 | { | ||
484 | m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); | ||
485 | } | ||
486 | |||
487 | } | ||
488 | } | ||
489 | |||
490 | public override Vector3 Torque | ||
491 | { | ||
492 | get | ||
493 | { | ||
494 | if (!IsPhysical || Body == IntPtr.Zero) | ||
495 | return Vector3.Zero; | ||
496 | |||
497 | return _torque; | ||
498 | } | ||
499 | |||
500 | set | ||
501 | { | ||
502 | if (value.IsFinite()) | ||
503 | { | ||
504 | AddChange(changes.Torque, value); | ||
505 | } | ||
506 | else | ||
507 | { | ||
508 | m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); | ||
509 | } | ||
510 | } | ||
511 | } | ||
512 | |||
513 | public override float CollisionScore | ||
514 | { | ||
515 | get { return m_collisionscore; } | ||
516 | set { m_collisionscore = value; } | ||
517 | } | ||
518 | |||
519 | public override bool Kinematic | ||
520 | { | ||
521 | get { return false; } | ||
522 | set { } | ||
523 | } | ||
524 | |||
525 | public override Quaternion Orientation | ||
526 | { | ||
527 | get | ||
528 | { | ||
529 | if (givefakeori > 0) | ||
530 | return fakeori; | ||
531 | else | ||
532 | |||
533 | return _orientation; | ||
534 | } | ||
535 | set | ||
536 | { | ||
537 | if (QuaternionIsFinite(value)) | ||
538 | { | ||
539 | fakeori = value; | ||
540 | givefakeori++; | ||
541 | AddChange(changes.Orientation, value); | ||
542 | } | ||
543 | else | ||
544 | m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); | ||
545 | |||
546 | } | ||
547 | } | ||
548 | |||
549 | public override Vector3 Acceleration | ||
550 | { | ||
551 | get { return _acceleration; } | ||
552 | set { } | ||
553 | } | ||
554 | |||
555 | public override Vector3 RotationalVelocity | ||
556 | { | ||
557 | get | ||
558 | { | ||
559 | Vector3 pv = Vector3.Zero; | ||
560 | if (_zeroFlag) | ||
561 | return pv; | ||
562 | m_lastUpdateSent = false; | ||
563 | |||
564 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | ||
565 | return pv; | ||
566 | |||
567 | return m_rotationalVelocity; | ||
568 | } | ||
569 | set | ||
570 | { | ||
571 | if (value.IsFinite()) | ||
572 | { | ||
573 | m_rotationalVelocity = value; | ||
574 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
575 | d.BodyEnable(Body); | ||
576 | } | ||
577 | else | ||
578 | { | ||
579 | m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); | ||
580 | } | ||
581 | } | ||
582 | } | ||
583 | |||
584 | |||
585 | public override float Buoyancy | ||
586 | { | ||
587 | get { return m_buoyancy; } | ||
588 | set | ||
589 | { | ||
590 | m_buoyancy = value; | ||
591 | } | ||
592 | } | ||
593 | |||
594 | public override bool FloatOnWater | ||
595 | { | ||
596 | set | ||
597 | { | ||
598 | AddChange(changes.CollidesWater, value); | ||
599 | } | ||
600 | } | ||
601 | |||
602 | public override Vector3 PIDTarget | ||
603 | { | ||
604 | set | ||
605 | { | ||
606 | if (value.IsFinite()) | ||
607 | { | ||
608 | m_PIDTarget = value; | ||
609 | } | ||
610 | else | ||
611 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | ||
612 | } | ||
613 | } | ||
614 | |||
615 | public override bool PIDActive { set { m_usePID = value; } } | ||
616 | public override float PIDTau { set { m_PIDTau = value; } } | ||
617 | |||
618 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } | ||
619 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } | ||
620 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } | ||
621 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } | ||
622 | |||
623 | public override Quaternion APIDTarget { set { return; } } | ||
624 | |||
625 | public override bool APIDActive { set { return; } } | ||
626 | |||
627 | public override float APIDStrength { set { return; } } | ||
628 | |||
629 | public override float APIDDamping { set { return; } } | ||
630 | |||
631 | public override int VehicleType | ||
632 | { | ||
633 | // we may need to put a fake on this | ||
634 | get | ||
635 | { | ||
636 | if (m_vehicle == null) | ||
637 | return (int)Vehicle.TYPE_NONE; | ||
638 | else | ||
639 | return (int)m_vehicle.Type; | ||
640 | } | ||
641 | set | ||
642 | { | ||
643 | AddChange(changes.VehicleType, value); | ||
644 | } | ||
645 | } | ||
646 | |||
647 | public override void VehicleFloatParam(int param, float value) | ||
648 | { | ||
649 | strVehicleFloatParam fp = new strVehicleFloatParam(); | ||
650 | fp.param = param; | ||
651 | fp.value = value; | ||
652 | AddChange(changes.VehicleFloatParam, fp); | ||
653 | } | ||
654 | |||
655 | public override void VehicleVectorParam(int param, Vector3 value) | ||
656 | { | ||
657 | strVehicleVectorParam fp = new strVehicleVectorParam(); | ||
658 | fp.param = param; | ||
659 | fp.value = value; | ||
660 | AddChange(changes.VehicleVectorParam, fp); | ||
661 | } | ||
662 | |||
663 | public override void VehicleRotationParam(int param, Quaternion value) | ||
664 | { | ||
665 | strVehicleQuatParam fp = new strVehicleQuatParam(); | ||
666 | fp.param = param; | ||
667 | fp.value = value; | ||
668 | AddChange(changes.VehicleVectorParam, fp); | ||
669 | } | ||
670 | |||
671 | public override void VehicleFlags(int param, bool value) | ||
672 | { | ||
673 | if (m_vehicle == null) | ||
674 | return; | ||
675 | strVehicleBoolParam bp = new strVehicleBoolParam(); | ||
676 | bp.param = param; | ||
677 | bp.value = value; | ||
678 | AddChange(changes.VehicleFlags, bp); | ||
679 | } | ||
680 | |||
681 | public void SetAcceleration(Vector3 accel) | ||
682 | { | ||
683 | _acceleration = accel; | ||
684 | } | ||
685 | |||
686 | public override void AddForce(Vector3 force, bool pushforce) | ||
687 | { | ||
688 | if (force.IsFinite()) | ||
689 | { | ||
690 | AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE); | ||
691 | } | ||
692 | else | ||
693 | { | ||
694 | m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); | ||
695 | } | ||
696 | //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); | ||
697 | } | ||
698 | |||
699 | public override void AddAngularForce(Vector3 force, bool pushforce) | ||
700 | { | ||
701 | if (force.IsFinite()) | ||
702 | { | ||
703 | AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE); | ||
704 | } | ||
705 | else | ||
706 | { | ||
707 | m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); | ||
708 | } | ||
709 | } | ||
710 | |||
711 | public override void CrossingFailure() | ||
712 | { | ||
713 | m_crossingfailures++; | ||
714 | changeDisable(false); | ||
715 | } | ||
716 | |||
717 | public override void SetMomentum(Vector3 momentum) | ||
718 | { | ||
719 | } | ||
720 | |||
721 | public override void SetMaterial(int pMaterial) | ||
722 | { | ||
723 | m_material = pMaterial; | ||
724 | primContactData.mu = _parent_scene.m_materialContactsData[pMaterial].mu; | ||
725 | primContactData.bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; | ||
726 | } | ||
727 | |||
728 | public void setPrimForRemoval() | ||
729 | { | ||
730 | AddChange(changes.Remove, null); | ||
731 | } | ||
732 | |||
733 | public override void link(PhysicsActor obj) | ||
734 | { | ||
735 | AddChange(changes.Link, obj); | ||
736 | } | ||
737 | |||
738 | public override void delink() | ||
739 | { | ||
740 | AddChange(changes.DeLink, null); | ||
741 | } | ||
742 | |||
743 | public override void LockAngularMotion(Vector3 axis) | ||
744 | { | ||
745 | // reverse the zero/non zero values for ODE. | ||
746 | if (axis.IsFinite()) | ||
747 | { | ||
748 | axis.X = (axis.X > 0) ? 1f : 0f; | ||
749 | axis.Y = (axis.Y > 0) ? 1f : 0f; | ||
750 | axis.Z = (axis.Z > 0) ? 1f : 0f; | ||
751 | m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); | ||
752 | AddChange(changes.AngLock, axis); | ||
753 | } | ||
754 | else | ||
755 | { | ||
756 | m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); | ||
757 | } | ||
758 | } | ||
759 | |||
760 | public override void SubscribeEvents(int ms) | ||
761 | { | ||
762 | m_eventsubscription = ms; | ||
763 | _parent_scene.AddCollisionEventReporting(this); | ||
764 | } | ||
765 | |||
766 | public override void UnSubscribeEvents() | ||
767 | { | ||
768 | _parent_scene.RemoveCollisionEventReporting(this); | ||
769 | m_eventsubscription = 0; | ||
770 | } | ||
771 | |||
772 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
773 | { | ||
774 | if (CollisionEventsThisFrame == null) | ||
775 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
776 | |||
777 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | ||
778 | } | ||
779 | |||
780 | public void SendCollisions() | ||
781 | { | ||
782 | if (CollisionEventsThisFrame == null) | ||
783 | return; | ||
784 | |||
785 | base.SendCollisionUpdate(CollisionEventsThisFrame); | ||
786 | |||
787 | if (CollisionEventsThisFrame.m_objCollisionList.Count == 0) | ||
788 | CollisionEventsThisFrame = null; | ||
789 | else | ||
790 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
791 | } | ||
792 | |||
793 | public override bool SubscribedEvents() | ||
794 | { | ||
795 | if (m_eventsubscription > 0) | ||
796 | return true; | ||
797 | return false; | ||
798 | } | ||
799 | |||
800 | |||
801 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, | ||
802 | Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) | ||
803 | { | ||
804 | Name = primName; | ||
805 | |||
806 | m_vehicle = null; | ||
807 | |||
808 | if (!pos.IsFinite()) | ||
809 | { | ||
810 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), | ||
811 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | ||
812 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); | ||
813 | } | ||
814 | _position = pos; | ||
815 | givefakepos = 0; | ||
816 | |||
817 | PID_D = parent_scene.bodyPIDD; | ||
818 | PID_G = parent_scene.bodyPIDG; | ||
819 | m_density = parent_scene.geomDefaultDensity; | ||
820 | // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; | ||
821 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | ||
822 | |||
823 | prim_geom = IntPtr.Zero; | ||
824 | Body = IntPtr.Zero; | ||
825 | |||
826 | if (!size.IsFinite()) | ||
827 | { | ||
828 | size = new Vector3(0.5f, 0.5f, 0.5f); | ||
829 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); | ||
830 | } | ||
831 | |||
832 | if (size.X <= 0) size.X = 0.01f; | ||
833 | if (size.Y <= 0) size.Y = 0.01f; | ||
834 | if (size.Z <= 0) size.Z = 0.01f; | ||
835 | |||
836 | _size = size; | ||
837 | |||
838 | |||
839 | if (!QuaternionIsFinite(rotation)) | ||
840 | { | ||
841 | rotation = Quaternion.Identity; | ||
842 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); | ||
843 | } | ||
844 | |||
845 | _orientation = rotation; | ||
846 | givefakeori = 0; | ||
847 | |||
848 | _pbs = pbs; | ||
849 | |||
850 | _parent_scene = parent_scene; | ||
851 | m_targetSpace = IntPtr.Zero; | ||
852 | |||
853 | if (pos.Z < 0) | ||
854 | { | ||
855 | m_isphysical = false; | ||
856 | } | ||
857 | else | ||
858 | { | ||
859 | m_isphysical = pisPhysical; | ||
860 | } | ||
861 | m_fakeisphysical = m_isphysical; | ||
862 | |||
863 | m_isVolumeDetect = false; | ||
864 | |||
865 | m_force = Vector3.Zero; | ||
866 | |||
867 | m_iscolliding = false; | ||
868 | m_wascolliding = false; | ||
869 | m_colliderfilter = 0; | ||
870 | |||
871 | hasOOBoffsetFromMesh = false; | ||
872 | _triMeshData = IntPtr.Zero; | ||
873 | |||
874 | |||
875 | primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; | ||
876 | primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; | ||
877 | |||
878 | CalcPrimBodyData(); | ||
879 | |||
880 | m_building = true; // control must set this to false when done | ||
881 | |||
882 | AddChange(changes.Add, null); | ||
883 | } | ||
884 | |||
885 | private void resetCollisionAccounting() | ||
886 | { | ||
887 | m_collisionscore = 0; | ||
888 | m_interpenetrationcount = 0; | ||
889 | m_disabled = false; | ||
890 | } | ||
891 | |||
892 | private void createAMotor(Vector3 axis) | ||
893 | { | ||
894 | if (Body == IntPtr.Zero) | ||
895 | return; | ||
896 | |||
897 | if (Amotor != IntPtr.Zero) | ||
898 | { | ||
899 | d.JointDestroy(Amotor); | ||
900 | Amotor = IntPtr.Zero; | ||
901 | } | ||
902 | |||
903 | int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); | ||
904 | |||
905 | if (axisnum <= 0) | ||
906 | return; | ||
907 | |||
908 | // stop it | ||
909 | d.BodySetTorque(Body, 0, 0, 0); | ||
910 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
911 | |||
912 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | ||
913 | d.JointAttach(Amotor, Body, IntPtr.Zero); | ||
914 | |||
915 | d.JointSetAMotorMode(Amotor, 0); | ||
916 | |||
917 | d.JointSetAMotorNumAxes(Amotor, axisnum); | ||
918 | |||
919 | // get current orientation to lock | ||
920 | |||
921 | d.Quaternion dcur = d.BodyGetQuaternion(Body); | ||
922 | Quaternion curr; // crap convertion between identical things | ||
923 | curr.X = dcur.X; | ||
924 | curr.Y = dcur.Y; | ||
925 | curr.Z = dcur.Z; | ||
926 | curr.W = dcur.W; | ||
927 | Vector3 ax; | ||
928 | |||
929 | const int StopERP = 7; | ||
930 | const int StopCFM = 8; | ||
931 | |||
932 | int i = 0; | ||
933 | int j = 0; | ||
934 | if (axis.X == 0) | ||
935 | { | ||
936 | ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X | ||
937 | // ODE should do this with axis relative to body 1 but seems to fail | ||
938 | d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); | ||
939 | d.JointSetAMotorAngle(Amotor, 0, 0); | ||
940 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f); | ||
941 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f); | ||
942 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | ||
943 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); | ||
944 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); | ||
945 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); | ||
946 | d.JointSetAMotorParam(Amotor, (int)StopCFM, 0f); | ||
947 | d.JointSetAMotorParam(Amotor, (int)StopERP, 0.8f); | ||
948 | i++; | ||
949 | j = 256; // odeplugin.cs doesn't have all parameters so this moves to next axis set | ||
950 | } | ||
951 | |||
952 | if (axis.Y == 0) | ||
953 | { | ||
954 | ax = (new Vector3(0, 1, 0)) * curr; | ||
955 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
956 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
957 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); | ||
958 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); | ||
959 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
960 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
961 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
962 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
963 | d.JointSetAMotorParam(Amotor, j + (int)StopCFM, 0f); | ||
964 | d.JointSetAMotorParam(Amotor, j + (int)StopERP, 0.8f); | ||
965 | i++; | ||
966 | j += 256; | ||
967 | } | ||
968 | |||
969 | if (axis.Z == 0) | ||
970 | { | ||
971 | ax = (new Vector3(0, 0, 1)) * curr; | ||
972 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
973 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
974 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); | ||
975 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); | ||
976 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
977 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
978 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
979 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
980 | d.JointSetAMotorParam(Amotor, j + (int)StopCFM, 0f); | ||
981 | d.JointSetAMotorParam(Amotor, j + (int)StopERP, 0.8f); | ||
982 | } | ||
983 | } | ||
984 | |||
985 | private bool setMesh(OdeScene parent_scene) | ||
986 | { | ||
987 | if (Body != IntPtr.Zero) | ||
988 | { | ||
989 | if (childPrim) | ||
990 | { | ||
991 | if (_parent != null) | ||
992 | { | ||
993 | OdePrim parent = (OdePrim)_parent; | ||
994 | parent.ChildDelink(this, false); | ||
995 | } | ||
996 | } | ||
997 | else | ||
998 | { | ||
999 | DestroyBody(); | ||
1000 | } | ||
1001 | } | ||
1002 | |||
1003 | IMesh mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true); | ||
1004 | if (mesh == null) | ||
1005 | { | ||
1006 | m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z); | ||
1007 | return false; | ||
1008 | } | ||
1009 | |||
1010 | IntPtr vertices, indices; | ||
1011 | int vertexCount, indexCount; | ||
1012 | int vertexStride, triStride; | ||
1013 | |||
1014 | mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap | ||
1015 | mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage | ||
1016 | |||
1017 | if (vertexCount == 0 || indexCount == 0) | ||
1018 | { | ||
1019 | m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. It can be a sculp with alpha channel in map. Replacing it by a small box.", Name, _position.X, _position.Y, _position.Z); | ||
1020 | _size.X = 0.01f; | ||
1021 | _size.Y = 0.01f; | ||
1022 | _size.Z = 0.01f; | ||
1023 | return false; | ||
1024 | } | ||
1025 | |||
1026 | primOOBoffset = mesh.GetCentroid(); | ||
1027 | hasOOBoffsetFromMesh = true; | ||
1028 | |||
1029 | _triMeshData = d.GeomTriMeshDataCreate(); | ||
1030 | |||
1031 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | ||
1032 | d.GeomTriMeshDataPreprocess(_triMeshData); | ||
1033 | |||
1034 | mesh.releaseSourceMeshData(); | ||
1035 | |||
1036 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1037 | try | ||
1038 | { | ||
1039 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null)); | ||
1040 | } | ||
1041 | |||
1042 | catch (Exception e) | ||
1043 | { | ||
1044 | m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); | ||
1045 | return false; | ||
1046 | } | ||
1047 | return true; | ||
1048 | } | ||
1049 | |||
1050 | private void SetGeom(IntPtr geom) | ||
1051 | { | ||
1052 | prim_geom = geom; | ||
1053 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); | ||
1054 | if (prim_geom != IntPtr.Zero) | ||
1055 | { | ||
1056 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
1057 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
1058 | |||
1059 | CalcPrimBodyData(); | ||
1060 | |||
1061 | _parent_scene.geom_name_map[prim_geom] = Name; | ||
1062 | _parent_scene.actor_name_map[prim_geom] = this; | ||
1063 | |||
1064 | /* | ||
1065 | if (childPrim) | ||
1066 | { | ||
1067 | if (_parent != null && _parent is OdePrim) | ||
1068 | { | ||
1069 | OdePrim parent = (OdePrim)_parent; | ||
1070 | //Console.WriteLine("SetGeom calls ChildSetGeom"); | ||
1071 | parent.ChildSetGeom(this); | ||
1072 | } | ||
1073 | } | ||
1074 | */ | ||
1075 | } | ||
1076 | else | ||
1077 | m_log.Warn("Setting bad Geom"); | ||
1078 | } | ||
1079 | |||
1080 | |||
1081 | /// <summary> | ||
1082 | /// Create a geometry for the given mesh in the given target space. | ||
1083 | /// </summary> | ||
1084 | /// <param name="m_targetSpace"></param> | ||
1085 | /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param> | ||
1086 | private void CreateGeom() | ||
1087 | { | ||
1088 | if (_triMeshData != IntPtr.Zero) | ||
1089 | { | ||
1090 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1091 | _triMeshData = IntPtr.Zero; | ||
1092 | } | ||
1093 | |||
1094 | bool haveMesh = false; | ||
1095 | hasOOBoffsetFromMesh = false; | ||
1096 | |||
1097 | if (_parent_scene.needsMeshing(_pbs)) | ||
1098 | { | ||
1099 | haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims | ||
1100 | } | ||
1101 | |||
1102 | if (!haveMesh) | ||
1103 | { | ||
1104 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1105 | && _size.X == _size.Y && _size.Y == _size.Z) | ||
1106 | { // it's a sphere | ||
1107 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1108 | try | ||
1109 | { | ||
1110 | SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f)); | ||
1111 | } | ||
1112 | catch (Exception e) | ||
1113 | { | ||
1114 | m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); | ||
1115 | return; | ||
1116 | } | ||
1117 | } | ||
1118 | else | ||
1119 | {// do it as a box | ||
1120 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1121 | try | ||
1122 | { | ||
1123 | //Console.WriteLine(" CreateGeom 4"); | ||
1124 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); | ||
1125 | } | ||
1126 | catch (Exception e) | ||
1127 | { | ||
1128 | m_log.Warn("[PHYSICS]: Create box failed: {0}", e); | ||
1129 | return; | ||
1130 | } | ||
1131 | } | ||
1132 | } | ||
1133 | } | ||
1134 | |||
1135 | /// <summary> | ||
1136 | /// Set a new geometry for this prim. | ||
1137 | /// </summary> | ||
1138 | /// <param name="geom"></param> | ||
1139 | private void RemoveGeom() | ||
1140 | { | ||
1141 | if (prim_geom != IntPtr.Zero) | ||
1142 | { | ||
1143 | _parent_scene.geom_name_map.Remove(prim_geom); | ||
1144 | _parent_scene.actor_name_map.Remove(prim_geom); | ||
1145 | try | ||
1146 | { | ||
1147 | d.GeomDestroy(prim_geom); | ||
1148 | if (_triMeshData != IntPtr.Zero) | ||
1149 | { | ||
1150 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1151 | _triMeshData = IntPtr.Zero; | ||
1152 | } | ||
1153 | } | ||
1154 | // catch (System.AccessViolationException) | ||
1155 | catch (Exception e) | ||
1156 | { | ||
1157 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); | ||
1158 | } | ||
1159 | |||
1160 | prim_geom = IntPtr.Zero; | ||
1161 | } | ||
1162 | else | ||
1163 | { | ||
1164 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); | ||
1165 | } | ||
1166 | Body = IntPtr.Zero; | ||
1167 | hasOOBoffsetFromMesh = false; | ||
1168 | CalcPrimBodyData(); | ||
1169 | } | ||
1170 | |||
1171 | private void ChildSetGeom(OdePrim odePrim) | ||
1172 | { | ||
1173 | // well.. | ||
1174 | DestroyBody(); | ||
1175 | MakeBody(); | ||
1176 | } | ||
1177 | |||
1178 | //sets non physical prim m_targetSpace to right space in spaces grid for static prims | ||
1179 | // should only be called for non physical prims unless they are becoming non physical | ||
1180 | private void SetInStaticSpace(OdePrim prim) | ||
1181 | { | ||
1182 | IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); | ||
1183 | prim.m_targetSpace = targetSpace; | ||
1184 | d.GeomEnable(prim_geom); | ||
1185 | } | ||
1186 | |||
1187 | public void enableBodySoft() | ||
1188 | { | ||
1189 | if (!childPrim) | ||
1190 | { | ||
1191 | if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) | ||
1192 | { | ||
1193 | if (m_targetSpace != _parent_scene.ActiveSpace) | ||
1194 | { | ||
1195 | m_targetSpace = _parent_scene.ActiveSpace; | ||
1196 | |||
1197 | foreach (OdePrim prm in childrenPrim) | ||
1198 | { | ||
1199 | if (prm.prim_geom != IntPtr.Zero) | ||
1200 | { | ||
1201 | d.SpaceAdd(m_targetSpace, prm.prim_geom); | ||
1202 | prm.m_targetSpace = m_targetSpace; | ||
1203 | } | ||
1204 | } | ||
1205 | d.SpaceAdd(m_targetSpace, prim_geom); | ||
1206 | } | ||
1207 | d.GeomEnable(prim_geom); | ||
1208 | foreach (OdePrim prm in childrenPrim) | ||
1209 | d.GeomEnable(prm.prim_geom); | ||
1210 | |||
1211 | d.BodyEnable(Body); | ||
1212 | } | ||
1213 | } | ||
1214 | resetCollisionAccounting(); // this sets m_disable to false | ||
1215 | } | ||
1216 | |||
1217 | private void disableBodySoft() | ||
1218 | { | ||
1219 | m_disabled = true; | ||
1220 | if (!childPrim) | ||
1221 | { | ||
1222 | if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) | ||
1223 | { | ||
1224 | if (m_targetSpace == _parent_scene.ActiveSpace) | ||
1225 | { | ||
1226 | foreach (OdePrim prm in childrenPrim) | ||
1227 | { | ||
1228 | if (prm.m_targetSpace != IntPtr.Zero && prm.prim_geom != IntPtr.Zero) | ||
1229 | { | ||
1230 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); | ||
1231 | prm.m_targetSpace = IntPtr.Zero; | ||
1232 | } | ||
1233 | } | ||
1234 | d.SpaceRemove(m_targetSpace, prim_geom); | ||
1235 | m_targetSpace = IntPtr.Zero; | ||
1236 | } | ||
1237 | d.GeomDisable(prim_geom); | ||
1238 | foreach (OdePrim prm in childrenPrim) | ||
1239 | d.GeomDisable(prm.prim_geom); | ||
1240 | d.BodyDisable(Body); | ||
1241 | } | ||
1242 | } | ||
1243 | } | ||
1244 | |||
1245 | private void MakeBody() | ||
1246 | { | ||
1247 | if (!m_isphysical) // only physical get bodies | ||
1248 | return; | ||
1249 | |||
1250 | if (childPrim) // child prims don't get bodies; | ||
1251 | return; | ||
1252 | |||
1253 | if (m_building) | ||
1254 | return; | ||
1255 | |||
1256 | if (prim_geom == IntPtr.Zero) | ||
1257 | { | ||
1258 | m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); | ||
1259 | return; | ||
1260 | } | ||
1261 | |||
1262 | if (Body != IntPtr.Zero) | ||
1263 | { | ||
1264 | d.BodyDestroy(Body); | ||
1265 | Body = IntPtr.Zero; | ||
1266 | m_log.Warn("[PHYSICS]: MakeBody called having a body"); | ||
1267 | } | ||
1268 | |||
1269 | |||
1270 | if (d.GeomGetBody(prim_geom) != IntPtr.Zero) | ||
1271 | { | ||
1272 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1273 | m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); | ||
1274 | } | ||
1275 | |||
1276 | d.Matrix3 mymat = new d.Matrix3(); | ||
1277 | d.Quaternion myrot = new d.Quaternion(); | ||
1278 | d.Mass objdmass = new d.Mass { }; | ||
1279 | |||
1280 | Body = d.BodyCreate(_parent_scene.world); | ||
1281 | |||
1282 | DMassDup(ref primdMass, out objdmass); | ||
1283 | |||
1284 | // rotate inertia | ||
1285 | myrot.X = _orientation.X; | ||
1286 | myrot.Y = _orientation.Y; | ||
1287 | myrot.Z = _orientation.Z; | ||
1288 | myrot.W = _orientation.W; | ||
1289 | |||
1290 | d.RfromQ(out mymat, ref myrot); | ||
1291 | d.MassRotate(ref objdmass, ref mymat); | ||
1292 | |||
1293 | // set the body rotation and position | ||
1294 | d.BodySetRotation(Body, ref mymat); | ||
1295 | |||
1296 | // recompute full object inertia if needed | ||
1297 | if (childrenPrim.Count > 0) | ||
1298 | { | ||
1299 | d.Matrix3 mat = new d.Matrix3(); | ||
1300 | d.Quaternion quat = new d.Quaternion(); | ||
1301 | d.Mass tmpdmass = new d.Mass { }; | ||
1302 | Vector3 rcm; | ||
1303 | |||
1304 | rcm.X = _position.X + objdmass.c.X; | ||
1305 | rcm.Y = _position.Y + objdmass.c.Y; | ||
1306 | rcm.Z = _position.Z + objdmass.c.Z; | ||
1307 | |||
1308 | lock (childrenPrim) | ||
1309 | { | ||
1310 | foreach (OdePrim prm in childrenPrim) | ||
1311 | { | ||
1312 | if (prm.prim_geom == IntPtr.Zero) | ||
1313 | { | ||
1314 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); | ||
1315 | continue; | ||
1316 | } | ||
1317 | |||
1318 | |||
1319 | |||
1320 | DMassCopy(ref prm.primdMass, ref tmpdmass); | ||
1321 | |||
1322 | // apply prim current rotation to inertia | ||
1323 | quat.X = prm._orientation.X; | ||
1324 | quat.Y = prm._orientation.Y; | ||
1325 | quat.Z = prm._orientation.Z; | ||
1326 | quat.W = prm._orientation.W; | ||
1327 | d.RfromQ(out mat, ref quat); | ||
1328 | d.MassRotate(ref tmpdmass, ref mat); | ||
1329 | |||
1330 | Vector3 ppos = prm._position; | ||
1331 | ppos.X += tmpdmass.c.X - rcm.X; | ||
1332 | ppos.Y += tmpdmass.c.Y - rcm.Y; | ||
1333 | ppos.Z += tmpdmass.c.Z - rcm.Z; | ||
1334 | |||
1335 | // refer inertia to root prim center of mass position | ||
1336 | d.MassTranslate(ref tmpdmass, | ||
1337 | ppos.X, | ||
1338 | ppos.Y, | ||
1339 | ppos.Z); | ||
1340 | |||
1341 | d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia | ||
1342 | // fix prim colision cats | ||
1343 | |||
1344 | if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) | ||
1345 | { | ||
1346 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
1347 | m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); | ||
1348 | } | ||
1349 | |||
1350 | d.GeomClearOffset(prm.prim_geom); | ||
1351 | d.GeomSetBody(prm.prim_geom, Body); | ||
1352 | prm.Body = Body; | ||
1353 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation | ||
1354 | } | ||
1355 | } | ||
1356 | } | ||
1357 | |||
1358 | d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset | ||
1359 | // associate root geom with body | ||
1360 | d.GeomSetBody(prim_geom, Body); | ||
1361 | |||
1362 | d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); | ||
1363 | d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1364 | |||
1365 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
1366 | myrot.W = -myrot.W; | ||
1367 | d.RfromQ(out mymat, ref myrot); | ||
1368 | d.MassRotate(ref objdmass, ref mymat); | ||
1369 | d.BodySetMass(Body, ref objdmass); | ||
1370 | _mass = objdmass.mass; | ||
1371 | |||
1372 | m_collisionCategories |= CollisionCategories.Body; | ||
1373 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | ||
1374 | |||
1375 | // disconnect from world gravity so we can apply buoyancy | ||
1376 | d.BodySetGravityMode(Body, false); | ||
1377 | |||
1378 | d.BodySetAutoDisableFlag(Body, true); | ||
1379 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | ||
1380 | // d.BodySetLinearDampingThreshold(Body, 0.01f); | ||
1381 | // d.BodySetAngularDampingThreshold(Body, 0.001f); | ||
1382 | d.BodySetDamping(Body, .001f, .0002f); | ||
1383 | |||
1384 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
1385 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
1386 | |||
1387 | m_interpenetrationcount = 0; | ||
1388 | m_collisionscore = 0; | ||
1389 | |||
1390 | m_disabled = false; | ||
1391 | |||
1392 | if (m_targetSpace != _parent_scene.ActiveSpace) | ||
1393 | { | ||
1394 | if (m_targetSpace != IntPtr.Zero) | ||
1395 | { | ||
1396 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1397 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | ||
1398 | d.SpaceRemove(m_targetSpace, prim_geom); | ||
1399 | } | ||
1400 | |||
1401 | m_targetSpace = _parent_scene.ActiveSpace; | ||
1402 | d.SpaceAdd(m_targetSpace, prim_geom); | ||
1403 | } | ||
1404 | |||
1405 | lock (childrenPrim) | ||
1406 | { | ||
1407 | foreach (OdePrim prm in childrenPrim) | ||
1408 | { | ||
1409 | if (prm.prim_geom == IntPtr.Zero) | ||
1410 | continue; | ||
1411 | |||
1412 | Vector3 ppos = prm._position; | ||
1413 | d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position | ||
1414 | |||
1415 | prm.m_collisionCategories |= CollisionCategories.Body; | ||
1416 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | ||
1417 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); | ||
1418 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); | ||
1419 | |||
1420 | if (prm.m_targetSpace != _parent_scene.ActiveSpace) | ||
1421 | { | ||
1422 | if (prm.m_targetSpace != IntPtr.Zero) | ||
1423 | { | ||
1424 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1425 | if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) | ||
1426 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); | ||
1427 | } | ||
1428 | prm.m_targetSpace = _parent_scene.ActiveSpace; | ||
1429 | d.SpaceAdd(m_targetSpace, prm.prim_geom); | ||
1430 | } | ||
1431 | d.GeomEnable(prm.prim_geom); | ||
1432 | prm.m_disabled = false; | ||
1433 | prm.m_interpenetrationcount = 0; | ||
1434 | prm.m_collisionscore = 0; | ||
1435 | _parent_scene.addActivePrim(prm); | ||
1436 | } | ||
1437 | } | ||
1438 | |||
1439 | // The body doesn't already have a finite rotation mode set here | ||
1440 | if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) | ||
1441 | { | ||
1442 | createAMotor(m_angularlock); | ||
1443 | } | ||
1444 | |||
1445 | d.GeomEnable(prim_geom); | ||
1446 | m_disabled = false; | ||
1447 | _parent_scene.addActivePrim(this); | ||
1448 | } | ||
1449 | |||
1450 | private void DestroyBody() | ||
1451 | { | ||
1452 | if (Body != IntPtr.Zero) | ||
1453 | { | ||
1454 | _parent_scene.remActivePrim(this); | ||
1455 | m_collisionCategories &= ~CollisionCategories.Body; | ||
1456 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | ||
1457 | if (prim_geom != IntPtr.Zero) | ||
1458 | { | ||
1459 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
1460 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
1461 | UpdateDataFromGeom(); | ||
1462 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1463 | SetInStaticSpace(this); | ||
1464 | } | ||
1465 | |||
1466 | if (!childPrim) | ||
1467 | { | ||
1468 | lock (childrenPrim) | ||
1469 | { | ||
1470 | foreach (OdePrim prm in childrenPrim) | ||
1471 | { | ||
1472 | _parent_scene.remActivePrim(prm); | ||
1473 | prm.m_collisionCategories &= ~CollisionCategories.Body; | ||
1474 | prm.m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | ||
1475 | if (prm.prim_geom != IntPtr.Zero) | ||
1476 | { | ||
1477 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | ||
1478 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | ||
1479 | prm.UpdateDataFromGeom(); | ||
1480 | SetInStaticSpace(prm); | ||
1481 | } | ||
1482 | prm.Body = IntPtr.Zero; | ||
1483 | prm._mass = prm.primMass; | ||
1484 | prm.m_collisionscore = 0; | ||
1485 | } | ||
1486 | } | ||
1487 | d.BodyDestroy(Body); | ||
1488 | } | ||
1489 | Body = IntPtr.Zero; | ||
1490 | } | ||
1491 | _mass = primMass; | ||
1492 | m_disabled = true; | ||
1493 | m_collisionscore = 0; | ||
1494 | } | ||
1495 | |||
1496 | #region Mass Calculation | ||
1497 | |||
1498 | private float CalculatePrimVolume() | ||
1499 | { | ||
1500 | float volume = _size.X * _size.Y * _size.Z; // default | ||
1501 | float tmp; | ||
1502 | |||
1503 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; | ||
1504 | float hollowVolume = hollowAmount * hollowAmount; | ||
1505 | |||
1506 | switch (_pbs.ProfileShape) | ||
1507 | { | ||
1508 | case ProfileShape.Square: | ||
1509 | // default box | ||
1510 | |||
1511 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | ||
1512 | { | ||
1513 | if (hollowAmount > 0.0) | ||
1514 | { | ||
1515 | switch (_pbs.HollowShape) | ||
1516 | { | ||
1517 | case HollowShape.Square: | ||
1518 | case HollowShape.Same: | ||
1519 | break; | ||
1520 | |||
1521 | case HollowShape.Circle: | ||
1522 | |||
1523 | hollowVolume *= 0.78539816339f; | ||
1524 | break; | ||
1525 | |||
1526 | case HollowShape.Triangle: | ||
1527 | |||
1528 | hollowVolume *= (0.5f * .5f); | ||
1529 | break; | ||
1530 | |||
1531 | default: | ||
1532 | hollowVolume = 0; | ||
1533 | break; | ||
1534 | } | ||
1535 | volume *= (1.0f - hollowVolume); | ||
1536 | } | ||
1537 | } | ||
1538 | |||
1539 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1540 | { | ||
1541 | //a tube | ||
1542 | |||
1543 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); | ||
1544 | tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); | ||
1545 | volume -= volume * tmp * tmp; | ||
1546 | |||
1547 | if (hollowAmount > 0.0) | ||
1548 | { | ||
1549 | hollowVolume *= hollowAmount; | ||
1550 | |||
1551 | switch (_pbs.HollowShape) | ||
1552 | { | ||
1553 | case HollowShape.Square: | ||
1554 | case HollowShape.Same: | ||
1555 | break; | ||
1556 | |||
1557 | case HollowShape.Circle: | ||
1558 | hollowVolume *= 0.78539816339f; | ||
1559 | break; | ||
1560 | |||
1561 | case HollowShape.Triangle: | ||
1562 | hollowVolume *= 0.5f * 0.5f; | ||
1563 | break; | ||
1564 | default: | ||
1565 | hollowVolume = 0; | ||
1566 | break; | ||
1567 | } | ||
1568 | volume *= (1.0f - hollowVolume); | ||
1569 | } | ||
1570 | } | ||
1571 | |||
1572 | break; | ||
1573 | |||
1574 | case ProfileShape.Circle: | ||
1575 | |||
1576 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | ||
1577 | { | ||
1578 | volume *= 0.78539816339f; // elipse base | ||
1579 | |||
1580 | if (hollowAmount > 0.0) | ||
1581 | { | ||
1582 | switch (_pbs.HollowShape) | ||
1583 | { | ||
1584 | case HollowShape.Same: | ||
1585 | case HollowShape.Circle: | ||
1586 | break; | ||
1587 | |||
1588 | case HollowShape.Square: | ||
1589 | hollowVolume *= 0.5f * 2.5984480504799f; | ||
1590 | break; | ||
1591 | |||
1592 | case HollowShape.Triangle: | ||
1593 | hollowVolume *= .5f * 1.27323954473516f; | ||
1594 | break; | ||
1595 | |||
1596 | default: | ||
1597 | hollowVolume = 0; | ||
1598 | break; | ||
1599 | } | ||
1600 | volume *= (1.0f - hollowVolume); | ||
1601 | } | ||
1602 | } | ||
1603 | |||
1604 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1605 | { | ||
1606 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); | ||
1607 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | ||
1608 | volume *= (1.0f - tmp * tmp); | ||
1609 | |||
1610 | if (hollowAmount > 0.0) | ||
1611 | { | ||
1612 | |||
1613 | // calculate the hollow volume by it's shape compared to the prim shape | ||
1614 | hollowVolume *= hollowAmount; | ||
1615 | |||
1616 | switch (_pbs.HollowShape) | ||
1617 | { | ||
1618 | case HollowShape.Same: | ||
1619 | case HollowShape.Circle: | ||
1620 | break; | ||
1621 | |||
1622 | case HollowShape.Square: | ||
1623 | hollowVolume *= 0.5f * 2.5984480504799f; | ||
1624 | break; | ||
1625 | |||
1626 | case HollowShape.Triangle: | ||
1627 | hollowVolume *= .5f * 1.27323954473516f; | ||
1628 | break; | ||
1629 | |||
1630 | default: | ||
1631 | hollowVolume = 0; | ||
1632 | break; | ||
1633 | } | ||
1634 | volume *= (1.0f - hollowVolume); | ||
1635 | } | ||
1636 | } | ||
1637 | break; | ||
1638 | |||
1639 | case ProfileShape.HalfCircle: | ||
1640 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1641 | { | ||
1642 | volume *= 0.52359877559829887307710723054658f; | ||
1643 | } | ||
1644 | break; | ||
1645 | |||
1646 | case ProfileShape.EquilateralTriangle: | ||
1647 | |||
1648 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | ||
1649 | { | ||
1650 | volume *= 0.32475953f; | ||
1651 | |||
1652 | if (hollowAmount > 0.0) | ||
1653 | { | ||
1654 | |||
1655 | // calculate the hollow volume by it's shape compared to the prim shape | ||
1656 | switch (_pbs.HollowShape) | ||
1657 | { | ||
1658 | case HollowShape.Same: | ||
1659 | case HollowShape.Triangle: | ||
1660 | hollowVolume *= .25f; | ||
1661 | break; | ||
1662 | |||
1663 | case HollowShape.Square: | ||
1664 | hollowVolume *= 0.499849f * 3.07920140172638f; | ||
1665 | break; | ||
1666 | |||
1667 | case HollowShape.Circle: | ||
1668 | // Hollow shape is a perfect cyllinder in respect to the cube's scale | ||
1669 | // Cyllinder hollow volume calculation | ||
1670 | |||
1671 | hollowVolume *= 0.1963495f * 3.07920140172638f; | ||
1672 | break; | ||
1673 | |||
1674 | default: | ||
1675 | hollowVolume = 0; | ||
1676 | break; | ||
1677 | } | ||
1678 | volume *= (1.0f - hollowVolume); | ||
1679 | } | ||
1680 | } | ||
1681 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1682 | { | ||
1683 | volume *= 0.32475953f; | ||
1684 | volume *= 0.01f * (float)(200 - _pbs.PathScaleX); | ||
1685 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | ||
1686 | volume *= (1.0f - tmp * tmp); | ||
1687 | |||
1688 | if (hollowAmount > 0.0) | ||
1689 | { | ||
1690 | |||
1691 | hollowVolume *= hollowAmount; | ||
1692 | |||
1693 | switch (_pbs.HollowShape) | ||
1694 | { | ||
1695 | case HollowShape.Same: | ||
1696 | case HollowShape.Triangle: | ||
1697 | hollowVolume *= .25f; | ||
1698 | break; | ||
1699 | |||
1700 | case HollowShape.Square: | ||
1701 | hollowVolume *= 0.499849f * 3.07920140172638f; | ||
1702 | break; | ||
1703 | |||
1704 | case HollowShape.Circle: | ||
1705 | |||
1706 | hollowVolume *= 0.1963495f * 3.07920140172638f; | ||
1707 | break; | ||
1708 | |||
1709 | default: | ||
1710 | hollowVolume = 0; | ||
1711 | break; | ||
1712 | } | ||
1713 | volume *= (1.0f - hollowVolume); | ||
1714 | } | ||
1715 | } | ||
1716 | break; | ||
1717 | |||
1718 | default: | ||
1719 | break; | ||
1720 | } | ||
1721 | |||
1722 | float taperX1; | ||
1723 | float taperY1; | ||
1724 | float taperX; | ||
1725 | float taperY; | ||
1726 | float pathBegin; | ||
1727 | float pathEnd; | ||
1728 | float profileBegin; | ||
1729 | float profileEnd; | ||
1730 | |||
1731 | if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) | ||
1732 | { | ||
1733 | taperX1 = _pbs.PathScaleX * 0.01f; | ||
1734 | if (taperX1 > 1.0f) | ||
1735 | taperX1 = 2.0f - taperX1; | ||
1736 | taperX = 1.0f - taperX1; | ||
1737 | |||
1738 | taperY1 = _pbs.PathScaleY * 0.01f; | ||
1739 | if (taperY1 > 1.0f) | ||
1740 | taperY1 = 2.0f - taperY1; | ||
1741 | taperY = 1.0f - taperY1; | ||
1742 | } | ||
1743 | else | ||
1744 | { | ||
1745 | taperX = _pbs.PathTaperX * 0.01f; | ||
1746 | if (taperX < 0.0f) | ||
1747 | taperX = -taperX; | ||
1748 | taperX1 = 1.0f - taperX; | ||
1749 | |||
1750 | taperY = _pbs.PathTaperY * 0.01f; | ||
1751 | if (taperY < 0.0f) | ||
1752 | taperY = -taperY; | ||
1753 | taperY1 = 1.0f - taperY; | ||
1754 | } | ||
1755 | |||
1756 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); | ||
1757 | |||
1758 | pathBegin = (float)_pbs.PathBegin * 2.0e-5f; | ||
1759 | pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; | ||
1760 | volume *= (pathEnd - pathBegin); | ||
1761 | |||
1762 | // this is crude aproximation | ||
1763 | profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; | ||
1764 | profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; | ||
1765 | volume *= (profileEnd - profileBegin); | ||
1766 | |||
1767 | return volume; | ||
1768 | } | ||
1769 | |||
1770 | |||
1771 | private void CalcPrimBodyData() | ||
1772 | { | ||
1773 | float volume; | ||
1774 | |||
1775 | if (prim_geom == IntPtr.Zero) | ||
1776 | { | ||
1777 | // Ubit let's have a initial basic OOB | ||
1778 | primOOBsize.X = _size.X; | ||
1779 | primOOBsize.Y = _size.Y; | ||
1780 | primOOBsize.Z = _size.Z; | ||
1781 | primOOBoffset = Vector3.Zero; | ||
1782 | } | ||
1783 | else | ||
1784 | { | ||
1785 | d.AABB AABB; | ||
1786 | d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom | ||
1787 | |||
1788 | primOOBsize.X = (AABB.MaxX - AABB.MinX); | ||
1789 | primOOBsize.Y = (AABB.MaxY - AABB.MinY); | ||
1790 | primOOBsize.Z = (AABB.MaxZ - AABB.MinZ); | ||
1791 | if (!hasOOBoffsetFromMesh) | ||
1792 | { | ||
1793 | primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; | ||
1794 | primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; | ||
1795 | primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; | ||
1796 | } | ||
1797 | } | ||
1798 | |||
1799 | // also its own inertia and mass | ||
1800 | // keep using basic shape mass for now | ||
1801 | volume = CalculatePrimVolume(); | ||
1802 | |||
1803 | primMass = m_density * volume; | ||
1804 | |||
1805 | if (primMass <= 0) | ||
1806 | primMass = 0.0001f;//ckrinke: Mass must be greater then zero. | ||
1807 | if (primMass > _parent_scene.maximumMassObject) | ||
1808 | primMass = _parent_scene.maximumMassObject; | ||
1809 | |||
1810 | _mass = primMass; // just in case | ||
1811 | |||
1812 | d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); | ||
1813 | |||
1814 | d.MassTranslate(ref primdMass, | ||
1815 | primOOBoffset.X, | ||
1816 | primOOBoffset.Y, | ||
1817 | primOOBoffset.Z); | ||
1818 | |||
1819 | primOOBsize *= 0.5f; // let obb size be a corner coords | ||
1820 | primOOBradiusSQ = primOOBsize.LengthSquared(); | ||
1821 | } | ||
1822 | |||
1823 | |||
1824 | #endregion | ||
1825 | |||
1826 | |||
1827 | /// <summary> | ||
1828 | /// Add a child prim to this parent prim. | ||
1829 | /// </summary> | ||
1830 | /// <param name="prim">Child prim</param> | ||
1831 | // I'm the parent | ||
1832 | // prim is the child | ||
1833 | public void ParentPrim(OdePrim prim) | ||
1834 | { | ||
1835 | //Console.WriteLine("ParentPrim " + m_primName); | ||
1836 | if (this.m_localID != prim.m_localID) | ||
1837 | { | ||
1838 | DestroyBody(); // for now we need to rebuil entire object on link change | ||
1839 | |||
1840 | lock (childrenPrim) | ||
1841 | { | ||
1842 | // adopt the prim | ||
1843 | if (!childrenPrim.Contains(prim)) | ||
1844 | childrenPrim.Add(prim); | ||
1845 | |||
1846 | // see if this prim has kids and adopt them also | ||
1847 | // should not happen for now | ||
1848 | foreach (OdePrim prm in prim.childrenPrim) | ||
1849 | { | ||
1850 | if (!childrenPrim.Contains(prm)) | ||
1851 | { | ||
1852 | if (prm.Body != IntPtr.Zero) | ||
1853 | { | ||
1854 | if (prm.prim_geom != IntPtr.Zero) | ||
1855 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
1856 | if (prm.Body != prim.Body) | ||
1857 | prm.DestroyBody(); // don't loose bodies around | ||
1858 | prm.Body = IntPtr.Zero; | ||
1859 | } | ||
1860 | |||
1861 | childrenPrim.Add(prm); | ||
1862 | prm._parent = this; | ||
1863 | } | ||
1864 | } | ||
1865 | } | ||
1866 | //Remove old children from the prim | ||
1867 | prim.childrenPrim.Clear(); | ||
1868 | |||
1869 | if (prim.Body != IntPtr.Zero) | ||
1870 | { | ||
1871 | if (prim.prim_geom != IntPtr.Zero) | ||
1872 | d.GeomSetBody(prim.prim_geom, IntPtr.Zero); | ||
1873 | prim.DestroyBody(); // don't loose bodies around | ||
1874 | prim.Body = IntPtr.Zero; | ||
1875 | } | ||
1876 | |||
1877 | prim.childPrim = true; | ||
1878 | prim._parent = this; | ||
1879 | |||
1880 | MakeBody(); // full nasty reconstruction | ||
1881 | } | ||
1882 | } | ||
1883 | |||
1884 | private void UpdateChildsfromgeom() | ||
1885 | { | ||
1886 | if (childrenPrim.Count > 0) | ||
1887 | { | ||
1888 | foreach (OdePrim prm in childrenPrim) | ||
1889 | prm.UpdateDataFromGeom(); | ||
1890 | } | ||
1891 | } | ||
1892 | |||
1893 | private void UpdateDataFromGeom() | ||
1894 | { | ||
1895 | if (prim_geom != IntPtr.Zero) | ||
1896 | { | ||
1897 | d.Vector3 lpos; | ||
1898 | d.GeomCopyPosition(prim_geom, out lpos); | ||
1899 | _position.X = lpos.X; | ||
1900 | _position.Y = lpos.Y; | ||
1901 | _position.Z = lpos.Z; | ||
1902 | d.Quaternion qtmp = new d.Quaternion { }; | ||
1903 | d.GeomCopyQuaternion(prim_geom, out qtmp); | ||
1904 | _orientation.W = qtmp.W; | ||
1905 | _orientation.X = qtmp.X; | ||
1906 | _orientation.Y = qtmp.Y; | ||
1907 | _orientation.Z = qtmp.Z; | ||
1908 | } | ||
1909 | } | ||
1910 | |||
1911 | private void ChildDelink(OdePrim odePrim, bool remakebodies) | ||
1912 | { | ||
1913 | // Okay, we have a delinked child.. destroy all body and remake | ||
1914 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
1915 | return; | ||
1916 | |||
1917 | DestroyBody(); | ||
1918 | |||
1919 | if (odePrim == this) // delinking the root prim | ||
1920 | { | ||
1921 | OdePrim newroot = null; | ||
1922 | lock (childrenPrim) | ||
1923 | { | ||
1924 | if (childrenPrim.Count > 0) | ||
1925 | { | ||
1926 | newroot = childrenPrim[0]; | ||
1927 | childrenPrim.RemoveAt(0); | ||
1928 | foreach (OdePrim prm in childrenPrim) | ||
1929 | { | ||
1930 | newroot.childrenPrim.Add(prm); | ||
1931 | } | ||
1932 | childrenPrim.Clear(); | ||
1933 | } | ||
1934 | if (newroot != null) | ||
1935 | { | ||
1936 | newroot.childPrim = false; | ||
1937 | newroot._parent = null; | ||
1938 | if (remakebodies) | ||
1939 | newroot.MakeBody(); | ||
1940 | } | ||
1941 | } | ||
1942 | } | ||
1943 | |||
1944 | else | ||
1945 | { | ||
1946 | lock (childrenPrim) | ||
1947 | { | ||
1948 | childrenPrim.Remove(odePrim); | ||
1949 | odePrim.childPrim = false; | ||
1950 | odePrim._parent = null; | ||
1951 | // odePrim.UpdateDataFromGeom(); | ||
1952 | if (remakebodies) | ||
1953 | odePrim.MakeBody(); | ||
1954 | } | ||
1955 | } | ||
1956 | if (remakebodies) | ||
1957 | MakeBody(); | ||
1958 | } | ||
1959 | |||
1960 | protected void ChildRemove(OdePrim odePrim, bool reMakeBody) | ||
1961 | { | ||
1962 | // Okay, we have a delinked child.. destroy all body and remake | ||
1963 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
1964 | return; | ||
1965 | |||
1966 | DestroyBody(); | ||
1967 | |||
1968 | if (odePrim == this) | ||
1969 | { | ||
1970 | OdePrim newroot = null; | ||
1971 | lock (childrenPrim) | ||
1972 | { | ||
1973 | if (childrenPrim.Count > 0) | ||
1974 | { | ||
1975 | newroot = childrenPrim[0]; | ||
1976 | childrenPrim.RemoveAt(0); | ||
1977 | foreach (OdePrim prm in childrenPrim) | ||
1978 | { | ||
1979 | newroot.childrenPrim.Add(prm); | ||
1980 | } | ||
1981 | childrenPrim.Clear(); | ||
1982 | } | ||
1983 | if (newroot != null) | ||
1984 | { | ||
1985 | newroot.childPrim = false; | ||
1986 | newroot._parent = null; | ||
1987 | newroot.MakeBody(); | ||
1988 | } | ||
1989 | } | ||
1990 | if (reMakeBody) | ||
1991 | MakeBody(); | ||
1992 | return; | ||
1993 | } | ||
1994 | else | ||
1995 | { | ||
1996 | lock (childrenPrim) | ||
1997 | { | ||
1998 | childrenPrim.Remove(odePrim); | ||
1999 | odePrim.childPrim = false; | ||
2000 | odePrim._parent = null; | ||
2001 | if (reMakeBody) | ||
2002 | odePrim.MakeBody(); | ||
2003 | } | ||
2004 | } | ||
2005 | MakeBody(); | ||
2006 | } | ||
2007 | |||
2008 | #region changes | ||
2009 | |||
2010 | private void changeadd() | ||
2011 | { | ||
2012 | CreateGeom(); | ||
2013 | |||
2014 | if (prim_geom != IntPtr.Zero) | ||
2015 | { | ||
2016 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2017 | d.Quaternion myrot = new d.Quaternion(); | ||
2018 | myrot.X = _orientation.X; | ||
2019 | myrot.Y = _orientation.Y; | ||
2020 | myrot.Z = _orientation.Z; | ||
2021 | myrot.W = _orientation.W; | ||
2022 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2023 | // _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; | ||
2024 | if (!m_isphysical) | ||
2025 | SetInStaticSpace(this); | ||
2026 | } | ||
2027 | |||
2028 | if (m_isphysical && Body == IntPtr.Zero) | ||
2029 | { | ||
2030 | /* | ||
2031 | if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) | ||
2032 | { | ||
2033 | changeShape(_pbs); | ||
2034 | } | ||
2035 | else | ||
2036 | { | ||
2037 | */ | ||
2038 | MakeBody(); | ||
2039 | // } | ||
2040 | } | ||
2041 | } | ||
2042 | |||
2043 | private void changeAngularLock(Vector3 newLock) | ||
2044 | { | ||
2045 | // do we have a Physical object? | ||
2046 | if (Body != IntPtr.Zero) | ||
2047 | { | ||
2048 | //Check that we have a Parent | ||
2049 | //If we have a parent then we're not authorative here | ||
2050 | if (_parent == null) | ||
2051 | { | ||
2052 | if (!newLock.ApproxEquals(Vector3.One, 0f)) | ||
2053 | { | ||
2054 | createAMotor(newLock); | ||
2055 | } | ||
2056 | else | ||
2057 | { | ||
2058 | if (Amotor != IntPtr.Zero) | ||
2059 | { | ||
2060 | d.JointDestroy(Amotor); | ||
2061 | Amotor = IntPtr.Zero; | ||
2062 | } | ||
2063 | } | ||
2064 | } | ||
2065 | } | ||
2066 | // Store this for later in case we get turned into a separate body | ||
2067 | m_angularlock = newLock; | ||
2068 | } | ||
2069 | |||
2070 | private void changeLink(OdePrim NewParent) | ||
2071 | { | ||
2072 | if (_parent == null && NewParent != null) | ||
2073 | { | ||
2074 | NewParent.ParentPrim(this); | ||
2075 | } | ||
2076 | else if (_parent != null) | ||
2077 | { | ||
2078 | if (_parent is OdePrim) | ||
2079 | { | ||
2080 | if (NewParent != _parent) | ||
2081 | { | ||
2082 | (_parent as OdePrim).ChildDelink(this, false); // for now... | ||
2083 | childPrim = false; | ||
2084 | |||
2085 | if (NewParent != null) | ||
2086 | { | ||
2087 | NewParent.ParentPrim(this); | ||
2088 | } | ||
2089 | } | ||
2090 | } | ||
2091 | } | ||
2092 | _parent = NewParent; | ||
2093 | } | ||
2094 | |||
2095 | |||
2096 | private void Stop() | ||
2097 | { | ||
2098 | if (!childPrim) | ||
2099 | { | ||
2100 | m_force = Vector3.Zero; | ||
2101 | m_forceacc = Vector3.Zero; | ||
2102 | m_angularForceacc = Vector3.Zero; | ||
2103 | _torque = Vector3.Zero; | ||
2104 | _velocity = Vector3.Zero; | ||
2105 | _acceleration = Vector3.Zero; | ||
2106 | m_rotationalVelocity = Vector3.Zero; | ||
2107 | _target_velocity = Vector3.Zero; | ||
2108 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
2109 | m_vehicle.Stop(); | ||
2110 | } | ||
2111 | |||
2112 | if (Body != IntPtr.Zero) | ||
2113 | { | ||
2114 | d.BodySetForce(Body, 0f, 0f, 0f); | ||
2115 | d.BodySetTorque(Body, 0f, 0f, 0f); | ||
2116 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | ||
2117 | d.BodySetAngularVel(Body, 0f, 0f, 0f); | ||
2118 | |||
2119 | } | ||
2120 | } | ||
2121 | |||
2122 | private void changeSelectedStatus(bool newval) | ||
2123 | { | ||
2124 | m_isSelected = newval; | ||
2125 | Stop(); | ||
2126 | |||
2127 | if (newval) | ||
2128 | { | ||
2129 | m_collisionCategories = CollisionCategories.Selected; | ||
2130 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); | ||
2131 | |||
2132 | if (prim_geom != IntPtr.Zero) | ||
2133 | { | ||
2134 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
2135 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
2136 | } | ||
2137 | |||
2138 | disableBodySoft(); | ||
2139 | } | ||
2140 | else | ||
2141 | { | ||
2142 | m_collisionCategories = CollisionCategories.Geom; | ||
2143 | |||
2144 | if (m_isphysical) | ||
2145 | m_collisionCategories |= CollisionCategories.Body; | ||
2146 | |||
2147 | m_collisionFlags = m_default_collisionFlags; | ||
2148 | |||
2149 | if (m_collidesLand) | ||
2150 | m_collisionFlags |= CollisionCategories.Land; | ||
2151 | if (m_collidesWater) | ||
2152 | m_collisionFlags |= CollisionCategories.Water; | ||
2153 | |||
2154 | if (prim_geom != IntPtr.Zero) | ||
2155 | { | ||
2156 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
2157 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
2158 | } | ||
2159 | |||
2160 | enableBodySoft(); | ||
2161 | } | ||
2162 | |||
2163 | resetCollisionAccounting(); | ||
2164 | } | ||
2165 | |||
2166 | private void changePosition(Vector3 newPos) | ||
2167 | { | ||
2168 | if (m_isphysical) | ||
2169 | { | ||
2170 | if (childPrim) // inertia is messed, must rebuild | ||
2171 | { | ||
2172 | if (m_building) | ||
2173 | { | ||
2174 | _position = newPos; | ||
2175 | } | ||
2176 | } | ||
2177 | else | ||
2178 | { | ||
2179 | if (_position != newPos) | ||
2180 | { | ||
2181 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2182 | _position = newPos; | ||
2183 | } | ||
2184 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2185 | d.BodyEnable(Body); | ||
2186 | } | ||
2187 | } | ||
2188 | else | ||
2189 | { | ||
2190 | if (prim_geom != IntPtr.Zero) | ||
2191 | { | ||
2192 | if (newPos != _position) | ||
2193 | { | ||
2194 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2195 | _position = newPos; | ||
2196 | |||
2197 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2198 | } | ||
2199 | } | ||
2200 | } | ||
2201 | givefakepos--; | ||
2202 | if (givefakepos < 0) | ||
2203 | givefakepos = 0; | ||
2204 | // changeSelectedStatus(); | ||
2205 | resetCollisionAccounting(); | ||
2206 | } | ||
2207 | |||
2208 | private void changeOrientation(Quaternion newOri) | ||
2209 | { | ||
2210 | if (m_isphysical) | ||
2211 | { | ||
2212 | if (childPrim) // inertia is messed, must rebuild | ||
2213 | { | ||
2214 | if (m_building) | ||
2215 | { | ||
2216 | _orientation = newOri; | ||
2217 | } | ||
2218 | } | ||
2219 | else | ||
2220 | { | ||
2221 | if (newOri != _orientation) | ||
2222 | { | ||
2223 | d.Quaternion myrot = new d.Quaternion(); | ||
2224 | myrot.X = newOri.X; | ||
2225 | myrot.Y = newOri.Y; | ||
2226 | myrot.Z = newOri.Z; | ||
2227 | myrot.W = newOri.W; | ||
2228 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2229 | _orientation = newOri; | ||
2230 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | ||
2231 | createAMotor(m_angularlock); | ||
2232 | } | ||
2233 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2234 | d.BodyEnable(Body); | ||
2235 | } | ||
2236 | } | ||
2237 | else | ||
2238 | { | ||
2239 | if (prim_geom != IntPtr.Zero) | ||
2240 | { | ||
2241 | if (newOri != _orientation) | ||
2242 | { | ||
2243 | d.Quaternion myrot = new d.Quaternion(); | ||
2244 | myrot.X = newOri.X; | ||
2245 | myrot.Y = newOri.Y; | ||
2246 | myrot.Z = newOri.Z; | ||
2247 | myrot.W = newOri.W; | ||
2248 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2249 | _orientation = newOri; | ||
2250 | } | ||
2251 | } | ||
2252 | } | ||
2253 | givefakeori--; | ||
2254 | if (givefakeori < 0) | ||
2255 | givefakeori = 0; | ||
2256 | resetCollisionAccounting(); | ||
2257 | } | ||
2258 | |||
2259 | private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) | ||
2260 | { | ||
2261 | if (m_isphysical) | ||
2262 | { | ||
2263 | if (childPrim && m_building) // inertia is messed, must rebuild | ||
2264 | { | ||
2265 | _position = newPos; | ||
2266 | _orientation = newOri; | ||
2267 | } | ||
2268 | else | ||
2269 | { | ||
2270 | if (newOri != _orientation) | ||
2271 | { | ||
2272 | d.Quaternion myrot = new d.Quaternion(); | ||
2273 | myrot.X = newOri.X; | ||
2274 | myrot.Y = newOri.Y; | ||
2275 | myrot.Z = newOri.Z; | ||
2276 | myrot.W = newOri.W; | ||
2277 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2278 | _orientation = newOri; | ||
2279 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | ||
2280 | createAMotor(m_angularlock); | ||
2281 | } | ||
2282 | if (_position != newPos) | ||
2283 | { | ||
2284 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2285 | _position = newPos; | ||
2286 | } | ||
2287 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2288 | d.BodyEnable(Body); | ||
2289 | } | ||
2290 | } | ||
2291 | else | ||
2292 | { | ||
2293 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | ||
2294 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | ||
2295 | |||
2296 | if (prim_geom != IntPtr.Zero) | ||
2297 | { | ||
2298 | if (newOri != _orientation) | ||
2299 | { | ||
2300 | d.Quaternion myrot = new d.Quaternion(); | ||
2301 | myrot.X = newOri.X; | ||
2302 | myrot.Y = newOri.Y; | ||
2303 | myrot.Z = newOri.Z; | ||
2304 | myrot.W = newOri.W; | ||
2305 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2306 | _orientation = newOri; | ||
2307 | } | ||
2308 | |||
2309 | if (newPos != _position) | ||
2310 | { | ||
2311 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2312 | _position = newPos; | ||
2313 | |||
2314 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2315 | } | ||
2316 | } | ||
2317 | } | ||
2318 | givefakepos--; | ||
2319 | if (givefakepos < 0) | ||
2320 | givefakepos = 0; | ||
2321 | givefakeori--; | ||
2322 | if (givefakeori < 0) | ||
2323 | givefakeori = 0; | ||
2324 | |||
2325 | resetCollisionAccounting(); | ||
2326 | } | ||
2327 | |||
2328 | |||
2329 | private void changeDisable(bool disable) | ||
2330 | { | ||
2331 | if (disable) | ||
2332 | { | ||
2333 | if (!m_disabled) | ||
2334 | disableBodySoft(); | ||
2335 | } | ||
2336 | else | ||
2337 | { | ||
2338 | if (m_disabled) | ||
2339 | enableBodySoft(); | ||
2340 | } | ||
2341 | } | ||
2342 | |||
2343 | private void changePhysicsStatus(bool NewStatus) | ||
2344 | { | ||
2345 | m_isphysical = NewStatus; | ||
2346 | |||
2347 | if (!childPrim) | ||
2348 | { | ||
2349 | if (NewStatus) | ||
2350 | { | ||
2351 | if (Body == IntPtr.Zero) | ||
2352 | { | ||
2353 | /* | ||
2354 | if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) | ||
2355 | { | ||
2356 | changeShape(_pbs); | ||
2357 | } | ||
2358 | else | ||
2359 | */ | ||
2360 | { | ||
2361 | MakeBody(); | ||
2362 | } | ||
2363 | } | ||
2364 | } | ||
2365 | else | ||
2366 | { | ||
2367 | if (Body != IntPtr.Zero) | ||
2368 | { | ||
2369 | // UpdateChildsfromgeom(); | ||
2370 | /* if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) | ||
2371 | { | ||
2372 | changeShape(_pbs); | ||
2373 | } | ||
2374 | else | ||
2375 | */ | ||
2376 | DestroyBody(); | ||
2377 | Stop(); | ||
2378 | } | ||
2379 | } | ||
2380 | } | ||
2381 | |||
2382 | resetCollisionAccounting(); | ||
2383 | } | ||
2384 | |||
2385 | private void changeprimsizeshape() | ||
2386 | { | ||
2387 | OdePrim parent = (OdePrim)_parent; | ||
2388 | |||
2389 | bool chp = childPrim; | ||
2390 | |||
2391 | if (chp) | ||
2392 | { | ||
2393 | if (parent != null) | ||
2394 | { | ||
2395 | parent.DestroyBody(); | ||
2396 | } | ||
2397 | } | ||
2398 | else | ||
2399 | { | ||
2400 | DestroyBody(); | ||
2401 | } | ||
2402 | |||
2403 | RemoveGeom(); | ||
2404 | |||
2405 | // we don't need to do space calculation because the client sends a position update also. | ||
2406 | if (_size.X <= 0) | ||
2407 | _size.X = 0.01f; | ||
2408 | if (_size.Y <= 0) | ||
2409 | _size.Y = 0.01f; | ||
2410 | if (_size.Z <= 0) | ||
2411 | _size.Z = 0.01f; | ||
2412 | // Construction of new prim | ||
2413 | |||
2414 | CreateGeom(); | ||
2415 | |||
2416 | if (prim_geom != IntPtr.Zero) | ||
2417 | { | ||
2418 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2419 | d.Quaternion myrot = new d.Quaternion(); | ||
2420 | myrot.X = _orientation.X; | ||
2421 | myrot.Y = _orientation.Y; | ||
2422 | myrot.Z = _orientation.Z; | ||
2423 | myrot.W = _orientation.W; | ||
2424 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2425 | } | ||
2426 | |||
2427 | if (chp) | ||
2428 | { | ||
2429 | if (parent != null) | ||
2430 | { | ||
2431 | parent.MakeBody(); | ||
2432 | } | ||
2433 | } | ||
2434 | else | ||
2435 | MakeBody(); | ||
2436 | |||
2437 | resetCollisionAccounting(); | ||
2438 | } | ||
2439 | |||
2440 | private void changeSize(Vector3 newSize) | ||
2441 | { | ||
2442 | _size = newSize; | ||
2443 | changeprimsizeshape(); | ||
2444 | } | ||
2445 | |||
2446 | private void changeShape(PrimitiveBaseShape newShape) | ||
2447 | { | ||
2448 | _pbs = newShape; | ||
2449 | changeprimsizeshape(); | ||
2450 | } | ||
2451 | |||
2452 | private void changeFloatOnWater(bool newval) | ||
2453 | { | ||
2454 | m_collidesWater = newval; | ||
2455 | |||
2456 | if (prim_geom != IntPtr.Zero) | ||
2457 | { | ||
2458 | if (m_collidesWater) | ||
2459 | { | ||
2460 | m_collisionFlags |= CollisionCategories.Water; | ||
2461 | } | ||
2462 | else | ||
2463 | { | ||
2464 | m_collisionFlags &= ~CollisionCategories.Water; | ||
2465 | } | ||
2466 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
2467 | } | ||
2468 | } | ||
2469 | |||
2470 | private void changeSetTorque(Vector3 newtorque) | ||
2471 | { | ||
2472 | if (!m_isSelected) | ||
2473 | { | ||
2474 | if (m_isphysical && Body != IntPtr.Zero) | ||
2475 | { | ||
2476 | if (m_disabled) | ||
2477 | enableBodySoft(); | ||
2478 | else if (!d.BodyIsEnabled(Body)) | ||
2479 | d.BodyEnable(Body); | ||
2480 | |||
2481 | } | ||
2482 | _torque = newtorque; | ||
2483 | } | ||
2484 | } | ||
2485 | |||
2486 | private void changeForce(Vector3 force) | ||
2487 | { | ||
2488 | m_force = force; | ||
2489 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2490 | d.BodyEnable(Body); | ||
2491 | } | ||
2492 | |||
2493 | private void changeAddForce(Vector3 force) | ||
2494 | { | ||
2495 | m_forceacc += force; | ||
2496 | if (!m_isSelected) | ||
2497 | { | ||
2498 | lock (this) | ||
2499 | { | ||
2500 | //m_log.Info("[PHYSICS]: dequeing forcelist"); | ||
2501 | if (m_isphysical && Body != IntPtr.Zero) | ||
2502 | { | ||
2503 | if (m_disabled) | ||
2504 | enableBodySoft(); | ||
2505 | else if (!d.BodyIsEnabled(Body)) | ||
2506 | d.BodyEnable(Body); | ||
2507 | } | ||
2508 | } | ||
2509 | |||
2510 | m_collisionscore = 0; | ||
2511 | m_interpenetrationcount = 0; | ||
2512 | } | ||
2513 | } | ||
2514 | |||
2515 | private void changeAddAngularForce(Vector3 aforce) | ||
2516 | { | ||
2517 | m_angularForceacc += aforce; | ||
2518 | if (!m_isSelected) | ||
2519 | { | ||
2520 | lock (this) | ||
2521 | { | ||
2522 | if (m_isphysical && Body != IntPtr.Zero) | ||
2523 | { | ||
2524 | if (m_disabled) | ||
2525 | enableBodySoft(); | ||
2526 | else if (!d.BodyIsEnabled(Body)) | ||
2527 | d.BodyEnable(Body); | ||
2528 | } | ||
2529 | } | ||
2530 | m_collisionscore = 0; | ||
2531 | m_interpenetrationcount = 0; | ||
2532 | } | ||
2533 | } | ||
2534 | |||
2535 | private void changevelocity(Vector3 newVel) | ||
2536 | { | ||
2537 | if (!m_isSelected) | ||
2538 | { | ||
2539 | if (Body != IntPtr.Zero) | ||
2540 | { | ||
2541 | if (m_disabled) | ||
2542 | enableBodySoft(); | ||
2543 | else if (!d.BodyIsEnabled(Body)) | ||
2544 | d.BodyEnable(Body); | ||
2545 | |||
2546 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); | ||
2547 | } | ||
2548 | //resetCollisionAccounting(); | ||
2549 | } | ||
2550 | _velocity = newVel; | ||
2551 | } | ||
2552 | |||
2553 | private void changeVolumedetetion(bool newVolDtc) | ||
2554 | { | ||
2555 | m_isVolumeDetect = newVolDtc; | ||
2556 | } | ||
2557 | |||
2558 | protected void changeBuilding(bool newbuilding) | ||
2559 | { | ||
2560 | if ((bool)newbuilding) | ||
2561 | { | ||
2562 | m_building = true; | ||
2563 | DestroyBody(); | ||
2564 | } | ||
2565 | else | ||
2566 | { | ||
2567 | m_building = false; | ||
2568 | if (!childPrim) | ||
2569 | MakeBody(); | ||
2570 | } | ||
2571 | if (!childPrim && childrenPrim.Count > 0) | ||
2572 | { | ||
2573 | foreach (OdePrim prm in childrenPrim) | ||
2574 | prm.changeBuilding(m_building); // call directly | ||
2575 | } | ||
2576 | } | ||
2577 | |||
2578 | private void changeVehicleType(int value) | ||
2579 | { | ||
2580 | if (m_vehicle == null) | ||
2581 | { | ||
2582 | if (value != (int)Vehicle.TYPE_NONE) | ||
2583 | { | ||
2584 | m_vehicle = new ODEDynamics(this); | ||
2585 | m_vehicle.ProcessTypeChange((Vehicle)value); | ||
2586 | } | ||
2587 | } | ||
2588 | else | ||
2589 | m_vehicle.ProcessTypeChange((Vehicle)value); | ||
2590 | } | ||
2591 | |||
2592 | private void changeVehicleFloatParam(strVehicleFloatParam fp) | ||
2593 | { | ||
2594 | if (m_vehicle == null) | ||
2595 | return; | ||
2596 | |||
2597 | m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); | ||
2598 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2599 | d.BodyEnable(Body); | ||
2600 | } | ||
2601 | |||
2602 | private void changeVehicleVectorParam(strVehicleVectorParam vp) | ||
2603 | { | ||
2604 | if (m_vehicle == null) | ||
2605 | return; | ||
2606 | m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); | ||
2607 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2608 | d.BodyEnable(Body); | ||
2609 | } | ||
2610 | |||
2611 | private void changeVehicleRotationParam(strVehicleQuatParam qp) | ||
2612 | { | ||
2613 | if (m_vehicle == null) | ||
2614 | return; | ||
2615 | m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); | ||
2616 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2617 | d.BodyEnable(Body); | ||
2618 | } | ||
2619 | |||
2620 | private void changeVehicleFlags(strVehicleBoolParam bp) | ||
2621 | { | ||
2622 | if (m_vehicle == null) | ||
2623 | return; | ||
2624 | m_vehicle.ProcessVehicleFlags(bp.param, bp.value); | ||
2625 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2626 | d.BodyEnable(Body); | ||
2627 | } | ||
2628 | |||
2629 | #endregion | ||
2630 | |||
2631 | public void Move() | ||
2632 | { | ||
2633 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && | ||
2634 | !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims. | ||
2635 | { | ||
2636 | // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 | ||
2637 | |||
2638 | float timestep = _parent_scene.ODE_STEPSIZE; | ||
2639 | |||
2640 | float fx = 0; | ||
2641 | float fy = 0; | ||
2642 | float fz = 0; | ||
2643 | |||
2644 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
2645 | { | ||
2646 | // 'VEHICLES' are dealt with in ODEDynamics.cs | ||
2647 | m_vehicle.Step(); | ||
2648 | } | ||
2649 | else | ||
2650 | { | ||
2651 | float m_mass = _mass; | ||
2652 | |||
2653 | // fz = 0f; | ||
2654 | //m_log.Info(m_collisionFlags.ToString()); | ||
2655 | if (m_usePID) | ||
2656 | { | ||
2657 | |||
2658 | // If the PID Controller isn't active then we set our force | ||
2659 | // calculating base velocity to the current position | ||
2660 | |||
2661 | if ((m_PIDTau < 1) && (m_PIDTau != 0)) | ||
2662 | { | ||
2663 | //PID_G = PID_G / m_PIDTau; | ||
2664 | m_PIDTau = 1; | ||
2665 | } | ||
2666 | |||
2667 | if ((PID_G - m_PIDTau) <= 0) | ||
2668 | { | ||
2669 | PID_G = m_PIDTau + 1; | ||
2670 | } | ||
2671 | |||
2672 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
2673 | d.Vector3 pos = d.BodyGetPosition(Body); | ||
2674 | _target_velocity = | ||
2675 | new Vector3( | ||
2676 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), | ||
2677 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), | ||
2678 | (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) | ||
2679 | ); | ||
2680 | |||
2681 | // if velocity is zero, use position control; otherwise, velocity control | ||
2682 | |||
2683 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) | ||
2684 | { | ||
2685 | // keep track of where we stopped. No more slippin' & slidin' | ||
2686 | |||
2687 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | ||
2688 | // react to the physics scene by moving it's position. | ||
2689 | // Avatar to Avatar collisions | ||
2690 | // Prim to avatar collisions | ||
2691 | |||
2692 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); | ||
2693 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); | ||
2694 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; | ||
2695 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | ||
2696 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
2697 | d.BodyAddForce(Body, 0, 0, fz); | ||
2698 | return; | ||
2699 | } | ||
2700 | else | ||
2701 | { | ||
2702 | _zeroFlag = false; | ||
2703 | |||
2704 | // We're flying and colliding with something | ||
2705 | fx = ((_target_velocity.X) - vel.X) * (PID_D); | ||
2706 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); | ||
2707 | |||
2708 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; | ||
2709 | |||
2710 | fz = ((_target_velocity.Z - vel.Z) * (PID_D)); | ||
2711 | } | ||
2712 | } // end if (m_usePID) | ||
2713 | |||
2714 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | ||
2715 | else if (m_useHoverPID) | ||
2716 | { | ||
2717 | //Console.WriteLine("Hover " + Name); | ||
2718 | |||
2719 | // If we're using the PID controller, then we have no gravity | ||
2720 | |||
2721 | // no lock; for now it's only called from within Simulate() | ||
2722 | |||
2723 | // If the PID Controller isn't active then we set our force | ||
2724 | // calculating base velocity to the current position | ||
2725 | |||
2726 | if ((m_PIDTau < 1)) | ||
2727 | { | ||
2728 | PID_G = PID_G / m_PIDTau; | ||
2729 | } | ||
2730 | |||
2731 | if ((PID_G - m_PIDTau) <= 0) | ||
2732 | { | ||
2733 | PID_G = m_PIDTau + 1; | ||
2734 | } | ||
2735 | |||
2736 | // Where are we, and where are we headed? | ||
2737 | d.Vector3 pos = d.BodyGetPosition(Body); | ||
2738 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
2739 | |||
2740 | // Non-Vehicles have a limited set of Hover options. | ||
2741 | // determine what our target height really is based on HoverType | ||
2742 | switch (m_PIDHoverType) | ||
2743 | { | ||
2744 | case PIDHoverType.Ground: | ||
2745 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | ||
2746 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
2747 | break; | ||
2748 | case PIDHoverType.GroundAndWater: | ||
2749 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | ||
2750 | m_waterHeight = _parent_scene.GetWaterLevel(); | ||
2751 | if (m_groundHeight > m_waterHeight) | ||
2752 | { | ||
2753 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
2754 | } | ||
2755 | else | ||
2756 | { | ||
2757 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | ||
2758 | } | ||
2759 | break; | ||
2760 | |||
2761 | } // end switch (m_PIDHoverType) | ||
2762 | |||
2763 | |||
2764 | _target_velocity = | ||
2765 | new Vector3(0.0f, 0.0f, | ||
2766 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) | ||
2767 | ); | ||
2768 | |||
2769 | // if velocity is zero, use position control; otherwise, velocity control | ||
2770 | |||
2771 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) | ||
2772 | { | ||
2773 | // keep track of where we stopped. No more slippin' & slidin' | ||
2774 | |||
2775 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | ||
2776 | // react to the physics scene by moving it's position. | ||
2777 | // Avatar to Avatar collisions | ||
2778 | // Prim to avatar collisions | ||
2779 | |||
2780 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); | ||
2781 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | ||
2782 | // ? d.BodyAddForce(Body, 0, 0, fz); | ||
2783 | return; | ||
2784 | } | ||
2785 | else | ||
2786 | { | ||
2787 | _zeroFlag = false; | ||
2788 | |||
2789 | // We're flying and colliding with something | ||
2790 | fz = ((_target_velocity.Z - vel.Z) * (PID_D)); | ||
2791 | } | ||
2792 | } | ||
2793 | else | ||
2794 | { | ||
2795 | float b = (1.0f - m_buoyancy); | ||
2796 | fx = _parent_scene.gravityx * b; | ||
2797 | fy = _parent_scene.gravityy * b; | ||
2798 | fz = _parent_scene.gravityz * b; | ||
2799 | } | ||
2800 | |||
2801 | fx *= m_mass; | ||
2802 | fy *= m_mass; | ||
2803 | fz *= m_mass; | ||
2804 | |||
2805 | // constant force | ||
2806 | fx += m_force.X; | ||
2807 | fy += m_force.Y; | ||
2808 | fz += m_force.Z; | ||
2809 | |||
2810 | fx += m_forceacc.X; | ||
2811 | fy += m_forceacc.Y; | ||
2812 | fz += m_forceacc.Z; | ||
2813 | |||
2814 | m_forceacc = Vector3.Zero; | ||
2815 | |||
2816 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | ||
2817 | if (fx != 0 || fy != 0 || fz != 0) | ||
2818 | { | ||
2819 | d.BodyAddForce(Body, fx, fy, fz); | ||
2820 | //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); | ||
2821 | } | ||
2822 | |||
2823 | Vector3 trq; | ||
2824 | |||
2825 | trq = _torque; | ||
2826 | trq += m_angularForceacc; | ||
2827 | m_angularForceacc = Vector3.Zero; | ||
2828 | if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) | ||
2829 | { | ||
2830 | d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); | ||
2831 | } | ||
2832 | |||
2833 | } | ||
2834 | } | ||
2835 | else | ||
2836 | { // is not physical, or is not a body or is selected | ||
2837 | // _zeroPosition = d.BodyGetPosition(Body); | ||
2838 | return; | ||
2839 | //Console.WriteLine("Nothing " + Name); | ||
2840 | |||
2841 | } | ||
2842 | } | ||
2843 | |||
2844 | |||
2845 | public void UpdatePositionAndVelocity(float simulatedtime) | ||
2846 | { | ||
2847 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! | ||
2848 | if (_parent == null && !m_disabled && !m_building) | ||
2849 | { | ||
2850 | if (Body != IntPtr.Zero) | ||
2851 | { | ||
2852 | if (m_crossingfailures != 0 && m_crossingfailures < 5) | ||
2853 | { | ||
2854 | _position.X = Util.Clip(_position.X, 0.4f, _parent_scene.WorldExtents.X - 0.4f); | ||
2855 | _position.Y = Util.Clip(_position.Y, 0.4f, _parent_scene.WorldExtents.Y - 0.4f); | ||
2856 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | ||
2857 | |||
2858 | float tmp = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y); | ||
2859 | if (_position.Z < tmp) | ||
2860 | _position.Z = tmp + 0.2f; | ||
2861 | |||
2862 | m_lastposition = _position; | ||
2863 | m_lastorientation = _orientation; | ||
2864 | _velocity.X = 0; | ||
2865 | _velocity.Y = 0; | ||
2866 | _velocity.Z = 0; | ||
2867 | |||
2868 | m_lastVelocity = _velocity; | ||
2869 | m_rotationalVelocity = _velocity; | ||
2870 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
2871 | m_vehicle.Stop(); | ||
2872 | |||
2873 | m_crossingfailures = 0; // do this only once | ||
2874 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
2875 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
2876 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2877 | enableBodySoft(); | ||
2878 | base.RequestPhysicsterseUpdate(); | ||
2879 | return; | ||
2880 | } | ||
2881 | |||
2882 | else if (m_crossingfailures != 0) | ||
2883 | { | ||
2884 | return; | ||
2885 | } | ||
2886 | |||
2887 | Vector3 pv = Vector3.Zero; | ||
2888 | bool lastZeroFlag = _zeroFlag; | ||
2889 | |||
2890 | d.Vector3 lpos; | ||
2891 | d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator | ||
2892 | |||
2893 | // we need to use root position since that's all the rest of scene uses | ||
2894 | if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X | ||
2895 | || lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y | ||
2896 | ) | ||
2897 | { | ||
2898 | // we are outside current region | ||
2899 | // we can't let it keeping moving and having colisions | ||
2900 | // since it can be stucked between something like terrain and edge | ||
2901 | // so lets stop and disable it until something else kicks it | ||
2902 | if (m_crossingfailures == 0) | ||
2903 | { | ||
2904 | |||
2905 | _position.X = Util.Clip(lpos.X, -0.5f, _parent_scene.WorldExtents.X + 0.5f); | ||
2906 | _position.Y = Util.Clip(lpos.Y, -0.5f, _parent_scene.WorldExtents.Y + 0.5f); | ||
2907 | _position.Z = Util.Clip(lpos.Z, -100f, 50000f); | ||
2908 | |||
2909 | m_lastposition = _position; | ||
2910 | m_lastorientation = _orientation; | ||
2911 | |||
2912 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
2913 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
2914 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2915 | disableBodySoft(); // stop collisions | ||
2916 | m_crossingfailures++; // do this only once | ||
2917 | base.RequestPhysicsterseUpdate(); | ||
2918 | return; | ||
2919 | } | ||
2920 | } | ||
2921 | |||
2922 | if (lpos.Z < -100 || lpos.Z > 100000f) | ||
2923 | { | ||
2924 | lpos.Z = Util.Clip(lpos.Z, -100f, 50000f); | ||
2925 | |||
2926 | _acceleration.X = 0; | ||
2927 | _acceleration.Y = 0; | ||
2928 | _acceleration.Z = 0; | ||
2929 | |||
2930 | _velocity.X = 0; | ||
2931 | _velocity.Y = 0; | ||
2932 | _velocity.Z = 0; | ||
2933 | m_rotationalVelocity.X = 0; | ||
2934 | m_rotationalVelocity.Y = 0; | ||
2935 | m_rotationalVelocity.Z = 0; | ||
2936 | |||
2937 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
2938 | d.BodySetAngularVel(Body, 0, 0, 0); // stop it | ||
2939 | d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere | ||
2940 | m_lastposition = _position; | ||
2941 | m_lastorientation = _orientation; | ||
2942 | |||
2943 | base.RequestPhysicsterseUpdate(); | ||
2944 | |||
2945 | m_throttleUpdates = false; | ||
2946 | throttleCounter = 0; | ||
2947 | _zeroFlag = true; | ||
2948 | |||
2949 | disableBodySoft(); // disable it and colisions | ||
2950 | base.RaiseOutOfBounds(_position); | ||
2951 | |||
2952 | return; | ||
2953 | } | ||
2954 | |||
2955 | d.Quaternion ori; | ||
2956 | d.GeomCopyQuaternion(prim_geom, out ori); | ||
2957 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
2958 | d.Vector3 rotvel = d.BodyGetAngularVel(Body); | ||
2959 | |||
2960 | if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01) | ||
2961 | && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01) | ||
2962 | && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01) | ||
2963 | && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001) | ||
2964 | && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001) | ||
2965 | && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001) | ||
2966 | ) | ||
2967 | { | ||
2968 | _zeroFlag = true; | ||
2969 | //Console.WriteLine("ZFT 2"); | ||
2970 | m_throttleUpdates = false; | ||
2971 | } | ||
2972 | else | ||
2973 | { | ||
2974 | //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); | ||
2975 | _zeroFlag = false; | ||
2976 | m_lastUpdateSent = false; | ||
2977 | //m_throttleUpdates = false; | ||
2978 | } | ||
2979 | |||
2980 | if (_zeroFlag) | ||
2981 | { | ||
2982 | m_lastposition = _position; | ||
2983 | m_lastorientation = _orientation; | ||
2984 | |||
2985 | _velocity.X = 0.0f; | ||
2986 | _velocity.Y = 0.0f; | ||
2987 | _velocity.Z = 0.0f; | ||
2988 | |||
2989 | _acceleration.X = 0; | ||
2990 | _acceleration.Y = 0; | ||
2991 | _acceleration.Z = 0; | ||
2992 | |||
2993 | m_rotationalVelocity.X = 0; | ||
2994 | m_rotationalVelocity.Y = 0; | ||
2995 | m_rotationalVelocity.Z = 0; | ||
2996 | if (!m_lastUpdateSent) | ||
2997 | { | ||
2998 | m_throttleUpdates = false; | ||
2999 | throttleCounter = 0; | ||
3000 | m_rotationalVelocity = pv; | ||
3001 | |||
3002 | base.RequestPhysicsterseUpdate(); | ||
3003 | |||
3004 | m_lastUpdateSent = true; | ||
3005 | } | ||
3006 | } | ||
3007 | else | ||
3008 | { | ||
3009 | if (lastZeroFlag != _zeroFlag) | ||
3010 | { | ||
3011 | base.RequestPhysicsterseUpdate(); | ||
3012 | } | ||
3013 | |||
3014 | m_lastVelocity = _velocity; | ||
3015 | |||
3016 | _position.X = lpos.X; | ||
3017 | _position.Y = lpos.Y; | ||
3018 | _position.Z = lpos.Z; | ||
3019 | |||
3020 | _velocity.X = vel.X; | ||
3021 | _velocity.Y = vel.Y; | ||
3022 | _velocity.Z = vel.Z; | ||
3023 | |||
3024 | _orientation.X = ori.X; | ||
3025 | _orientation.Y = ori.Y; | ||
3026 | _orientation.Z = ori.Z; | ||
3027 | _orientation.W = ori.W; | ||
3028 | |||
3029 | _acceleration = ((_velocity - m_lastVelocity) / simulatedtime); | ||
3030 | |||
3031 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | ||
3032 | { | ||
3033 | m_rotationalVelocity = pv; | ||
3034 | } | ||
3035 | else | ||
3036 | { | ||
3037 | m_rotationalVelocity.X = rotvel.X; | ||
3038 | m_rotationalVelocity.Y = rotvel.Y; | ||
3039 | m_rotationalVelocity.Z = rotvel.Z; | ||
3040 | } | ||
3041 | |||
3042 | m_lastUpdateSent = false; | ||
3043 | if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) | ||
3044 | { | ||
3045 | m_lastposition = _position; | ||
3046 | m_lastorientation = _orientation; | ||
3047 | base.RequestPhysicsterseUpdate(); | ||
3048 | } | ||
3049 | else | ||
3050 | { | ||
3051 | throttleCounter++; | ||
3052 | } | ||
3053 | } | ||
3054 | } | ||
3055 | else if (!m_lastUpdateSent || !_zeroFlag) | ||
3056 | { | ||
3057 | // Not a body.. so Make sure the client isn't interpolating | ||
3058 | _velocity.X = 0; | ||
3059 | _velocity.Y = 0; | ||
3060 | _velocity.Z = 0; | ||
3061 | |||
3062 | _acceleration.X = 0; | ||
3063 | _acceleration.Y = 0; | ||
3064 | _acceleration.Z = 0; | ||
3065 | |||
3066 | m_rotationalVelocity.X = 0; | ||
3067 | m_rotationalVelocity.Y = 0; | ||
3068 | m_rotationalVelocity.Z = 0; | ||
3069 | _zeroFlag = true; | ||
3070 | |||
3071 | if (!m_lastUpdateSent) | ||
3072 | { | ||
3073 | m_throttleUpdates = false; | ||
3074 | throttleCounter = 0; | ||
3075 | |||
3076 | base.RequestPhysicsterseUpdate(); | ||
3077 | |||
3078 | m_lastUpdateSent = true; | ||
3079 | } | ||
3080 | } | ||
3081 | } | ||
3082 | } | ||
3083 | |||
3084 | internal static bool QuaternionIsFinite(Quaternion q) | ||
3085 | { | ||
3086 | if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) | ||
3087 | return false; | ||
3088 | if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) | ||
3089 | return false; | ||
3090 | if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) | ||
3091 | return false; | ||
3092 | if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) | ||
3093 | return false; | ||
3094 | return true; | ||
3095 | } | ||
3096 | |||
3097 | internal static void DMassCopy(ref d.Mass src, ref d.Mass dst) | ||
3098 | { | ||
3099 | dst.c.W = src.c.W; | ||
3100 | dst.c.X = src.c.X; | ||
3101 | dst.c.Y = src.c.Y; | ||
3102 | dst.c.Z = src.c.Z; | ||
3103 | dst.mass = src.mass; | ||
3104 | dst.I.M00 = src.I.M00; | ||
3105 | dst.I.M01 = src.I.M01; | ||
3106 | dst.I.M02 = src.I.M02; | ||
3107 | dst.I.M10 = src.I.M10; | ||
3108 | dst.I.M11 = src.I.M11; | ||
3109 | dst.I.M12 = src.I.M12; | ||
3110 | dst.I.M20 = src.I.M20; | ||
3111 | dst.I.M21 = src.I.M21; | ||
3112 | dst.I.M22 = src.I.M22; | ||
3113 | } | ||
3114 | |||
3115 | private static void DMassDup(ref d.Mass src, out d.Mass dst) | ||
3116 | { | ||
3117 | dst = new d.Mass { }; | ||
3118 | |||
3119 | dst.c.W = src.c.W; | ||
3120 | dst.c.X = src.c.X; | ||
3121 | dst.c.Y = src.c.Y; | ||
3122 | dst.c.Z = src.c.Z; | ||
3123 | dst.mass = src.mass; | ||
3124 | dst.I.M00 = src.I.M00; | ||
3125 | dst.I.M01 = src.I.M01; | ||
3126 | dst.I.M02 = src.I.M02; | ||
3127 | dst.I.M10 = src.I.M10; | ||
3128 | dst.I.M11 = src.I.M11; | ||
3129 | dst.I.M12 = src.I.M12; | ||
3130 | dst.I.M20 = src.I.M20; | ||
3131 | dst.I.M21 = src.I.M21; | ||
3132 | dst.I.M22 = src.I.M22; | ||
3133 | } | ||
3134 | private void donullchange() | ||
3135 | { | ||
3136 | } | ||
3137 | |||
3138 | public bool DoAChange(changes what, object arg) | ||
3139 | { | ||
3140 | if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove) | ||
3141 | { | ||
3142 | return false; | ||
3143 | } | ||
3144 | |||
3145 | // nasty switch | ||
3146 | switch (what) | ||
3147 | { | ||
3148 | case changes.Add: | ||
3149 | changeadd(); | ||
3150 | break; | ||
3151 | case changes.Remove: | ||
3152 | //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... | ||
3153 | //When we return true, it destroys all of the prims in the linkset anyway | ||
3154 | if (_parent != null) | ||
3155 | { | ||
3156 | OdePrim parent = (OdePrim)_parent; | ||
3157 | parent.ChildRemove(this, false); | ||
3158 | } | ||
3159 | else | ||
3160 | ChildRemove(this, false); | ||
3161 | |||
3162 | RemoveGeom(); | ||
3163 | m_targetSpace = IntPtr.Zero; | ||
3164 | if (m_eventsubscription > 0) | ||
3165 | UnSubscribeEvents(); | ||
3166 | return true; | ||
3167 | |||
3168 | case changes.Link: | ||
3169 | OdePrim tmp = (OdePrim)arg; | ||
3170 | changeLink(tmp); | ||
3171 | break; | ||
3172 | |||
3173 | case changes.DeLink: | ||
3174 | changeLink(null); | ||
3175 | break; | ||
3176 | |||
3177 | case changes.Position: | ||
3178 | changePosition((Vector3)arg); | ||
3179 | break; | ||
3180 | |||
3181 | case changes.Orientation: | ||
3182 | changeOrientation((Quaternion)arg); | ||
3183 | break; | ||
3184 | |||
3185 | case changes.PosOffset: | ||
3186 | donullchange(); | ||
3187 | break; | ||
3188 | |||
3189 | case changes.OriOffset: | ||
3190 | donullchange(); | ||
3191 | break; | ||
3192 | |||
3193 | case changes.Velocity: | ||
3194 | changevelocity((Vector3)arg); | ||
3195 | break; | ||
3196 | |||
3197 | // case changes.Acceleration: | ||
3198 | // changeacceleration((Vector3)arg); | ||
3199 | // break; | ||
3200 | // case changes.AngVelocity: | ||
3201 | // changeangvelocity((Vector3)arg); | ||
3202 | // break; | ||
3203 | |||
3204 | case changes.Force: | ||
3205 | changeForce((Vector3)arg); | ||
3206 | break; | ||
3207 | |||
3208 | case changes.Torque: | ||
3209 | changeSetTorque((Vector3)arg); | ||
3210 | break; | ||
3211 | |||
3212 | case changes.AddForce: | ||
3213 | changeAddForce((Vector3)arg); | ||
3214 | break; | ||
3215 | |||
3216 | case changes.AddAngForce: | ||
3217 | changeAddAngularForce((Vector3)arg); | ||
3218 | break; | ||
3219 | |||
3220 | case changes.AngLock: | ||
3221 | changeAngularLock((Vector3)arg); | ||
3222 | break; | ||
3223 | |||
3224 | case changes.Size: | ||
3225 | changeSize((Vector3)arg); | ||
3226 | break; | ||
3227 | |||
3228 | case changes.Shape: | ||
3229 | changeShape((PrimitiveBaseShape)arg); | ||
3230 | break; | ||
3231 | |||
3232 | case changes.CollidesWater: | ||
3233 | changeFloatOnWater((bool)arg); | ||
3234 | break; | ||
3235 | |||
3236 | case changes.VolumeDtc: | ||
3237 | changeVolumedetetion((bool)arg); | ||
3238 | break; | ||
3239 | |||
3240 | case changes.Physical: | ||
3241 | changePhysicsStatus((bool)arg); | ||
3242 | break; | ||
3243 | |||
3244 | case changes.Selected: | ||
3245 | changeSelectedStatus((bool)arg); | ||
3246 | break; | ||
3247 | |||
3248 | case changes.disabled: | ||
3249 | changeDisable((bool)arg); | ||
3250 | break; | ||
3251 | |||
3252 | case changes.building: | ||
3253 | changeBuilding((bool)arg); | ||
3254 | break; | ||
3255 | |||
3256 | case changes.VehicleType: | ||
3257 | changeVehicleType((int)arg); | ||
3258 | break; | ||
3259 | |||
3260 | case changes.VehicleFlags: | ||
3261 | changeVehicleFlags((strVehicleBoolParam) arg); | ||
3262 | break; | ||
3263 | |||
3264 | case changes.VehicleFloatParam: | ||
3265 | changeVehicleFloatParam((strVehicleFloatParam) arg); | ||
3266 | break; | ||
3267 | |||
3268 | case changes.VehicleVectorParam: | ||
3269 | changeVehicleVectorParam((strVehicleVectorParam) arg); | ||
3270 | break; | ||
3271 | |||
3272 | case changes.VehicleRotationParam: | ||
3273 | changeVehicleRotationParam((strVehicleQuatParam) arg); | ||
3274 | break; | ||
3275 | |||
3276 | case changes.Null: | ||
3277 | donullchange(); | ||
3278 | break; | ||
3279 | |||
3280 | default: | ||
3281 | donullchange(); | ||
3282 | break; | ||
3283 | } | ||
3284 | return false; | ||
3285 | } | ||
3286 | |||
3287 | public void AddChange(changes what, object arg) | ||
3288 | { | ||
3289 | _parent_scene.AddChange((PhysicsActor) this, what, arg); | ||
3290 | } | ||
3291 | |||
3292 | |||
3293 | private struct strVehicleBoolParam | ||
3294 | { | ||
3295 | public int param; | ||
3296 | public bool value; | ||
3297 | } | ||
3298 | |||
3299 | private struct strVehicleFloatParam | ||
3300 | { | ||
3301 | public int param; | ||
3302 | public float value; | ||
3303 | } | ||
3304 | |||
3305 | private struct strVehicleQuatParam | ||
3306 | { | ||
3307 | public int param; | ||
3308 | public Quaternion value; | ||
3309 | } | ||
3310 | |||
3311 | private struct strVehicleVectorParam | ||
3312 | { | ||
3313 | public int param; | ||
3314 | public Vector3 value; | ||
3315 | } | ||
3316 | } | ||
3317 | } \ 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..4b3f83b --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs | |||
@@ -0,0 +1,443 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Reflection; | ||
31 | using System.Runtime.InteropServices; | ||
32 | using System.Text; | ||
33 | using OpenMetaverse; | ||
34 | using OpenSim.Region.Physics.Manager; | ||
35 | using OdeAPI; | ||
36 | using log4net; | ||
37 | |||
38 | namespace OpenSim.Region.Physics.OdePlugin | ||
39 | { | ||
40 | /// <summary> | ||
41 | /// Processes raycast requests as ODE is in a state to be able to do them. | ||
42 | /// This ensures that it's thread safe and there will be no conflicts. | ||
43 | /// Requests get returned by a different thread then they were requested by. | ||
44 | /// </summary> | ||
45 | public class ODERayCastRequestManager | ||
46 | { | ||
47 | /// <summary> | ||
48 | /// Pending ray requests | ||
49 | /// </summary> | ||
50 | protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>(); | ||
51 | |||
52 | /// <summary> | ||
53 | /// Scene that created this object. | ||
54 | /// </summary> | ||
55 | private OdeScene m_scene; | ||
56 | |||
57 | IntPtr ray; | ||
58 | |||
59 | private const int ColisionContactGeomsPerTest = 5; | ||
60 | |||
61 | /// <summary> | ||
62 | /// ODE near callback delegate | ||
63 | /// </summary> | ||
64 | private d.NearCallback nearCallback; | ||
65 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
66 | private List<ContactResult> m_contactResults = new List<ContactResult>(); | ||
67 | |||
68 | public ODERayCastRequestManager(OdeScene pScene) | ||
69 | { | ||
70 | m_scene = pScene; | ||
71 | nearCallback = near; | ||
72 | ray = d.CreateRay(IntPtr.Zero, 1.0f); | ||
73 | } | ||
74 | |||
75 | /// <summary> | ||
76 | /// Queues a raycast | ||
77 | /// </summary> | ||
78 | /// <param name="position">Origin of Ray</param> | ||
79 | /// <param name="direction">Ray normal</param> | ||
80 | /// <param name="length">Ray length</param> | ||
81 | /// <param name="retMethod">Return method to send the results</param> | ||
82 | public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod) | ||
83 | { | ||
84 | ODERayRequest req = new ODERayRequest(); | ||
85 | req.geom = IntPtr.Zero; | ||
86 | req.callbackMethod = retMethod; | ||
87 | req.Count = 0; | ||
88 | req.length = length; | ||
89 | req.Normal = direction; | ||
90 | req.Origin = position; | ||
91 | |||
92 | m_PendingRequests.Enqueue(req); | ||
93 | } | ||
94 | |||
95 | public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod) | ||
96 | { | ||
97 | ODERayRequest req = new ODERayRequest(); | ||
98 | req.geom = geom; | ||
99 | req.callbackMethod = retMethod; | ||
100 | req.length = length; | ||
101 | req.Normal = direction; | ||
102 | req.Origin = position; | ||
103 | req.Count = 0; | ||
104 | |||
105 | m_PendingRequests.Enqueue(req); | ||
106 | } | ||
107 | |||
108 | public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
109 | { | ||
110 | ODERayRequest req = new ODERayRequest(); | ||
111 | req.geom = IntPtr.Zero; | ||
112 | req.callbackMethod = retMethod; | ||
113 | req.Count = 0; | ||
114 | req.length = length; | ||
115 | req.Normal = direction; | ||
116 | req.Origin = position; | ||
117 | |||
118 | m_PendingRequests.Enqueue(req); | ||
119 | } | ||
120 | |||
121 | public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
122 | { | ||
123 | ODERayRequest req = new ODERayRequest(); | ||
124 | req.geom = geom; | ||
125 | req.callbackMethod = retMethod; | ||
126 | req.length = length; | ||
127 | req.Normal = direction; | ||
128 | req.Origin = position; | ||
129 | req.Count = 0; | ||
130 | |||
131 | m_PendingRequests.Enqueue(req); | ||
132 | } | ||
133 | |||
134 | /// <summary> | ||
135 | /// Queues a raycast | ||
136 | /// </summary> | ||
137 | /// <param name="position">Origin of Ray</param> | ||
138 | /// <param name="direction">Ray normal</param> | ||
139 | /// <param name="length">Ray length</param> | ||
140 | /// <param name="count"></param> | ||
141 | /// <param name="retMethod">Return method to send the results</param> | ||
142 | public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod) | ||
143 | { | ||
144 | ODERayRequest req = new ODERayRequest(); | ||
145 | req.geom = IntPtr.Zero; | ||
146 | req.callbackMethod = retMethod; | ||
147 | req.length = length; | ||
148 | req.Normal = direction; | ||
149 | req.Origin = position; | ||
150 | req.Count = count; | ||
151 | |||
152 | m_PendingRequests.Enqueue(req); | ||
153 | } | ||
154 | |||
155 | public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod) | ||
156 | { | ||
157 | ODERayRequest req = new ODERayRequest(); | ||
158 | req.geom = geom; | ||
159 | req.callbackMethod = retMethod; | ||
160 | req.length = length; | ||
161 | req.Normal = direction; | ||
162 | req.Origin = position; | ||
163 | req.Count = count; | ||
164 | |||
165 | m_PendingRequests.Enqueue(req); | ||
166 | } | ||
167 | |||
168 | public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod) | ||
169 | { | ||
170 | ODERayRequest req = new ODERayRequest(); | ||
171 | req.geom = IntPtr.Zero; | ||
172 | req.callbackMethod = retMethod; | ||
173 | req.length = length; | ||
174 | req.Normal = direction; | ||
175 | req.Origin = position; | ||
176 | req.Count = count; | ||
177 | |||
178 | m_PendingRequests.Enqueue(req); | ||
179 | } | ||
180 | |||
181 | public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod) | ||
182 | { | ||
183 | ODERayRequest req = new ODERayRequest(); | ||
184 | req.geom = geom; | ||
185 | req.callbackMethod = retMethod; | ||
186 | req.length = length; | ||
187 | req.Normal = direction; | ||
188 | req.Origin = position; | ||
189 | req.Count = count; | ||
190 | |||
191 | m_PendingRequests.Enqueue(req); | ||
192 | } | ||
193 | |||
194 | /// <summary> | ||
195 | /// Process all queued raycast requests | ||
196 | /// </summary> | ||
197 | /// <returns>Time in MS the raycasts took to process.</returns> | ||
198 | public int ProcessQueuedRequests() | ||
199 | { | ||
200 | int time = System.Environment.TickCount; | ||
201 | |||
202 | if (m_PendingRequests.Count <= 0) | ||
203 | return 0; | ||
204 | |||
205 | if (m_scene.ContactgeomsArray == IntPtr.Zero) // oops something got wrong or scene isn't ready still | ||
206 | { | ||
207 | m_PendingRequests.Clear(); | ||
208 | return 0; | ||
209 | } | ||
210 | |||
211 | ODERayRequest req; | ||
212 | |||
213 | int i = 50; // arbitary limit of processed tests per frame | ||
214 | |||
215 | while(m_PendingRequests.Dequeue(out req)) | ||
216 | { | ||
217 | if (req.geom == IntPtr.Zero) | ||
218 | doSpaceRay(req); | ||
219 | else | ||
220 | doGeomRay(req); | ||
221 | if(--i < 0) | ||
222 | break; | ||
223 | } | ||
224 | |||
225 | lock (m_contactResults) | ||
226 | m_contactResults.Clear(); | ||
227 | |||
228 | return System.Environment.TickCount - time; | ||
229 | } | ||
230 | /// <summary> | ||
231 | /// Method that actually initiates the raycast with full top space | ||
232 | /// </summary> | ||
233 | /// <param name="req"></param> | ||
234 | private void doSpaceRay(ODERayRequest req) | ||
235 | { | ||
236 | // Create the ray | ||
237 | // IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length); | ||
238 | d.GeomRaySetLength(ray, req.length); | ||
239 | d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); | ||
240 | |||
241 | // Collide test | ||
242 | d.SpaceCollide2(m_scene.TopSpace, ray, IntPtr.Zero, nearCallback); | ||
243 | |||
244 | // Remove Ray | ||
245 | // d.GeomDestroy(ray); | ||
246 | |||
247 | if (req.callbackMethod == null) | ||
248 | return; | ||
249 | |||
250 | if (req.callbackMethod is RaycastCallback) | ||
251 | { | ||
252 | // Define default results | ||
253 | bool hitYN = false; | ||
254 | uint hitConsumerID = 0; | ||
255 | float distance = 999999999999f; | ||
256 | Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f); | ||
257 | Vector3 snormal = Vector3.Zero; | ||
258 | |||
259 | // Find closest contact and object. | ||
260 | lock (m_contactResults) | ||
261 | { | ||
262 | foreach (ContactResult cResult in m_contactResults) | ||
263 | { | ||
264 | if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact)) | ||
265 | { | ||
266 | closestcontact = cResult.Pos; | ||
267 | hitConsumerID = cResult.ConsumerID; | ||
268 | distance = cResult.Depth; | ||
269 | hitYN = true; | ||
270 | snormal = cResult.Normal; | ||
271 | } | ||
272 | } | ||
273 | m_contactResults.Clear(); | ||
274 | } | ||
275 | |||
276 | ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal); | ||
277 | } | ||
278 | else | ||
279 | { | ||
280 | ((RayCallback)req.callbackMethod)(m_contactResults); | ||
281 | lock (m_PendingRequests) | ||
282 | m_contactResults.Clear(); | ||
283 | } | ||
284 | } | ||
285 | |||
286 | /// <summary> | ||
287 | /// Method that actually initiates the raycast with a geom | ||
288 | /// </summary> | ||
289 | /// <param name="req"></param> | ||
290 | private void doGeomRay(ODERayRequest req) | ||
291 | { | ||
292 | // Create the ray | ||
293 | // IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length); | ||
294 | d.GeomRaySetLength(ray, req.length); | ||
295 | d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); | ||
296 | |||
297 | // Collide test | ||
298 | d.SpaceCollide2(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test | ||
299 | |||
300 | // Remove Ray | ||
301 | // d.GeomDestroy(ray); | ||
302 | |||
303 | if (req.callbackMethod == null) | ||
304 | return; | ||
305 | |||
306 | if (req.callbackMethod is RaycastCallback) | ||
307 | { | ||
308 | // Define default results | ||
309 | bool hitYN = false; | ||
310 | uint hitConsumerID = 0; | ||
311 | float distance = 999999999999f; | ||
312 | Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f); | ||
313 | Vector3 snormal = Vector3.Zero; | ||
314 | |||
315 | // Find closest contact and object. | ||
316 | lock (m_contactResults) | ||
317 | { | ||
318 | foreach (ContactResult cResult in m_contactResults) | ||
319 | { | ||
320 | if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact)) | ||
321 | { | ||
322 | closestcontact = cResult.Pos; | ||
323 | hitConsumerID = cResult.ConsumerID; | ||
324 | distance = cResult.Depth; | ||
325 | hitYN = true; | ||
326 | snormal = cResult.Normal; | ||
327 | } | ||
328 | } | ||
329 | m_contactResults.Clear(); | ||
330 | } | ||
331 | |||
332 | ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal); | ||
333 | } | ||
334 | else | ||
335 | { | ||
336 | ((RayCallback)req.callbackMethod)(m_contactResults); | ||
337 | lock (m_PendingRequests) | ||
338 | m_contactResults.Clear(); | ||
339 | } | ||
340 | } | ||
341 | |||
342 | private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) | ||
343 | { | ||
344 | IntPtr ContactgeomsArray = m_scene.ContactgeomsArray; | ||
345 | if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest) | ||
346 | return false; | ||
347 | |||
348 | IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); | ||
349 | newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); | ||
350 | return true; | ||
351 | } | ||
352 | |||
353 | // This is the standard Near. g2 is the ray | ||
354 | private void near(IntPtr space, IntPtr g1, IntPtr g2) | ||
355 | { | ||
356 | //Don't test against heightfield Geom, or you'll be sorry! | ||
357 | // Exclude heightfield geom | ||
358 | |||
359 | if (g1 == IntPtr.Zero || g1 == g2) | ||
360 | return; | ||
361 | |||
362 | if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) | ||
363 | return; | ||
364 | |||
365 | // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms. | ||
366 | if (d.GeomIsSpace(g1)) | ||
367 | { | ||
368 | try | ||
369 | { | ||
370 | d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); | ||
371 | } | ||
372 | catch (Exception e) | ||
373 | { | ||
374 | m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message); | ||
375 | } | ||
376 | return; | ||
377 | } | ||
378 | |||
379 | int count = 0; | ||
380 | try | ||
381 | { | ||
382 | count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); | ||
383 | } | ||
384 | catch (SEHException) | ||
385 | { | ||
386 | m_log.Error("[PHYSICS Ray]: 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."); | ||
387 | } | ||
388 | catch (Exception e) | ||
389 | { | ||
390 | m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message); | ||
391 | return; | ||
392 | } | ||
393 | |||
394 | if (count == 0) | ||
395 | return; | ||
396 | |||
397 | PhysicsActor p1 = null; | ||
398 | |||
399 | if (g1 != IntPtr.Zero) | ||
400 | m_scene.actor_name_map.TryGetValue(g1, out p1); | ||
401 | |||
402 | d.ContactGeom curcontact = new d.ContactGeom(); | ||
403 | // Loop over contacts, build results. | ||
404 | for (int i = 0; i < count; i++) | ||
405 | { | ||
406 | if (!GetCurContactGeom(i, ref curcontact)) | ||
407 | break; | ||
408 | if (p1 != null) { | ||
409 | if (p1 is OdePrim) | ||
410 | { | ||
411 | ContactResult collisionresult = new ContactResult(); | ||
412 | |||
413 | collisionresult.ConsumerID = ((OdePrim)p1).m_localID; | ||
414 | collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z); | ||
415 | collisionresult.Depth = curcontact.depth; | ||
416 | collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y, | ||
417 | curcontact.normal.Z); | ||
418 | lock (m_contactResults) | ||
419 | m_contactResults.Add(collisionresult); | ||
420 | } | ||
421 | } | ||
422 | } | ||
423 | } | ||
424 | |||
425 | /// <summary> | ||
426 | /// Dereference the creator scene so that it can be garbage collected if needed. | ||
427 | /// </summary> | ||
428 | internal void Dispose() | ||
429 | { | ||
430 | m_scene = null; | ||
431 | } | ||
432 | } | ||
433 | |||
434 | public struct ODERayRequest | ||
435 | { | ||
436 | public IntPtr geom; | ||
437 | public Vector3 Origin; | ||
438 | public Vector3 Normal; | ||
439 | public int Count; | ||
440 | public float length; | ||
441 | public object callbackMethod; | ||
442 | } | ||
443 | } \ 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..e62746e --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | |||
@@ -0,0 +1,1961 @@ | |||
1 | |||
2 | /* | ||
3 | * based on: | ||
4 | * Ode.NET - .NET bindings for ODE | ||
5 | * Jason Perkins (starkos@industriousone.com) | ||
6 | * Licensed under the New BSD | ||
7 | * Part of the OpenDynamicsEngine | ||
8 | Open Dynamics Engine | ||
9 | Copyright (c) 2001-2007, Russell L. Smith. | ||
10 | All rights reserved. | ||
11 | |||
12 | Redistribution and use in source and binary forms, with or without | ||
13 | modification, are permitted provided that the following conditions | ||
14 | are met: | ||
15 | |||
16 | Redistributions of source code must retain the above copyright notice, | ||
17 | this list of conditions and the following disclaimer. | ||
18 | |||
19 | Redistributions in binary form must reproduce the above copyright notice, | ||
20 | this list of conditions and the following disclaimer in the documentation | ||
21 | and/or other materials provided with the distribution. | ||
22 | |||
23 | Neither the names of ODE's copyright owner nor the names of its | ||
24 | contributors may be used to endorse or promote products derived from | ||
25 | this software without specific prior written permission. | ||
26 | |||
27 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
28 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
29 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
30 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
31 | OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
32 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED | ||
33 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR | ||
34 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF | ||
35 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING | ||
36 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
37 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
38 | * | ||
39 | * changes by opensim team; | ||
40 | * changes by Aurora team http://www.aurora-sim.org/ | ||
41 | |||
42 | * Revision/fixs by Ubit Umarov | ||
43 | */ | ||
44 | |||
45 | using System; | ||
46 | using System.Runtime.InteropServices; | ||
47 | using System.Security; | ||
48 | |||
49 | namespace OdeAPI | ||
50 | { | ||
51 | //#if dDOUBLE | ||
52 | // don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim | ||
53 | // at least we save same memory and memory access time, FPU performance on intel usually is similar | ||
54 | // using dReal = System.Double; | ||
55 | //#else | ||
56 | using dReal = System.Single; | ||
57 | //#endif | ||
58 | |||
59 | public static class d | ||
60 | { | ||
61 | public static dReal Infinity = dReal.MaxValue; | ||
62 | public static int NTotalBodies = 0; | ||
63 | public static int NTotalGeoms = 0; | ||
64 | |||
65 | #region Flags and Enumerations | ||
66 | |||
67 | [Flags] | ||
68 | public enum AllocateODEDataFlags : uint | ||
69 | { | ||
70 | BasicData = 0, | ||
71 | CollisionData = 0x00000001, | ||
72 | All = ~0u | ||
73 | } | ||
74 | |||
75 | [Flags] | ||
76 | public enum IniteODEFlags : uint | ||
77 | { | ||
78 | dInitFlagManualThreadCleanup = 0x00000001 | ||
79 | } | ||
80 | |||
81 | [Flags] | ||
82 | public enum ContactFlags : int | ||
83 | { | ||
84 | Mu2 = 0x001, | ||
85 | FDir1 = 0x002, | ||
86 | Bounce = 0x004, | ||
87 | SoftERP = 0x008, | ||
88 | SoftCFM = 0x010, | ||
89 | Motion1 = 0x020, | ||
90 | Motion2 = 0x040, | ||
91 | MotionN = 0x080, | ||
92 | Slip1 = 0x100, | ||
93 | Slip2 = 0x200, | ||
94 | Approx0 = 0x0000, | ||
95 | Approx1_1 = 0x1000, | ||
96 | Approx1_2 = 0x2000, | ||
97 | Approx1 = 0x3000 | ||
98 | } | ||
99 | |||
100 | public enum GeomClassID : int | ||
101 | { | ||
102 | SphereClass, | ||
103 | BoxClass, | ||
104 | CapsuleClass, | ||
105 | CylinderClass, | ||
106 | PlaneClass, | ||
107 | RayClass, | ||
108 | ConvexClass, | ||
109 | GeomTransformClass, | ||
110 | TriMeshClass, | ||
111 | HeightfieldClass, | ||
112 | FirstSpaceClass, | ||
113 | SimpleSpaceClass = FirstSpaceClass, | ||
114 | HashSpaceClass, | ||
115 | QuadTreeSpaceClass, | ||
116 | LastSpaceClass = QuadTreeSpaceClass, | ||
117 | FirstUserClass, | ||
118 | LastUserClass = FirstUserClass + MaxUserClasses - 1, | ||
119 | NumClasses, | ||
120 | MaxUserClasses = 4 | ||
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 void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); | ||
210 | |||
211 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
212 | public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); | ||
213 | |||
214 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
215 | public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); | ||
216 | |||
217 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
218 | public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); | ||
219 | |||
220 | #endregion | ||
221 | |||
222 | #region Structs | ||
223 | |||
224 | [StructLayout(LayoutKind.Sequential)] | ||
225 | public struct AABB | ||
226 | { | ||
227 | public dReal MinX, MaxX; | ||
228 | public dReal MinY, MaxY; | ||
229 | public dReal MinZ, MaxZ; | ||
230 | } | ||
231 | |||
232 | |||
233 | [StructLayout(LayoutKind.Sequential)] | ||
234 | public struct Contact | ||
235 | { | ||
236 | public SurfaceParameters surface; | ||
237 | public ContactGeom geom; | ||
238 | public Vector3 fdir1; | ||
239 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); | ||
240 | } | ||
241 | |||
242 | |||
243 | [StructLayout(LayoutKind.Sequential)] | ||
244 | public struct ContactGeom | ||
245 | { | ||
246 | |||
247 | public Vector3 pos; | ||
248 | public Vector3 normal; | ||
249 | public dReal depth; | ||
250 | public IntPtr g1; | ||
251 | public IntPtr g2; | ||
252 | public int side1; | ||
253 | public int side2; | ||
254 | public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); | ||
255 | } | ||
256 | |||
257 | [StructLayout(LayoutKind.Sequential)] | ||
258 | public struct GeomClass | ||
259 | { | ||
260 | public int bytes; | ||
261 | public GetColliderFnFn collider; | ||
262 | public GetAABBFn aabb; | ||
263 | public AABBTestFn aabb_test; | ||
264 | public GeomDtorFn dtor; | ||
265 | } | ||
266 | |||
267 | |||
268 | [StructLayout(LayoutKind.Sequential)] | ||
269 | public struct JointFeedback | ||
270 | { | ||
271 | public Vector3 f1; | ||
272 | public Vector3 t1; | ||
273 | public Vector3 f2; | ||
274 | public Vector3 t2; | ||
275 | } | ||
276 | |||
277 | |||
278 | [StructLayout(LayoutKind.Sequential)] | ||
279 | public struct Mass | ||
280 | { | ||
281 | public dReal mass; | ||
282 | public Vector4 c; | ||
283 | public Matrix3 I; | ||
284 | } | ||
285 | |||
286 | |||
287 | [StructLayout(LayoutKind.Sequential)] | ||
288 | public struct Matrix3 | ||
289 | { | ||
290 | public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) | ||
291 | { | ||
292 | M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; | ||
293 | M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; | ||
294 | M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; | ||
295 | } | ||
296 | public dReal M00, M10, M20; | ||
297 | private dReal _m30; | ||
298 | public dReal M01, M11, M21; | ||
299 | private dReal _m31; | ||
300 | public dReal M02, M12, M22; | ||
301 | private dReal _m32; | ||
302 | } | ||
303 | |||
304 | [StructLayout(LayoutKind.Sequential)] | ||
305 | public struct Matrix4 | ||
306 | { | ||
307 | public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, | ||
308 | dReal m01, dReal m11, dReal m21, dReal m31, | ||
309 | dReal m02, dReal m12, dReal m22, dReal m32, | ||
310 | dReal m03, dReal m13, dReal m23, dReal m33) | ||
311 | { | ||
312 | M00 = m00; M10 = m10; M20 = m20; M30 = m30; | ||
313 | M01 = m01; M11 = m11; M21 = m21; M31 = m31; | ||
314 | M02 = m02; M12 = m12; M22 = m22; M32 = m32; | ||
315 | M03 = m03; M13 = m13; M23 = m23; M33 = m33; | ||
316 | } | ||
317 | public dReal M00, M10, M20, M30; | ||
318 | public dReal M01, M11, M21, M31; | ||
319 | public dReal M02, M12, M22, M32; | ||
320 | public dReal M03, M13, M23, M33; | ||
321 | } | ||
322 | |||
323 | [StructLayout(LayoutKind.Sequential)] | ||
324 | public struct Quaternion | ||
325 | { | ||
326 | public dReal W, X, Y, Z; | ||
327 | } | ||
328 | |||
329 | |||
330 | [StructLayout(LayoutKind.Sequential)] | ||
331 | public struct SurfaceParameters | ||
332 | { | ||
333 | public ContactFlags mode; | ||
334 | public dReal mu; | ||
335 | public dReal mu2; | ||
336 | public dReal bounce; | ||
337 | public dReal bounce_vel; | ||
338 | public dReal soft_erp; | ||
339 | public dReal soft_cfm; | ||
340 | public dReal motion1; | ||
341 | public dReal motion2; | ||
342 | public dReal motionN; | ||
343 | public dReal slip1; | ||
344 | public dReal slip2; | ||
345 | } | ||
346 | |||
347 | |||
348 | [StructLayout(LayoutKind.Sequential)] | ||
349 | public struct Vector3 | ||
350 | { | ||
351 | public Vector3(dReal x, dReal y, dReal z) | ||
352 | { | ||
353 | X = x; Y = y; Z = z; _w = 0.0f; | ||
354 | } | ||
355 | public dReal X, Y, Z; | ||
356 | private dReal _w; | ||
357 | } | ||
358 | |||
359 | |||
360 | [StructLayout(LayoutKind.Sequential)] | ||
361 | public struct Vector4 | ||
362 | { | ||
363 | public Vector4(dReal x, dReal y, dReal z, dReal w) | ||
364 | { | ||
365 | X = x; Y = y; Z = z; W = w; | ||
366 | } | ||
367 | public dReal X, Y, Z, W; | ||
368 | } | ||
369 | |||
370 | #endregion | ||
371 | |||
372 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] | ||
373 | public static extern int AllocateODEDataForThread(uint ODEInitFlags); | ||
374 | |||
375 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] | ||
376 | public static extern bool AreConnected(IntPtr b1, IntPtr b2); | ||
377 | |||
378 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] | ||
379 | public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); | ||
380 | |||
381 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] | ||
382 | public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
383 | |||
384 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] | ||
385 | public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | ||
386 | |||
387 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] | ||
388 | public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | ||
389 | |||
390 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] | ||
391 | public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
392 | |||
393 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] | ||
394 | public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | ||
395 | |||
396 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] | ||
397 | public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); | ||
398 | |||
399 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] | ||
400 | public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
401 | |||
402 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] | ||
403 | public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); | ||
404 | |||
405 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
406 | public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); | ||
407 | |||
408 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
409 | public static extern void BodyCopyPosition(IntPtr body, out dReal X); | ||
410 | |||
411 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] | ||
412 | public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); | ||
413 | |||
414 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] | ||
415 | public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); | ||
416 | |||
417 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
418 | public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); | ||
419 | |||
420 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
421 | public static extern void BodyCopyRotation(IntPtr body, out dReal M00); | ||
422 | |||
423 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] | ||
424 | public static extern IntPtr BodyiCreate(IntPtr world); | ||
425 | public static IntPtr BodyCreate(IntPtr world) | ||
426 | { | ||
427 | NTotalBodies++; | ||
428 | return BodyiCreate(world); | ||
429 | } | ||
430 | |||
431 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] | ||
432 | public static extern void BodyiDestroy(IntPtr body); | ||
433 | public static void BodyDestroy(IntPtr body) | ||
434 | { | ||
435 | NTotalBodies--; | ||
436 | BodyiDestroy(body); | ||
437 | } | ||
438 | |||
439 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] | ||
440 | public static extern void BodyDisable(IntPtr body); | ||
441 | |||
442 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] | ||
443 | public static extern void BodyEnable(IntPtr body); | ||
444 | |||
445 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
446 | public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); | ||
447 | |||
448 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
449 | public static extern bool BodyGetAutoDisableFlag(IntPtr body); | ||
450 | |||
451 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] | ||
452 | public static extern void BodyGetAutoDisableDefaults(IntPtr body); | ||
453 | |||
454 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
455 | public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); | ||
456 | |||
457 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
458 | public static extern int BodyGetAutoDisableSteps(IntPtr body); | ||
459 | |||
460 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
461 | public static extern dReal BodyGetAutoDisableTime(IntPtr body); | ||
462 | |||
463 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] | ||
464 | public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); | ||
465 | public static Vector3 BodyGetAngularVel(IntPtr body) | ||
466 | { | ||
467 | unsafe { return *(BodyGetAngularVelUnsafe(body)); } | ||
468 | } | ||
469 | |||
470 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] | ||
471 | public static extern IntPtr BodyGetData(IntPtr body); | ||
472 | |||
473 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] | ||
474 | public static extern int BodyGetFiniteRotationMode(IntPtr body); | ||
475 | |||
476 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] | ||
477 | public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); | ||
478 | |||
479 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] | ||
480 | public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); | ||
481 | public static Vector3 BodyGetForce(IntPtr body) | ||
482 | { | ||
483 | unsafe { return *(BodyGetForceUnsafe(body)); } | ||
484 | } | ||
485 | |||
486 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] | ||
487 | public static extern bool BodyGetGravityMode(IntPtr body); | ||
488 | |||
489 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] | ||
490 | public static extern int BodyGetGyroscopicMode(IntPtr body); | ||
491 | |||
492 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] | ||
493 | public static extern IntPtr BodyGetJoint(IntPtr body, int index); | ||
494 | |||
495 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] | ||
496 | public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); | ||
497 | public static Vector3 BodyGetLinearVel(IntPtr body) | ||
498 | { | ||
499 | unsafe { return *(BodyGetLinearVelUnsafe(body)); } | ||
500 | } | ||
501 | |||
502 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] | ||
503 | public static extern void BodyGetMass(IntPtr body, out Mass mass); | ||
504 | |||
505 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] | ||
506 | public static extern int BodyGetNumJoints(IntPtr body); | ||
507 | |||
508 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] | ||
509 | public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | ||
510 | |||
511 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] | ||
512 | public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); | ||
513 | public static Vector3 BodyGetPosition(IntPtr body) | ||
514 | { | ||
515 | unsafe { return *(BodyGetPositionUnsafe(body)); } | ||
516 | } | ||
517 | |||
518 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] | ||
519 | public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | ||
520 | |||
521 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
522 | public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); | ||
523 | public static Quaternion BodyGetQuaternion(IntPtr body) | ||
524 | { | ||
525 | unsafe { return *(BodyGetQuaternionUnsafe(body)); } | ||
526 | } | ||
527 | |||
528 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] | ||
529 | public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | ||
530 | |||
531 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] | ||
532 | public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | ||
533 | |||
534 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] | ||
535 | public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); | ||
536 | public static Matrix3 BodyGetRotation(IntPtr body) | ||
537 | { | ||
538 | unsafe { return *(BodyGetRotationUnsafe(body)); } | ||
539 | } | ||
540 | |||
541 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] | ||
542 | public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); | ||
543 | public static Vector3 BodyGetTorque(IntPtr body) | ||
544 | { | ||
545 | unsafe { return *(BodyGetTorqueUnsafe(body)); } | ||
546 | } | ||
547 | |||
548 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] | ||
549 | public static extern IntPtr BodyGetWorld(IntPtr body); | ||
550 | |||
551 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity] | ||
552 | public static extern IntPtr BodyGetFirstGeom(IntPtr body); | ||
553 | |||
554 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity] | ||
555 | public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); | ||
556 | |||
557 | |||
558 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] | ||
559 | public static extern bool BodyIsEnabled(IntPtr body); | ||
560 | |||
561 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] | ||
562 | public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); | ||
563 | |||
564 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
565 | public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); | ||
566 | |||
567 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] | ||
568 | public static extern void BodySetAutoDisableDefaults(IntPtr body); | ||
569 | |||
570 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
571 | public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); | ||
572 | |||
573 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
574 | public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); | ||
575 | |||
576 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
577 | public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); | ||
578 | |||
579 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
580 | public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); | ||
581 | |||
582 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] | ||
583 | public static extern void BodySetData(IntPtr body, IntPtr data); | ||
584 | |||
585 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] | ||
586 | public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); | ||
587 | |||
588 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] | ||
589 | public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); | ||
590 | |||
591 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
592 | public static extern void BodySetLinearDamping(IntPtr body, dReal scale); | ||
593 | |||
594 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
595 | public static extern void BodySetAngularDamping(IntPtr body, dReal scale); | ||
596 | |||
597 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
598 | public static extern dReal BodyGetLinearDamping(IntPtr body); | ||
599 | |||
600 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
601 | public static extern dReal BodyGetAngularDamping(IntPtr body); | ||
602 | |||
603 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
604 | public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); | ||
605 | |||
606 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
607 | public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); | ||
608 | |||
609 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
610 | public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); | ||
611 | |||
612 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
613 | public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); | ||
614 | |||
615 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
616 | public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); | ||
617 | |||
618 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] | ||
619 | public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); | ||
620 | |||
621 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] | ||
622 | public static extern void BodySetGravityMode(IntPtr body, bool mode); | ||
623 | |||
624 | /// <summary> | ||
625 | /// Sets the Gyroscopic term status on the body specified. | ||
626 | /// </summary> | ||
627 | /// <param name="body">Pointer to body</param> | ||
628 | /// <param name="enabled">NonZero enabled, Zero disabled</param> | ||
629 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] | ||
630 | public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); | ||
631 | |||
632 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] | ||
633 | public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); | ||
634 | |||
635 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] | ||
636 | public static extern void BodySetMass(IntPtr body, ref Mass mass); | ||
637 | |||
638 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] | ||
639 | public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); | ||
640 | |||
641 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
642 | public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); | ||
643 | |||
644 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
645 | public static extern void BodySetQuaternion(IntPtr body, ref dReal w); | ||
646 | |||
647 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] | ||
648 | public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); | ||
649 | |||
650 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] | ||
651 | public static extern void BodySetRotation(IntPtr body, ref dReal M00); | ||
652 | |||
653 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] | ||
654 | public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); | ||
655 | |||
656 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] | ||
657 | public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | ||
658 | |||
659 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] | ||
660 | public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); | ||
661 | |||
662 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] | ||
663 | public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, | ||
664 | ref Vector3 side1, ref Vector3 p2, | ||
665 | ref Matrix3 R2, ref Vector3 side2, | ||
666 | ref Vector3 normal, out dReal depth, out int return_code, | ||
667 | int maxc, out ContactGeom contact, int skip); | ||
668 | |||
669 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] | ||
670 | public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, | ||
671 | ref Vector3 side1, ref Vector3 _p2, | ||
672 | ref Matrix3 R2, ref Vector3 side2); | ||
673 | |||
674 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] | ||
675 | public static extern void CleanupODEAllDataForThread(); | ||
676 | |||
677 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] | ||
678 | public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, | ||
679 | ref Vector3 b1, ref Vector3 b2, | ||
680 | ref Vector3 cp1, ref Vector3 cp2); | ||
681 | |||
682 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] | ||
683 | public static extern void CloseODE(); | ||
684 | |||
685 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] | ||
686 | public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); | ||
687 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] | ||
688 | public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); | ||
689 | |||
690 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] | ||
691 | public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); | ||
692 | |||
693 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] | ||
694 | public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); | ||
695 | public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) | ||
696 | { | ||
697 | NTotalGeoms++; | ||
698 | return CreateiBox(space, lx, ly, lz); | ||
699 | } | ||
700 | |||
701 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] | ||
702 | public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); | ||
703 | public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) | ||
704 | { | ||
705 | NTotalGeoms++; | ||
706 | return CreateiCapsule(space, radius, length); | ||
707 | } | ||
708 | |||
709 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] | ||
710 | public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); | ||
711 | public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) | ||
712 | { | ||
713 | NTotalGeoms++; | ||
714 | return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); | ||
715 | } | ||
716 | |||
717 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] | ||
718 | public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); | ||
719 | public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) | ||
720 | { | ||
721 | NTotalGeoms++; | ||
722 | return CreateiCylinder(space, radius, length); | ||
723 | } | ||
724 | |||
725 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] | ||
726 | public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); | ||
727 | public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) | ||
728 | { | ||
729 | NTotalGeoms++; | ||
730 | return CreateiHeightfield(space, data, bPlaceable); | ||
731 | } | ||
732 | |||
733 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] | ||
734 | public static extern IntPtr CreateiGeom(int classnum); | ||
735 | public static IntPtr CreateGeom(int classnum) | ||
736 | { | ||
737 | NTotalGeoms++; | ||
738 | return CreateiGeom(classnum); | ||
739 | } | ||
740 | |||
741 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] | ||
742 | public static extern int CreateGeomClass(ref GeomClass classptr); | ||
743 | |||
744 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] | ||
745 | public static extern IntPtr CreateGeomTransform(IntPtr space); | ||
746 | |||
747 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] | ||
748 | public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); | ||
749 | public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) | ||
750 | { | ||
751 | NTotalGeoms++; | ||
752 | return CreateiPlane(space, a, b, c, d); | ||
753 | } | ||
754 | |||
755 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] | ||
756 | public static extern IntPtr CreateiRay(IntPtr space, dReal length); | ||
757 | public static IntPtr CreateRay(IntPtr space, dReal length) | ||
758 | { | ||
759 | NTotalGeoms++; | ||
760 | return CreateiRay(space, length); | ||
761 | } | ||
762 | |||
763 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] | ||
764 | public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); | ||
765 | public static IntPtr CreateSphere(IntPtr space, dReal radius) | ||
766 | { | ||
767 | NTotalGeoms++; | ||
768 | return CreateiSphere(space, radius); | ||
769 | } | ||
770 | |||
771 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] | ||
772 | public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, | ||
773 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); | ||
774 | public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, | ||
775 | TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) | ||
776 | { | ||
777 | NTotalGeoms++; | ||
778 | return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); | ||
779 | } | ||
780 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] | ||
781 | public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); | ||
782 | |||
783 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] | ||
784 | public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); | ||
785 | |||
786 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] | ||
787 | public static extern int FactorCholesky(ref dReal A00, int n); | ||
788 | |||
789 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] | ||
790 | public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); | ||
791 | |||
792 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] | ||
793 | public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); | ||
794 | |||
795 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] | ||
796 | public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); | ||
797 | |||
798 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] | ||
799 | public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
800 | |||
801 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] | ||
802 | public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); | ||
803 | |||
804 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] | ||
805 | public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); | ||
806 | |||
807 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] | ||
808 | public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
809 | |||
810 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] | ||
811 | public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); | ||
812 | |||
813 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] | ||
814 | public static extern void GeomClearOffset(IntPtr geom); | ||
815 | |||
816 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
817 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); | ||
818 | |||
819 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
820 | public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); | ||
821 | |||
822 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
823 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); | ||
824 | |||
825 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
826 | public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); | ||
827 | |||
828 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
829 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); | ||
830 | |||
831 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
832 | public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); | ||
833 | |||
834 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
835 | public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); | ||
836 | |||
837 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] | ||
838 | public static extern void GeomCopyPosition(IntPtr geom, out dReal X); | ||
839 | |||
840 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
841 | public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); | ||
842 | |||
843 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] | ||
844 | public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); | ||
845 | |||
846 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] | ||
847 | public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); | ||
848 | |||
849 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] | ||
850 | public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); | ||
851 | |||
852 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] | ||
853 | public static extern void GeomiDestroy(IntPtr geom); | ||
854 | public static void GeomDestroy(IntPtr geom) | ||
855 | { | ||
856 | NTotalGeoms--; | ||
857 | GeomiDestroy(geom); | ||
858 | } | ||
859 | |||
860 | |||
861 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] | ||
862 | public static extern void GeomDisable(IntPtr geom); | ||
863 | |||
864 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] | ||
865 | public static extern void GeomEnable(IntPtr geom); | ||
866 | |||
867 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] | ||
868 | public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); | ||
869 | |||
870 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] | ||
871 | public static extern void GeomGetAABB(IntPtr geom, out dReal minX); | ||
872 | |||
873 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] | ||
874 | public static extern IntPtr GeomGetBody(IntPtr geom); | ||
875 | |||
876 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] | ||
877 | public static extern int GeomGetCategoryBits(IntPtr geom); | ||
878 | |||
879 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] | ||
880 | public static extern IntPtr GeomGetClassData(IntPtr geom); | ||
881 | |||
882 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] | ||
883 | public static extern int GeomGetCollideBits(IntPtr geom); | ||
884 | |||
885 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] | ||
886 | public static extern GeomClassID GeomGetClass(IntPtr geom); | ||
887 | |||
888 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] | ||
889 | public static extern IntPtr GeomGetData(IntPtr geom); | ||
890 | |||
891 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
892 | public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); | ||
893 | public static Vector3 GeomGetOffsetPosition(IntPtr geom) | ||
894 | { | ||
895 | unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } | ||
896 | } | ||
897 | |||
898 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
899 | public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); | ||
900 | public static Matrix3 GeomGetOffsetRotation(IntPtr geom) | ||
901 | { | ||
902 | unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } | ||
903 | } | ||
904 | |||
905 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] | ||
906 | public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); | ||
907 | public static Vector3 GeomGetPosition(IntPtr geom) | ||
908 | { | ||
909 | unsafe { return *(GeomGetPositionUnsafe(geom)); } | ||
910 | } | ||
911 | |||
912 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
913 | public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); | ||
914 | |||
915 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
916 | public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); | ||
917 | |||
918 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] | ||
919 | public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); | ||
920 | public static Matrix3 GeomGetRotation(IntPtr geom) | ||
921 | { | ||
922 | unsafe { return *(GeomGetRotationUnsafe(geom)); } | ||
923 | } | ||
924 | |||
925 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] | ||
926 | public static extern IntPtr GeomGetSpace(IntPtr geom); | ||
927 | |||
928 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] | ||
929 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, | ||
930 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
931 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
932 | |||
933 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] | ||
934 | public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
935 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
936 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
937 | |||
938 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] | ||
939 | public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, | ||
940 | dReal width, dReal depth, int widthSamples, int depthSamples, | ||
941 | dReal scale, dReal offset, dReal thickness, int bWrap); | ||
942 | |||
943 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | ||
944 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] 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 = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | ||
949 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] 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 = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] | ||
954 | public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, | ||
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 = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
959 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] 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 = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
964 | public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr 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 = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
969 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] 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 = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
974 | public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr 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 = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] | ||
979 | public static extern IntPtr GeomHeightfieldDataCreate(); | ||
980 | |||
981 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] | ||
982 | public static extern void GeomHeightfieldDataDestroy(IntPtr d); | ||
983 | |||
984 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] | ||
985 | public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); | ||
986 | |||
987 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] | ||
988 | public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); | ||
989 | |||
990 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] | ||
991 | public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); | ||
992 | |||
993 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] | ||
994 | public static extern bool GeomIsEnabled(IntPtr geom); | ||
995 | |||
996 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] | ||
997 | public static extern bool GeomIsOffset(IntPtr geom); | ||
998 | |||
999 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] | ||
1000 | public static extern bool GeomIsSpace(IntPtr geom); | ||
1001 | |||
1002 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] | ||
1003 | public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); | ||
1004 | |||
1005 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] | ||
1006 | public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); | ||
1007 | |||
1008 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] | ||
1009 | public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
1010 | |||
1011 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] | ||
1012 | public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); | ||
1013 | |||
1014 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] | ||
1015 | public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); | ||
1016 | |||
1017 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] | ||
1018 | public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); | ||
1019 | |||
1020 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] | ||
1021 | public static extern int GeomRayGetClosestHit(IntPtr ray); | ||
1022 | |||
1023 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] | ||
1024 | public static extern dReal GeomRayGetLength(IntPtr ray); | ||
1025 | |||
1026 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] | ||
1027 | public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); | ||
1028 | |||
1029 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] | ||
1030 | public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); | ||
1031 | |||
1032 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] | ||
1033 | public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); | ||
1034 | |||
1035 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] | ||
1036 | public static extern void GeomRaySetLength(IntPtr ray, dReal length); | ||
1037 | |||
1038 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] | ||
1039 | public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); | ||
1040 | |||
1041 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] | ||
1042 | public static extern void GeomSetBody(IntPtr geom, IntPtr body); | ||
1043 | |||
1044 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] | ||
1045 | public static extern void GeomSetCategoryBits(IntPtr geom, int bits); | ||
1046 | |||
1047 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] | ||
1048 | public static extern void GeomSetCollideBits(IntPtr geom, int bits); | ||
1049 | |||
1050 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] | ||
1051 | public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); | ||
1052 | |||
1053 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] | ||
1054 | public static extern void GeomSetData(IntPtr geom, IntPtr data); | ||
1055 | |||
1056 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] | ||
1057 | public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); | ||
1058 | |||
1059 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1060 | public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); | ||
1061 | |||
1062 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1063 | public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); | ||
1064 | |||
1065 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
1066 | public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); | ||
1067 | |||
1068 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] | ||
1069 | public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); | ||
1070 | |||
1071 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] | ||
1072 | public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); | ||
1073 | |||
1074 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1075 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); | ||
1076 | |||
1077 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1078 | public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); | ||
1079 | |||
1080 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] | ||
1081 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); | ||
1082 | |||
1083 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] | ||
1084 | public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); | ||
1085 | |||
1086 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] | ||
1087 | public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); | ||
1088 | |||
1089 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1090 | public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); | ||
1091 | |||
1092 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] | ||
1093 | public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); | ||
1094 | |||
1095 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] | ||
1096 | public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); | ||
1097 | |||
1098 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] | ||
1099 | public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); | ||
1100 | |||
1101 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] | ||
1102 | public static extern dReal GeomSphereGetRadius(IntPtr geom); | ||
1103 | |||
1104 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] | ||
1105 | public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); | ||
1106 | |||
1107 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] | ||
1108 | public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); | ||
1109 | |||
1110 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1111 | public static extern int GeomTransformGetCleanup(IntPtr geom); | ||
1112 | |||
1113 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] | ||
1114 | public static extern IntPtr GeomTransformGetGeom(IntPtr geom); | ||
1115 | |||
1116 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] | ||
1117 | public static extern int GeomTransformGetInfo(IntPtr geom); | ||
1118 | |||
1119 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1120 | public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); | ||
1121 | |||
1122 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] | ||
1123 | public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); | ||
1124 | |||
1125 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] | ||
1126 | public static extern void GeomTransformSetInfo(IntPtr geom, int info); | ||
1127 | |||
1128 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
1129 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | ||
1130 | double[] vertices, int vertexStride, int vertexCount, | ||
1131 | int[] indices, int indexCount, int triStride); | ||
1132 | |||
1133 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] | ||
1134 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | ||
1135 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1136 | IntPtr indices, int indexCount, int triStride); | ||
1137 | |||
1138 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] | ||
1139 | public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, | ||
1140 | double[] vertices, int vertexStride, int vertexCount, | ||
1141 | int[] indices, int indexCount, int triStride, | ||
1142 | double[] normals); | ||
1143 | |||
1144 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] | ||
1145 | public static extern void GeomTriMeshDataBuildDouble(IntPtr d, | ||
1146 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1147 | IntPtr indices, int indexCount, int triStride, | ||
1148 | IntPtr normals); | ||
1149 | |||
1150 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] | ||
1151 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, | ||
1152 | dReal[] vertices, int vertexStride, int vertexCount, | ||
1153 | int[] indices, int indexCount, int triStride); | ||
1154 | |||
1155 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] | ||
1156 | public static extern void GeomTriMeshDataBuildSingle(IntPtr d, | ||
1157 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1158 | IntPtr indices, int indexCount, int triStride); | ||
1159 | |||
1160 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] | ||
1161 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, | ||
1162 | dReal[] vertices, int vertexStride, int vertexCount, | ||
1163 | int[] indices, int indexCount, int triStride, | ||
1164 | dReal[] normals); | ||
1165 | |||
1166 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] | ||
1167 | public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, | ||
1168 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1169 | IntPtr indices, int indexCount, int triStride, | ||
1170 | IntPtr normals); | ||
1171 | |||
1172 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
1173 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, | ||
1174 | float[] vertices, int vertexStride, int vertexCount, | ||
1175 | int[] indices, int indexCount, int triStride); | ||
1176 | |||
1177 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] | ||
1178 | public static extern void GeomTriMeshDataBuildSimple(IntPtr d, | ||
1179 | IntPtr vertices, int vertexStride, int vertexCount, | ||
1180 | IntPtr indices, int indexCount, int triStride); | ||
1181 | |||
1182 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] | ||
1183 | public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, | ||
1184 | float[] vertices, int vertexStride, int vertexCount, | ||
1185 | int[] indices, int indexCount, int triStride, | ||
1186 | float[] normals); | ||
1187 | |||
1188 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] | ||
1189 | public static extern void GeomTriMeshDataBuildSimple1(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 = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] | ||
1195 | public static extern void GeomTriMeshClearTCCache(IntPtr g); | ||
1196 | |||
1197 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] | ||
1198 | public static extern IntPtr GeomTriMeshDataCreate(); | ||
1199 | |||
1200 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] | ||
1201 | public static extern void GeomTriMeshDataDestroy(IntPtr d); | ||
1202 | |||
1203 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] | ||
1204 | public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); | ||
1205 | |||
1206 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] | ||
1207 | public static extern void GeomTriMeshDataPreprocess(IntPtr d); | ||
1208 | |||
1209 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] | ||
1210 | public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); | ||
1211 | |||
1212 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] | ||
1213 | public static extern void GeomTriMeshDataUpdate(IntPtr d); | ||
1214 | |||
1215 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] | ||
1216 | public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); | ||
1217 | |||
1218 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] | ||
1219 | public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); | ||
1220 | |||
1221 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] | ||
1222 | public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); | ||
1223 | |||
1224 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] | ||
1225 | public static extern IntPtr GeomTriMeshGetData(IntPtr g); | ||
1226 | |||
1227 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] | ||
1228 | public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); | ||
1229 | public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) | ||
1230 | { | ||
1231 | unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } | ||
1232 | } | ||
1233 | |||
1234 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] | ||
1235 | public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); | ||
1236 | |||
1237 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] | ||
1238 | public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); | ||
1239 | |||
1240 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] | ||
1241 | public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); | ||
1242 | |||
1243 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] | ||
1244 | public extern static int GeomTriMeshGetTriangleCount(IntPtr g); | ||
1245 | |||
1246 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] | ||
1247 | public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); | ||
1248 | |||
1249 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] | ||
1250 | public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); | ||
1251 | |||
1252 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] | ||
1253 | public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); | ||
1254 | |||
1255 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] | ||
1256 | public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); | ||
1257 | |||
1258 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] | ||
1259 | public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); | ||
1260 | |||
1261 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] | ||
1262 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); | ||
1263 | |||
1264 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] | ||
1265 | public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); | ||
1266 | |||
1267 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] | ||
1268 | public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); | ||
1269 | |||
1270 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity] | ||
1271 | public static extern string GetConfiguration(string str); | ||
1272 | |||
1273 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1274 | public static extern IntPtr HashSpaceCreate(IntPtr space); | ||
1275 | |||
1276 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] | ||
1277 | public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); | ||
1278 | |||
1279 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] | ||
1280 | public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); | ||
1281 | |||
1282 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] | ||
1283 | public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); | ||
1284 | |||
1285 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] | ||
1286 | public static extern void InitODE(); | ||
1287 | |||
1288 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] | ||
1289 | public static extern int InitODE2(uint ODEInitFlags); | ||
1290 | |||
1291 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] | ||
1292 | public static extern int IsPositiveDefinite(ref dReal A, int n); | ||
1293 | |||
1294 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] | ||
1295 | public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); | ||
1296 | |||
1297 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] | ||
1298 | public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); | ||
1299 | |||
1300 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] | ||
1301 | public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); | ||
1302 | |||
1303 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] | ||
1304 | public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); | ||
1305 | |||
1306 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] | ||
1307 | public static extern void JointAddPRTorque(IntPtr joint, dReal torque); | ||
1308 | |||
1309 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] | ||
1310 | public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); | ||
1311 | |||
1312 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] | ||
1313 | public static extern void JointAddSliderForce(IntPtr joint, dReal force); | ||
1314 | |||
1315 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] | ||
1316 | public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); | ||
1317 | |||
1318 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] | ||
1319 | public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); | ||
1320 | |||
1321 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] | ||
1322 | public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); | ||
1323 | |||
1324 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] | ||
1325 | public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); | ||
1326 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] | ||
1327 | public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); | ||
1328 | |||
1329 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] | ||
1330 | public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); | ||
1331 | |||
1332 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] | ||
1333 | public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); | ||
1334 | |||
1335 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] | ||
1336 | public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); | ||
1337 | |||
1338 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] | ||
1339 | public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); | ||
1340 | |||
1341 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] | ||
1342 | public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); | ||
1343 | |||
1344 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] | ||
1345 | public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); | ||
1346 | |||
1347 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] | ||
1348 | public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); | ||
1349 | |||
1350 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] | ||
1351 | public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); | ||
1352 | |||
1353 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] | ||
1354 | public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); | ||
1355 | |||
1356 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] | ||
1357 | public static extern void JointDestroy(IntPtr j); | ||
1358 | |||
1359 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] | ||
1360 | public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); | ||
1361 | |||
1362 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] | ||
1363 | public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); | ||
1364 | |||
1365 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] | ||
1366 | public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); | ||
1367 | |||
1368 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] | ||
1369 | public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); | ||
1370 | |||
1371 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] | ||
1372 | public static extern int JointGetAMotorMode(IntPtr j); | ||
1373 | |||
1374 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1375 | public static extern int JointGetAMotorNumAxes(IntPtr j); | ||
1376 | |||
1377 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1378 | public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); | ||
1379 | |||
1380 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] | ||
1381 | public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); | ||
1382 | |||
1383 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1384 | public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); | ||
1385 | |||
1386 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] | ||
1387 | public static extern IntPtr JointGetBody(IntPtr j); | ||
1388 | |||
1389 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] | ||
1390 | public static extern IntPtr JointGetData(IntPtr j); | ||
1391 | |||
1392 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] | ||
1393 | public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); | ||
1394 | public static JointFeedback JointGetFeedback(IntPtr j) | ||
1395 | { | ||
1396 | unsafe { return *(JointGetFeedbackUnsafe(j)); } | ||
1397 | } | ||
1398 | |||
1399 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] | ||
1400 | public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); | ||
1401 | |||
1402 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] | ||
1403 | public static extern dReal JointGetHingeAngle(IntPtr j); | ||
1404 | |||
1405 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] | ||
1406 | public static extern dReal JointGetHingeAngleRate(IntPtr j); | ||
1407 | |||
1408 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] | ||
1409 | public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); | ||
1410 | |||
1411 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] | ||
1412 | public static extern dReal JointGetHingeParam(IntPtr j, int parameter); | ||
1413 | |||
1414 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] | ||
1415 | public static extern dReal JointGetHinge2Angle1(IntPtr j); | ||
1416 | |||
1417 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] | ||
1418 | public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); | ||
1419 | |||
1420 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] | ||
1421 | public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); | ||
1422 | |||
1423 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1424 | public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); | ||
1425 | |||
1426 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] | ||
1427 | public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); | ||
1428 | |||
1429 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] | ||
1430 | public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); | ||
1431 | |||
1432 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] | ||
1433 | public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); | ||
1434 | |||
1435 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] | ||
1436 | public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); | ||
1437 | |||
1438 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] | ||
1439 | public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); | ||
1440 | |||
1441 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] | ||
1442 | public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); | ||
1443 | |||
1444 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1445 | public static extern int JointGetLMotorNumAxes(IntPtr j); | ||
1446 | |||
1447 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1448 | public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); | ||
1449 | |||
1450 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] | ||
1451 | public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); | ||
1452 | |||
1453 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] | ||
1454 | public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); | ||
1455 | |||
1456 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] | ||
1457 | public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); | ||
1458 | |||
1459 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] | ||
1460 | public static extern dReal JointGetPRParam(IntPtr j, int parameter); | ||
1461 | |||
1462 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] | ||
1463 | public static extern dReal JointGetPRPosition(IntPtr j); | ||
1464 | |||
1465 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] | ||
1466 | public static extern dReal JointGetPRPositionRate(IntPtr j); | ||
1467 | |||
1468 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] | ||
1469 | public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); | ||
1470 | |||
1471 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] | ||
1472 | public static extern dReal JointGetSliderParam(IntPtr j, int parameter); | ||
1473 | |||
1474 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] | ||
1475 | public static extern dReal JointGetSliderPosition(IntPtr j); | ||
1476 | |||
1477 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] | ||
1478 | public static extern dReal JointGetSliderPositionRate(IntPtr j); | ||
1479 | |||
1480 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] | ||
1481 | public static extern JointType JointGetType(IntPtr j); | ||
1482 | |||
1483 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] | ||
1484 | public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); | ||
1485 | |||
1486 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1487 | public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); | ||
1488 | |||
1489 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] | ||
1490 | public static extern dReal JointGetUniversalAngle1(IntPtr j); | ||
1491 | |||
1492 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] | ||
1493 | public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); | ||
1494 | |||
1495 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] | ||
1496 | public static extern dReal JointGetUniversalAngle2(IntPtr j); | ||
1497 | |||
1498 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] | ||
1499 | public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); | ||
1500 | |||
1501 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] | ||
1502 | public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); | ||
1503 | |||
1504 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] | ||
1505 | public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); | ||
1506 | |||
1507 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] | ||
1508 | public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); | ||
1509 | |||
1510 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] | ||
1511 | public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); | ||
1512 | |||
1513 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] | ||
1514 | public static extern IntPtr JointGroupCreate(int max_size); | ||
1515 | |||
1516 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] | ||
1517 | public static extern void JointGroupDestroy(IntPtr group); | ||
1518 | |||
1519 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] | ||
1520 | public static extern void JointGroupEmpty(IntPtr group); | ||
1521 | |||
1522 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] | ||
1523 | public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); | ||
1524 | |||
1525 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] | ||
1526 | public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); | ||
1527 | |||
1528 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] | ||
1529 | public static extern void JointSetAMotorMode(IntPtr j, int mode); | ||
1530 | |||
1531 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1532 | public static extern void JointSetAMotorNumAxes(IntPtr group, int num); | ||
1533 | |||
1534 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1535 | public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); | ||
1536 | |||
1537 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] | ||
1538 | public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1539 | |||
1540 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] | ||
1541 | public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); | ||
1542 | |||
1543 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] | ||
1544 | public static extern void JointSetData(IntPtr j, IntPtr data); | ||
1545 | |||
1546 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] | ||
1547 | public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); | ||
1548 | |||
1549 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] | ||
1550 | public static extern void JointSetFixed(IntPtr j); | ||
1551 | |||
1552 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] | ||
1553 | public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1554 | |||
1555 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] | ||
1556 | public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); | ||
1557 | |||
1558 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] | ||
1559 | public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); | ||
1560 | |||
1561 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] | ||
1562 | public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); | ||
1563 | |||
1564 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] | ||
1565 | public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1566 | |||
1567 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] | ||
1568 | public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); | ||
1569 | |||
1570 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] | ||
1571 | public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); | ||
1572 | |||
1573 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] | ||
1574 | public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); | ||
1575 | |||
1576 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] | ||
1577 | public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); | ||
1578 | |||
1579 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] | ||
1580 | public static extern void JointSetLMotorNumAxes(IntPtr j, int num); | ||
1581 | |||
1582 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] | ||
1583 | public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); | ||
1584 | |||
1585 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] | ||
1586 | public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); | ||
1587 | |||
1588 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] | ||
1589 | public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); | ||
1590 | |||
1591 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] | ||
1592 | public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); | ||
1593 | |||
1594 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] | ||
1595 | public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1596 | |||
1597 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] | ||
1598 | public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); | ||
1599 | |||
1600 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] | ||
1601 | public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); | ||
1602 | |||
1603 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] | ||
1604 | public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); | ||
1605 | |||
1606 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] | ||
1607 | public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); | ||
1608 | |||
1609 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] | ||
1610 | public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); | ||
1611 | |||
1612 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] | ||
1613 | public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); | ||
1614 | |||
1615 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] | ||
1616 | public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); | ||
1617 | |||
1618 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] | ||
1619 | public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); | ||
1620 | |||
1621 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] | ||
1622 | public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); | ||
1623 | |||
1624 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] | ||
1625 | public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); | ||
1626 | |||
1627 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] | ||
1628 | public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); | ||
1629 | |||
1630 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] | ||
1631 | public static extern void MassAdd(ref Mass a, ref Mass b); | ||
1632 | |||
1633 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] | ||
1634 | public static extern void MassAdjust(ref Mass m, dReal newmass); | ||
1635 | |||
1636 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] | ||
1637 | public static extern bool MassCheck(ref Mass m); | ||
1638 | |||
1639 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] | ||
1640 | public static extern void MassRotate(ref Mass mass, ref Matrix3 R); | ||
1641 | |||
1642 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] | ||
1643 | public static extern void MassRotate(ref Mass mass, ref dReal M00); | ||
1644 | |||
1645 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] | ||
1646 | public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); | ||
1647 | |||
1648 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] | ||
1649 | public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); | ||
1650 | |||
1651 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] | ||
1652 | public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); | ||
1653 | |||
1654 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] | ||
1655 | public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); | ||
1656 | |||
1657 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] | ||
1658 | public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); | ||
1659 | |||
1660 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] | ||
1661 | public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); | ||
1662 | |||
1663 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] | ||
1664 | public static extern void MassSetParameters(out Mass mass, dReal themass, | ||
1665 | dReal cgx, dReal cgy, dReal cgz, | ||
1666 | dReal i11, dReal i22, dReal i33, | ||
1667 | dReal i12, dReal i13, dReal i23); | ||
1668 | |||
1669 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] | ||
1670 | public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); | ||
1671 | |||
1672 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] | ||
1673 | public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); | ||
1674 | |||
1675 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] | ||
1676 | public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); | ||
1677 | |||
1678 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] | ||
1679 | public static extern void MassSetZero(out Mass mass); | ||
1680 | |||
1681 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] | ||
1682 | public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); | ||
1683 | |||
1684 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] | ||
1685 | public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); | ||
1686 | |||
1687 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] | ||
1688 | private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r); | ||
1689 | public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector) | ||
1690 | { | ||
1691 | MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); | ||
1692 | } | ||
1693 | |||
1694 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] | ||
1695 | public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); | ||
1696 | |||
1697 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] | ||
1698 | public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); | ||
1699 | |||
1700 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] | ||
1701 | public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); | ||
1702 | |||
1703 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] | ||
1704 | public static extern void QfromR(out Quaternion q, ref Matrix3 R); | ||
1705 | |||
1706 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] | ||
1707 | public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1708 | |||
1709 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] | ||
1710 | public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1711 | |||
1712 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] | ||
1713 | public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1714 | |||
1715 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] | ||
1716 | public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); | ||
1717 | |||
1718 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] | ||
1719 | public static extern void QSetIdentity(out Quaternion q); | ||
1720 | |||
1721 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1722 | public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); | ||
1723 | |||
1724 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1725 | public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); | ||
1726 | |||
1727 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] | ||
1728 | public static extern dReal RandReal(); | ||
1729 | |||
1730 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] | ||
1731 | public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); | ||
1732 | |||
1733 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] | ||
1734 | public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); | ||
1735 | |||
1736 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] | ||
1737 | public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); | ||
1738 | |||
1739 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] | ||
1740 | public static extern void RfromQ(out Matrix3 R, ref Quaternion q); | ||
1741 | |||
1742 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] | ||
1743 | public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); | ||
1744 | |||
1745 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] | ||
1746 | public static extern void RSetIdentity(out Matrix3 R); | ||
1747 | |||
1748 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] | ||
1749 | public static extern void SetValue(out dReal a, int n); | ||
1750 | |||
1751 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] | ||
1752 | public static extern void SetZero(out dReal a, int n); | ||
1753 | |||
1754 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1755 | public static extern IntPtr SimpleSpaceCreate(IntPtr space); | ||
1756 | |||
1757 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] | ||
1758 | public static extern void SolveCholesky(ref dReal L, out dReal b, int n); | ||
1759 | |||
1760 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] | ||
1761 | public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); | ||
1762 | |||
1763 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] | ||
1764 | public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); | ||
1765 | |||
1766 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] | ||
1767 | public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); | ||
1768 | |||
1769 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] | ||
1770 | public static extern void SpaceAdd(IntPtr space, IntPtr geom); | ||
1771 | |||
1772 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] | ||
1773 | public static extern bool SpaceLockQuery(IntPtr space); | ||
1774 | |||
1775 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] | ||
1776 | public static extern void SpaceClean(IntPtr space); | ||
1777 | |||
1778 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] | ||
1779 | public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); | ||
1780 | |||
1781 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] | ||
1782 | public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); | ||
1783 | |||
1784 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] | ||
1785 | public static extern void SpaceDestroy(IntPtr space); | ||
1786 | |||
1787 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1788 | public static extern bool SpaceGetCleanup(IntPtr space); | ||
1789 | |||
1790 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] | ||
1791 | public static extern int SpaceGetNumGeoms(IntPtr space); | ||
1792 | |||
1793 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] | ||
1794 | public static extern IntPtr SpaceGetGeom(IntPtr space, int i); | ||
1795 | |||
1796 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] | ||
1797 | public static extern int SpaceGetSublevel(IntPtr space); | ||
1798 | |||
1799 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] | ||
1800 | public static extern bool SpaceQuery(IntPtr space, IntPtr geom); | ||
1801 | |||
1802 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] | ||
1803 | public static extern void SpaceRemove(IntPtr space, IntPtr geom); | ||
1804 | |||
1805 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] | ||
1806 | public static extern void SpaceSetCleanup(IntPtr space, bool mode); | ||
1807 | |||
1808 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] | ||
1809 | public static extern void SpaceSetSublevel(IntPtr space, int sublevel); | ||
1810 | |||
1811 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] | ||
1812 | public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); | ||
1813 | |||
1814 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] | ||
1815 | public static extern void VectorScale(out dReal a, ref dReal d, int n); | ||
1816 | |||
1817 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] | ||
1818 | public static extern IntPtr WorldCreate(); | ||
1819 | |||
1820 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] | ||
1821 | public static extern void WorldDestroy(IntPtr world); | ||
1822 | |||
1823 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] | ||
1824 | public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); | ||
1825 | |||
1826 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
1827 | public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); | ||
1828 | |||
1829 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
1830 | public static extern bool WorldGetAutoDisableFlag(IntPtr world); | ||
1831 | |||
1832 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
1833 | public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); | ||
1834 | |||
1835 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
1836 | public static extern int WorldGetAutoDisableSteps(IntPtr world); | ||
1837 | |||
1838 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
1839 | public static extern dReal WorldGetAutoDisableTime(IntPtr world); | ||
1840 | |||
1841 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] | ||
1842 | public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); | ||
1843 | |||
1844 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] | ||
1845 | public static extern dReal WorldGetCFM(IntPtr world); | ||
1846 | |||
1847 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] | ||
1848 | public static extern dReal WorldGetERP(IntPtr world); | ||
1849 | |||
1850 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] | ||
1851 | public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); | ||
1852 | |||
1853 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] | ||
1854 | public static extern void WorldGetGravity(IntPtr world, out dReal X); | ||
1855 | |||
1856 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] | ||
1857 | public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); | ||
1858 | |||
1859 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] | ||
1860 | public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); | ||
1861 | |||
1862 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
1863 | public static extern dReal WorldGetAngularDamping(IntPtr world); | ||
1864 | |||
1865 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1866 | public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); | ||
1867 | |||
1868 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
1869 | public static extern dReal WorldGetLinearDamping(IntPtr world); | ||
1870 | |||
1871 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1872 | public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); | ||
1873 | |||
1874 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] | ||
1875 | public static extern int WorldGetQuickStepNumIterations(IntPtr world); | ||
1876 | |||
1877 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] | ||
1878 | public static extern dReal WorldGetQuickStepW(IntPtr world); | ||
1879 | |||
1880 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] | ||
1881 | public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); | ||
1882 | |||
1883 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] | ||
1884 | public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); | ||
1885 | |||
1886 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] | ||
1887 | public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); | ||
1888 | |||
1889 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] | ||
1890 | public static extern void WorldQuickStep(IntPtr world, dReal stepsize); | ||
1891 | |||
1892 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] | ||
1893 | public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); | ||
1894 | |||
1895 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1896 | public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); | ||
1897 | |||
1898 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] | ||
1899 | public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); | ||
1900 | |||
1901 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] | ||
1902 | public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); | ||
1903 | |||
1904 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] | ||
1905 | public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); | ||
1906 | |||
1907 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] | ||
1908 | public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); | ||
1909 | |||
1910 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] | ||
1911 | public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); | ||
1912 | |||
1913 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] | ||
1914 | public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); | ||
1915 | |||
1916 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] | ||
1917 | public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); | ||
1918 | |||
1919 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] | ||
1920 | public static extern void WorldSetCFM(IntPtr world, dReal cfm); | ||
1921 | |||
1922 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] | ||
1923 | public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); | ||
1924 | |||
1925 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] | ||
1926 | public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); | ||
1927 | |||
1928 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] | ||
1929 | public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); | ||
1930 | |||
1931 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] | ||
1932 | public static extern void WorldSetERP(IntPtr world, dReal erp); | ||
1933 | |||
1934 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] | ||
1935 | public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); | ||
1936 | |||
1937 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] | ||
1938 | public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); | ||
1939 | |||
1940 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] | ||
1941 | public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); | ||
1942 | |||
1943 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] | ||
1944 | public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); | ||
1945 | |||
1946 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] | ||
1947 | public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); | ||
1948 | |||
1949 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] | ||
1950 | public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); | ||
1951 | |||
1952 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] | ||
1953 | public static extern void WorldStep(IntPtr world, dReal stepsize); | ||
1954 | |||
1955 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] | ||
1956 | public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); | ||
1957 | |||
1958 | [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] | ||
1959 | public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); | ||
1960 | } | ||
1961 | } | ||
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs new file mode 100644 index 0000000..215d47a --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs | |||
@@ -0,0 +1,86 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Reflection; | ||
31 | using System.Runtime.InteropServices; | ||
32 | using System.Threading; | ||
33 | using System.IO; | ||
34 | using System.Diagnostics; | ||
35 | using log4net; | ||
36 | using Nini.Config; | ||
37 | using OdeAPI; | ||
38 | using OpenSim.Framework; | ||
39 | using OpenSim.Region.Physics.Manager; | ||
40 | using OpenMetaverse; | ||
41 | |||
42 | namespace OpenSim.Region.Physics.OdePlugin | ||
43 | { | ||
44 | /// <summary> | ||
45 | /// ODE plugin | ||
46 | /// </summary> | ||
47 | public class OdePlugin : IPhysicsPlugin | ||
48 | { | ||
49 | //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | ||
50 | |||
51 | private OdeScene m_scene; | ||
52 | |||
53 | public bool Init() | ||
54 | { | ||
55 | if (d.InitODE2(0) != 0) | ||
56 | { | ||
57 | if (d.AllocateODEDataForThread(~0U) == 0) | ||
58 | { | ||
59 | d.CloseODE(); | ||
60 | return false; | ||
61 | } | ||
62 | return true; | ||
63 | } | ||
64 | return false; | ||
65 | } | ||
66 | |||
67 | public PhysicsScene GetScene(String sceneIdentifier) | ||
68 | { | ||
69 | if (m_scene == null) | ||
70 | { | ||
71 | m_scene = new OdeScene(sceneIdentifier); | ||
72 | } | ||
73 | return (m_scene); | ||
74 | } | ||
75 | |||
76 | public string GetName() | ||
77 | { | ||
78 | return ("UbitODE"); | ||
79 | } | ||
80 | |||
81 | public void Dispose() | ||
82 | { | ||
83 | d.CloseODE(); | ||
84 | } | ||
85 | } | ||
86 | } \ 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..56f3786 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | |||
@@ -0,0 +1,2540 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | //#define SPAM | ||
29 | |||
30 | using System; | ||
31 | using System.Collections.Generic; | ||
32 | using System.Reflection; | ||
33 | using System.Runtime.InteropServices; | ||
34 | using System.Threading; | ||
35 | using System.IO; | ||
36 | using System.Diagnostics; | ||
37 | using log4net; | ||
38 | using Nini.Config; | ||
39 | using OdeAPI; | ||
40 | using OpenSim.Framework; | ||
41 | using OpenSim.Region.Physics.Manager; | ||
42 | using OpenMetaverse; | ||
43 | |||
44 | namespace OpenSim.Region.Physics.OdePlugin | ||
45 | { | ||
46 | public enum StatusIndicators : int | ||
47 | { | ||
48 | Generic = 0, | ||
49 | Start = 1, | ||
50 | End = 2 | ||
51 | } | ||
52 | |||
53 | public struct sCollisionData | ||
54 | { | ||
55 | public uint ColliderLocalId; | ||
56 | public uint CollidedWithLocalId; | ||
57 | public int NumberOfCollisions; | ||
58 | public int CollisionType; | ||
59 | public int StatusIndicator; | ||
60 | public int lastframe; | ||
61 | } | ||
62 | |||
63 | [Flags] | ||
64 | public enum CollisionCategories : int | ||
65 | { | ||
66 | Disabled = 0, | ||
67 | Geom = 0x00000001, | ||
68 | Body = 0x00000002, | ||
69 | Space = 0x00000004, | ||
70 | Character = 0x00000008, | ||
71 | Land = 0x00000010, | ||
72 | Water = 0x00000020, | ||
73 | Wind = 0x00000040, | ||
74 | Sensor = 0x00000080, | ||
75 | Selected = 0x00000100 | ||
76 | } | ||
77 | |||
78 | /// <summary> | ||
79 | /// Material type for a primitive | ||
80 | /// </summary> | ||
81 | public enum Material : int | ||
82 | { | ||
83 | /// <summary></summary> | ||
84 | Stone = 0, | ||
85 | /// <summary></summary> | ||
86 | Metal = 1, | ||
87 | /// <summary></summary> | ||
88 | Glass = 2, | ||
89 | /// <summary></summary> | ||
90 | Wood = 3, | ||
91 | /// <summary></summary> | ||
92 | Flesh = 4, | ||
93 | /// <summary></summary> | ||
94 | Plastic = 5, | ||
95 | /// <summary></summary> | ||
96 | Rubber = 6, | ||
97 | |||
98 | light = 7 // compatibility with old viewers | ||
99 | } | ||
100 | |||
101 | public enum changes : int | ||
102 | { | ||
103 | Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) | ||
104 | Remove, | ||
105 | Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root | ||
106 | // or removes from a object if arg is null | ||
107 | DeLink, | ||
108 | Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child | ||
109 | Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child | ||
110 | PosOffset, // not in use | ||
111 | // arg Vector3 new position in local coords. Changes prim position in object | ||
112 | OriOffset, // not in use | ||
113 | // arg Vector3 new position in local coords. Changes prim position in object | ||
114 | Velocity, | ||
115 | AngVelocity, | ||
116 | Acceleration, | ||
117 | Force, | ||
118 | Torque, | ||
119 | |||
120 | AddForce, | ||
121 | AddAngForce, | ||
122 | AngLock, | ||
123 | |||
124 | Size, | ||
125 | Shape, | ||
126 | |||
127 | CollidesWater, | ||
128 | VolumeDtc, | ||
129 | |||
130 | Physical, | ||
131 | Selected, | ||
132 | disabled, | ||
133 | building, | ||
134 | |||
135 | VehicleType, | ||
136 | VehicleFloatParam, | ||
137 | VehicleVectorParam, | ||
138 | VehicleRotationParam, | ||
139 | VehicleFlags, | ||
140 | |||
141 | Null //keep this last used do dim the methods array. does nothing but pulsing the prim | ||
142 | } | ||
143 | |||
144 | public struct ODEchangeitem | ||
145 | { | ||
146 | public PhysicsActor actor; | ||
147 | public OdeCharacter character; | ||
148 | public changes what; | ||
149 | public Object arg; | ||
150 | } | ||
151 | |||
152 | public class OdeScene : PhysicsScene | ||
153 | { | ||
154 | private readonly ILog m_log; | ||
155 | // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); | ||
156 | |||
157 | private int threadid = 0; | ||
158 | private Random fluidRandomizer = new Random(Environment.TickCount); | ||
159 | |||
160 | const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; | ||
161 | const float comumContactERP = 0.6f; | ||
162 | const float comumSoftContactERP = 0.1f; | ||
163 | const float comumContactCFM = 0.0001f; | ||
164 | |||
165 | float frictionScale = 1.0f; | ||
166 | |||
167 | float frictionMovementMult = 0.3f; | ||
168 | |||
169 | float TerrainBounce = 0.3f; | ||
170 | float TerrainFriction = 0.3f; | ||
171 | |||
172 | public float AvatarBounce = 0.3f; | ||
173 | public float AvatarFriction = 0;// 0.9f * 0.5f; | ||
174 | |||
175 | private const uint m_regionWidth = Constants.RegionSize; | ||
176 | private const uint m_regionHeight = Constants.RegionSize; | ||
177 | |||
178 | public float ODE_STEPSIZE = 0.020f; | ||
179 | private float metersInSpace = 25.6f; | ||
180 | private float m_timeDilation = 1.0f; | ||
181 | |||
182 | public float gravityx = 0f; | ||
183 | public float gravityy = 0f; | ||
184 | public float gravityz = -9.8f; | ||
185 | |||
186 | private float waterlevel = 0f; | ||
187 | private int framecount = 0; | ||
188 | |||
189 | internal IntPtr WaterGeom; | ||
190 | |||
191 | public float avPIDD = 3200f; // make it visible | ||
192 | public float avPIDP = 1400f; // make it visible | ||
193 | private float avCapRadius = 0.37f; | ||
194 | private float avDensity = 3f; | ||
195 | private float avMovementDivisorWalk = 1.3f; | ||
196 | private float avMovementDivisorRun = 0.8f; | ||
197 | private float minimumGroundFlightOffset = 3f; | ||
198 | public float maximumMassObject = 10000.01f; | ||
199 | |||
200 | public bool meshSculptedPrim = true; | ||
201 | public bool forceSimplePrimMeshing = false; | ||
202 | |||
203 | public float meshSculptLOD = 32; | ||
204 | public float MeshSculptphysicalLOD = 16; | ||
205 | |||
206 | public float geomDefaultDensity = 10.000006836f; | ||
207 | |||
208 | public int geomContactPointsStartthrottle = 3; | ||
209 | public int geomUpdatesPerThrottledUpdate = 15; | ||
210 | |||
211 | public float bodyPIDD = 35f; | ||
212 | public float bodyPIDG = 25; | ||
213 | |||
214 | public int geomCrossingFailuresBeforeOutofbounds = 6; | ||
215 | |||
216 | public int bodyFramesAutoDisable = 20; | ||
217 | |||
218 | private float[] _watermap; | ||
219 | private bool m_filterCollisions = true; | ||
220 | |||
221 | private d.NearCallback nearCallback; | ||
222 | |||
223 | private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); | ||
224 | private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>(); | ||
225 | private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); | ||
226 | |||
227 | public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>(); | ||
228 | |||
229 | /// <summary> | ||
230 | /// A list of actors that should receive collision events. | ||
231 | /// </summary> | ||
232 | private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>(); | ||
233 | |||
234 | private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); | ||
235 | public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); | ||
236 | public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); | ||
237 | |||
238 | private float contactsurfacelayer = 0.002f; | ||
239 | |||
240 | private int contactsPerCollision = 80; | ||
241 | internal IntPtr ContactgeomsArray = IntPtr.Zero; | ||
242 | private IntPtr GlobalContactsArray = IntPtr.Zero; | ||
243 | |||
244 | const int maxContactsbeforedeath = 4000; | ||
245 | private volatile int m_global_contactcount = 0; | ||
246 | |||
247 | |||
248 | private readonly IntPtr contactgroup; | ||
249 | |||
250 | public ContactData[] m_materialContactsData = new ContactData[8]; | ||
251 | |||
252 | private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>(); | ||
253 | private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>(); | ||
254 | private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>(); | ||
255 | |||
256 | private int m_physicsiterations = 10; | ||
257 | private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag | ||
258 | private readonly PhysicsActor PANull = new NullPhysicsActor(); | ||
259 | private float step_time = 0.0f; | ||
260 | |||
261 | public IntPtr world; | ||
262 | |||
263 | private uint obj2LocalID = 0; | ||
264 | private OdeCharacter cc1; | ||
265 | private OdePrim cp1; | ||
266 | private OdeCharacter cc2; | ||
267 | private OdePrim cp2; | ||
268 | |||
269 | // split the spaces acording to contents type | ||
270 | // ActiveSpace contains characters and active prims | ||
271 | // StaticSpace contains land and other that is mostly static in enviroment | ||
272 | // this can contain subspaces, like the grid in staticspace | ||
273 | // as now space only contains this 2 top spaces | ||
274 | |||
275 | public IntPtr TopSpace; // the global space | ||
276 | public IntPtr ActiveSpace; // space for active prims | ||
277 | public IntPtr StaticSpace; // space for the static things around | ||
278 | |||
279 | // some speedup variables | ||
280 | private int spaceGridMaxX; | ||
281 | private int spaceGridMaxY; | ||
282 | private float spacesPerMeter; | ||
283 | |||
284 | // split static geometry collision into a grid as before | ||
285 | private IntPtr[,] staticPrimspace; | ||
286 | |||
287 | private Object OdeLock; | ||
288 | private static Object SimulationLock; | ||
289 | |||
290 | public IMesher mesher; | ||
291 | |||
292 | private IConfigSource m_config; | ||
293 | |||
294 | public bool physics_logging = false; | ||
295 | public int physics_logging_interval = 0; | ||
296 | public bool physics_logging_append_existing_logfile = false; | ||
297 | |||
298 | private Vector3 m_worldOffset = Vector3.Zero; | ||
299 | public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
300 | private PhysicsScene m_parentScene = null; | ||
301 | |||
302 | private ODERayCastRequestManager m_rayCastManager; | ||
303 | |||
304 | |||
305 | /* maybe needed if ode uses tls | ||
306 | private void checkThread() | ||
307 | { | ||
308 | |||
309 | int th = Thread.CurrentThread.ManagedThreadId; | ||
310 | if(th != threadid) | ||
311 | { | ||
312 | threadid = th; | ||
313 | d.AllocateODEDataForThread(~0U); | ||
314 | } | ||
315 | } | ||
316 | */ | ||
317 | /// <summary> | ||
318 | /// Initiailizes the scene | ||
319 | /// Sets many properties that ODE requires to be stable | ||
320 | /// These settings need to be tweaked 'exactly' right or weird stuff happens. | ||
321 | /// </summary> | ||
322 | public OdeScene(string sceneIdentifier) | ||
323 | { | ||
324 | m_log | ||
325 | = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier); | ||
326 | |||
327 | // checkThread(); | ||
328 | Name = sceneIdentifier; | ||
329 | |||
330 | OdeLock = new Object(); | ||
331 | SimulationLock = new Object(); | ||
332 | |||
333 | nearCallback = near; | ||
334 | |||
335 | m_rayCastManager = new ODERayCastRequestManager(this); | ||
336 | lock (OdeLock) | ||
337 | { | ||
338 | // Create the world and the first space | ||
339 | try | ||
340 | { | ||
341 | world = d.WorldCreate(); | ||
342 | TopSpace = d.HashSpaceCreate(IntPtr.Zero); | ||
343 | |||
344 | // now the major subspaces | ||
345 | ActiveSpace = d.HashSpaceCreate(TopSpace); | ||
346 | StaticSpace = d.HashSpaceCreate(TopSpace); | ||
347 | } | ||
348 | catch | ||
349 | { | ||
350 | // i must RtC#FM | ||
351 | } | ||
352 | |||
353 | d.HashSpaceSetLevels(TopSpace, -2, 8); // cell sizes from .25 to 256 ?? need check what this really does | ||
354 | d.HashSpaceSetLevels(ActiveSpace, -2, 8); | ||
355 | d.HashSpaceSetLevels(StaticSpace, -2, 8); | ||
356 | |||
357 | // demote to second level | ||
358 | d.SpaceSetSublevel(ActiveSpace, 1); | ||
359 | d.SpaceSetSublevel(StaticSpace, 1); | ||
360 | |||
361 | contactgroup = d.JointGroupCreate(0); | ||
362 | //contactgroup | ||
363 | |||
364 | d.WorldSetAutoDisableFlag(world, false); | ||
365 | } | ||
366 | |||
367 | _watermap = new float[258 * 258]; | ||
368 | } | ||
369 | |||
370 | // Initialize the mesh plugin | ||
371 | // public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region ) | ||
372 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | ||
373 | { | ||
374 | // checkThread(); | ||
375 | mesher = meshmerizer; | ||
376 | m_config = config; | ||
377 | |||
378 | // m_log.WarnFormat("ODE configuration: {0}", d.GetConfiguration("ODE")); | ||
379 | /* | ||
380 | if (region != null) | ||
381 | { | ||
382 | WorldExtents.X = region.RegionSizeX; | ||
383 | WorldExtents.Y = region.RegionSizeY; | ||
384 | } | ||
385 | */ | ||
386 | |||
387 | // Defaults | ||
388 | |||
389 | avPIDD = 2200.0f; | ||
390 | avPIDP = 900.0f; | ||
391 | |||
392 | int contactsPerCollision = 80; | ||
393 | |||
394 | if (m_config != null) | ||
395 | { | ||
396 | IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; | ||
397 | if (physicsconfig != null) | ||
398 | { | ||
399 | gravityx = physicsconfig.GetFloat("world_gravityx", 0f); | ||
400 | gravityy = physicsconfig.GetFloat("world_gravityy", 0f); | ||
401 | gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); | ||
402 | |||
403 | metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f); | ||
404 | |||
405 | contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); | ||
406 | |||
407 | ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f); | ||
408 | m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); | ||
409 | |||
410 | avDensity = physicsconfig.GetFloat("av_density", avDensity); | ||
411 | avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); | ||
412 | avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); | ||
413 | avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); | ||
414 | |||
415 | contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); | ||
416 | |||
417 | geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); | ||
418 | geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); | ||
419 | geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); | ||
420 | |||
421 | geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); | ||
422 | bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); | ||
423 | |||
424 | bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f); | ||
425 | bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f); | ||
426 | |||
427 | forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); | ||
428 | meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true); | ||
429 | meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); | ||
430 | MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); | ||
431 | m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false); | ||
432 | |||
433 | if (Environment.OSVersion.Platform == PlatformID.Unix) | ||
434 | { | ||
435 | avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f); | ||
436 | avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f); | ||
437 | } | ||
438 | else | ||
439 | { | ||
440 | avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f); | ||
441 | avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f); | ||
442 | } | ||
443 | |||
444 | physics_logging = physicsconfig.GetBoolean("physics_logging", false); | ||
445 | physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); | ||
446 | physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); | ||
447 | |||
448 | minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f); | ||
449 | maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f); | ||
450 | } | ||
451 | } | ||
452 | |||
453 | ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); | ||
454 | GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); | ||
455 | |||
456 | m_materialContactsData[(int)Material.Stone].mu = frictionScale * 0.8f; | ||
457 | m_materialContactsData[(int)Material.Stone].bounce = 0.4f; | ||
458 | |||
459 | m_materialContactsData[(int)Material.Metal].mu = frictionScale * 0.3f; | ||
460 | m_materialContactsData[(int)Material.Metal].bounce = 0.4f; | ||
461 | |||
462 | m_materialContactsData[(int)Material.Glass].mu = frictionScale * 0.2f; | ||
463 | m_materialContactsData[(int)Material.Glass].bounce = 0.7f; | ||
464 | |||
465 | m_materialContactsData[(int)Material.Wood].mu = frictionScale * 0.6f; | ||
466 | m_materialContactsData[(int)Material.Wood].bounce = 0.5f; | ||
467 | |||
468 | m_materialContactsData[(int)Material.Flesh].mu = frictionScale * 0.9f; | ||
469 | m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; | ||
470 | |||
471 | m_materialContactsData[(int)Material.Plastic].mu = frictionScale * 0.4f; | ||
472 | m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; | ||
473 | |||
474 | m_materialContactsData[(int)Material.Rubber].mu = frictionScale * 0.9f; | ||
475 | m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; | ||
476 | |||
477 | m_materialContactsData[(int)Material.light].mu = 0.0f; | ||
478 | m_materialContactsData[(int)Material.light].bounce = 0.0f; | ||
479 | |||
480 | TerrainFriction *= frictionScale; | ||
481 | // AvatarFriction *= frictionScale; | ||
482 | |||
483 | // Set the gravity,, don't disable things automatically (we set it explicitly on some things) | ||
484 | |||
485 | d.WorldSetGravity(world, gravityx, gravityy, gravityz); | ||
486 | d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); | ||
487 | |||
488 | d.WorldSetLinearDamping(world, 0.001f); | ||
489 | d.WorldSetAngularDamping(world, 0.001f); | ||
490 | d.WorldSetAngularDampingThreshold(world, 0f); | ||
491 | d.WorldSetLinearDampingThreshold(world, 0f); | ||
492 | d.WorldSetMaxAngularSpeed(world, 256f); | ||
493 | |||
494 | d.WorldSetCFM(world,1e-6f); // a bit harder than default | ||
495 | //d.WorldSetCFM(world, 1e-4f); // a bit harder than default | ||
496 | d.WorldSetERP(world, 0.6f); // higher than original | ||
497 | |||
498 | // Set how many steps we go without running collision testing | ||
499 | // This is in addition to the step size. | ||
500 | // Essentially Steps * m_physicsiterations | ||
501 | d.WorldSetQuickStepNumIterations(world, m_physicsiterations); | ||
502 | d.WorldSetContactMaxCorrectingVel(world, 100.0f); | ||
503 | |||
504 | spacesPerMeter = 1 / metersInSpace; | ||
505 | spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); | ||
506 | spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter); | ||
507 | |||
508 | staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; | ||
509 | |||
510 | // create all spaces now | ||
511 | int i, j; | ||
512 | IntPtr newspace; | ||
513 | for (i = 0; i < spaceGridMaxX; i++) | ||
514 | for (j = 0; j < spaceGridMaxY; j++) | ||
515 | { | ||
516 | newspace = d.HashSpaceCreate(StaticSpace); | ||
517 | d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); | ||
518 | waitForSpaceUnlock(newspace); | ||
519 | d.SpaceSetSublevel(newspace, 2); | ||
520 | d.HashSpaceSetLevels(newspace, -2, 8); | ||
521 | staticPrimspace[i, j] = newspace; | ||
522 | } | ||
523 | // let this now be real maximum values | ||
524 | spaceGridMaxX--; | ||
525 | spaceGridMaxY--; | ||
526 | } | ||
527 | |||
528 | internal void waitForSpaceUnlock(IntPtr space) | ||
529 | { | ||
530 | //if (space != IntPtr.Zero) | ||
531 | //while (d.SpaceLockQuery(space)) { } // Wait and do nothing | ||
532 | } | ||
533 | |||
534 | #region Collision Detection | ||
535 | |||
536 | // sets a global contact for a joint for contactgeom , and base contact description) | ||
537 | |||
538 | private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, bool softerp) | ||
539 | { | ||
540 | if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) | ||
541 | return IntPtr.Zero; | ||
542 | |||
543 | d.Contact newcontact = new d.Contact(); | ||
544 | newcontact.geom.depth = contactGeom.depth; | ||
545 | newcontact.geom.g1 = contactGeom.g1; | ||
546 | newcontact.geom.g2 = contactGeom.g2; | ||
547 | newcontact.geom.pos = contactGeom.pos; | ||
548 | newcontact.geom.normal = contactGeom.normal; | ||
549 | newcontact.geom.side1 = contactGeom.side1; | ||
550 | newcontact.geom.side2 = contactGeom.side2; | ||
551 | |||
552 | // this needs bounce also | ||
553 | newcontact.surface.mode = comumContactFlags; | ||
554 | newcontact.surface.mu = mu; | ||
555 | newcontact.surface.bounce = bounce; | ||
556 | newcontact.surface.soft_cfm = comumContactCFM; | ||
557 | if (softerp) | ||
558 | newcontact.surface.soft_erp = comumSoftContactERP; | ||
559 | else | ||
560 | newcontact.surface.soft_erp = comumContactERP; | ||
561 | |||
562 | IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); | ||
563 | Marshal.StructureToPtr(newcontact, contact, true); | ||
564 | return d.JointCreateContactPtr(world, contactgroup, contact); | ||
565 | } | ||
566 | |||
567 | |||
568 | /// <summary> | ||
569 | /// This is our near callback. A geometry is near a body | ||
570 | /// </summary> | ||
571 | /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param> | ||
572 | /// <param name="g1">a geometry or space</param> | ||
573 | /// <param name="g2">another geometry or space</param> | ||
574 | /// | ||
575 | |||
576 | private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) | ||
577 | { | ||
578 | if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision) | ||
579 | return false; | ||
580 | |||
581 | IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); | ||
582 | newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); | ||
583 | return true; | ||
584 | } | ||
585 | |||
586 | |||
587 | |||
588 | private void near(IntPtr space, IntPtr g1, IntPtr g2) | ||
589 | { | ||
590 | // no lock here! It's invoked from within Simulate(), which is thread-locked | ||
591 | |||
592 | if (m_global_contactcount >= maxContactsbeforedeath) | ||
593 | return; | ||
594 | |||
595 | // Test if we're colliding a geom with a space. | ||
596 | // If so we have to drill down into the space recursively | ||
597 | |||
598 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) | ||
599 | return; | ||
600 | |||
601 | if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) | ||
602 | { | ||
603 | // We'll be calling near recursivly if one | ||
604 | // of them is a space to find all of the | ||
605 | // contact points in the space | ||
606 | try | ||
607 | { | ||
608 | d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); | ||
609 | } | ||
610 | catch (AccessViolationException) | ||
611 | { | ||
612 | m_log.Warn("[PHYSICS]: Unable to collide test a space"); | ||
613 | return; | ||
614 | } | ||
615 | //here one should check collisions of geoms inside a space | ||
616 | // but on each space we only should have geoms that not colide amoung each other | ||
617 | // so we don't dig inside spaces | ||
618 | return; | ||
619 | } | ||
620 | |||
621 | // get geom bodies to check if we already a joint contact | ||
622 | // guess this shouldn't happen now | ||
623 | IntPtr b1 = d.GeomGetBody(g1); | ||
624 | IntPtr b2 = d.GeomGetBody(g2); | ||
625 | |||
626 | // d.GeomClassID id = d.GeomGetClass(g1); | ||
627 | |||
628 | // Figure out how many contact points we have | ||
629 | int count = 0; | ||
630 | try | ||
631 | { | ||
632 | // Colliding Geom To Geom | ||
633 | // This portion of the function 'was' blatantly ripped off from BoxStack.cs | ||
634 | |||
635 | if (g1 == g2) | ||
636 | return; // Can't collide with yourself | ||
637 | |||
638 | if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) | ||
639 | return; | ||
640 | |||
641 | count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); | ||
642 | } | ||
643 | catch (SEHException) | ||
644 | { | ||
645 | 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."); | ||
646 | // ode.drelease(world); | ||
647 | base.TriggerPhysicsBasedRestart(); | ||
648 | } | ||
649 | catch (Exception e) | ||
650 | { | ||
651 | m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message); | ||
652 | return; | ||
653 | } | ||
654 | |||
655 | // id contacts done | ||
656 | if (count == 0) | ||
657 | return; | ||
658 | |||
659 | // try get physical actors | ||
660 | PhysicsActor p1; | ||
661 | PhysicsActor p2; | ||
662 | |||
663 | if (!actor_name_map.TryGetValue(g1, out p1)) | ||
664 | { | ||
665 | p1 = PANull; | ||
666 | } | ||
667 | |||
668 | if (!actor_name_map.TryGetValue(g2, out p2)) | ||
669 | { | ||
670 | p2 = PANull; | ||
671 | } | ||
672 | |||
673 | // update actors collision score | ||
674 | if (p1.CollisionScore >= float.MaxValue - count) | ||
675 | p1.CollisionScore = 0; | ||
676 | p1.CollisionScore += count; | ||
677 | |||
678 | if (p2.CollisionScore >= float.MaxValue - count) | ||
679 | p2.CollisionScore = 0; | ||
680 | p2.CollisionScore += count; | ||
681 | |||
682 | |||
683 | // get first contact | ||
684 | d.ContactGeom curContact = new d.ContactGeom(); | ||
685 | if (!GetCurContactGeom(0, ref curContact)) | ||
686 | return; | ||
687 | // for now it's the one with max depth | ||
688 | ContactPoint maxDepthContact = new ContactPoint( | ||
689 | new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), | ||
690 | new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), | ||
691 | curContact.depth | ||
692 | ); | ||
693 | // do volume detection case | ||
694 | if ( | ||
695 | (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) || | ||
696 | (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect)) | ||
697 | { | ||
698 | collision_accounting_events(p1, p2, maxDepthContact); | ||
699 | return; | ||
700 | } | ||
701 | |||
702 | // big messy collision analises | ||
703 | float mu = 0; | ||
704 | float bounce = 0; | ||
705 | ContactData contactdata1; | ||
706 | ContactData contactdata2; | ||
707 | bool erpSoft = false; | ||
708 | |||
709 | String name = null; | ||
710 | bool dop1foot = false; | ||
711 | bool dop2foot = false; | ||
712 | bool ignore = false; | ||
713 | |||
714 | switch (p1.PhysicsActorType) | ||
715 | { | ||
716 | case (int)ActorTypes.Agent: | ||
717 | switch (p2.PhysicsActorType) | ||
718 | { | ||
719 | case (int)ActorTypes.Agent: | ||
720 | contactdata1 = p1.ContactData; | ||
721 | contactdata2 = p2.ContactData; | ||
722 | bounce = contactdata1.bounce * contactdata2.bounce; | ||
723 | |||
724 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
725 | |||
726 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
727 | mu *= frictionMovementMult; | ||
728 | |||
729 | p1.CollidingObj = true; | ||
730 | p2.CollidingObj = true; | ||
731 | break; | ||
732 | case (int)ActorTypes.Prim: | ||
733 | contactdata1 = p1.ContactData; | ||
734 | contactdata2 = p2.ContactData; | ||
735 | bounce = contactdata1.bounce * contactdata2.bounce; | ||
736 | |||
737 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
738 | |||
739 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
740 | mu *= frictionMovementMult; | ||
741 | if (p2.Velocity.LengthSquared() > 0.0f) | ||
742 | p2.CollidingObj = true; | ||
743 | dop1foot = true; | ||
744 | break; | ||
745 | default: | ||
746 | ignore=true; // avatar to terrain and water ignored | ||
747 | break; | ||
748 | } | ||
749 | break; | ||
750 | |||
751 | case (int)ActorTypes.Prim: | ||
752 | switch (p2.PhysicsActorType) | ||
753 | { | ||
754 | case (int)ActorTypes.Agent: | ||
755 | contactdata1 = p1.ContactData; | ||
756 | contactdata2 = p2.ContactData; | ||
757 | bounce = contactdata1.bounce * contactdata2.bounce; | ||
758 | |||
759 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
760 | |||
761 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
762 | mu *= frictionMovementMult; | ||
763 | |||
764 | dop2foot = true; | ||
765 | if (p1.Velocity.LengthSquared() > 0.0f) | ||
766 | p1.CollidingObj = true; | ||
767 | break; | ||
768 | case (int)ActorTypes.Prim: | ||
769 | if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) | ||
770 | { | ||
771 | p1.CollidingObj = true; | ||
772 | p2.CollidingObj = true; | ||
773 | } | ||
774 | contactdata1 = p1.ContactData; | ||
775 | contactdata2 = p2.ContactData; | ||
776 | bounce = contactdata1.bounce * contactdata2.bounce; | ||
777 | erpSoft = true; | ||
778 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
779 | |||
780 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
781 | mu *= frictionMovementMult; | ||
782 | |||
783 | break; | ||
784 | default: | ||
785 | if (geom_name_map.TryGetValue(g2, out name)) | ||
786 | { | ||
787 | if (name == "Terrain") | ||
788 | { | ||
789 | erpSoft = true; | ||
790 | contactdata1 = p1.ContactData; | ||
791 | bounce = contactdata1.bounce * TerrainBounce; | ||
792 | mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); | ||
793 | if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) | ||
794 | mu *= frictionMovementMult; | ||
795 | p1.CollidingGround = true; | ||
796 | } | ||
797 | else if (name == "Water") | ||
798 | { | ||
799 | erpSoft = true; | ||
800 | } | ||
801 | } | ||
802 | else | ||
803 | ignore=true; | ||
804 | break; | ||
805 | } | ||
806 | break; | ||
807 | |||
808 | default: | ||
809 | if (geom_name_map.TryGetValue(g1, out name)) | ||
810 | { | ||
811 | if (name == "Terrain") | ||
812 | { | ||
813 | if (p2.PhysicsActorType == (int)ActorTypes.Prim) | ||
814 | { | ||
815 | erpSoft = true; | ||
816 | p2.CollidingGround = true; | ||
817 | contactdata2 = p2.ContactData; | ||
818 | bounce = contactdata2.bounce * TerrainBounce; | ||
819 | mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); | ||
820 | |||
821 | if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) | ||
822 | mu *= frictionMovementMult; | ||
823 | } | ||
824 | else | ||
825 | ignore = true; | ||
826 | |||
827 | } | ||
828 | else if (name == "Water" && | ||
829 | (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent)) | ||
830 | { | ||
831 | erpSoft = true; | ||
832 | } | ||
833 | } | ||
834 | else | ||
835 | ignore = true; | ||
836 | break; | ||
837 | } | ||
838 | |||
839 | if (ignore) | ||
840 | return; | ||
841 | |||
842 | IntPtr Joint; | ||
843 | |||
844 | int i = 0; | ||
845 | while(true) | ||
846 | { | ||
847 | if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f) | ||
848 | p1.IsColliding = true; | ||
849 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) | ||
850 | p2.IsColliding = true; | ||
851 | |||
852 | Joint = CreateContacJoint(ref curContact, mu, bounce, erpSoft); | ||
853 | d.JointAttach(Joint, b1, b2); | ||
854 | |||
855 | if (++m_global_contactcount >= maxContactsbeforedeath) | ||
856 | break; | ||
857 | |||
858 | if(++i >= count) | ||
859 | break; | ||
860 | |||
861 | if (!GetCurContactGeom(i, ref curContact)) | ||
862 | break; | ||
863 | |||
864 | if (curContact.depth > maxDepthContact.PenetrationDepth) | ||
865 | { | ||
866 | maxDepthContact.Position.X = curContact.pos.X; | ||
867 | maxDepthContact.Position.Y = curContact.pos.Y; | ||
868 | maxDepthContact.Position.Z = curContact.pos.Z; | ||
869 | maxDepthContact.SurfaceNormal.X = curContact.normal.X; | ||
870 | maxDepthContact.SurfaceNormal.Y = curContact.normal.Y; | ||
871 | maxDepthContact.SurfaceNormal.Z = curContact.normal.Z; | ||
872 | maxDepthContact.PenetrationDepth = curContact.depth; | ||
873 | } | ||
874 | } | ||
875 | |||
876 | collision_accounting_events(p1, p2, maxDepthContact); | ||
877 | |||
878 | /* | ||
879 | if (notskipedcount > geomContactPointsStartthrottle) | ||
880 | { | ||
881 | // If there are more then 3 contact points, it's likely | ||
882 | // that we've got a pile of objects, so ... | ||
883 | // We don't want to send out hundreds of terse updates over and over again | ||
884 | // so lets throttle them and send them again after it's somewhat sorted out. | ||
885 | this needs checking so out for now | ||
886 | if (b1 != IntPtr.Zero) | ||
887 | p1.ThrottleUpdates = true; | ||
888 | if (b2 != IntPtr.Zero) | ||
889 | p2.ThrottleUpdates = true; | ||
890 | |||
891 | } | ||
892 | */ | ||
893 | } | ||
894 | |||
895 | private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) | ||
896 | { | ||
897 | // obj1LocalID = 0; | ||
898 | //returncollisions = false; | ||
899 | obj2LocalID = 0; | ||
900 | //ctype = 0; | ||
901 | //cStartStop = 0; | ||
902 | if (!(p2.SubscribedEvents() || p1.SubscribedEvents())) | ||
903 | return; | ||
904 | |||
905 | switch ((ActorTypes)p1.PhysicsActorType) | ||
906 | { | ||
907 | case ActorTypes.Agent: | ||
908 | cc1 = (OdeCharacter)p1; | ||
909 | switch ((ActorTypes)p2.PhysicsActorType) | ||
910 | { | ||
911 | case ActorTypes.Agent: | ||
912 | cc2 = (OdeCharacter)p2; | ||
913 | obj2LocalID = cc2.m_localID; | ||
914 | if (p2.SubscribedEvents()) | ||
915 | cc2.AddCollisionEvent(cc1.m_localID, contact); | ||
916 | break; | ||
917 | |||
918 | case ActorTypes.Prim: | ||
919 | if (p2 is OdePrim) | ||
920 | { | ||
921 | cp2 = (OdePrim)p2; | ||
922 | obj2LocalID = cp2.m_localID; | ||
923 | if (p2.SubscribedEvents()) | ||
924 | cp2.AddCollisionEvent(cc1.m_localID, contact); | ||
925 | } | ||
926 | break; | ||
927 | |||
928 | case ActorTypes.Ground: | ||
929 | case ActorTypes.Unknown: | ||
930 | default: | ||
931 | obj2LocalID = 0; | ||
932 | break; | ||
933 | } | ||
934 | if (p1.SubscribedEvents()) | ||
935 | { | ||
936 | contact.SurfaceNormal = -contact.SurfaceNormal; | ||
937 | cc1.AddCollisionEvent(obj2LocalID, contact); | ||
938 | } | ||
939 | break; | ||
940 | |||
941 | case ActorTypes.Prim: | ||
942 | |||
943 | if (p1 is OdePrim) | ||
944 | { | ||
945 | cp1 = (OdePrim)p1; | ||
946 | |||
947 | // obj1LocalID = cp2.m_localID; | ||
948 | switch ((ActorTypes)p2.PhysicsActorType) | ||
949 | { | ||
950 | case ActorTypes.Agent: | ||
951 | if (p2 is OdeCharacter) | ||
952 | { | ||
953 | cc2 = (OdeCharacter)p2; | ||
954 | obj2LocalID = cc2.m_localID; | ||
955 | if (p2.SubscribedEvents()) | ||
956 | cc2.AddCollisionEvent(cp1.m_localID, contact); | ||
957 | } | ||
958 | break; | ||
959 | case ActorTypes.Prim: | ||
960 | |||
961 | if (p2 is OdePrim) | ||
962 | { | ||
963 | cp2 = (OdePrim)p2; | ||
964 | obj2LocalID = cp2.m_localID; | ||
965 | if (p2.SubscribedEvents()) | ||
966 | cp2.AddCollisionEvent(cp1.m_localID, contact); | ||
967 | } | ||
968 | break; | ||
969 | |||
970 | case ActorTypes.Ground: | ||
971 | case ActorTypes.Unknown: | ||
972 | default: | ||
973 | obj2LocalID = 0; | ||
974 | break; | ||
975 | } | ||
976 | if (p1.SubscribedEvents()) | ||
977 | { | ||
978 | contact.SurfaceNormal = -contact.SurfaceNormal; | ||
979 | cp1.AddCollisionEvent(obj2LocalID, contact); | ||
980 | } | ||
981 | } | ||
982 | break; | ||
983 | } | ||
984 | } | ||
985 | |||
986 | /// <summary> | ||
987 | /// This is our collision testing routine in ODE | ||
988 | /// </summary> | ||
989 | /// <param name="timeStep"></param> | ||
990 | private void collision_optimized() | ||
991 | { | ||
992 | // _perloopContact.Clear(); | ||
993 | // clear characts IsColliding until we do it some other way | ||
994 | |||
995 | lock (_characters) | ||
996 | { | ||
997 | foreach (OdeCharacter chr in _characters) | ||
998 | { | ||
999 | // this are odd checks if they are needed something is wrong elsewhere | ||
1000 | // keep for now | ||
1001 | if (chr == null) | ||
1002 | continue; | ||
1003 | |||
1004 | if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) | ||
1005 | continue; | ||
1006 | |||
1007 | chr.IsColliding = false; | ||
1008 | // chr.CollidingGround = false; not done here | ||
1009 | chr.CollidingObj = false; | ||
1010 | } | ||
1011 | } | ||
1012 | |||
1013 | // now let ode do its job | ||
1014 | // colide active things amoung them | ||
1015 | |||
1016 | int st = Util.EnvironmentTickCount(); | ||
1017 | int ta; | ||
1018 | int ts; | ||
1019 | try | ||
1020 | { | ||
1021 | d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); | ||
1022 | } | ||
1023 | catch (AccessViolationException) | ||
1024 | { | ||
1025 | m_log.Warn("[PHYSICS]: Unable to Active space collide"); | ||
1026 | } | ||
1027 | ta = Util.EnvironmentTickCountSubtract(st); | ||
1028 | // then active things with static enviroment | ||
1029 | try | ||
1030 | { | ||
1031 | d.SpaceCollide2(ActiveSpace,StaticSpace, IntPtr.Zero, nearCallback); | ||
1032 | } | ||
1033 | catch (AccessViolationException) | ||
1034 | { | ||
1035 | m_log.Warn("[PHYSICS]: Unable to Active to static space collide"); | ||
1036 | } | ||
1037 | ts = Util.EnvironmentTickCountSubtract(st); | ||
1038 | // _perloopContact.Clear(); | ||
1039 | } | ||
1040 | |||
1041 | #endregion | ||
1042 | |||
1043 | |||
1044 | public float GetTerrainHeightAtXY(float x, float y) | ||
1045 | { | ||
1046 | // assumes 1m size grid and constante size square regions | ||
1047 | // region offset in mega position | ||
1048 | |||
1049 | int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
1050 | int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
1051 | |||
1052 | IntPtr heightFieldGeom = IntPtr.Zero; | ||
1053 | |||
1054 | // get region map | ||
1055 | if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) | ||
1056 | return 0f; | ||
1057 | |||
1058 | if (heightFieldGeom == IntPtr.Zero) | ||
1059 | return 0f; | ||
1060 | |||
1061 | if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) | ||
1062 | return 0f; | ||
1063 | |||
1064 | // TerrainHeightField for ODE as offset 1m | ||
1065 | x += 1f - offsetX; | ||
1066 | y += 1f - offsetY; | ||
1067 | |||
1068 | // make position fit into array | ||
1069 | if (x < 0) | ||
1070 | x = 0; | ||
1071 | if (y < 0) | ||
1072 | y = 0; | ||
1073 | |||
1074 | // integer indexs | ||
1075 | int ix; | ||
1076 | int iy; | ||
1077 | // interpolators offset | ||
1078 | float dx; | ||
1079 | float dy; | ||
1080 | |||
1081 | int regsize = (int)Constants.RegionSize + 2; // map size see setterrain | ||
1082 | |||
1083 | // we still have square fixed size regions | ||
1084 | // also flip x and y because of how map is done for ODE fliped axis | ||
1085 | // so ix,iy,dx and dy are inter exchanged | ||
1086 | if (x < regsize - 1) | ||
1087 | { | ||
1088 | iy = (int)x; | ||
1089 | dy = x - (float)iy; | ||
1090 | } | ||
1091 | else // out world use external height | ||
1092 | { | ||
1093 | iy = regsize - 1; | ||
1094 | dy = 0; | ||
1095 | } | ||
1096 | if (y < regsize - 1) | ||
1097 | { | ||
1098 | ix = (int)y; | ||
1099 | dx = y - (float)ix; | ||
1100 | } | ||
1101 | else | ||
1102 | { | ||
1103 | ix = regsize - 1; | ||
1104 | dx = 0; | ||
1105 | } | ||
1106 | |||
1107 | float h0; | ||
1108 | float h1; | ||
1109 | float h2; | ||
1110 | |||
1111 | iy *= regsize; | ||
1112 | iy += ix; // all indexes have iy + ix | ||
1113 | |||
1114 | float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; | ||
1115 | |||
1116 | if ((dx + dy) <= 1.0f) | ||
1117 | { | ||
1118 | h0 = ((float)heights[iy]); // 0,0 vertice | ||
1119 | h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0 | ||
1120 | h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0 | ||
1121 | } | ||
1122 | else | ||
1123 | { | ||
1124 | h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice | ||
1125 | h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0 | ||
1126 | h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1 | ||
1127 | } | ||
1128 | |||
1129 | return h0 + h1 + h2; | ||
1130 | } | ||
1131 | |||
1132 | /// <summary> | ||
1133 | /// Add actor to the list that should receive collision events in the simulate loop. | ||
1134 | /// </summary> | ||
1135 | /// <param name="obj"></param> | ||
1136 | public void AddCollisionEventReporting(PhysicsActor obj) | ||
1137 | { | ||
1138 | lock (_collisionEventPrim) | ||
1139 | { | ||
1140 | if (!_collisionEventPrim.Contains(obj)) | ||
1141 | _collisionEventPrim.Add(obj); | ||
1142 | } | ||
1143 | } | ||
1144 | |||
1145 | /// <summary> | ||
1146 | /// Remove actor from the list that should receive collision events in the simulate loop. | ||
1147 | /// </summary> | ||
1148 | /// <param name="obj"></param> | ||
1149 | public void RemoveCollisionEventReporting(PhysicsActor obj) | ||
1150 | { | ||
1151 | lock (_collisionEventPrim) | ||
1152 | { | ||
1153 | if (_collisionEventPrim.Contains(obj)) | ||
1154 | _collisionEventPrim.Remove(obj); | ||
1155 | } | ||
1156 | } | ||
1157 | |||
1158 | #region Add/Remove Entities | ||
1159 | |||
1160 | public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) | ||
1161 | { | ||
1162 | Vector3 pos; | ||
1163 | pos.X = position.X; | ||
1164 | pos.Y = position.Y; | ||
1165 | pos.Z = position.Z; | ||
1166 | OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun); | ||
1167 | newAv.Flying = isFlying; | ||
1168 | newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; | ||
1169 | |||
1170 | return newAv; | ||
1171 | } | ||
1172 | |||
1173 | public void AddCharacter(OdeCharacter chr) | ||
1174 | { | ||
1175 | lock (_characters) | ||
1176 | { | ||
1177 | if (!_characters.Contains(chr)) | ||
1178 | { | ||
1179 | _characters.Add(chr); | ||
1180 | if (chr.bad) | ||
1181 | m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid); | ||
1182 | } | ||
1183 | } | ||
1184 | } | ||
1185 | |||
1186 | public void RemoveCharacter(OdeCharacter chr) | ||
1187 | { | ||
1188 | lock (_characters) | ||
1189 | { | ||
1190 | if (_characters.Contains(chr)) | ||
1191 | { | ||
1192 | _characters.Remove(chr); | ||
1193 | } | ||
1194 | } | ||
1195 | } | ||
1196 | |||
1197 | public void BadCharacter(OdeCharacter chr) | ||
1198 | { | ||
1199 | lock (_badCharacter) | ||
1200 | { | ||
1201 | if (!_badCharacter.Contains(chr)) | ||
1202 | _badCharacter.Add(chr); | ||
1203 | } | ||
1204 | } | ||
1205 | |||
1206 | public override void RemoveAvatar(PhysicsActor actor) | ||
1207 | { | ||
1208 | //m_log.Debug("[PHYSICS]:ODELOCK"); | ||
1209 | ((OdeCharacter) actor).Destroy(); | ||
1210 | } | ||
1211 | |||
1212 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1213 | PrimitiveBaseShape pbs, bool isphysical, uint localID) | ||
1214 | { | ||
1215 | Vector3 pos = position; | ||
1216 | Vector3 siz = size; | ||
1217 | Quaternion rot = rotation; | ||
1218 | |||
1219 | OdePrim newPrim; | ||
1220 | lock (OdeLock) | ||
1221 | { | ||
1222 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical); | ||
1223 | |||
1224 | lock (_prims) | ||
1225 | _prims.Add(newPrim); | ||
1226 | } | ||
1227 | newPrim.LocalID = localID; | ||
1228 | return newPrim; | ||
1229 | } | ||
1230 | |||
1231 | public void addActivePrim(OdePrim activatePrim) | ||
1232 | { | ||
1233 | // adds active prim.. (ones that should be iterated over in collisions_optimized | ||
1234 | lock (_activeprims) | ||
1235 | { | ||
1236 | if (!_activeprims.Contains(activatePrim)) | ||
1237 | _activeprims.Add(activatePrim); | ||
1238 | //else | ||
1239 | // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); | ||
1240 | } | ||
1241 | } | ||
1242 | |||
1243 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
1244 | Vector3 size, Quaternion rotation, bool isPhysical, uint localid) | ||
1245 | { | ||
1246 | #if SPAM | ||
1247 | m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); | ||
1248 | #endif | ||
1249 | |||
1250 | return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid); | ||
1251 | } | ||
1252 | |||
1253 | public override float TimeDilation | ||
1254 | { | ||
1255 | get { return m_timeDilation; } | ||
1256 | } | ||
1257 | |||
1258 | public override bool SupportsNINJAJoints | ||
1259 | { | ||
1260 | get { return false; } | ||
1261 | } | ||
1262 | |||
1263 | |||
1264 | public void remActivePrim(OdePrim deactivatePrim) | ||
1265 | { | ||
1266 | lock (_activeprims) | ||
1267 | { | ||
1268 | _activeprims.Remove(deactivatePrim); | ||
1269 | } | ||
1270 | } | ||
1271 | |||
1272 | public override void RemovePrim(PhysicsActor prim) | ||
1273 | { | ||
1274 | // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be | ||
1275 | // removed in the next physics simulate pass. | ||
1276 | if (prim is OdePrim) | ||
1277 | { | ||
1278 | // lock (OdeLock) | ||
1279 | { | ||
1280 | OdePrim p = (OdePrim)prim; | ||
1281 | p.setPrimForRemoval(); | ||
1282 | } | ||
1283 | } | ||
1284 | } | ||
1285 | /// <summary> | ||
1286 | /// This is called from within simulate but outside the locked portion | ||
1287 | /// We need to do our own locking here | ||
1288 | /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in | ||
1289 | /// Simulate() -- justincc). | ||
1290 | /// | ||
1291 | /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. | ||
1292 | /// | ||
1293 | /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory | ||
1294 | /// that the space was using. | ||
1295 | /// </summary> | ||
1296 | /// <param name="prim"></param> | ||
1297 | public void RemovePrimThreadLocked(OdePrim prim) | ||
1298 | { | ||
1299 | //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); | ||
1300 | lock (prim) | ||
1301 | { | ||
1302 | RemoveCollisionEventReporting(prim); | ||
1303 | lock (_prims) | ||
1304 | _prims.Remove(prim); | ||
1305 | } | ||
1306 | |||
1307 | } | ||
1308 | #endregion | ||
1309 | |||
1310 | #region Space Separation Calculation | ||
1311 | |||
1312 | /// <summary> | ||
1313 | /// Called when a static prim moves or becomes static | ||
1314 | /// Places the prim in a space one the static sub-spaces grid | ||
1315 | /// </summary> | ||
1316 | /// <param name="geom">the pointer to the geom that moved</param> | ||
1317 | /// <param name="pos">the position that the geom moved to</param> | ||
1318 | /// <param name="currentspace">a pointer to the space it was in before it was moved.</param> | ||
1319 | /// <returns>a pointer to the new space it's in</returns> | ||
1320 | public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace) | ||
1321 | { | ||
1322 | // moves a prim into another static sub-space or from another space into a static sub-space | ||
1323 | |||
1324 | // Called ODEPrim so | ||
1325 | // it's already in locked space. | ||
1326 | |||
1327 | if (geom == IntPtr.Zero) // shouldn't happen | ||
1328 | return IntPtr.Zero; | ||
1329 | |||
1330 | // get the static sub-space for current position | ||
1331 | IntPtr newspace = calculateSpaceForGeom(pos); | ||
1332 | |||
1333 | if (newspace == currentspace) // if we are there all done | ||
1334 | return newspace; | ||
1335 | |||
1336 | // else remove it from its current space | ||
1337 | if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom)) | ||
1338 | { | ||
1339 | if (d.GeomIsSpace(currentspace)) | ||
1340 | { | ||
1341 | waitForSpaceUnlock(currentspace); | ||
1342 | d.SpaceRemove(currentspace, geom); | ||
1343 | } | ||
1344 | else | ||
1345 | { | ||
1346 | m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace + | ||
1347 | " Geom:" + geom); | ||
1348 | } | ||
1349 | } | ||
1350 | else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space | ||
1351 | { | ||
1352 | currentspace = d.GeomGetSpace(geom); | ||
1353 | if (currentspace != IntPtr.Zero) | ||
1354 | { | ||
1355 | if (d.GeomIsSpace(currentspace)) | ||
1356 | { | ||
1357 | waitForSpaceUnlock(currentspace); | ||
1358 | d.SpaceRemove(currentspace, geom); | ||
1359 | } | ||
1360 | } | ||
1361 | } | ||
1362 | |||
1363 | // put the geom in the newspace | ||
1364 | waitForSpaceUnlock(newspace); | ||
1365 | d.SpaceAdd(newspace, geom); | ||
1366 | |||
1367 | // let caller know this newspace | ||
1368 | return newspace; | ||
1369 | } | ||
1370 | |||
1371 | /// <summary> | ||
1372 | /// Calculates the space the prim should be in by its position | ||
1373 | /// </summary> | ||
1374 | /// <param name="pos"></param> | ||
1375 | /// <returns>a pointer to the space. This could be a new space or reused space.</returns> | ||
1376 | public IntPtr calculateSpaceForGeom(Vector3 pos) | ||
1377 | { | ||
1378 | int x, y; | ||
1379 | x = (int)(pos.X * spacesPerMeter); | ||
1380 | if (x < 0) | ||
1381 | x = 0; | ||
1382 | else if (x > spaceGridMaxX) | ||
1383 | x = spaceGridMaxX; | ||
1384 | |||
1385 | y = (int)(pos.Y * spacesPerMeter); | ||
1386 | if (y < 0) | ||
1387 | y = 0; | ||
1388 | else if (y >spaceGridMaxY) | ||
1389 | y = spaceGridMaxY; | ||
1390 | |||
1391 | IntPtr tmpSpace = staticPrimspace[x, y]; | ||
1392 | return tmpSpace; | ||
1393 | } | ||
1394 | |||
1395 | #endregion | ||
1396 | |||
1397 | /// <summary> | ||
1398 | /// Routine to figure out if we need to mesh this prim with our mesher | ||
1399 | /// </summary> | ||
1400 | /// <param name="pbs"></param> | ||
1401 | /// <returns></returns> | ||
1402 | public bool needsMeshing(PrimitiveBaseShape pbs) | ||
1403 | { | ||
1404 | // most of this is redundant now as the mesher will return null if it cant mesh a prim | ||
1405 | // but we still need to check for sculptie meshing being enabled so this is the most | ||
1406 | // convenient place to do it for now... | ||
1407 | |||
1408 | // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f) | ||
1409 | // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString()); | ||
1410 | int iPropertiesNotSupportedDefault = 0; | ||
1411 | |||
1412 | if (pbs.SculptEntry) | ||
1413 | { | ||
1414 | if(!meshSculptedPrim) | ||
1415 | return false; | ||
1416 | } | ||
1417 | |||
1418 | // 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 | ||
1419 | if (!forceSimplePrimMeshing && !pbs.SculptEntry) | ||
1420 | { | ||
1421 | if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) | ||
1422 | || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1423 | && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) | ||
1424 | { | ||
1425 | |||
1426 | if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 | ||
1427 | && pbs.ProfileHollow == 0 | ||
1428 | && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 | ||
1429 | && pbs.PathBegin == 0 && pbs.PathEnd == 0 | ||
1430 | && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 | ||
1431 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 | ||
1432 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) | ||
1433 | { | ||
1434 | #if SPAM | ||
1435 | m_log.Warn("NonMesh"); | ||
1436 | #endif | ||
1437 | return false; | ||
1438 | } | ||
1439 | } | ||
1440 | } | ||
1441 | |||
1442 | // following code doesn't give meshs to boxes and spheres ever | ||
1443 | // and it's odd.. so for now just return true if asked to force meshs | ||
1444 | // hopefully mesher will fail if doesn't suport so things still get basic boxes | ||
1445 | |||
1446 | if (forceSimplePrimMeshing) | ||
1447 | return true; | ||
1448 | |||
1449 | if (pbs.ProfileHollow != 0) | ||
1450 | iPropertiesNotSupportedDefault++; | ||
1451 | |||
1452 | if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) | ||
1453 | iPropertiesNotSupportedDefault++; | ||
1454 | |||
1455 | if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) | ||
1456 | iPropertiesNotSupportedDefault++; | ||
1457 | |||
1458 | if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) | ||
1459 | iPropertiesNotSupportedDefault++; | ||
1460 | |||
1461 | if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) | ||
1462 | iPropertiesNotSupportedDefault++; | ||
1463 | |||
1464 | if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) | ||
1465 | iPropertiesNotSupportedDefault++; | ||
1466 | |||
1467 | if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) | ||
1468 | iPropertiesNotSupportedDefault++; | ||
1469 | |||
1470 | 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)) | ||
1471 | iPropertiesNotSupportedDefault++; | ||
1472 | |||
1473 | if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) | ||
1474 | iPropertiesNotSupportedDefault++; | ||
1475 | |||
1476 | // test for torus | ||
1477 | if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) | ||
1478 | { | ||
1479 | if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1480 | { | ||
1481 | iPropertiesNotSupportedDefault++; | ||
1482 | } | ||
1483 | } | ||
1484 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) | ||
1485 | { | ||
1486 | if (pbs.PathCurve == (byte)Extrusion.Straight) | ||
1487 | { | ||
1488 | iPropertiesNotSupportedDefault++; | ||
1489 | } | ||
1490 | |||
1491 | // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits | ||
1492 | else if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1493 | { | ||
1494 | iPropertiesNotSupportedDefault++; | ||
1495 | } | ||
1496 | } | ||
1497 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) | ||
1498 | { | ||
1499 | if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) | ||
1500 | { | ||
1501 | iPropertiesNotSupportedDefault++; | ||
1502 | } | ||
1503 | } | ||
1504 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) | ||
1505 | { | ||
1506 | if (pbs.PathCurve == (byte)Extrusion.Straight) | ||
1507 | { | ||
1508 | iPropertiesNotSupportedDefault++; | ||
1509 | } | ||
1510 | else if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1511 | { | ||
1512 | iPropertiesNotSupportedDefault++; | ||
1513 | } | ||
1514 | } | ||
1515 | |||
1516 | if (pbs.SculptEntry && meshSculptedPrim) | ||
1517 | iPropertiesNotSupportedDefault++; | ||
1518 | |||
1519 | if (iPropertiesNotSupportedDefault == 0) | ||
1520 | { | ||
1521 | #if SPAM | ||
1522 | m_log.Warn("NonMesh"); | ||
1523 | #endif | ||
1524 | return false; | ||
1525 | } | ||
1526 | #if SPAM | ||
1527 | m_log.Debug("Mesh"); | ||
1528 | #endif | ||
1529 | return true; | ||
1530 | } | ||
1531 | |||
1532 | /// <summary> | ||
1533 | /// Called to queue a change to a actor | ||
1534 | /// to use in place of old taint mechanism so changes do have a time sequence | ||
1535 | /// </summary> | ||
1536 | |||
1537 | public void AddChange(PhysicsActor actor, changes what, Object arg) | ||
1538 | { | ||
1539 | ODEchangeitem item = new ODEchangeitem(); | ||
1540 | item.actor = actor; | ||
1541 | item.what = what; | ||
1542 | item.arg = arg; | ||
1543 | ChangesQueue.Enqueue(item); | ||
1544 | } | ||
1545 | |||
1546 | /// <summary> | ||
1547 | /// Called after our prim properties are set Scale, position etc. | ||
1548 | /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex | ||
1549 | /// This assures us that we have no race conditions | ||
1550 | /// </summary> | ||
1551 | /// <param name="prim"></param> | ||
1552 | public override void AddPhysicsActorTaint(PhysicsActor prim) | ||
1553 | { | ||
1554 | } | ||
1555 | |||
1556 | /// <summary> | ||
1557 | /// This is our main simulate loop | ||
1558 | /// It's thread locked by a Mutex in the scene. | ||
1559 | /// It holds Collisions, it instructs ODE to step through the physical reactions | ||
1560 | /// It moves the objects around in memory | ||
1561 | /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup) | ||
1562 | /// </summary> | ||
1563 | /// <param name="timeStep"></param> | ||
1564 | /// <returns></returns> | ||
1565 | public override float Simulate(float timeStep) | ||
1566 | { | ||
1567 | int statstart; | ||
1568 | int statchanges = 0; | ||
1569 | int statchmove = 0; | ||
1570 | int statactmove = 0; | ||
1571 | int statray = 0; | ||
1572 | int statcol = 0; | ||
1573 | int statstep = 0; | ||
1574 | int statmovchar = 0; | ||
1575 | int statmovprim; | ||
1576 | int totjcontact = 0; | ||
1577 | |||
1578 | // acumulate time so we can reduce error | ||
1579 | step_time += timeStep; | ||
1580 | |||
1581 | if (step_time < ODE_STEPSIZE) | ||
1582 | return 0; | ||
1583 | |||
1584 | if (framecount >= int.MaxValue) | ||
1585 | framecount = 0; | ||
1586 | |||
1587 | framecount++; | ||
1588 | |||
1589 | int curphysiteractions = m_physicsiterations; | ||
1590 | |||
1591 | if (step_time >= m_SkipFramesAtms) | ||
1592 | { | ||
1593 | // if in trouble reduce step resolution | ||
1594 | curphysiteractions /= 2; | ||
1595 | } | ||
1596 | |||
1597 | int nodeframes = 0; | ||
1598 | |||
1599 | // checkThread(); | ||
1600 | |||
1601 | lock (SimulationLock) | ||
1602 | { | ||
1603 | // adjust number of iterations per step | ||
1604 | try | ||
1605 | { | ||
1606 | d.WorldSetQuickStepNumIterations(world, curphysiteractions); | ||
1607 | } | ||
1608 | catch (StackOverflowException) | ||
1609 | { | ||
1610 | m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim."); | ||
1611 | // ode.drelease(world); | ||
1612 | base.TriggerPhysicsBasedRestart(); | ||
1613 | } | ||
1614 | |||
1615 | |||
1616 | while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever | ||
1617 | { | ||
1618 | try | ||
1619 | { | ||
1620 | statstart = Util.EnvironmentTickCount(); | ||
1621 | |||
1622 | // clear pointer/counter to contacts to pass into joints | ||
1623 | m_global_contactcount = 0; | ||
1624 | |||
1625 | ODEchangeitem item; | ||
1626 | |||
1627 | if(ChangesQueue.Count >0) | ||
1628 | { | ||
1629 | int ttmpstart = Util.EnvironmentTickCount(); | ||
1630 | int ttmp; | ||
1631 | int ttmp2; | ||
1632 | |||
1633 | while(ChangesQueue.Dequeue(out item)) | ||
1634 | { | ||
1635 | if (item.actor != null) | ||
1636 | { | ||
1637 | try | ||
1638 | { | ||
1639 | if (item.actor is OdeCharacter) | ||
1640 | ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); | ||
1641 | else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) | ||
1642 | RemovePrimThreadLocked((OdePrim)item.actor); | ||
1643 | } | ||
1644 | catch | ||
1645 | { | ||
1646 | m_log.Warn("[PHYSICS]: doChange failed for a actor"); | ||
1647 | }; | ||
1648 | } | ||
1649 | ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); | ||
1650 | if (ttmp > 20) | ||
1651 | break; | ||
1652 | } | ||
1653 | |||
1654 | ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart); | ||
1655 | if (ttmp2 > 50) | ||
1656 | ttmp2 = 0; | ||
1657 | |||
1658 | } | ||
1659 | |||
1660 | statchanges += Util.EnvironmentTickCountSubtract(statstart); | ||
1661 | |||
1662 | // Move characters | ||
1663 | lock (_characters) | ||
1664 | { | ||
1665 | List<OdeCharacter> defects = new List<OdeCharacter>(); | ||
1666 | foreach (OdeCharacter actor in _characters) | ||
1667 | { | ||
1668 | if (actor != null) | ||
1669 | actor.Move(ODE_STEPSIZE, defects); | ||
1670 | } | ||
1671 | if (defects.Count != 0) | ||
1672 | { | ||
1673 | foreach (OdeCharacter defect in defects) | ||
1674 | { | ||
1675 | RemoveCharacter(defect); | ||
1676 | } | ||
1677 | } | ||
1678 | } | ||
1679 | statchmove += Util.EnvironmentTickCountSubtract(statstart); | ||
1680 | |||
1681 | // Move other active objects | ||
1682 | lock (_activeprims) | ||
1683 | { | ||
1684 | foreach (OdePrim aprim in _activeprims) | ||
1685 | { | ||
1686 | aprim.CollisionScore = 0; | ||
1687 | aprim.IsColliding = false; | ||
1688 | aprim.Move(); | ||
1689 | } | ||
1690 | } | ||
1691 | |||
1692 | statactmove += Util.EnvironmentTickCountSubtract(statstart); | ||
1693 | //if ((framecount % m_randomizeWater) == 0) | ||
1694 | // randomizeWater(waterlevel); | ||
1695 | |||
1696 | m_rayCastManager.ProcessQueuedRequests(); | ||
1697 | |||
1698 | statray += Util.EnvironmentTickCountSubtract(statstart); | ||
1699 | collision_optimized(); | ||
1700 | statcol += Util.EnvironmentTickCountSubtract(statstart); | ||
1701 | |||
1702 | lock (_collisionEventPrim) | ||
1703 | { | ||
1704 | foreach (PhysicsActor obj in _collisionEventPrim) | ||
1705 | { | ||
1706 | if (obj == null) | ||
1707 | continue; | ||
1708 | |||
1709 | switch ((ActorTypes)obj.PhysicsActorType) | ||
1710 | { | ||
1711 | case ActorTypes.Agent: | ||
1712 | OdeCharacter cobj = (OdeCharacter)obj; | ||
1713 | cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f)); | ||
1714 | cobj.SendCollisions(); | ||
1715 | break; | ||
1716 | |||
1717 | case ActorTypes.Prim: | ||
1718 | OdePrim pobj = (OdePrim)obj; | ||
1719 | pobj.SendCollisions(); | ||
1720 | break; | ||
1721 | } | ||
1722 | } | ||
1723 | } | ||
1724 | |||
1725 | d.WorldQuickStep(world, ODE_STEPSIZE); | ||
1726 | statstep += Util.EnvironmentTickCountSubtract(statstart); | ||
1727 | d.JointGroupEmpty(contactgroup); | ||
1728 | totjcontact += m_global_contactcount; | ||
1729 | //ode.dunlock(world); | ||
1730 | } | ||
1731 | catch (Exception e) | ||
1732 | { | ||
1733 | m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); | ||
1734 | // ode.dunlock(world); | ||
1735 | } | ||
1736 | |||
1737 | step_time -= ODE_STEPSIZE; | ||
1738 | nodeframes++; | ||
1739 | } | ||
1740 | |||
1741 | statstart = Util.EnvironmentTickCount(); | ||
1742 | |||
1743 | lock (_characters) | ||
1744 | { | ||
1745 | foreach (OdeCharacter actor in _characters) | ||
1746 | { | ||
1747 | if (actor != null) | ||
1748 | { | ||
1749 | if (actor.bad) | ||
1750 | m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); | ||
1751 | |||
1752 | actor.UpdatePositionAndVelocity(); | ||
1753 | } | ||
1754 | } | ||
1755 | } | ||
1756 | |||
1757 | lock (_badCharacter) | ||
1758 | { | ||
1759 | if (_badCharacter.Count > 0) | ||
1760 | { | ||
1761 | foreach (OdeCharacter chr in _badCharacter) | ||
1762 | { | ||
1763 | RemoveCharacter(chr); | ||
1764 | } | ||
1765 | |||
1766 | _badCharacter.Clear(); | ||
1767 | } | ||
1768 | } | ||
1769 | statmovchar = Util.EnvironmentTickCountSubtract(statstart); | ||
1770 | |||
1771 | lock (_activeprims) | ||
1772 | { | ||
1773 | { | ||
1774 | foreach (OdePrim actor in _activeprims) | ||
1775 | { | ||
1776 | if (actor.IsPhysical) | ||
1777 | { | ||
1778 | actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE); | ||
1779 | } | ||
1780 | } | ||
1781 | } | ||
1782 | } | ||
1783 | |||
1784 | statmovprim = Util.EnvironmentTickCountSubtract(statstart); | ||
1785 | |||
1786 | int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); | ||
1787 | int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); | ||
1788 | int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); | ||
1789 | int nbodies = d.NTotalBodies; | ||
1790 | int ngeoms = d.NTotalGeoms; | ||
1791 | |||
1792 | // Finished with all sim stepping. If requested, dump world state to file for debugging. | ||
1793 | // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? | ||
1794 | // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots? | ||
1795 | if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0)) | ||
1796 | { | ||
1797 | string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename | ||
1798 | string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file | ||
1799 | |||
1800 | if (physics_logging_append_existing_logfile) | ||
1801 | { | ||
1802 | string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------"; | ||
1803 | TextWriter fwriter = File.AppendText(fname); | ||
1804 | fwriter.WriteLine(header); | ||
1805 | fwriter.Close(); | ||
1806 | } | ||
1807 | |||
1808 | d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); | ||
1809 | } | ||
1810 | |||
1811 | // think time dilation is not a physics issue alone.. but ok let's fake something | ||
1812 | if (step_time < ODE_STEPSIZE) // we did the required loops | ||
1813 | m_timeDilation = 1.0f; | ||
1814 | else | ||
1815 | { // we didn't forget the lost ones and let user know something | ||
1816 | m_timeDilation = 1 - step_time / timeStep; | ||
1817 | if (m_timeDilation < 0) | ||
1818 | m_timeDilation = 0; | ||
1819 | step_time = 0; | ||
1820 | } | ||
1821 | } | ||
1822 | |||
1823 | // return nodeframes * ODE_STEPSIZE; // return real simulated time | ||
1824 | return 1000 * nodeframes; // return steps for now * 1000 to keep core happy | ||
1825 | } | ||
1826 | |||
1827 | /// <summary> | ||
1828 | public override void GetResults() | ||
1829 | { | ||
1830 | } | ||
1831 | |||
1832 | public override bool IsThreaded | ||
1833 | { | ||
1834 | // for now we won't be multithreaded | ||
1835 | get { return (false); } | ||
1836 | } | ||
1837 | |||
1838 | #region ODE Specific Terrain Fixes | ||
1839 | public float[] ResizeTerrain512NearestNeighbour(float[] heightMap) | ||
1840 | { | ||
1841 | float[] returnarr = new float[262144]; | ||
1842 | float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y]; | ||
1843 | |||
1844 | // Filling out the array into its multi-dimensional components | ||
1845 | for (int y = 0; y < WorldExtents.Y; y++) | ||
1846 | { | ||
1847 | for (int x = 0; x < WorldExtents.X; x++) | ||
1848 | { | ||
1849 | resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x]; | ||
1850 | } | ||
1851 | } | ||
1852 | |||
1853 | // Resize using Nearest Neighbour | ||
1854 | |||
1855 | // This particular way is quick but it only works on a multiple of the original | ||
1856 | |||
1857 | // The idea behind this method can be described with the following diagrams | ||
1858 | // second pass and third pass happen in the same loop really.. just separated | ||
1859 | // them to show what this does. | ||
1860 | |||
1861 | // First Pass | ||
1862 | // ResultArr: | ||
1863 | // 1,1,1,1,1,1 | ||
1864 | // 1,1,1,1,1,1 | ||
1865 | // 1,1,1,1,1,1 | ||
1866 | // 1,1,1,1,1,1 | ||
1867 | // 1,1,1,1,1,1 | ||
1868 | // 1,1,1,1,1,1 | ||
1869 | |||
1870 | // Second Pass | ||
1871 | // ResultArr2: | ||
1872 | // 1,,1,,1,,1,,1,,1, | ||
1873 | // ,,,,,,,,,, | ||
1874 | // 1,,1,,1,,1,,1,,1, | ||
1875 | // ,,,,,,,,,, | ||
1876 | // 1,,1,,1,,1,,1,,1, | ||
1877 | // ,,,,,,,,,, | ||
1878 | // 1,,1,,1,,1,,1,,1, | ||
1879 | // ,,,,,,,,,, | ||
1880 | // 1,,1,,1,,1,,1,,1, | ||
1881 | // ,,,,,,,,,, | ||
1882 | // 1,,1,,1,,1,,1,,1, | ||
1883 | |||
1884 | // Third pass fills in the blanks | ||
1885 | // ResultArr2: | ||
1886 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1887 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1888 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1889 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1890 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1891 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1892 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1893 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1894 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1895 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1896 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
1897 | |||
1898 | // X,Y = . | ||
1899 | // X+1,y = ^ | ||
1900 | // X,Y+1 = * | ||
1901 | // X+1,Y+1 = # | ||
1902 | |||
1903 | // Filling in like this; | ||
1904 | // .* | ||
1905 | // ^# | ||
1906 | // 1st . | ||
1907 | // 2nd * | ||
1908 | // 3rd ^ | ||
1909 | // 4th # | ||
1910 | // on single loop. | ||
1911 | |||
1912 | float[,] resultarr2 = new float[512, 512]; | ||
1913 | for (int y = 0; y < WorldExtents.Y; y++) | ||
1914 | { | ||
1915 | for (int x = 0; x < WorldExtents.X; x++) | ||
1916 | { | ||
1917 | resultarr2[y * 2, x * 2] = resultarr[y, x]; | ||
1918 | |||
1919 | if (y < WorldExtents.Y) | ||
1920 | { | ||
1921 | resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x]; | ||
1922 | } | ||
1923 | if (x < WorldExtents.X) | ||
1924 | { | ||
1925 | resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x]; | ||
1926 | } | ||
1927 | if (x < WorldExtents.X && y < WorldExtents.Y) | ||
1928 | { | ||
1929 | resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x]; | ||
1930 | } | ||
1931 | } | ||
1932 | } | ||
1933 | |||
1934 | //Flatten out the array | ||
1935 | int i = 0; | ||
1936 | for (int y = 0; y < 512; y++) | ||
1937 | { | ||
1938 | for (int x = 0; x < 512; x++) | ||
1939 | { | ||
1940 | if (resultarr2[y, x] <= 0) | ||
1941 | returnarr[i] = 0.0000001f; | ||
1942 | else | ||
1943 | returnarr[i] = resultarr2[y, x]; | ||
1944 | |||
1945 | i++; | ||
1946 | } | ||
1947 | } | ||
1948 | |||
1949 | return returnarr; | ||
1950 | } | ||
1951 | |||
1952 | public float[] ResizeTerrain512Interpolation(float[] heightMap) | ||
1953 | { | ||
1954 | float[] returnarr = new float[262144]; | ||
1955 | float[,] resultarr = new float[512,512]; | ||
1956 | |||
1957 | // Filling out the array into its multi-dimensional components | ||
1958 | for (int y = 0; y < 256; y++) | ||
1959 | { | ||
1960 | for (int x = 0; x < 256; x++) | ||
1961 | { | ||
1962 | resultarr[y, x] = heightMap[y * 256 + x]; | ||
1963 | } | ||
1964 | } | ||
1965 | |||
1966 | // Resize using interpolation | ||
1967 | |||
1968 | // This particular way is quick but it only works on a multiple of the original | ||
1969 | |||
1970 | // The idea behind this method can be described with the following diagrams | ||
1971 | // second pass and third pass happen in the same loop really.. just separated | ||
1972 | // them to show what this does. | ||
1973 | |||
1974 | // First Pass | ||
1975 | // ResultArr: | ||
1976 | // 1,1,1,1,1,1 | ||
1977 | // 1,1,1,1,1,1 | ||
1978 | // 1,1,1,1,1,1 | ||
1979 | // 1,1,1,1,1,1 | ||
1980 | // 1,1,1,1,1,1 | ||
1981 | // 1,1,1,1,1,1 | ||
1982 | |||
1983 | // Second Pass | ||
1984 | // ResultArr2: | ||
1985 | // 1,,1,,1,,1,,1,,1, | ||
1986 | // ,,,,,,,,,, | ||
1987 | // 1,,1,,1,,1,,1,,1, | ||
1988 | // ,,,,,,,,,, | ||
1989 | // 1,,1,,1,,1,,1,,1, | ||
1990 | // ,,,,,,,,,, | ||
1991 | // 1,,1,,1,,1,,1,,1, | ||
1992 | // ,,,,,,,,,, | ||
1993 | // 1,,1,,1,,1,,1,,1, | ||
1994 | // ,,,,,,,,,, | ||
1995 | // 1,,1,,1,,1,,1,,1, | ||
1996 | |||
1997 | // Third pass fills in the blanks | ||
1998 | // ResultArr2: | ||
1999 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2000 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2001 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2002 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2003 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2004 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2005 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2006 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2007 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2008 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2009 | // 1,1,1,1,1,1,1,1,1,1,1,1 | ||
2010 | |||
2011 | // X,Y = . | ||
2012 | // X+1,y = ^ | ||
2013 | // X,Y+1 = * | ||
2014 | // X+1,Y+1 = # | ||
2015 | |||
2016 | // Filling in like this; | ||
2017 | // .* | ||
2018 | // ^# | ||
2019 | // 1st . | ||
2020 | // 2nd * | ||
2021 | // 3rd ^ | ||
2022 | // 4th # | ||
2023 | // on single loop. | ||
2024 | |||
2025 | float[,] resultarr2 = new float[512,512]; | ||
2026 | for (int y = 0; y < (int)Constants.RegionSize; y++) | ||
2027 | { | ||
2028 | for (int x = 0; x < (int)Constants.RegionSize; x++) | ||
2029 | { | ||
2030 | resultarr2[y*2, x*2] = resultarr[y, x]; | ||
2031 | |||
2032 | if (y < (int)Constants.RegionSize) | ||
2033 | { | ||
2034 | if (y + 1 < (int)Constants.RegionSize) | ||
2035 | { | ||
2036 | if (x + 1 < (int)Constants.RegionSize) | ||
2037 | { | ||
2038 | resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] + | ||
2039 | resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); | ||
2040 | } | ||
2041 | else | ||
2042 | { | ||
2043 | resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2); | ||
2044 | } | ||
2045 | } | ||
2046 | else | ||
2047 | { | ||
2048 | resultarr2[(y*2) + 1, x*2] = resultarr[y, x]; | ||
2049 | } | ||
2050 | } | ||
2051 | if (x < (int)Constants.RegionSize) | ||
2052 | { | ||
2053 | if (x + 1 < (int)Constants.RegionSize) | ||
2054 | { | ||
2055 | if (y + 1 < (int)Constants.RegionSize) | ||
2056 | { | ||
2057 | resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + | ||
2058 | resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); | ||
2059 | } | ||
2060 | else | ||
2061 | { | ||
2062 | resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2); | ||
2063 | } | ||
2064 | } | ||
2065 | else | ||
2066 | { | ||
2067 | resultarr2[y*2, (x*2) + 1] = resultarr[y, x]; | ||
2068 | } | ||
2069 | } | ||
2070 | if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize) | ||
2071 | { | ||
2072 | if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize)) | ||
2073 | { | ||
2074 | resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + | ||
2075 | resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); | ||
2076 | } | ||
2077 | else | ||
2078 | { | ||
2079 | resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x]; | ||
2080 | } | ||
2081 | } | ||
2082 | } | ||
2083 | } | ||
2084 | //Flatten out the array | ||
2085 | int i = 0; | ||
2086 | for (int y = 0; y < 512; y++) | ||
2087 | { | ||
2088 | for (int x = 0; x < 512; x++) | ||
2089 | { | ||
2090 | if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x])) | ||
2091 | { | ||
2092 | m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0"); | ||
2093 | resultarr2[y, x] = 0; | ||
2094 | } | ||
2095 | returnarr[i] = resultarr2[y, x]; | ||
2096 | i++; | ||
2097 | } | ||
2098 | } | ||
2099 | |||
2100 | return returnarr; | ||
2101 | } | ||
2102 | |||
2103 | #endregion | ||
2104 | |||
2105 | public override void SetTerrain(float[] heightMap) | ||
2106 | { | ||
2107 | if (m_worldOffset != Vector3.Zero && m_parentScene != null) | ||
2108 | { | ||
2109 | if (m_parentScene is OdeScene) | ||
2110 | { | ||
2111 | ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset); | ||
2112 | } | ||
2113 | } | ||
2114 | else | ||
2115 | { | ||
2116 | SetTerrain(heightMap, m_worldOffset); | ||
2117 | } | ||
2118 | } | ||
2119 | |||
2120 | public override void CombineTerrain(float[] heightMap, Vector3 pOffset) | ||
2121 | { | ||
2122 | SetTerrain(heightMap, pOffset); | ||
2123 | } | ||
2124 | |||
2125 | public void SetTerrain(float[] heightMap, Vector3 pOffset) | ||
2126 | { | ||
2127 | |||
2128 | float[] _heightmap; | ||
2129 | _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))]; | ||
2130 | |||
2131 | uint heightmapWidth = Constants.RegionSize + 2; | ||
2132 | uint heightmapHeight = Constants.RegionSize + 2; | ||
2133 | |||
2134 | uint heightmapWidthSamples; | ||
2135 | |||
2136 | uint heightmapHeightSamples; | ||
2137 | |||
2138 | heightmapWidthSamples = (uint)Constants.RegionSize + 2; | ||
2139 | heightmapHeightSamples = (uint)Constants.RegionSize + 2; | ||
2140 | |||
2141 | const float scale = 1.0f; | ||
2142 | const float offset = 0.0f; | ||
2143 | const float thickness = 10f; | ||
2144 | const int wrap = 0; | ||
2145 | |||
2146 | int regionsize = (int) Constants.RegionSize + 2; | ||
2147 | |||
2148 | float hfmin = float.MaxValue; | ||
2149 | float hfmax = float.MinValue; | ||
2150 | float val; | ||
2151 | int xx; | ||
2152 | int yy; | ||
2153 | |||
2154 | int maxXXYY = regionsize - 3; | ||
2155 | // flipping map adding one margin all around so things don't fall in edges | ||
2156 | |||
2157 | int xt = 0; | ||
2158 | xx = 0; | ||
2159 | |||
2160 | for (int x = 0; x < heightmapWidthSamples; x++) | ||
2161 | { | ||
2162 | if (x > 1 && xx < maxXXYY) | ||
2163 | xx++; | ||
2164 | yy = 0; | ||
2165 | for (int y = 0; y < heightmapHeightSamples; y++) | ||
2166 | { | ||
2167 | if (y > 1 && y < maxXXYY) | ||
2168 | yy += (int)Constants.RegionSize; | ||
2169 | |||
2170 | val = heightMap[yy + xx]; | ||
2171 | _heightmap[xt + y] = val; | ||
2172 | |||
2173 | if (hfmin > val) | ||
2174 | hfmin = val; | ||
2175 | if (hfmax < val) | ||
2176 | hfmax = val; | ||
2177 | |||
2178 | } | ||
2179 | |||
2180 | xt += regionsize; | ||
2181 | } | ||
2182 | lock (OdeLock) | ||
2183 | { | ||
2184 | IntPtr GroundGeom = IntPtr.Zero; | ||
2185 | if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) | ||
2186 | { | ||
2187 | RegionTerrain.Remove(pOffset); | ||
2188 | if (GroundGeom != IntPtr.Zero) | ||
2189 | { | ||
2190 | if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) | ||
2191 | { | ||
2192 | TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); | ||
2193 | TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); | ||
2194 | TerrainHeightFieldHeights.Remove(GroundGeom); | ||
2195 | } | ||
2196 | d.SpaceRemove(StaticSpace, GroundGeom); | ||
2197 | d.GeomDestroy(GroundGeom); | ||
2198 | } | ||
2199 | } | ||
2200 | IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); | ||
2201 | |||
2202 | GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); | ||
2203 | |||
2204 | d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight, | ||
2205 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, | ||
2206 | offset, thickness, wrap); | ||
2207 | |||
2208 | d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); | ||
2209 | GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1); | ||
2210 | if (GroundGeom != IntPtr.Zero) | ||
2211 | { | ||
2212 | d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land)); | ||
2213 | d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space)); | ||
2214 | |||
2215 | } | ||
2216 | geom_name_map[GroundGeom] = "Terrain"; | ||
2217 | |||
2218 | d.Matrix3 R = new d.Matrix3(); | ||
2219 | |||
2220 | Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); | ||
2221 | Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); | ||
2222 | |||
2223 | |||
2224 | q1 = q1 * q2; | ||
2225 | |||
2226 | Vector3 v3; | ||
2227 | float angle; | ||
2228 | q1.GetAxisAngle(out v3, out angle); | ||
2229 | |||
2230 | d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); | ||
2231 | d.GeomSetRotation(GroundGeom, ref R); | ||
2232 | d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0); | ||
2233 | IntPtr testGround = IntPtr.Zero; | ||
2234 | if (RegionTerrain.TryGetValue(pOffset, out testGround)) | ||
2235 | { | ||
2236 | RegionTerrain.Remove(pOffset); | ||
2237 | } | ||
2238 | RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); | ||
2239 | // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); | ||
2240 | TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); | ||
2241 | TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); | ||
2242 | |||
2243 | } | ||
2244 | } | ||
2245 | |||
2246 | public override void DeleteTerrain() | ||
2247 | { | ||
2248 | } | ||
2249 | |||
2250 | public float GetWaterLevel() | ||
2251 | { | ||
2252 | return waterlevel; | ||
2253 | } | ||
2254 | |||
2255 | public override bool SupportsCombining() | ||
2256 | { | ||
2257 | return true; | ||
2258 | } | ||
2259 | /* | ||
2260 | public override void UnCombine(PhysicsScene pScene) | ||
2261 | { | ||
2262 | IntPtr localGround = IntPtr.Zero; | ||
2263 | // float[] localHeightfield; | ||
2264 | bool proceed = false; | ||
2265 | List<IntPtr> geomDestroyList = new List<IntPtr>(); | ||
2266 | |||
2267 | lock (OdeLock) | ||
2268 | { | ||
2269 | if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) | ||
2270 | { | ||
2271 | foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) | ||
2272 | { | ||
2273 | if (geom == localGround) | ||
2274 | { | ||
2275 | // localHeightfield = TerrainHeightFieldHeights[geom]; | ||
2276 | proceed = true; | ||
2277 | } | ||
2278 | else | ||
2279 | { | ||
2280 | geomDestroyList.Add(geom); | ||
2281 | } | ||
2282 | } | ||
2283 | |||
2284 | if (proceed) | ||
2285 | { | ||
2286 | m_worldOffset = Vector3.Zero; | ||
2287 | WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
2288 | m_parentScene = null; | ||
2289 | |||
2290 | foreach (IntPtr g in geomDestroyList) | ||
2291 | { | ||
2292 | // removingHeightField needs to be done or the garbage collector will | ||
2293 | // collect the terrain data before we tell ODE to destroy it causing | ||
2294 | // memory corruption | ||
2295 | if (TerrainHeightFieldHeights.ContainsKey(g)) | ||
2296 | { | ||
2297 | // float[] removingHeightField = TerrainHeightFieldHeights[g]; | ||
2298 | TerrainHeightFieldHeights.Remove(g); | ||
2299 | |||
2300 | if (RegionTerrain.ContainsKey(g)) | ||
2301 | { | ||
2302 | RegionTerrain.Remove(g); | ||
2303 | } | ||
2304 | |||
2305 | d.GeomDestroy(g); | ||
2306 | //removingHeightField = new float[0]; | ||
2307 | } | ||
2308 | } | ||
2309 | |||
2310 | } | ||
2311 | else | ||
2312 | { | ||
2313 | m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); | ||
2314 | } | ||
2315 | } | ||
2316 | } | ||
2317 | } | ||
2318 | */ | ||
2319 | public override void SetWaterLevel(float baseheight) | ||
2320 | { | ||
2321 | waterlevel = baseheight; | ||
2322 | randomizeWater(waterlevel); | ||
2323 | } | ||
2324 | |||
2325 | public void randomizeWater(float baseheight) | ||
2326 | { | ||
2327 | const uint heightmapWidth = m_regionWidth + 2; | ||
2328 | const uint heightmapHeight = m_regionHeight + 2; | ||
2329 | const uint heightmapWidthSamples = m_regionWidth + 2; | ||
2330 | const uint heightmapHeightSamples = m_regionHeight + 2; | ||
2331 | const float scale = 1.0f; | ||
2332 | const float offset = 0.0f; | ||
2333 | const float thickness = 2.9f; | ||
2334 | const int wrap = 0; | ||
2335 | |||
2336 | for (int i = 0; i < (258 * 258); i++) | ||
2337 | { | ||
2338 | _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f); | ||
2339 | // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f)); | ||
2340 | } | ||
2341 | |||
2342 | lock (OdeLock) | ||
2343 | { | ||
2344 | if (WaterGeom != IntPtr.Zero) | ||
2345 | { | ||
2346 | d.SpaceRemove(StaticSpace, WaterGeom); | ||
2347 | } | ||
2348 | IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); | ||
2349 | d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight, | ||
2350 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, | ||
2351 | offset, thickness, wrap); | ||
2352 | d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight); | ||
2353 | WaterGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1); | ||
2354 | if (WaterGeom != IntPtr.Zero) | ||
2355 | { | ||
2356 | d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water)); | ||
2357 | d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space)); | ||
2358 | |||
2359 | } | ||
2360 | geom_name_map[WaterGeom] = "Water"; | ||
2361 | |||
2362 | d.Matrix3 R = new d.Matrix3(); | ||
2363 | |||
2364 | Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); | ||
2365 | Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); | ||
2366 | |||
2367 | q1 = q1 * q2; | ||
2368 | Vector3 v3; | ||
2369 | float angle; | ||
2370 | q1.GetAxisAngle(out v3, out angle); | ||
2371 | |||
2372 | d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); | ||
2373 | d.GeomSetRotation(WaterGeom, ref R); | ||
2374 | d.GeomSetPosition(WaterGeom, 128, 128, 0); | ||
2375 | |||
2376 | } | ||
2377 | |||
2378 | } | ||
2379 | |||
2380 | public override void Dispose() | ||
2381 | { | ||
2382 | m_rayCastManager.Dispose(); | ||
2383 | m_rayCastManager = null; | ||
2384 | |||
2385 | lock (OdeLock) | ||
2386 | { | ||
2387 | lock (_prims) | ||
2388 | { | ||
2389 | foreach (OdePrim prm in _prims) | ||
2390 | { | ||
2391 | RemovePrim(prm); | ||
2392 | } | ||
2393 | } | ||
2394 | |||
2395 | if (ContactgeomsArray != IntPtr.Zero) | ||
2396 | Marshal.FreeHGlobal(ContactgeomsArray); | ||
2397 | if (GlobalContactsArray != IntPtr.Zero) | ||
2398 | Marshal.FreeHGlobal(GlobalContactsArray); | ||
2399 | |||
2400 | d.WorldDestroy(world); | ||
2401 | //d.CloseODE(); | ||
2402 | } | ||
2403 | } | ||
2404 | |||
2405 | public override Dictionary<uint, float> GetTopColliders() | ||
2406 | { | ||
2407 | Dictionary<uint, float> returncolliders = new Dictionary<uint, float>(); | ||
2408 | int cnt = 0; | ||
2409 | lock (_prims) | ||
2410 | { | ||
2411 | foreach (OdePrim prm in _prims) | ||
2412 | { | ||
2413 | if (prm.CollisionScore > 0) | ||
2414 | { | ||
2415 | returncolliders.Add(prm.m_localID, prm.CollisionScore); | ||
2416 | cnt++; | ||
2417 | prm.CollisionScore = 0f; | ||
2418 | if (cnt > 25) | ||
2419 | { | ||
2420 | break; | ||
2421 | } | ||
2422 | } | ||
2423 | } | ||
2424 | } | ||
2425 | return returncolliders; | ||
2426 | } | ||
2427 | |||
2428 | public override bool SupportsRayCast() | ||
2429 | { | ||
2430 | return true; | ||
2431 | } | ||
2432 | |||
2433 | public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
2434 | { | ||
2435 | if (retMethod != null) | ||
2436 | { | ||
2437 | m_rayCastManager.QueueRequest(position, direction, length, retMethod); | ||
2438 | } | ||
2439 | } | ||
2440 | |||
2441 | public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) | ||
2442 | { | ||
2443 | if (retMethod != null) | ||
2444 | { | ||
2445 | m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod); | ||
2446 | } | ||
2447 | } | ||
2448 | |||
2449 | // don't like this | ||
2450 | public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) | ||
2451 | { | ||
2452 | ContactResult[] ourResults = null; | ||
2453 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2454 | { | ||
2455 | ourResults = new ContactResult[results.Count]; | ||
2456 | results.CopyTo(ourResults, 0); | ||
2457 | }; | ||
2458 | int waitTime = 0; | ||
2459 | m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod); | ||
2460 | while (ourResults == null && waitTime < 1000) | ||
2461 | { | ||
2462 | Thread.Sleep(1); | ||
2463 | waitTime++; | ||
2464 | } | ||
2465 | if (ourResults == null) | ||
2466 | return new List<ContactResult>(); | ||
2467 | return new List<ContactResult>(ourResults); | ||
2468 | } | ||
2469 | |||
2470 | public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
2471 | { | ||
2472 | if (retMethod != null && actor !=null) | ||
2473 | { | ||
2474 | IntPtr geom; | ||
2475 | if (actor is OdePrim) | ||
2476 | geom = ((OdePrim)actor).prim_geom; | ||
2477 | else if (actor is OdeCharacter) | ||
2478 | geom = ((OdePrim)actor).prim_geom; | ||
2479 | else | ||
2480 | return; | ||
2481 | if (geom == IntPtr.Zero) | ||
2482 | return; | ||
2483 | m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod); | ||
2484 | } | ||
2485 | } | ||
2486 | |||
2487 | public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) | ||
2488 | { | ||
2489 | if (retMethod != null && actor != null) | ||
2490 | { | ||
2491 | IntPtr geom; | ||
2492 | if (actor is OdePrim) | ||
2493 | geom = ((OdePrim)actor).prim_geom; | ||
2494 | else if (actor is OdeCharacter) | ||
2495 | geom = ((OdePrim)actor).prim_geom; | ||
2496 | else | ||
2497 | return; | ||
2498 | if (geom == IntPtr.Zero) | ||
2499 | return; | ||
2500 | |||
2501 | m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); | ||
2502 | } | ||
2503 | } | ||
2504 | |||
2505 | // don't like this | ||
2506 | public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count) | ||
2507 | { | ||
2508 | if (actor != null) | ||
2509 | { | ||
2510 | IntPtr geom; | ||
2511 | if (actor is OdePrim) | ||
2512 | geom = ((OdePrim)actor).prim_geom; | ||
2513 | else if (actor is OdeCharacter) | ||
2514 | geom = ((OdePrim)actor).prim_geom; | ||
2515 | else | ||
2516 | return new List<ContactResult>(); | ||
2517 | if (geom == IntPtr.Zero) | ||
2518 | return new List<ContactResult>(); | ||
2519 | |||
2520 | ContactResult[] ourResults = null; | ||
2521 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2522 | { | ||
2523 | ourResults = new ContactResult[results.Count]; | ||
2524 | results.CopyTo(ourResults, 0); | ||
2525 | }; | ||
2526 | int waitTime = 0; | ||
2527 | m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); | ||
2528 | while (ourResults == null && waitTime < 1000) | ||
2529 | { | ||
2530 | Thread.Sleep(1); | ||
2531 | waitTime++; | ||
2532 | } | ||
2533 | if (ourResults == null) | ||
2534 | return new List<ContactResult>(); | ||
2535 | return new List<ContactResult>(ourResults); | ||
2536 | } | ||
2537 | return new List<ContactResult>(); | ||
2538 | } | ||
2539 | } | ||
2540 | } | ||