diff options
Diffstat (limited to 'OpenSim')
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 7718 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 126 |
2 files changed, 3959 insertions, 3885 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index bacd604..c4dc793 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | |||
@@ -1,1807 +1,1855 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyright | 9 | * * Redistributions in binary form must reproduce the above copyright |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | 27 | ||
28 | /* Revision 2011/12 by Ubit Umarov | 28 | /* Revision 2011/12 by Ubit Umarov |
29 | * | 29 | * |
30 | * | 30 | * |
31 | */ | 31 | */ |
32 | 32 | ||
33 | /* | 33 | /* |
34 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | 34 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces |
35 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | 35 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: |
36 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | 36 | * ODEPrim.cs contains methods dealing with Prim editing, Prim |
37 | * characteristics and Kinetic motion. | 37 | * characteristics and Kinetic motion. |
38 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | 38 | * ODEDynamics.cs contains methods dealing with Prim Physical motion |
39 | * (dynamics) and the associated settings. Old Linear and angular | 39 | * (dynamics) and the associated settings. Old Linear and angular |
40 | * motors for dynamic motion have been replace with MoveLinear() | 40 | * motors for dynamic motion have been replace with MoveLinear() |
41 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | 41 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic |
42 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | 42 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to |
43 | * switch between 'VEHICLE' parameter use and general dynamics | 43 | * switch between 'VEHICLE' parameter use and general dynamics |
44 | * settings use. | 44 | * settings use. |
45 | */ | 45 | */ |
46 | 46 | ||
47 | //#define SPAM | 47 | //#define SPAM |
48 | 48 | ||
49 | using System; | 49 | using System; |
50 | using System.Collections.Generic; | 50 | using System.Collections.Generic; |
51 | using System.Reflection; | 51 | using System.Reflection; |
52 | using System.Runtime.InteropServices; | 52 | using System.Runtime.InteropServices; |
53 | using System.Threading; | 53 | using System.Threading; |
54 | using log4net; | 54 | using log4net; |
55 | using OpenMetaverse; | 55 | using OpenMetaverse; |
56 | using OdeAPI; | 56 | using OdeAPI; |
57 | using OpenSim.Framework; | 57 | using OpenSim.Framework; |
58 | using OpenSim.Region.Physics.Manager; | 58 | using OpenSim.Region.Physics.Manager; |
59 | 59 | ||
60 | 60 | ||
61 | namespace OpenSim.Region.Physics.OdePlugin | 61 | namespace OpenSim.Region.Physics.OdePlugin |
62 | { | 62 | { |
63 | public class OdePrim : PhysicsActor | 63 | public class OdePrim : PhysicsActor |
64 | { | 64 | { |
65 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 65 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
66 | 66 | ||
67 | private bool m_isphysical; | 67 | private bool m_isphysical; |
68 | private bool m_fakeisphysical; | 68 | private bool m_fakeisphysical; |
69 | private bool m_isphantom; | 69 | private bool m_isphantom; |
70 | private bool m_fakeisphantom; | 70 | private bool m_fakeisphantom; |
71 | 71 | ||
72 | protected bool m_building; | 72 | protected bool m_building; |
73 | protected bool m_forcePosOrRotation; | 73 | protected bool m_forcePosOrRotation; |
74 | 74 | ||
75 | private Quaternion m_lastorientation = new Quaternion(); | 75 | private Quaternion m_lastorientation = new Quaternion(); |
76 | private Quaternion _orientation; | 76 | private Quaternion _orientation; |
77 | 77 | ||
78 | private Vector3 _position; | 78 | private Vector3 _position; |
79 | private Vector3 _velocity; | 79 | private Vector3 _velocity; |
80 | private Vector3 _torque; | 80 | private Vector3 _torque; |
81 | private Vector3 m_lastVelocity; | 81 | private Vector3 m_lastVelocity; |
82 | private Vector3 m_lastposition; | 82 | private Vector3 m_lastposition; |
83 | private Vector3 m_rotationalVelocity; | 83 | private Vector3 m_rotationalVelocity; |
84 | private Vector3 _size; | 84 | private Vector3 _size; |
85 | private Vector3 _acceleration; | 85 | private Vector3 _acceleration; |
86 | private Vector3 m_angularlock = Vector3.One; | 86 | private Vector3 m_angularlock = Vector3.One; |
87 | private IntPtr Amotor = IntPtr.Zero; | 87 | private IntPtr Amotor = IntPtr.Zero; |
88 | 88 | ||
89 | private Vector3 m_force; | 89 | private Vector3 m_force; |
90 | private Vector3 m_forceacc; | 90 | private Vector3 m_forceacc; |
91 | private Vector3 m_angularForceacc; | 91 | private Vector3 m_angularForceacc; |
92 | 92 | ||
93 | private Vector3 m_PIDTarget; | 93 | private Vector3 m_PIDTarget; |
94 | private float m_PIDTau; | 94 | private float m_PIDTau; |
95 | private float PID_D = 35f; | 95 | private float PID_D = 35f; |
96 | private float PID_G = 25f; | 96 | private float PID_G = 25f; |
97 | private bool m_usePID; | 97 | private bool m_usePID; |
98 | 98 | ||
99 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), | 99 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), |
100 | // and are for non-VEHICLES only. | 100 | // and are for non-VEHICLES only. |
101 | 101 | ||
102 | private float m_PIDHoverHeight; | 102 | private float m_PIDHoverHeight; |
103 | private float m_PIDHoverTau; | 103 | private float m_PIDHoverTau; |
104 | private bool m_useHoverPID; | 104 | private bool m_useHoverPID; |
105 | private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; | 105 | private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; |
106 | private float m_targetHoverHeight; | 106 | private float m_targetHoverHeight; |
107 | private float m_groundHeight; | 107 | private float m_groundHeight; |
108 | private float m_waterHeight; | 108 | private float m_waterHeight; |
109 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | 109 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. |
110 | 110 | ||
111 | private int body_autodisable_frames = 20; | 111 | private int body_autodisable_frames = 20; |
112 | 112 | ||
113 | private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom | 113 | private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom |
114 | | CollisionCategories.Space | 114 | | CollisionCategories.Space |
115 | | CollisionCategories.Body | 115 | | CollisionCategories.Body |
116 | | CollisionCategories.Character | 116 | | CollisionCategories.Character |
117 | ); | 117 | ); |
118 | // private bool m_collidesLand = true; | 118 | // private bool m_collidesLand = true; |
119 | private bool m_collidesWater; | 119 | private bool m_collidesWater; |
120 | public bool m_returnCollisions; | 120 | public bool m_returnCollisions; |
121 | private bool m_softcolide; | 121 | private bool m_softcolide; |
122 | 122 | ||
123 | private bool m_NoColide; // for now only for internal use for bad meshs | 123 | private bool m_NoColide; // for now only for internal use for bad meshs |
124 | 124 | ||
125 | // Default we're a Geometry | 125 | // Default we're a Geometry |
126 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); | 126 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); |
127 | 127 | ||
128 | // Default, Collide with Other Geometries, spaces and Bodies | 128 | // Default, Collide with Other Geometries, spaces and Bodies |
129 | private CollisionCategories m_collisionFlags = m_default_collisionFlags; | 129 | private CollisionCategories m_collisionFlags = m_default_collisionFlags; |
130 | 130 | ||
131 | public bool m_disabled; | 131 | public bool m_disabled; |
132 | 132 | ||
133 | 133 | public uint m_localID; | |
134 | public uint m_localID; | 134 | |
135 | 135 | private IMesh m_mesh; | |
136 | private PrimitiveBaseShape _pbs; | 136 | private object m_meshlock = new object(); |
137 | public OdeScene _parent_scene; | 137 | private PrimitiveBaseShape _pbs; |
138 | 138 | public OdeScene _parent_scene; | |
139 | /// <summary> | 139 | |
140 | /// The physics space which contains prim geometry | 140 | /// <summary> |
141 | /// </summary> | 141 | /// The physics space which contains prim geometry |
142 | public IntPtr m_targetSpace = IntPtr.Zero; | 142 | /// </summary> |
143 | 143 | public IntPtr m_targetSpace = IntPtr.Zero; | |
144 | public IntPtr prim_geom; | 144 | |
145 | public IntPtr _triMeshData; | 145 | public IntPtr prim_geom; |
146 | 146 | public IntPtr _triMeshData; | |
147 | private PhysicsActor _parent; | 147 | |
148 | 148 | private PhysicsActor _parent; | |
149 | private List<OdePrim> childrenPrim = new List<OdePrim>(); | 149 | |
150 | 150 | private List<OdePrim> childrenPrim = new List<OdePrim>(); | |
151 | private bool m_iscolliding; | 151 | |
152 | 152 | private bool m_iscolliding; | |
153 | public bool m_isSelected; | 153 | |
154 | private bool m_delaySelect; | 154 | public bool m_isSelected; |
155 | private bool m_lastdoneSelected; | 155 | private bool m_delaySelect; |
156 | public bool m_outbounds; | 156 | private bool m_lastdoneSelected; |
157 | 157 | public bool m_outbounds; | |
158 | internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | 158 | |
159 | 159 | internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | |
160 | private bool m_throttleUpdates; | 160 | |
161 | private int throttleCounter; | 161 | private bool m_throttleUpdates; |
162 | public float m_collisionscore; | 162 | private int throttleCounter; |
163 | int m_colliderfilter = 0; | 163 | public float m_collisionscore; |
164 | 164 | int m_colliderfilter = 0; | |
165 | public IntPtr collide_geom; // for objects: geom if single prim space it linkset | 165 | |
166 | 166 | public IntPtr collide_geom; // for objects: geom if single prim space it linkset | |
167 | private float m_density = 10.000006836f; // Aluminum g/cm3; | 167 | |
168 | private byte m_shapetype; | 168 | private float m_density = 10.000006836f; // Aluminum g/cm3; |
169 | public bool _zeroFlag; | 169 | private byte m_shapetype; |
170 | private bool m_lastUpdateSent; | 170 | public bool _zeroFlag; |
171 | 171 | private bool m_lastUpdateSent; | |
172 | public IntPtr Body = IntPtr.Zero; | 172 | |
173 | public String Name { get; private set; } | 173 | public IntPtr Body = IntPtr.Zero; |
174 | private Vector3 _target_velocity; | 174 | public String Name { get; private set; } |
175 | 175 | private Vector3 _target_velocity; | |
176 | public Vector3 primOOBsize; // prim real dimensions from mesh | 176 | |
177 | public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb | 177 | public Vector3 primOOBsize; // prim real dimensions from mesh |
178 | public float primOOBradiusSQ; | 178 | public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb |
179 | public d.Mass primdMass; // prim inertia information on it's own referencial | 179 | public float primOOBradiusSQ; |
180 | float primMass; // prim own mass | 180 | public d.Mass primdMass; // prim inertia information on it's own referencial |
181 | float _mass; // object mass acording to case | 181 | float primMass; // prim own mass |
182 | private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb | 182 | float _mass; // object mass acording to case |
183 | 183 | private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb | |
184 | public int givefakepos = 0; | 184 | |
185 | private Vector3 fakepos; | 185 | public int givefakepos = 0; |
186 | public int givefakeori = 0; | 186 | private Vector3 fakepos; |
187 | private Quaternion fakeori; | 187 | public int givefakeori = 0; |
188 | 188 | private Quaternion fakeori; | |
189 | public int m_eventsubscription; | 189 | |
190 | private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); | 190 | public int m_eventsubscription; |
191 | 191 | private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); | |
192 | public volatile bool childPrim; | 192 | |
193 | 193 | public volatile bool childPrim; | |
194 | public ODEDynamics m_vehicle; | 194 | |
195 | 195 | public ODEDynamics m_vehicle; | |
196 | internal int m_material = (int)Material.Wood; | 196 | |
197 | private float mu; | 197 | internal int m_material = (int)Material.Wood; |
198 | private float bounce; | 198 | private float mu; |
199 | 199 | private float bounce; | |
200 | /// <summary> | 200 | |
201 | /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. | 201 | /// <summary> |
202 | /// </summary> | 202 | /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. |
203 | public override bool IsPhysical // this is not reliable for internal use | 203 | /// </summary> |
204 | { | 204 | public override bool IsPhysical // this is not reliable for internal use |
205 | get { return m_fakeisphysical; } | 205 | { |
206 | set | 206 | get { return m_fakeisphysical; } |
207 | { | 207 | set |
208 | m_fakeisphysical = value; // we show imediatly to outside that we changed physical | 208 | { |
209 | // and also to stop imediatly some updates | 209 | m_fakeisphysical = value; // we show imediatly to outside that we changed physical |
210 | // but real change will only happen in taintprocessing | 210 | // and also to stop imediatly some updates |
211 | 211 | // but real change will only happen in taintprocessing | |
212 | if (!value) // Zero the remembered last velocity | 212 | |
213 | m_lastVelocity = Vector3.Zero; | 213 | if (!value) // Zero the remembered last velocity |
214 | AddChange(changes.Physical, value); | 214 | m_lastVelocity = Vector3.Zero; |
215 | } | 215 | AddChange(changes.Physical, value); |
216 | } | 216 | } |
217 | 217 | } | |
218 | public override bool Phantom // this is not reliable for internal use | 218 | |
219 | { | 219 | public override bool Phantom // this is not reliable for internal use |
220 | get { return m_fakeisphantom; } | 220 | { |
221 | set | 221 | get { return m_fakeisphantom; } |
222 | { | 222 | set |
223 | m_fakeisphantom = value; // we show imediatly to outside that we changed physical | 223 | { |
224 | // and also to stop imediatly some updates | 224 | m_fakeisphantom = value; // we show imediatly to outside that we changed physical |
225 | // but real change will only happen in taintprocessing | 225 | // and also to stop imediatly some updates |
226 | 226 | // but real change will only happen in taintprocessing | |
227 | AddChange(changes.Phantom, value); | 227 | |
228 | } | 228 | AddChange(changes.Phantom, value); |
229 | } | 229 | } |
230 | 230 | } | |
231 | public override bool Building // this is not reliable for internal use | 231 | |
232 | { | 232 | public override bool Building // this is not reliable for internal use |
233 | get { return m_building; } | 233 | { |
234 | set | 234 | get { return m_building; } |
235 | { | 235 | set |
236 | if (value) | 236 | { |
237 | m_building = true; | 237 | if (value) |
238 | AddChange(changes.building, value); | 238 | m_building = true; |
239 | } | 239 | AddChange(changes.building, value); |
240 | } | 240 | } |
241 | 241 | } | |
242 | public override void getContactData(ref ContactData cdata) | 242 | |
243 | { | 243 | public override void getContactData(ref ContactData cdata) |
244 | cdata.mu = mu; | 244 | { |
245 | cdata.bounce = bounce; | 245 | cdata.mu = mu; |
246 | 246 | cdata.bounce = bounce; | |
247 | // cdata.softcolide = m_softcolide; | 247 | |
248 | cdata.softcolide = false; | 248 | // cdata.softcolide = m_softcolide; |
249 | 249 | cdata.softcolide = false; | |
250 | if (m_isphysical) | 250 | |
251 | { | 251 | if (m_isphysical) |
252 | ODEDynamics veh; | 252 | { |
253 | if (_parent != null) | 253 | ODEDynamics veh; |
254 | veh = ((OdePrim)_parent).m_vehicle; | 254 | if (_parent != null) |
255 | else | 255 | veh = ((OdePrim)_parent).m_vehicle; |
256 | veh = m_vehicle; | 256 | else |
257 | 257 | veh = m_vehicle; | |
258 | if (veh != null && veh.Type != Vehicle.TYPE_NONE) | 258 | |
259 | cdata.mu *= veh.FrictionFactor; | 259 | if (veh != null && veh.Type != Vehicle.TYPE_NONE) |
260 | } | 260 | cdata.mu *= veh.FrictionFactor; |
261 | } | 261 | } |
262 | 262 | } | |
263 | public override int PhysicsActorType | 263 | |
264 | { | 264 | public override int PhysicsActorType |
265 | get { return (int)ActorTypes.Prim; } | 265 | { |
266 | set { return; } | 266 | get { return (int)ActorTypes.Prim; } |
267 | } | 267 | set { return; } |
268 | 268 | } | |
269 | public override bool SetAlwaysRun | 269 | |
270 | { | 270 | public override bool SetAlwaysRun |
271 | get { return false; } | 271 | { |
272 | set { return; } | 272 | get { return false; } |
273 | } | 273 | set { return; } |
274 | 274 | } | |
275 | public override uint LocalID | 275 | |
276 | { | 276 | public override uint LocalID |
277 | get | 277 | { |
278 | { | 278 | get |
279 | return m_localID; | 279 | { |
280 | } | 280 | return m_localID; |
281 | set | 281 | } |
282 | { | 282 | set |
283 | //m_log.Info("[PHYSICS]: Setting TrackerID: " + value); | 283 | { |
284 | m_localID = value; | 284 | //m_log.Info("[PHYSICS]: Setting TrackerID: " + value); |
285 | } | 285 | m_localID = value; |
286 | } | 286 | } |
287 | 287 | } | |
288 | public override bool Grabbed | 288 | |
289 | { | 289 | public override bool Grabbed |
290 | set { return; } | 290 | { |
291 | } | 291 | set { return; } |
292 | 292 | } | |
293 | public override bool Selected | 293 | |
294 | { | 294 | public override bool Selected |
295 | set | 295 | { |
296 | { | 296 | set |
297 | if (value) | 297 | { |
298 | m_isSelected = value; // if true set imediatly to stop moves etc | 298 | if (value) |
299 | AddChange(changes.Selected, value); | 299 | m_isSelected = value; // if true set imediatly to stop moves etc |
300 | } | 300 | AddChange(changes.Selected, value); |
301 | } | 301 | } |
302 | 302 | } | |
303 | public override bool Flying | 303 | |
304 | { | 304 | public override bool Flying |
305 | // no flying prims for you | 305 | { |
306 | get { return false; } | 306 | // no flying prims for you |
307 | set { } | 307 | get { return false; } |
308 | } | 308 | set { } |
309 | 309 | } | |
310 | public override bool IsColliding | 310 | |
311 | { | 311 | public override bool IsColliding |
312 | get { return m_iscolliding; } | 312 | { |
313 | set | 313 | get { return m_iscolliding; } |
314 | { | 314 | set |
315 | if (value) | 315 | { |
316 | { | 316 | if (value) |
317 | m_colliderfilter += 2; | 317 | { |
318 | if (m_colliderfilter > 2) | 318 | m_colliderfilter += 2; |
319 | m_colliderfilter = 2; | 319 | if (m_colliderfilter > 2) |
320 | } | 320 | m_colliderfilter = 2; |
321 | else | 321 | } |
322 | { | 322 | else |
323 | m_colliderfilter--; | 323 | { |
324 | if (m_colliderfilter < 0) | 324 | m_colliderfilter--; |
325 | m_colliderfilter = 0; | 325 | if (m_colliderfilter < 0) |
326 | } | 326 | m_colliderfilter = 0; |
327 | 327 | } | |
328 | if (m_colliderfilter == 0) | 328 | |
329 | { | 329 | if (m_colliderfilter == 0) |
330 | m_softcolide = false; | 330 | { |
331 | m_iscolliding = false; | 331 | m_softcolide = false; |
332 | } | 332 | m_iscolliding = false; |
333 | else | 333 | } |
334 | m_iscolliding = true; | 334 | else |
335 | } | 335 | m_iscolliding = true; |
336 | } | 336 | } |
337 | 337 | } | |
338 | public override bool CollidingGround | 338 | |
339 | { | 339 | public override bool CollidingGround |
340 | get { return false; } | 340 | { |
341 | set { return; } | 341 | get { return false; } |
342 | } | 342 | set { return; } |
343 | 343 | } | |
344 | public override bool CollidingObj | 344 | |
345 | { | 345 | public override bool CollidingObj |
346 | get { return false; } | 346 | { |
347 | set { return; } | 347 | get { return false; } |
348 | } | 348 | set { return; } |
349 | 349 | } | |
350 | public override bool ThrottleUpdates | 350 | |
351 | { | 351 | public override bool ThrottleUpdates |
352 | get { return m_throttleUpdates; } | 352 | { |
353 | set { m_throttleUpdates = value; } | 353 | get { return m_throttleUpdates; } |
354 | } | 354 | set { m_throttleUpdates = value; } |
355 | 355 | } | |
356 | public override bool Stopped | 356 | |
357 | { | 357 | public override bool Stopped |
358 | get { return _zeroFlag; } | 358 | { |
359 | } | 359 | get { return _zeroFlag; } |
360 | 360 | } | |
361 | public override Vector3 Position | 361 | |
362 | { | 362 | public override Vector3 Position |
363 | get | 363 | { |
364 | { | 364 | get |
365 | if (givefakepos > 0) | 365 | { |
366 | return fakepos; | 366 | if (givefakepos > 0) |
367 | else | 367 | return fakepos; |
368 | return _position; | 368 | else |
369 | } | 369 | return _position; |
370 | 370 | } | |
371 | set | 371 | |
372 | { | 372 | set |
373 | fakepos = value; | 373 | { |
374 | givefakepos++; | 374 | fakepos = value; |
375 | AddChange(changes.Position, value); | 375 | givefakepos++; |
376 | } | 376 | AddChange(changes.Position, value); |
377 | } | 377 | } |
378 | 378 | } | |
379 | public override Vector3 Size | 379 | |
380 | { | 380 | public override Vector3 Size |
381 | get { return _size; } | 381 | { |
382 | set | 382 | get { return _size; } |
383 | { | 383 | set |
384 | if (value.IsFinite()) | 384 | { |
385 | { | 385 | if (value.IsFinite()) |
386 | AddChange(changes.Size, value); | 386 | { |
387 | } | 387 | AddChange(changes.Size, value); |
388 | else | 388 | } |
389 | { | 389 | else |
390 | m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); | 390 | { |
391 | } | 391 | m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); |
392 | } | 392 | } |
393 | } | 393 | } |
394 | 394 | } | |
395 | public override float Mass | 395 | |
396 | { | 396 | public override float Mass |
397 | get { return _mass; } | 397 | { |
398 | } | 398 | get { return _mass; } |
399 | 399 | } | |
400 | public override Vector3 Force | 400 | |
401 | { | 401 | public override Vector3 Force |
402 | //get { return Vector3.Zero; } | 402 | { |
403 | get { return m_force; } | 403 | //get { return Vector3.Zero; } |
404 | set | 404 | get { return m_force; } |
405 | { | 405 | set |
406 | if (value.IsFinite()) | 406 | { |
407 | { | 407 | if (value.IsFinite()) |
408 | AddChange(changes.Force, value); | 408 | { |
409 | } | 409 | AddChange(changes.Force, value); |
410 | else | 410 | } |
411 | { | 411 | else |
412 | m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); | 412 | { |
413 | } | 413 | m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); |
414 | } | 414 | } |
415 | } | 415 | } |
416 | 416 | } | |
417 | public override void SetVolumeDetect(int param) | 417 | |
418 | { | 418 | public override void SetVolumeDetect(int param) |
419 | AddChange(changes.VolumeDtc, (param != 0)); | 419 | { |
420 | } | 420 | AddChange(changes.VolumeDtc, (param != 0)); |
421 | 421 | } | |
422 | public override Vector3 GeometricCenter | 422 | |
423 | { | 423 | public override Vector3 GeometricCenter |
424 | get | 424 | { |
425 | { | 425 | get |
426 | return Vector3.Zero; | 426 | { |
427 | } | 427 | return Vector3.Zero; |
428 | } | 428 | } |
429 | 429 | } | |
430 | public override Vector3 CenterOfMass | 430 | |
431 | { | 431 | public override Vector3 CenterOfMass |
432 | get | 432 | { |
433 | { | 433 | get |
434 | d.Vector3 dtmp; | 434 | { |
435 | if (IsPhysical && !childPrim && Body != IntPtr.Zero) | 435 | d.Vector3 dtmp; |
436 | { | 436 | if (IsPhysical && !childPrim && Body != IntPtr.Zero) |
437 | dtmp = d.BodyGetPosition(Body); | 437 | { |
438 | return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | 438 | dtmp = d.BodyGetPosition(Body); |
439 | } | 439 | return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); |
440 | else if (prim_geom != IntPtr.Zero) | 440 | } |
441 | { | 441 | else if (prim_geom != IntPtr.Zero) |
442 | d.Quaternion dq; | 442 | { |
443 | d.GeomCopyQuaternion(prim_geom, out dq); | 443 | d.Quaternion dq; |
444 | Quaternion q; | 444 | d.GeomCopyQuaternion(prim_geom, out dq); |
445 | q.X = dq.X; | 445 | Quaternion q; |
446 | q.Y = dq.Y; | 446 | q.X = dq.X; |
447 | q.Z = dq.Z; | 447 | q.Y = dq.Y; |
448 | q.W = dq.W; | 448 | q.Z = dq.Z; |
449 | 449 | q.W = dq.W; | |
450 | Vector3 vtmp = primOOBoffset * q; | 450 | |
451 | dtmp = d.GeomGetPosition(prim_geom); | 451 | Vector3 vtmp = primOOBoffset * q; |
452 | return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z); | 452 | dtmp = d.GeomGetPosition(prim_geom); |
453 | } | 453 | return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z); |
454 | else | 454 | } |
455 | return Vector3.Zero; | 455 | else |
456 | } | 456 | return Vector3.Zero; |
457 | } | 457 | } |
458 | /* | 458 | } |
459 | public override Vector3 PrimOOBsize | 459 | /* |
460 | { | 460 | public override Vector3 PrimOOBsize |
461 | get | 461 | { |
462 | { | 462 | get |
463 | return primOOBsize; | 463 | { |
464 | } | 464 | return primOOBsize; |
465 | } | 465 | } |
466 | 466 | } | |
467 | public override Vector3 PrimOOBoffset | 467 | |
468 | { | 468 | public override Vector3 PrimOOBoffset |
469 | get | 469 | { |
470 | { | 470 | get |
471 | return primOOBoffset; | 471 | { |
472 | } | 472 | return primOOBoffset; |
473 | } | 473 | } |
474 | 474 | } | |
475 | public override float PrimOOBRadiusSQ | 475 | |
476 | { | 476 | public override float PrimOOBRadiusSQ |
477 | get | 477 | { |
478 | { | 478 | get |
479 | return primOOBradiusSQ; | 479 | { |
480 | } | 480 | return primOOBradiusSQ; |
481 | } | 481 | } |
482 | */ | 482 | } |
483 | public override PrimitiveBaseShape Shape | 483 | */ |
484 | { | 484 | public override PrimitiveBaseShape Shape |
485 | set | 485 | { |
486 | { | 486 | set |
487 | AddChange(changes.Shape, value); | 487 | { |
488 | } | 488 | /* |
489 | } | 489 | IMesh mesh = null; |
490 | 490 | if (_parent_scene.needsMeshing(value)) | |
491 | public override byte PhysicsShapeType | 491 | { |
492 | { | 492 | bool convex; |
493 | get | 493 | if (m_shapetype == 0) |
494 | { | 494 | convex = false; |
495 | return m_shapetype; | 495 | else |
496 | } | 496 | convex = true; |
497 | set | 497 | mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex); |
498 | { | 498 | } |
499 | m_shapetype = value; | 499 | |
500 | AddChange(changes.Shape, null); | 500 | if (mesh != null) |
501 | } | 501 | { |
502 | } | 502 | lock (m_meshlock) |
503 | 503 | m_mesh = mesh; | |
504 | 504 | } | |
505 | public override Vector3 Velocity | 505 | */ |
506 | { | 506 | AddChange(changes.Shape, value); |
507 | get | 507 | } |
508 | { | 508 | } |
509 | if (_zeroFlag) | 509 | |
510 | return Vector3.Zero; | 510 | public override byte PhysicsShapeType |
511 | return _velocity; | 511 | { |
512 | } | 512 | get |
513 | set | 513 | { |
514 | { | 514 | return m_shapetype; |
515 | if (value.IsFinite()) | 515 | } |
516 | { | 516 | set |
517 | AddChange(changes.Velocity, value); | 517 | { |
518 | // _velocity = value; | 518 | m_shapetype = value; |
519 | 519 | AddChange(changes.Shape, null); | |
520 | } | 520 | } |
521 | else | 521 | } |
522 | { | 522 | |
523 | m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); | 523 | |
524 | } | 524 | public override Vector3 Velocity |
525 | 525 | { | |
526 | } | 526 | get |
527 | } | 527 | { |
528 | 528 | if (_zeroFlag) | |
529 | public override Vector3 Torque | 529 | return Vector3.Zero; |
530 | { | 530 | return _velocity; |
531 | get | 531 | } |
532 | { | 532 | set |
533 | if (!IsPhysical || Body == IntPtr.Zero) | 533 | { |
534 | return Vector3.Zero; | 534 | if (value.IsFinite()) |
535 | 535 | { | |
536 | return _torque; | 536 | AddChange(changes.Velocity, value); |
537 | } | 537 | // _velocity = value; |
538 | 538 | ||
539 | set | 539 | } |
540 | { | 540 | else |
541 | if (value.IsFinite()) | 541 | { |
542 | { | 542 | m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); |
543 | AddChange(changes.Torque, value); | 543 | } |
544 | } | 544 | |
545 | else | 545 | } |
546 | { | 546 | } |
547 | m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); | 547 | |
548 | } | 548 | public override Vector3 Torque |
549 | } | 549 | { |
550 | } | 550 | get |
551 | 551 | { | |
552 | public override float CollisionScore | 552 | if (!IsPhysical || Body == IntPtr.Zero) |
553 | { | 553 | return Vector3.Zero; |
554 | get { return m_collisionscore; } | 554 | |
555 | set { m_collisionscore = value; } | 555 | return _torque; |
556 | } | 556 | } |
557 | 557 | ||
558 | public override bool Kinematic | 558 | set |
559 | { | 559 | { |
560 | get { return false; } | 560 | if (value.IsFinite()) |
561 | set { } | 561 | { |
562 | } | 562 | AddChange(changes.Torque, value); |
563 | 563 | } | |
564 | public override Quaternion Orientation | 564 | else |
565 | { | 565 | { |
566 | get | 566 | m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); |
567 | { | 567 | } |
568 | if (givefakeori > 0) | 568 | } |
569 | return fakeori; | 569 | } |
570 | else | 570 | |
571 | 571 | public override float CollisionScore | |
572 | return _orientation; | 572 | { |
573 | } | 573 | get { return m_collisionscore; } |
574 | set | 574 | set { m_collisionscore = value; } |
575 | { | 575 | } |
576 | if (QuaternionIsFinite(value)) | 576 | |
577 | { | 577 | public override bool Kinematic |
578 | fakeori = value; | 578 | { |
579 | givefakeori++; | 579 | get { return false; } |
580 | AddChange(changes.Orientation, value); | 580 | set { } |
581 | } | 581 | } |
582 | else | 582 | |
583 | m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); | 583 | public override Quaternion Orientation |
584 | 584 | { | |
585 | } | 585 | get |
586 | } | 586 | { |
587 | 587 | if (givefakeori > 0) | |
588 | public override Vector3 Acceleration | 588 | return fakeori; |
589 | { | 589 | else |
590 | get { return _acceleration; } | 590 | |
591 | set { } | 591 | return _orientation; |
592 | } | 592 | } |
593 | 593 | set | |
594 | public override Vector3 RotationalVelocity | 594 | { |
595 | { | 595 | if (QuaternionIsFinite(value)) |
596 | get | 596 | { |
597 | { | 597 | fakeori = value; |
598 | Vector3 pv = Vector3.Zero; | 598 | givefakeori++; |
599 | if (_zeroFlag) | 599 | AddChange(changes.Orientation, value); |
600 | return pv; | 600 | } |
601 | m_lastUpdateSent = false; | 601 | else |
602 | 602 | m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); | |
603 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | 603 | |
604 | return pv; | 604 | } |
605 | 605 | } | |
606 | return m_rotationalVelocity; | 606 | |
607 | } | 607 | public override Vector3 Acceleration |
608 | set | 608 | { |
609 | { | 609 | get { return _acceleration; } |
610 | if (value.IsFinite()) | 610 | set { } |
611 | { | 611 | } |
612 | m_rotationalVelocity = value; | 612 | |
613 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 613 | public override Vector3 RotationalVelocity |
614 | d.BodyEnable(Body); | 614 | { |
615 | } | 615 | get |
616 | else | 616 | { |
617 | { | 617 | Vector3 pv = Vector3.Zero; |
618 | m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); | 618 | if (_zeroFlag) |
619 | } | 619 | return pv; |
620 | } | 620 | m_lastUpdateSent = false; |
621 | } | 621 | |
622 | 622 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | |
623 | 623 | return pv; | |
624 | public override float Buoyancy | 624 | |
625 | { | 625 | return m_rotationalVelocity; |
626 | get { return m_buoyancy; } | 626 | } |
627 | set | 627 | set |
628 | { | 628 | { |
629 | m_buoyancy = value; | 629 | if (value.IsFinite()) |
630 | } | 630 | { |
631 | } | 631 | m_rotationalVelocity = value; |
632 | 632 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | |
633 | public override bool FloatOnWater | 633 | d.BodyEnable(Body); |
634 | { | 634 | } |
635 | set | 635 | else |
636 | { | 636 | { |
637 | AddChange(changes.CollidesWater, value); | 637 | m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); |
638 | } | 638 | } |
639 | } | 639 | } |
640 | 640 | } | |
641 | public override Vector3 PIDTarget | 641 | |
642 | { | 642 | |
643 | set | 643 | public override float Buoyancy |
644 | { | 644 | { |
645 | if (value.IsFinite()) | 645 | get { return m_buoyancy; } |
646 | { | 646 | set |
647 | m_PIDTarget = value; | 647 | { |
648 | } | 648 | m_buoyancy = value; |
649 | else | 649 | } |
650 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | 650 | } |
651 | } | 651 | |
652 | } | 652 | public override bool FloatOnWater |
653 | 653 | { | |
654 | public override bool PIDActive { set { m_usePID = value; } } | 654 | set |
655 | public override float PIDTau { set { m_PIDTau = value; } } | 655 | { |
656 | 656 | AddChange(changes.CollidesWater, value); | |
657 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } | 657 | } |
658 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } | 658 | } |
659 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } | 659 | |
660 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } | 660 | public override Vector3 PIDTarget |
661 | 661 | { | |
662 | public override Quaternion APIDTarget { set { return; } } | 662 | set |
663 | 663 | { | |
664 | public override bool APIDActive { set { return; } } | 664 | if (value.IsFinite()) |
665 | 665 | { | |
666 | public override float APIDStrength { set { return; } } | 666 | m_PIDTarget = value; |
667 | 667 | } | |
668 | public override float APIDDamping { set { return; } } | 668 | else |
669 | 669 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | |
670 | public override int VehicleType | 670 | } |
671 | { | 671 | } |
672 | // we may need to put a fake on this | 672 | |
673 | get | 673 | public override bool PIDActive { set { m_usePID = value; } } |
674 | { | 674 | public override float PIDTau { set { m_PIDTau = value; } } |
675 | if (m_vehicle == null) | 675 | |
676 | return (int)Vehicle.TYPE_NONE; | 676 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } |
677 | else | 677 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } |
678 | return (int)m_vehicle.Type; | 678 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } |
679 | } | 679 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } |
680 | set | 680 | |
681 | { | 681 | public override Quaternion APIDTarget { set { return; } } |
682 | AddChange(changes.VehicleType, value); | 682 | |
683 | } | 683 | public override bool APIDActive { set { return; } } |
684 | } | 684 | |
685 | 685 | public override float APIDStrength { set { return; } } | |
686 | public override void VehicleFloatParam(int param, float value) | 686 | |
687 | { | 687 | public override float APIDDamping { set { return; } } |
688 | strVehicleFloatParam fp = new strVehicleFloatParam(); | 688 | |
689 | fp.param = param; | 689 | public override int VehicleType |
690 | fp.value = value; | 690 | { |
691 | AddChange(changes.VehicleFloatParam, fp); | 691 | // we may need to put a fake on this |
692 | } | 692 | get |
693 | 693 | { | |
694 | public override void VehicleVectorParam(int param, Vector3 value) | 694 | if (m_vehicle == null) |
695 | { | 695 | return (int)Vehicle.TYPE_NONE; |
696 | strVehicleVectorParam fp = new strVehicleVectorParam(); | 696 | else |
697 | fp.param = param; | 697 | return (int)m_vehicle.Type; |
698 | fp.value = value; | 698 | } |
699 | AddChange(changes.VehicleVectorParam, fp); | 699 | set |
700 | } | 700 | { |
701 | 701 | AddChange(changes.VehicleType, value); | |
702 | public override void VehicleRotationParam(int param, Quaternion value) | 702 | } |
703 | { | 703 | } |
704 | strVehicleQuatParam fp = new strVehicleQuatParam(); | 704 | |
705 | fp.param = param; | 705 | public override void VehicleFloatParam(int param, float value) |
706 | fp.value = value; | 706 | { |
707 | AddChange(changes.VehicleRotationParam, fp); | 707 | strVehicleFloatParam fp = new strVehicleFloatParam(); |
708 | } | 708 | fp.param = param; |
709 | 709 | fp.value = value; | |
710 | public override void VehicleFlags(int param, bool value) | 710 | AddChange(changes.VehicleFloatParam, fp); |
711 | { | 711 | } |
712 | strVehicleBoolParam bp = new strVehicleBoolParam(); | 712 | |
713 | bp.param = param; | 713 | public override void VehicleVectorParam(int param, Vector3 value) |
714 | bp.value = value; | 714 | { |
715 | AddChange(changes.VehicleFlags, bp); | 715 | strVehicleVectorParam fp = new strVehicleVectorParam(); |
716 | } | 716 | fp.param = param; |
717 | 717 | fp.value = value; | |
718 | public override void SetVehicle(object vdata) | 718 | AddChange(changes.VehicleVectorParam, fp); |
719 | { | 719 | } |
720 | AddChange(changes.SetVehicle, vdata); | 720 | |
721 | } | 721 | public override void VehicleRotationParam(int param, Quaternion value) |
722 | public void SetAcceleration(Vector3 accel) | 722 | { |
723 | { | 723 | strVehicleQuatParam fp = new strVehicleQuatParam(); |
724 | _acceleration = accel; | 724 | fp.param = param; |
725 | } | 725 | fp.value = value; |
726 | 726 | AddChange(changes.VehicleRotationParam, fp); | |
727 | public override void AddForce(Vector3 force, bool pushforce) | 727 | } |
728 | { | 728 | |
729 | if (force.IsFinite()) | 729 | public override void VehicleFlags(int param, bool value) |
730 | { | 730 | { |
731 | AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE); | 731 | strVehicleBoolParam bp = new strVehicleBoolParam(); |
732 | } | 732 | bp.param = param; |
733 | else | 733 | bp.value = value; |
734 | { | 734 | AddChange(changes.VehicleFlags, bp); |
735 | m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); | 735 | } |
736 | } | 736 | |
737 | //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); | 737 | public override void SetVehicle(object vdata) |
738 | } | 738 | { |
739 | 739 | AddChange(changes.SetVehicle, vdata); | |
740 | public override void AddAngularForce(Vector3 force, bool pushforce) | 740 | } |
741 | { | 741 | public void SetAcceleration(Vector3 accel) |
742 | if (force.IsFinite()) | 742 | { |
743 | { | 743 | _acceleration = accel; |
744 | AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE); | 744 | } |
745 | } | 745 | |
746 | else | 746 | public override void AddForce(Vector3 force, bool pushforce) |
747 | { | 747 | { |
748 | m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); | 748 | if (force.IsFinite()) |
749 | } | 749 | { |
750 | } | 750 | AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE); |
751 | 751 | } | |
752 | public override void CrossingFailure() | 752 | else |
753 | { | 753 | { |
754 | if (m_outbounds) | 754 | m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); |
755 | { | 755 | } |
756 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); | 756 | //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); |
757 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | 757 | } |
758 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | 758 | |
759 | 759 | public override void AddAngularForce(Vector3 force, bool pushforce) | |
760 | m_lastposition = _position; | 760 | { |
761 | _velocity.X = 0; | 761 | if (force.IsFinite()) |
762 | _velocity.Y = 0; | 762 | { |
763 | _velocity.Z = 0; | 763 | AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE); |
764 | 764 | } | |
765 | m_lastVelocity = _velocity; | 765 | else |
766 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | 766 | { |
767 | m_vehicle.Stop(); | 767 | m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); |
768 | 768 | } | |
769 | if(Body != IntPtr.Zero) | 769 | } |
770 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | 770 | |
771 | if (prim_geom != IntPtr.Zero) | 771 | public override void CrossingFailure() |
772 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 772 | { |
773 | 773 | if (m_outbounds) | |
774 | m_outbounds = false; | 774 | { |
775 | changeDisable(false); | 775 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); |
776 | base.RequestPhysicsterseUpdate(); | 776 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); |
777 | } | 777 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); |
778 | } | 778 | |
779 | 779 | m_lastposition = _position; | |
780 | public override void SetMomentum(Vector3 momentum) | 780 | _velocity.X = 0; |
781 | { | 781 | _velocity.Y = 0; |
782 | } | 782 | _velocity.Z = 0; |
783 | 783 | ||
784 | public override void SetMaterial(int pMaterial) | 784 | m_lastVelocity = _velocity; |
785 | { | 785 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) |
786 | m_material = pMaterial; | 786 | m_vehicle.Stop(); |
787 | mu = _parent_scene.m_materialContactsData[pMaterial].mu; | 787 | |
788 | bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; | 788 | if(Body != IntPtr.Zero) |
789 | } | 789 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it |
790 | 790 | if (prim_geom != IntPtr.Zero) | |
791 | public void setPrimForRemoval() | 791 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
792 | { | 792 | |
793 | AddChange(changes.Remove, null); | 793 | m_outbounds = false; |
794 | } | 794 | changeDisable(false); |
795 | 795 | base.RequestPhysicsterseUpdate(); | |
796 | public override void link(PhysicsActor obj) | 796 | } |
797 | { | 797 | } |
798 | AddChange(changes.Link, obj); | 798 | |
799 | } | 799 | public override void SetMomentum(Vector3 momentum) |
800 | 800 | { | |
801 | public override void delink() | 801 | } |
802 | { | 802 | |
803 | AddChange(changes.DeLink, null); | 803 | public override void SetMaterial(int pMaterial) |
804 | } | 804 | { |
805 | 805 | m_material = pMaterial; | |
806 | public override void LockAngularMotion(Vector3 axis) | 806 | mu = _parent_scene.m_materialContactsData[pMaterial].mu; |
807 | { | 807 | bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; |
808 | // reverse the zero/non zero values for ODE. | 808 | } |
809 | if (axis.IsFinite()) | 809 | |
810 | { | 810 | public void setPrimForRemoval() |
811 | axis.X = (axis.X > 0) ? 1f : 0f; | 811 | { |
812 | axis.Y = (axis.Y > 0) ? 1f : 0f; | 812 | AddChange(changes.Remove, null); |
813 | axis.Z = (axis.Z > 0) ? 1f : 0f; | 813 | } |
814 | m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); | 814 | |
815 | AddChange(changes.AngLock, axis); | 815 | public override void link(PhysicsActor obj) |
816 | } | 816 | { |
817 | else | 817 | AddChange(changes.Link, obj); |
818 | { | 818 | } |
819 | m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); | 819 | |
820 | } | 820 | public override void delink() |
821 | } | 821 | { |
822 | 822 | AddChange(changes.DeLink, null); | |
823 | public override void SubscribeEvents(int ms) | 823 | } |
824 | { | 824 | |
825 | m_eventsubscription = ms; | 825 | public override void LockAngularMotion(Vector3 axis) |
826 | _parent_scene.AddCollisionEventReporting(this); | 826 | { |
827 | } | 827 | // reverse the zero/non zero values for ODE. |
828 | 828 | if (axis.IsFinite()) | |
829 | public override void UnSubscribeEvents() | 829 | { |
830 | { | 830 | axis.X = (axis.X > 0) ? 1f : 0f; |
831 | _parent_scene.RemoveCollisionEventReporting(this); | 831 | axis.Y = (axis.Y > 0) ? 1f : 0f; |
832 | m_eventsubscription = 0; | 832 | axis.Z = (axis.Z > 0) ? 1f : 0f; |
833 | } | 833 | m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); |
834 | 834 | AddChange(changes.AngLock, axis); | |
835 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | 835 | } |
836 | { | 836 | else |
837 | if (CollisionEventsThisFrame == null) | 837 | { |
838 | CollisionEventsThisFrame = new CollisionEventUpdate(); | 838 | m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); |
839 | 839 | } | |
840 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | 840 | } |
841 | } | 841 | |
842 | 842 | public override void SubscribeEvents(int ms) | |
843 | public void SendCollisions() | 843 | { |
844 | { | 844 | m_eventsubscription = ms; |
845 | if (CollisionEventsThisFrame == null) | 845 | _parent_scene.AddCollisionEventReporting(this); |
846 | return; | 846 | } |
847 | 847 | ||
848 | base.SendCollisionUpdate(CollisionEventsThisFrame); | 848 | public override void UnSubscribeEvents() |
849 | 849 | { | |
850 | if (CollisionEventsThisFrame.m_objCollisionList.Count == 0) | 850 | _parent_scene.RemoveCollisionEventReporting(this); |
851 | CollisionEventsThisFrame = null; | 851 | m_eventsubscription = 0; |
852 | else | 852 | } |
853 | CollisionEventsThisFrame = new CollisionEventUpdate(); | 853 | |
854 | } | 854 | public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) |
855 | 855 | { | |
856 | public override bool SubscribedEvents() | 856 | if (CollisionEventsThisFrame == null) |
857 | { | 857 | CollisionEventsThisFrame = new CollisionEventUpdate(); |
858 | if (m_eventsubscription > 0) | 858 | |
859 | return true; | 859 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); |
860 | return false; | 860 | } |
861 | } | 861 | |
862 | 862 | public void SendCollisions() | |
863 | 863 | { | |
864 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, | 864 | if (CollisionEventsThisFrame == null) |
865 | Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) | 865 | return; |
866 | { | 866 | |
867 | Name = primName; | 867 | base.SendCollisionUpdate(CollisionEventsThisFrame); |
868 | LocalID = plocalID; | 868 | |
869 | 869 | if (CollisionEventsThisFrame.m_objCollisionList.Count == 0) | |
870 | m_vehicle = null; | 870 | CollisionEventsThisFrame = null; |
871 | 871 | else | |
872 | if (!pos.IsFinite()) | 872 | CollisionEventsThisFrame = new CollisionEventUpdate(); |
873 | { | 873 | } |
874 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), | 874 | |
875 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | 875 | public override bool SubscribedEvents() |
876 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); | 876 | { |
877 | } | 877 | if (m_eventsubscription > 0) |
878 | _position = pos; | 878 | return true; |
879 | givefakepos = 0; | 879 | return false; |
880 | 880 | } | |
881 | PID_D = parent_scene.bodyPIDD; | 881 | |
882 | PID_G = parent_scene.bodyPIDG; | 882 | |
883 | m_density = parent_scene.geomDefaultDensity; | 883 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, |
884 | // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; | 884 | Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) |
885 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | 885 | { |
886 | 886 | Name = primName; | |
887 | prim_geom = IntPtr.Zero; | 887 | LocalID = plocalID; |
888 | collide_geom = IntPtr.Zero; | 888 | |
889 | Body = IntPtr.Zero; | 889 | m_vehicle = null; |
890 | 890 | ||
891 | if (!size.IsFinite()) | 891 | if (!pos.IsFinite()) |
892 | { | 892 | { |
893 | size = new Vector3(0.5f, 0.5f, 0.5f); | 893 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), |
894 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); | 894 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); |
895 | } | 895 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); |
896 | 896 | } | |
897 | if (size.X <= 0) size.X = 0.01f; | 897 | _position = pos; |
898 | if (size.Y <= 0) size.Y = 0.01f; | 898 | givefakepos = 0; |
899 | if (size.Z <= 0) size.Z = 0.01f; | 899 | |
900 | 900 | PID_D = parent_scene.bodyPIDD; | |
901 | _size = size; | 901 | PID_G = parent_scene.bodyPIDG; |
902 | 902 | m_density = parent_scene.geomDefaultDensity; | |
903 | if (!QuaternionIsFinite(rotation)) | 903 | // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; |
904 | { | 904 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; |
905 | rotation = Quaternion.Identity; | 905 | |
906 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); | 906 | prim_geom = IntPtr.Zero; |
907 | } | 907 | collide_geom = IntPtr.Zero; |
908 | 908 | Body = IntPtr.Zero; | |
909 | _orientation = rotation; | 909 | |
910 | givefakeori = 0; | 910 | if (!size.IsFinite()) |
911 | 911 | { | |
912 | _pbs = pbs; | 912 | size = new Vector3(0.5f, 0.5f, 0.5f); |
913 | 913 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); | |
914 | _parent_scene = parent_scene; | 914 | } |
915 | m_targetSpace = IntPtr.Zero; | 915 | |
916 | 916 | if (size.X <= 0) size.X = 0.01f; | |
917 | if (pos.Z < 0) | 917 | if (size.Y <= 0) size.Y = 0.01f; |
918 | { | 918 | if (size.Z <= 0) size.Z = 0.01f; |
919 | m_isphysical = false; | 919 | |
920 | } | 920 | _size = size; |
921 | else | 921 | |
922 | { | 922 | if (!QuaternionIsFinite(rotation)) |
923 | m_isphysical = pisPhysical; | 923 | { |
924 | } | 924 | rotation = Quaternion.Identity; |
925 | m_fakeisphysical = m_isphysical; | 925 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); |
926 | 926 | } | |
927 | m_isVolumeDetect = false; | 927 | |
928 | 928 | _orientation = rotation; | |
929 | m_force = Vector3.Zero; | 929 | givefakeori = 0; |
930 | 930 | ||
931 | m_iscolliding = false; | 931 | _pbs = pbs; |
932 | m_colliderfilter = 0; | 932 | |
933 | m_softcolide = true; | 933 | _parent_scene = parent_scene; |
934 | m_NoColide = false; | 934 | m_targetSpace = IntPtr.Zero; |
935 | 935 | ||
936 | hasOOBoffsetFromMesh = false; | 936 | if (pos.Z < 0) |
937 | _triMeshData = IntPtr.Zero; | 937 | { |
938 | 938 | m_isphysical = false; | |
939 | m_shapetype = _shapeType; | 939 | } |
940 | 940 | else | |
941 | m_lastdoneSelected = false; | 941 | { |
942 | m_isSelected = false; | 942 | m_isphysical = pisPhysical; |
943 | m_delaySelect = false; | 943 | } |
944 | 944 | m_fakeisphysical = m_isphysical; | |
945 | m_isphantom = pisPhantom; | 945 | |
946 | m_fakeisphantom = pisPhantom; | 946 | m_isVolumeDetect = false; |
947 | 947 | ||
948 | mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; | 948 | m_force = Vector3.Zero; |
949 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; | 949 | |
950 | 950 | m_iscolliding = false; | |
951 | CalcPrimBodyData(); | 951 | m_colliderfilter = 0; |
952 | 952 | m_softcolide = true; | |
953 | m_building = true; // control must set this to false when done | 953 | m_NoColide = false; |
954 | 954 | ||
955 | AddChange(changes.Add, null); | 955 | hasOOBoffsetFromMesh = false; |
956 | } | 956 | _triMeshData = IntPtr.Zero; |
957 | 957 | ||
958 | private void resetCollisionAccounting() | 958 | m_shapetype = _shapeType; |
959 | { | 959 | |
960 | m_collisionscore = 0; | 960 | m_lastdoneSelected = false; |
961 | } | 961 | m_isSelected = false; |
962 | 962 | m_delaySelect = false; | |
963 | private void createAMotor(Vector3 axis) | 963 | |
964 | { | 964 | m_isphantom = pisPhantom; |
965 | if (Body == IntPtr.Zero) | 965 | m_fakeisphantom = pisPhantom; |
966 | return; | 966 | |
967 | 967 | mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; | |
968 | if (Amotor != IntPtr.Zero) | 968 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; |
969 | { | 969 | |
970 | d.JointDestroy(Amotor); | 970 | CalcPrimBodyData(); |
971 | Amotor = IntPtr.Zero; | 971 | |
972 | } | 972 | m_mesh = null; |
973 | 973 | if (_parent_scene.needsMeshing(pbs)) | |
974 | int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); | 974 | { |
975 | 975 | bool convex; | |
976 | if (axisnum <= 0) | 976 | if (m_shapetype == 0) |
977 | return; | 977 | convex = false; |
978 | 978 | else | |
979 | // stop it | 979 | convex = true; |
980 | d.BodySetTorque(Body, 0, 0, 0); | 980 | |
981 | d.BodySetAngularVel(Body, 0, 0, 0); | 981 | m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex); |
982 | 982 | } | |
983 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | 983 | |
984 | d.JointAttach(Amotor, Body, IntPtr.Zero); | 984 | |
985 | 985 | m_building = true; // control must set this to false when done | |
986 | d.JointSetAMotorMode(Amotor, 0); | 986 | |
987 | 987 | AddChange(changes.Add, null); | |
988 | d.JointSetAMotorNumAxes(Amotor, axisnum); | 988 | } |
989 | 989 | ||
990 | // get current orientation to lock | 990 | private void resetCollisionAccounting() |
991 | 991 | { | |
992 | d.Quaternion dcur = d.BodyGetQuaternion(Body); | 992 | m_collisionscore = 0; |
993 | Quaternion curr; // crap convertion between identical things | 993 | } |
994 | curr.X = dcur.X; | 994 | |
995 | curr.Y = dcur.Y; | 995 | private void createAMotor(Vector3 axis) |
996 | curr.Z = dcur.Z; | 996 | { |
997 | curr.W = dcur.W; | 997 | if (Body == IntPtr.Zero) |
998 | Vector3 ax; | 998 | return; |
999 | 999 | ||
1000 | int i = 0; | 1000 | if (Amotor != IntPtr.Zero) |
1001 | int j = 0; | 1001 | { |
1002 | if (axis.X == 0) | 1002 | d.JointDestroy(Amotor); |
1003 | { | 1003 | Amotor = IntPtr.Zero; |
1004 | ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X | 1004 | } |
1005 | // ODE should do this with axis relative to body 1 but seems to fail | 1005 | |
1006 | d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); | 1006 | int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); |
1007 | d.JointSetAMotorAngle(Amotor, 0, 0); | 1007 | |
1008 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f); | 1008 | if (axisnum <= 0) |
1009 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f); | 1009 | return; |
1010 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | 1010 | |
1011 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); | 1011 | // stop it |
1012 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); | 1012 | d.BodySetTorque(Body, 0, 0, 0); |
1013 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); | 1013 | d.BodySetAngularVel(Body, 0, 0, 0); |
1014 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); | 1014 | |
1015 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); | 1015 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); |
1016 | i++; | 1016 | d.JointAttach(Amotor, Body, IntPtr.Zero); |
1017 | j = 256; // move to next axis set | 1017 | |
1018 | } | 1018 | d.JointSetAMotorMode(Amotor, 0); |
1019 | 1019 | ||
1020 | if (axis.Y == 0) | 1020 | d.JointSetAMotorNumAxes(Amotor, axisnum); |
1021 | { | 1021 | |
1022 | ax = (new Vector3(0, 1, 0)) * curr; | 1022 | // get current orientation to lock |
1023 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | 1023 | |
1024 | d.JointSetAMotorAngle(Amotor, i, 0); | 1024 | d.Quaternion dcur = d.BodyGetQuaternion(Body); |
1025 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); | 1025 | Quaternion curr; // crap convertion between identical things |
1026 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); | 1026 | curr.X = dcur.X; |
1027 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | 1027 | curr.Y = dcur.Y; |
1028 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | 1028 | curr.Z = dcur.Z; |
1029 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | 1029 | curr.W = dcur.W; |
1030 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | 1030 | Vector3 ax; |
1031 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | 1031 | |
1032 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | 1032 | int i = 0; |
1033 | i++; | 1033 | int j = 0; |
1034 | j += 256; | 1034 | if (axis.X == 0) |
1035 | } | 1035 | { |
1036 | 1036 | ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X | |
1037 | if (axis.Z == 0) | 1037 | // ODE should do this with axis relative to body 1 but seems to fail |
1038 | { | 1038 | d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); |
1039 | ax = (new Vector3(0, 0, 1)) * curr; | 1039 | d.JointSetAMotorAngle(Amotor, 0, 0); |
1040 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | 1040 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f); |
1041 | d.JointSetAMotorAngle(Amotor, i, 0); | 1041 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f); |
1042 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); | 1042 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); |
1043 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); | 1043 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); |
1044 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | 1044 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); |
1045 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | 1045 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); |
1046 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | 1046 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); |
1047 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | 1047 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); |
1048 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | 1048 | i++; |
1049 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | 1049 | j = 256; // move to next axis set |
1050 | } | 1050 | } |
1051 | } | 1051 | |
1052 | 1052 | if (axis.Y == 0) | |
1053 | private bool setMesh(OdeScene parent_scene) | 1053 | { |
1054 | { | 1054 | ax = (new Vector3(0, 1, 0)) * curr; |
1055 | if (Body != IntPtr.Zero) | 1055 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); |
1056 | { | 1056 | d.JointSetAMotorAngle(Amotor, i, 0); |
1057 | if (childPrim) | 1057 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); |
1058 | { | 1058 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); |
1059 | if (_parent != null) | 1059 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); |
1060 | { | 1060 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); |
1061 | OdePrim parent = (OdePrim)_parent; | 1061 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); |
1062 | parent.ChildDelink(this, false); | 1062 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); |
1063 | } | 1063 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); |
1064 | } | 1064 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); |
1065 | else | 1065 | i++; |
1066 | { | 1066 | j += 256; |
1067 | DestroyBody(); | 1067 | } |
1068 | } | 1068 | |
1069 | } | 1069 | if (axis.Z == 0) |
1070 | 1070 | { | |
1071 | bool convex; | 1071 | ax = (new Vector3(0, 0, 1)) * curr; |
1072 | if (m_shapetype == 0) | 1072 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); |
1073 | convex = false; | 1073 | d.JointSetAMotorAngle(Amotor, i, 0); |
1074 | else | 1074 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); |
1075 | convex = true; | 1075 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); |
1076 | 1076 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | |
1077 | IMesh mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true,convex); | 1077 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); |
1078 | if (mesh == null) | 1078 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); |
1079 | { | 1079 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); |
1080 | m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z); | 1080 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); |
1081 | return false; | 1081 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); |
1082 | } | 1082 | } |
1083 | 1083 | } | |
1084 | IntPtr vertices, indices; | 1084 | |
1085 | int vertexCount, indexCount; | 1085 | private bool setMesh(OdeScene parent_scene) |
1086 | int vertexStride, triStride; | 1086 | { |
1087 | 1087 | IntPtr vertices, indices; | |
1088 | mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap | 1088 | int vertexCount, indexCount; |
1089 | mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage | 1089 | int vertexStride, triStride; |
1090 | 1090 | ||
1091 | if (vertexCount == 0 || indexCount == 0) | 1091 | if (Body != IntPtr.Zero) |
1092 | { | 1092 | { |
1093 | m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", | 1093 | if (childPrim) |
1094 | Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString()); | 1094 | { |
1095 | mesh.releaseSourceMeshData(); | 1095 | if (_parent != null) |
1096 | return false; | 1096 | { |
1097 | } | 1097 | OdePrim parent = (OdePrim)_parent; |
1098 | 1098 | parent.ChildDelink(this, false); | |
1099 | primOOBoffset = mesh.GetCentroid(); | 1099 | } |
1100 | hasOOBoffsetFromMesh = true; | 1100 | } |
1101 | 1101 | else | |
1102 | mesh.releaseSourceMeshData(); | 1102 | { |
1103 | 1103 | DestroyBody(); | |
1104 | IntPtr geo = IntPtr.Zero; | 1104 | } |
1105 | 1105 | } | |
1106 | try | 1106 | |
1107 | { | 1107 | IMesh mesh = null; |
1108 | _triMeshData = d.GeomTriMeshDataCreate(); | 1108 | |
1109 | 1109 | ||
1110 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | 1110 | lock (m_meshlock) |
1111 | d.GeomTriMeshDataPreprocess(_triMeshData); | 1111 | { |
1112 | 1112 | if (m_mesh == null) | |
1113 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1113 | { |
1114 | geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); | 1114 | bool convex; |
1115 | } | 1115 | if (m_shapetype == 0) |
1116 | 1116 | convex = false; | |
1117 | catch (Exception e) | 1117 | else |
1118 | { | 1118 | convex = true; |
1119 | m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); | 1119 | |
1120 | if (_triMeshData != IntPtr.Zero) | 1120 | mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true, convex); |
1121 | { | 1121 | } |
1122 | d.GeomTriMeshDataDestroy(_triMeshData); | 1122 | else |
1123 | _triMeshData = IntPtr.Zero; | 1123 | { |
1124 | } | 1124 | mesh = m_mesh; |
1125 | return false; | 1125 | } |
1126 | } | 1126 | |
1127 | 1127 | if (mesh == null) | |
1128 | SetGeom(geo); | 1128 | { |
1129 | return true; | 1129 | m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z); |
1130 | } | 1130 | return false; |
1131 | 1131 | } | |
1132 | private void SetGeom(IntPtr geom) | 1132 | |
1133 | { | 1133 | |
1134 | prim_geom = geom; | 1134 | mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap |
1135 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); | 1135 | mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage |
1136 | if (prim_geom != IntPtr.Zero) | 1136 | |
1137 | { | 1137 | if (vertexCount == 0 || indexCount == 0) |
1138 | if (m_NoColide) | 1138 | { |
1139 | { | 1139 | m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", |
1140 | d.GeomSetCategoryBits(prim_geom, 0); | 1140 | Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString()); |
1141 | if (m_isphysical) | 1141 | mesh.releaseSourceMeshData(); |
1142 | { | 1142 | return false; |
1143 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); | 1143 | } |
1144 | } | 1144 | |
1145 | else | 1145 | primOOBoffset = mesh.GetCentroid(); |
1146 | { | 1146 | hasOOBoffsetFromMesh = true; |
1147 | d.GeomSetCollideBits(prim_geom, 0); | 1147 | |
1148 | d.GeomDisable(prim_geom); | 1148 | mesh.releaseSourceMeshData(); |
1149 | } | 1149 | m_mesh = null; |
1150 | } | 1150 | } |
1151 | else | 1151 | |
1152 | { | 1152 | IntPtr geo = IntPtr.Zero; |
1153 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1153 | |
1154 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1154 | try |
1155 | } | 1155 | { |
1156 | 1156 | _triMeshData = d.GeomTriMeshDataCreate(); | |
1157 | CalcPrimBodyData(); | 1157 | |
1158 | 1158 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | |
1159 | _parent_scene.geom_name_map[prim_geom] = Name; | 1159 | d.GeomTriMeshDataPreprocess(_triMeshData); |
1160 | _parent_scene.actor_name_map[prim_geom] = this; | 1160 | |
1161 | 1161 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | |
1162 | } | 1162 | geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); |
1163 | else | 1163 | } |
1164 | m_log.Warn("Setting bad Geom"); | 1164 | |
1165 | } | 1165 | catch (Exception e) |
1166 | 1166 | { | |
1167 | 1167 | m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); | |
1168 | /// <summary> | 1168 | if (_triMeshData != IntPtr.Zero) |
1169 | /// Create a geometry for the given mesh in the given target space. | 1169 | { |
1170 | /// </summary> | 1170 | d.GeomTriMeshDataDestroy(_triMeshData); |
1171 | /// <param name="m_targetSpace"></param> | 1171 | _triMeshData = IntPtr.Zero; |
1172 | /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param> | 1172 | } |
1173 | private void CreateGeom() | 1173 | return false; |
1174 | { | 1174 | } |
1175 | if (_triMeshData != IntPtr.Zero) | 1175 | |
1176 | { | 1176 | SetGeom(geo); |
1177 | d.GeomTriMeshDataDestroy(_triMeshData); | 1177 | return true; |
1178 | _triMeshData = IntPtr.Zero; | 1178 | } |
1179 | } | 1179 | |
1180 | 1180 | private void SetGeom(IntPtr geom) | |
1181 | bool haveMesh = false; | 1181 | { |
1182 | hasOOBoffsetFromMesh = false; | 1182 | prim_geom = geom; |
1183 | m_NoColide = false; | 1183 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); |
1184 | 1184 | if (prim_geom != IntPtr.Zero) | |
1185 | if (_parent_scene.needsMeshing(_pbs)) | 1185 | { |
1186 | { | 1186 | if (m_NoColide) |
1187 | haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims | 1187 | { |
1188 | if (!haveMesh) | 1188 | d.GeomSetCategoryBits(prim_geom, 0); |
1189 | m_NoColide = true; | 1189 | if (m_isphysical) |
1190 | } | 1190 | { |
1191 | 1191 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); | |
1192 | if (!haveMesh) | 1192 | } |
1193 | { | 1193 | else |
1194 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 | 1194 | { |
1195 | && _size.X == _size.Y && _size.Y == _size.Z) | 1195 | d.GeomSetCollideBits(prim_geom, 0); |
1196 | { // it's a sphere | 1196 | d.GeomDisable(prim_geom); |
1197 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1197 | } |
1198 | try | 1198 | } |
1199 | { | 1199 | else |
1200 | SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f)); | 1200 | { |
1201 | } | 1201 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1202 | catch (Exception e) | 1202 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1203 | { | 1203 | } |
1204 | m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); | 1204 | |
1205 | return; | 1205 | CalcPrimBodyData(); |
1206 | } | 1206 | |
1207 | } | 1207 | _parent_scene.geom_name_map[prim_geom] = Name; |
1208 | else | 1208 | _parent_scene.actor_name_map[prim_geom] = this; |
1209 | {// do it as a box | 1209 | |
1210 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1210 | } |
1211 | try | 1211 | else |
1212 | { | 1212 | m_log.Warn("Setting bad Geom"); |
1213 | //Console.WriteLine(" CreateGeom 4"); | 1213 | } |
1214 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); | 1214 | |
1215 | } | 1215 | |
1216 | catch (Exception e) | 1216 | /// <summary> |
1217 | { | 1217 | /// Create a geometry for the given mesh in the given target space. |
1218 | m_log.Warn("[PHYSICS]: Create box failed: {0}", e); | 1218 | /// </summary> |
1219 | return; | 1219 | /// <param name="m_targetSpace"></param> |
1220 | } | 1220 | /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param> |
1221 | } | 1221 | private void CreateGeom() |
1222 | } | 1222 | { |
1223 | } | 1223 | if (_triMeshData != IntPtr.Zero) |
1224 | 1224 | { | |
1225 | /// <summary> | 1225 | d.GeomTriMeshDataDestroy(_triMeshData); |
1226 | /// Set a new geometry for this prim. | 1226 | _triMeshData = IntPtr.Zero; |
1227 | /// </summary> | 1227 | } |
1228 | /// <param name="geom"></param> | 1228 | |
1229 | private void RemoveGeom() | 1229 | bool haveMesh = false; |
1230 | { | 1230 | hasOOBoffsetFromMesh = false; |
1231 | if (prim_geom != IntPtr.Zero) | 1231 | m_NoColide = false; |
1232 | { | 1232 | |
1233 | _parent_scene.geom_name_map.Remove(prim_geom); | 1233 | if (_parent_scene.needsMeshing(_pbs)) |
1234 | _parent_scene.actor_name_map.Remove(prim_geom); | 1234 | { |
1235 | try | 1235 | haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims |
1236 | { | 1236 | if (!haveMesh) |
1237 | d.GeomDestroy(prim_geom); | 1237 | m_NoColide = true; |
1238 | if (_triMeshData != IntPtr.Zero) | 1238 | } |
1239 | { | 1239 | |
1240 | d.GeomTriMeshDataDestroy(_triMeshData); | 1240 | if (!haveMesh) |
1241 | _triMeshData = IntPtr.Zero; | 1241 | { |
1242 | } | 1242 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 |
1243 | } | 1243 | && _size.X == _size.Y && _size.Y == _size.Z) |
1244 | // catch (System.AccessViolationException) | 1244 | { // it's a sphere |
1245 | catch (Exception e) | 1245 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1246 | { | 1246 | try |
1247 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); | 1247 | { |
1248 | } | 1248 | SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f)); |
1249 | 1249 | } | |
1250 | prim_geom = IntPtr.Zero; | 1250 | catch (Exception e) |
1251 | } | 1251 | { |
1252 | else | 1252 | m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); |
1253 | { | 1253 | return; |
1254 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); | 1254 | } |
1255 | } | 1255 | } |
1256 | Body = IntPtr.Zero; | 1256 | else |
1257 | hasOOBoffsetFromMesh = false; | 1257 | {// do it as a box |
1258 | CalcPrimBodyData(); | 1258 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1259 | } | 1259 | try |
1260 | 1260 | { | |
1261 | private void ChildSetGeom(OdePrim odePrim) | 1261 | //Console.WriteLine(" CreateGeom 4"); |
1262 | { | 1262 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); |
1263 | // well.. | 1263 | } |
1264 | DestroyBody(); | 1264 | catch (Exception e) |
1265 | MakeBody(); | 1265 | { |
1266 | } | 1266 | m_log.Warn("[PHYSICS]: Create box failed: {0}", e); |
1267 | 1267 | return; | |
1268 | //sets non physical prim m_targetSpace to right space in spaces grid for static prims | 1268 | } |
1269 | // should only be called for non physical prims unless they are becoming non physical | 1269 | } |
1270 | private void SetInStaticSpace(OdePrim prim) | 1270 | } |
1271 | { | 1271 | } |
1272 | IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); | 1272 | |
1273 | prim.m_targetSpace = targetSpace; | 1273 | /// <summary> |
1274 | d.GeomEnable(prim_geom); | 1274 | /// Set a new geometry for this prim. |
1275 | } | 1275 | /// </summary> |
1276 | 1276 | /// <param name="geom"></param> | |
1277 | public void enableBodySoft() | 1277 | private void RemoveGeom() |
1278 | { | 1278 | { |
1279 | if (!childPrim && !m_isSelected) | 1279 | if (prim_geom != IntPtr.Zero) |
1280 | { | 1280 | { |
1281 | if (m_isphysical && Body != IntPtr.Zero) | 1281 | _parent_scene.geom_name_map.Remove(prim_geom); |
1282 | { | 1282 | _parent_scene.actor_name_map.Remove(prim_geom); |
1283 | if (m_isphantom && !m_isVolumeDetect) | 1283 | try |
1284 | { | 1284 | { |
1285 | m_collisionCategories = 0; | 1285 | d.GeomDestroy(prim_geom); |
1286 | m_collisionFlags = CollisionCategories.Land; | 1286 | if (_triMeshData != IntPtr.Zero) |
1287 | } | 1287 | { |
1288 | else | 1288 | d.GeomTriMeshDataDestroy(_triMeshData); |
1289 | { | 1289 | _triMeshData = IntPtr.Zero; |
1290 | m_collisionCategories |= CollisionCategories.Body; | 1290 | } |
1291 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1291 | } |
1292 | } | 1292 | // catch (System.AccessViolationException) |
1293 | 1293 | catch (Exception e) | |
1294 | foreach (OdePrim prm in childrenPrim) | 1294 | { |
1295 | { | 1295 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); |
1296 | prm.m_collisionCategories = m_collisionCategories; | 1296 | } |
1297 | prm.m_collisionFlags = m_collisionFlags; | 1297 | |
1298 | 1298 | prim_geom = IntPtr.Zero; | |
1299 | if (prm.prim_geom != IntPtr.Zero) | 1299 | } |
1300 | { | 1300 | else |
1301 | if (prm.m_NoColide) | 1301 | { |
1302 | { | 1302 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); |
1303 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 1303 | } |
1304 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | 1304 | Body = IntPtr.Zero; |
1305 | } | 1305 | hasOOBoffsetFromMesh = false; |
1306 | else | 1306 | CalcPrimBodyData(); |
1307 | { | 1307 | } |
1308 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | 1308 | |
1309 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | 1309 | private void ChildSetGeom(OdePrim odePrim) |
1310 | } | 1310 | { |
1311 | d.GeomEnable(prm.prim_geom); | 1311 | // well.. |
1312 | } | 1312 | DestroyBody(); |
1313 | } | 1313 | MakeBody(); |
1314 | 1314 | } | |
1315 | if (prim_geom != IntPtr.Zero) | 1315 | |
1316 | { | 1316 | //sets non physical prim m_targetSpace to right space in spaces grid for static prims |
1317 | if (m_NoColide) | 1317 | // should only be called for non physical prims unless they are becoming non physical |
1318 | { | 1318 | private void SetInStaticSpace(OdePrim prim) |
1319 | d.GeomSetCategoryBits(prim_geom, 0); | 1319 | { |
1320 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); | 1320 | IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); |
1321 | } | 1321 | prim.m_targetSpace = targetSpace; |
1322 | else | 1322 | d.GeomEnable(prim_geom); |
1323 | { | 1323 | } |
1324 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1324 | |
1325 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1325 | public void enableBodySoft() |
1326 | } | 1326 | { |
1327 | d.GeomEnable(prim_geom); | 1327 | if (!childPrim && !m_isSelected) |
1328 | } | 1328 | { |
1329 | d.BodyEnable(Body); | 1329 | if (m_isphysical && Body != IntPtr.Zero) |
1330 | } | 1330 | { |
1331 | } | 1331 | if (m_isphantom && !m_isVolumeDetect) |
1332 | m_disabled = false; | 1332 | { |
1333 | resetCollisionAccounting(); // this sets m_disable to false | 1333 | m_collisionCategories = 0; |
1334 | } | 1334 | m_collisionFlags = CollisionCategories.Land; |
1335 | 1335 | } | |
1336 | private void disableBodySoft() | 1336 | else |
1337 | { | 1337 | { |
1338 | m_disabled = true; | 1338 | m_collisionCategories |= CollisionCategories.Body; |
1339 | if (!childPrim) | 1339 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1340 | { | 1340 | } |
1341 | if (m_isphysical && Body != IntPtr.Zero) | 1341 | |
1342 | { | 1342 | foreach (OdePrim prm in childrenPrim) |
1343 | m_collisionCategories &= ~CollisionCategories.Body; | 1343 | { |
1344 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 1344 | prm.m_collisionCategories = m_collisionCategories; |
1345 | 1345 | prm.m_collisionFlags = m_collisionFlags; | |
1346 | foreach (OdePrim prm in childrenPrim) | 1346 | |
1347 | { | 1347 | if (prm.prim_geom != IntPtr.Zero) |
1348 | prm.m_collisionCategories = m_collisionCategories; | 1348 | { |
1349 | prm.m_collisionFlags = m_collisionFlags; | 1349 | if (prm.m_NoColide) |
1350 | 1350 | { | |
1351 | if (prm.prim_geom != IntPtr.Zero) | 1351 | d.GeomSetCategoryBits(prm.prim_geom, 0); |
1352 | { | 1352 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); |
1353 | if (prm.m_NoColide) | 1353 | } |
1354 | { | 1354 | else |
1355 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 1355 | { |
1356 | d.GeomSetCollideBits(prm.prim_geom, 0); | 1356 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); |
1357 | } | 1357 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); |
1358 | else | 1358 | } |
1359 | { | 1359 | d.GeomEnable(prm.prim_geom); |
1360 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | 1360 | } |
1361 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | 1361 | } |
1362 | } | 1362 | |
1363 | d.GeomDisable(prm.prim_geom); | 1363 | if (prim_geom != IntPtr.Zero) |
1364 | } | 1364 | { |
1365 | } | 1365 | if (m_NoColide) |
1366 | 1366 | { | |
1367 | if (prim_geom != IntPtr.Zero) | 1367 | d.GeomSetCategoryBits(prim_geom, 0); |
1368 | { | 1368 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); |
1369 | if (m_NoColide) | 1369 | } |
1370 | { | 1370 | else |
1371 | d.GeomSetCategoryBits(prim_geom, 0); | 1371 | { |
1372 | d.GeomSetCollideBits(prim_geom, 0); | 1372 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1373 | } | 1373 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1374 | else | 1374 | } |
1375 | { | 1375 | d.GeomEnable(prim_geom); |
1376 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1376 | } |
1377 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1377 | d.BodyEnable(Body); |
1378 | } | 1378 | } |
1379 | d.GeomDisable(prim_geom); | 1379 | } |
1380 | } | 1380 | m_disabled = false; |
1381 | 1381 | resetCollisionAccounting(); // this sets m_disable to false | |
1382 | d.BodyDisable(Body); | 1382 | } |
1383 | } | 1383 | |
1384 | } | 1384 | private void disableBodySoft() |
1385 | } | 1385 | { |
1386 | 1386 | m_disabled = true; | |
1387 | private void MakeBody() | 1387 | if (!childPrim) |
1388 | { | 1388 | { |
1389 | if (!m_isphysical) // only physical get bodies | 1389 | if (m_isphysical && Body != IntPtr.Zero) |
1390 | return; | 1390 | { |
1391 | 1391 | m_collisionCategories &= ~CollisionCategories.Body; | |
1392 | if (childPrim) // child prims don't get bodies; | 1392 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
1393 | return; | 1393 | |
1394 | 1394 | foreach (OdePrim prm in childrenPrim) | |
1395 | if (m_building) | 1395 | { |
1396 | return; | 1396 | prm.m_collisionCategories = m_collisionCategories; |
1397 | 1397 | prm.m_collisionFlags = m_collisionFlags; | |
1398 | if (prim_geom == IntPtr.Zero) | 1398 | |
1399 | { | 1399 | if (prm.prim_geom != IntPtr.Zero) |
1400 | m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); | 1400 | { |
1401 | return; | 1401 | if (prm.m_NoColide) |
1402 | } | 1402 | { |
1403 | 1403 | d.GeomSetCategoryBits(prm.prim_geom, 0); | |
1404 | if (Body != IntPtr.Zero) | 1404 | d.GeomSetCollideBits(prm.prim_geom, 0); |
1405 | { | 1405 | } |
1406 | d.BodyDestroy(Body); | 1406 | else |
1407 | Body = IntPtr.Zero; | 1407 | { |
1408 | m_log.Warn("[PHYSICS]: MakeBody called having a body"); | 1408 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); |
1409 | } | 1409 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); |
1410 | 1410 | } | |
1411 | 1411 | d.GeomDisable(prm.prim_geom); | |
1412 | if (d.GeomGetBody(prim_geom) != IntPtr.Zero) | 1412 | } |
1413 | { | 1413 | } |
1414 | d.GeomSetBody(prim_geom, IntPtr.Zero); | 1414 | |
1415 | m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); | 1415 | if (prim_geom != IntPtr.Zero) |
1416 | } | 1416 | { |
1417 | 1417 | if (m_NoColide) | |
1418 | d.Matrix3 mymat = new d.Matrix3(); | 1418 | { |
1419 | d.Quaternion myrot = new d.Quaternion(); | 1419 | d.GeomSetCategoryBits(prim_geom, 0); |
1420 | d.Mass objdmass = new d.Mass { }; | 1420 | d.GeomSetCollideBits(prim_geom, 0); |
1421 | 1421 | } | |
1422 | Body = d.BodyCreate(_parent_scene.world); | 1422 | else |
1423 | 1423 | { | |
1424 | DMassDup(ref primdMass, out objdmass); | 1424 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1425 | 1425 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | |
1426 | // rotate inertia | 1426 | } |
1427 | myrot.X = _orientation.X; | 1427 | d.GeomDisable(prim_geom); |
1428 | myrot.Y = _orientation.Y; | 1428 | } |
1429 | myrot.Z = _orientation.Z; | 1429 | |
1430 | myrot.W = _orientation.W; | 1430 | d.BodyDisable(Body); |
1431 | 1431 | } | |
1432 | d.RfromQ(out mymat, ref myrot); | 1432 | } |
1433 | d.MassRotate(ref objdmass, ref mymat); | 1433 | } |
1434 | 1434 | ||
1435 | // set the body rotation | 1435 | private void MakeBody() |
1436 | d.BodySetRotation(Body, ref mymat); | 1436 | { |
1437 | 1437 | if (!m_isphysical) // only physical get bodies | |
1438 | // recompute full object inertia if needed | 1438 | return; |
1439 | if (childrenPrim.Count > 0) | 1439 | |
1440 | { | 1440 | if (childPrim) // child prims don't get bodies; |
1441 | d.Matrix3 mat = new d.Matrix3(); | 1441 | return; |
1442 | d.Quaternion quat = new d.Quaternion(); | 1442 | |
1443 | d.Mass tmpdmass = new d.Mass { }; | 1443 | if (m_building) |
1444 | Vector3 rcm; | 1444 | return; |
1445 | 1445 | ||
1446 | rcm.X = _position.X + objdmass.c.X; | 1446 | if (prim_geom == IntPtr.Zero) |
1447 | rcm.Y = _position.Y + objdmass.c.Y; | 1447 | { |
1448 | rcm.Z = _position.Z + objdmass.c.Z; | 1448 | m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); |
1449 | 1449 | return; | |
1450 | lock (childrenPrim) | 1450 | } |
1451 | { | 1451 | |
1452 | foreach (OdePrim prm in childrenPrim) | 1452 | if (Body != IntPtr.Zero) |
1453 | { | 1453 | { |
1454 | if (prm.prim_geom == IntPtr.Zero) | 1454 | d.BodyDestroy(Body); |
1455 | { | 1455 | Body = IntPtr.Zero; |
1456 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); | 1456 | m_log.Warn("[PHYSICS]: MakeBody called having a body"); |
1457 | continue; | 1457 | } |
1458 | } | 1458 | |
1459 | 1459 | ||
1460 | DMassCopy(ref prm.primdMass, ref tmpdmass); | 1460 | if (d.GeomGetBody(prim_geom) != IntPtr.Zero) |
1461 | 1461 | { | |
1462 | // apply prim current rotation to inertia | 1462 | d.GeomSetBody(prim_geom, IntPtr.Zero); |
1463 | quat.X = prm._orientation.X; | 1463 | m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); |
1464 | quat.Y = prm._orientation.Y; | 1464 | } |
1465 | quat.Z = prm._orientation.Z; | 1465 | |
1466 | quat.W = prm._orientation.W; | 1466 | d.Matrix3 mymat = new d.Matrix3(); |
1467 | d.RfromQ(out mat, ref quat); | 1467 | d.Quaternion myrot = new d.Quaternion(); |
1468 | d.MassRotate(ref tmpdmass, ref mat); | 1468 | d.Mass objdmass = new d.Mass { }; |
1469 | 1469 | ||
1470 | Vector3 ppos = prm._position; | 1470 | Body = d.BodyCreate(_parent_scene.world); |
1471 | ppos.X += tmpdmass.c.X - rcm.X; | 1471 | |
1472 | ppos.Y += tmpdmass.c.Y - rcm.Y; | 1472 | DMassDup(ref primdMass, out objdmass); |
1473 | ppos.Z += tmpdmass.c.Z - rcm.Z; | 1473 | |
1474 | 1474 | // rotate inertia | |
1475 | // refer inertia to root prim center of mass position | 1475 | myrot.X = _orientation.X; |
1476 | d.MassTranslate(ref tmpdmass, | 1476 | myrot.Y = _orientation.Y; |
1477 | ppos.X, | 1477 | myrot.Z = _orientation.Z; |
1478 | ppos.Y, | 1478 | myrot.W = _orientation.W; |
1479 | ppos.Z); | 1479 | |
1480 | 1480 | d.RfromQ(out mymat, ref myrot); | |
1481 | d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia | 1481 | d.MassRotate(ref objdmass, ref mymat); |
1482 | // fix prim colision cats | 1482 | |
1483 | 1483 | // set the body rotation | |
1484 | if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) | 1484 | d.BodySetRotation(Body, ref mymat); |
1485 | { | 1485 | |
1486 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | 1486 | // recompute full object inertia if needed |
1487 | m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); | 1487 | if (childrenPrim.Count > 0) |
1488 | } | 1488 | { |
1489 | 1489 | d.Matrix3 mat = new d.Matrix3(); | |
1490 | d.GeomClearOffset(prm.prim_geom); | 1490 | d.Quaternion quat = new d.Quaternion(); |
1491 | d.GeomSetBody(prm.prim_geom, Body); | 1491 | d.Mass tmpdmass = new d.Mass { }; |
1492 | prm.Body = Body; | 1492 | Vector3 rcm; |
1493 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation | 1493 | |
1494 | } | 1494 | rcm.X = _position.X + objdmass.c.X; |
1495 | } | 1495 | rcm.Y = _position.Y + objdmass.c.Y; |
1496 | } | 1496 | rcm.Z = _position.Z + objdmass.c.Z; |
1497 | 1497 | ||
1498 | d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset | 1498 | lock (childrenPrim) |
1499 | // associate root geom with body | 1499 | { |
1500 | d.GeomSetBody(prim_geom, Body); | 1500 | foreach (OdePrim prm in childrenPrim) |
1501 | 1501 | { | |
1502 | d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); | 1502 | if (prm.prim_geom == IntPtr.Zero) |
1503 | d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); | 1503 | { |
1504 | 1504 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); | |
1505 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | 1505 | continue; |
1506 | myrot.W = -myrot.W; | 1506 | } |
1507 | d.RfromQ(out mymat, ref myrot); | 1507 | |
1508 | d.MassRotate(ref objdmass, ref mymat); | 1508 | DMassCopy(ref prm.primdMass, ref tmpdmass); |
1509 | d.BodySetMass(Body, ref objdmass); | 1509 | |
1510 | _mass = objdmass.mass; | 1510 | // apply prim current rotation to inertia |
1511 | 1511 | quat.X = prm._orientation.X; | |
1512 | // disconnect from world gravity so we can apply buoyancy | 1512 | quat.Y = prm._orientation.Y; |
1513 | d.BodySetGravityMode(Body, false); | 1513 | quat.Z = prm._orientation.Z; |
1514 | 1514 | quat.W = prm._orientation.W; | |
1515 | d.BodySetAutoDisableFlag(Body, true); | 1515 | d.RfromQ(out mat, ref quat); |
1516 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | 1516 | d.MassRotate(ref tmpdmass, ref mat); |
1517 | // d.BodySetLinearDampingThreshold(Body, 0.01f); | 1517 | |
1518 | // d.BodySetAngularDampingThreshold(Body, 0.001f); | 1518 | Vector3 ppos = prm._position; |
1519 | d.BodySetDamping(Body, .002f, .002f); | 1519 | ppos.X += tmpdmass.c.X - rcm.X; |
1520 | 1520 | ppos.Y += tmpdmass.c.Y - rcm.Y; | |
1521 | 1521 | ppos.Z += tmpdmass.c.Z - rcm.Z; | |
1522 | if (m_targetSpace != IntPtr.Zero) | 1522 | |
1523 | { | 1523 | // refer inertia to root prim center of mass position |
1524 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1524 | d.MassTranslate(ref tmpdmass, |
1525 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | 1525 | ppos.X, |
1526 | d.SpaceRemove(m_targetSpace, prim_geom); | 1526 | ppos.Y, |
1527 | } | 1527 | ppos.Z); |
1528 | 1528 | ||
1529 | 1529 | d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia | |
1530 | if (childrenPrim.Count == 0) | 1530 | // fix prim colision cats |
1531 | { | 1531 | |
1532 | collide_geom = prim_geom; | 1532 | if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) |
1533 | m_targetSpace = _parent_scene.ActiveSpace; | 1533 | { |
1534 | d.SpaceAdd(m_targetSpace, prim_geom); | 1534 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); |
1535 | } | 1535 | m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); |
1536 | else | 1536 | } |
1537 | { | 1537 | |
1538 | m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); | 1538 | d.GeomClearOffset(prm.prim_geom); |
1539 | d.HashSpaceSetLevels(m_targetSpace, -2, 8); | 1539 | d.GeomSetBody(prm.prim_geom, Body); |
1540 | d.SpaceSetSublevel(m_targetSpace, 3); | 1540 | prm.Body = Body; |
1541 | d.SpaceSetCleanup(m_targetSpace, false); | 1541 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation |
1542 | d.SpaceAdd(m_targetSpace, prim_geom); | 1542 | } |
1543 | collide_geom = m_targetSpace; | 1543 | } |
1544 | } | 1544 | } |
1545 | 1545 | ||
1546 | if (m_delaySelect) | 1546 | d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset |
1547 | { | 1547 | // associate root geom with body |
1548 | m_isSelected = true; | 1548 | d.GeomSetBody(prim_geom, Body); |
1549 | m_delaySelect = false; | 1549 | |
1550 | } | 1550 | d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); |
1551 | 1551 | d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); | |
1552 | lock (childrenPrim) | 1552 | |
1553 | { | 1553 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body |
1554 | foreach (OdePrim prm in childrenPrim) | 1554 | myrot.W = -myrot.W; |
1555 | { | 1555 | d.RfromQ(out mymat, ref myrot); |
1556 | if (prm.prim_geom == IntPtr.Zero) | 1556 | d.MassRotate(ref objdmass, ref mymat); |
1557 | continue; | 1557 | d.BodySetMass(Body, ref objdmass); |
1558 | 1558 | _mass = objdmass.mass; | |
1559 | Vector3 ppos = prm._position; | 1559 | |
1560 | d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position | 1560 | // disconnect from world gravity so we can apply buoyancy |
1561 | 1561 | d.BodySetGravityMode(Body, false); | |
1562 | if (prm.m_targetSpace != m_targetSpace) | 1562 | |
1563 | { | 1563 | d.BodySetAutoDisableFlag(Body, true); |
1564 | if (prm.m_targetSpace != IntPtr.Zero) | 1564 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
1565 | { | 1565 | // d.BodySetLinearDampingThreshold(Body, 0.01f); |
1566 | _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); | 1566 | // d.BodySetAngularDampingThreshold(Body, 0.001f); |
1567 | if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) | 1567 | d.BodySetDamping(Body, .002f, .002f); |
1568 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); | 1568 | |
1569 | } | 1569 | |
1570 | prm.m_targetSpace = m_targetSpace; | 1570 | if (m_targetSpace != IntPtr.Zero) |
1571 | d.SpaceAdd(m_targetSpace, prm.prim_geom); | 1571 | { |
1572 | } | 1572 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1573 | 1573 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | |
1574 | if (m_isSelected || m_disabled) | 1574 | d.SpaceRemove(m_targetSpace, prim_geom); |
1575 | { | 1575 | } |
1576 | prm.m_collisionCategories &= ~CollisionCategories.Body; | 1576 | |
1577 | prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind); | 1577 | |
1578 | d.GeomDisable(prm.prim_geom); | 1578 | if (childrenPrim.Count == 0) |
1579 | } | 1579 | { |
1580 | else | 1580 | collide_geom = prim_geom; |
1581 | { | 1581 | m_targetSpace = _parent_scene.ActiveSpace; |
1582 | if (m_isphantom && !m_isVolumeDetect) | 1582 | d.SpaceAdd(m_targetSpace, prim_geom); |
1583 | { | 1583 | } |
1584 | prm.m_collisionCategories = 0; | 1584 | else |
1585 | prm.m_collisionFlags = CollisionCategories.Land; | 1585 | { |
1586 | } | 1586 | m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); |
1587 | else | 1587 | d.HashSpaceSetLevels(m_targetSpace, -2, 8); |
1588 | { | 1588 | d.SpaceSetSublevel(m_targetSpace, 3); |
1589 | prm.m_collisionCategories |= CollisionCategories.Body; | 1589 | d.SpaceSetCleanup(m_targetSpace, false); |
1590 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1590 | d.SpaceAdd(m_targetSpace, prim_geom); |
1591 | } | 1591 | collide_geom = m_targetSpace; |
1592 | d.GeomEnable(prm.prim_geom); | 1592 | } |
1593 | } | 1593 | |
1594 | 1594 | if (m_delaySelect) | |
1595 | if (prm.m_NoColide) | 1595 | { |
1596 | { | 1596 | m_isSelected = true; |
1597 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 1597 | m_delaySelect = false; |
1598 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | 1598 | } |
1599 | d.GeomEnable(prm.prim_geom); | 1599 | |
1600 | } | 1600 | lock (childrenPrim) |
1601 | else | 1601 | { |
1602 | { | 1602 | foreach (OdePrim prm in childrenPrim) |
1603 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); | 1603 | { |
1604 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); | 1604 | if (prm.prim_geom == IntPtr.Zero) |
1605 | } | 1605 | continue; |
1606 | prm.m_collisionscore = 0; | 1606 | |
1607 | 1607 | Vector3 ppos = prm._position; | |
1608 | if(!m_disabled) | 1608 | d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position |
1609 | prm.m_disabled = false; | 1609 | |
1610 | 1610 | if (prm.m_targetSpace != m_targetSpace) | |
1611 | _parent_scene.addActivePrim(prm); | 1611 | { |
1612 | } | 1612 | if (prm.m_targetSpace != IntPtr.Zero) |
1613 | } | 1613 | { |
1614 | 1614 | _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); | |
1615 | // The body doesn't already have a finite rotation mode set here | 1615 | if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) |
1616 | if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) | 1616 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); |
1617 | { | 1617 | } |
1618 | createAMotor(m_angularlock); | 1618 | prm.m_targetSpace = m_targetSpace; |
1619 | } | 1619 | d.SpaceAdd(m_targetSpace, prm.prim_geom); |
1620 | 1620 | } | |
1621 | if (m_isSelected || m_disabled) | 1621 | |
1622 | { | 1622 | if (m_isSelected || m_disabled) |
1623 | m_collisionCategories &= ~CollisionCategories.Body; | 1623 | { |
1624 | m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind); | 1624 | prm.m_collisionCategories &= ~CollisionCategories.Body; |
1625 | 1625 | prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind); | |
1626 | d.GeomDisable(prim_geom); | 1626 | d.GeomDisable(prm.prim_geom); |
1627 | d.BodyDisable(Body); | 1627 | } |
1628 | } | 1628 | else |
1629 | else | 1629 | { |
1630 | { | 1630 | if (m_isphantom && !m_isVolumeDetect) |
1631 | if (m_isphantom && !m_isVolumeDetect) | 1631 | { |
1632 | { | 1632 | prm.m_collisionCategories = 0; |
1633 | m_collisionCategories = 0; | 1633 | prm.m_collisionFlags = CollisionCategories.Land; |
1634 | m_collisionFlags = CollisionCategories.Land; | 1634 | } |
1635 | } | 1635 | else |
1636 | else | 1636 | { |
1637 | { | 1637 | prm.m_collisionCategories |= CollisionCategories.Body; |
1638 | m_collisionCategories |= CollisionCategories.Body; | 1638 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1639 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1639 | } |
1640 | } | 1640 | d.GeomEnable(prm.prim_geom); |
1641 | 1641 | } | |
1642 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); | 1642 | |
1643 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | 1643 | if (prm.m_NoColide) |
1644 | } | 1644 | { |
1645 | 1645 | d.GeomSetCategoryBits(prm.prim_geom, 0); | |
1646 | if (m_NoColide) | 1646 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); |
1647 | { | 1647 | d.GeomEnable(prm.prim_geom); |
1648 | d.GeomSetCategoryBits(prim_geom, 0); | 1648 | } |
1649 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); | 1649 | else |
1650 | } | 1650 | { |
1651 | else | 1651 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); |
1652 | { | 1652 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); |
1653 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1653 | } |
1654 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1654 | prm.m_collisionscore = 0; |
1655 | } | 1655 | |
1656 | 1656 | if(!m_disabled) | |
1657 | m_collisionscore = 0; | 1657 | prm.m_disabled = false; |
1658 | 1658 | ||
1659 | m_softcolide = true; | 1659 | _parent_scene.addActivePrim(prm); |
1660 | _parent_scene.addActivePrim(this); | 1660 | } |
1661 | _parent_scene.addActiveGroups(this); | 1661 | } |
1662 | } | 1662 | |
1663 | 1663 | // The body doesn't already have a finite rotation mode set here | |
1664 | private void DestroyBody() | 1664 | if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) |
1665 | { | 1665 | { |
1666 | if (Body != IntPtr.Zero) | 1666 | createAMotor(m_angularlock); |
1667 | { | 1667 | } |
1668 | _parent_scene.remActivePrim(this); | 1668 | |
1669 | m_collisionCategories &= ~CollisionCategories.Body; | 1669 | if (m_isSelected || m_disabled) |
1670 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 1670 | { |
1671 | if (prim_geom != IntPtr.Zero) | 1671 | m_collisionCategories &= ~CollisionCategories.Body; |
1672 | { | 1672 | m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind); |
1673 | if (m_NoColide) | 1673 | |
1674 | { | 1674 | d.GeomDisable(prim_geom); |
1675 | d.GeomSetCategoryBits(prim_geom, 0); | 1675 | d.BodyDisable(Body); |
1676 | d.GeomSetCollideBits(prim_geom, 0); | 1676 | } |
1677 | } | 1677 | else |
1678 | else | 1678 | { |
1679 | { | 1679 | if (m_isphantom && !m_isVolumeDetect) |
1680 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1680 | { |
1681 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1681 | m_collisionCategories = 0; |
1682 | } | 1682 | m_collisionFlags = CollisionCategories.Land; |
1683 | UpdateDataFromGeom(); | 1683 | } |
1684 | d.GeomSetBody(prim_geom, IntPtr.Zero); | 1684 | else |
1685 | SetInStaticSpace(this); | 1685 | { |
1686 | } | 1686 | m_collisionCategories |= CollisionCategories.Body; |
1687 | 1687 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | |
1688 | if (!childPrim) | 1688 | } |
1689 | { | 1689 | |
1690 | lock (childrenPrim) | 1690 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); |
1691 | { | 1691 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); |
1692 | foreach (OdePrim prm in childrenPrim) | 1692 | } |
1693 | { | 1693 | |
1694 | _parent_scene.remActivePrim(prm); | 1694 | if (m_NoColide) |
1695 | prm.m_collisionCategories = m_collisionCategories; | 1695 | { |
1696 | prm.m_collisionFlags = m_collisionFlags; | 1696 | d.GeomSetCategoryBits(prim_geom, 0); |
1697 | if (prm.prim_geom != IntPtr.Zero) | 1697 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); |
1698 | { | 1698 | } |
1699 | if (prm.m_NoColide) | 1699 | else |
1700 | { | 1700 | { |
1701 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 1701 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1702 | d.GeomSetCollideBits(prm.prim_geom, 0); | 1702 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1703 | } | 1703 | } |
1704 | else | 1704 | |
1705 | { | 1705 | m_collisionscore = 0; |
1706 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | 1706 | |
1707 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | 1707 | m_softcolide = true; |
1708 | } | 1708 | _parent_scene.addActivePrim(this); |
1709 | prm.UpdateDataFromGeom(); | 1709 | _parent_scene.addActiveGroups(this); |
1710 | SetInStaticSpace(prm); | 1710 | } |
1711 | } | 1711 | |
1712 | prm.Body = IntPtr.Zero; | 1712 | private void DestroyBody() |
1713 | prm._mass = prm.primMass; | 1713 | { |
1714 | prm.m_collisionscore = 0; | 1714 | if (Body != IntPtr.Zero) |
1715 | } | 1715 | { |
1716 | } | 1716 | _parent_scene.remActivePrim(this); |
1717 | if (Amotor != IntPtr.Zero) | 1717 | m_collisionCategories &= ~CollisionCategories.Body; |
1718 | { | 1718 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
1719 | d.JointDestroy(Amotor); | 1719 | if (prim_geom != IntPtr.Zero) |
1720 | Amotor = IntPtr.Zero; | 1720 | { |
1721 | } | 1721 | if (m_NoColide) |
1722 | _parent_scene.remActiveGroup(this); | 1722 | { |
1723 | d.BodyDestroy(Body); | 1723 | d.GeomSetCategoryBits(prim_geom, 0); |
1724 | } | 1724 | d.GeomSetCollideBits(prim_geom, 0); |
1725 | Body = IntPtr.Zero; | 1725 | } |
1726 | } | 1726 | else |
1727 | _mass = primMass; | 1727 | { |
1728 | m_collisionscore = 0; | 1728 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1729 | } | 1729 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1730 | 1730 | } | |
1731 | private void FixInertia(Vector3 NewPos,Quaternion newrot) | 1731 | UpdateDataFromGeom(); |
1732 | { | 1732 | d.GeomSetBody(prim_geom, IntPtr.Zero); |
1733 | d.Matrix3 mat = new d.Matrix3(); | 1733 | SetInStaticSpace(this); |
1734 | d.Quaternion quat = new d.Quaternion(); | 1734 | } |
1735 | 1735 | ||
1736 | d.Mass tmpdmass = new d.Mass { }; | 1736 | if (!childPrim) |
1737 | d.Mass objdmass = new d.Mass { }; | 1737 | { |
1738 | 1738 | lock (childrenPrim) | |
1739 | d.BodyGetMass(Body, out tmpdmass); | 1739 | { |
1740 | objdmass = tmpdmass; | 1740 | foreach (OdePrim prm in childrenPrim) |
1741 | 1741 | { | |
1742 | d.Vector3 dobjpos; | 1742 | _parent_scene.remActivePrim(prm); |
1743 | d.Vector3 thispos; | 1743 | prm.m_collisionCategories = m_collisionCategories; |
1744 | 1744 | prm.m_collisionFlags = m_collisionFlags; | |
1745 | // get current object position and rotation | 1745 | if (prm.prim_geom != IntPtr.Zero) |
1746 | dobjpos = d.BodyGetPosition(Body); | 1746 | { |
1747 | 1747 | if (prm.m_NoColide) | |
1748 | // get prim own inertia in its local frame | 1748 | { |
1749 | tmpdmass = primdMass; | 1749 | d.GeomSetCategoryBits(prm.prim_geom, 0); |
1750 | 1750 | d.GeomSetCollideBits(prm.prim_geom, 0); | |
1751 | // transform to object frame | 1751 | } |
1752 | mat = d.GeomGetOffsetRotation(prim_geom); | 1752 | else |
1753 | d.MassRotate(ref tmpdmass, ref mat); | 1753 | { |
1754 | 1754 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | |
1755 | thispos = d.GeomGetOffsetPosition(prim_geom); | 1755 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); |
1756 | d.MassTranslate(ref tmpdmass, | 1756 | } |
1757 | thispos.X, | 1757 | prm.UpdateDataFromGeom(); |
1758 | thispos.Y, | 1758 | SetInStaticSpace(prm); |
1759 | thispos.Z); | 1759 | } |
1760 | 1760 | prm.Body = IntPtr.Zero; | |
1761 | // subtract current prim inertia from object | 1761 | prm._mass = prm.primMass; |
1762 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | 1762 | prm.m_collisionscore = 0; |
1763 | 1763 | } | |
1764 | // back prim own inertia | 1764 | } |
1765 | tmpdmass = primdMass; | 1765 | if (Amotor != IntPtr.Zero) |
1766 | 1766 | { | |
1767 | // update to new position and orientation | 1767 | d.JointDestroy(Amotor); |
1768 | _position = NewPos; | 1768 | Amotor = IntPtr.Zero; |
1769 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | 1769 | } |
1770 | _orientation = newrot; | 1770 | _parent_scene.remActiveGroup(this); |
1771 | quat.X = newrot.X; | 1771 | d.BodyDestroy(Body); |
1772 | quat.Y = newrot.Y; | 1772 | } |
1773 | quat.Z = newrot.Z; | 1773 | Body = IntPtr.Zero; |
1774 | quat.W = newrot.W; | 1774 | } |
1775 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | 1775 | _mass = primMass; |
1776 | 1776 | m_collisionscore = 0; | |
1777 | mat = d.GeomGetOffsetRotation(prim_geom); | 1777 | } |
1778 | d.MassRotate(ref tmpdmass, ref mat); | 1778 | |
1779 | 1779 | private void FixInertia(Vector3 NewPos,Quaternion newrot) | |
1780 | thispos = d.GeomGetOffsetPosition(prim_geom); | 1780 | { |
1781 | d.MassTranslate(ref tmpdmass, | 1781 | d.Matrix3 mat = new d.Matrix3(); |
1782 | thispos.X, | 1782 | d.Quaternion quat = new d.Quaternion(); |
1783 | thispos.Y, | 1783 | |
1784 | thispos.Z); | 1784 | d.Mass tmpdmass = new d.Mass { }; |
1785 | 1785 | d.Mass objdmass = new d.Mass { }; | |
1786 | d.MassAdd(ref objdmass, ref tmpdmass); | 1786 | |
1787 | 1787 | d.BodyGetMass(Body, out tmpdmass); | |
1788 | // fix all positions | 1788 | objdmass = tmpdmass; |
1789 | IntPtr g = d.BodyGetFirstGeom(Body); | 1789 | |
1790 | while (g != IntPtr.Zero) | 1790 | d.Vector3 dobjpos; |
1791 | { | 1791 | d.Vector3 thispos; |
1792 | thispos = d.GeomGetOffsetPosition(g); | 1792 | |
1793 | thispos.X -= objdmass.c.X; | 1793 | // get current object position and rotation |
1794 | thispos.Y -= objdmass.c.Y; | 1794 | dobjpos = d.BodyGetPosition(Body); |
1795 | thispos.Z -= objdmass.c.Z; | 1795 | |
1796 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | 1796 | // get prim own inertia in its local frame |
1797 | g = d.dBodyGetNextGeom(g); | 1797 | tmpdmass = primdMass; |
1798 | |||
1799 | // transform to object frame | ||
1800 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
1801 | d.MassRotate(ref tmpdmass, ref mat); | ||
1802 | |||
1803 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
1804 | d.MassTranslate(ref tmpdmass, | ||
1805 | thispos.X, | ||
1806 | thispos.Y, | ||
1807 | thispos.Z); | ||
1808 | |||
1809 | // subtract current prim inertia from object | ||
1810 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
1811 | |||
1812 | // back prim own inertia | ||
1813 | tmpdmass = primdMass; | ||
1814 | |||
1815 | // update to new position and orientation | ||
1816 | _position = NewPos; | ||
1817 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
1818 | _orientation = newrot; | ||
1819 | quat.X = newrot.X; | ||
1820 | quat.Y = newrot.Y; | ||
1821 | quat.Z = newrot.Z; | ||
1822 | quat.W = newrot.W; | ||
1823 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
1824 | |||
1825 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
1826 | d.MassRotate(ref tmpdmass, ref mat); | ||
1827 | |||
1828 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
1829 | d.MassTranslate(ref tmpdmass, | ||
1830 | thispos.X, | ||
1831 | thispos.Y, | ||
1832 | thispos.Z); | ||
1833 | |||
1834 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
1835 | |||
1836 | // fix all positions | ||
1837 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
1838 | while (g != IntPtr.Zero) | ||
1839 | { | ||
1840 | thispos = d.GeomGetOffsetPosition(g); | ||
1841 | thispos.X -= objdmass.c.X; | ||
1842 | thispos.Y -= objdmass.c.Y; | ||
1843 | thispos.Z -= objdmass.c.Z; | ||
1844 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
1845 | g = d.dBodyGetNextGeom(g); | ||
1798 | } | 1846 | } |
1799 | d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); | 1847 | d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); |
1800 | 1848 | ||
1801 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | 1849 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); |
1802 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | 1850 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body |
1803 | d.BodySetMass(Body, ref objdmass); | 1851 | d.BodySetMass(Body, ref objdmass); |
1804 | _mass = objdmass.mass; | 1852 | _mass = objdmass.mass; |
1805 | } | 1853 | } |
1806 | 1854 | ||
1807 | 1855 | ||
@@ -1935,2042 +1983,2042 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1935 | d.BodySetMass(Body, ref objdmass); | 1983 | d.BodySetMass(Body, ref objdmass); |
1936 | _mass = objdmass.mass; | 1984 | _mass = objdmass.mass; |
1937 | } | 1985 | } |
1938 | 1986 | ||
1939 | 1987 | ||
1940 | #region Mass Calculation | 1988 | #region Mass Calculation |
1941 | 1989 | ||
1942 | private float CalculatePrimVolume() | 1990 | private float CalculatePrimVolume() |
1943 | { | 1991 | { |
1944 | float volume = _size.X * _size.Y * _size.Z; // default | 1992 | float volume = _size.X * _size.Y * _size.Z; // default |
1945 | float tmp; | 1993 | float tmp; |
1946 | 1994 | ||
1947 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; | 1995 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; |
1948 | float hollowVolume = hollowAmount * hollowAmount; | 1996 | float hollowVolume = hollowAmount * hollowAmount; |
1949 | 1997 | ||
1950 | switch (_pbs.ProfileShape) | 1998 | switch (_pbs.ProfileShape) |
1951 | { | 1999 | { |
1952 | case ProfileShape.Square: | 2000 | case ProfileShape.Square: |
1953 | // default box | 2001 | // default box |
1954 | 2002 | ||
1955 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | 2003 | if (_pbs.PathCurve == (byte)Extrusion.Straight) |
1956 | { | 2004 | { |
1957 | if (hollowAmount > 0.0) | 2005 | if (hollowAmount > 0.0) |
1958 | { | 2006 | { |
1959 | switch (_pbs.HollowShape) | 2007 | switch (_pbs.HollowShape) |
1960 | { | 2008 | { |
1961 | case HollowShape.Square: | 2009 | case HollowShape.Square: |
1962 | case HollowShape.Same: | 2010 | case HollowShape.Same: |
1963 | break; | 2011 | break; |
1964 | 2012 | ||
1965 | case HollowShape.Circle: | 2013 | case HollowShape.Circle: |
1966 | 2014 | ||
1967 | hollowVolume *= 0.78539816339f; | 2015 | hollowVolume *= 0.78539816339f; |
1968 | break; | 2016 | break; |
1969 | 2017 | ||
1970 | case HollowShape.Triangle: | 2018 | case HollowShape.Triangle: |
1971 | 2019 | ||
1972 | hollowVolume *= (0.5f * .5f); | 2020 | hollowVolume *= (0.5f * .5f); |
1973 | break; | 2021 | break; |
1974 | 2022 | ||
1975 | default: | 2023 | default: |
1976 | hollowVolume = 0; | 2024 | hollowVolume = 0; |
1977 | break; | 2025 | break; |
1978 | } | 2026 | } |
1979 | volume *= (1.0f - hollowVolume); | 2027 | volume *= (1.0f - hollowVolume); |
1980 | } | 2028 | } |
1981 | } | 2029 | } |
1982 | 2030 | ||
1983 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 2031 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
1984 | { | 2032 | { |
1985 | //a tube | 2033 | //a tube |
1986 | 2034 | ||
1987 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); | 2035 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); |
1988 | tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); | 2036 | tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); |
1989 | volume -= volume * tmp * tmp; | 2037 | volume -= volume * tmp * tmp; |
1990 | 2038 | ||
1991 | if (hollowAmount > 0.0) | 2039 | if (hollowAmount > 0.0) |
1992 | { | 2040 | { |
1993 | hollowVolume *= hollowAmount; | 2041 | hollowVolume *= hollowAmount; |
1994 | 2042 | ||
1995 | switch (_pbs.HollowShape) | 2043 | switch (_pbs.HollowShape) |
1996 | { | 2044 | { |
1997 | case HollowShape.Square: | 2045 | case HollowShape.Square: |
1998 | case HollowShape.Same: | 2046 | case HollowShape.Same: |
1999 | break; | 2047 | break; |
2000 | 2048 | ||
2001 | case HollowShape.Circle: | 2049 | case HollowShape.Circle: |
2002 | hollowVolume *= 0.78539816339f; | 2050 | hollowVolume *= 0.78539816339f; |
2003 | break; | 2051 | break; |
2004 | 2052 | ||
2005 | case HollowShape.Triangle: | 2053 | case HollowShape.Triangle: |
2006 | hollowVolume *= 0.5f * 0.5f; | 2054 | hollowVolume *= 0.5f * 0.5f; |
2007 | break; | 2055 | break; |
2008 | default: | 2056 | default: |
2009 | hollowVolume = 0; | 2057 | hollowVolume = 0; |
2010 | break; | 2058 | break; |
2011 | } | 2059 | } |
2012 | volume *= (1.0f - hollowVolume); | 2060 | volume *= (1.0f - hollowVolume); |
2013 | } | 2061 | } |
2014 | } | 2062 | } |
2015 | 2063 | ||
2016 | break; | 2064 | break; |
2017 | 2065 | ||
2018 | case ProfileShape.Circle: | 2066 | case ProfileShape.Circle: |
2019 | 2067 | ||
2020 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | 2068 | if (_pbs.PathCurve == (byte)Extrusion.Straight) |
2021 | { | 2069 | { |
2022 | volume *= 0.78539816339f; // elipse base | 2070 | volume *= 0.78539816339f; // elipse base |
2023 | 2071 | ||
2024 | if (hollowAmount > 0.0) | 2072 | if (hollowAmount > 0.0) |
2025 | { | 2073 | { |
2026 | switch (_pbs.HollowShape) | 2074 | switch (_pbs.HollowShape) |
2027 | { | 2075 | { |
2028 | case HollowShape.Same: | 2076 | case HollowShape.Same: |
2029 | case HollowShape.Circle: | 2077 | case HollowShape.Circle: |
2030 | break; | 2078 | break; |
2031 | 2079 | ||
2032 | case HollowShape.Square: | 2080 | case HollowShape.Square: |
2033 | hollowVolume *= 0.5f * 2.5984480504799f; | 2081 | hollowVolume *= 0.5f * 2.5984480504799f; |
2034 | break; | 2082 | break; |
2035 | 2083 | ||
2036 | case HollowShape.Triangle: | 2084 | case HollowShape.Triangle: |
2037 | hollowVolume *= .5f * 1.27323954473516f; | 2085 | hollowVolume *= .5f * 1.27323954473516f; |
2038 | break; | 2086 | break; |
2039 | 2087 | ||
2040 | default: | 2088 | default: |
2041 | hollowVolume = 0; | 2089 | hollowVolume = 0; |
2042 | break; | 2090 | break; |
2043 | } | 2091 | } |
2044 | volume *= (1.0f - hollowVolume); | 2092 | volume *= (1.0f - hollowVolume); |
2045 | } | 2093 | } |
2046 | } | 2094 | } |
2047 | 2095 | ||
2048 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 2096 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
2049 | { | 2097 | { |
2050 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); | 2098 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); |
2051 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | 2099 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); |
2052 | volume *= (1.0f - tmp * tmp); | 2100 | volume *= (1.0f - tmp * tmp); |
2053 | 2101 | ||
2054 | if (hollowAmount > 0.0) | 2102 | if (hollowAmount > 0.0) |
2055 | { | 2103 | { |
2056 | 2104 | ||
2057 | // calculate the hollow volume by it's shape compared to the prim shape | 2105 | // calculate the hollow volume by it's shape compared to the prim shape |
2058 | hollowVolume *= hollowAmount; | 2106 | hollowVolume *= hollowAmount; |
2059 | 2107 | ||
2060 | switch (_pbs.HollowShape) | 2108 | switch (_pbs.HollowShape) |
2061 | { | 2109 | { |
2062 | case HollowShape.Same: | 2110 | case HollowShape.Same: |
2063 | case HollowShape.Circle: | 2111 | case HollowShape.Circle: |
2064 | break; | 2112 | break; |
2065 | 2113 | ||
2066 | case HollowShape.Square: | 2114 | case HollowShape.Square: |
2067 | hollowVolume *= 0.5f * 2.5984480504799f; | 2115 | hollowVolume *= 0.5f * 2.5984480504799f; |
2068 | break; | 2116 | break; |
2069 | 2117 | ||
2070 | case HollowShape.Triangle: | 2118 | case HollowShape.Triangle: |
2071 | hollowVolume *= .5f * 1.27323954473516f; | 2119 | hollowVolume *= .5f * 1.27323954473516f; |
2072 | break; | 2120 | break; |
2073 | 2121 | ||
2074 | default: | 2122 | default: |
2075 | hollowVolume = 0; | 2123 | hollowVolume = 0; |
2076 | break; | 2124 | break; |
2077 | } | 2125 | } |
2078 | volume *= (1.0f - hollowVolume); | 2126 | volume *= (1.0f - hollowVolume); |
2079 | } | 2127 | } |
2080 | } | 2128 | } |
2081 | break; | 2129 | break; |
2082 | 2130 | ||
2083 | case ProfileShape.HalfCircle: | 2131 | case ProfileShape.HalfCircle: |
2084 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 2132 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
2085 | { | 2133 | { |
2086 | volume *= 0.52359877559829887307710723054658f; | 2134 | volume *= 0.52359877559829887307710723054658f; |
2087 | } | 2135 | } |
2088 | break; | 2136 | break; |
2089 | 2137 | ||
2090 | case ProfileShape.EquilateralTriangle: | 2138 | case ProfileShape.EquilateralTriangle: |
2091 | 2139 | ||
2092 | if (_pbs.PathCurve == (byte)Extrusion.Straight) | 2140 | if (_pbs.PathCurve == (byte)Extrusion.Straight) |
2093 | { | 2141 | { |
2094 | volume *= 0.32475953f; | 2142 | volume *= 0.32475953f; |
2095 | 2143 | ||
2096 | if (hollowAmount > 0.0) | 2144 | if (hollowAmount > 0.0) |
2097 | { | 2145 | { |
2098 | 2146 | ||
2099 | // calculate the hollow volume by it's shape compared to the prim shape | 2147 | // calculate the hollow volume by it's shape compared to the prim shape |
2100 | switch (_pbs.HollowShape) | 2148 | switch (_pbs.HollowShape) |
2101 | { | 2149 | { |
2102 | case HollowShape.Same: | 2150 | case HollowShape.Same: |
2103 | case HollowShape.Triangle: | 2151 | case HollowShape.Triangle: |
2104 | hollowVolume *= .25f; | 2152 | hollowVolume *= .25f; |
2105 | break; | 2153 | break; |
2106 | 2154 | ||
2107 | case HollowShape.Square: | 2155 | case HollowShape.Square: |
2108 | hollowVolume *= 0.499849f * 3.07920140172638f; | 2156 | hollowVolume *= 0.499849f * 3.07920140172638f; |
2109 | break; | 2157 | break; |
2110 | 2158 | ||
2111 | case HollowShape.Circle: | 2159 | case HollowShape.Circle: |
2112 | // Hollow shape is a perfect cyllinder in respect to the cube's scale | 2160 | // Hollow shape is a perfect cyllinder in respect to the cube's scale |
2113 | // Cyllinder hollow volume calculation | 2161 | // Cyllinder hollow volume calculation |
2114 | 2162 | ||
2115 | hollowVolume *= 0.1963495f * 3.07920140172638f; | 2163 | hollowVolume *= 0.1963495f * 3.07920140172638f; |
2116 | break; | 2164 | break; |
2117 | 2165 | ||
2118 | default: | 2166 | default: |
2119 | hollowVolume = 0; | 2167 | hollowVolume = 0; |
2120 | break; | 2168 | break; |
2121 | } | 2169 | } |
2122 | volume *= (1.0f - hollowVolume); | 2170 | volume *= (1.0f - hollowVolume); |
2123 | } | 2171 | } |
2124 | } | 2172 | } |
2125 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 2173 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
2126 | { | 2174 | { |
2127 | volume *= 0.32475953f; | 2175 | volume *= 0.32475953f; |
2128 | volume *= 0.01f * (float)(200 - _pbs.PathScaleX); | 2176 | volume *= 0.01f * (float)(200 - _pbs.PathScaleX); |
2129 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | 2177 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); |
2130 | volume *= (1.0f - tmp * tmp); | 2178 | volume *= (1.0f - tmp * tmp); |
2131 | 2179 | ||
2132 | if (hollowAmount > 0.0) | 2180 | if (hollowAmount > 0.0) |
2133 | { | 2181 | { |
2134 | 2182 | ||
2135 | hollowVolume *= hollowAmount; | 2183 | hollowVolume *= hollowAmount; |
2136 | 2184 | ||
2137 | switch (_pbs.HollowShape) | 2185 | switch (_pbs.HollowShape) |
2138 | { | 2186 | { |
2139 | case HollowShape.Same: | 2187 | case HollowShape.Same: |
2140 | case HollowShape.Triangle: | 2188 | case HollowShape.Triangle: |
2141 | hollowVolume *= .25f; | 2189 | hollowVolume *= .25f; |
2142 | break; | 2190 | break; |
2143 | 2191 | ||
2144 | case HollowShape.Square: | 2192 | case HollowShape.Square: |
2145 | hollowVolume *= 0.499849f * 3.07920140172638f; | 2193 | hollowVolume *= 0.499849f * 3.07920140172638f; |
2146 | break; | 2194 | break; |
2147 | 2195 | ||
2148 | case HollowShape.Circle: | 2196 | case HollowShape.Circle: |
2149 | 2197 | ||
2150 | hollowVolume *= 0.1963495f * 3.07920140172638f; | 2198 | hollowVolume *= 0.1963495f * 3.07920140172638f; |
2151 | break; | 2199 | break; |
2152 | 2200 | ||
2153 | default: | 2201 | default: |
2154 | hollowVolume = 0; | 2202 | hollowVolume = 0; |
2155 | break; | 2203 | break; |
2156 | } | 2204 | } |
2157 | volume *= (1.0f - hollowVolume); | 2205 | volume *= (1.0f - hollowVolume); |
2158 | } | 2206 | } |
2159 | } | 2207 | } |
2160 | break; | 2208 | break; |
2161 | 2209 | ||
2162 | default: | 2210 | default: |
2163 | break; | 2211 | break; |
2164 | } | 2212 | } |
2165 | 2213 | ||
2166 | float taperX1; | 2214 | float taperX1; |
2167 | float taperY1; | 2215 | float taperY1; |
2168 | float taperX; | 2216 | float taperX; |
2169 | float taperY; | 2217 | float taperY; |
2170 | float pathBegin; | 2218 | float pathBegin; |
2171 | float pathEnd; | 2219 | float pathEnd; |
2172 | float profileBegin; | 2220 | float profileBegin; |
2173 | float profileEnd; | 2221 | float profileEnd; |
2174 | 2222 | ||
2175 | if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) | 2223 | if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) |
2176 | { | 2224 | { |
2177 | taperX1 = _pbs.PathScaleX * 0.01f; | 2225 | taperX1 = _pbs.PathScaleX * 0.01f; |
2178 | if (taperX1 > 1.0f) | 2226 | if (taperX1 > 1.0f) |
2179 | taperX1 = 2.0f - taperX1; | 2227 | taperX1 = 2.0f - taperX1; |
2180 | taperX = 1.0f - taperX1; | 2228 | taperX = 1.0f - taperX1; |
2181 | 2229 | ||
2182 | taperY1 = _pbs.PathScaleY * 0.01f; | 2230 | taperY1 = _pbs.PathScaleY * 0.01f; |
2183 | if (taperY1 > 1.0f) | 2231 | if (taperY1 > 1.0f) |
2184 | taperY1 = 2.0f - taperY1; | 2232 | taperY1 = 2.0f - taperY1; |
2185 | taperY = 1.0f - taperY1; | 2233 | taperY = 1.0f - taperY1; |
2186 | } | 2234 | } |
2187 | else | 2235 | else |
2188 | { | 2236 | { |
2189 | taperX = _pbs.PathTaperX * 0.01f; | 2237 | taperX = _pbs.PathTaperX * 0.01f; |
2190 | if (taperX < 0.0f) | 2238 | if (taperX < 0.0f) |
2191 | taperX = -taperX; | 2239 | taperX = -taperX; |
2192 | taperX1 = 1.0f - taperX; | 2240 | taperX1 = 1.0f - taperX; |
2193 | 2241 | ||
2194 | taperY = _pbs.PathTaperY * 0.01f; | 2242 | taperY = _pbs.PathTaperY * 0.01f; |
2195 | if (taperY < 0.0f) | 2243 | if (taperY < 0.0f) |
2196 | taperY = -taperY; | 2244 | taperY = -taperY; |
2197 | taperY1 = 1.0f - taperY; | 2245 | taperY1 = 1.0f - taperY; |
2198 | } | 2246 | } |
2199 | 2247 | ||
2200 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); | 2248 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); |
2201 | 2249 | ||
2202 | pathBegin = (float)_pbs.PathBegin * 2.0e-5f; | 2250 | pathBegin = (float)_pbs.PathBegin * 2.0e-5f; |
2203 | pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; | 2251 | pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; |
2204 | volume *= (pathEnd - pathBegin); | 2252 | volume *= (pathEnd - pathBegin); |
2205 | 2253 | ||
2206 | // this is crude aproximation | 2254 | // this is crude aproximation |
2207 | profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; | 2255 | profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; |
2208 | profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; | 2256 | profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; |
2209 | volume *= (profileEnd - profileBegin); | 2257 | volume *= (profileEnd - profileBegin); |
2210 | 2258 | ||
2211 | return volume; | 2259 | return volume; |
2212 | } | 2260 | } |
2213 | 2261 | ||
2214 | 2262 | ||
2215 | private void CalcPrimBodyData() | 2263 | private void CalcPrimBodyData() |
2216 | { | 2264 | { |
2217 | float volume; | 2265 | float volume; |
2218 | 2266 | ||
2219 | if (prim_geom == IntPtr.Zero) | 2267 | if (prim_geom == IntPtr.Zero) |
2220 | { | 2268 | { |
2221 | // Ubit let's have a initial basic OOB | 2269 | // Ubit let's have a initial basic OOB |
2222 | primOOBsize.X = _size.X; | 2270 | primOOBsize.X = _size.X; |
2223 | primOOBsize.Y = _size.Y; | 2271 | primOOBsize.Y = _size.Y; |
2224 | primOOBsize.Z = _size.Z; | 2272 | primOOBsize.Z = _size.Z; |
2225 | primOOBoffset = Vector3.Zero; | 2273 | primOOBoffset = Vector3.Zero; |
2226 | } | 2274 | } |
2227 | else | 2275 | else |
2228 | { | 2276 | { |
2229 | d.AABB AABB; | 2277 | d.AABB AABB; |
2230 | d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom | 2278 | d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom |
2231 | 2279 | ||
2232 | primOOBsize.X = (AABB.MaxX - AABB.MinX); | 2280 | primOOBsize.X = (AABB.MaxX - AABB.MinX); |
2233 | primOOBsize.Y = (AABB.MaxY - AABB.MinY); | 2281 | primOOBsize.Y = (AABB.MaxY - AABB.MinY); |
2234 | primOOBsize.Z = (AABB.MaxZ - AABB.MinZ); | 2282 | primOOBsize.Z = (AABB.MaxZ - AABB.MinZ); |
2235 | if (!hasOOBoffsetFromMesh) | 2283 | if (!hasOOBoffsetFromMesh) |
2236 | { | 2284 | { |
2237 | primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; | 2285 | primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; |
2238 | primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; | 2286 | primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; |
2239 | primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; | 2287 | primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; |
2240 | } | 2288 | } |
2241 | } | 2289 | } |
2242 | 2290 | ||
2243 | // also its own inertia and mass | 2291 | // also its own inertia and mass |
2244 | // keep using basic shape mass for now | 2292 | // keep using basic shape mass for now |
2245 | volume = CalculatePrimVolume(); | 2293 | volume = CalculatePrimVolume(); |
2246 | 2294 | ||
2247 | primMass = m_density * volume; | 2295 | primMass = m_density * volume; |
2248 | 2296 | ||
2249 | if (primMass <= 0) | 2297 | if (primMass <= 0) |
2250 | primMass = 0.0001f;//ckrinke: Mass must be greater then zero. | 2298 | primMass = 0.0001f;//ckrinke: Mass must be greater then zero. |
2251 | if (primMass > _parent_scene.maximumMassObject) | 2299 | if (primMass > _parent_scene.maximumMassObject) |
2252 | primMass = _parent_scene.maximumMassObject; | 2300 | primMass = _parent_scene.maximumMassObject; |
2253 | 2301 | ||
2254 | _mass = primMass; // just in case | 2302 | _mass = primMass; // just in case |
2255 | 2303 | ||
2256 | d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); | 2304 | d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); |
2257 | 2305 | ||
2258 | d.MassTranslate(ref primdMass, | 2306 | d.MassTranslate(ref primdMass, |
2259 | primOOBoffset.X, | 2307 | primOOBoffset.X, |
2260 | primOOBoffset.Y, | 2308 | primOOBoffset.Y, |
2261 | primOOBoffset.Z); | 2309 | primOOBoffset.Z); |
2262 | 2310 | ||
2263 | primOOBsize *= 0.5f; // let obb size be a corner coords | 2311 | primOOBsize *= 0.5f; // let obb size be a corner coords |
2264 | primOOBradiusSQ = primOOBsize.LengthSquared(); | 2312 | primOOBradiusSQ = primOOBsize.LengthSquared(); |
2265 | } | 2313 | } |
2266 | 2314 | ||
2267 | 2315 | ||
2268 | #endregion | 2316 | #endregion |
2269 | 2317 | ||
2270 | 2318 | ||
2271 | /// <summary> | 2319 | /// <summary> |
2272 | /// Add a child prim to this parent prim. | 2320 | /// Add a child prim to this parent prim. |
2273 | /// </summary> | 2321 | /// </summary> |
2274 | /// <param name="prim">Child prim</param> | 2322 | /// <param name="prim">Child prim</param> |
2275 | // I'm the parent | 2323 | // I'm the parent |
2276 | // prim is the child | 2324 | // prim is the child |
2277 | public void ParentPrim(OdePrim prim) | 2325 | public void ParentPrim(OdePrim prim) |
2278 | { | 2326 | { |
2279 | //Console.WriteLine("ParentPrim " + m_primName); | 2327 | //Console.WriteLine("ParentPrim " + m_primName); |
2280 | if (this.m_localID != prim.m_localID) | 2328 | if (this.m_localID != prim.m_localID) |
2281 | { | 2329 | { |
2282 | DestroyBody(); // for now we need to rebuil entire object on link change | 2330 | DestroyBody(); // for now we need to rebuil entire object on link change |
2283 | 2331 | ||
2284 | lock (childrenPrim) | 2332 | lock (childrenPrim) |
2285 | { | 2333 | { |
2286 | // adopt the prim | 2334 | // adopt the prim |
2287 | if (!childrenPrim.Contains(prim)) | 2335 | if (!childrenPrim.Contains(prim)) |
2288 | childrenPrim.Add(prim); | 2336 | childrenPrim.Add(prim); |
2289 | 2337 | ||
2290 | // see if this prim has kids and adopt them also | 2338 | // see if this prim has kids and adopt them also |
2291 | // should not happen for now | 2339 | // should not happen for now |
2292 | foreach (OdePrim prm in prim.childrenPrim) | 2340 | foreach (OdePrim prm in prim.childrenPrim) |
2293 | { | 2341 | { |
2294 | if (!childrenPrim.Contains(prm)) | 2342 | if (!childrenPrim.Contains(prm)) |
2295 | { | 2343 | { |
2296 | if (prm.Body != IntPtr.Zero) | 2344 | if (prm.Body != IntPtr.Zero) |
2297 | { | 2345 | { |
2298 | if (prm.prim_geom != IntPtr.Zero) | 2346 | if (prm.prim_geom != IntPtr.Zero) |
2299 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | 2347 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); |
2300 | if (prm.Body != prim.Body) | 2348 | if (prm.Body != prim.Body) |
2301 | prm.DestroyBody(); // don't loose bodies around | 2349 | prm.DestroyBody(); // don't loose bodies around |
2302 | prm.Body = IntPtr.Zero; | 2350 | prm.Body = IntPtr.Zero; |
2303 | } | 2351 | } |
2304 | 2352 | ||
2305 | childrenPrim.Add(prm); | 2353 | childrenPrim.Add(prm); |
2306 | prm._parent = this; | 2354 | prm._parent = this; |
2307 | } | 2355 | } |
2308 | } | 2356 | } |
2309 | } | 2357 | } |
2310 | //Remove old children from the prim | 2358 | //Remove old children from the prim |
2311 | prim.childrenPrim.Clear(); | 2359 | prim.childrenPrim.Clear(); |
2312 | 2360 | ||
2313 | if (prim.Body != IntPtr.Zero) | 2361 | if (prim.Body != IntPtr.Zero) |
2314 | { | 2362 | { |
2315 | if (prim.prim_geom != IntPtr.Zero) | 2363 | if (prim.prim_geom != IntPtr.Zero) |
2316 | d.GeomSetBody(prim.prim_geom, IntPtr.Zero); | 2364 | d.GeomSetBody(prim.prim_geom, IntPtr.Zero); |
2317 | prim.DestroyBody(); // don't loose bodies around | 2365 | prim.DestroyBody(); // don't loose bodies around |
2318 | prim.Body = IntPtr.Zero; | 2366 | prim.Body = IntPtr.Zero; |
2319 | } | 2367 | } |
2320 | 2368 | ||
2321 | prim.childPrim = true; | 2369 | prim.childPrim = true; |
2322 | prim._parent = this; | 2370 | prim._parent = this; |
2323 | 2371 | ||
2324 | MakeBody(); // full nasty reconstruction | 2372 | MakeBody(); // full nasty reconstruction |
2325 | } | 2373 | } |
2326 | } | 2374 | } |
2327 | 2375 | ||
2328 | private void UpdateChildsfromgeom() | 2376 | private void UpdateChildsfromgeom() |
2329 | { | 2377 | { |
2330 | if (childrenPrim.Count > 0) | 2378 | if (childrenPrim.Count > 0) |
2331 | { | 2379 | { |
2332 | foreach (OdePrim prm in childrenPrim) | 2380 | foreach (OdePrim prm in childrenPrim) |
2333 | prm.UpdateDataFromGeom(); | 2381 | prm.UpdateDataFromGeom(); |
2334 | } | 2382 | } |
2335 | } | 2383 | } |
2336 | 2384 | ||
2337 | private void UpdateDataFromGeom() | 2385 | private void UpdateDataFromGeom() |
2338 | { | 2386 | { |
2339 | if (prim_geom != IntPtr.Zero) | 2387 | if (prim_geom != IntPtr.Zero) |
2340 | { | 2388 | { |
2341 | d.Quaternion qtmp = new d.Quaternion { }; | 2389 | d.Quaternion qtmp = new d.Quaternion { }; |
2342 | d.GeomCopyQuaternion(prim_geom, out qtmp); | 2390 | d.GeomCopyQuaternion(prim_geom, out qtmp); |
2343 | _orientation.W = qtmp.W; | 2391 | _orientation.W = qtmp.W; |
2344 | _orientation.X = qtmp.X; | 2392 | _orientation.X = qtmp.X; |
2345 | _orientation.Y = qtmp.Y; | 2393 | _orientation.Y = qtmp.Y; |
2346 | _orientation.Z = qtmp.Z; | 2394 | _orientation.Z = qtmp.Z; |
2347 | 2395 | ||
2348 | d.Vector3 lpos; | 2396 | d.Vector3 lpos; |
2349 | d.GeomCopyPosition(prim_geom, out lpos); | 2397 | d.GeomCopyPosition(prim_geom, out lpos); |
2350 | _position.X = lpos.X; | 2398 | _position.X = lpos.X; |
2351 | _position.Y = lpos.Y; | 2399 | _position.Y = lpos.Y; |
2352 | _position.Z = lpos.Z; | 2400 | _position.Z = lpos.Z; |
2353 | } | 2401 | } |
2354 | } | 2402 | } |
2355 | 2403 | ||
2356 | private void ChildDelink(OdePrim odePrim, bool remakebodies) | 2404 | private void ChildDelink(OdePrim odePrim, bool remakebodies) |
2357 | { | 2405 | { |
2358 | // Okay, we have a delinked child.. destroy all body and remake | 2406 | // Okay, we have a delinked child.. destroy all body and remake |
2359 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | 2407 | if (odePrim != this && !childrenPrim.Contains(odePrim)) |
2360 | return; | 2408 | return; |
2361 | 2409 | ||
2362 | DestroyBody(); | 2410 | DestroyBody(); |
2363 | 2411 | ||
2364 | if (odePrim == this) // delinking the root prim | 2412 | if (odePrim == this) // delinking the root prim |
2365 | { | 2413 | { |
2366 | OdePrim newroot = null; | 2414 | OdePrim newroot = null; |
2367 | lock (childrenPrim) | 2415 | lock (childrenPrim) |
2368 | { | 2416 | { |
2369 | if (childrenPrim.Count > 0) | 2417 | if (childrenPrim.Count > 0) |
2370 | { | 2418 | { |
2371 | newroot = childrenPrim[0]; | 2419 | newroot = childrenPrim[0]; |
2372 | childrenPrim.RemoveAt(0); | 2420 | childrenPrim.RemoveAt(0); |
2373 | foreach (OdePrim prm in childrenPrim) | 2421 | foreach (OdePrim prm in childrenPrim) |
2374 | { | 2422 | { |
2375 | newroot.childrenPrim.Add(prm); | 2423 | newroot.childrenPrim.Add(prm); |
2376 | } | 2424 | } |
2377 | childrenPrim.Clear(); | 2425 | childrenPrim.Clear(); |
2378 | } | 2426 | } |
2379 | if (newroot != null) | 2427 | if (newroot != null) |
2380 | { | 2428 | { |
2381 | newroot.childPrim = false; | 2429 | newroot.childPrim = false; |
2382 | newroot._parent = null; | 2430 | newroot._parent = null; |
2383 | if (remakebodies) | 2431 | if (remakebodies) |
2384 | newroot.MakeBody(); | 2432 | newroot.MakeBody(); |
2385 | } | 2433 | } |
2386 | } | 2434 | } |
2387 | } | 2435 | } |
2388 | 2436 | ||
2389 | else | 2437 | else |
2390 | { | 2438 | { |
2391 | lock (childrenPrim) | 2439 | lock (childrenPrim) |
2392 | { | 2440 | { |
2393 | childrenPrim.Remove(odePrim); | 2441 | childrenPrim.Remove(odePrim); |
2394 | odePrim.childPrim = false; | 2442 | odePrim.childPrim = false; |
2395 | odePrim._parent = null; | 2443 | odePrim._parent = null; |
2396 | // odePrim.UpdateDataFromGeom(); | 2444 | // odePrim.UpdateDataFromGeom(); |
2397 | if (remakebodies) | 2445 | if (remakebodies) |
2398 | odePrim.MakeBody(); | 2446 | odePrim.MakeBody(); |
2399 | } | 2447 | } |
2400 | } | 2448 | } |
2401 | if (remakebodies) | 2449 | if (remakebodies) |
2402 | MakeBody(); | 2450 | MakeBody(); |
2403 | } | 2451 | } |
2404 | 2452 | ||
2405 | protected void ChildRemove(OdePrim odePrim, bool reMakeBody) | 2453 | protected void ChildRemove(OdePrim odePrim, bool reMakeBody) |
2406 | { | 2454 | { |
2407 | // Okay, we have a delinked child.. destroy all body and remake | 2455 | // Okay, we have a delinked child.. destroy all body and remake |
2408 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | 2456 | if (odePrim != this && !childrenPrim.Contains(odePrim)) |
2409 | return; | 2457 | return; |
2410 | 2458 | ||
2411 | DestroyBody(); | 2459 | DestroyBody(); |
2412 | 2460 | ||
2413 | if (odePrim == this) | 2461 | if (odePrim == this) |
2414 | { | 2462 | { |
2415 | OdePrim newroot = null; | 2463 | OdePrim newroot = null; |
2416 | lock (childrenPrim) | 2464 | lock (childrenPrim) |
2417 | { | 2465 | { |
2418 | if (childrenPrim.Count > 0) | 2466 | if (childrenPrim.Count > 0) |
2419 | { | 2467 | { |
2420 | newroot = childrenPrim[0]; | 2468 | newroot = childrenPrim[0]; |
2421 | childrenPrim.RemoveAt(0); | 2469 | childrenPrim.RemoveAt(0); |
2422 | foreach (OdePrim prm in childrenPrim) | 2470 | foreach (OdePrim prm in childrenPrim) |
2423 | { | 2471 | { |
2424 | newroot.childrenPrim.Add(prm); | 2472 | newroot.childrenPrim.Add(prm); |
2425 | } | 2473 | } |
2426 | childrenPrim.Clear(); | 2474 | childrenPrim.Clear(); |
2427 | } | 2475 | } |
2428 | if (newroot != null) | 2476 | if (newroot != null) |
2429 | { | 2477 | { |
2430 | newroot.childPrim = false; | 2478 | newroot.childPrim = false; |
2431 | newroot._parent = null; | 2479 | newroot._parent = null; |
2432 | newroot.MakeBody(); | 2480 | newroot.MakeBody(); |
2433 | } | 2481 | } |
2434 | } | 2482 | } |
2435 | if (reMakeBody) | 2483 | if (reMakeBody) |
2436 | MakeBody(); | 2484 | MakeBody(); |
2437 | return; | 2485 | return; |
2438 | } | 2486 | } |
2439 | else | 2487 | else |
2440 | { | 2488 | { |
2441 | lock (childrenPrim) | 2489 | lock (childrenPrim) |
2442 | { | 2490 | { |
2443 | childrenPrim.Remove(odePrim); | 2491 | childrenPrim.Remove(odePrim); |
2444 | odePrim.childPrim = false; | 2492 | odePrim.childPrim = false; |
2445 | odePrim._parent = null; | 2493 | odePrim._parent = null; |
2446 | if (reMakeBody) | 2494 | if (reMakeBody) |
2447 | odePrim.MakeBody(); | 2495 | odePrim.MakeBody(); |
2448 | } | 2496 | } |
2449 | } | 2497 | } |
2450 | MakeBody(); | 2498 | MakeBody(); |
2451 | } | 2499 | } |
2452 | 2500 | ||
2453 | #region changes | 2501 | #region changes |
2454 | 2502 | ||
2455 | private void changeadd() | 2503 | private void changeadd() |
2456 | { | 2504 | { |
2457 | CreateGeom(); | 2505 | CreateGeom(); |
2458 | 2506 | ||
2459 | if (prim_geom != IntPtr.Zero) | 2507 | if (prim_geom != IntPtr.Zero) |
2460 | { | 2508 | { |
2461 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 2509 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
2462 | d.Quaternion myrot = new d.Quaternion(); | 2510 | d.Quaternion myrot = new d.Quaternion(); |
2463 | myrot.X = _orientation.X; | 2511 | myrot.X = _orientation.X; |
2464 | myrot.Y = _orientation.Y; | 2512 | myrot.Y = _orientation.Y; |
2465 | myrot.Z = _orientation.Z; | 2513 | myrot.Z = _orientation.Z; |
2466 | myrot.W = _orientation.W; | 2514 | myrot.W = _orientation.W; |
2467 | d.GeomSetQuaternion(prim_geom, ref myrot); | 2515 | d.GeomSetQuaternion(prim_geom, ref myrot); |
2468 | 2516 | ||
2469 | if (!m_isphysical) | 2517 | if (!m_isphysical) |
2470 | SetInStaticSpace(this); | 2518 | SetInStaticSpace(this); |
2471 | } | 2519 | } |
2472 | 2520 | ||
2473 | if (m_isphysical && Body == IntPtr.Zero) | 2521 | if (m_isphysical && Body == IntPtr.Zero) |
2474 | { | 2522 | { |
2475 | MakeBody(); | 2523 | MakeBody(); |
2476 | } | 2524 | } |
2477 | } | 2525 | } |
2478 | 2526 | ||
2479 | private void changeAngularLock(Vector3 newLock) | 2527 | private void changeAngularLock(Vector3 newLock) |
2480 | { | 2528 | { |
2481 | // do we have a Physical object? | 2529 | // do we have a Physical object? |
2482 | if (Body != IntPtr.Zero) | 2530 | if (Body != IntPtr.Zero) |
2483 | { | 2531 | { |
2484 | //Check that we have a Parent | 2532 | //Check that we have a Parent |
2485 | //If we have a parent then we're not authorative here | 2533 | //If we have a parent then we're not authorative here |
2486 | if (_parent == null) | 2534 | if (_parent == null) |
2487 | { | 2535 | { |
2488 | if (!newLock.ApproxEquals(Vector3.One, 0f)) | 2536 | if (!newLock.ApproxEquals(Vector3.One, 0f)) |
2489 | { | 2537 | { |
2490 | createAMotor(newLock); | 2538 | createAMotor(newLock); |
2491 | } | 2539 | } |
2492 | else | 2540 | else |
2493 | { | 2541 | { |
2494 | if (Amotor != IntPtr.Zero) | 2542 | if (Amotor != IntPtr.Zero) |
2495 | { | 2543 | { |
2496 | d.JointDestroy(Amotor); | 2544 | d.JointDestroy(Amotor); |
2497 | Amotor = IntPtr.Zero; | 2545 | Amotor = IntPtr.Zero; |
2498 | } | 2546 | } |
2499 | } | 2547 | } |
2500 | } | 2548 | } |
2501 | } | 2549 | } |
2502 | // Store this for later in case we get turned into a separate body | 2550 | // Store this for later in case we get turned into a separate body |
2503 | m_angularlock = newLock; | 2551 | m_angularlock = newLock; |
2504 | } | 2552 | } |
2505 | 2553 | ||
2506 | private void changeLink(OdePrim NewParent) | 2554 | private void changeLink(OdePrim NewParent) |
2507 | { | 2555 | { |
2508 | if (_parent == null && NewParent != null) | 2556 | if (_parent == null && NewParent != null) |
2509 | { | 2557 | { |
2510 | NewParent.ParentPrim(this); | 2558 | NewParent.ParentPrim(this); |
2511 | } | 2559 | } |
2512 | else if (_parent != null) | 2560 | else if (_parent != null) |
2513 | { | 2561 | { |
2514 | if (_parent is OdePrim) | 2562 | if (_parent is OdePrim) |
2515 | { | 2563 | { |
2516 | if (NewParent != _parent) | 2564 | if (NewParent != _parent) |
2517 | { | 2565 | { |
2518 | (_parent as OdePrim).ChildDelink(this, false); // for now... | 2566 | (_parent as OdePrim).ChildDelink(this, false); // for now... |
2519 | childPrim = false; | 2567 | childPrim = false; |
2520 | 2568 | ||
2521 | if (NewParent != null) | 2569 | if (NewParent != null) |
2522 | { | 2570 | { |
2523 | NewParent.ParentPrim(this); | 2571 | NewParent.ParentPrim(this); |
2524 | } | 2572 | } |
2525 | } | 2573 | } |
2526 | } | 2574 | } |
2527 | } | 2575 | } |
2528 | _parent = NewParent; | 2576 | _parent = NewParent; |
2529 | } | 2577 | } |
2530 | 2578 | ||
2531 | 2579 | ||
2532 | private void Stop() | 2580 | private void Stop() |
2533 | { | 2581 | { |
2534 | if (!childPrim) | 2582 | if (!childPrim) |
2535 | { | 2583 | { |
2536 | m_force = Vector3.Zero; | 2584 | m_force = Vector3.Zero; |
2537 | m_forceacc = Vector3.Zero; | 2585 | m_forceacc = Vector3.Zero; |
2538 | m_angularForceacc = Vector3.Zero; | 2586 | m_angularForceacc = Vector3.Zero; |
2539 | _torque = Vector3.Zero; | 2587 | _torque = Vector3.Zero; |
2540 | _velocity = Vector3.Zero; | 2588 | _velocity = Vector3.Zero; |
2541 | _acceleration = Vector3.Zero; | 2589 | _acceleration = Vector3.Zero; |
2542 | m_rotationalVelocity = Vector3.Zero; | 2590 | m_rotationalVelocity = Vector3.Zero; |
2543 | _target_velocity = Vector3.Zero; | 2591 | _target_velocity = Vector3.Zero; |
2544 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | 2592 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) |
2545 | m_vehicle.Stop(); | 2593 | m_vehicle.Stop(); |
2546 | } | 2594 | } |
2547 | 2595 | ||
2548 | if (Body != IntPtr.Zero) | 2596 | if (Body != IntPtr.Zero) |
2549 | { | 2597 | { |
2550 | d.BodySetForce(Body, 0f, 0f, 0f); | 2598 | d.BodySetForce(Body, 0f, 0f, 0f); |
2551 | d.BodySetTorque(Body, 0f, 0f, 0f); | 2599 | d.BodySetTorque(Body, 0f, 0f, 0f); |
2552 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | 2600 | d.BodySetLinearVel(Body, 0f, 0f, 0f); |
2553 | d.BodySetAngularVel(Body, 0f, 0f, 0f); | 2601 | d.BodySetAngularVel(Body, 0f, 0f, 0f); |
2554 | } | 2602 | } |
2555 | } | 2603 | } |
2556 | 2604 | ||
2557 | 2605 | ||
2558 | private void changePhantomStatus(bool newval) | 2606 | private void changePhantomStatus(bool newval) |
2559 | { | 2607 | { |
2560 | m_isphantom = newval; | 2608 | m_isphantom = newval; |
2561 | 2609 | ||
2562 | if (m_isSelected) | 2610 | if (m_isSelected) |
2563 | { | 2611 | { |
2564 | m_collisionCategories = CollisionCategories.Selected; | 2612 | m_collisionCategories = CollisionCategories.Selected; |
2565 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); | 2613 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); |
2566 | } | 2614 | } |
2567 | else | 2615 | else |
2568 | { | 2616 | { |
2569 | if (m_isphantom && !m_isVolumeDetect) | 2617 | if (m_isphantom && !m_isVolumeDetect) |
2570 | { | 2618 | { |
2571 | m_collisionCategories = 0; | 2619 | m_collisionCategories = 0; |
2572 | if (m_isphysical) | 2620 | if (m_isphysical) |
2573 | m_collisionFlags = CollisionCategories.Land; | 2621 | m_collisionFlags = CollisionCategories.Land; |
2574 | else | 2622 | else |
2575 | m_collisionFlags = 0; // should never happen | 2623 | m_collisionFlags = 0; // should never happen |
2576 | } | 2624 | } |
2577 | 2625 | ||
2578 | else | 2626 | else |
2579 | { | 2627 | { |
2580 | m_collisionCategories = CollisionCategories.Geom; | 2628 | m_collisionCategories = CollisionCategories.Geom; |
2581 | if (m_isphysical) | 2629 | if (m_isphysical) |
2582 | m_collisionCategories |= CollisionCategories.Body; | 2630 | m_collisionCategories |= CollisionCategories.Body; |
2583 | 2631 | ||
2584 | m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land; | 2632 | m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land; |
2585 | 2633 | ||
2586 | if (m_collidesWater) | 2634 | if (m_collidesWater) |
2587 | m_collisionFlags |= CollisionCategories.Water; | 2635 | m_collisionFlags |= CollisionCategories.Water; |
2588 | } | 2636 | } |
2589 | } | 2637 | } |
2590 | 2638 | ||
2591 | if (!childPrim) | 2639 | if (!childPrim) |
2592 | { | 2640 | { |
2593 | foreach (OdePrim prm in childrenPrim) | 2641 | foreach (OdePrim prm in childrenPrim) |
2594 | { | 2642 | { |
2595 | prm.m_collisionCategories = m_collisionCategories; | 2643 | prm.m_collisionCategories = m_collisionCategories; |
2596 | prm.m_collisionFlags = m_collisionFlags; | 2644 | prm.m_collisionFlags = m_collisionFlags; |
2597 | 2645 | ||
2598 | if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero) | 2646 | if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero) |
2599 | { | 2647 | { |
2600 | if (prm.m_NoColide) | 2648 | if (prm.m_NoColide) |
2601 | { | 2649 | { |
2602 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 2650 | d.GeomSetCategoryBits(prm.prim_geom, 0); |
2603 | if (m_isphysical) | 2651 | if (m_isphysical) |
2604 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | 2652 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); |
2605 | else | 2653 | else |
2606 | d.GeomSetCollideBits(prm.prim_geom, 0); | 2654 | d.GeomSetCollideBits(prm.prim_geom, 0); |
2607 | } | 2655 | } |
2608 | else | 2656 | else |
2609 | { | 2657 | { |
2610 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | 2658 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); |
2611 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | 2659 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); |
2612 | } | 2660 | } |
2613 | if(!m_isSelected) | 2661 | if(!m_isSelected) |
2614 | d.GeomEnable(prm.prim_geom); | 2662 | d.GeomEnable(prm.prim_geom); |
2615 | } | 2663 | } |
2616 | } | 2664 | } |
2617 | } | 2665 | } |
2618 | 2666 | ||
2619 | if (!m_disabled && prim_geom != IntPtr.Zero) | 2667 | if (!m_disabled && prim_geom != IntPtr.Zero) |
2620 | { | 2668 | { |
2621 | if (m_NoColide) | 2669 | if (m_NoColide) |
2622 | { | 2670 | { |
2623 | d.GeomSetCategoryBits(prim_geom, 0); | 2671 | d.GeomSetCategoryBits(prim_geom, 0); |
2624 | if (m_isphysical) | 2672 | if (m_isphysical) |
2625 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); | 2673 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); |
2626 | else | 2674 | else |
2627 | d.GeomSetCollideBits(prim_geom, 0); | 2675 | d.GeomSetCollideBits(prim_geom, 0); |
2628 | } | 2676 | } |
2629 | else | 2677 | else |
2630 | { | 2678 | { |
2631 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 2679 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
2632 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 2680 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
2633 | } | 2681 | } |
2634 | if(!m_isSelected) | 2682 | if(!m_isSelected) |
2635 | d.GeomEnable(prim_geom); | 2683 | d.GeomEnable(prim_geom); |
2636 | } | 2684 | } |
2637 | } | 2685 | } |
2638 | 2686 | ||
2639 | private void changeSelectedStatus(bool newval) | 2687 | private void changeSelectedStatus(bool newval) |
2640 | { | 2688 | { |
2641 | if (m_lastdoneSelected == newval) | 2689 | if (m_lastdoneSelected == newval) |
2642 | return; | 2690 | return; |
2643 | 2691 | ||
2644 | m_lastdoneSelected = newval; | 2692 | m_lastdoneSelected = newval; |
2645 | DoSelectedStatus(newval); | 2693 | DoSelectedStatus(newval); |
2646 | } | 2694 | } |
2647 | 2695 | ||
2648 | private void CheckDelaySelect() | 2696 | private void CheckDelaySelect() |
2649 | { | 2697 | { |
2650 | if (m_delaySelect) | 2698 | if (m_delaySelect) |
2651 | { | 2699 | { |
2652 | DoSelectedStatus(m_isSelected); | 2700 | DoSelectedStatus(m_isSelected); |
2653 | } | 2701 | } |
2654 | } | 2702 | } |
2655 | 2703 | ||
2656 | private void DoSelectedStatus(bool newval) | 2704 | private void DoSelectedStatus(bool newval) |
2657 | { | 2705 | { |
2658 | m_isSelected = newval; | 2706 | m_isSelected = newval; |
2659 | Stop(); | 2707 | Stop(); |
2660 | 2708 | ||
2661 | if (newval) | 2709 | if (newval) |
2662 | { | 2710 | { |
2663 | if (!childPrim && Body != IntPtr.Zero) | 2711 | if (!childPrim && Body != IntPtr.Zero) |
2664 | d.BodyDisable(Body); | 2712 | d.BodyDisable(Body); |
2665 | 2713 | ||
2666 | if (m_delaySelect || m_isphysical) | 2714 | if (m_delaySelect || m_isphysical) |
2667 | { | 2715 | { |
2668 | m_collisionCategories = CollisionCategories.Selected; | 2716 | m_collisionCategories = CollisionCategories.Selected; |
2669 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); | 2717 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); |
2670 | 2718 | ||
2671 | if (!childPrim) | 2719 | if (!childPrim) |
2672 | { | 2720 | { |
2673 | foreach (OdePrim prm in childrenPrim) | 2721 | foreach (OdePrim prm in childrenPrim) |
2674 | { | 2722 | { |
2675 | prm.m_collisionCategories = m_collisionCategories; | 2723 | prm.m_collisionCategories = m_collisionCategories; |
2676 | prm.m_collisionFlags = m_collisionFlags; | 2724 | prm.m_collisionFlags = m_collisionFlags; |
2677 | 2725 | ||
2678 | if (prm.prim_geom != null) | 2726 | if (prm.prim_geom != null) |
2679 | { | 2727 | { |
2680 | 2728 | ||
2681 | if (prm.m_NoColide) | 2729 | if (prm.m_NoColide) |
2682 | { | 2730 | { |
2683 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 2731 | d.GeomSetCategoryBits(prm.prim_geom, 0); |
2684 | d.GeomSetCollideBits(prm.prim_geom, 0); | 2732 | d.GeomSetCollideBits(prm.prim_geom, 0); |
2685 | } | 2733 | } |
2686 | else | 2734 | else |
2687 | { | 2735 | { |
2688 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | 2736 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); |
2689 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | 2737 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); |
2690 | } | 2738 | } |
2691 | d.GeomDisable(prm.prim_geom); | 2739 | d.GeomDisable(prm.prim_geom); |
2692 | } | 2740 | } |
2693 | prm.m_delaySelect = false; | 2741 | prm.m_delaySelect = false; |
2694 | } | 2742 | } |
2695 | } | 2743 | } |
2696 | 2744 | ||
2697 | if (prim_geom != null) | 2745 | if (prim_geom != null) |
2698 | { | 2746 | { |
2699 | if (m_NoColide) | 2747 | if (m_NoColide) |
2700 | { | 2748 | { |
2701 | d.GeomSetCategoryBits(prim_geom, 0); | 2749 | d.GeomSetCategoryBits(prim_geom, 0); |
2702 | d.GeomSetCollideBits(prim_geom, 0); | 2750 | d.GeomSetCollideBits(prim_geom, 0); |
2703 | } | 2751 | } |
2704 | else | 2752 | else |
2705 | { | 2753 | { |
2706 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 2754 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
2707 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 2755 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
2708 | } | 2756 | } |
2709 | d.GeomDisable(prim_geom); | 2757 | d.GeomDisable(prim_geom); |
2710 | } | 2758 | } |
2711 | 2759 | ||
2712 | m_delaySelect = false; | 2760 | m_delaySelect = false; |
2713 | } | 2761 | } |
2714 | else if(!m_isphysical) | 2762 | else if(!m_isphysical) |
2715 | { | 2763 | { |
2716 | m_delaySelect = true; | 2764 | m_delaySelect = true; |
2717 | } | 2765 | } |
2718 | } | 2766 | } |
2719 | else | 2767 | else |
2720 | { | 2768 | { |
2721 | if (!childPrim && Body != IntPtr.Zero && !m_disabled) | 2769 | if (!childPrim && Body != IntPtr.Zero && !m_disabled) |
2722 | d.BodyEnable(Body); | 2770 | d.BodyEnable(Body); |
2723 | 2771 | ||
2724 | if (m_isphantom && !m_isVolumeDetect) | 2772 | if (m_isphantom && !m_isVolumeDetect) |
2725 | { | 2773 | { |
2726 | m_collisionCategories = 0; | 2774 | m_collisionCategories = 0; |
2727 | if(m_isphysical) | 2775 | if(m_isphysical) |
2728 | m_collisionFlags = CollisionCategories.Land; | 2776 | m_collisionFlags = CollisionCategories.Land; |
2729 | else | 2777 | else |
2730 | m_collisionFlags = 0; | 2778 | m_collisionFlags = 0; |
2731 | } | 2779 | } |
2732 | else | 2780 | else |
2733 | { | 2781 | { |
2734 | m_collisionCategories = CollisionCategories.Geom; | 2782 | m_collisionCategories = CollisionCategories.Geom; |
2735 | if (m_isphysical) | 2783 | if (m_isphysical) |
2736 | m_collisionCategories |= CollisionCategories.Body; | 2784 | m_collisionCategories |= CollisionCategories.Body; |
2737 | 2785 | ||
2738 | m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land; | 2786 | m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land; |
2739 | 2787 | ||
2740 | if (m_collidesWater) | 2788 | if (m_collidesWater) |
2741 | m_collisionFlags |= CollisionCategories.Water; | 2789 | m_collisionFlags |= CollisionCategories.Water; |
2742 | } | 2790 | } |
2743 | 2791 | ||
2744 | if (!childPrim) | 2792 | if (!childPrim) |
2745 | { | 2793 | { |
2746 | foreach (OdePrim prm in childrenPrim) | 2794 | foreach (OdePrim prm in childrenPrim) |
2747 | { | 2795 | { |
2748 | prm.m_collisionCategories = m_collisionCategories; | 2796 | prm.m_collisionCategories = m_collisionCategories; |
2749 | prm.m_collisionFlags = m_collisionFlags; | 2797 | prm.m_collisionFlags = m_collisionFlags; |
2750 | 2798 | ||
2751 | if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero) | 2799 | if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero) |
2752 | { | 2800 | { |
2753 | if (prm.m_NoColide) | 2801 | if (prm.m_NoColide) |
2754 | { | 2802 | { |
2755 | d.GeomSetCategoryBits(prm.prim_geom, 0); | 2803 | d.GeomSetCategoryBits(prm.prim_geom, 0); |
2756 | if (m_isphysical) | 2804 | if (m_isphysical) |
2757 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | 2805 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); |
2758 | else | 2806 | else |
2759 | d.GeomSetCollideBits(prm.prim_geom, 0); | 2807 | d.GeomSetCollideBits(prm.prim_geom, 0); |
2760 | } | 2808 | } |
2761 | else | 2809 | else |
2762 | { | 2810 | { |
2763 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); | 2811 | d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); |
2764 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); | 2812 | d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); |
2765 | } | 2813 | } |
2766 | d.GeomEnable(prm.prim_geom); | 2814 | d.GeomEnable(prm.prim_geom); |
2767 | } | 2815 | } |
2768 | prm.m_delaySelect = false; | 2816 | prm.m_delaySelect = false; |
2769 | prm.m_softcolide = true; | 2817 | prm.m_softcolide = true; |
2770 | } | 2818 | } |
2771 | } | 2819 | } |
2772 | 2820 | ||
2773 | if (!m_disabled && prim_geom != IntPtr.Zero) | 2821 | if (!m_disabled && prim_geom != IntPtr.Zero) |
2774 | { | 2822 | { |
2775 | if (m_NoColide) | 2823 | if (m_NoColide) |
2776 | { | 2824 | { |
2777 | d.GeomSetCategoryBits(prim_geom, 0); | 2825 | d.GeomSetCategoryBits(prim_geom, 0); |
2778 | if (m_isphysical) | 2826 | if (m_isphysical) |
2779 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); | 2827 | d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land); |
2780 | else | 2828 | else |
2781 | d.GeomSetCollideBits(prim_geom, 0); | 2829 | d.GeomSetCollideBits(prim_geom, 0); |
2782 | } | 2830 | } |
2783 | else | 2831 | else |
2784 | { | 2832 | { |
2785 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 2833 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
2786 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 2834 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
2787 | } | 2835 | } |
2788 | d.GeomEnable(prim_geom); | 2836 | d.GeomEnable(prim_geom); |
2789 | } | 2837 | } |
2790 | 2838 | ||
2791 | m_delaySelect = false; | 2839 | m_delaySelect = false; |
2792 | m_softcolide = true; | 2840 | m_softcolide = true; |
2793 | } | 2841 | } |
2794 | 2842 | ||
2795 | resetCollisionAccounting(); | 2843 | resetCollisionAccounting(); |
2796 | } | 2844 | } |
2797 | 2845 | ||
2798 | private void changePosition(Vector3 newPos) | 2846 | private void changePosition(Vector3 newPos) |
2799 | { | 2847 | { |
2800 | CheckDelaySelect(); | 2848 | CheckDelaySelect(); |
2801 | if (m_isphysical) | 2849 | if (m_isphysical) |
2802 | { | 2850 | { |
2803 | if (childPrim) // inertia is messed, must rebuild | 2851 | if (childPrim) // inertia is messed, must rebuild |
2804 | { | 2852 | { |
2805 | if (m_building) | 2853 | if (m_building) |
2806 | { | 2854 | { |
2807 | _position = newPos; | 2855 | _position = newPos; |
2808 | } | 2856 | } |
2809 | 2857 | ||
2810 | else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) | 2858 | else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) |
2811 | { | 2859 | { |
2812 | FixInertia(newPos); | 2860 | FixInertia(newPos); |
2813 | if (!d.BodyIsEnabled(Body)) | 2861 | if (!d.BodyIsEnabled(Body)) |
2814 | d.BodyEnable(Body); | 2862 | d.BodyEnable(Body); |
2815 | } | 2863 | } |
2816 | } | 2864 | } |
2817 | else | 2865 | else |
2818 | { | 2866 | { |
2819 | if (_position != newPos) | 2867 | if (_position != newPos) |
2820 | { | 2868 | { |
2821 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | 2869 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); |
2822 | _position = newPos; | 2870 | _position = newPos; |
2823 | } | 2871 | } |
2824 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 2872 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
2825 | d.BodyEnable(Body); | 2873 | d.BodyEnable(Body); |
2826 | } | 2874 | } |
2827 | } | 2875 | } |
2828 | else | 2876 | else |
2829 | { | 2877 | { |
2830 | if (prim_geom != IntPtr.Zero) | 2878 | if (prim_geom != IntPtr.Zero) |
2831 | { | 2879 | { |
2832 | if (newPos != _position) | 2880 | if (newPos != _position) |
2833 | { | 2881 | { |
2834 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | 2882 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); |
2835 | _position = newPos; | 2883 | _position = newPos; |
2836 | 2884 | ||
2837 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | 2885 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); |
2838 | } | 2886 | } |
2839 | } | 2887 | } |
2840 | } | 2888 | } |
2841 | givefakepos--; | 2889 | givefakepos--; |
2842 | if (givefakepos < 0) | 2890 | if (givefakepos < 0) |
2843 | givefakepos = 0; | 2891 | givefakepos = 0; |
2844 | // changeSelectedStatus(); | 2892 | // changeSelectedStatus(); |
2845 | m_softcolide = true; | 2893 | m_softcolide = true; |
2846 | resetCollisionAccounting(); | 2894 | resetCollisionAccounting(); |
2847 | } | 2895 | } |
2848 | 2896 | ||
2849 | private void changeOrientation(Quaternion newOri) | 2897 | private void changeOrientation(Quaternion newOri) |
2850 | { | 2898 | { |
2851 | CheckDelaySelect(); | 2899 | CheckDelaySelect(); |
2852 | if (m_isphysical) | 2900 | if (m_isphysical) |
2853 | { | 2901 | { |
2854 | if (childPrim) // inertia is messed, must rebuild | 2902 | if (childPrim) // inertia is messed, must rebuild |
2855 | { | 2903 | { |
2856 | if (m_building) | 2904 | if (m_building) |
2857 | { | 2905 | { |
2858 | _orientation = newOri; | 2906 | _orientation = newOri; |
2859 | } | 2907 | } |
2860 | /* | 2908 | /* |
2861 | else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) | 2909 | else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) |
2862 | { | 2910 | { |
2863 | FixInertia(_position, newOri); | 2911 | FixInertia(_position, newOri); |
2864 | if (!d.BodyIsEnabled(Body)) | 2912 | if (!d.BodyIsEnabled(Body)) |
2865 | d.BodyEnable(Body); | 2913 | d.BodyEnable(Body); |
2866 | } | 2914 | } |
2867 | */ | 2915 | */ |
2868 | } | 2916 | } |
2869 | else | 2917 | else |
2870 | { | 2918 | { |
2871 | if (newOri != _orientation) | 2919 | if (newOri != _orientation) |
2872 | { | 2920 | { |
2873 | d.Quaternion myrot = new d.Quaternion(); | 2921 | d.Quaternion myrot = new d.Quaternion(); |
2874 | myrot.X = newOri.X; | 2922 | myrot.X = newOri.X; |
2875 | myrot.Y = newOri.Y; | 2923 | myrot.Y = newOri.Y; |
2876 | myrot.Z = newOri.Z; | 2924 | myrot.Z = newOri.Z; |
2877 | myrot.W = newOri.W; | 2925 | myrot.W = newOri.W; |
2878 | d.GeomSetQuaternion(prim_geom, ref myrot); | 2926 | d.GeomSetQuaternion(prim_geom, ref myrot); |
2879 | _orientation = newOri; | 2927 | _orientation = newOri; |
2880 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | 2928 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) |
2881 | createAMotor(m_angularlock); | 2929 | createAMotor(m_angularlock); |
2882 | } | 2930 | } |
2883 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 2931 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
2884 | d.BodyEnable(Body); | 2932 | d.BodyEnable(Body); |
2885 | } | 2933 | } |
2886 | } | 2934 | } |
2887 | else | 2935 | else |
2888 | { | 2936 | { |
2889 | if (prim_geom != IntPtr.Zero) | 2937 | if (prim_geom != IntPtr.Zero) |
2890 | { | 2938 | { |
2891 | if (newOri != _orientation) | 2939 | if (newOri != _orientation) |
2892 | { | 2940 | { |
2893 | d.Quaternion myrot = new d.Quaternion(); | 2941 | d.Quaternion myrot = new d.Quaternion(); |
2894 | myrot.X = newOri.X; | 2942 | myrot.X = newOri.X; |
2895 | myrot.Y = newOri.Y; | 2943 | myrot.Y = newOri.Y; |
2896 | myrot.Z = newOri.Z; | 2944 | myrot.Z = newOri.Z; |
2897 | myrot.W = newOri.W; | 2945 | myrot.W = newOri.W; |
2898 | d.GeomSetQuaternion(prim_geom, ref myrot); | 2946 | d.GeomSetQuaternion(prim_geom, ref myrot); |
2899 | _orientation = newOri; | 2947 | _orientation = newOri; |
2900 | } | 2948 | } |
2901 | } | 2949 | } |
2902 | } | 2950 | } |
2903 | givefakeori--; | 2951 | givefakeori--; |
2904 | if (givefakeori < 0) | 2952 | if (givefakeori < 0) |
2905 | givefakeori = 0; | 2953 | givefakeori = 0; |
2906 | m_softcolide = true; | 2954 | m_softcolide = true; |
2907 | resetCollisionAccounting(); | 2955 | resetCollisionAccounting(); |
2908 | } | 2956 | } |
2909 | 2957 | ||
2910 | private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) | 2958 | private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) |
2911 | { | 2959 | { |
2912 | CheckDelaySelect(); | 2960 | CheckDelaySelect(); |
2913 | if (m_isphysical) | 2961 | if (m_isphysical) |
2914 | { | 2962 | { |
2915 | if (childPrim && m_building) // inertia is messed, must rebuild | 2963 | if (childPrim && m_building) // inertia is messed, must rebuild |
2916 | { | 2964 | { |
2917 | _position = newPos; | 2965 | _position = newPos; |
2918 | _orientation = newOri; | 2966 | _orientation = newOri; |
2919 | } | 2967 | } |
2920 | else | 2968 | else |
2921 | { | 2969 | { |
2922 | if (newOri != _orientation) | 2970 | if (newOri != _orientation) |
2923 | { | 2971 | { |
2924 | d.Quaternion myrot = new d.Quaternion(); | 2972 | d.Quaternion myrot = new d.Quaternion(); |
2925 | myrot.X = newOri.X; | 2973 | myrot.X = newOri.X; |
2926 | myrot.Y = newOri.Y; | 2974 | myrot.Y = newOri.Y; |
2927 | myrot.Z = newOri.Z; | 2975 | myrot.Z = newOri.Z; |
2928 | myrot.W = newOri.W; | 2976 | myrot.W = newOri.W; |
2929 | d.GeomSetQuaternion(prim_geom, ref myrot); | 2977 | d.GeomSetQuaternion(prim_geom, ref myrot); |
2930 | _orientation = newOri; | 2978 | _orientation = newOri; |
2931 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | 2979 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) |
2932 | createAMotor(m_angularlock); | 2980 | createAMotor(m_angularlock); |
2933 | } | 2981 | } |
2934 | if (_position != newPos) | 2982 | if (_position != newPos) |
2935 | { | 2983 | { |
2936 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | 2984 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); |
2937 | _position = newPos; | 2985 | _position = newPos; |
2938 | } | 2986 | } |
2939 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 2987 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
2940 | d.BodyEnable(Body); | 2988 | d.BodyEnable(Body); |
2941 | } | 2989 | } |
2942 | } | 2990 | } |
2943 | else | 2991 | else |
2944 | { | 2992 | { |
2945 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | 2993 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); |
2946 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | 2994 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); |
2947 | 2995 | ||
2948 | if (prim_geom != IntPtr.Zero) | 2996 | if (prim_geom != IntPtr.Zero) |
2949 | { | 2997 | { |
2950 | if (newOri != _orientation) | 2998 | if (newOri != _orientation) |
2951 | { | 2999 | { |
2952 | d.Quaternion myrot = new d.Quaternion(); | 3000 | d.Quaternion myrot = new d.Quaternion(); |
2953 | myrot.X = newOri.X; | 3001 | myrot.X = newOri.X; |
2954 | myrot.Y = newOri.Y; | 3002 | myrot.Y = newOri.Y; |
2955 | myrot.Z = newOri.Z; | 3003 | myrot.Z = newOri.Z; |
2956 | myrot.W = newOri.W; | 3004 | myrot.W = newOri.W; |
2957 | d.GeomSetQuaternion(prim_geom, ref myrot); | 3005 | d.GeomSetQuaternion(prim_geom, ref myrot); |
2958 | _orientation = newOri; | 3006 | _orientation = newOri; |
2959 | } | 3007 | } |
2960 | 3008 | ||
2961 | if (newPos != _position) | 3009 | if (newPos != _position) |
2962 | { | 3010 | { |
2963 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | 3011 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); |
2964 | _position = newPos; | 3012 | _position = newPos; |
2965 | 3013 | ||
2966 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | 3014 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); |
2967 | } | 3015 | } |
2968 | } | 3016 | } |
2969 | } | 3017 | } |
2970 | givefakepos--; | 3018 | givefakepos--; |
2971 | if (givefakepos < 0) | 3019 | if (givefakepos < 0) |
2972 | givefakepos = 0; | 3020 | givefakepos = 0; |
2973 | givefakeori--; | 3021 | givefakeori--; |
2974 | if (givefakeori < 0) | 3022 | if (givefakeori < 0) |
2975 | givefakeori = 0; | 3023 | givefakeori = 0; |
2976 | 3024 | ||
2977 | m_softcolide = true; | 3025 | m_softcolide = true; |
2978 | resetCollisionAccounting(); | 3026 | resetCollisionAccounting(); |
2979 | } | 3027 | } |
2980 | 3028 | ||
2981 | 3029 | ||
2982 | private void changeDisable(bool disable) | 3030 | private void changeDisable(bool disable) |
2983 | { | 3031 | { |
2984 | if (disable) | 3032 | if (disable) |
2985 | { | 3033 | { |
2986 | if (!m_disabled) | 3034 | if (!m_disabled) |
2987 | disableBodySoft(); | 3035 | disableBodySoft(); |
2988 | } | 3036 | } |
2989 | else | 3037 | else |
2990 | { | 3038 | { |
2991 | if (m_disabled) | 3039 | if (m_disabled) |
2992 | enableBodySoft(); | 3040 | enableBodySoft(); |
2993 | } | 3041 | } |
2994 | } | 3042 | } |
2995 | 3043 | ||
2996 | private void changePhysicsStatus(bool NewStatus) | 3044 | private void changePhysicsStatus(bool NewStatus) |
2997 | { | 3045 | { |
2998 | CheckDelaySelect(); | 3046 | CheckDelaySelect(); |
2999 | 3047 | ||
3000 | m_isphysical = NewStatus; | 3048 | m_isphysical = NewStatus; |
3001 | 3049 | ||
3002 | if (!childPrim) | 3050 | if (!childPrim) |
3003 | { | 3051 | { |
3004 | if (NewStatus) | 3052 | if (NewStatus) |
3005 | { | 3053 | { |
3006 | if (Body == IntPtr.Zero) | 3054 | if (Body == IntPtr.Zero) |
3007 | MakeBody(); | 3055 | MakeBody(); |
3008 | } | 3056 | } |
3009 | else | 3057 | else |
3010 | { | 3058 | { |
3011 | if (Body != IntPtr.Zero) | 3059 | if (Body != IntPtr.Zero) |
3012 | { | 3060 | { |
3013 | DestroyBody(); | 3061 | DestroyBody(); |
3014 | } | 3062 | } |
3015 | Stop(); | 3063 | Stop(); |
3016 | } | 3064 | } |
3017 | } | 3065 | } |
3018 | 3066 | ||
3019 | resetCollisionAccounting(); | 3067 | resetCollisionAccounting(); |
3020 | } | 3068 | } |
3021 | 3069 | ||
3022 | private void changeprimsizeshape() | 3070 | private void changeprimsizeshape() |
3023 | { | 3071 | { |
3024 | CheckDelaySelect(); | 3072 | CheckDelaySelect(); |
3025 | 3073 | ||
3026 | OdePrim parent = (OdePrim)_parent; | 3074 | OdePrim parent = (OdePrim)_parent; |
3027 | 3075 | ||
3028 | bool chp = childPrim; | 3076 | bool chp = childPrim; |
3029 | 3077 | ||
3030 | if (chp) | 3078 | if (chp) |
3031 | { | 3079 | { |
3032 | if (parent != null) | 3080 | if (parent != null) |
3033 | { | 3081 | { |
3034 | parent.DestroyBody(); | 3082 | parent.DestroyBody(); |
3035 | } | 3083 | } |
3036 | } | 3084 | } |
3037 | else | 3085 | else |
3038 | { | 3086 | { |
3039 | DestroyBody(); | 3087 | DestroyBody(); |
3040 | } | 3088 | } |
3041 | 3089 | ||
3042 | RemoveGeom(); | 3090 | RemoveGeom(); |
3043 | 3091 | ||
3044 | // we don't need to do space calculation because the client sends a position update also. | 3092 | // we don't need to do space calculation because the client sends a position update also. |
3045 | if (_size.X <= 0) | 3093 | if (_size.X <= 0) |
3046 | _size.X = 0.01f; | 3094 | _size.X = 0.01f; |
3047 | if (_size.Y <= 0) | 3095 | if (_size.Y <= 0) |
3048 | _size.Y = 0.01f; | 3096 | _size.Y = 0.01f; |
3049 | if (_size.Z <= 0) | 3097 | if (_size.Z <= 0) |
3050 | _size.Z = 0.01f; | 3098 | _size.Z = 0.01f; |
3051 | // Construction of new prim | 3099 | // Construction of new prim |
3052 | 3100 | ||
3053 | CreateGeom(); | 3101 | CreateGeom(); |
3054 | 3102 | ||
3055 | if (prim_geom != IntPtr.Zero) | 3103 | if (prim_geom != IntPtr.Zero) |
3056 | { | 3104 | { |
3057 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 3105 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
3058 | d.Quaternion myrot = new d.Quaternion(); | 3106 | d.Quaternion myrot = new d.Quaternion(); |
3059 | myrot.X = _orientation.X; | 3107 | myrot.X = _orientation.X; |
3060 | myrot.Y = _orientation.Y; | 3108 | myrot.Y = _orientation.Y; |
3061 | myrot.Z = _orientation.Z; | 3109 | myrot.Z = _orientation.Z; |
3062 | myrot.W = _orientation.W; | 3110 | myrot.W = _orientation.W; |
3063 | d.GeomSetQuaternion(prim_geom, ref myrot); | 3111 | d.GeomSetQuaternion(prim_geom, ref myrot); |
3064 | } | 3112 | } |
3065 | 3113 | ||
3066 | if (chp) | 3114 | if (chp) |
3067 | { | 3115 | { |
3068 | if (parent != null) | 3116 | if (parent != null) |
3069 | { | 3117 | { |
3070 | parent.MakeBody(); | 3118 | parent.MakeBody(); |
3071 | } | 3119 | } |
3072 | } | 3120 | } |
3073 | else | 3121 | else |
3074 | MakeBody(); | 3122 | MakeBody(); |
3075 | 3123 | ||
3076 | m_softcolide = true; | 3124 | m_softcolide = true; |
3077 | resetCollisionAccounting(); | 3125 | resetCollisionAccounting(); |
3078 | } | 3126 | } |
3079 | 3127 | ||
3080 | private void changeSize(Vector3 newSize) | 3128 | private void changeSize(Vector3 newSize) |
3081 | { | 3129 | { |
3082 | _size = newSize; | 3130 | _size = newSize; |
3083 | changeprimsizeshape(); | 3131 | changeprimsizeshape(); |
3084 | } | 3132 | } |
3085 | 3133 | ||
3086 | private void changeShape(PrimitiveBaseShape newShape) | 3134 | private void changeShape(PrimitiveBaseShape newShape) |
3087 | { | 3135 | { |
3088 | if(newShape != null) | 3136 | if(newShape != null) |
3089 | _pbs = newShape; | 3137 | _pbs = newShape; |
3090 | changeprimsizeshape(); | 3138 | changeprimsizeshape(); |
3091 | } | 3139 | } |
3092 | 3140 | ||
3093 | private void changeFloatOnWater(bool newval) | 3141 | private void changeFloatOnWater(bool newval) |
3094 | { | 3142 | { |
3095 | m_collidesWater = newval; | 3143 | m_collidesWater = newval; |
3096 | 3144 | ||
3097 | if (prim_geom != IntPtr.Zero && !m_isphantom) | 3145 | if (prim_geom != IntPtr.Zero && !m_isphantom) |
3098 | { | 3146 | { |
3099 | if (m_collidesWater) | 3147 | if (m_collidesWater) |
3100 | { | 3148 | { |
3101 | m_collisionFlags |= CollisionCategories.Water; | 3149 | m_collisionFlags |= CollisionCategories.Water; |
3102 | } | 3150 | } |
3103 | else | 3151 | else |
3104 | { | 3152 | { |
3105 | m_collisionFlags &= ~CollisionCategories.Water; | 3153 | m_collisionFlags &= ~CollisionCategories.Water; |
3106 | } | 3154 | } |
3107 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 3155 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
3108 | } | 3156 | } |
3109 | } | 3157 | } |
3110 | 3158 | ||
3111 | private void changeSetTorque(Vector3 newtorque) | 3159 | private void changeSetTorque(Vector3 newtorque) |
3112 | { | 3160 | { |
3113 | if (!m_isSelected) | 3161 | if (!m_isSelected) |
3114 | { | 3162 | { |
3115 | if (m_isphysical && Body != IntPtr.Zero) | 3163 | if (m_isphysical && Body != IntPtr.Zero) |
3116 | { | 3164 | { |
3117 | if (m_disabled) | 3165 | if (m_disabled) |
3118 | enableBodySoft(); | 3166 | enableBodySoft(); |
3119 | else if (!d.BodyIsEnabled(Body)) | 3167 | else if (!d.BodyIsEnabled(Body)) |
3120 | d.BodyEnable(Body); | 3168 | d.BodyEnable(Body); |
3121 | 3169 | ||
3122 | } | 3170 | } |
3123 | _torque = newtorque; | 3171 | _torque = newtorque; |
3124 | } | 3172 | } |
3125 | } | 3173 | } |
3126 | 3174 | ||
3127 | private void changeForce(Vector3 force) | 3175 | private void changeForce(Vector3 force) |
3128 | { | 3176 | { |
3129 | m_force = force; | 3177 | m_force = force; |
3130 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 3178 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
3131 | d.BodyEnable(Body); | 3179 | d.BodyEnable(Body); |
3132 | } | 3180 | } |
3133 | 3181 | ||
3134 | private void changeAddForce(Vector3 force) | 3182 | private void changeAddForce(Vector3 force) |
3135 | { | 3183 | { |
3136 | m_forceacc += force; | 3184 | m_forceacc += force; |
3137 | if (!m_isSelected) | 3185 | if (!m_isSelected) |
3138 | { | 3186 | { |
3139 | lock (this) | 3187 | lock (this) |
3140 | { | 3188 | { |
3141 | //m_log.Info("[PHYSICS]: dequeing forcelist"); | 3189 | //m_log.Info("[PHYSICS]: dequeing forcelist"); |
3142 | if (m_isphysical && Body != IntPtr.Zero) | 3190 | if (m_isphysical && Body != IntPtr.Zero) |
3143 | { | 3191 | { |
3144 | if (m_disabled) | 3192 | if (m_disabled) |
3145 | enableBodySoft(); | 3193 | enableBodySoft(); |
3146 | else if (!d.BodyIsEnabled(Body)) | 3194 | else if (!d.BodyIsEnabled(Body)) |
3147 | d.BodyEnable(Body); | 3195 | d.BodyEnable(Body); |
3148 | } | 3196 | } |
3149 | } | 3197 | } |
3150 | 3198 | ||
3151 | m_collisionscore = 0; | 3199 | m_collisionscore = 0; |
3152 | } | 3200 | } |
3153 | } | 3201 | } |
3154 | 3202 | ||
3155 | private void changeAddAngularForce(Vector3 aforce) | 3203 | private void changeAddAngularForce(Vector3 aforce) |
3156 | { | 3204 | { |
3157 | m_angularForceacc += aforce; | 3205 | m_angularForceacc += aforce; |
3158 | if (!m_isSelected) | 3206 | if (!m_isSelected) |
3159 | { | 3207 | { |
3160 | lock (this) | 3208 | lock (this) |
3161 | { | 3209 | { |
3162 | if (m_isphysical && Body != IntPtr.Zero) | 3210 | if (m_isphysical && Body != IntPtr.Zero) |
3163 | { | 3211 | { |
3164 | if (m_disabled) | 3212 | if (m_disabled) |
3165 | enableBodySoft(); | 3213 | enableBodySoft(); |
3166 | else if (!d.BodyIsEnabled(Body)) | 3214 | else if (!d.BodyIsEnabled(Body)) |
3167 | d.BodyEnable(Body); | 3215 | d.BodyEnable(Body); |
3168 | } | 3216 | } |
3169 | } | 3217 | } |
3170 | m_collisionscore = 0; | 3218 | m_collisionscore = 0; |
3171 | } | 3219 | } |
3172 | } | 3220 | } |
3173 | 3221 | ||
3174 | private void changevelocity(Vector3 newVel) | 3222 | private void changevelocity(Vector3 newVel) |
3175 | { | 3223 | { |
3176 | if (!m_isSelected) | 3224 | if (!m_isSelected) |
3177 | { | 3225 | { |
3178 | if (Body != IntPtr.Zero) | 3226 | if (Body != IntPtr.Zero) |
3179 | { | 3227 | { |
3180 | if (m_disabled) | 3228 | if (m_disabled) |
3181 | enableBodySoft(); | 3229 | enableBodySoft(); |
3182 | else if (!d.BodyIsEnabled(Body)) | 3230 | else if (!d.BodyIsEnabled(Body)) |
3183 | d.BodyEnable(Body); | 3231 | d.BodyEnable(Body); |
3184 | 3232 | ||
3185 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); | 3233 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); |
3186 | } | 3234 | } |
3187 | //resetCollisionAccounting(); | 3235 | //resetCollisionAccounting(); |
3188 | } | 3236 | } |
3189 | _velocity = newVel; | 3237 | _velocity = newVel; |
3190 | } | 3238 | } |
3191 | 3239 | ||
3192 | private void changeVolumedetetion(bool newVolDtc) | 3240 | private void changeVolumedetetion(bool newVolDtc) |
3193 | { | 3241 | { |
3194 | m_isVolumeDetect = newVolDtc; | 3242 | m_isVolumeDetect = newVolDtc; |
3195 | } | 3243 | } |
3196 | 3244 | ||
3197 | protected void changeBuilding(bool newbuilding) | 3245 | protected void changeBuilding(bool newbuilding) |
3198 | { | 3246 | { |
3199 | if ((bool)newbuilding) | 3247 | if ((bool)newbuilding) |
3200 | { | 3248 | { |
3201 | m_building = true; | 3249 | m_building = true; |
3202 | if (!childPrim) | 3250 | if (!childPrim) |
3203 | DestroyBody(); | 3251 | DestroyBody(); |
3204 | } | 3252 | } |
3205 | else | 3253 | else |
3206 | { | 3254 | { |
3207 | m_building = false; | 3255 | m_building = false; |
3208 | CheckDelaySelect(); | 3256 | CheckDelaySelect(); |
3209 | if (!childPrim) | 3257 | if (!childPrim) |
3210 | MakeBody(); | 3258 | MakeBody(); |
3211 | } | 3259 | } |
3212 | if (!childPrim && childrenPrim.Count > 0) | 3260 | if (!childPrim && childrenPrim.Count > 0) |
3213 | { | 3261 | { |
3214 | foreach (OdePrim prm in childrenPrim) | 3262 | foreach (OdePrim prm in childrenPrim) |
3215 | prm.changeBuilding(m_building); // call directly | 3263 | prm.changeBuilding(m_building); // call directly |
3216 | } | 3264 | } |
3217 | } | 3265 | } |
3218 | 3266 | ||
3219 | public void changeSetVehicle(VehicleData vdata) | 3267 | public void changeSetVehicle(VehicleData vdata) |
3220 | { | 3268 | { |
3221 | if (m_vehicle == null) | 3269 | if (m_vehicle == null) |
3222 | m_vehicle = new ODEDynamics(this); | 3270 | m_vehicle = new ODEDynamics(this); |
3223 | m_vehicle.DoSetVehicle(vdata); | 3271 | m_vehicle.DoSetVehicle(vdata); |
3224 | } | 3272 | } |
3225 | private void changeVehicleType(int value) | 3273 | private void changeVehicleType(int value) |
3226 | { | 3274 | { |
3227 | if (value == (int)Vehicle.TYPE_NONE) | 3275 | if (value == (int)Vehicle.TYPE_NONE) |
3228 | { | 3276 | { |
3229 | if (m_vehicle != null) | 3277 | if (m_vehicle != null) |
3230 | m_vehicle = null; | 3278 | m_vehicle = null; |
3231 | } | 3279 | } |
3232 | else | 3280 | else |
3233 | { | 3281 | { |
3234 | if (m_vehicle == null) | 3282 | if (m_vehicle == null) |
3235 | m_vehicle = new ODEDynamics(this); | 3283 | m_vehicle = new ODEDynamics(this); |
3236 | 3284 | ||
3237 | m_vehicle.ProcessTypeChange((Vehicle)value); | 3285 | m_vehicle.ProcessTypeChange((Vehicle)value); |
3238 | } | 3286 | } |
3239 | } | 3287 | } |
3240 | 3288 | ||
3241 | private void changeVehicleFloatParam(strVehicleFloatParam fp) | 3289 | private void changeVehicleFloatParam(strVehicleFloatParam fp) |
3242 | { | 3290 | { |
3243 | if (m_vehicle == null) | 3291 | if (m_vehicle == null) |
3244 | return; | 3292 | return; |
3245 | 3293 | ||
3246 | m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); | 3294 | m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); |
3247 | } | 3295 | } |
3248 | 3296 | ||
3249 | private void changeVehicleVectorParam(strVehicleVectorParam vp) | 3297 | private void changeVehicleVectorParam(strVehicleVectorParam vp) |
3250 | { | 3298 | { |
3251 | if (m_vehicle == null) | 3299 | if (m_vehicle == null) |
3252 | return; | 3300 | return; |
3253 | m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); | 3301 | m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); |
3254 | } | 3302 | } |
3255 | 3303 | ||
3256 | private void changeVehicleRotationParam(strVehicleQuatParam qp) | 3304 | private void changeVehicleRotationParam(strVehicleQuatParam qp) |
3257 | { | 3305 | { |
3258 | if (m_vehicle == null) | 3306 | if (m_vehicle == null) |
3259 | return; | 3307 | return; |
3260 | m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); | 3308 | m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); |
3261 | } | 3309 | } |
3262 | 3310 | ||
3263 | private void changeVehicleFlags(strVehicleBoolParam bp) | 3311 | private void changeVehicleFlags(strVehicleBoolParam bp) |
3264 | { | 3312 | { |
3265 | if (m_vehicle == null) | 3313 | if (m_vehicle == null) |
3266 | return; | 3314 | return; |
3267 | m_vehicle.ProcessVehicleFlags(bp.param, bp.value); | 3315 | m_vehicle.ProcessVehicleFlags(bp.param, bp.value); |
3268 | } | 3316 | } |
3269 | 3317 | ||
3270 | #endregion | 3318 | #endregion |
3271 | 3319 | ||
3272 | public void Move() | 3320 | public void Move() |
3273 | { | 3321 | { |
3274 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && | 3322 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && |
3275 | !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds) | 3323 | !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds) |
3276 | // !m_disabled && !m_isSelected && !m_building && !m_outbounds) | 3324 | // !m_disabled && !m_isSelected && !m_building && !m_outbounds) |
3277 | { | 3325 | { |
3278 | // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 | 3326 | // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 |
3279 | 3327 | ||
3280 | float timestep = _parent_scene.ODE_STEPSIZE; | 3328 | float timestep = _parent_scene.ODE_STEPSIZE; |
3281 | 3329 | ||
3282 | // check outside region | 3330 | // check outside region |
3283 | d.Vector3 lpos; | 3331 | d.Vector3 lpos; |
3284 | d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator | 3332 | d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator |
3285 | 3333 | ||
3286 | if (lpos.Z < -100 || lpos.Z > 100000f) | 3334 | if (lpos.Z < -100 || lpos.Z > 100000f) |
3287 | { | 3335 | { |
3288 | m_outbounds = true; | 3336 | m_outbounds = true; |
3289 | 3337 | ||
3290 | lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); | 3338 | lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); |
3291 | _acceleration.X = 0; | 3339 | _acceleration.X = 0; |
3292 | _acceleration.Y = 0; | 3340 | _acceleration.Y = 0; |
3293 | _acceleration.Z = 0; | 3341 | _acceleration.Z = 0; |
3294 | 3342 | ||
3295 | _velocity.X = 0; | 3343 | _velocity.X = 0; |
3296 | _velocity.Y = 0; | 3344 | _velocity.Y = 0; |
3297 | _velocity.Z = 0; | 3345 | _velocity.Z = 0; |
3298 | m_rotationalVelocity.X = 0; | 3346 | m_rotationalVelocity.X = 0; |
3299 | m_rotationalVelocity.Y = 0; | 3347 | m_rotationalVelocity.Y = 0; |
3300 | m_rotationalVelocity.Z = 0; | 3348 | m_rotationalVelocity.Z = 0; |
3301 | 3349 | ||
3302 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | 3350 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it |
3303 | d.BodySetAngularVel(Body, 0, 0, 0); // stop it | 3351 | d.BodySetAngularVel(Body, 0, 0, 0); // stop it |
3304 | d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere | 3352 | d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere |
3305 | m_lastposition = _position; | 3353 | m_lastposition = _position; |
3306 | m_lastorientation = _orientation; | 3354 | m_lastorientation = _orientation; |
3307 | 3355 | ||
3308 | base.RequestPhysicsterseUpdate(); | 3356 | base.RequestPhysicsterseUpdate(); |
3309 | 3357 | ||
3310 | m_throttleUpdates = false; | 3358 | m_throttleUpdates = false; |
3311 | throttleCounter = 0; | 3359 | throttleCounter = 0; |
3312 | _zeroFlag = true; | 3360 | _zeroFlag = true; |
3313 | 3361 | ||
3314 | disableBodySoft(); // disable it and colisions | 3362 | disableBodySoft(); // disable it and colisions |
3315 | base.RaiseOutOfBounds(_position); | 3363 | base.RaiseOutOfBounds(_position); |
3316 | return; | 3364 | return; |
3317 | } | 3365 | } |
3318 | 3366 | ||
3319 | if (lpos.X < 0f) | 3367 | if (lpos.X < 0f) |
3320 | { | 3368 | { |
3321 | _position.X = Util.Clip(lpos.X, -2f, -0.1f); | 3369 | _position.X = Util.Clip(lpos.X, -2f, -0.1f); |
3322 | m_outbounds = true; | 3370 | m_outbounds = true; |
3323 | } | 3371 | } |
3324 | else if(lpos.X > _parent_scene.WorldExtents.X) | 3372 | else if(lpos.X > _parent_scene.WorldExtents.X) |
3325 | { | 3373 | { |
3326 | _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); | 3374 | _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); |
3327 | m_outbounds = true; | 3375 | m_outbounds = true; |
3328 | } | 3376 | } |
3329 | if (lpos.Y < 0f) | 3377 | if (lpos.Y < 0f) |
3330 | { | 3378 | { |
3331 | _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); | 3379 | _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); |
3332 | m_outbounds = true; | 3380 | m_outbounds = true; |
3333 | } | 3381 | } |
3334 | else if(lpos.Y > _parent_scene.WorldExtents.Y) | 3382 | else if(lpos.Y > _parent_scene.WorldExtents.Y) |
3335 | { | 3383 | { |
3336 | _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); | 3384 | _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); |
3337 | m_outbounds = true; | 3385 | m_outbounds = true; |
3338 | } | 3386 | } |
3339 | 3387 | ||
3340 | if(m_outbounds) | 3388 | if(m_outbounds) |
3341 | { | 3389 | { |
3342 | m_lastposition = _position; | 3390 | m_lastposition = _position; |
3343 | m_lastorientation = _orientation; | 3391 | m_lastorientation = _orientation; |
3344 | 3392 | ||
3345 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | 3393 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); |
3346 | m_rotationalVelocity.X = dtmp.X; | 3394 | m_rotationalVelocity.X = dtmp.X; |
3347 | m_rotationalVelocity.Y = dtmp.Y; | 3395 | m_rotationalVelocity.Y = dtmp.Y; |
3348 | m_rotationalVelocity.Z = dtmp.Z; | 3396 | m_rotationalVelocity.Z = dtmp.Z; |
3349 | 3397 | ||
3350 | dtmp = d.BodyGetLinearVel(Body); | 3398 | dtmp = d.BodyGetLinearVel(Body); |
3351 | _velocity.X = dtmp.X; | 3399 | _velocity.X = dtmp.X; |
3352 | _velocity.Y = dtmp.Y; | 3400 | _velocity.Y = dtmp.Y; |
3353 | _velocity.Z = dtmp.Z; | 3401 | _velocity.Z = dtmp.Z; |
3354 | 3402 | ||
3355 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | 3403 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it |
3356 | d.BodySetAngularVel(Body, 0, 0, 0); | 3404 | d.BodySetAngularVel(Body, 0, 0, 0); |
3357 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 3405 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
3358 | disableBodySoft(); // stop collisions | 3406 | disableBodySoft(); // stop collisions |
3359 | base.RequestPhysicsterseUpdate(); | 3407 | base.RequestPhysicsterseUpdate(); |
3360 | return; | 3408 | return; |
3361 | } | 3409 | } |
3362 | 3410 | ||
3363 | 3411 | ||
3364 | float fx = 0; | 3412 | float fx = 0; |
3365 | float fy = 0; | 3413 | float fy = 0; |
3366 | float fz = 0; | 3414 | float fz = 0; |
3367 | 3415 | ||
3368 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | 3416 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) |
3369 | { | 3417 | { |
3370 | // 'VEHICLES' are dealt with in ODEDynamics.cs | 3418 | // 'VEHICLES' are dealt with in ODEDynamics.cs |
3371 | m_vehicle.Step(); | 3419 | m_vehicle.Step(); |
3372 | } | 3420 | } |
3373 | else | 3421 | else |
3374 | { | 3422 | { |
3375 | float m_mass = _mass; | 3423 | float m_mass = _mass; |
3376 | 3424 | ||
3377 | // fz = 0f; | 3425 | // fz = 0f; |
3378 | //m_log.Info(m_collisionFlags.ToString()); | 3426 | //m_log.Info(m_collisionFlags.ToString()); |
3379 | if (m_usePID) | 3427 | if (m_usePID) |
3380 | { | 3428 | { |
3381 | 3429 | ||
3382 | // If the PID Controller isn't active then we set our force | 3430 | // If the PID Controller isn't active then we set our force |
3383 | // calculating base velocity to the current position | 3431 | // calculating base velocity to the current position |
3384 | 3432 | ||
3385 | if ((m_PIDTau < 1) && (m_PIDTau != 0)) | 3433 | if ((m_PIDTau < 1) && (m_PIDTau != 0)) |
3386 | { | 3434 | { |
3387 | //PID_G = PID_G / m_PIDTau; | 3435 | //PID_G = PID_G / m_PIDTau; |
3388 | m_PIDTau = 1; | 3436 | m_PIDTau = 1; |
3389 | } | 3437 | } |
3390 | 3438 | ||
3391 | if ((PID_G - m_PIDTau) <= 0) | 3439 | if ((PID_G - m_PIDTau) <= 0) |
3392 | { | 3440 | { |
3393 | PID_G = m_PIDTau + 1; | 3441 | PID_G = m_PIDTau + 1; |
3394 | } | 3442 | } |
3395 | 3443 | ||
3396 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 3444 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
3397 | d.Vector3 pos = d.BodyGetPosition(Body); | 3445 | d.Vector3 pos = d.BodyGetPosition(Body); |
3398 | _target_velocity = | 3446 | _target_velocity = |
3399 | new Vector3( | 3447 | new Vector3( |
3400 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), | 3448 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), |
3401 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), | 3449 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), |
3402 | (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) | 3450 | (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) |
3403 | ); | 3451 | ); |
3404 | 3452 | ||
3405 | // if velocity is zero, use position control; otherwise, velocity control | 3453 | // if velocity is zero, use position control; otherwise, velocity control |
3406 | 3454 | ||
3407 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) | 3455 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) |
3408 | { | 3456 | { |
3409 | // keep track of where we stopped. No more slippin' & slidin' | 3457 | // keep track of where we stopped. No more slippin' & slidin' |
3410 | 3458 | ||
3411 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 3459 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
3412 | // react to the physics scene by moving it's position. | 3460 | // react to the physics scene by moving it's position. |
3413 | // Avatar to Avatar collisions | 3461 | // Avatar to Avatar collisions |
3414 | // Prim to avatar collisions | 3462 | // Prim to avatar collisions |
3415 | 3463 | ||
3416 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); | 3464 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); |
3417 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); | 3465 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); |
3418 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; | 3466 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; |
3419 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | 3467 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); |
3420 | d.BodySetLinearVel(Body, 0, 0, 0); | 3468 | d.BodySetLinearVel(Body, 0, 0, 0); |
3421 | d.BodyAddForce(Body, 0, 0, fz); | 3469 | d.BodyAddForce(Body, 0, 0, fz); |
3422 | return; | 3470 | return; |
3423 | } | 3471 | } |
3424 | else | 3472 | else |
3425 | { | 3473 | { |
3426 | _zeroFlag = false; | 3474 | _zeroFlag = false; |
3427 | 3475 | ||
3428 | // We're flying and colliding with something | 3476 | // We're flying and colliding with something |
3429 | fx = ((_target_velocity.X) - vel.X) * (PID_D); | 3477 | fx = ((_target_velocity.X) - vel.X) * (PID_D); |
3430 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); | 3478 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); |
3431 | 3479 | ||
3432 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; | 3480 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; |
3433 | 3481 | ||
3434 | fz = ((_target_velocity.Z - vel.Z) * (PID_D)); | 3482 | fz = ((_target_velocity.Z - vel.Z) * (PID_D)); |
3435 | } | 3483 | } |
3436 | } // end if (m_usePID) | 3484 | } // end if (m_usePID) |
3437 | 3485 | ||
3438 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | 3486 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller |
3439 | else if (m_useHoverPID) | 3487 | else if (m_useHoverPID) |
3440 | { | 3488 | { |
3441 | //Console.WriteLine("Hover " + Name); | 3489 | //Console.WriteLine("Hover " + Name); |
3442 | 3490 | ||
3443 | // If we're using the PID controller, then we have no gravity | 3491 | // If we're using the PID controller, then we have no gravity |
3444 | 3492 | ||
3445 | // no lock; for now it's only called from within Simulate() | 3493 | // no lock; for now it's only called from within Simulate() |
3446 | 3494 | ||
3447 | // If the PID Controller isn't active then we set our force | 3495 | // If the PID Controller isn't active then we set our force |
3448 | // calculating base velocity to the current position | 3496 | // calculating base velocity to the current position |
3449 | 3497 | ||
3450 | if ((m_PIDTau < 1)) | 3498 | if ((m_PIDTau < 1)) |
3451 | { | 3499 | { |
3452 | PID_G = PID_G / m_PIDTau; | 3500 | PID_G = PID_G / m_PIDTau; |
3453 | } | 3501 | } |
3454 | 3502 | ||
3455 | if ((PID_G - m_PIDTau) <= 0) | 3503 | if ((PID_G - m_PIDTau) <= 0) |
3456 | { | 3504 | { |
3457 | PID_G = m_PIDTau + 1; | 3505 | PID_G = m_PIDTau + 1; |
3458 | } | 3506 | } |
3459 | 3507 | ||
3460 | // Where are we, and where are we headed? | 3508 | // Where are we, and where are we headed? |
3461 | d.Vector3 pos = d.BodyGetPosition(Body); | 3509 | d.Vector3 pos = d.BodyGetPosition(Body); |
3462 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 3510 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
3463 | 3511 | ||
3464 | // Non-Vehicles have a limited set of Hover options. | 3512 | // Non-Vehicles have a limited set of Hover options. |
3465 | // determine what our target height really is based on HoverType | 3513 | // determine what our target height really is based on HoverType |
3466 | switch (m_PIDHoverType) | 3514 | switch (m_PIDHoverType) |
3467 | { | 3515 | { |
3468 | case PIDHoverType.Ground: | 3516 | case PIDHoverType.Ground: |
3469 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | 3517 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); |
3470 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | 3518 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; |
3471 | break; | 3519 | break; |
3472 | case PIDHoverType.GroundAndWater: | 3520 | case PIDHoverType.GroundAndWater: |
3473 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | 3521 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); |
3474 | m_waterHeight = _parent_scene.GetWaterLevel(); | 3522 | m_waterHeight = _parent_scene.GetWaterLevel(); |
3475 | if (m_groundHeight > m_waterHeight) | 3523 | if (m_groundHeight > m_waterHeight) |
3476 | { | 3524 | { |
3477 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | 3525 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; |
3478 | } | 3526 | } |
3479 | else | 3527 | else |
3480 | { | 3528 | { |
3481 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | 3529 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; |
3482 | } | 3530 | } |
3483 | break; | 3531 | break; |
3484 | 3532 | ||
3485 | } // end switch (m_PIDHoverType) | 3533 | } // end switch (m_PIDHoverType) |
3486 | 3534 | ||
3487 | 3535 | ||
3488 | _target_velocity = | 3536 | _target_velocity = |
3489 | new Vector3(0.0f, 0.0f, | 3537 | new Vector3(0.0f, 0.0f, |
3490 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) | 3538 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) |
3491 | ); | 3539 | ); |
3492 | 3540 | ||
3493 | // if velocity is zero, use position control; otherwise, velocity control | 3541 | // if velocity is zero, use position control; otherwise, velocity control |
3494 | 3542 | ||
3495 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) | 3543 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) |
3496 | { | 3544 | { |
3497 | // keep track of where we stopped. No more slippin' & slidin' | 3545 | // keep track of where we stopped. No more slippin' & slidin' |
3498 | 3546 | ||
3499 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 3547 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
3500 | // react to the physics scene by moving it's position. | 3548 | // react to the physics scene by moving it's position. |
3501 | // Avatar to Avatar collisions | 3549 | // Avatar to Avatar collisions |
3502 | // Prim to avatar collisions | 3550 | // Prim to avatar collisions |
3503 | 3551 | ||
3504 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); | 3552 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); |
3505 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | 3553 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); |
3506 | // ? d.BodyAddForce(Body, 0, 0, fz); | 3554 | // ? d.BodyAddForce(Body, 0, 0, fz); |
3507 | return; | 3555 | return; |
3508 | } | 3556 | } |
3509 | else | 3557 | else |
3510 | { | 3558 | { |
3511 | _zeroFlag = false; | 3559 | _zeroFlag = false; |
3512 | 3560 | ||
3513 | // We're flying and colliding with something | 3561 | // We're flying and colliding with something |
3514 | fz = ((_target_velocity.Z - vel.Z) * (PID_D)); | 3562 | fz = ((_target_velocity.Z - vel.Z) * (PID_D)); |
3515 | } | 3563 | } |
3516 | } | 3564 | } |
3517 | else | 3565 | else |
3518 | { | 3566 | { |
3519 | float b = (1.0f - m_buoyancy); | 3567 | float b = (1.0f - m_buoyancy); |
3520 | fx = _parent_scene.gravityx * b; | 3568 | fx = _parent_scene.gravityx * b; |
3521 | fy = _parent_scene.gravityy * b; | 3569 | fy = _parent_scene.gravityy * b; |
3522 | fz = _parent_scene.gravityz * b; | 3570 | fz = _parent_scene.gravityz * b; |
3523 | } | 3571 | } |
3524 | 3572 | ||
3525 | fx *= m_mass; | 3573 | fx *= m_mass; |
3526 | fy *= m_mass; | 3574 | fy *= m_mass; |
3527 | fz *= m_mass; | 3575 | fz *= m_mass; |
3528 | 3576 | ||
3529 | // constant force | 3577 | // constant force |
3530 | fx += m_force.X; | 3578 | fx += m_force.X; |
3531 | fy += m_force.Y; | 3579 | fy += m_force.Y; |
3532 | fz += m_force.Z; | 3580 | fz += m_force.Z; |
3533 | 3581 | ||
3534 | fx += m_forceacc.X; | 3582 | fx += m_forceacc.X; |
3535 | fy += m_forceacc.Y; | 3583 | fy += m_forceacc.Y; |
3536 | fz += m_forceacc.Z; | 3584 | fz += m_forceacc.Z; |
3537 | 3585 | ||
3538 | m_forceacc = Vector3.Zero; | 3586 | m_forceacc = Vector3.Zero; |
3539 | 3587 | ||
3540 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | 3588 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); |
3541 | if (fx != 0 || fy != 0 || fz != 0) | 3589 | if (fx != 0 || fy != 0 || fz != 0) |
3542 | { | 3590 | { |
3543 | d.BodyAddForce(Body, fx, fy, fz); | 3591 | d.BodyAddForce(Body, fx, fy, fz); |
3544 | //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); | 3592 | //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); |
3545 | } | 3593 | } |
3546 | 3594 | ||
3547 | Vector3 trq; | 3595 | Vector3 trq; |
3548 | 3596 | ||
3549 | trq = _torque; | 3597 | trq = _torque; |
3550 | trq += m_angularForceacc; | 3598 | trq += m_angularForceacc; |
3551 | m_angularForceacc = Vector3.Zero; | 3599 | m_angularForceacc = Vector3.Zero; |
3552 | if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) | 3600 | if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) |
3553 | { | 3601 | { |
3554 | d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); | 3602 | d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); |
3555 | } | 3603 | } |
3556 | 3604 | ||
3557 | } | 3605 | } |
3558 | } | 3606 | } |
3559 | else | 3607 | else |
3560 | { // is not physical, or is not a body or is selected | 3608 | { // is not physical, or is not a body or is selected |
3561 | // _zeroPosition = d.BodyGetPosition(Body); | 3609 | // _zeroPosition = d.BodyGetPosition(Body); |
3562 | return; | 3610 | return; |
3563 | //Console.WriteLine("Nothing " + Name); | 3611 | //Console.WriteLine("Nothing " + Name); |
3564 | 3612 | ||
3565 | } | 3613 | } |
3566 | } | 3614 | } |
3567 | 3615 | ||
3568 | 3616 | ||
3569 | public void UpdatePositionAndVelocity(float simulatedtime) | 3617 | public void UpdatePositionAndVelocity(float simulatedtime) |
3570 | { | 3618 | { |
3571 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! | 3619 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! |
3572 | if (_parent == null && !m_disabled && !m_building && !m_outbounds) | 3620 | if (_parent == null && !m_disabled && !m_building && !m_outbounds) |
3573 | { | 3621 | { |
3574 | if (Body != IntPtr.Zero) | 3622 | if (Body != IntPtr.Zero) |
3575 | { | 3623 | { |
3576 | Vector3 pv = Vector3.Zero; | 3624 | Vector3 pv = Vector3.Zero; |
3577 | bool lastZeroFlag = _zeroFlag; | 3625 | bool lastZeroFlag = _zeroFlag; |
3578 | 3626 | ||
3579 | d.Vector3 lpos; | 3627 | d.Vector3 lpos; |
3580 | d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator | 3628 | d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator |
3581 | 3629 | ||
3582 | 3630 | ||
3583 | d.Quaternion ori; | 3631 | d.Quaternion ori; |
3584 | d.GeomCopyQuaternion(prim_geom, out ori); | 3632 | d.GeomCopyQuaternion(prim_geom, out ori); |
3585 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 3633 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
3586 | d.Vector3 rotvel = d.BodyGetAngularVel(Body); | 3634 | d.Vector3 rotvel = d.BodyGetAngularVel(Body); |
3587 | 3635 | ||
3588 | if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01) | 3636 | if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01) |
3589 | && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01) | 3637 | && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01) |
3590 | && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01) | 3638 | && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01) |
3591 | && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001) | 3639 | && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001) |
3592 | && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001) | 3640 | && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001) |
3593 | && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001) | 3641 | && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001) |
3594 | ) | 3642 | ) |
3595 | { | 3643 | { |
3596 | _zeroFlag = true; | 3644 | _zeroFlag = true; |
3597 | //Console.WriteLine("ZFT 2"); | 3645 | //Console.WriteLine("ZFT 2"); |
3598 | m_throttleUpdates = false; | 3646 | m_throttleUpdates = false; |
3599 | } | 3647 | } |
3600 | else | 3648 | else |
3601 | { | 3649 | { |
3602 | //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); | 3650 | //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); |
3603 | _zeroFlag = false; | 3651 | _zeroFlag = false; |
3604 | m_lastUpdateSent = false; | 3652 | m_lastUpdateSent = false; |
3605 | //m_throttleUpdates = false; | 3653 | //m_throttleUpdates = false; |
3606 | } | 3654 | } |
3607 | 3655 | ||
3608 | if (_zeroFlag) | 3656 | if (_zeroFlag) |
3609 | { | 3657 | { |
3610 | m_lastposition = _position; | 3658 | m_lastposition = _position; |
3611 | m_lastorientation = _orientation; | 3659 | m_lastorientation = _orientation; |
3612 | 3660 | ||
3613 | _velocity.X = 0.0f; | 3661 | _velocity.X = 0.0f; |
3614 | _velocity.Y = 0.0f; | 3662 | _velocity.Y = 0.0f; |
3615 | _velocity.Z = 0.0f; | 3663 | _velocity.Z = 0.0f; |
3616 | 3664 | ||
3617 | _acceleration.X = 0; | 3665 | _acceleration.X = 0; |
3618 | _acceleration.Y = 0; | 3666 | _acceleration.Y = 0; |
3619 | _acceleration.Z = 0; | 3667 | _acceleration.Z = 0; |
3620 | 3668 | ||
3621 | m_rotationalVelocity.X = 0; | 3669 | m_rotationalVelocity.X = 0; |
3622 | m_rotationalVelocity.Y = 0; | 3670 | m_rotationalVelocity.Y = 0; |
3623 | m_rotationalVelocity.Z = 0; | 3671 | m_rotationalVelocity.Z = 0; |
3624 | if (!m_lastUpdateSent) | 3672 | if (!m_lastUpdateSent) |
3625 | { | 3673 | { |
3626 | m_throttleUpdates = false; | 3674 | m_throttleUpdates = false; |
3627 | throttleCounter = 0; | 3675 | throttleCounter = 0; |
3628 | m_rotationalVelocity = pv; | 3676 | m_rotationalVelocity = pv; |
3629 | 3677 | ||
3630 | base.RequestPhysicsterseUpdate(); | 3678 | base.RequestPhysicsterseUpdate(); |
3631 | 3679 | ||
3632 | m_lastUpdateSent = true; | 3680 | m_lastUpdateSent = true; |
3633 | } | 3681 | } |
3634 | } | 3682 | } |
3635 | else | 3683 | else |
3636 | { | 3684 | { |
3637 | if (lastZeroFlag != _zeroFlag) | 3685 | if (lastZeroFlag != _zeroFlag) |
3638 | { | 3686 | { |
3639 | base.RequestPhysicsterseUpdate(); | 3687 | base.RequestPhysicsterseUpdate(); |
3640 | } | 3688 | } |
3641 | 3689 | ||
3642 | m_lastVelocity = _velocity; | 3690 | m_lastVelocity = _velocity; |
3643 | 3691 | ||
3644 | _position.X = lpos.X; | 3692 | _position.X = lpos.X; |
3645 | _position.Y = lpos.Y; | 3693 | _position.Y = lpos.Y; |
3646 | _position.Z = lpos.Z; | 3694 | _position.Z = lpos.Z; |
3647 | 3695 | ||
3648 | _velocity.X = vel.X; | 3696 | _velocity.X = vel.X; |
3649 | _velocity.Y = vel.Y; | 3697 | _velocity.Y = vel.Y; |
3650 | _velocity.Z = vel.Z; | 3698 | _velocity.Z = vel.Z; |
3651 | 3699 | ||
3652 | _orientation.X = ori.X; | 3700 | _orientation.X = ori.X; |
3653 | _orientation.Y = ori.Y; | 3701 | _orientation.Y = ori.Y; |
3654 | _orientation.Z = ori.Z; | 3702 | _orientation.Z = ori.Z; |
3655 | _orientation.W = ori.W; | 3703 | _orientation.W = ori.W; |
3656 | 3704 | ||
3657 | _acceleration = ((_velocity - m_lastVelocity) / simulatedtime); | 3705 | _acceleration = ((_velocity - m_lastVelocity) / simulatedtime); |
3658 | 3706 | ||
3659 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | 3707 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) |
3660 | { | 3708 | { |
3661 | m_rotationalVelocity = pv; | 3709 | m_rotationalVelocity = pv; |
3662 | } | 3710 | } |
3663 | else | 3711 | else |
3664 | { | 3712 | { |
3665 | m_rotationalVelocity.X = rotvel.X; | 3713 | m_rotationalVelocity.X = rotvel.X; |
3666 | m_rotationalVelocity.Y = rotvel.Y; | 3714 | m_rotationalVelocity.Y = rotvel.Y; |
3667 | m_rotationalVelocity.Z = rotvel.Z; | 3715 | m_rotationalVelocity.Z = rotvel.Z; |
3668 | } | 3716 | } |
3669 | 3717 | ||
3670 | m_lastUpdateSent = false; | 3718 | m_lastUpdateSent = false; |
3671 | if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) | 3719 | if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) |
3672 | { | 3720 | { |
3673 | m_lastposition = _position; | 3721 | m_lastposition = _position; |
3674 | m_lastorientation = _orientation; | 3722 | m_lastorientation = _orientation; |
3675 | base.RequestPhysicsterseUpdate(); | 3723 | base.RequestPhysicsterseUpdate(); |
3676 | } | 3724 | } |
3677 | else | 3725 | else |
3678 | { | 3726 | { |
3679 | throttleCounter++; | 3727 | throttleCounter++; |
3680 | } | 3728 | } |
3681 | } | 3729 | } |
3682 | } | 3730 | } |
3683 | else if (!m_lastUpdateSent || !_zeroFlag) | 3731 | else if (!m_lastUpdateSent || !_zeroFlag) |
3684 | { | 3732 | { |
3685 | // Not a body.. so Make sure the client isn't interpolating | 3733 | // Not a body.. so Make sure the client isn't interpolating |
3686 | _velocity.X = 0; | 3734 | _velocity.X = 0; |
3687 | _velocity.Y = 0; | 3735 | _velocity.Y = 0; |
3688 | _velocity.Z = 0; | 3736 | _velocity.Z = 0; |
3689 | 3737 | ||
3690 | _acceleration.X = 0; | 3738 | _acceleration.X = 0; |
3691 | _acceleration.Y = 0; | 3739 | _acceleration.Y = 0; |
3692 | _acceleration.Z = 0; | 3740 | _acceleration.Z = 0; |
3693 | 3741 | ||
3694 | m_rotationalVelocity.X = 0; | 3742 | m_rotationalVelocity.X = 0; |
3695 | m_rotationalVelocity.Y = 0; | 3743 | m_rotationalVelocity.Y = 0; |
3696 | m_rotationalVelocity.Z = 0; | 3744 | m_rotationalVelocity.Z = 0; |
3697 | _zeroFlag = true; | 3745 | _zeroFlag = true; |
3698 | 3746 | ||
3699 | if (!m_lastUpdateSent) | 3747 | if (!m_lastUpdateSent) |
3700 | { | 3748 | { |
3701 | m_throttleUpdates = false; | 3749 | m_throttleUpdates = false; |
3702 | throttleCounter = 0; | 3750 | throttleCounter = 0; |
3703 | 3751 | ||
3704 | base.RequestPhysicsterseUpdate(); | 3752 | base.RequestPhysicsterseUpdate(); |
3705 | 3753 | ||
3706 | m_lastUpdateSent = true; | 3754 | m_lastUpdateSent = true; |
3707 | } | 3755 | } |
3708 | } | 3756 | } |
3709 | } | 3757 | } |
3710 | } | 3758 | } |
3711 | 3759 | ||
3712 | internal static bool QuaternionIsFinite(Quaternion q) | 3760 | internal static bool QuaternionIsFinite(Quaternion q) |
3713 | { | 3761 | { |
3714 | if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) | 3762 | if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) |
3715 | return false; | 3763 | return false; |
3716 | if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) | 3764 | if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) |
3717 | return false; | 3765 | return false; |
3718 | if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) | 3766 | if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) |
3719 | return false; | 3767 | return false; |
3720 | if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) | 3768 | if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) |
3721 | return false; | 3769 | return false; |
3722 | return true; | 3770 | return true; |
3723 | } | 3771 | } |
3724 | 3772 | ||
3725 | internal static void DMassCopy(ref d.Mass src, ref d.Mass dst) | 3773 | internal static void DMassCopy(ref d.Mass src, ref d.Mass dst) |
3726 | { | 3774 | { |
3727 | dst.c.W = src.c.W; | 3775 | dst.c.W = src.c.W; |
3728 | dst.c.X = src.c.X; | 3776 | dst.c.X = src.c.X; |
3729 | dst.c.Y = src.c.Y; | 3777 | dst.c.Y = src.c.Y; |
3730 | dst.c.Z = src.c.Z; | 3778 | dst.c.Z = src.c.Z; |
3731 | dst.mass = src.mass; | 3779 | dst.mass = src.mass; |
3732 | dst.I.M00 = src.I.M00; | 3780 | dst.I.M00 = src.I.M00; |
3733 | dst.I.M01 = src.I.M01; | 3781 | dst.I.M01 = src.I.M01; |
3734 | dst.I.M02 = src.I.M02; | 3782 | dst.I.M02 = src.I.M02; |
3735 | dst.I.M10 = src.I.M10; | 3783 | dst.I.M10 = src.I.M10; |
3736 | dst.I.M11 = src.I.M11; | 3784 | dst.I.M11 = src.I.M11; |
3737 | dst.I.M12 = src.I.M12; | 3785 | dst.I.M12 = src.I.M12; |
3738 | dst.I.M20 = src.I.M20; | 3786 | dst.I.M20 = src.I.M20; |
3739 | dst.I.M21 = src.I.M21; | 3787 | dst.I.M21 = src.I.M21; |
3740 | dst.I.M22 = src.I.M22; | 3788 | dst.I.M22 = src.I.M22; |
3741 | } | 3789 | } |
3742 | 3790 | ||
3743 | internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) | 3791 | internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) |
3744 | { | 3792 | { |
3745 | // assumes object center of mass is zero | 3793 | // assumes object center of mass is zero |
3746 | float smass = part.mass; | 3794 | float smass = part.mass; |
3747 | theobj.mass -= smass; | 3795 | theobj.mass -= smass; |
3748 | 3796 | ||
3749 | smass *= 1.0f / (theobj.mass); ; | 3797 | smass *= 1.0f / (theobj.mass); ; |
3750 | 3798 | ||
3751 | theobj.c.X -= part.c.X * smass; | 3799 | theobj.c.X -= part.c.X * smass; |
3752 | theobj.c.Y -= part.c.Y * smass; | 3800 | theobj.c.Y -= part.c.Y * smass; |
3753 | theobj.c.Z -= part.c.Z * smass; | 3801 | theobj.c.Z -= part.c.Z * smass; |
3754 | 3802 | ||
3755 | theobj.I.M00 -= part.I.M00; | 3803 | theobj.I.M00 -= part.I.M00; |
3756 | theobj.I.M01 -= part.I.M01; | 3804 | theobj.I.M01 -= part.I.M01; |
3757 | theobj.I.M02 -= part.I.M02; | 3805 | theobj.I.M02 -= part.I.M02; |
3758 | theobj.I.M10 -= part.I.M10; | 3806 | theobj.I.M10 -= part.I.M10; |
3759 | theobj.I.M11 -= part.I.M11; | 3807 | theobj.I.M11 -= part.I.M11; |
3760 | theobj.I.M12 -= part.I.M12; | 3808 | theobj.I.M12 -= part.I.M12; |
3761 | theobj.I.M20 -= part.I.M20; | 3809 | theobj.I.M20 -= part.I.M20; |
3762 | theobj.I.M21 -= part.I.M21; | 3810 | theobj.I.M21 -= part.I.M21; |
3763 | theobj.I.M22 -= part.I.M22; | 3811 | theobj.I.M22 -= part.I.M22; |
3764 | } | 3812 | } |
3765 | 3813 | ||
3766 | private static void DMassDup(ref d.Mass src, out d.Mass dst) | 3814 | private static void DMassDup(ref d.Mass src, out d.Mass dst) |
3767 | { | 3815 | { |
3768 | dst = new d.Mass { }; | 3816 | dst = new d.Mass { }; |
3769 | 3817 | ||
3770 | dst.c.W = src.c.W; | 3818 | dst.c.W = src.c.W; |
3771 | dst.c.X = src.c.X; | 3819 | dst.c.X = src.c.X; |
3772 | dst.c.Y = src.c.Y; | 3820 | dst.c.Y = src.c.Y; |
3773 | dst.c.Z = src.c.Z; | 3821 | dst.c.Z = src.c.Z; |
3774 | dst.mass = src.mass; | 3822 | dst.mass = src.mass; |
3775 | dst.I.M00 = src.I.M00; | 3823 | dst.I.M00 = src.I.M00; |
3776 | dst.I.M01 = src.I.M01; | 3824 | dst.I.M01 = src.I.M01; |
3777 | dst.I.M02 = src.I.M02; | 3825 | dst.I.M02 = src.I.M02; |
3778 | dst.I.M10 = src.I.M10; | 3826 | dst.I.M10 = src.I.M10; |
3779 | dst.I.M11 = src.I.M11; | 3827 | dst.I.M11 = src.I.M11; |
3780 | dst.I.M12 = src.I.M12; | 3828 | dst.I.M12 = src.I.M12; |
3781 | dst.I.M20 = src.I.M20; | 3829 | dst.I.M20 = src.I.M20; |
3782 | dst.I.M21 = src.I.M21; | 3830 | dst.I.M21 = src.I.M21; |
3783 | dst.I.M22 = src.I.M22; | 3831 | dst.I.M22 = src.I.M22; |
3784 | } | 3832 | } |
3785 | private void donullchange() | 3833 | private void donullchange() |
3786 | { | 3834 | { |
3787 | } | 3835 | } |
3788 | 3836 | ||
3789 | public bool DoAChange(changes what, object arg) | 3837 | public bool DoAChange(changes what, object arg) |
3790 | { | 3838 | { |
3791 | if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove) | 3839 | if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove) |
3792 | { | 3840 | { |
3793 | return false; | 3841 | return false; |
3794 | } | 3842 | } |
3795 | 3843 | ||
3796 | // nasty switch | 3844 | // nasty switch |
3797 | switch (what) | 3845 | switch (what) |
3798 | { | 3846 | { |
3799 | case changes.Add: | 3847 | case changes.Add: |
3800 | changeadd(); | 3848 | changeadd(); |
3801 | break; | 3849 | break; |
3802 | case changes.Remove: | 3850 | case changes.Remove: |
3803 | //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... | 3851 | //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... |
3804 | //When we return true, it destroys all of the prims in the linkset anyway | 3852 | //When we return true, it destroys all of the prims in the linkset anyway |
3805 | if (_parent != null) | 3853 | if (_parent != null) |
3806 | { | 3854 | { |
3807 | OdePrim parent = (OdePrim)_parent; | 3855 | OdePrim parent = (OdePrim)_parent; |
3808 | parent.ChildRemove(this, false); | 3856 | parent.ChildRemove(this, false); |
3809 | } | 3857 | } |
3810 | else | 3858 | else |
3811 | ChildRemove(this, false); | 3859 | ChildRemove(this, false); |
3812 | 3860 | ||
3813 | m_vehicle = null; | 3861 | m_vehicle = null; |
3814 | RemoveGeom(); | 3862 | RemoveGeom(); |
3815 | m_targetSpace = IntPtr.Zero; | 3863 | m_targetSpace = IntPtr.Zero; |
3816 | if (m_eventsubscription > 0) | 3864 | if (m_eventsubscription > 0) |
3817 | UnSubscribeEvents(); | 3865 | UnSubscribeEvents(); |
3818 | return true; | 3866 | return true; |
3819 | 3867 | ||
3820 | case changes.Link: | 3868 | case changes.Link: |
3821 | OdePrim tmp = (OdePrim)arg; | 3869 | OdePrim tmp = (OdePrim)arg; |
3822 | changeLink(tmp); | 3870 | changeLink(tmp); |
3823 | break; | 3871 | break; |
3824 | 3872 | ||
3825 | case changes.DeLink: | 3873 | case changes.DeLink: |
3826 | changeLink(null); | 3874 | changeLink(null); |
3827 | break; | 3875 | break; |
3828 | 3876 | ||
3829 | case changes.Position: | 3877 | case changes.Position: |
3830 | changePosition((Vector3)arg); | 3878 | changePosition((Vector3)arg); |
3831 | break; | 3879 | break; |
3832 | 3880 | ||
3833 | case changes.Orientation: | 3881 | case changes.Orientation: |
3834 | changeOrientation((Quaternion)arg); | 3882 | changeOrientation((Quaternion)arg); |
3835 | break; | 3883 | break; |
3836 | 3884 | ||
3837 | case changes.PosOffset: | 3885 | case changes.PosOffset: |
3838 | donullchange(); | 3886 | donullchange(); |
3839 | break; | 3887 | break; |
3840 | 3888 | ||
3841 | case changes.OriOffset: | 3889 | case changes.OriOffset: |
3842 | donullchange(); | 3890 | donullchange(); |
3843 | break; | 3891 | break; |
3844 | 3892 | ||
3845 | case changes.Velocity: | 3893 | case changes.Velocity: |
3846 | changevelocity((Vector3)arg); | 3894 | changevelocity((Vector3)arg); |
3847 | break; | 3895 | break; |
3848 | 3896 | ||
3849 | // case changes.Acceleration: | 3897 | // case changes.Acceleration: |
3850 | // changeacceleration((Vector3)arg); | 3898 | // changeacceleration((Vector3)arg); |
3851 | // break; | 3899 | // break; |
3852 | // case changes.AngVelocity: | 3900 | // case changes.AngVelocity: |
3853 | // changeangvelocity((Vector3)arg); | 3901 | // changeangvelocity((Vector3)arg); |
3854 | // break; | 3902 | // break; |
3855 | 3903 | ||
3856 | case changes.Force: | 3904 | case changes.Force: |
3857 | changeForce((Vector3)arg); | 3905 | changeForce((Vector3)arg); |
3858 | break; | 3906 | break; |
3859 | 3907 | ||
3860 | case changes.Torque: | 3908 | case changes.Torque: |
3861 | changeSetTorque((Vector3)arg); | 3909 | changeSetTorque((Vector3)arg); |
3862 | break; | 3910 | break; |
3863 | 3911 | ||
3864 | case changes.AddForce: | 3912 | case changes.AddForce: |
3865 | changeAddForce((Vector3)arg); | 3913 | changeAddForce((Vector3)arg); |
3866 | break; | 3914 | break; |
3867 | 3915 | ||
3868 | case changes.AddAngForce: | 3916 | case changes.AddAngForce: |
3869 | changeAddAngularForce((Vector3)arg); | 3917 | changeAddAngularForce((Vector3)arg); |
3870 | break; | 3918 | break; |
3871 | 3919 | ||
3872 | case changes.AngLock: | 3920 | case changes.AngLock: |
3873 | changeAngularLock((Vector3)arg); | 3921 | changeAngularLock((Vector3)arg); |
3874 | break; | 3922 | break; |
3875 | 3923 | ||
3876 | case changes.Size: | 3924 | case changes.Size: |
3877 | changeSize((Vector3)arg); | 3925 | changeSize((Vector3)arg); |
3878 | break; | 3926 | break; |
3879 | 3927 | ||
3880 | case changes.Shape: | 3928 | case changes.Shape: |
3881 | changeShape((PrimitiveBaseShape)arg); | 3929 | changeShape((PrimitiveBaseShape)arg); |
3882 | break; | 3930 | break; |
3883 | 3931 | ||
3884 | case changes.CollidesWater: | 3932 | case changes.CollidesWater: |
3885 | changeFloatOnWater((bool)arg); | 3933 | changeFloatOnWater((bool)arg); |
3886 | break; | 3934 | break; |
3887 | 3935 | ||
3888 | case changes.VolumeDtc: | 3936 | case changes.VolumeDtc: |
3889 | changeVolumedetetion((bool)arg); | 3937 | changeVolumedetetion((bool)arg); |
3890 | break; | 3938 | break; |
3891 | 3939 | ||
3892 | case changes.Phantom: | 3940 | case changes.Phantom: |
3893 | changePhantomStatus((bool)arg); | 3941 | changePhantomStatus((bool)arg); |
3894 | break; | 3942 | break; |
3895 | 3943 | ||
3896 | case changes.Physical: | 3944 | case changes.Physical: |
3897 | changePhysicsStatus((bool)arg); | 3945 | changePhysicsStatus((bool)arg); |
3898 | break; | 3946 | break; |
3899 | 3947 | ||
3900 | case changes.Selected: | 3948 | case changes.Selected: |
3901 | changeSelectedStatus((bool)arg); | 3949 | changeSelectedStatus((bool)arg); |
3902 | break; | 3950 | break; |
3903 | 3951 | ||
3904 | case changes.disabled: | 3952 | case changes.disabled: |
3905 | changeDisable((bool)arg); | 3953 | changeDisable((bool)arg); |
3906 | break; | 3954 | break; |
3907 | 3955 | ||
3908 | case changes.building: | 3956 | case changes.building: |
3909 | changeBuilding((bool)arg); | 3957 | changeBuilding((bool)arg); |
3910 | break; | 3958 | break; |
3911 | 3959 | ||
3912 | case changes.VehicleType: | 3960 | case changes.VehicleType: |
3913 | changeVehicleType((int)arg); | 3961 | changeVehicleType((int)arg); |
3914 | break; | 3962 | break; |
3915 | 3963 | ||
3916 | case changes.VehicleFlags: | 3964 | case changes.VehicleFlags: |
3917 | changeVehicleFlags((strVehicleBoolParam) arg); | 3965 | changeVehicleFlags((strVehicleBoolParam) arg); |
3918 | break; | 3966 | break; |
3919 | 3967 | ||
3920 | case changes.VehicleFloatParam: | 3968 | case changes.VehicleFloatParam: |
3921 | changeVehicleFloatParam((strVehicleFloatParam) arg); | 3969 | changeVehicleFloatParam((strVehicleFloatParam) arg); |
3922 | break; | 3970 | break; |
3923 | 3971 | ||
3924 | case changes.VehicleVectorParam: | 3972 | case changes.VehicleVectorParam: |
3925 | changeVehicleVectorParam((strVehicleVectorParam) arg); | 3973 | changeVehicleVectorParam((strVehicleVectorParam) arg); |
3926 | break; | 3974 | break; |
3927 | 3975 | ||
3928 | case changes.VehicleRotationParam: | 3976 | case changes.VehicleRotationParam: |
3929 | changeVehicleRotationParam((strVehicleQuatParam) arg); | 3977 | changeVehicleRotationParam((strVehicleQuatParam) arg); |
3930 | break; | 3978 | break; |
3931 | 3979 | ||
3932 | case changes.SetVehicle: | 3980 | case changes.SetVehicle: |
3933 | changeSetVehicle((VehicleData) arg); | 3981 | changeSetVehicle((VehicleData) arg); |
3934 | break; | 3982 | break; |
3935 | case changes.Null: | 3983 | case changes.Null: |
3936 | donullchange(); | 3984 | donullchange(); |
3937 | break; | 3985 | break; |
3938 | 3986 | ||
3939 | default: | 3987 | default: |
3940 | donullchange(); | 3988 | donullchange(); |
3941 | break; | 3989 | break; |
3942 | } | 3990 | } |
3943 | return false; | 3991 | return false; |
3944 | } | 3992 | } |
3945 | 3993 | ||
3946 | public void AddChange(changes what, object arg) | 3994 | public void AddChange(changes what, object arg) |
3947 | { | 3995 | { |
3948 | _parent_scene.AddChange((PhysicsActor) this, what, arg); | 3996 | _parent_scene.AddChange((PhysicsActor) this, what, arg); |
3949 | } | 3997 | } |
3950 | 3998 | ||
3951 | 3999 | ||
3952 | private struct strVehicleBoolParam | 4000 | private struct strVehicleBoolParam |
3953 | { | 4001 | { |
3954 | public int param; | 4002 | public int param; |
3955 | public bool value; | 4003 | public bool value; |
3956 | } | 4004 | } |
3957 | 4005 | ||
3958 | private struct strVehicleFloatParam | 4006 | private struct strVehicleFloatParam |
3959 | { | 4007 | { |
3960 | public int param; | 4008 | public int param; |
3961 | public float value; | 4009 | public float value; |
3962 | } | 4010 | } |
3963 | 4011 | ||
3964 | private struct strVehicleQuatParam | 4012 | private struct strVehicleQuatParam |
3965 | { | 4013 | { |
3966 | public int param; | 4014 | public int param; |
3967 | public Quaternion value; | 4015 | public Quaternion value; |
3968 | } | 4016 | } |
3969 | 4017 | ||
3970 | private struct strVehicleVectorParam | 4018 | private struct strVehicleVectorParam |
3971 | { | 4019 | { |
3972 | public int param; | 4020 | public int param; |
3973 | public Vector3 value; | 4021 | public Vector3 value; |
3974 | } | 4022 | } |
3975 | } | 4023 | } |
3976 | } \ No newline at end of file | 4024 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 3fc2de3..1a6907d 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | |||
@@ -160,8 +160,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
160 | private Random fluidRandomizer = new Random(Environment.TickCount); | 160 | private Random fluidRandomizer = new Random(Environment.TickCount); |
161 | 161 | ||
162 | const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; | 162 | const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; |
163 | const float comumContactERP = 0.6f; | 163 | const float MaxERP = 0.8f; |
164 | const float comumSoftContactERP = 0.1f; | 164 | const float minERP = 0.1f; |
165 | const float comumContactCFM = 0.0001f; | 165 | const float comumContactCFM = 0.0001f; |
166 | 166 | ||
167 | float frictionMovementMult = 0.3f; | 167 | float frictionMovementMult = 0.3f; |
@@ -527,7 +527,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
527 | 527 | ||
528 | // sets a global contact for a joint for contactgeom , and base contact description) | 528 | // sets a global contact for a joint for contactgeom , and base contact description) |
529 | 529 | ||
530 | private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, bool softerp) | 530 | private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce,float cfm,float erp) |
531 | { | 531 | { |
532 | if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) | 532 | if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) |
533 | return IntPtr.Zero; | 533 | return IntPtr.Zero; |
@@ -545,11 +545,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
545 | newcontact.surface.mode = comumContactFlags; | 545 | newcontact.surface.mode = comumContactFlags; |
546 | newcontact.surface.mu = mu; | 546 | newcontact.surface.mu = mu; |
547 | newcontact.surface.bounce = bounce; | 547 | newcontact.surface.bounce = bounce; |
548 | newcontact.surface.soft_cfm = comumContactCFM; | 548 | newcontact.surface.soft_cfm = cfm; |
549 | if (softerp) | 549 | newcontact.surface.soft_erp = erp; |
550 | newcontact.surface.soft_erp = comumSoftContactERP; | ||
551 | else | ||
552 | newcontact.surface.soft_erp = comumContactERP; | ||
553 | 550 | ||
554 | IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); | 551 | IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); |
555 | Marshal.StructureToPtr(newcontact, contact, true); | 552 | Marshal.StructureToPtr(newcontact, contact, true); |
@@ -693,9 +690,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
693 | // big messy collision analises | 690 | // big messy collision analises |
694 | float mu = 0; | 691 | float mu = 0; |
695 | float bounce = 0; | 692 | float bounce = 0; |
693 | float cfm = 0.0001f; | ||
694 | float erp = 0.1f; | ||
695 | |||
696 | ContactData contactdata1 = new ContactData(0, 0, false); | 696 | ContactData contactdata1 = new ContactData(0, 0, false); |
697 | ContactData contactdata2 = new ContactData(0, 0, false); | 697 | ContactData contactdata2 = new ContactData(0, 0, false); |
698 | bool erpSoft = false; | ||
699 | 698 | ||
700 | String name = null; | 699 | String name = null; |
701 | bool dop1foot = false; | 700 | bool dop1foot = false; |
@@ -705,61 +704,65 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
705 | switch (p1.PhysicsActorType) | 704 | switch (p1.PhysicsActorType) |
706 | { | 705 | { |
707 | case (int)ActorTypes.Agent: | 706 | case (int)ActorTypes.Agent: |
708 | switch (p2.PhysicsActorType) | ||
709 | { | 707 | { |
710 | case (int)ActorTypes.Agent: | 708 | bounce = 0; |
711 | p1.getContactData(ref contactdata1); | 709 | mu = 0; |
712 | p2.getContactData(ref contactdata2); | 710 | cfm = 0.0001f; |
713 | 711 | ||
714 | bounce = 0; | 712 | switch (p2.PhysicsActorType) |
715 | 713 | { | |
716 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | 714 | case (int)ActorTypes.Agent: |
715 | /* | ||
716 | p1.getContactData(ref contactdata1); | ||
717 | p2.getContactData(ref contactdata2); | ||
717 | 718 | ||
718 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | 719 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); |
719 | mu *= frictionMovementMult; | ||
720 | 720 | ||
721 | erpSoft = contactdata1.softcolide | contactdata2.softcolide; | 721 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) |
722 | p1.CollidingObj = true; | 722 | mu *= frictionMovementMult; |
723 | p2.CollidingObj = true; | 723 | */ |
724 | break; | 724 | p1.CollidingObj = true; |
725 | case (int)ActorTypes.Prim: | 725 | p2.CollidingObj = true; |
726 | p1.getContactData(ref contactdata1); | 726 | break; |
727 | p2.getContactData(ref contactdata2); | 727 | case (int)ActorTypes.Prim: |
728 | /* | ||
729 | p1.getContactData(ref contactdata1); | ||
730 | p2.getContactData(ref contactdata2); | ||
728 | 731 | ||
729 | bounce = 0; | ||
730 | |||
731 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
732 | 732 | ||
733 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | 733 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); |
734 | mu *= frictionMovementMult; | ||
735 | if (p2.Velocity.LengthSquared() > 0.0f) | ||
736 | p2.CollidingObj = true; | ||
737 | 734 | ||
738 | erpSoft = contactdata1.softcolide | contactdata2.softcolide; | 735 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) |
736 | mu *= frictionMovementMult; | ||
737 | */ | ||
738 | if (p2.Velocity.LengthSquared() > 0.0f) | ||
739 | p2.CollidingObj = true; | ||
739 | 740 | ||
740 | dop1foot = true; | 741 | dop1foot = true; |
741 | break; | 742 | break; |
742 | default: | 743 | default: |
743 | ignore=true; // avatar to terrain and water ignored | 744 | ignore = true; // avatar to terrain and water ignored |
744 | break; | 745 | break; |
746 | } | ||
747 | break; | ||
745 | } | 748 | } |
746 | break; | ||
747 | 749 | ||
748 | case (int)ActorTypes.Prim: | 750 | case (int)ActorTypes.Prim: |
749 | switch (p2.PhysicsActorType) | 751 | switch (p2.PhysicsActorType) |
750 | { | 752 | { |
751 | case (int)ActorTypes.Agent: | 753 | case (int)ActorTypes.Agent: |
752 | p1.getContactData(ref contactdata1); | 754 | // p1.getContactData(ref contactdata1); |
753 | p2.getContactData(ref contactdata2); | 755 | // p2.getContactData(ref contactdata2); |
754 | 756 | ||
755 | bounce = 0; | 757 | bounce = 0; |
756 | 758 | mu = 0; | |
759 | cfm = 0.0001f; | ||
760 | /* | ||
757 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | 761 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); |
758 | 762 | ||
759 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | 763 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) |
760 | mu *= frictionMovementMult; | 764 | mu *= frictionMovementMult; |
761 | 765 | */ | |
762 | erpSoft = contactdata1.softcolide | contactdata2.softcolide; | ||
763 | dop2foot = true; | 766 | dop2foot = true; |
764 | if (p1.Velocity.LengthSquared() > 0.0f) | 767 | if (p1.Velocity.LengthSquared() > 0.0f) |
765 | p1.CollidingObj = true; | 768 | p1.CollidingObj = true; |
@@ -773,9 +776,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
773 | p1.getContactData(ref contactdata1); | 776 | p1.getContactData(ref contactdata1); |
774 | p2.getContactData(ref contactdata2); | 777 | p2.getContactData(ref contactdata2); |
775 | bounce = contactdata1.bounce * contactdata2.bounce; | 778 | bounce = contactdata1.bounce * contactdata2.bounce; |
776 | erpSoft = contactdata1.softcolide | contactdata2.softcolide; | ||
777 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | 779 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); |
778 | 780 | ||
781 | cfm = p1.Mass; | ||
782 | if (cfm > p2.Mass) | ||
783 | cfm = p2.Mass; | ||
784 | cfm = (float)Math.Sqrt(cfm); | ||
785 | cfm *= 0.0001f; | ||
786 | if (cfm > 0.8f) | ||
787 | cfm = 0.8f; | ||
788 | |||
779 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | 789 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) |
780 | mu *= frictionMovementMult; | 790 | mu *= frictionMovementMult; |
781 | 791 | ||
@@ -790,12 +800,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
790 | mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); | 800 | mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); |
791 | if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) | 801 | if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) |
792 | mu *= frictionMovementMult; | 802 | mu *= frictionMovementMult; |
793 | erpSoft = contactdata1.softcolide; | ||
794 | p1.CollidingGround = true; | 803 | p1.CollidingGround = true; |
804 | cfm = p1.Mass; | ||
805 | cfm = (float)Math.Sqrt(cfm); | ||
806 | cfm *= 0.0001f; | ||
807 | if (cfm > 0.8f) | ||
808 | cfm = 0.8f; | ||
809 | |||
795 | } | 810 | } |
796 | else if (name == "Water") | 811 | else if (name == "Water") |
797 | { | 812 | { |
798 | erpSoft = true; | 813 | ignore = true; |
799 | } | 814 | } |
800 | } | 815 | } |
801 | else | 816 | else |
@@ -815,7 +830,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
815 | p2.getContactData(ref contactdata2); | 830 | p2.getContactData(ref contactdata2); |
816 | bounce = contactdata2.bounce * TerrainBounce; | 831 | bounce = contactdata2.bounce * TerrainBounce; |
817 | mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); | 832 | mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); |
818 | erpSoft = contactdata2.softcolide; | 833 | cfm = p2.Mass; |
834 | cfm = (float)Math.Sqrt(cfm); | ||
835 | cfm *= 0.0001f; | ||
836 | if (cfm > 0.8f) | ||
837 | cfm = 0.8f; | ||
819 | 838 | ||
820 | if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) | 839 | if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) |
821 | mu *= frictionMovementMult; | 840 | mu *= frictionMovementMult; |
@@ -827,7 +846,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
827 | else if (name == "Water" && | 846 | else if (name == "Water" && |
828 | (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent)) | 847 | (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent)) |
829 | { | 848 | { |
830 | erpSoft = true; | 849 | ignore = true; |
831 | } | 850 | } |
832 | } | 851 | } |
833 | else | 852 | else |
@@ -848,7 +867,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
848 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) | 867 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) |
849 | p2.IsColliding = true; | 868 | p2.IsColliding = true; |
850 | 869 | ||
851 | Joint = CreateContacJoint(ref curContact, mu, bounce, erpSoft); | 870 | |
871 | erp = curContact.depth; | ||
872 | if (erp < minERP) | ||
873 | erp = minERP; | ||
874 | else if (erp > MaxERP) | ||
875 | erp = MaxERP; | ||
876 | |||
877 | Joint = CreateContacJoint(ref curContact, mu, bounce,cfm,erp); | ||
852 | d.JointAttach(Joint, b1, b2); | 878 | d.JointAttach(Joint, b1, b2); |
853 | 879 | ||
854 | if (++m_global_contactcount >= maxContactsbeforedeath) | 880 | if (++m_global_contactcount >= maxContactsbeforedeath) |