From d199767e6991d6f368661fce9c5a072e564b8a4b Mon Sep 17 00:00:00 2001
From: John Hurliman
Date: Sun, 25 Oct 2009 23:16:12 -0700
Subject: Experimental change of PhysicsVector to Vector3. Untested
---
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 113 ++++-----
OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs | 2 +-
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 269 ++++++++++-----------
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 50 ++--
.../Region/Physics/OdePlugin/Tests/ODETestClass.cs | 4 +-
5 files changed, 209 insertions(+), 229 deletions(-)
(limited to 'OpenSim/Region/Physics/OdePlugin')
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 71ace16..c86bc62 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -68,15 +68,15 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- private PhysicsVector _position;
+ private Vector3 _position;
private d.Vector3 _zeroPosition;
// private d.Matrix3 m_StandUpRotation;
private bool _zeroFlag = false;
private bool m_lastUpdateSent = false;
- private PhysicsVector _velocity;
- private PhysicsVector _target_velocity;
- private PhysicsVector _acceleration;
- private PhysicsVector m_rotationalVelocity;
+ private Vector3 _velocity;
+ private Vector3 _target_velocity;
+ private Vector3 _acceleration;
+ private Vector3 m_rotationalVelocity;
private float m_mass = 80f;
public float m_density = 60f;
private bool m_pidControllerActive = true;
@@ -99,7 +99,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_hackSentFall = false;
private bool m_hackSentFly = false;
private int m_requestedUpdateFrequency = 0;
- private PhysicsVector m_taintPosition = new PhysicsVector(0, 0, 0);
+ private Vector3 m_taintPosition = Vector3.Zero;
public uint m_localID = 0;
public bool m_returnCollisions = false;
// taints and their non-tainted counterparts
@@ -143,22 +143,17 @@ namespace OpenSim.Region.Physics.OdePlugin
public UUID m_uuid;
public bool bad = false;
- public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
+ public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
- // ode = dode;
- _velocity = new PhysicsVector();
- _target_velocity = new PhysicsVector();
-
-
- if (PhysicsVector.isFinite(pos))
+ if (pos.IsFinite())
{
- if (pos.Z > 9999999)
+ if (pos.Z > 9999999f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
- if (pos.Z < -90000)
+ if (pos.Z < -90000f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
@@ -169,15 +164,13 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
- _position = new PhysicsVector(((int)_parent_scene.WorldExtents.X * 0.5f), ((int)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
+ _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition.X = _position.X;
m_taintPosition.Y = _position.Y;
m_taintPosition.Z = _position.Z;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
-
- _acceleration = new PhysicsVector();
_parent_scene = parent_scene;
PID_D = pid_d;
@@ -189,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
walkDivisor = walk_divisor;
runDivisor = rundivisor;
-
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
@@ -205,7 +197,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
-
_parent_scene.AddPhysicsActorTaint(this);
m_name = avName;
@@ -412,20 +403,20 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Not really a good choice unless you 'know' it's a good
/// spot otherwise you're likely to orbit the avatar.
///
- public override PhysicsVector Position
+ public override Vector3 Position
{
get { return _position; }
set
{
if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
- if (value.Z > 9999999)
+ if (value.Z > 9999999f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
- if (value.Z < -90000)
+ if (value.Z < -90000f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
@@ -447,7 +438,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override PhysicsVector RotationalVelocity
+ public override Vector3 RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
@@ -457,20 +448,20 @@ namespace OpenSim.Region.Physics.OdePlugin
/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
/// and use it to offset landings properly
///
- public override PhysicsVector Size
+ public override Vector3 Size
{
- get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
+ get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
m_pidControllerActive = true;
- PhysicsVector SetSize = value;
+ Vector3 SetSize = value;
m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
- Velocity = new PhysicsVector(0f, 0f, 0f);
+ Velocity = Vector3.Zero;
_parent_scene.AddPhysicsActorTaint(this);
}
@@ -481,7 +472,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
+ private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
{
movementVector.Z = 0f;
float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
@@ -643,7 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// (with -0..0 motor stops) falls into the terrain for reasons yet
// to be comprehended in their entirety.
#endregion
- AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
+ AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
@@ -688,7 +679,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
- public override void LockAngularMotion(PhysicsVector axis)
+ public override void LockAngularMotion(Vector3 axis)
{
}
@@ -716,9 +707,9 @@ namespace OpenSim.Region.Physics.OdePlugin
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
// }
- public override PhysicsVector Force
+ public override Vector3 Force
{
- get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
+ get { return _target_velocity; }
set { return; }
}
@@ -733,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
- public override void VehicleVectorParam(int param, PhysicsVector value)
+ public override void VehicleVectorParam(int param, Vector3 value)
{
}
@@ -748,14 +739,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
- public override PhysicsVector CenterOfMass
+ public override Vector3 CenterOfMass
{
- get { return PhysicsVector.Zero; }
+ get { return Vector3.Zero; }
}
- public override PhysicsVector GeometricCenter
+ public override Vector3 GeometricCenter
{
- get { return PhysicsVector.Zero; }
+ get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
@@ -763,18 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
set { return; }
}
- public override PhysicsVector Velocity
+ public override Vector3 Velocity
{
get {
- // There's a problem with PhysicsVector.Zero! Don't Use it Here!
+ // There's a problem with Vector3.Zero! Don't Use it Here!
if (_zeroFlag)
- return new PhysicsVector(0f, 0f, 0f);
+ return Vector3.Zero;
m_lastUpdateSent = false;
return _velocity;
}
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
m_pidControllerActive = true;
_target_velocity = value;
@@ -786,9 +777,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override PhysicsVector Torque
+ public override Vector3 Torque
{
- get { return PhysicsVector.Zero; }
+ get { return Vector3.Zero; }
set { return; }
}
@@ -814,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override PhysicsVector Acceleration
+ public override Vector3 Acceleration
{
get { return _acceleration; }
}
- public void SetAcceleration(PhysicsVector accel)
+ public void SetAcceleration(Vector3 accel)
{
m_pidControllerActive = true;
_acceleration = accel;
@@ -830,9 +821,9 @@ namespace OpenSim.Region.Physics.OdePlugin
/// The PID controller takes this target velocity and tries to make it a reality
///
///
- public override void AddForce(PhysicsVector force, bool pushforce)
+ public override void AddForce(Vector3 force, bool pushforce)
{
- if (PhysicsVector.isFinite(force))
+ if (force.IsFinite())
{
if (pushforce)
{
@@ -861,7 +852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_lastUpdateSent = false;
}
- public override void AddAngularForce(PhysicsVector force, bool pushforce)
+ public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
@@ -870,7 +861,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// After all of the forces add up with 'add force' we apply them with doForce
///
///
- public void doForce(PhysicsVector force)
+ public void doForce(Vector3 force)
{
if (!collidelock)
{
@@ -881,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override void SetMomentum(PhysicsVector momentum)
+ public override void SetMomentum(Vector3 momentum)
{
}
@@ -908,9 +899,9 @@ namespace OpenSim.Region.Physics.OdePlugin
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
- PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
+ Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
- if (!PhysicsVector.isFinite(localPos))
+ if (!localPos.IsFinite())
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
@@ -946,7 +937,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
}
- PhysicsVector vec = new PhysicsVector();
+ Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
float movementdivisor = 1f;
@@ -1059,12 +1050,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// end add Kitto Flora
}
- if (PhysicsVector.isFinite(vec))
+ if (vec.IsFinite())
{
doForce(vec);
if (!_zeroFlag)
{
- AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
+ AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
}
else
@@ -1197,7 +1188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
- public override PhysicsVector PIDTarget { set { return; } }
+ public override Vector3 PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
@@ -1311,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDestroy(Shell);
AvatarGeomAndBodyCreation(_position.X, _position.Y,
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
- Velocity = new PhysicsVector(0f, 0f, 0f);
+ Velocity = Vector3.Zero;
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
@@ -1325,7 +1316,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- if (!m_taintPosition.IsIdentical(_position, 0.05f))
+ if (!m_taintPosition.ApproxEquals(_position, 0.05f))
{
if (Body != IntPtr.Zero)
{
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 019c78b..4a802cd 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -232,7 +232,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}//end ProcessFloatVehicleParam
- internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+ internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
switch (pParam)
{
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 09c8582..5ff9d32 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -57,44 +57,43 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- private PhysicsVector _position;
- private PhysicsVector _velocity;
- private PhysicsVector _torque = new PhysicsVector(0,0,0);
- private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
- private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
+ private Vector3 _position;
+ private Vector3 _velocity;
+ private Vector3 _torque;
+ private Vector3 m_lastVelocity;
+ private Vector3 m_lastposition;
private Quaternion m_lastorientation = new Quaternion();
- private PhysicsVector m_rotationalVelocity;
- private PhysicsVector _size;
- private PhysicsVector _acceleration;
+ private Vector3 m_rotationalVelocity;
+ private Vector3 _size;
+ private Vector3 _acceleration;
// private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
private Quaternion _orientation;
- private PhysicsVector m_taintposition;
- private PhysicsVector m_taintsize;
- private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
- private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
+ private Vector3 m_taintposition;
+ private Vector3 m_taintsize;
+ private Vector3 m_taintVelocity;
+ private Vector3 m_taintTorque;
private Quaternion m_taintrot;
- private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
- private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
+ private Vector3 m_angularlock = Vector3.One;
+ private Vector3 m_taintAngularLock = Vector3.One;
private IntPtr Amotor = IntPtr.Zero;
- private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
- // private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
- private float m_PIDTau = 0f;
+ private Vector3 m_PIDTarget;
+ private float m_PIDTau;
private float PID_D = 35f;
private float PID_G = 25f;
- private bool m_usePID = false;
+ private bool m_usePID;
// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
// and are for non-VEHICLES only.
-
- private float m_PIDHoverHeight = 0f;
- private float m_PIDHoverTau = 0f;
- private bool m_useHoverPID = false;
+
+ private float m_PIDHoverHeight;
+ private float m_PIDHoverTau;
+ private bool m_useHoverPID;
private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
- private float m_targetHoverHeight = 0f;
- private float m_groundHeight = 0f;
- private float m_waterHeight = 0f;
- private float m_buoyancy = 0f; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
+ private float m_targetHoverHeight;
+ private float m_groundHeight;
+ private float m_waterHeight;
+ private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
// private float m_tensor = 5f;
private int body_autodisable_frames = 20;
@@ -105,11 +104,11 @@ namespace OpenSim.Region.Physics.OdePlugin
| CollisionCategories.Body
| CollisionCategories.Character
);
- private bool m_taintshape = false;
- private bool m_taintPhysics = false;
+ private bool m_taintshape;
+ private bool m_taintPhysics;
private bool m_collidesLand = true;
- private bool m_collidesWater = false;
- public bool m_returnCollisions = false;
+ private bool m_collidesWater;
+ public bool m_returnCollisions;
// Default we're a Geometry
private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -117,85 +116,83 @@ namespace OpenSim.Region.Physics.OdePlugin
// Default, Collide with Other Geometries, spaces and Bodies
private CollisionCategories m_collisionFlags = m_default_collisionFlags;
- public bool m_taintremove = false;
- public bool m_taintdisable = false;
- public bool m_disabled = false;
- public bool m_taintadd = false;
- public bool m_taintselected = false;
- public bool m_taintCollidesWater = false;
+ public bool m_taintremove;
+ public bool m_taintdisable;
+ public bool m_disabled;
+ public bool m_taintadd;
+ public bool m_taintselected;
+ public bool m_taintCollidesWater;
- public uint m_localID = 0;
+ public uint m_localID;
//public GCHandle gc;
private CollisionLocker ode;
private bool m_taintforce = false;
private bool m_taintaddangularforce = false;
- private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
- private List m_forcelist = new List();
- private List m_angularforcelist = new List();
+ private Vector3 m_force;
+ private List m_forcelist = new List();
+ private List m_angularforcelist = new List();
private IMesh _mesh;
private PrimitiveBaseShape _pbs;
private OdeScene _parent_scene;
- public IntPtr m_targetSpace = (IntPtr) 0;
+ public IntPtr m_targetSpace = IntPtr.Zero;
public IntPtr prim_geom;
public IntPtr prev_geom;
public IntPtr _triMeshData;
- private IntPtr _linkJointGroup = (IntPtr)0;
- private PhysicsActor _parent = null;
- private PhysicsActor m_taintparent = null;
+ private IntPtr _linkJointGroup = IntPtr.Zero;
+ private PhysicsActor _parent;
+ private PhysicsActor m_taintparent;
private List childrenPrim = new List();
- private bool iscolliding = false;
- private bool m_isphysical = false;
- private bool m_isSelected = false;
+ private bool iscolliding;
+ private bool m_isphysical;
+ private bool m_isSelected;
- internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
+ internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
- private bool m_throttleUpdates = false;
- private int throttleCounter = 0;
- public int m_interpenetrationcount = 0;
- public float m_collisionscore = 0;
- public int m_roundsUnderMotionThreshold = 0;
- private int m_crossingfailures = 0;
+ private bool m_throttleUpdates;
+ private int throttleCounter;
+ public int m_interpenetrationcount;
+ public float m_collisionscore;
+ public int m_roundsUnderMotionThreshold;
+ private int m_crossingfailures;
- public bool outofBounds = false;
+ public bool outofBounds;
private float m_density = 10.000006836f; // Aluminum g/cm3;
- public bool _zeroFlag = false;
- private bool m_lastUpdateSent = false;
+ public bool _zeroFlag;
+ private bool m_lastUpdateSent;
- public IntPtr Body = (IntPtr) 0;
+ public IntPtr Body = IntPtr.Zero;
public String m_primName;
-// private String m_primName;
- private PhysicsVector _target_velocity;
+ private Vector3 _target_velocity;
public d.Mass pMass;
- public int m_eventsubscription = 0;
- private CollisionEventUpdate CollisionEventsThisFrame = null;
+ public int m_eventsubscription;
+ private CollisionEventUpdate CollisionEventsThisFrame;
- private IntPtr m_linkJoint = (IntPtr)0;
+ private IntPtr m_linkJoint = IntPtr.Zero;
- public volatile bool childPrim = false;
+ public volatile bool childPrim;
private ODEDynamics m_vehicle;
internal int m_material = (int)Material.Wood;
- public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
+ public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
- _target_velocity = new PhysicsVector(0, 0, 0);
m_vehicle = new ODEDynamics();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
- _velocity = new PhysicsVector();
- if (!PhysicsVector.isFinite(pos))
+ if (!pos.IsFinite())
{
- pos = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), parent_scene.GetTerrainHeightAtXY(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f)) + 0.5f);
+ pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
+ parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
}
_position = pos;
@@ -210,9 +207,9 @@ namespace OpenSim.Region.Physics.OdePlugin
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
- if (!PhysicsVector.isFinite(pos))
+ if (!pos.IsFinite())
{
- size = new PhysicsVector(0.5f, 0.5f, 0.5f);
+ size = new Vector3(0.5f, 0.5f, 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
}
@@ -222,8 +219,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_size = size;
m_taintsize = _size;
- _acceleration = new PhysicsVector();
- m_rotationalVelocity = PhysicsVector.Zero;
if (!QuaternionIsFinite(rotation))
{
@@ -388,7 +383,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_disabled = false;
// The body doesn't already have a finite rotation mode set here
- if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+ if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null)
{
createAMotor(m_angularlock);
}
@@ -882,7 +877,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim_geom != IntPtr.Zero)
{
- if (!_position.IsIdentical(m_taintposition,0f))
+ if (!_position.ApproxEquals(m_taintposition, 0f))
changemove(timestep);
if (m_taintrot != _orientation)
@@ -907,7 +902,7 @@ namespace OpenSim.Region.Physics.OdePlugin
changePhysicsStatus(timestep);
//
- if (!_size.IsIdentical(m_taintsize,0))
+ if (!_size.ApproxEquals(m_taintsize,0f))
changesize(timestep);
//
@@ -921,7 +916,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintaddangularforce)
changeAddAngularForce(timestep);
- if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
+ if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
changeSetTorque(timestep);
if (m_taintdisable)
@@ -930,7 +925,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintselected != m_isSelected)
changeSelectedStatus(timestep);
- if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
+ if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
changevelocity(timestep);
if (m_taintparent != _parent)
@@ -939,7 +934,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintCollidesWater != m_collidesWater)
changefloatonwater(timestep);
- if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
+ if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
changeAngularLock(timestep);
}
@@ -959,7 +954,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//If we have a parent then we're not authorative here
if (_parent == null)
{
- if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f,1f,1f), 0))
+ if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
{
//d.BodySetFiniteRotationMode(Body, 0);
//d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -976,7 +971,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
// Store this for later in case we get turned into a separate body
- m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
+ m_angularlock = m_taintAngularLock;
}
@@ -1120,7 +1115,7 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_disabled = false;
// The body doesn't already have a finite rotation mode set here
- if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+ if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{
prm.createAMotor(m_angularlock);
}
@@ -1163,7 +1158,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_disabled = false;
// The body doesn't already have a finite rotation mode set here
- if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
+ if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{
createAMotor(m_angularlock);
}
@@ -1347,7 +1342,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintshape = false;
m_taintforce = false;
m_taintdisable = false;
- m_taintVelocity = PhysicsVector.Zero;
+ m_taintVelocity = Vector3.Zero;
}
public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
@@ -1576,7 +1571,7 @@ Console.WriteLine(" JointCreateFixed");
//Console.WriteLine("Move " + m_primName);
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
// NON-'VEHICLES' are dealt with here
- if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
+ if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
{
d.Vector3 avel2 = d.BodyGetAngularVel(Body);
if (m_angularlock.X == 1)
@@ -1633,7 +1628,7 @@ Console.WriteLine(" JointCreateFixed");
d.Vector3 pos = d.BodyGetPosition(Body);
_target_velocity =
- new PhysicsVector(
+ new Vector3(
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
@@ -1641,7 +1636,7 @@ Console.WriteLine(" JointCreateFixed");
// if velocity is zero, use position control; otherwise, velocity control
- if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
+ if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
{
// keep track of where we stopped. No more slippin' & slidin'
@@ -1726,13 +1721,13 @@ Console.WriteLine(" JointCreateFixed");
_target_velocity =
- new PhysicsVector(0.0f, 0.0f,
+ new Vector3(0.0f, 0.0f,
(m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
);
// if velocity is zero, use position control; otherwise, velocity control
- if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+ if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
{
// keep track of where we stopped. No more slippin' & slidin'
@@ -1821,7 +1816,7 @@ Console.WriteLine(" JointCreateFixed");
d.BodySetQuaternion(Body, ref myrot);
if (m_isphysical)
{
- if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
+ if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
createAMotor(m_angularlock);
}
}
@@ -2130,7 +2125,7 @@ Console.WriteLine(" JointCreateFixed");
//m_log.Info("[PHYSICS]: dequeing forcelist");
if (IsPhysical)
{
- PhysicsVector iforce = new PhysicsVector();
+ Vector3 iforce = Vector3.Zero;
for (int i = 0; i < m_forcelist.Count; i++)
{
iforce = iforce + (m_forcelist[i] * 100);
@@ -2160,8 +2155,8 @@ Console.WriteLine(" JointCreateFixed");
d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
}
}
-
- m_taintTorque = new PhysicsVector(0, 0, 0);
+
+ m_taintTorque = Vector3.Zero;
}
public void changeAddAngularForce(float timestamp)
@@ -2173,7 +2168,7 @@ Console.WriteLine(" JointCreateFixed");
//m_log.Info("[PHYSICS]: dequeing forcelist");
if (IsPhysical)
{
- PhysicsVector iforce = new PhysicsVector();
+ Vector3 iforce = Vector3.Zero;
for (int i = 0; i < m_angularforcelist.Count; i++)
{
iforce = iforce + (m_angularforcelist[i] * 100);
@@ -2207,7 +2202,7 @@ Console.WriteLine(" JointCreateFixed");
//resetCollisionAccounting();
}
- m_taintVelocity = PhysicsVector.Zero;
+ m_taintVelocity = Vector3.Zero;
}
public override bool IsPhysical
@@ -2216,7 +2211,7 @@ Console.WriteLine(" JointCreateFixed");
set {
m_isphysical = value;
if (!m_isphysical) // Zero the remembered last velocity
- m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
+ m_lastVelocity = Vector3.Zero;
}
}
@@ -2261,7 +2256,7 @@ Console.WriteLine(" JointCreateFixed");
get { return _zeroFlag; }
}
- public override PhysicsVector Position
+ public override Vector3 Position
{
get { return _position; }
@@ -2270,12 +2265,12 @@ Console.WriteLine(" JointCreateFixed");
}
}
- public override PhysicsVector Size
+ public override Vector3 Size
{
get { return _size; }
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
_size = value;
}
@@ -2291,13 +2286,13 @@ Console.WriteLine(" JointCreateFixed");
get { return CalculateMass(); }
}
- public override PhysicsVector Force
+ public override Vector3 Force
{
- //get { return PhysicsVector.Zero; }
+ //get { return Vector3.Zero; }
get { return m_force; }
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
m_force = value;
}
@@ -2319,7 +2314,7 @@ Console.WriteLine(" JointCreateFixed");
m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value);
}
- public override void VehicleVectorParam(int param, PhysicsVector value)
+ public override void VehicleVectorParam(int param, Vector3 value)
{
m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value);
}
@@ -2337,14 +2332,14 @@ Console.WriteLine(" JointCreateFixed");
}
}
- public override PhysicsVector CenterOfMass
+ public override Vector3 CenterOfMass
{
- get { return PhysicsVector.Zero; }
+ get { return Vector3.Zero; }
}
- public override PhysicsVector GeometricCenter
+ public override Vector3 GeometricCenter
{
- get { return PhysicsVector.Zero; }
+ get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
@@ -2356,13 +2351,13 @@ Console.WriteLine(" JointCreateFixed");
}
}
- public override PhysicsVector Velocity
+ public override Vector3 Velocity
{
get
{
// Averate previous velocity with the new one so
// client object interpolation works a 'little' better
- PhysicsVector returnVelocity = new PhysicsVector();
+ Vector3 returnVelocity = Vector3.Zero;
returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
@@ -2370,7 +2365,7 @@ Console.WriteLine(" JointCreateFixed");
}
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
_velocity = value;
@@ -2385,19 +2380,19 @@ Console.WriteLine(" JointCreateFixed");
}
}
- public override PhysicsVector Torque
+ public override Vector3 Torque
{
get
{
if (!m_isphysical || Body == IntPtr.Zero)
- return new PhysicsVector(0,0,0);
+ return Vector3.Zero;
return _torque;
}
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
m_taintTorque = value;
_parent_scene.AddPhysicsActorTaint(this);
@@ -2449,20 +2444,20 @@ Console.WriteLine(" JointCreateFixed");
return true;
}
- public override PhysicsVector Acceleration
+ public override Vector3 Acceleration
{
get { return _acceleration; }
}
- public void SetAcceleration(PhysicsVector accel)
+ public void SetAcceleration(Vector3 accel)
{
_acceleration = accel;
}
- public override void AddForce(PhysicsVector force, bool pushforce)
+ public override void AddForce(Vector3 force, bool pushforce)
{
- if (PhysicsVector.isFinite(force))
+ if (force.IsFinite())
{
m_forcelist.Add(force);
m_taintforce = true;
@@ -2474,9 +2469,9 @@ Console.WriteLine(" JointCreateFixed");
//m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
}
- public override void AddAngularForce(PhysicsVector force, bool pushforce)
+ public override void AddAngularForce(Vector3 force, bool pushforce)
{
- if (PhysicsVector.isFinite(force))
+ if (force.IsFinite())
{
m_angularforcelist.Add(force);
m_taintaddangularforce = true;
@@ -2487,23 +2482,23 @@ Console.WriteLine(" JointCreateFixed");
}
}
- public override PhysicsVector RotationalVelocity
+ public override Vector3 RotationalVelocity
{
get
{
- PhysicsVector pv = new PhysicsVector(0, 0, 0);
+ Vector3 pv = Vector3.Zero;
if (_zeroFlag)
return pv;
m_lastUpdateSent = false;
- if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
+ if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
return pv;
return m_rotationalVelocity;
}
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
m_rotationalVelocity = value;
}
@@ -2544,16 +2539,16 @@ Console.WriteLine(" JointCreateFixed");
m_taintparent = null;
}
- public override void LockAngularMotion(PhysicsVector axis)
+ public override void LockAngularMotion(Vector3 axis)
{
// reverse the zero/non zero values for ODE.
- if (PhysicsVector.isFinite(axis))
+ if (axis.IsFinite())
{
axis.X = (axis.X > 0) ? 1f : 0f;
axis.Y = (axis.Y > 0) ? 1f : 0f;
axis.Z = (axis.Z > 0) ? 1f : 0f;
m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
- m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
+ m_taintAngularLock = axis;
}
else
{
@@ -2566,7 +2561,7 @@ Console.WriteLine(" JointCreateFixed");
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
if (_parent == null)
{
- PhysicsVector pv = new PhysicsVector(0, 0, 0);
+ Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag;
if (Body != (IntPtr)0) // FIXME -> or if it is a joint
{
@@ -2575,9 +2570,9 @@ Console.WriteLine(" JointCreateFixed");
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
d.Vector3 torque = d.BodyGetTorque(Body);
- _torque.setValues(torque.X, torque.Y, torque.Z);
- PhysicsVector l_position = new PhysicsVector();
- Quaternion l_orientation = new Quaternion();
+ _torque = new Vector3(torque.X, torque.Y, torque.Z);
+ Vector3 l_position = Vector3.Zero;
+ Quaternion l_orientation = Quaternion.Identity;
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
//if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
@@ -2712,16 +2707,16 @@ Console.WriteLine(" JointCreateFixed");
_velocity.Z = vel.Z;
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
- _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
+ _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
- if (_velocity.IsIdentical(pv, 0.5f))
+ if (_velocity.ApproxEquals(pv, 0.5f))
{
m_rotationalVelocity = pv;
}
else
{
- m_rotationalVelocity.setValues(rotvel.X, rotvel.Y, rotvel.Z);
+ m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
}
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2769,15 +2764,15 @@ Console.WriteLine(" JointCreateFixed");
}
}
- public override void SetMomentum(PhysicsVector momentum)
+ public override void SetMomentum(Vector3 momentum)
{
}
- public override PhysicsVector PIDTarget
+ public override Vector3 PIDTarget
{
set
{
- if (PhysicsVector.isFinite(value))
+ if (value.IsFinite())
{
m_PIDTarget = value;
}
@@ -2793,7 +2788,7 @@ Console.WriteLine(" JointCreateFixed");
public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
- private void createAMotor(PhysicsVector axis)
+ private void createAMotor(Vector3 axis)
{
if (Body == IntPtr.Zero)
return;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0eb0c45..2f42646 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -684,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
///
///
/// Returns which split up space the given position is in.
- public string whichspaceamIin(PhysicsVector pos)
+ public string whichspaceamIin(Vector3 pos)
{
return calculateSpaceForGeom(pos).ToString();
}
@@ -963,7 +963,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//p2.CollidingObj = true;
contacts[i].depth = 0.00000003f;
- p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
+ p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
contacts[i].pos =
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
contacts[i].pos.Y + (p1.Size.Y/2),
@@ -981,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//p2.CollidingObj = true;
contacts[i].depth = 0.00000003f;
- p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
+ p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
contacts[i].pos =
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
contacts[i].pos.Y + (p1.Size.Y/2),
@@ -1646,9 +1646,9 @@ namespace OpenSim.Region.Physics.OdePlugin
#region Add/Remove Entities
- public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+ public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
{
- PhysicsVector pos = new PhysicsVector();
+ Vector3 pos;
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
@@ -1698,18 +1698,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
- private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+ private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
{
-
- PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
- //pos.X = position.X;
- //pos.Y = position.Y;
- //pos.Z = position.Z;
- PhysicsVector siz = new PhysicsVector();
- siz.X = size.X;
- siz.Y = size.Y;
- siz.Z = size.Z;
+
+ Vector3 pos = position;
+ Vector3 siz = size;
Quaternion rot = rotation;
OdePrim newPrim;
@@ -1736,14 +1730,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
- PhysicsVector size, Quaternion rotation) //To be removed
+ public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+ Vector3 size, Quaternion rotation) //To be removed
{
return AddPrimShape(primName, pbs, position, size, rotation, false);
}
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
- PhysicsVector size, Quaternion rotation, bool isPhysical)
+ public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+ Vector3 size, Quaternion rotation, bool isPhysical)
{
PhysicsActor result;
IMesh mesh = null;
@@ -1976,7 +1970,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// this joint will just be added to a waiting list that is NOT processed during the main
// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
- public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
+ public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
Quaternion rotation, string parms, List bodyNames, string trackedBodyName, Quaternion localRotation)
{
@@ -1984,7 +1978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
OdePhysicsJoint joint = new OdePhysicsJoint();
joint.ObjectNameInScene = objectNameInScene;
joint.Type = jointType;
- joint.Position = new PhysicsVector(position.X, position.Y, position.Z);
+ joint.Position = position;
joint.Rotation = rotation;
joint.RawParams = parms;
joint.BodyNames = new List(bodyNames);
@@ -2036,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
- public override PhysicsVector GetJointAnchor(PhysicsJoint joint)
+ public override Vector3 GetJointAnchor(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 pos = new d.Vector3();
@@ -2058,14 +2052,14 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
- return new PhysicsVector(pos.X, pos.Y, pos.Z);
+ return new Vector3(pos.X, pos.Y, pos.Z);
}
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
// appears to be unreliable. Fortunately we can compute the joint axis ourselves by
// keeping track of the joint's original orientation relative to one of the involved bodies.
- public override PhysicsVector GetJointAxis(PhysicsJoint joint)
+ public override Vector3 GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = new d.Vector3();
@@ -2087,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
- return new PhysicsVector(axis.X, axis.Y, axis.Z);
+ return new Vector3(axis.X, axis.Y, axis.Z);
}
@@ -2255,7 +2249,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// the position that the geom moved to
/// a pointer to the space it was in before it was moved.
/// a pointer to the new space it's in
- public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
+ public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
{
// Called from setting the Position and Size of an ODEPrim so
// it's already in locked space.
@@ -2402,7 +2396,7 @@ namespace OpenSim.Region.Physics.OdePlugin
///
///
/// a pointer to the space. This could be a new space or reused space.
- public IntPtr calculateSpaceForGeom(PhysicsVector pos)
+ public IntPtr calculateSpaceForGeom(Vector3 pos)
{
int[] xyspace = calculateSpaceArrayItemFromPos(pos);
//m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
@@ -2414,7 +2408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
///
///
/// an array item based on the position
- public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
+ public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
{
int[] returnint = new int[2];
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index cdd38c4..69e2d03 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public void CreateAndDropPhysicalCube()
{
PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
- PhysicsVector position = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 128);
- PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f);
+ Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
+ Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
Quaternion rot = Quaternion.Identity;
PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
OdePrim oprim = (OdePrim)prim;
--
cgit v1.1