From 474b982eba66306c100b2cd00b6a49b76870afc4 Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Fri, 10 Apr 2009 23:26:42 +0000 Subject: * Adds Physical/Active Linkset support to BulletDotNETPlugin --- .../Physics/BulletDotNETPlugin/BulletDotNETPrim.cs | 376 +++++++++++++++------ 1 file changed, 268 insertions(+), 108 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs index bf44a0f..0f54a9f 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs @@ -35,6 +35,7 @@ using OpenMetaverse; using BulletDotNET; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.Meshing; namespace OpenSim.Region.Physics.BulletDotNETPlugin { @@ -325,12 +326,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } public override void link(PhysicsActor obj) { - //TODO: + m_taintparent = obj; } public override void delink() { - //TODO: + m_taintparent = null; } public override void LockAngularMotion(PhysicsVector axis) @@ -729,6 +730,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin changeadd(timestep); } + if (prim_geom == null) + { + CreateGeom(IntPtr.Zero, primMesh); + + if (IsPhysical) + SetBody(Mass); + else + SetBody(0); + m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); + } + if (prim_geom.Handle == IntPtr.Zero) { CreateGeom(IntPtr.Zero, primMesh); @@ -953,24 +965,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: dispose parts that make up body } m_log.Debug("[PHYSICS]: _________ChangePhysics"); - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in SetMesh - float meshlod = _parent_scene.meshSculptLOD; - if (IsPhysical) - meshlod = _parent_scene.MeshSculptphysicalLOD; + ProcessGeomCreation(); - IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); - // createmesh returns null when it doesn't mesh. - CreateGeom(IntPtr.Zero, mesh); - } - else - { - _mesh = null; - CreateGeom(IntPtr.Zero, null); - } - SetCollisionShape(prim_geom); if (m_isphysical) SetBody(Mass); else @@ -981,6 +978,71 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_taintPhysics = m_isphysical; } + + + internal void ProcessGeomCreation() + { + if (_parent_scene.needsMeshing(_pbs)) + { + ProcessGeomCreationAsTriMesh(PhysicsVector.Zero,Quaternion.Identity); + // createmesh returns null when it doesn't mesh. + CreateGeom(IntPtr.Zero, _mesh); + } + else + { + _mesh = null; + CreateGeom(IntPtr.Zero, null); + } + SetCollisionShape(prim_geom); + } + + internal bool NeedsMeshing() + { + return _parent_scene.needsMeshing(_pbs); + } + + internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation) + { + // Don't need to re-enable body.. it's done in SetMesh + float meshlod = _parent_scene.meshSculptLOD; + + if (IsPhysical) + meshlod = _parent_scene.MeshSculptphysicalLOD; + + IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); + if (!positionOffset.IsIdentical(PhysicsVector.Zero,0.001f) || orientation != Quaternion.Identity) + { + if (mesh is Mesh) + { + float[] xyz = new float[3]; + xyz[0] = positionOffset.X; + xyz[1] = positionOffset.Y; + xyz[2] = positionOffset.Z; + + Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation); + + float[,] matrix = new float[3,3]; + + matrix[0, 0] = m4.M11; + matrix[0, 1] = m4.M12; + matrix[0, 2] = m4.M13; + matrix[1, 0] = m4.M21; + matrix[1, 1] = m4.M22; + matrix[1, 2] = m4.M23; + matrix[2, 0] = m4.M31; + matrix[2, 1] = m4.M32; + matrix[2, 2] = m4.M33; + + Mesh mesh2 = (Mesh) mesh; + mesh2.TransformLinear(matrix, xyz); + mesh = (IMesh)mesh2; + } + + } + + _mesh = mesh; + } + private void changesize(float timestep) { if (Body != null) @@ -997,23 +1059,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_log.Debug("[PHYSICS]: _________ChangeSize"); SetCollisionShape(null); // Construction of new prim - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in SetMesh - float meshlod = _parent_scene.meshSculptLOD; - - if (IsPhysical) - meshlod = _parent_scene.MeshSculptphysicalLOD; - - IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); - // createmesh returns null when it doesn't mesh. - CreateGeom(IntPtr.Zero, mesh); - } - else - { - _mesh = null; - CreateGeom(IntPtr.Zero, null); - } + ProcessGeomCreation(); if (IsPhysical) SetBody(Mass); @@ -1068,23 +1114,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin if (_size.Z <= 0) _size.Z = 0.01f; // Construction of new prim - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in SetMesh - float meshlod = _parent_scene.meshSculptLOD; - - if (IsPhysical) - meshlod = _parent_scene.MeshSculptphysicalLOD; + ProcessGeomCreation(); - IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); - // createmesh returns null when it doesn't mesh. - CreateGeom(IntPtr.Zero, mesh); - } - else - { - _mesh = null; - CreateGeom(IntPtr.Zero, null); - } tempPosition1.setValue(_position.X, _position.Y, _position.Z); if (tempOrientation1.Handle != IntPtr.Zero) tempOrientation1.Dispose(); @@ -1262,7 +1293,52 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private void changelink(float timestep) { - // TODO: throw new NotImplementedException(); + if (IsPhysical) + { + // Construction of new prim + if (Body != null) + { + if (Body.Handle != IntPtr.Zero) + { + _parent_scene.removeFromWorld(this, Body); + //Body.Dispose(); + } + //Body = null; + // TODO: dispose parts that make up body + } + + if (_parent == null && m_taintparent != null) + { + + if (m_taintparent is BulletDotNETPrim) + { + BulletDotNETPrim obj = (BulletDotNETPrim)m_taintparent; + obj.ParentPrim(this); + childPrim = true; + + } + } + else if (_parent != null && m_taintparent == null) + { + if (_parent is BulletDotNETPrim) + { + BulletDotNETPrim obj = (BulletDotNETPrim)_parent; + obj.ChildDelink(obj); + + childPrim = false; + } + } + + if (m_taintparent != null) + { + m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f; + _parent_scene.AddPhysicsActorTaint(m_taintparent); + } + } + _parent = m_taintparent; + + m_taintPhysics = m_isphysical; + } private void changefloatonwater(float timestep) @@ -1854,7 +1930,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_log.Debug("[PHYSICS]: _________CreateGeom"); if (p_mesh != null) { - _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); + //_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); + _mesh = p_mesh; setMesh(_parent_scene, _mesh); } @@ -1867,12 +1944,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin if (((_size.X / 2f) > 0f)) { //SetGeom to a Regular Sphere - tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); + if (tempSize1 == null) + tempSize1 = new btVector3(0, 0, 0); + tempSize1.setValue(_size.X * 0.5f,_size.Y * 0.5f, _size.Z * 0.5f); SetCollisionShape(new btSphereShape(_size.X*0.5f)); } else { // uses halfextents + if (tempSize1 == null) + tempSize1 = new btVector3(0, 0, 0); tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f); SetCollisionShape(new btBoxShape(tempSize1)); } @@ -1880,6 +1961,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin else { // uses halfextents + if (tempSize1 == null) + tempSize1 = new btVector3(0, 0, 0); tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); SetCollisionShape(new btBoxShape(tempSize1)); } @@ -1887,6 +1970,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } else { + if (tempSize1 == null) + tempSize1 = new btVector3(0, 0, 0); // uses halfextents tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); SetCollisionShape(new btBoxShape(tempSize1)); @@ -1975,72 +2060,134 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin public void SetBody(float mass) { - //m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass); - /* - if (Body != null && Body.Handle != IntPtr.Zero) + + if (!IsPhysical || childrenPrim.Count == 0) { - DisposeOfBody(); - } - */ - if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) - tempMotionState1.Dispose(); - if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero) - tempTransform2.Dispose(); - if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) - tempOrientation2.Dispose(); + if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) + tempMotionState1.Dispose(); + if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero) + tempTransform2.Dispose(); + if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) + tempOrientation2.Dispose(); - if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero) - tempPosition2.Dispose(); + if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero) + tempPosition2.Dispose(); - tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); - tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z); - tempTransform2 = new btTransform(tempOrientation2, tempPosition2); - tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero); - if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero) - tempInertia1.Dispose(); - tempInertia1 = new btVector3(0, 0, 0); - /* - if (prim_geom.Handle == IntPtr.Zero) - { - m_log.Warn("[PHYSICS]:PrimGeom is Disposed!"); - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in SetMesh - float meshlod = _parent_scene.meshSculptLOD; + tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); + tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z); + tempTransform2 = new btTransform(tempOrientation2, tempPosition2); + tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero); + if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero) + tempInertia1.Dispose(); + tempInertia1 = new btVector3(0, 0, 0); - if (IsPhysical) - meshlod = _parent_scene.MeshSculptphysicalLOD; - IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); - // createmesh returns null when it doesn't mesh. - CreateGeom(IntPtr.Zero, mesh); - } + prim_geom.calculateLocalInertia(mass, tempInertia1); + + if (mass != 0) + _parent_scene.addActivePrim(this); else + _parent_scene.remActivePrim(this); + + // Body = new btRigidBody(mass, tempMotionState1, prim_geom); + //else + Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + + if (prim_geom is btGImpactMeshShape) { - _mesh = null; - CreateGeom(IntPtr.Zero, null); + ((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1)); + ((btGImpactMeshShape) prim_geom).updateBound(); } - + _parent_scene.AddPrimToScene(this); } - */ + else + { + bool hasTrimesh = false; + lock (childrenPrim) + { + foreach (BulletDotNETPrim chld in childrenPrim) + { + if (chld == null) + continue; + + if (chld.NeedsMeshing()) + hasTrimesh = true; + } + } - prim_geom.calculateLocalInertia(mass, tempInertia1); + //if (hasTrimesh) + //{ + ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); + // createmesh returns null when it doesn't mesh. + - if (mass != 0) - _parent_scene.addActivePrim(this); - else - _parent_scene.remActivePrim(this); + if (_mesh is Mesh) + { + } + else + { + m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object"); + return; + } + Mesh pMesh = (Mesh) _mesh; + + foreach (BulletDotNETPrim chld in childrenPrim) + { + if (chld == null) + continue; + PhysicsVector offset = chld.Position - Position; + Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z); + pos *= Quaternion.Inverse(Orientation); + //pos *= Orientation; + offset.setValues(pos.X, pos.Y, pos.Z); + chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation); + if (chld._mesh is Mesh) + { + pMesh.Append((Mesh)chld._mesh); + } - // Body = new btRigidBody(mass, tempMotionState1, prim_geom); - //else - Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + } + setMesh(_parent_scene, pMesh); + + //} - if (prim_geom is btGImpactMeshShape) - { - ((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1)); - ((btGImpactMeshShape) prim_geom).updateBound(); + if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) + tempMotionState1.Dispose(); + if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero) + tempTransform2.Dispose(); + if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) + tempOrientation2.Dispose(); + + if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero) + tempPosition2.Dispose(); + + tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); + tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z); + tempTransform2 = new btTransform(tempOrientation2, tempPosition2); + tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero); + if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero) + tempInertia1.Dispose(); + tempInertia1 = new btVector3(0, 0, 0); + + + prim_geom.calculateLocalInertia(mass, tempInertia1); + + if (mass != 0) + _parent_scene.addActivePrim(this); + else + _parent_scene.remActivePrim(this); + + // Body = new btRigidBody(mass, tempMotionState1, prim_geom); + //else + Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + + if (prim_geom is btGImpactMeshShape) + { + ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1)); + ((btGImpactMeshShape)prim_geom).updateBound(); + } + _parent_scene.AddPrimToScene(this); } - _parent_scene.AddPrimToScene(this); } private void DisposeOfBody() @@ -2096,9 +2243,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } - private void ParentPrim(BulletDotNETPrim prm) + internal void ParentPrim(BulletDotNETPrim prm) { - // TODO: Parent Linking algorithm. Use btComplexObject + if (prm == null) + return; + + + + lock (childrenPrim) + { + if (!childrenPrim.Contains(prm)) + { + childrenPrim.Add(prm); + } + } + + } public void disableBody() -- cgit v1.1