From e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 12 Sep 2015 21:38:26 +0100 Subject: rename Ubit physics modules --- OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs | 3901 ---------------------- 1 file changed, 3901 deletions(-) delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs (limited to 'OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs') diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs deleted file mode 100644 index 8e8e069..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs +++ /dev/null @@ -1,3901 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -/* Revision 2011/12/13 by Ubit Umarov - * - * - */ - -/* - * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces - * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: - * ODEPrim.cs contains methods dealing with Prim editing, Prim - * characteristics and Kinetic motion. - * ODEDynamics.cs contains methods dealing with Prim Physical motion - * (dynamics) and the associated settings. Old Linear and angular - * motors for dynamic motion have been replace with MoveLinear() - * and MoveAngular(); 'Physical' is used only to switch ODE dynamic - * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to - * switch between 'VEHICLE' parameter use and general dynamics - * settings use. - */ - -//#define SPAM - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using System.Threading; -using log4net; -using OpenMetaverse; -using OdeAPI; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - public class OdePrim : PhysicsActor - { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - - private bool m_isphysical; - private bool m_fakeisphysical; - private bool m_isphantom; - private bool m_fakeisphantom; - internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - - protected bool m_building; - protected bool m_forcePosOrRotation; - private bool m_iscolliding; - - internal bool m_isSelected; - private bool m_delaySelect; - private bool m_lastdoneSelected; - internal bool m_outbounds; - - private Quaternion m_lastorientation; - private Quaternion _orientation; - - private Vector3 _position; - private Vector3 _velocity; - private Vector3 m_torque; - private Vector3 m_lastVelocity; - private Vector3 m_lastposition; - private Vector3 m_rotationalVelocity; - private Vector3 _size; - private Vector3 _acceleration; - private Vector3 m_angularlock = Vector3.One; - private IntPtr Amotor; - - private Vector3 m_force; - private Vector3 m_forceacc; - private Vector3 m_angularForceacc; - - private float m_invTimeStep; - private float m_timeStep; - - private Vector3 m_PIDTarget; - private float m_PIDTau; - private bool m_usePID; - - private float m_PIDHoverHeight; - private float m_PIDHoverTau; - private bool m_useHoverPID; - private PIDHoverType m_PIDHoverType; - 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 int body_autodisable_frames; - public int bodydisablecontrol; - private float m_gravmod = 1.0f; - - // Default we're a Geometry - private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); - // Default colide nonphysical don't try to colide with anything - private const CollisionCategories m_default_collisionFlagsNotPhysical = 0; - - private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom | - CollisionCategories.Character | - CollisionCategories.Land | - CollisionCategories.VolumeDtc); - -// private bool m_collidesLand = true; - private bool m_collidesWater; -// public bool m_returnCollisions; - - private bool m_NoColide; // for now only for internal use for bad meshs - - - // Default, Collide with Other Geometries, spaces and Bodies - private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical; - - public bool m_disabled; - - private uint m_localID; - - private IMesh m_mesh; - private object m_meshlock = new object(); - private PrimitiveBaseShape _pbs; - - private UUID? m_assetID; - private MeshState m_meshState; - - public ODEScene _parent_scene; - - /// - /// The physics space which contains prim geometry - /// - public IntPtr m_targetSpace; - - public IntPtr prim_geom; - public IntPtr _triMeshData; - - private PhysicsActor _parent; - - private List childrenPrim = new List(); - - public float m_collisionscore; - private int m_colliderfilter = 0; - - public IntPtr collide_geom; // for objects: geom if single prim space it linkset - - private float m_density; - private byte m_shapetype; - public bool _zeroFlag; - private bool m_lastUpdateSent; - - public IntPtr Body; - - private Vector3 _target_velocity; - - public Vector3 m_OBBOffset; - public Vector3 m_OBB; - public float primOOBradiusSQ; - - private bool m_hasOBB = true; - - private float m_physCost; - private float m_streamCost; - - public d.Mass primdMass; // prim inertia information on it's own referencial - float primMass; // prim own mass - float primVolume; // prim own volume; - float _mass; // object mass acording to case - - public int givefakepos; - private Vector3 fakepos; - public int givefakeori; - private Quaternion fakeori; - - private int m_eventsubscription; - private int m_cureventsubscription; - private CollisionEventUpdate CollisionEventsThisFrame = null; - private bool SentEmptyCollisionsEvent; - - public volatile bool childPrim; - - public ODEDynamics m_vehicle; - - internal int m_material = (int)Material.Wood; - private float mu; - private float bounce; - - /// - /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. - /// - public override bool IsPhysical // this is not reliable for internal use - { - get { return m_fakeisphysical; } - set - { - m_fakeisphysical = value; // we show imediatly to outside that we changed physical - // and also to stop imediatly some updates - // but real change will only happen in taintprocessing - - if (!value) // Zero the remembered last velocity - m_lastVelocity = Vector3.Zero; - AddChange(changes.Physical, value); - } - } - - public override bool IsVolumeDtc - { - get { return m_fakeisVolumeDetect; } - set - { - m_fakeisVolumeDetect = value; - AddChange(changes.VolumeDtc, value); - } - } - - public override bool Phantom // this is not reliable for internal use - { - get { return m_fakeisphantom; } - set - { - m_fakeisphantom = value; - AddChange(changes.Phantom, value); - } - } - - public override bool Building // this is not reliable for internal use - { - get { return m_building; } - set - { -// if (value) -// m_building = true; - AddChange(changes.building, value); - } - } - - public override void getContactData(ref ContactData cdata) - { - cdata.mu = mu; - cdata.bounce = bounce; - - // cdata.softcolide = m_softcolide; - cdata.softcolide = false; - - if (m_isphysical) - { - ODEDynamics veh; - if (_parent != null) - veh = ((OdePrim)_parent).m_vehicle; - else - veh = m_vehicle; - - if (veh != null && veh.Type != Vehicle.TYPE_NONE) - cdata.mu *= veh.FrictionFactor; -// cdata.mu *= 0; - } - } - - public override float PhysicsCost - { - get - { - return m_physCost; - } - } - - public override float StreamCost - { - get - { - return m_streamCost; - } - } - - public override int PhysicsActorType - { - get { return (int)ActorTypes.Prim; } - set { return; } - } - - public override bool SetAlwaysRun - { - get { return false; } - set { return; } - } - - public override uint LocalID - { - get { return m_localID; } - set { m_localID = value; } - } - - public override PhysicsActor ParentActor - { - get - { - if (childPrim) - return _parent; - else - return (PhysicsActor)this; - } - } - - public override bool Grabbed - { - set { return; } - } - - public override bool Selected - { - set - { - if (value) - m_isSelected = value; // if true set imediatly to stop moves etc - AddChange(changes.Selected, value); - } - } - - public override bool Flying - { - // no flying prims for you - get { return false; } - set { } - } - - public override bool IsColliding - { - get { return m_iscolliding; } - set - { - if (value) - { - m_colliderfilter += 2; - if (m_colliderfilter > 2) - m_colliderfilter = 2; - } - else - { - m_colliderfilter--; - if (m_colliderfilter < 0) - m_colliderfilter = 0; - } - - if (m_colliderfilter == 0) - m_iscolliding = false; - else - m_iscolliding = true; - } - } - - public override bool CollidingGround - { - get { return false; } - set { return; } - } - - public override bool CollidingObj - { - get { return false; } - set { return; } - } - - - public override bool ThrottleUpdates {get;set;} - - public override bool Stopped - { - get { return _zeroFlag; } - } - - public override Vector3 Position - { - get - { - if (givefakepos > 0) - return fakepos; - else - return _position; - } - - set - { - fakepos = value; - givefakepos++; - AddChange(changes.Position, value); - } - } - - public override Vector3 Size - { - get { return _size; } - set - { - if (value.IsFinite()) - { - _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); - } - } - } - - public override float Mass - { - get { return primMass; } - } - - public override Vector3 Force - { - get { return m_force; } - set - { - if (value.IsFinite()) - { - AddChange(changes.Force, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); - } - } - } - - public override void SetVolumeDetect(int param) - { - m_fakeisVolumeDetect = (param != 0); - AddChange(changes.VolumeDtc, m_fakeisVolumeDetect); - } - - public override Vector3 GeometricCenter - { - // this is not real geometric center but a average of positions relative to root prim acording to - // http://wiki.secondlife.com/wiki/llGetGeometricCenter - // ignoring tortured prims details since sl also seems to ignore - // so no real use in doing it on physics - get - { - return Vector3.Zero; - } - } - - public override Vector3 CenterOfMass - { - get - { - lock (_parent_scene.OdeLock) - { - d.Vector3 dtmp; - if (!childPrim && Body != IntPtr.Zero) - { - dtmp = d.BodyGetPosition(Body); - return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); - } - else if (prim_geom != IntPtr.Zero) - { - d.Quaternion dq; - d.GeomCopyQuaternion(prim_geom, out dq); - Quaternion q; - q.X = dq.X; - q.Y = dq.Y; - q.Z = dq.Z; - q.W = dq.W; - - Vector3 Ptot = m_OBBOffset * q; - dtmp = d.GeomGetPosition(prim_geom); - Ptot.X += dtmp.X; - Ptot.Y += dtmp.Y; - Ptot.Z += dtmp.Z; - - // if(childPrim) we only know about physical linksets - return Ptot; -/* - float tmass = _mass; - Ptot *= tmass; - - float m; - - foreach (OdePrim prm in childrenPrim) - { - m = prm._mass; - Ptot += prm.CenterOfMass * m; - tmass += m; - } - - if (tmass == 0) - tmass = 0; - else - tmass = 1.0f / tmass; - - Ptot *= tmass; - return Ptot; -*/ - } - else - return _position; - } - } - } - - public override Vector3 OOBsize - { - get - { - return m_OBB; - } - } - - public override Vector3 OOBoffset - { - get - { - return m_OBBOffset; - } - } - - public override float OOBRadiusSQ - { - get - { - return primOOBradiusSQ; - } - } - - public override PrimitiveBaseShape Shape - { - set - { -// AddChange(changes.Shape, value); - _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype); - } - } - - public override byte PhysicsShapeType - { - get - { - return m_shapetype; - } - set - { - m_shapetype = value; - _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); - } - } - - public override Vector3 Velocity - { - get - { - if (_zeroFlag) - return Vector3.Zero; - return _velocity; - } - set - { - if (value.IsFinite()) - { - AddChange(changes.Velocity, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); - } - - } - } - - public override Vector3 Torque - { - get - { - if (!IsPhysical || Body == IntPtr.Zero) - return Vector3.Zero; - - return m_torque; - } - - set - { - if (value.IsFinite()) - { - AddChange(changes.Torque, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); - } - } - } - - public override float CollisionScore - { - get { return m_collisionscore; } - set { m_collisionscore = value; } - } - - public override bool Kinematic - { - get { return false; } - set { } - } - - public override Quaternion Orientation - { - get - { - if (givefakeori > 0) - return fakeori; - else - - return _orientation; - } - set - { - if (QuaternionIsFinite(value)) - { - fakeori = value; - givefakeori++; - - value.Normalize(); - - AddChange(changes.Orientation, value); - } - else - m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); - - } - } - - public override Vector3 Acceleration - { - get { return _acceleration; } - set { } - } - - public override Vector3 RotationalVelocity - { - get - { - Vector3 pv = Vector3.Zero; - if (_zeroFlag) - return pv; - - if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) - return pv; - - return m_rotationalVelocity; - } - set - { - if (value.IsFinite()) - { - AddChange(changes.AngVelocity, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); - } - } - } - - public override float Buoyancy - { - get { return m_buoyancy; } - set - { - AddChange(changes.Buoyancy,value); - } - } - - public override bool FloatOnWater - { - set - { - AddChange(changes.CollidesWater, value); - } - } - - public override Vector3 PIDTarget - { - set - { - if (value.IsFinite()) - { - AddChange(changes.PIDTarget,value); - } - else - m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); - } - } - - public override bool PIDActive - { - get - { - return m_usePID; - } - set - { - AddChange(changes.PIDActive,value); - } - } - - public override float PIDTau - { - set - { - float tmp = 0; - if (value > 0) - { - float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); - if (value < mint) - tmp = mint; - else - tmp = value; - } - AddChange(changes.PIDTau,tmp); - } - } - - public override float PIDHoverHeight - { - set - { - AddChange(changes.PIDHoverHeight,value); - } - } - public override bool PIDHoverActive - { - set - { - AddChange(changes.PIDHoverActive, value); - } - } - - public override PIDHoverType PIDHoverType - { - set - { - AddChange(changes.PIDHoverType,value); - } - } - - public override float PIDHoverTau - { - set - { - float tmp =0; - if (value > 0) - { - float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); - if (value < mint) - tmp = mint; - else - tmp = value; - } - AddChange(changes.PIDHoverTau, tmp); - } - } - - public override Quaternion APIDTarget { set { return; } } - - public override bool APIDActive { set { return; } } - - public override float APIDStrength { set { return; } } - - public override float APIDDamping { set { return; } } - - public override int VehicleType - { - // we may need to put a fake on this - get - { - if (m_vehicle == null) - return (int)Vehicle.TYPE_NONE; - else - return (int)m_vehicle.Type; - } - set - { - AddChange(changes.VehicleType, value); - } - } - - public override void VehicleFloatParam(int param, float value) - { - strVehicleFloatParam fp = new strVehicleFloatParam(); - fp.param = param; - fp.value = value; - AddChange(changes.VehicleFloatParam, fp); - } - - public override void VehicleVectorParam(int param, Vector3 value) - { - strVehicleVectorParam fp = new strVehicleVectorParam(); - fp.param = param; - fp.value = value; - AddChange(changes.VehicleVectorParam, fp); - } - - public override void VehicleRotationParam(int param, Quaternion value) - { - strVehicleQuatParam fp = new strVehicleQuatParam(); - fp.param = param; - fp.value = value; - AddChange(changes.VehicleRotationParam, fp); - } - - public override void VehicleFlags(int param, bool value) - { - strVehicleBoolParam bp = new strVehicleBoolParam(); - bp.param = param; - bp.value = value; - AddChange(changes.VehicleFlags, bp); - } - - public override void SetVehicle(object vdata) - { - AddChange(changes.SetVehicle, vdata); - } - public void SetAcceleration(Vector3 accel) - { - _acceleration = accel; - } - - public override void AddForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { - if(pushforce) - AddChange(changes.AddForce, force); - else // a impulse - AddChange(changes.AddForce, force * m_invTimeStep); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); - } - //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); - } - - public override void AddAngularForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { -// if(pushforce) for now applyrotationimpulse seems more happy applied as a force - AddChange(changes.AddAngForce, force); -// else // a impulse -// AddChange(changes.AddAngForce, force * m_invTimeStep); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); - } - } - - public override void CrossingFailure() - { - if (m_outbounds) - { - _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); - _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); - _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); - - m_lastposition = _position; - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - - m_lastVelocity = _velocity; - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - m_vehicle.Stop(); - - if(Body != IntPtr.Zero) - d.BodySetLinearVel(Body, 0, 0, 0); // stop it - if (prim_geom != IntPtr.Zero) - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - - m_outbounds = false; - changeDisable(false); - base.RequestPhysicsterseUpdate(); - } - } - - public override void SetMomentum(Vector3 momentum) - { - } - - public override void SetMaterial(int pMaterial) - { - m_material = pMaterial; - mu = _parent_scene.m_materialContactsData[pMaterial].mu; - bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; - } - - public override float Density - { - get - { - return m_density * 100f; - } - set - { - m_density = value / 100f; - // for not prim mass is not updated since this implies full rebuild of body inertia TODO - } - } - public override float GravModifier - { - get - { - return m_gravmod; - } - set - { - m_gravmod = value; - if (m_vehicle != null) - m_vehicle.GravMod = m_gravmod; - } - } - public override float Friction - { - get - { - return mu; - } - set - { - mu = value; - } - } - - public override float Restitution - { - get - { - return bounce; - } - set - { - bounce = value; - } - } - - public void setPrimForRemoval() - { - AddChange(changes.Remove, null); - } - - public override void link(PhysicsActor obj) - { - AddChange(changes.Link, obj); - } - - public override void delink() - { - AddChange(changes.DeLink, null); - } - - public override void LockAngularMotion(Vector3 axis) - { - // reverse the zero/non zero values for ODE. - 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); - AddChange(changes.AngLock, axis); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); - } - } - - public override void SubscribeEvents(int ms) - { - m_eventsubscription = ms; - m_cureventsubscription = 0; - if (CollisionEventsThisFrame == null) - CollisionEventsThisFrame = new CollisionEventUpdate(); - SentEmptyCollisionsEvent = false; - } - - public override void UnSubscribeEvents() - { - if (CollisionEventsThisFrame != null) - { - CollisionEventsThisFrame.Clear(); - CollisionEventsThisFrame = null; - } - m_eventsubscription = 0; - _parent_scene.RemoveCollisionEventReporting(this); - } - - public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) - { - if (CollisionEventsThisFrame == null) - CollisionEventsThisFrame = new CollisionEventUpdate(); -// if(CollisionEventsThisFrame.Count < 32) - CollisionEventsThisFrame.AddCollider(CollidedWith, contact); - } - - public void SendCollisions() - { - if (CollisionEventsThisFrame == null) - return; - - if (m_cureventsubscription < m_eventsubscription) - return; - - m_cureventsubscription = 0; - - int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; - - if (!SentEmptyCollisionsEvent || ncolisions > 0) - { - base.SendCollisionUpdate(CollisionEventsThisFrame); - - if (ncolisions == 0) - { - SentEmptyCollisionsEvent = true; - _parent_scene.RemoveCollisionEventReporting(this); - } - else - { - SentEmptyCollisionsEvent = false; - CollisionEventsThisFrame.Clear(); - } - } - } - - internal void AddCollisionFrameTime(int t) - { - if (m_cureventsubscription < 50000) - m_cureventsubscription += t; - } - - public override bool SubscribedEvents() - { - if (m_eventsubscription > 0) - return true; - return false; - } - - public OdePrim(String primName, ODEScene parent_scene, Vector3 pos, Vector3 size, - Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) - { - Name = primName; - LocalID = plocalID; - - m_vehicle = null; - - if (!pos.IsFinite()) - { - 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.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); - } - _position = pos; - givefakepos = 0; - - m_timeStep = parent_scene.ODE_STEPSIZE; - m_invTimeStep = 1f / m_timeStep; - - m_density = parent_scene.geomDefaultDensity; - body_autodisable_frames = parent_scene.bodyFramesAutoDisable; - - prim_geom = IntPtr.Zero; - collide_geom = IntPtr.Zero; - Body = IntPtr.Zero; - - if (!size.IsFinite()) - { - size = new Vector3(0.5f, 0.5f, 0.5f); - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); - } - - if (size.X <= 0) size.X = 0.01f; - if (size.Y <= 0) size.Y = 0.01f; - if (size.Z <= 0) size.Z = 0.01f; - - _size = size; - - if (!QuaternionIsFinite(rotation)) - { - rotation = Quaternion.Identity; - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); - } - - _orientation = rotation; - givefakeori = 0; - - _pbs = pbs; - - _parent_scene = parent_scene; - m_targetSpace = IntPtr.Zero; - - if (pos.Z < 0) - { - m_isphysical = false; - } - else - { - m_isphysical = pisPhysical; - } - m_fakeisphysical = m_isphysical; - - m_isVolumeDetect = false; - m_fakeisVolumeDetect = false; - - m_force = Vector3.Zero; - - m_iscolliding = false; - m_colliderfilter = 0; - m_NoColide = false; - - _triMeshData = IntPtr.Zero; - - m_shapetype = _shapeType; - - m_lastdoneSelected = false; - m_isSelected = false; - m_delaySelect = false; - - m_isphantom = pisPhantom; - m_fakeisphantom = pisPhantom; - - mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; - bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; - - m_building = true; // control must set this to false when done - - // get basic mass parameters - ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); - - primVolume = repData.volume; - m_OBB = repData.OBB; - m_OBBOffset = repData.OBBOffset; - - UpdatePrimBodyData(); - } - - private void resetCollisionAccounting() - { - m_collisionscore = 0; - } - - private void UpdateCollisionCatFlags() - { - if(m_isphysical && m_disabled) - { - m_collisionCategories = 0; - m_collisionFlags = 0; - } - - else if (m_isSelected) - { - m_collisionCategories = CollisionCategories.Selected; - m_collisionFlags = 0; - } - - else if (m_isVolumeDetect) - { - m_collisionCategories = CollisionCategories.VolumeDtc; - if (m_isphysical) - m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; - else - m_collisionFlags = 0; - } - else if (m_isphantom) - { - m_collisionCategories = CollisionCategories.Phantom; - if (m_isphysical) - m_collisionFlags = CollisionCategories.Land; - else - m_collisionFlags = 0; - } - else - { - m_collisionCategories = CollisionCategories.Geom; - if (m_isphysical) - m_collisionFlags = m_default_collisionFlagsPhysical; - else - m_collisionFlags = m_default_collisionFlagsNotPhysical; - } - } - - private void ApplyCollisionCatFlags() - { - if (prim_geom != IntPtr.Zero) - { - if (!childPrim && childrenPrim.Count > 0) - { - foreach (OdePrim prm in childrenPrim) - { - if (m_isphysical && m_disabled) - { - prm.m_collisionCategories = 0; - prm.m_collisionFlags = 0; - } - else - { - // preserve some - if (prm.m_isSelected) - { - prm.m_collisionCategories = CollisionCategories.Selected; - prm.m_collisionFlags = 0; - } - else if (prm.m_isVolumeDetect) - { - prm.m_collisionCategories = CollisionCategories.VolumeDtc; - if (m_isphysical) - prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; - else - prm.m_collisionFlags = 0; - } - else if (prm.m_isphantom) - { - prm.m_collisionCategories = CollisionCategories.Phantom; - if (m_isphysical) - prm.m_collisionFlags = CollisionCategories.Land; - else - prm.m_collisionFlags = 0; - } - else - { - prm.m_collisionCategories = m_collisionCategories; - prm.m_collisionFlags = m_collisionFlags; - } - } - - if (prm.prim_geom != IntPtr.Zero) - { - if (prm.m_NoColide) - { - d.GeomSetCategoryBits(prm.prim_geom, 0); - if (m_isphysical) - d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); - else - d.GeomSetCollideBits(prm.prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); - } - } - } - } - - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, 0); - d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); - } - } - else - { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); - } - } - } - } - - private void createAMotor(Vector3 axis) - { - if (Body == IntPtr.Zero) - return; - - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - - int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); - - if (axisnum <= 0) - return; - - // stop it - d.BodySetTorque(Body, 0, 0, 0); - d.BodySetAngularVel(Body, 0, 0, 0); - - Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); - d.JointAttach(Amotor, Body, IntPtr.Zero); - - d.JointSetAMotorMode(Amotor, 0); - - d.JointSetAMotorNumAxes(Amotor, axisnum); - - // get current orientation to lock - - d.Quaternion dcur = d.BodyGetQuaternion(Body); - Quaternion curr; // crap convertion between identical things - curr.X = dcur.X; - curr.Y = dcur.Y; - curr.Z = dcur.Z; - curr.W = dcur.W; - Vector3 ax; - - int i = 0; - int j = 0; - if (axis.X == 0) - { - ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X - // ODE should do this with axis relative to body 1 but seems to fail - d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); - d.JointSetAMotorAngle(Amotor, 0, 0); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); - i++; - j = 256; // move to next axis set - } - - if (axis.Y == 0) - { - ax = (new Vector3(0, 1, 0)) * curr; - d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); - d.JointSetAMotorAngle(Amotor, i, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); - i++; - j += 256; - } - - if (axis.Z == 0) - { - ax = (new Vector3(0, 0, 1)) * curr; - d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); - d.JointSetAMotorAngle(Amotor, i, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); - } - } - - - private void SetGeom(IntPtr geom) - { - prim_geom = geom; - //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); - if (prim_geom != IntPtr.Zero) - { - - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - if (m_isphysical) - { - d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); - } - else - { - d.GeomSetCollideBits(prim_geom, 0); - d.GeomDisable(prim_geom); - } - } - else - { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - } - - UpdatePrimBodyData(); - _parent_scene.actor_name_map[prim_geom] = this; - -/* -// debug - d.AABB aabb; - d.GeomGetAABB(prim_geom, out aabb); - float x = aabb.MaxX - aabb.MinX; - float y = aabb.MaxY - aabb.MinY; - float z = aabb.MaxZ - aabb.MinZ; - if( x > 60.0f || y > 60.0f || z > 60.0f) - m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", - Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); - else if (x < 0.001f || y < 0.001f || z < 0.001f) - m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", - Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); - -// -*/ - - } - else - m_log.Warn("Setting bad Geom"); - } - - private bool GetMeshGeom() - { - IntPtr vertices, indices; - int vertexCount, indexCount; - int vertexStride, triStride; - - IMesh mesh = m_mesh; - - if (mesh == null) - return false; - - mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); - mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); - - if (vertexCount == 0 || indexCount == 0) - { - m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1} at {2}", - Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh",_position.ToString()); - - m_hasOBB = false; - m_OBBOffset = Vector3.Zero; - m_OBB = _size * 0.5f; - - m_physCost = 0.1f; - m_streamCost = 1.0f; - - _parent_scene.mesher.ReleaseMesh(mesh); - m_meshState = MeshState.MeshFailed; - m_mesh = null; - return false; - } - - IntPtr geo = IntPtr.Zero; - - try - { - _triMeshData = d.GeomTriMeshDataCreate(); - - d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); - d.GeomTriMeshDataPreprocess(_triMeshData); - - geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); - } - - catch (Exception e) - { - m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); - if (_triMeshData != IntPtr.Zero) - { - try - { - d.GeomTriMeshDataDestroy(_triMeshData); - } - catch - { - } - } - _triMeshData = IntPtr.Zero; - - m_hasOBB = false; - m_OBBOffset = Vector3.Zero; - m_OBB = _size * 0.5f; - m_physCost = 0.1f; - m_streamCost = 1.0f; - - _parent_scene.mesher.ReleaseMesh(mesh); - m_meshState = MeshState.MeshFailed; - m_mesh = null; - return false; - } - - m_physCost = 0.0013f * (float)indexCount; - // todo - m_streamCost = 1.0f; - - SetGeom(geo); - - return true; - } - - private void CreateGeom() - { - bool hasMesh = false; - - m_NoColide = false; - - if ((m_meshState & MeshState.MeshNoColide) != 0) - m_NoColide = true; - - else if(m_mesh != null) - { - if (GetMeshGeom()) - hasMesh = true; - else - m_NoColide = true; - } - - - if (!hasMesh) - { - IntPtr geo = IntPtr.Zero; - - if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 - && _size.X == _size.Y && _size.Y == _size.Z) - { // it's a sphere - try - { - geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); - } - catch (Exception e) - { - m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); - return; - } - } - else - {// do it as a box - try - { - geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); - } - catch (Exception e) - { - m_log.Warn("[PHYSICS]: Create box failed: {0}", e); - return; - } - } - m_physCost = 0.1f; - m_streamCost = 1.0f; - SetGeom(geo); - } - } - - private void RemoveGeom() - { - if (prim_geom != IntPtr.Zero) - { - _parent_scene.actor_name_map.Remove(prim_geom); - - try - { - d.GeomDestroy(prim_geom); - if (_triMeshData != IntPtr.Zero) - { - d.GeomTriMeshDataDestroy(_triMeshData); - _triMeshData = IntPtr.Zero; - } - } - catch (Exception e) - { - m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); - } - - prim_geom = IntPtr.Zero; - collide_geom = IntPtr.Zero; - m_targetSpace = IntPtr.Zero; - } - else - { - m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); - } - - lock (m_meshlock) - { - if (m_mesh != null) - { - _parent_scene.mesher.ReleaseMesh(m_mesh); - m_mesh = null; - } - } - - Body = IntPtr.Zero; - m_hasOBB = false; - } - - //sets non physical prim m_targetSpace to right space in spaces grid for static prims - // should only be called for non physical prims unless they are becoming non physical - private void SetInStaticSpace(OdePrim prim) - { - IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); - prim.m_targetSpace = targetSpace; - collide_geom = IntPtr.Zero; - } - - public void enableBodySoft() - { - m_disabled = false; - if (!childPrim && !m_isSelected) - { - if (m_isphysical && Body != IntPtr.Zero) - { - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - - d.BodyEnable(Body); - } - } - resetCollisionAccounting(); - } - - private void disableBodySoft() - { - m_disabled = true; - if (!childPrim) - { - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_isSelected) - m_collisionFlags = CollisionCategories.Selected; - else - m_collisionCategories = 0; - m_collisionFlags = 0; - ApplyCollisionCatFlags(); - d.BodyDisable(Body); - } - } - } - - private void MakeBody() - { - if (!m_isphysical) // only physical get bodies - return; - - if (childPrim) // child prims don't get bodies; - return; - - if (m_building) - return; - - if (prim_geom == IntPtr.Zero) - { - m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); - return; - } - - if (Body != IntPtr.Zero) - { - DestroyBody(); - m_log.Warn("[PHYSICS]: MakeBody called having a body"); - } - - if (d.GeomGetBody(prim_geom) != IntPtr.Zero) - { - d.GeomSetBody(prim_geom, IntPtr.Zero); - m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); - } - - d.Matrix3 mymat = new d.Matrix3(); - d.Quaternion myrot = new d.Quaternion(); - d.Mass objdmass = new d.Mass { }; - - Body = d.BodyCreate(_parent_scene.world); - - objdmass = primdMass; - - // rotate inertia - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - - d.RfromQ(out mymat, ref myrot); - d.MassRotate(ref objdmass, ref mymat); - - // set the body rotation - d.BodySetRotation(Body, ref mymat); - - // recompute full object inertia if needed - if (childrenPrim.Count > 0) - { - d.Matrix3 mat = new d.Matrix3(); - d.Quaternion quat = new d.Quaternion(); - d.Mass tmpdmass = new d.Mass { }; - Vector3 rcm; - - rcm.X = _position.X; - rcm.Y = _position.Y; - rcm.Z = _position.Z; - - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) - { - if (prm.prim_geom == IntPtr.Zero) - { - m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); - continue; - } - - tmpdmass = prm.primdMass; - - // apply prim current rotation to inertia - quat.X = prm._orientation.X; - quat.Y = prm._orientation.Y; - quat.Z = prm._orientation.Z; - quat.W = prm._orientation.W; - d.RfromQ(out mat, ref quat); - d.MassRotate(ref tmpdmass, ref mat); - - Vector3 ppos = prm._position; - ppos.X -= rcm.X; - ppos.Y -= rcm.Y; - ppos.Z -= rcm.Z; - // refer inertia to root prim center of mass position - d.MassTranslate(ref tmpdmass, - ppos.X, - ppos.Y, - ppos.Z); - - d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia - // fix prim colision cats - - if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) - { - d.GeomSetBody(prm.prim_geom, IntPtr.Zero); - m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); - } - - d.GeomClearOffset(prm.prim_geom); - d.GeomSetBody(prm.prim_geom, Body); - prm.Body = Body; - d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation - } - } - } - - d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset - // associate root geom with body - d.GeomSetBody(prim_geom, Body); - - d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); - d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); - - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - myrot.X = -myrot.X; - myrot.Y = -myrot.Y; - myrot.Z = -myrot.Z; - - d.RfromQ(out mymat, ref myrot); - d.MassRotate(ref objdmass, ref mymat); - - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; - - // disconnect from world gravity so we can apply buoyancy - d.BodySetGravityMode(Body, false); - - d.BodySetAutoDisableFlag(Body, true); - d.BodySetAutoDisableSteps(Body, body_autodisable_frames); - d.BodySetAutoDisableAngularThreshold(Body, 0.01f); - d.BodySetAutoDisableLinearThreshold(Body, 0.01f); - d.BodySetDamping(Body, .005f, .001f); - - if (m_targetSpace != IntPtr.Zero) - { - _parent_scene.waitForSpaceUnlock(m_targetSpace); - if (d.SpaceQuery(m_targetSpace, prim_geom)) - d.SpaceRemove(m_targetSpace, prim_geom); - } - - if (childrenPrim.Count == 0) - { - collide_geom = prim_geom; - m_targetSpace = _parent_scene.ActiveSpace; - } - else - { - m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); - d.HashSpaceSetLevels(m_targetSpace, -2, 8); - d.SpaceSetSublevel(m_targetSpace, 3); - d.SpaceSetCleanup(m_targetSpace, false); - - d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(m_targetSpace, 0); - collide_geom = m_targetSpace; - } - - d.SpaceAdd(m_targetSpace, prim_geom); - - if (m_delaySelect) - { - m_isSelected = true; - m_delaySelect = false; - } - - m_collisionscore = 0; - - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - - _parent_scene.addActivePrim(this); - - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) - { - if (prm.prim_geom == IntPtr.Zero) - continue; - - Vector3 ppos = prm._position; - d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position - - if (prm.m_targetSpace != m_targetSpace) - { - if (prm.m_targetSpace != IntPtr.Zero) - { - _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); - if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) - d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); - } - prm.m_targetSpace = m_targetSpace; - d.SpaceAdd(m_targetSpace, prm.prim_geom); - } - - prm.m_collisionscore = 0; - - if(!m_disabled) - prm.m_disabled = false; - - _parent_scene.addActivePrim(prm); - } - } - - // The body doesn't already have a finite rotation mode set here - if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) - { - createAMotor(m_angularlock); - } - - - if (m_isSelected || m_disabled) - { - d.BodyDisable(Body); - } - else - { - d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); - d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); - } - _parent_scene.addActiveGroups(this); - } - - private void DestroyBody() - { - if (Body != IntPtr.Zero) - { - _parent_scene.remActivePrim(this); - - collide_geom = IntPtr.Zero; - - if (m_disabled) - m_collisionCategories = 0; - else if (m_isSelected) - m_collisionCategories = CollisionCategories.Selected; - else if (m_isVolumeDetect) - m_collisionCategories = CollisionCategories.VolumeDtc; - else if (m_isphantom) - m_collisionCategories = CollisionCategories.Phantom; - else - m_collisionCategories = CollisionCategories.Geom; - - m_collisionFlags = 0; - - if (prim_geom != IntPtr.Zero) - { - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - d.GeomSetCollideBits(prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - } - UpdateDataFromGeom(); - d.GeomSetBody(prim_geom, IntPtr.Zero); - SetInStaticSpace(this); - } - - if (!childPrim) - { - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) - { - _parent_scene.remActivePrim(prm); - - if (prm.m_isSelected) - prm.m_collisionCategories = CollisionCategories.Selected; - else if (prm.m_isVolumeDetect) - prm.m_collisionCategories = CollisionCategories.VolumeDtc; - else if (prm.m_isphantom) - prm.m_collisionCategories = CollisionCategories.Phantom; - else - prm.m_collisionCategories = CollisionCategories.Geom; - - prm.m_collisionFlags = 0; - - if (prm.prim_geom != IntPtr.Zero) - { - if (prm.m_NoColide) - { - d.GeomSetCategoryBits(prm.prim_geom, 0); - d.GeomSetCollideBits(prm.prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); - } - prm.UpdateDataFromGeom(); - SetInStaticSpace(prm); - } - prm.Body = IntPtr.Zero; - prm._mass = prm.primMass; - prm.m_collisionscore = 0; - } - } - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - _parent_scene.remActiveGroup(this); - d.BodyDestroy(Body); - } - Body = IntPtr.Zero; - } - _mass = primMass; - m_collisionscore = 0; - } - - private void FixInertia(Vector3 NewPos,Quaternion newrot) - { - d.Matrix3 mat = new d.Matrix3(); - d.Quaternion quat = new d.Quaternion(); - - d.Mass tmpdmass = new d.Mass { }; - d.Mass objdmass = new d.Mass { }; - - d.BodyGetMass(Body, out tmpdmass); - objdmass = tmpdmass; - - d.Vector3 dobjpos; - d.Vector3 thispos; - - // get current object position and rotation - dobjpos = d.BodyGetPosition(Body); - - // get prim own inertia in its local frame - tmpdmass = primdMass; - - // transform to object frame - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); - - // subtract current prim inertia from object - DMassSubPartFromObj(ref tmpdmass, ref objdmass); - - // back prim own inertia - tmpdmass = primdMass; - - // update to new position and orientation - _position = NewPos; - d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); - _orientation = newrot; - quat.X = newrot.X; - quat.Y = newrot.Y; - quat.Z = newrot.Z; - quat.W = newrot.W; - d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); - - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); - - d.MassAdd(ref objdmass, ref tmpdmass); - - // fix all positions - IntPtr g = d.BodyGetFirstGeom(Body); - while (g != IntPtr.Zero) - { - thispos = d.GeomGetOffsetPosition(g); - thispos.X -= objdmass.c.X; - thispos.Y -= objdmass.c.Y; - thispos.Z -= objdmass.c.Z; - d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); - g = d.dBodyGetNextGeom(g); - } - d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); - - d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; - } - - - - private void FixInertia(Vector3 NewPos) - { - d.Matrix3 primmat = new d.Matrix3(); - d.Mass tmpdmass = new d.Mass { }; - d.Mass objdmass = new d.Mass { }; - d.Mass primmass = new d.Mass { }; - - d.Vector3 dobjpos; - d.Vector3 thispos; - - d.BodyGetMass(Body, out objdmass); - - // get prim own inertia in its local frame - primmass = primdMass; - // transform to object frame - primmat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref primmass, ref primmat); - - tmpdmass = primmass; - - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); - - // subtract current prim inertia from object - DMassSubPartFromObj(ref tmpdmass, ref objdmass); - - // update to new position - _position = NewPos; - d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); - - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref primmass, - thispos.X, - thispos.Y, - thispos.Z); - - d.MassAdd(ref objdmass, ref primmass); - - // fix all positions - IntPtr g = d.BodyGetFirstGeom(Body); - while (g != IntPtr.Zero) - { - thispos = d.GeomGetOffsetPosition(g); - thispos.X -= objdmass.c.X; - thispos.Y -= objdmass.c.Y; - thispos.Z -= objdmass.c.Z; - d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); - g = d.dBodyGetNextGeom(g); - } - - d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); - - // get current object position and rotation - dobjpos = d.BodyGetPosition(Body); - - d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; - } - - private void FixInertia(Quaternion newrot) - { - d.Matrix3 mat = new d.Matrix3(); - d.Quaternion quat = new d.Quaternion(); - - d.Mass tmpdmass = new d.Mass { }; - d.Mass objdmass = new d.Mass { }; - d.Vector3 dobjpos; - d.Vector3 thispos; - - d.BodyGetMass(Body, out objdmass); - - // get prim own inertia in its local frame - tmpdmass = primdMass; - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - // transform to object frame - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); - - // subtract current prim inertia from object - DMassSubPartFromObj(ref tmpdmass, ref objdmass); - - // update to new orientation - _orientation = newrot; - quat.X = newrot.X; - quat.Y = newrot.Y; - quat.Z = newrot.Z; - quat.W = newrot.W; - d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); - - tmpdmass = primdMass; - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); - - d.MassAdd(ref objdmass, ref tmpdmass); - - // fix all positions - IntPtr g = d.BodyGetFirstGeom(Body); - while (g != IntPtr.Zero) - { - thispos = d.GeomGetOffsetPosition(g); - thispos.X -= objdmass.c.X; - thispos.Y -= objdmass.c.Y; - thispos.Z -= objdmass.c.Z; - d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); - g = d.dBodyGetNextGeom(g); - } - - d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); - // get current object position and rotation - dobjpos = d.BodyGetPosition(Body); - - d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; - } - - - #region Mass Calculation - - private void UpdatePrimBodyData() - { - primMass = m_density * primVolume; - - if (primMass <= 0) - primMass = 0.0001f;//ckrinke: Mass must be greater then zero. - if (primMass > _parent_scene.maximumMassObject) - primMass = _parent_scene.maximumMassObject; - - _mass = primMass; // just in case - - d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z); - - d.MassTranslate(ref primdMass, - m_OBBOffset.X, - m_OBBOffset.Y, - m_OBBOffset.Z); - - primOOBradiusSQ = m_OBB.LengthSquared(); - - if (_triMeshData != IntPtr.Zero) - { - float pc = m_physCost; - float psf = primOOBradiusSQ; - psf *= 1.33f * .2f; - pc *= psf; - if (pc < 0.1f) - pc = 0.1f; - - m_physCost = pc; - } - else - m_physCost = 0.1f; - - m_streamCost = 1.0f; - } - - #endregion - - - /// - /// Add a child prim to this parent prim. - /// - /// Child prim - // I'm the parent - // prim is the child - public void ParentPrim(OdePrim prim) - { - //Console.WriteLine("ParentPrim " + m_primName); - if (this.m_localID != prim.m_localID) - { - DestroyBody(); // for now we need to rebuil entire object on link change - - lock (childrenPrim) - { - // adopt the prim - if (!childrenPrim.Contains(prim)) - childrenPrim.Add(prim); - - // see if this prim has kids and adopt them also - // should not happen for now - foreach (OdePrim prm in prim.childrenPrim) - { - if (!childrenPrim.Contains(prm)) - { - if (prm.Body != IntPtr.Zero) - { - if (prm.prim_geom != IntPtr.Zero) - d.GeomSetBody(prm.prim_geom, IntPtr.Zero); - if (prm.Body != prim.Body) - prm.DestroyBody(); // don't loose bodies around - prm.Body = IntPtr.Zero; - } - - childrenPrim.Add(prm); - prm._parent = this; - } - } - } - //Remove old children from the prim - prim.childrenPrim.Clear(); - - if (prim.Body != IntPtr.Zero) - { - if (prim.prim_geom != IntPtr.Zero) - d.GeomSetBody(prim.prim_geom, IntPtr.Zero); - prim.DestroyBody(); // don't loose bodies around - prim.Body = IntPtr.Zero; - } - - prim.childPrim = true; - prim._parent = this; - - MakeBody(); // full nasty reconstruction - } - } - - private void UpdateChildsfromgeom() - { - if (childrenPrim.Count > 0) - { - foreach (OdePrim prm in childrenPrim) - prm.UpdateDataFromGeom(); - } - } - - private void UpdateDataFromGeom() - { - if (prim_geom != IntPtr.Zero) - { - d.Quaternion qtmp; - d.GeomCopyQuaternion(prim_geom, out qtmp); - _orientation.X = qtmp.X; - _orientation.Y = qtmp.Y; - _orientation.Z = qtmp.Z; - _orientation.W = qtmp.W; -/* -// Debug - float qlen = _orientation.Length(); - if (qlen > 1.01f || qlen < 0.99) - m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); -// -*/ - _orientation.Normalize(); - - d.Vector3 lpos = d.GeomGetPosition(prim_geom); - _position.X = lpos.X; - _position.Y = lpos.Y; - _position.Z = lpos.Z; - } - } - - private void ChildDelink(OdePrim odePrim, bool remakebodies) - { - // Okay, we have a delinked child.. destroy all body and remake - if (odePrim != this && !childrenPrim.Contains(odePrim)) - return; - - DestroyBody(); - - if (odePrim == this) // delinking the root prim - { - OdePrim newroot = null; - lock (childrenPrim) - { - if (childrenPrim.Count > 0) - { - newroot = childrenPrim[0]; - childrenPrim.RemoveAt(0); - foreach (OdePrim prm in childrenPrim) - { - newroot.childrenPrim.Add(prm); - } - childrenPrim.Clear(); - } - if (newroot != null) - { - newroot.childPrim = false; - newroot._parent = null; - if (remakebodies) - newroot.MakeBody(); - } - } - } - - else - { - lock (childrenPrim) - { - childrenPrim.Remove(odePrim); - odePrim.childPrim = false; - odePrim._parent = null; - // odePrim.UpdateDataFromGeom(); - if (remakebodies) - odePrim.MakeBody(); - } - } - if (remakebodies) - MakeBody(); - } - - protected void ChildRemove(OdePrim odePrim, bool reMakeBody) - { - // Okay, we have a delinked child.. destroy all body and remake - if (odePrim != this && !childrenPrim.Contains(odePrim)) - return; - - DestroyBody(); - - if (odePrim == this) - { - OdePrim newroot = null; - lock (childrenPrim) - { - if (childrenPrim.Count > 0) - { - newroot = childrenPrim[0]; - childrenPrim.RemoveAt(0); - foreach (OdePrim prm in childrenPrim) - { - newroot.childrenPrim.Add(prm); - } - childrenPrim.Clear(); - } - if (newroot != null) - { - newroot.childPrim = false; - newroot._parent = null; - newroot.MakeBody(); - } - } - if (reMakeBody) - MakeBody(); - return; - } - else - { - lock (childrenPrim) - { - childrenPrim.Remove(odePrim); - odePrim.childPrim = false; - odePrim._parent = null; - if (reMakeBody) - odePrim.MakeBody(); - } - } - MakeBody(); - } - - - #region changes - - private void changeadd() - { - } - - private void changeAngularLock(Vector3 newLock) - { - // do we have a Physical object? - if (Body != IntPtr.Zero) - { - //Check that we have a Parent - //If we have a parent then we're not authorative here - if (_parent == null) - { - if (!newLock.ApproxEquals(Vector3.One, 0f)) - { - createAMotor(newLock); - } - else - { - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - } - } - } - // Store this for later in case we get turned into a separate body - m_angularlock = newLock; - } - - private void changeLink(OdePrim NewParent) - { - if (_parent == null && NewParent != null) - { - NewParent.ParentPrim(this); - } - else if (_parent != null) - { - if (_parent is OdePrim) - { - if (NewParent != _parent) - { - (_parent as OdePrim).ChildDelink(this, false); // for now... - childPrim = false; - - if (NewParent != null) - { - NewParent.ParentPrim(this); - } - } - } - } - _parent = NewParent; - } - - - private void Stop() - { - if (!childPrim) - { -// m_force = Vector3.Zero; - m_forceacc = Vector3.Zero; - m_angularForceacc = Vector3.Zero; -// m_torque = Vector3.Zero; - _velocity = Vector3.Zero; - _acceleration = Vector3.Zero; - m_rotationalVelocity = Vector3.Zero; - _target_velocity = Vector3.Zero; - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - m_vehicle.Stop(); - - _zeroFlag = false; - base.RequestPhysicsterseUpdate(); - } - - if (Body != IntPtr.Zero) - { - d.BodySetForce(Body, 0f, 0f, 0f); - d.BodySetTorque(Body, 0f, 0f, 0f); - d.BodySetLinearVel(Body, 0f, 0f, 0f); - d.BodySetAngularVel(Body, 0f, 0f, 0f); - } - } - - private void changePhantomStatus(bool newval) - { - m_isphantom = newval; - - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - -/* not in use - internal void ChildSelectedChange(bool childSelect) - { - if(childPrim) - return; - - if (childSelect == m_isSelected) - return; - - if (childSelect) - { - DoSelectedStatus(true); - } - - else - { - foreach (OdePrim prm in childrenPrim) - { - if (prm.m_isSelected) - return; - } - DoSelectedStatus(false); - } - } -*/ - private void changeSelectedStatus(bool newval) - { - if (m_lastdoneSelected == newval) - return; - - m_lastdoneSelected = newval; - DoSelectedStatus(newval); - } - - private void CheckDelaySelect() - { - if (m_delaySelect) - { - DoSelectedStatus(m_isSelected); - } - } - - private void DoSelectedStatus(bool newval) - { - m_isSelected = newval; - Stop(); - - if (newval) - { - if (!childPrim && Body != IntPtr.Zero) - d.BodyDisable(Body); - - if (m_delaySelect || m_isphysical) - { - m_collisionCategories = CollisionCategories.Selected; - m_collisionFlags = 0; - - if (!childPrim) - { - foreach (OdePrim prm in childrenPrim) - { - prm.m_collisionCategories = m_collisionCategories; - prm.m_collisionFlags = m_collisionFlags; - - if (prm.prim_geom != IntPtr.Zero) - { - - if (prm.m_NoColide) - { - d.GeomSetCategoryBits(prm.prim_geom, 0); - d.GeomSetCollideBits(prm.prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); - } - } - prm.m_delaySelect = false; - } - } -// else if (_parent != null) -// ((OdePrim)_parent).ChildSelectedChange(true); - - - if (prim_geom != IntPtr.Zero) - { - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - d.GeomSetCollideBits(prim_geom, 0); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, 0); - d.GeomSetCollideBits(collide_geom, 0); - } - - } - else - { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); - } - } - } - - m_delaySelect = false; - } - else if(!m_isphysical) - { - m_delaySelect = true; - } - } - else - { - if (!childPrim) - { - if (Body != IntPtr.Zero && !m_disabled) - d.BodyEnable(Body); - } -// else if (_parent != null) -// ((OdePrim)_parent).ChildSelectedChange(false); - - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - - m_delaySelect = false; - } - - resetCollisionAccounting(); - } - - private void changePosition(Vector3 newPos) - { - CheckDelaySelect(); - if (m_isphysical) - { - if (childPrim) // inertia is messed, must rebuild - { - if (m_building) - { - _position = newPos; - } - - else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) - { - FixInertia(newPos); - if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - else - { - if (_position != newPos) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - } - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - else - { - if (prim_geom != IntPtr.Zero) - { - if (newPos != _position) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - - m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); - } - } - } - givefakepos--; - if (givefakepos < 0) - givefakepos = 0; -// changeSelectedStatus(); - resetCollisionAccounting(); - } - - private void changeOrientation(Quaternion newOri) - { - CheckDelaySelect(); - if (m_isphysical) - { - if (childPrim) // inertia is messed, must rebuild - { - if (m_building) - { - _orientation = newOri; - } -/* - else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) - { - FixInertia(_position, newOri); - if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } -*/ - } - else - { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) - createAMotor(m_angularlock); - } - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - else - { - if (prim_geom != IntPtr.Zero) - { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - } - } - } - givefakeori--; - if (givefakeori < 0) - givefakeori = 0; - resetCollisionAccounting(); - } - - private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) - { - CheckDelaySelect(); - if (m_isphysical) - { - if (childPrim && m_building) // inertia is messed, must rebuild - { - _position = newPos; - _orientation = newOri; - } - else - { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) - createAMotor(m_angularlock); - } - if (_position != newPos) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - } - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - else - { - // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); - // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); - - if (prim_geom != IntPtr.Zero) - { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - } - - if (newPos != _position) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - - m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); - } - } - } - givefakepos--; - if (givefakepos < 0) - givefakepos = 0; - givefakeori--; - if (givefakeori < 0) - givefakeori = 0; - resetCollisionAccounting(); - } - - private void changeDisable(bool disable) - { - if (disable) - { - if (!m_disabled) - disableBodySoft(); - } - else - { - if (m_disabled) - enableBodySoft(); - } - } - - private void changePhysicsStatus(bool NewStatus) - { - CheckDelaySelect(); - - m_isphysical = NewStatus; - - if (!childPrim) - { - if (NewStatus) - { - if (Body == IntPtr.Zero) - MakeBody(); - } - else - { - if (Body != IntPtr.Zero) - { - DestroyBody(); - } - Stop(); - } - } - - resetCollisionAccounting(); - } - - private void changeSize(Vector3 newSize) - { - } - - private void changeShape(PrimitiveBaseShape newShape) - { - } - - private void changeAddPhysRep(ODEPhysRepData repData) - { - _size = repData.size; //?? - _pbs = repData.pbs; - m_shapetype = repData.shapetype; - - m_mesh = repData.mesh; - - m_assetID = repData.assetID; - m_meshState = repData.meshState; - - m_hasOBB = repData.hasOBB; - m_OBBOffset = repData.OBBOffset; - m_OBB = repData.OBB; - - primVolume = repData.volume; - - CreateGeom(); - - if (prim_geom != IntPtr.Zero) - { - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - } - - if (!m_isphysical) - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - else - MakeBody(); - - if ((m_meshState & MeshState.NeedMask) != 0) - { - repData.size = _size; - repData.pbs = _pbs; - repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMesh(repData); - } - } - - private void changePhysRepData(ODEPhysRepData repData) - { - CheckDelaySelect(); - - OdePrim parent = (OdePrim)_parent; - - bool chp = childPrim; - - if (chp) - { - if (parent != null) - { - parent.DestroyBody(); - } - } - else - { - DestroyBody(); - } - - RemoveGeom(); - - _size = repData.size; - _pbs = repData.pbs; - m_shapetype = repData.shapetype; - - m_mesh = repData.mesh; - - m_assetID = repData.assetID; - m_meshState = repData.meshState; - - m_hasOBB = repData.hasOBB; - m_OBBOffset = repData.OBBOffset; - m_OBB = repData.OBB; - - primVolume = repData.volume; - - CreateGeom(); - - if (prim_geom != IntPtr.Zero) - { - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - } - - if (m_isphysical) - { - if (chp) - { - if (parent != null) - { - parent.MakeBody(); - } - } - else - MakeBody(); - } - else - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - - resetCollisionAccounting(); - - if ((m_meshState & MeshState.NeedMask) != 0) - { - repData.size = _size; - repData.pbs = _pbs; - repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMesh(repData); - } - } - - private void changeFloatOnWater(bool newval) - { - m_collidesWater = newval; - - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - - private void changeSetTorque(Vector3 newtorque) - { - if (!m_isSelected) - { - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - - } - m_torque = newtorque; - } - } - - private void changeForce(Vector3 force) - { - m_force = force; - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - - private void changeAddForce(Vector3 theforce) - { - m_forceacc += theforce; - if (!m_isSelected) - { - lock (this) - { - //m_log.Info("[PHYSICS]: dequeing forcelist"); - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - m_collisionscore = 0; - } - } - - // actually angular impulse - private void changeAddAngularImpulse(Vector3 aimpulse) - { - m_angularForceacc += aimpulse * m_invTimeStep; - if (!m_isSelected) - { - lock (this) - { - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - m_collisionscore = 0; - } - } - - private void changevelocity(Vector3 newVel) - { - float len = newVel.LengthSquared(); - if (len > 100000.0f) // limit to 100m/s - { - len = 100.0f / (float)Math.Sqrt(len); - newVel *= len; - } - - if (!m_isSelected) - { - if (Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - - d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); - } - //resetCollisionAccounting(); - } - _velocity = newVel; - } - - private void changeangvelocity(Vector3 newAngVel) - { - float len = newAngVel.LengthSquared(); - if (len > 144.0f) // limit to 12rad/s - { - len = 12.0f / (float)Math.Sqrt(len); - newAngVel *= len; - } - - if (!m_isSelected) - { - if (Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - - - d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); - } - //resetCollisionAccounting(); - } - m_rotationalVelocity = newAngVel; - } - - private void changeVolumedetetion(bool newVolDtc) - { - m_isVolumeDetect = newVolDtc; - m_fakeisVolumeDetect = newVolDtc; - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - - protected void changeBuilding(bool newbuilding) - { - // Check if we need to do anything - if (newbuilding == m_building) - return; - - if ((bool)newbuilding) - { - m_building = true; - if (!childPrim) - DestroyBody(); - } - else - { - m_building = false; - CheckDelaySelect(); - if (!childPrim) - MakeBody(); - } - if (!childPrim && childrenPrim.Count > 0) - { - foreach (OdePrim prm in childrenPrim) - prm.changeBuilding(m_building); // call directly - } - } - - public void changeSetVehicle(VehicleData vdata) - { - if (m_vehicle == null) - m_vehicle = new ODEDynamics(this); - m_vehicle.DoSetVehicle(vdata); - } - - private void changeVehicleType(int value) - { - if (value == (int)Vehicle.TYPE_NONE) - { - if (m_vehicle != null) - m_vehicle = null; - } - else - { - if (m_vehicle == null) - m_vehicle = new ODEDynamics(this); - - m_vehicle.ProcessTypeChange((Vehicle)value); - } - } - - private void changeVehicleFloatParam(strVehicleFloatParam fp) - { - if (m_vehicle == null) - return; - - m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); - } - - private void changeVehicleVectorParam(strVehicleVectorParam vp) - { - if (m_vehicle == null) - return; - m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); - } - - private void changeVehicleRotationParam(strVehicleQuatParam qp) - { - if (m_vehicle == null) - return; - m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); - } - - private void changeVehicleFlags(strVehicleBoolParam bp) - { - if (m_vehicle == null) - return; - m_vehicle.ProcessVehicleFlags(bp.param, bp.value); - } - - private void changeBuoyancy(float b) - { - m_buoyancy = b; - } - - private void changePIDTarget(Vector3 trg) - { - m_PIDTarget = trg; - } - - private void changePIDTau(float tau) - { - m_PIDTau = tau; - } - - private void changePIDActive(bool val) - { - m_usePID = val; - } - - private void changePIDHoverHeight(float val) - { - m_PIDHoverHeight = val; - if (val == 0) - m_useHoverPID = false; - } - - private void changePIDHoverType(PIDHoverType type) - { - m_PIDHoverType = type; - } - - private void changePIDHoverTau(float tau) - { - m_PIDHoverTau = tau; - } - - private void changePIDHoverActive(bool active) - { - m_useHoverPID = active; - } - - #endregion - - public void Move() - { - if (!childPrim && m_isphysical && Body != IntPtr.Zero && - !m_disabled && !m_isSelected && !m_building && !m_outbounds) - { - if (!d.BodyIsEnabled(Body)) - { - // let vehicles sleep - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - return; - - if (++bodydisablecontrol < 20) - return; - - d.BodyEnable(Body); - } - - bodydisablecontrol = 0; - - d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator - - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - { - // 'VEHICLES' are dealt with in ODEDynamics.cs - m_vehicle.Step(); - return; - } - - float fx = 0; - float fy = 0; - float fz = 0; - - float m_mass = _mass; - - if (m_usePID && m_PIDTau > 0) - { - // for now position error - _target_velocity = - new Vector3( - (m_PIDTarget.X - lpos.X), - (m_PIDTarget.Y - lpos.Y), - (m_PIDTarget.Z - lpos.Z) - ); - - if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) - { - d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); - d.BodySetLinearVel(Body, 0, 0, 0); - return; - } - else - { - _zeroFlag = false; - - float tmp = 1 / m_PIDTau; - _target_velocity *= tmp; - - // apply limits - tmp = _target_velocity.Length(); - if (tmp > 50.0f) - { - tmp = 50 / tmp; - _target_velocity *= tmp; - } - else if (tmp < 0.05f) - { - tmp = 0.05f / tmp; - _target_velocity *= tmp; - } - - d.Vector3 vel = d.BodyGetLinearVel(Body); - fx = (_target_velocity.X - vel.X) * m_invTimeStep; - fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; - fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; -// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); - } - } // end if (m_usePID) - - // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller - else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) - { - - // Non-Vehicles have a limited set of Hover options. - // determine what our target height really is based on HoverType - - m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); - - switch (m_PIDHoverType) - { - case PIDHoverType.Ground: - m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; - break; - - case PIDHoverType.GroundAndWater: - m_waterHeight = _parent_scene.GetWaterLevel(); - if (m_groundHeight > m_waterHeight) - m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; - else - m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; - break; - } // end switch (m_PIDHoverType) - - // don't go underground unless volumedetector - - if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) - { - d.Vector3 vel = d.BodyGetLinearVel(Body); - - fz = (m_targetHoverHeight - lpos.Z); - - // if error is zero, use position control; otherwise, velocity control - if (Math.Abs(fz) < 0.01f) - { - d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); - d.BodySetLinearVel(Body, vel.X, vel.Y, 0); - } - else - { - _zeroFlag = false; - fz /= m_PIDHoverTau; - - float tmp = Math.Abs(fz); - if (tmp > 50) - fz = 50 * Math.Sign(fz); - else if (tmp < 0.1) - fz = 0.1f * Math.Sign(fz); - - fz = ((fz - vel.Z) * m_invTimeStep); - } - } - } - else - { - float b = (1.0f - m_buoyancy) * m_gravmod; - fx = _parent_scene.gravityx * b; - fy = _parent_scene.gravityy * b; - fz = _parent_scene.gravityz * b; - } - - fx *= m_mass; - fy *= m_mass; - fz *= m_mass; - - // constant force - fx += m_force.X; - fy += m_force.Y; - fz += m_force.Z; - - fx += m_forceacc.X; - fy += m_forceacc.Y; - fz += m_forceacc.Z; - - m_forceacc = Vector3.Zero; - - //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); - if (fx != 0 || fy != 0 || fz != 0) - { - d.BodyAddForce(Body, fx, fy, fz); - //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); - } - - Vector3 trq; - - trq = m_torque; - trq += m_angularForceacc; - m_angularForceacc = Vector3.Zero; - if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) - { - d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); - } - } - else - { // is not physical, or is not a body or is selected - // _zeroPosition = d.BodyGetPosition(Body); - return; - //Console.WriteLine("Nothing " + Name); - - } - } - - public void UpdatePositionAndVelocity(int frame) - { - if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) - { - bool bodyenabled = d.BodyIsEnabled(Body); - if (bodyenabled || !_zeroFlag) - { - bool lastZeroFlag = _zeroFlag; - - d.Vector3 lpos = d.GeomGetPosition(prim_geom); - - // check outside region - if (lpos.Z < -100 || lpos.Z > 100000f) - { - m_outbounds = true; - - lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; - - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - - d.BodySetLinearVel(Body, 0, 0, 0); // stop it - d.BodySetAngularVel(Body, 0, 0, 0); // stop it - d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere - m_lastposition = _position; - m_lastorientation = _orientation; - - base.RequestPhysicsterseUpdate(); - -// throttleCounter = 0; - _zeroFlag = true; - - disableBodySoft(); // disable it and colisions - base.RaiseOutOfBounds(_position); - return; - } - - if (lpos.X < 0f) - { - _position.X = Util.Clip(lpos.X, -2f, -0.1f); - m_outbounds = true; - } - else if (lpos.X > _parent_scene.WorldExtents.X) - { - _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); - m_outbounds = true; - } - if (lpos.Y < 0f) - { - _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); - m_outbounds = true; - } - else if (lpos.Y > _parent_scene.WorldExtents.Y) - { - _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); - m_outbounds = true; - } - - if (m_outbounds) - { - m_lastposition = _position; - m_lastorientation = _orientation; - - d.Vector3 dtmp = d.BodyGetAngularVel(Body); - m_rotationalVelocity.X = dtmp.X; - m_rotationalVelocity.Y = dtmp.Y; - m_rotationalVelocity.Z = dtmp.Z; - - dtmp = d.BodyGetLinearVel(Body); - _velocity.X = dtmp.X; - _velocity.Y = dtmp.Y; - _velocity.Z = dtmp.Z; - - d.BodySetLinearVel(Body, 0, 0, 0); // stop it - d.BodySetAngularVel(Body, 0, 0, 0); - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - disableBodySoft(); // stop collisions - UnSubscribeEvents(); - - base.RequestPhysicsterseUpdate(); - return; - } - - d.Quaternion ori; - d.GeomCopyQuaternion(prim_geom, out ori); - - // decide if moving - // use positions since this are integrated quantities - // tolerance values depende a lot on simulation noise... - // use simple math.abs since we dont need to be exact - - if (!bodyenabled || - (Math.Abs(_position.X - lpos.X) < 0.005f) - && (Math.Abs(_position.Y - lpos.Y) < 0.005f) - && (Math.Abs(_position.Z - lpos.Z) < 0.005f) - && (Math.Abs(_orientation.X - ori.X) < 0.0005f) - && (Math.Abs(_orientation.Y - ori.Y) < 0.0005f) - && (Math.Abs(_orientation.Z - ori.Z) < 0.0005f) // ignore W - ) - { - _zeroFlag = true; - } - else - _zeroFlag = false; - - // update velocities and aceleration - if (!(_zeroFlag && lastZeroFlag)) - { - d.Vector3 vel = d.BodyGetLinearVel(Body); - - _acceleration = _velocity; - - if ((Math.Abs(vel.X) < 0.005f) && - (Math.Abs(vel.Y) < 0.005f) && - (Math.Abs(vel.Z) < 0.005f)) - { - _velocity = Vector3.Zero; - float t = -m_invTimeStep; - _acceleration = _acceleration * t; - } - else - { - _velocity.X = vel.X; - _velocity.Y = vel.Y; - _velocity.Z = vel.Z; - _acceleration = (_velocity - _acceleration) * m_invTimeStep; - } - - if ((Math.Abs(_acceleration.X) < 0.01f) && - (Math.Abs(_acceleration.Y) < 0.01f) && - (Math.Abs(_acceleration.Z) < 0.01f)) - { - _acceleration = Vector3.Zero; - } - - if ((Math.Abs(_orientation.X - ori.X) < 0.0001) && - (Math.Abs(_orientation.Y - ori.Y) < 0.0001) && - (Math.Abs(_orientation.Z - ori.Z) < 0.0001) - ) - { - m_rotationalVelocity = Vector3.Zero; - } - else - { - vel = d.BodyGetAngularVel(Body); - m_rotationalVelocity.X = vel.X; - m_rotationalVelocity.Y = vel.Y; - m_rotationalVelocity.Z = vel.Z; - } - // } - - _position.X = lpos.X; - _position.Y = lpos.Y; - _position.Z = lpos.Z; - - _orientation.X = ori.X; - _orientation.Y = ori.Y; - _orientation.Z = ori.Z; - _orientation.W = ori.W; - } - if (_zeroFlag) - { - if (lastZeroFlag) - { - _velocity = Vector3.Zero; - _acceleration = Vector3.Zero; - m_rotationalVelocity = Vector3.Zero; - } - - if (!m_lastUpdateSent) - { - base.RequestPhysicsterseUpdate(); - if (lastZeroFlag) - m_lastUpdateSent = true; - } - return; - } - - base.RequestPhysicsterseUpdate(); - m_lastUpdateSent = false; - } - } - } - - internal static bool QuaternionIsFinite(Quaternion q) - { - if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) - return false; - if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) - return false; - if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) - return false; - if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) - return false; - return true; - } - - internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) - { - // assumes object center of mass is zero - float smass = part.mass; - theobj.mass -= smass; - - smass *= 1.0f / (theobj.mass); ; - - theobj.c.X -= part.c.X * smass; - theobj.c.Y -= part.c.Y * smass; - theobj.c.Z -= part.c.Z * smass; - - theobj.I.M00 -= part.I.M00; - theobj.I.M01 -= part.I.M01; - theobj.I.M02 -= part.I.M02; - theobj.I.M10 -= part.I.M10; - theobj.I.M11 -= part.I.M11; - theobj.I.M12 -= part.I.M12; - theobj.I.M20 -= part.I.M20; - theobj.I.M21 -= part.I.M21; - theobj.I.M22 -= part.I.M22; - } - - private void donullchange() - { - } - - public bool DoAChange(changes what, object arg) - { - if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) - { - return false; - } - - // nasty switch - switch (what) - { - case changes.Add: - changeadd(); - break; - - case changes.AddPhysRep: - changeAddPhysRep((ODEPhysRepData)arg); - break; - - case changes.Remove: - //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... - //When we return true, it destroys all of the prims in the linkset anyway - if (_parent != null) - { - OdePrim parent = (OdePrim)_parent; - parent.ChildRemove(this, false); - } - else - ChildRemove(this, false); - - m_vehicle = null; - RemoveGeom(); - m_targetSpace = IntPtr.Zero; - UnSubscribeEvents(); - return true; - - case changes.Link: - OdePrim tmp = (OdePrim)arg; - changeLink(tmp); - break; - - case changes.DeLink: - changeLink(null); - break; - - case changes.Position: - changePosition((Vector3)arg); - break; - - case changes.Orientation: - changeOrientation((Quaternion)arg); - break; - - case changes.PosOffset: - donullchange(); - break; - - case changes.OriOffset: - donullchange(); - break; - - case changes.Velocity: - changevelocity((Vector3)arg); - break; - -// case changes.Acceleration: -// changeacceleration((Vector3)arg); -// break; - - case changes.AngVelocity: - changeangvelocity((Vector3)arg); - break; - - case changes.Force: - changeForce((Vector3)arg); - break; - - case changes.Torque: - changeSetTorque((Vector3)arg); - break; - - case changes.AddForce: - changeAddForce((Vector3)arg); - break; - - case changes.AddAngForce: - changeAddAngularImpulse((Vector3)arg); - break; - - case changes.AngLock: - changeAngularLock((Vector3)arg); - break; - - case changes.Size: - changeSize((Vector3)arg); - break; - - case changes.Shape: - changeShape((PrimitiveBaseShape)arg); - break; - - case changes.PhysRepData: - changePhysRepData((ODEPhysRepData) arg); - break; - - case changes.CollidesWater: - changeFloatOnWater((bool)arg); - break; - - case changes.VolumeDtc: - changeVolumedetetion((bool)arg); - break; - - case changes.Phantom: - changePhantomStatus((bool)arg); - break; - - case changes.Physical: - changePhysicsStatus((bool)arg); - break; - - case changes.Selected: - changeSelectedStatus((bool)arg); - break; - - case changes.disabled: - changeDisable((bool)arg); - break; - - case changes.building: - changeBuilding((bool)arg); - break; - - case changes.VehicleType: - changeVehicleType((int)arg); - break; - - case changes.VehicleFlags: - changeVehicleFlags((strVehicleBoolParam) arg); - break; - - case changes.VehicleFloatParam: - changeVehicleFloatParam((strVehicleFloatParam) arg); - break; - - case changes.VehicleVectorParam: - changeVehicleVectorParam((strVehicleVectorParam) arg); - break; - - case changes.VehicleRotationParam: - changeVehicleRotationParam((strVehicleQuatParam) arg); - break; - - case changes.SetVehicle: - changeSetVehicle((VehicleData) arg); - break; - - case changes.Buoyancy: - changeBuoyancy((float)arg); - break; - - case changes.PIDTarget: - changePIDTarget((Vector3)arg); - break; - - case changes.PIDTau: - changePIDTau((float)arg); - break; - - case changes.PIDActive: - changePIDActive((bool)arg); - break; - - case changes.PIDHoverHeight: - changePIDHoverHeight((float)arg); - break; - - case changes.PIDHoverType: - changePIDHoverType((PIDHoverType)arg); - break; - - case changes.PIDHoverTau: - changePIDHoverTau((float)arg); - break; - - case changes.PIDHoverActive: - changePIDHoverActive((bool)arg); - break; - - case changes.Null: - donullchange(); - break; - - - - default: - donullchange(); - break; - } - return false; - } - - public void AddChange(changes what, object arg) - { - _parent_scene.AddChange((PhysicsActor) this, what, arg); - } - - - private struct strVehicleBoolParam - { - public int param; - public bool value; - } - - private struct strVehicleFloatParam - { - public int param; - public float value; - } - - private struct strVehicleQuatParam - { - public int param; - public Quaternion value; - } - - private struct strVehicleVectorParam - { - public int param; - public Vector3 value; - } - } -} -- cgit v1.1