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 --- .../Region/PhysicsModules/UbitOde/ODECharacter.cs | 1847 --------- .../Region/PhysicsModules/UbitOde/ODEDynamics.cs | 1096 ------ .../Region/PhysicsModules/UbitOde/ODEMeshWorker.cs | 933 ----- OpenSim/Region/PhysicsModules/UbitOde/ODEModule.cs | 97 - OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs | 3901 -------------------- .../UbitOde/ODERayCastRequestManager.cs | 683 ---- .../Region/PhysicsModules/UbitOde/ODESitAvatar.cs | 356 -- OpenSim/Region/PhysicsModules/UbitOde/OdeApi.cs | 2025 ---------- OpenSim/Region/PhysicsModules/UbitOde/OdeScene.cs | 2818 -------------- .../UbitOde/Properties/AssemblyInfo.cs | 61 - 10 files changed, 13817 deletions(-) delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODECharacter.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODEMeshWorker.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODEModule.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODEPrim.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODERayCastRequestManager.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/ODESitAvatar.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/OdeApi.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/OdeScene.cs delete mode 100644 OpenSim/Region/PhysicsModules/UbitOde/Properties/AssemblyInfo.cs (limited to 'OpenSim/Region/PhysicsModules/UbitOde') diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODECharacter.cs deleted file mode 100644 index 5622e48..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODECharacter.cs +++ /dev/null @@ -1,1847 +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 by Ubit 2011/12 - -using System; -using System.Collections.Generic; -using System.Reflection; -using OpenMetaverse; -using OdeAPI; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; -using log4net; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - /// - /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. - /// - - public enum dParam : int - { - LowStop = 0, - HiStop = 1, - Vel = 2, - FMax = 3, - FudgeFactor = 4, - Bounce = 5, - CFM = 6, - StopERP = 7, - StopCFM = 8, - LoStop2 = 256, - HiStop2 = 257, - Vel2 = 258, - FMax2 = 259, - StopERP2 = 7 + 256, - StopCFM2 = 8 + 256, - LoStop3 = 512, - HiStop3 = 513, - Vel3 = 514, - FMax3 = 515, - StopERP3 = 7 + 512, - StopCFM3 = 8 + 512 - } - - public class OdeCharacter : PhysicsActor - { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - - private Vector3 _position; - private Vector3 _zeroPosition; - private Vector3 _velocity; - private Vector3 _target_velocity; - private Vector3 _acceleration; - private Vector3 m_rotationalVelocity; - private Vector3 m_size; - private Vector3 m_collideNormal; - private Quaternion m_orientation; - private Quaternion m_orientation2D; - private float m_mass = 80f; - public float m_density = 60f; - private bool m_pidControllerActive = true; - - const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80)) - const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80)) - public float PID_D; - public float PID_P; - - private float timeStep; - private float invtimeStep; - - private float m_feetOffset = 0; - private float feetOff = 0; - private float boneOff = 0; - private float AvaAvaSizeXsq = 0.3f; - private float AvaAvaSizeYsq = 0.2f; - - public float walkDivisor = 1.3f; - public float runDivisor = 0.8f; - private bool flying = false; - private bool m_iscolliding = false; - private bool m_iscollidingGround = false; - private bool m_iscollidingObj = false; - private bool m_alwaysRun = false; - - private bool _zeroFlag = false; - - - private uint m_localID = 0; - public bool m_returnCollisions = false; - // taints and their non-tainted counterparts - public bool m_isPhysical = false; // the current physical status - public float MinimumGroundFlightOffset = 3f; - - private float m_buoyancy = 0f; - - private bool m_freemove = false; - // private CollisionLocker ode; - -// private string m_name = String.Empty; - // other filter control - int m_colliderfilter = 0; - int m_colliderGroundfilter = 0; - int m_colliderObjectfilter = 0; - - // Default we're a Character - private CollisionCategories m_collisionCategories = (CollisionCategories.Character); - - // Default, Collide with Other Geometries, spaces, bodies and characters. - private CollisionCategories m_collisionFlags = (CollisionCategories.Character - | CollisionCategories.Geom - | CollisionCategories.VolumeDtc - ); - // we do land collisions not ode | CollisionCategories.Land); - public IntPtr Body = IntPtr.Zero; - private ODEScene _parent_scene; - private IntPtr capsule = IntPtr.Zero; - public IntPtr collider = IntPtr.Zero; - - public IntPtr Amotor = IntPtr.Zero; - - public d.Mass ShellMass; - - public int m_eventsubscription = 0; - private int m_cureventsubscription = 0; - private CollisionEventUpdate CollisionEventsThisFrame = null; - private bool SentEmptyCollisionsEvent; - - // unique UUID of this character object - public UUID m_uuid; - public bool bad = false; - - float mu; - - public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor) - { - m_uuid = UUID.Random(); - m_localID = localID; - - timeStep = parent_scene.ODE_STEPSIZE; - invtimeStep = 1 / timeStep; - - if (pos.IsFinite()) - { - if (pos.Z > 99999f) - { - pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - if (pos.Z < -100f) // shouldn't this be 0 ? - { - pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - _position = pos; - } - else - { - _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f); - m_log.Warn("[PHYSICS]: Got NaN Position on Character Create"); - } - - _parent_scene = parent_scene; - - - m_size.X = pSize.X; - m_size.Y = pSize.Y; - m_size.Z = pSize.Z; - - if(m_size.X <0.01f) - m_size.X = 0.01f; - if(m_size.Y <0.01f) - m_size.Y = 0.01f; - if(m_size.Z <0.01f) - m_size.Z = 0.01f; - - m_feetOffset = pfeetOffset; - m_orientation = Quaternion.Identity; - m_orientation2D = Quaternion.Identity; - m_density = density; - - // force lower density for testing - m_density = 3.0f; - - mu = parent_scene.AvatarFriction; - - walkDivisor = walk_divisor; - runDivisor = rundivisor; - - m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default - - PID_D = basePID_D * m_mass * invtimeStep; - PID_P = basePID_P * m_mass * invtimeStep; - - m_isPhysical = false; // current status: no ODE information exists - - Name = avName; - - AddChange(changes.Add, null); - } - - public override int PhysicsActorType - { - get { return (int)ActorTypes.Agent; } - set { return; } - } - - public override void getContactData(ref ContactData cdata) - { - cdata.mu = mu; - cdata.bounce = 0; - cdata.softcolide = false; - } - - public override bool Building { get; set; } - - /// - /// If this is set, the avatar will move faster - /// - public override bool SetAlwaysRun - { - get { return m_alwaysRun; } - set { m_alwaysRun = value; } - } - - public override uint LocalID - { - get { return m_localID; } - set { m_localID = value; } - } - - public override PhysicsActor ParentActor - { - get { return (PhysicsActor)this; } - } - - public override bool Grabbed - { - set { return; } - } - - public override bool Selected - { - set { return; } - } - - public override float Buoyancy - { - get { return m_buoyancy; } - set { m_buoyancy = value; } - } - - public override bool FloatOnWater - { - set { return; } - } - - public override bool IsPhysical - { - get { return m_isPhysical; } - set { return; } - } - - public override bool ThrottleUpdates - { - get { return false; } - set { return; } - } - - public override bool Flying - { - get { return flying; } - set - { - flying = value; -// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying); - } - } - - /// - /// Returns if the avatar is colliding in general. - /// This includes the ground and objects and avatar. - /// - public override bool IsColliding - { - get { return (m_iscolliding || m_iscollidingGround); } - set - { - if (value) - { - m_colliderfilter += 3; - if (m_colliderfilter > 3) - m_colliderfilter = 3; - } - else - { - m_colliderfilter--; - if (m_colliderfilter < 0) - m_colliderfilter = 0; - } - - if (m_colliderfilter == 0) - m_iscolliding = false; - else - { - m_pidControllerActive = true; - m_iscolliding = true; - m_freemove = false; - } - } - } - - /// - /// Returns if an avatar is colliding with the ground - /// - public override bool CollidingGround - { - get { return m_iscollidingGround; } - set - { -/* we now control this - if (value) - { - m_colliderGroundfilter += 2; - if (m_colliderGroundfilter > 2) - m_colliderGroundfilter = 2; - } - else - { - m_colliderGroundfilter--; - if (m_colliderGroundfilter < 0) - m_colliderGroundfilter = 0; - } - - if (m_colliderGroundfilter == 0) - m_iscollidingGround = false; - else - m_iscollidingGround = true; - */ - } - - } - - /// - /// Returns if the avatar is colliding with an object - /// - public override bool CollidingObj - { - get { return m_iscollidingObj; } - set - { - // Ubit filter this also - if (value) - { - m_colliderObjectfilter += 2; - if (m_colliderObjectfilter > 2) - m_colliderObjectfilter = 2; - } - else - { - m_colliderObjectfilter--; - if (m_colliderObjectfilter < 0) - m_colliderObjectfilter = 0; - } - - if (m_colliderObjectfilter == 0) - m_iscollidingObj = false; - else - m_iscollidingObj = true; - -// m_iscollidingObj = value; - - if (m_iscollidingObj) - m_pidControllerActive = false; - else - m_pidControllerActive = true; - } - } - - /// - /// turn the PID controller on or off. - /// The PID Controller will turn on all by itself in many situations - /// - /// - public void SetPidStatus(bool status) - { - m_pidControllerActive = status; - } - - public override bool Stopped - { - get { return _zeroFlag; } - } - - /// - /// This 'puts' an avatar somewhere in the physics space. - /// Not really a good choice unless you 'know' it's a good - /// spot otherwise you're likely to orbit the avatar. - /// - public override Vector3 Position - { - get { return _position; } - set - { - if (value.IsFinite()) - { - if (value.Z > 9999999f) - { - value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - if (value.Z < -100f) - { - value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; - } - AddChange(changes.Position, value); - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character"); - } - } - } - - public override Vector3 RotationalVelocity - { - get { return m_rotationalVelocity; } - set { m_rotationalVelocity = value; } - } - - /// - /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight - /// and use it to offset landings properly - /// - public override Vector3 Size - { - get - { - return m_size; - } - set - { - if (value.IsFinite()) - { - if(value.X <0.01f) - value.X = 0.01f; - if(value.Y <0.01f) - value.Y = 0.01f; - if(value.Z <0.01f) - value.Z = 0.01f; - - AddChange(changes.Size, value); - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character"); - } - } - } - - public override void setAvatarSize(Vector3 size, float feetOffset) - { - if (size.IsFinite()) - { - if (size.X < 0.01f) - size.X = 0.01f; - if (size.Y < 0.01f) - size.Y = 0.01f; - if (size.Z < 0.01f) - size.Z = 0.01f; - - strAvatarSize st = new strAvatarSize(); - st.size = size; - st.offset = feetOffset; - AddChange(changes.AvatarSize, st); - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN AvatarSize from Scene on a Character"); - } - - } - /// - /// This creates the Avatar's physical Surrogate at the position supplied - /// - /// - /// - /// - - // - /// - /// Uses the capped cyllinder volume formula to calculate the avatar's mass. - /// This may be used in calculations in the scene/scenepresence - /// - public override float Mass - { - get - { - return m_mass; - } - } - public override void link(PhysicsActor obj) - { - - } - - public override void delink() - { - - } - - public override void LockAngularMotion(Vector3 axis) - { - - } - - - public override Vector3 Force - { - get { return _target_velocity; } - set { return; } - } - - public override int VehicleType - { - get { return 0; } - set { return; } - } - - public override void VehicleFloatParam(int param, float value) - { - - } - - public override void VehicleVectorParam(int param, Vector3 value) - { - - } - - public override void VehicleRotationParam(int param, Quaternion rotation) - { - - } - - public override void VehicleFlags(int param, bool remove) - { - - } - - public override void SetVolumeDetect(int param) - { - - } - - public override Vector3 CenterOfMass - { - get - { - Vector3 pos = _position; - return pos; - } - } - - public override Vector3 GeometricCenter - { - get - { - Vector3 pos = _position; - return pos; - } - } - - public override PrimitiveBaseShape Shape - { - set { return; } - } - - public override Vector3 Velocity - { - get - { - return _velocity; - } - set - { - if (value.IsFinite()) - { - AddChange(changes.Velocity, value); - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character"); - } - } - } - - public override Vector3 Torque - { - get { return Vector3.Zero; } - set { return; } - } - - public override float CollisionScore - { - get { return 0f; } - set { } - } - - public override bool Kinematic - { - get { return false; } - set { } - } - - public override Quaternion Orientation - { - get { return m_orientation; } - set - { -// fakeori = value; -// givefakeori++; - value.Normalize(); - AddChange(changes.Orientation, value); - } - } - - public override Vector3 Acceleration - { - get { return _acceleration; } - set { } - } - - public void SetAcceleration(Vector3 accel) - { - m_pidControllerActive = true; - _acceleration = accel; - } - - /// - /// Adds the force supplied to the Target Velocity - /// The PID controller takes this target velocity and tries to make it a reality - /// - /// - public override void AddForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { - if (pushforce) - { - AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f)); - } - else - { - AddChange(changes.Velocity, force); - } - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character"); - } - //m_lastUpdateSent = false; - } - - public override void AddAngularForce(Vector3 force, bool pushforce) - { - - } - - public override void SetMomentum(Vector3 momentum) - { - if (momentum.IsFinite()) - AddChange(changes.Momentum, momentum); - } - - - private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) - { - // sizes one day should came from visual parameters - float sx = m_size.X; - float sy = m_size.Y; - float sz = m_size.Z; - - float bot = -sz * 0.5f + m_feetOffset; - boneOff = bot + 0.3f; - - float feetsz = sz * 0.45f; - if (feetsz > 0.6f) - feetsz = 0.6f; - - feetOff = bot + feetsz; - - AvaAvaSizeXsq = 0.4f * sx; - AvaAvaSizeXsq *= AvaAvaSizeXsq; - AvaAvaSizeYsq = 0.5f * sy; - AvaAvaSizeYsq *= AvaAvaSizeYsq; - - _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); - - collider = d.HashSpaceCreate(_parent_scene.CharsSpace); - d.HashSpaceSetLevels(collider, -4, 3); - d.SpaceSetSublevel(collider, 3); - d.SpaceSetCleanup(collider, false); - d.GeomSetCategoryBits(collider, (uint)m_collisionCategories); - d.GeomSetCollideBits(collider, (uint)m_collisionFlags); - - float r = m_size.X; - if (m_size.Y > r) - r = m_size.Y; - float l = m_size.Z - r; - r *= 0.5f; - - capsule = d.CreateCapsule(collider, r, l); - - m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass - - d.MassSetBoxTotal(out ShellMass, m_mass, m_size.X, m_size.Y, m_size.Z); - - PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE; - PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE; - - Body = d.BodyCreate(_parent_scene.world); - - _zeroFlag = false; - m_pidControllerActive = true; - m_freemove = false; - - _velocity = Vector3.Zero; - - d.BodySetAutoDisableFlag(Body, false); - d.BodySetPosition(Body, npositionX, npositionY, npositionZ); - - _position.X = npositionX; - _position.Y = npositionY; - _position.Z = npositionZ; - - d.BodySetMass(Body, ref ShellMass); - d.GeomSetBody(capsule, Body); - - // The purpose of the AMotor here is to keep the avatar's physical - // surrogate from rotating while moving - Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); - d.JointAttach(Amotor, Body, IntPtr.Zero); - - d.JointSetAMotorMode(Amotor, 0); - d.JointSetAMotorNumAxes(Amotor, 3); - d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0); - d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0); - d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1); - - d.JointSetAMotorAngle(Amotor, 0, 0); - d.JointSetAMotorAngle(Amotor, 1, 0); - d.JointSetAMotorAngle(Amotor, 2, 0); - - d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD - d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f); - d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f); - d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f); - - // These lowstops and high stops are effectively (no wiggle room) - d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f); - - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0); - - d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f); - d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f); - } - - /// - /// Destroys the avatar body and geom - - private void AvatarGeomAndBodyDestroy() - { - // Kill the Amotor - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - - if (Body != IntPtr.Zero) - { - //kill the body - d.BodyDestroy(Body); - Body = IntPtr.Zero; - } - - //kill the Geoms - if (capsule != IntPtr.Zero) - { - _parent_scene.actor_name_map.Remove(capsule); - _parent_scene.waitForSpaceUnlock(collider); - d.GeomDestroy(capsule); - capsule = IntPtr.Zero; - } - - if (collider != IntPtr.Zero) - { - d.SpaceDestroy(collider); - collider = IntPtr.Zero; - } - - } - - //in place 2D rotation around Z assuming rot is normalised and is a rotation around Z - public void RotateXYonZ(ref float x, ref float y, ref Quaternion rot) - { - float sin = 2.0f * rot.Z * rot.W; - float cos = rot.W * rot.W - rot.Z * rot.Z; - float tx = x; - - x = tx * cos - y * sin; - y = tx * sin + y * cos; - } - public void RotateXYonZ(ref float x, ref float y, ref float sin, ref float cos) - { - float tx = x; - x = tx * cos - y * sin; - y = tx * sin + y * cos; - } - public void invRotateXYonZ(ref float x, ref float y, ref float sin, ref float cos) - { - float tx = x; - x = tx * cos + y * sin; - y = -tx * sin + y * cos; - } - - public void invRotateXYonZ(ref float x, ref float y, ref Quaternion rot) - { - float sin = - 2.0f * rot.Z * rot.W; - float cos = rot.W * rot.W - rot.Z * rot.Z; - float tx = x; - - x = tx * cos - y * sin; - y = tx * sin + y * cos; - } - - public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact, - ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision) - { - feetcollision = false; - useAltcontact = false; - - if (me == capsule) - { - Vector3 offset; - - float h = contact.pos.Z - _position.Z; - offset.Z = h - feetOff; - - offset.X = contact.pos.X - _position.X; - offset.Y = contact.pos.Y - _position.Y; - - d.GeomClassID gtype = d.GeomGetClass(other); - if (gtype == d.GeomClassID.CapsuleClass) - { - Vector3 roff = offset * Quaternion.Inverse(m_orientation2D); - float r = roff.X *roff.X / AvaAvaSizeXsq; - r += (roff.Y * roff.Y) / AvaAvaSizeYsq; - if (r > 1.0f) - return false; - - float dp = 1.0f -(float)Math.Sqrt((double)r); - if (dp > 0.05f) - dp = 0.05f; - - contact.depth = dp; - - if (offset.Z < 0) - { - feetcollision = true; - if (h < boneOff) - { - m_collideNormal.X = contact.normal.X; - m_collideNormal.Y = contact.normal.Y; - m_collideNormal.Z = contact.normal.Z; - IsColliding = true; - } - } - return true; - } -/* - d.AABB aabb; - d.GeomGetAABB(other,out aabb); - float othertop = aabb.MaxZ - _position.Z; -*/ -// if (offset.Z > 0 || othertop > -feetOff || contact.normal.Z > 0.35f) - if (offset.Z > 0 || contact.normal.Z > 0.35f) - { - if (offset.Z <= 0) - { - feetcollision = true; - if (h < boneOff) - { - m_collideNormal.X = contact.normal.X; - m_collideNormal.Y = contact.normal.Y; - m_collideNormal.Z = contact.normal.Z; - IsColliding = true; - } - } - return true; - } - - altContact = contact; - useAltcontact = true; - - offset.Z -= 0.2f; - - offset.Normalize(); - - if (contact.depth > 0.1f) - contact.depth = 0.1f; - - if (reverse) - { - altContact.normal.X = offset.X; - altContact.normal.Y = offset.Y; - altContact.normal.Z = offset.Z; - } - else - { - altContact.normal.X = -offset.X; - altContact.normal.Y = -offset.Y; - altContact.normal.Z = -offset.Z; - } - - feetcollision = true; - if (h < boneOff) - { - m_collideNormal.X = contact.normal.X; - m_collideNormal.Y = contact.normal.Y; - m_collideNormal.Z = contact.normal.Z; - IsColliding = true; - } - return true; - } - return false; - } - - /// - /// Called from Simulate - /// This is the avatar's movement control + PID Controller - /// - /// - public void Move(List defects) - { - if (Body == IntPtr.Zero) - return; - - d.Vector3 dtmp = d.BodyGetPosition(Body); - Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); - - // the Amotor still lets avatar rotation to drift during colisions - // so force it back to identity - - d.Quaternion qtmp; - qtmp.W = m_orientation2D.W; - qtmp.X = m_orientation2D.X; - qtmp.Y = m_orientation2D.Y; - qtmp.Z = m_orientation2D.Z; - d.BodySetQuaternion(Body, ref qtmp); - - if (m_pidControllerActive == false) - { - _zeroPosition = localpos; - } - - if (!localpos.IsFinite()) - { - m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); - defects.Add(this); - // _parent_scene.RemoveCharacter(this); - - // destroy avatar capsule and related ODE data - AvatarGeomAndBodyDestroy(); - return; - } - - // check outbounds forcing to be in world - bool fixbody = false; - if (localpos.X < 0.0f) - { - fixbody = true; - localpos.X = 0.1f; - } - else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f) - { - fixbody = true; - localpos.X = _parent_scene.WorldExtents.X - 0.1f; - } - if (localpos.Y < 0.0f) - { - fixbody = true; - localpos.Y = 0.1f; - } - else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1) - { - fixbody = true; - localpos.Y = _parent_scene.WorldExtents.Y - 0.1f; - } - if (fixbody) - { - m_freemove = false; - d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z); - } - - float breakfactor; - - Vector3 vec = Vector3.Zero; - dtmp = d.BodyGetLinearVel(Body); - Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); - float velLengthSquared = vel.LengthSquared(); - - - Vector3 ctz = _target_velocity; - - float movementdivisor = 1f; - //Ubit change divisions into multiplications below - if (!m_alwaysRun) - movementdivisor = 1 / walkDivisor; - else - movementdivisor = 1 / runDivisor; - - ctz.X *= movementdivisor; - ctz.Y *= movementdivisor; - - //****************************************** - // colide with land - - d.AABB aabb; -// d.GeomGetAABB(feetbox, out aabb); - d.GeomGetAABB(capsule, out aabb); - float chrminZ = aabb.MinZ; // move up a bit - Vector3 posch = localpos; - - float ftmp; - - if (flying) - { - ftmp = timeStep; - posch.X += vel.X * ftmp; - posch.Y += vel.Y * ftmp; - } - - float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); - if (chrminZ < terrainheight) - { - if (ctz.Z < 0) - ctz.Z = 0; - - Vector3 n = _parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y); - float depth = terrainheight - chrminZ; - - vec.Z = depth * PID_P * 50; - - if (!flying) - vec.Z += -vel.Z * PID_D; - - if (depth < 0.2f) - { - m_colliderGroundfilter++; - if (m_colliderGroundfilter > 2) - { - m_iscolliding = true; - m_colliderfilter = 2; - - if (m_colliderGroundfilter > 10) - { - m_colliderGroundfilter = 10; - m_freemove = false; - } - - m_collideNormal.X = n.X; - m_collideNormal.Y = n.Y; - m_collideNormal.Z = n.Z; - - m_iscollidingGround = true; - - - ContactPoint contact = new ContactPoint(); - contact.PenetrationDepth = depth; - contact.Position.X = localpos.X; - contact.Position.Y = localpos.Y; - contact.Position.Z = terrainheight; - contact.SurfaceNormal.X = -n.X; - contact.SurfaceNormal.Y = -n.Y; - contact.SurfaceNormal.Z = -n.Z; - contact.RelativeSpeed = -vel.Z; - contact.CharacterFeet = true; - AddCollisionEvent(0, contact); - -// vec.Z *= 0.5f; - } - } - - else - { - m_colliderGroundfilter -= 5; - if (m_colliderGroundfilter <= 0) - { - m_colliderGroundfilter = 0; - m_iscollidingGround = false; - } - } - } - else - { - m_colliderGroundfilter -= 5; - if (m_colliderGroundfilter <= 0) - { - m_colliderGroundfilter = 0; - m_iscollidingGround = false; - } - } - - - //****************************************** - if (!m_iscolliding) - m_collideNormal.Z = 0; - - bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f); - - - - if (!tviszero) - { - m_freemove = false; - - // movement relative to surface if moving on it - // dont disturbe vertical movement, ie jumps - if (m_iscolliding && !flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f) - { - float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y; - ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X); - ctz.Y *= (float)Math.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y); - ctz.Z -= p; - if (ctz.Z < 0) - ctz.Z *= 2; - - } - - } - - - if (!m_freemove) - { - - // if velocity is zero, use position control; otherwise, velocity control - if (tviszero && m_iscolliding && !flying) - { - // keep track of where we stopped. No more slippin' & slidin' - if (!_zeroFlag) - { - _zeroFlag = true; - _zeroPosition = localpos; - } - if (m_pidControllerActive) - { - // We only want to deactivate the PID Controller if we think we want to have our surrogate - // react to the physics scene by moving it's position. - // Avatar to Avatar collisions - // Prim to avatar collisions - - vec.X = -vel.X * PID_D * 2f + (_zeroPosition.X - localpos.X) * (PID_P * 5); - vec.Y = -vel.Y * PID_D * 2f + (_zeroPosition.Y - localpos.Y) * (PID_P * 5); - if(vel.Z > 0) - vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; - else - vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f; -/* - if (flying) - { - vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; - } -*/ - } - //PidStatus = true; - } - else - { - m_pidControllerActive = true; - _zeroFlag = false; - - if (m_iscolliding) - { - if (!flying) - { - // we are on a surface - if (ctz.Z > 0f) - { - // moving up or JUMPING - vec.Z += (ctz.Z - vel.Z) * PID_D * 2f; - vec.X += (ctz.X - vel.X) * (PID_D); - vec.Y += (ctz.Y - vel.Y) * (PID_D); - } - else - { - // we are moving down on a surface - if (ctz.Z == 0) - { - if (vel.Z > 0) - vec.Z -= vel.Z * PID_D * 2f; - vec.X += (ctz.X - vel.X) * (PID_D); - vec.Y += (ctz.Y - vel.Y) * (PID_D); - } - // intencionally going down - else - { - if (ctz.Z < vel.Z) - vec.Z += (ctz.Z - vel.Z) * PID_D; - else - { - } - - if (Math.Abs(ctz.X) > Math.Abs(vel.X)) - vec.X += (ctz.X - vel.X) * (PID_D); - if (Math.Abs(ctz.Y) > Math.Abs(vel.Y)) - vec.Y += (ctz.Y - vel.Y) * (PID_D); - } - } - - // We're standing on something - } - else - { - // We're flying and colliding with something - vec.X += (ctz.X - vel.X) * (PID_D * 0.0625f); - vec.Y += (ctz.Y - vel.Y) * (PID_D * 0.0625f); - vec.Z += (ctz.Z - vel.Z) * (PID_D * 0.0625f); - } - } - else // ie not colliding - { - if (flying) //(!m_iscolliding && flying) - { - // we're in mid air suspended - vec.X += (ctz.X - vel.X) * (PID_D); - vec.Y += (ctz.Y - vel.Y) * (PID_D); - vec.Z += (ctz.Z - vel.Z) * (PID_D); - } - - else - { - // we're not colliding and we're not flying so that means we're falling! - // m_iscolliding includes collisions with the ground. - - // d.Vector3 pos = d.BodyGetPosition(Body); - vec.X += (ctz.X - vel.X) * PID_D * 0.833f; - vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f; - // hack for breaking on fall - if (ctz.Z == -9999f) - vec.Z += -vel.Z * PID_D - _parent_scene.gravityz * m_mass; - } - } - } - - if (velLengthSquared > 2500.0f) // 50m/s apply breaks - { - breakfactor = 0.16f * m_mass; - vec.X -= breakfactor * vel.X; - vec.Y -= breakfactor * vel.Y; - vec.Z -= breakfactor * vel.Z; - } - } - else - { - breakfactor = m_mass; - vec.X -= breakfactor * vel.X; - vec.Y -= breakfactor * vel.Y; - if (flying) - vec.Z -= 0.5f * breakfactor * vel.Z; - else - vec.Z -= .16f* m_mass * vel.Z; - } - - if (flying) - { - vec.Z -= _parent_scene.gravityz * m_mass; - - //Added for auto fly height. Kitto Flora - float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset; - - if (localpos.Z < target_altitude) - { - vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f; - } - // end add Kitto Flora - } - - if (vec.IsFinite()) - { - if (vec.X != 0 || vec.Y !=0 || vec.Z !=0) - d.BodyAddForce(Body, vec.X, vec.Y, vec.Z); - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()"); - m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); - defects.Add(this); - // _parent_scene.RemoveCharacter(this); - // destroy avatar capsule and related ODE data - AvatarGeomAndBodyDestroy(); - return; - } - - // update our local ideia of position velocity and aceleration - // _position = localpos; - _position = localpos; - - if (_zeroFlag) - { - _velocity = Vector3.Zero; - _acceleration = Vector3.Zero; - m_rotationalVelocity = Vector3.Zero; - } - else - { - Vector3 a =_velocity; // previus velocity - SetSmooth(ref _velocity, ref vel, 2); - a = (_velocity - a) * invtimeStep; - SetSmooth(ref _acceleration, ref a, 2); - - dtmp = d.BodyGetAngularVel(Body); - m_rotationalVelocity.X = 0f; - m_rotationalVelocity.Y = 0f; - m_rotationalVelocity.Z = dtmp.Z; - Math.Round(m_rotationalVelocity.Z,3); - } - } - - public void round(ref Vector3 v, int digits) - { - v.X = (float)Math.Round(v.X, digits); - v.Y = (float)Math.Round(v.Y, digits); - v.Z = (float)Math.Round(v.Z, digits); - } - - public void SetSmooth(ref Vector3 dst, ref Vector3 value) - { - dst.X = 0.1f * dst.X + 0.9f * value.X; - dst.Y = 0.1f * dst.Y + 0.9f * value.Y; - dst.Z = 0.1f * dst.Z + 0.9f * value.Z; - } - - public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits) - { - dst.X = 0.4f * dst.X + 0.6f * value.X; - dst.X = (float)Math.Round(dst.X, rounddigits); - - dst.Y = 0.4f * dst.Y + 0.6f * value.Y; - dst.Y = (float)Math.Round(dst.Y, rounddigits); - - dst.Z = 0.4f * dst.Z + 0.6f * value.Z; - dst.Z = (float)Math.Round(dst.Z, rounddigits); - } - - - /// - /// Updates the reported position and velocity. - /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording - /// also outbounds checking - /// copy and outbounds now done in move(..) at ode rate - /// - /// - public void UpdatePositionAndVelocity() - { - return; - -// if (Body == IntPtr.Zero) -// return; - - } - - /// - /// Cleanup the things we use in the scene. - /// - public void Destroy() - { - AddChange(changes.Remove, null); - } - - public override void CrossingFailure() - { - } - - public override Vector3 PIDTarget { set { return; } } - public override bool PIDActive {get {return m_pidControllerActive;} set { return; } } - public override float PIDTau { set { return; } } - - public override float PIDHoverHeight { set { return; } } - public override bool PIDHoverActive { set { return; } } - public override PIDHoverType PIDHoverType { set { return; } } - public override float PIDHoverTau { set { return; } } - - 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 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) - { - lock (CollisionEventsThisFrame) - { - CollisionEventsThisFrame.Clear(); - CollisionEventsThisFrame = null; - } - } - m_eventsubscription = 0; - } - - public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) - { - if (CollisionEventsThisFrame == null) - CollisionEventsThisFrame = new CollisionEventUpdate(); - lock (CollisionEventsThisFrame) - { - CollisionEventsThisFrame.AddCollider(CollidedWith, contact); - _parent_scene.AddCollisionEventReporting(this); - } - } - - public void SendCollisions() - { - if (CollisionEventsThisFrame == null) - return; - - lock (CollisionEventsThisFrame) - { - 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) - { - // protect it from overflow crashing - if (m_cureventsubscription < 50000) - m_cureventsubscription += t; - } - - public override bool SubscribedEvents() - { - if (m_eventsubscription > 0) - return true; - return false; - } - - private void changePhysicsStatus(bool NewStatus) - { - if (NewStatus != m_isPhysical) - { - if (NewStatus) - { - AvatarGeomAndBodyDestroy(); - - AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); - - _parent_scene.actor_name_map[collider] = (PhysicsActor)this; - _parent_scene.actor_name_map[capsule] = (PhysicsActor)this; - _parent_scene.AddCharacter(this); - } - else - { - _parent_scene.RemoveCollisionEventReporting(this); - _parent_scene.RemoveCharacter(this); - // destroy avatar capsule and related ODE data - AvatarGeomAndBodyDestroy(); - } - m_freemove = false; - m_isPhysical = NewStatus; - } - } - - private void changeAdd() - { - changePhysicsStatus(true); - } - - private void changeRemove() - { - changePhysicsStatus(false); - } - - private void changeShape(PrimitiveBaseShape arg) - { - } - - private void changeAvatarSize(strAvatarSize st) - { - m_feetOffset = st.offset; - changeSize(st.size); - } - - private void changeSize(Vector3 pSize) - { - if (pSize.IsFinite()) - { - // for now only look to Z changes since viewers also don't change X and Y - if (pSize.Z != m_size.Z) - { - AvatarGeomAndBodyDestroy(); - - - float oldsz = m_size.Z; - m_size = pSize; - - - AvatarGeomAndBodyCreation(_position.X, _position.Y, - _position.Z + (m_size.Z - oldsz) * 0.5f); - - Velocity = Vector3.Zero; - - - _parent_scene.actor_name_map[collider] = (PhysicsActor)this; - _parent_scene.actor_name_map[capsule] = (PhysicsActor)this; - } - m_freemove = false; - m_pidControllerActive = true; - } - else - { - m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character"); - } - } - - private void changePosition( Vector3 newPos) - { - if (Body != IntPtr.Zero) - d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - m_freemove = false; - m_pidControllerActive = true; - } - - private void changeOrientation(Quaternion newOri) - { - if (m_orientation != newOri) - { - m_orientation = newOri; // keep a copy for core use - // but only use rotations around Z - - m_orientation2D.W = newOri.W; - m_orientation2D.Z = newOri.Z; - - float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z; - if (t > 0) - { - t = 1.0f / (float)Math.Sqrt(t); - m_orientation2D.W *= t; - m_orientation2D.Z *= t; - } - else - { - m_orientation2D.W = 1.0f; - m_orientation2D.Z = 0f; - } - m_orientation2D.Y = 0f; - m_orientation2D.X = 0f; - - d.Quaternion myrot = new d.Quaternion(); - myrot.X = m_orientation2D.X; - myrot.Y = m_orientation2D.Y; - myrot.Z = m_orientation2D.Z; - myrot.W = m_orientation2D.W; - d.BodySetQuaternion(Body, ref myrot); - } - } - - private void changeVelocity(Vector3 newVel) - { - m_pidControllerActive = true; - m_freemove = false; - _target_velocity = newVel; - } - - private void changeSetTorque(Vector3 newTorque) - { - } - - private void changeAddForce(Vector3 newForce) - { - } - - private void changeAddAngularForce(Vector3 arg) - { - } - - private void changeAngularLock(Vector3 arg) - { - } - - private void changeFloatOnWater(bool arg) - { - } - - private void changeVolumedetetion(bool arg) - { - } - - private void changeSelectedStatus(bool arg) - { - } - - private void changeDisable(bool arg) - { - } - - private void changeBuilding(bool arg) - { - } - - private void setFreeMove() - { - m_pidControllerActive = true; - _zeroFlag = false; - _target_velocity = Vector3.Zero; - m_freemove = true; - m_colliderfilter = -1; - m_colliderObjectfilter = -1; - m_colliderGroundfilter = -1; - - m_iscolliding = false; - m_iscollidingGround = false; - m_iscollidingObj = false; - - CollisionEventsThisFrame.Clear(); - } - - private void changeForce(Vector3 newForce) - { - setFreeMove(); - - if (Body != IntPtr.Zero) - { - if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0) - d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z); - } - } - - // for now momentum is actually velocity - private void changeMomentum(Vector3 newmomentum) - { - _velocity = newmomentum; - setFreeMove(); - - if (Body != IntPtr.Zero) - d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); - } - - private void donullchange() - { - } - - public bool DoAChange(changes what, object arg) - { - if (collider == IntPtr.Zero && what != changes.Add && what != changes.Remove) - { - return false; - } - - // nasty switch - switch (what) - { - case changes.Add: - changeAdd(); - break; - case changes.Remove: - changeRemove(); - 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: - changeAddAngularForce((Vector3)arg); - break; - - case changes.AngLock: - changeAngularLock((Vector3)arg); - break; - - case changes.Size: - changeSize((Vector3)arg); - break; - - case changes.AvatarSize: - changeAvatarSize((strAvatarSize)arg); - break; - - case changes.Momentum: - changeMomentum((Vector3)arg); - break; -/* not in use for now - case changes.Shape: - changeShape((PrimitiveBaseShape)arg); - break; - - case changes.CollidesWater: - changeFloatOnWater((bool)arg); - break; - - case changes.VolumeDtc: - changeVolumedetetion((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.Null: - donullchange(); - break; - - default: - donullchange(); - break; - } - return false; - } - - public void AddChange(changes what, object arg) - { - _parent_scene.AddChange((PhysicsActor)this, what, arg); - } - - private struct strAvatarSize - { - public Vector3 size; - public float offset; - } - - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs deleted file mode 100644 index abe6f37..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODEDynamics.cs +++ /dev/null @@ -1,1096 +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. - */ - -/* Revised Aug, Sept 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. - */ - -// Extensive change Ubit 2012 - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using log4net; -using OpenMetaverse; -using OdeAPI; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - public class ODEDynamics - { - public Vehicle Type - { - get { return m_type; } - } - - private OdePrim rootPrim; - private ODEScene _pParentScene; - - // Vehicle properties - // WARNING this are working copies for internel use - // their values may not be the corresponding parameter - - private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier - private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? - - private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind - - private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: - // HOVER_TERRAIN_ONLY - // HOVER_GLOBAL_HEIGHT - // NO_DEFLECTION_UP - // HOVER_WATER_ONLY - // HOVER_UP_ONLY - // LIMIT_MOTOR_UP - // LIMIT_ROLL_ONLY - private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl - - // Linear properties - private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time - private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); - private float m_linearMotorDecayTimescale = 120; - private float m_linearMotorTimescale = 1000; - private Vector3 m_linearMotorOffset = Vector3.Zero; - - //Angular properties - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate - - //Deflection properties - private float m_angularDeflectionEfficiency = 0; - private float m_angularDeflectionTimescale = 1000; - private float m_linearDeflectionEfficiency = 0; - private float m_linearDeflectionTimescale = 1000; - - //Banking properties - private float m_bankingEfficiency = 0; - private float m_bankingMix = 0; - private float m_bankingTimescale = 1000; - - //Hover and Buoyancy properties - private float m_VhoverHeight = 0f; - private float m_VhoverEfficiency = 0f; - private float m_VhoverTimescale = 1000f; - private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. - // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) - // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. - // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. - - //Attractor properties - private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor. - - - // auxiliar - private float m_lmEfect = 0f; // current linear motor eficiency - private float m_lmDecay = 0f; // current linear decay - - private float m_amEfect = 0; // current angular motor eficiency - private float m_amDecay = 0f; // current linear decay - - private float m_ffactor = 1.0f; - - private float m_timestep = 0.02f; - private float m_invtimestep = 50; - - - float m_ampwr; - float m_amdampX; - float m_amdampY; - float m_amdampZ; - - float m_gravmod; - - public float FrictionFactor - { - get - { - return m_ffactor; - } - } - - public float GravMod - { - set - { - m_gravmod = value; - } - } - - - public ODEDynamics(OdePrim rootp) - { - rootPrim = rootp; - _pParentScene = rootPrim._parent_scene; - m_timestep = _pParentScene.ODE_STEPSIZE; - m_invtimestep = 1.0f / m_timestep; - m_gravmod = rootPrim.GravModifier; - } - - public void DoSetVehicle(VehicleData vd) - { - m_type = vd.m_type; - m_flags = vd.m_flags; - - - // Linear properties - m_linearMotorDirection = vd.m_linearMotorDirection; - - m_linearFrictionTimescale = vd.m_linearFrictionTimescale; - if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep; - if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep; - if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep; - - m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale; - if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep; - m_linearMotorDecayTimescale += 0.2f; - m_linearMotorDecayTimescale *= m_invtimestep; - - m_linearMotorTimescale = vd.m_linearMotorTimescale; - if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep; - - m_linearMotorOffset = vd.m_linearMotorOffset; - - //Angular properties - m_angularMotorDirection = vd.m_angularMotorDirection; - m_angularMotorTimescale = vd.m_angularMotorTimescale; - if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep; - - m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale; - if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep; - m_angularMotorDecayTimescale *= m_invtimestep; - - m_angularFrictionTimescale = vd.m_angularFrictionTimescale; - if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep; - if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep; - if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep; - - //Deflection properties - m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency; - m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale; - if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep; - - m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency; - m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale; - if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep; - - //Banking properties - m_bankingEfficiency = vd.m_bankingEfficiency; - m_bankingMix = vd.m_bankingMix; - m_bankingTimescale = vd.m_bankingTimescale; - if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep; - - //Hover and Buoyancy properties - m_VhoverHeight = vd.m_VhoverHeight; - m_VhoverEfficiency = vd.m_VhoverEfficiency; - m_VhoverTimescale = vd.m_VhoverTimescale; - if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep; - - m_VehicleBuoyancy = vd.m_VehicleBuoyancy; - - //Attractor properties - m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency; - m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale; - if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep; - - // Axis - m_referenceFrame = vd.m_referenceFrame; - - m_lmEfect = 0; - m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); - m_amEfect = 0; - m_ffactor = 1.0f; - } - - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) - { - float len; - - switch (pParam) - { - case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_angularDeflectionEfficiency = pValue; - break; - case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_angularDeflectionTimescale = pValue; - break; - case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - else if (pValue > 120) pValue = 120; - m_angularMotorDecayTimescale = pValue * m_invtimestep; - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - break; - case Vehicle.ANGULAR_MOTOR_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_angularMotorTimescale = pValue; - break; - case Vehicle.BANKING_EFFICIENCY: - if (pValue < -1f) pValue = -1f; - if (pValue > 1f) pValue = 1f; - m_bankingEfficiency = pValue; - break; - case Vehicle.BANKING_MIX: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_bankingMix = pValue; - break; - case Vehicle.BANKING_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_bankingTimescale = pValue; - break; - case Vehicle.BUOYANCY: - if (pValue < -1f) pValue = -1f; - if (pValue > 1f) pValue = 1f; - m_VehicleBuoyancy = pValue; - break; - case Vehicle.HOVER_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_VhoverEfficiency = pValue; - break; - case Vehicle.HOVER_HEIGHT: - m_VhoverHeight = pValue; - break; - case Vehicle.HOVER_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_VhoverTimescale = pValue; - break; - case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_linearDeflectionEfficiency = pValue; - break; - case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_linearDeflectionTimescale = pValue; - break; - case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - else if (pValue > 120) pValue = 120; - m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep; - m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); - break; - case Vehicle.LINEAR_MOTOR_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_linearMotorTimescale = pValue; - break; - case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - if (pValue < 0f) pValue = 0f; - if (pValue > 1f) pValue = 1f; - m_verticalAttractionEfficiency = pValue; - break; - case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_verticalAttractionTimescale = pValue; - break; - - // These are vector properties but the engine lets you use a single float value to - // set all of the components to the same value - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - len = m_angularMotorDirection.Length(); - if (len > 12.566f) - m_angularMotorDirection *= (12.566f / len); - - m_amEfect = 1.0f ; // turn it on - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - if (pValue < m_timestep) pValue = m_timestep; - m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - len = m_linearMotorDirection.Length(); - if (len > 100.0f) - m_linearMotorDirection *= (100.0f / len); - - m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; - m_lmEfect = 1.0f; // turn it on - - m_ffactor = 0.0f; - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue, pValue, pValue); - len = m_linearMotorOffset.Length(); - if (len > 100.0f) - m_linearMotorOffset *= (100.0f / len); - break; - } - }//end ProcessFloatVehicleParam - - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) - { - float len; - - switch (pParam) - { - case Vehicle.ANGULAR_FRICTION_TIMESCALE: - if (pValue.X < m_timestep) pValue.X = m_timestep; - if (pValue.Y < m_timestep) pValue.Y = m_timestep; - if (pValue.Z < m_timestep) pValue.Z = m_timestep; - - m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - // Limit requested angular speed to 2 rps= 4 pi rads/sec - len = m_angularMotorDirection.Length(); - if (len > 12.566f) - m_angularMotorDirection *= (12.566f / len); - - m_amEfect = 1.0f; // turn it on - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_FRICTION_TIMESCALE: - if (pValue.X < m_timestep) pValue.X = m_timestep; - if (pValue.Y < m_timestep) pValue.Y = m_timestep; - if (pValue.Z < m_timestep) pValue.Z = m_timestep; - m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - len = m_linearMotorDirection.Length(); - if (len > 100.0f) - m_linearMotorDirection *= (100.0f / len); - - m_lmEfect = 1.0f; // turn it on - m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; - - m_ffactor = 0.0f; - if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) - && !rootPrim.m_isSelected && !rootPrim.m_disabled) - d.BodyEnable(rootPrim.Body); - break; - case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); - len = m_linearMotorOffset.Length(); - if (len > 100.0f) - m_linearMotorOffset *= (100.0f / len); - break; - case Vehicle.BLOCK_EXIT: - m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); - break; - } - }//end ProcessVectorVehicleParam - - internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) - { - switch (pParam) - { - case Vehicle.REFERENCE_FRAME: - // m_referenceFrame = Quaternion.Inverse(pValue); - m_referenceFrame = pValue; - break; - case Vehicle.ROLL_FRAME: - m_RollreferenceFrame = pValue; - break; - } - }//end ProcessRotationVehicleParam - - internal void ProcessVehicleFlags(int pParam, bool remove) - { - if (remove) - { - m_flags &= ~((VehicleFlag)pParam); - } - else - { - m_flags |= (VehicleFlag)pParam; - } - }//end ProcessVehicleFlags - - internal void ProcessTypeChange(Vehicle pType) - { - m_lmEfect = 0; - - m_amEfect = 0; - m_ffactor = 1f; - - m_linearMotorDirection = Vector3.Zero; - m_angularMotorDirection = Vector3.Zero; - - m_BlockingEndPoint = Vector3.Zero; - m_RollreferenceFrame = Quaternion.Identity; - m_linearMotorOffset = Vector3.Zero; - - m_referenceFrame = Quaternion.Identity; - - // Set Defaults For Type - m_type = pType; - switch (pType) - { - case Vehicle.TYPE_NONE: - m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorTimescale = 1000; - m_linearMotorDecayTimescale = 120 * m_invtimestep; - m_angularMotorTimescale = 1000; - m_angularMotorDecayTimescale = 1000 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 1; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 0; - m_linearDeflectionTimescale = 1000; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 1000; - m_bankingEfficiency = 0; - m_bankingMix = 1; - m_bankingTimescale = 1000; - m_verticalAttractionEfficiency = 0; - m_verticalAttractionTimescale = 1000; - - m_flags = (VehicleFlag)0; - break; - - case Vehicle.TYPE_SLED: - m_linearFrictionTimescale = new Vector3(30, 1, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorTimescale = 1000; - m_linearMotorDecayTimescale = 120 * m_invtimestep; - m_angularMotorTimescale = 1000; - m_angularMotorDecayTimescale = 120 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 1; - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 1; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 10; - m_verticalAttractionEfficiency = 1; - m_verticalAttractionTimescale = 1000; - m_bankingEfficiency = 0; - m_bankingMix = 1; - m_bankingTimescale = 10; - m_flags &= - ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_ROLL_ONLY | - VehicleFlag.LIMIT_MOTOR_UP); - break; - - case Vehicle.TYPE_CAR: - m_linearFrictionTimescale = new Vector3(100, 2, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorTimescale = 1; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 1; - m_angularMotorDecayTimescale = 0.8f * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 0; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 1; - m_linearDeflectionTimescale = 2; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 10; - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 10f; - m_bankingEfficiency = -0.2f; - m_bankingMix = 1; - m_bankingTimescale = 1; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | - VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_ROLL_ONLY | - VehicleFlag.LIMIT_MOTOR_UP | - VehicleFlag.HOVER_UP_ONLY); - break; - case Vehicle.TYPE_BOAT: - m_linearFrictionTimescale = new Vector3(10, 3, 2); - m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_linearMotorTimescale = 5; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 4 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 2; - m_VehicleBuoyancy = 1; - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 3; - m_angularDeflectionEfficiency = 0.5f; - m_angularDeflectionTimescale = 5; - m_verticalAttractionEfficiency = 0.5f; - m_verticalAttractionTimescale = 5f; - m_bankingEfficiency = -0.3f; - m_bankingMix = 0.8f; - m_bankingTimescale = 1; - m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | - VehicleFlag.HOVER_UP_ONLY); // | -// VehicleFlag.LIMIT_ROLL_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP | - VehicleFlag.HOVER_UP_ONLY | // new sl - VehicleFlag.HOVER_WATER_ONLY); - break; - - case Vehicle.TYPE_AIRPLANE: - m_linearFrictionTimescale = new Vector3(200, 10, 5); - m_angularFrictionTimescale = new Vector3(20, 20, 20); - m_linearMotorTimescale = 2; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 4; - m_angularMotorDecayTimescale = 8 * m_invtimestep; - m_VhoverHeight = 0; - m_VhoverEfficiency = 0.5f; - m_VhoverTimescale = 1000; - m_VehicleBuoyancy = 0; - m_linearDeflectionEfficiency = 0.5f; - m_linearDeflectionTimescale = 0.5f; - m_angularDeflectionEfficiency = 1; - m_angularDeflectionTimescale = 2; - m_verticalAttractionEfficiency = 0.9f; - m_verticalAttractionTimescale = 2f; - m_bankingEfficiency = 1; - m_bankingMix = 0.7f; - m_bankingTimescale = 2; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | - VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | - VehicleFlag.HOVER_UP_ONLY | - VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); - break; - - case Vehicle.TYPE_BALLOON: - m_linearFrictionTimescale = new Vector3(5, 5, 5); - m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_linearMotorTimescale = 5; - m_linearMotorDecayTimescale = 60 * m_invtimestep; - m_angularMotorTimescale = 6; - m_angularMotorDecayTimescale = 10 * m_invtimestep; - m_VhoverHeight = 5; - m_VhoverEfficiency = 0.8f; - m_VhoverTimescale = 10; - m_VehicleBuoyancy = 1; - m_linearDeflectionEfficiency = 0; - m_linearDeflectionTimescale = 5 * m_invtimestep; - m_angularDeflectionEfficiency = 0; - m_angularDeflectionTimescale = 5; - m_verticalAttractionEfficiency = 1f; - m_verticalAttractionTimescale = 1000f; - m_bankingEfficiency = 0; - m_bankingMix = 0.7f; - m_bankingTimescale = 5; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | - VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_UP_ONLY | - VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP | //); - VehicleFlag.LIMIT_ROLL_ONLY | // new sl - VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl - -// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | -// VehicleFlag.HOVER_GLOBAL_HEIGHT); - break; - - } - - m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); - m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; - - }//end SetDefaultsForType - - internal void Stop() - { - m_lmEfect = 0; - m_lmDecay = 0f; - m_amEfect = 0; - m_amDecay = 0; - m_ffactor = 1f; - } - - public static Vector3 Xrot(Quaternion rot) - { - Vector3 vec; - rot.Normalize(); // just in case - vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1; - vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W); - vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W); - return vec; - } - - public static Vector3 Zrot(Quaternion rot) - { - Vector3 vec; - rot.Normalize(); // just in case - vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W); - vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W); - vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1; - - return vec; - } - - private const float pi = (float)Math.PI; - private const float halfpi = 0.5f * (float)Math.PI; - private const float twopi = 2.0f * pi; - - public static Vector3 ubitRot2Euler(Quaternion rot) - { - // returns roll in X - // pitch in Y - // yaw in Z - Vector3 vec; - - // assuming rot is normalised - // rot.Normalize(); - - float zX = rot.X * rot.Z + rot.Y * rot.W; - - if (zX < -0.49999f) - { - vec.X = 0; - vec.Y = -halfpi; - vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W)); - } - else if (zX > 0.49999f) - { - vec.X = 0; - vec.Y = halfpi; - vec.Z = (float)(2d * Math.Atan(rot.X / rot.W)); - } - else - { - vec.Y = (float)Math.Asin(2 * zX); - - float sqw = rot.W * rot.W; - - float minuszY = rot.X * rot.W - rot.Y * rot.Z; - float zZ = rot.Z * rot.Z + sqw - 0.5f; - - vec.X = (float)Math.Atan2(minuszY, zZ); - - float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?) - float yY = rot.X * rot.X + sqw - 0.5f; - vec.Z = (float)Math.Atan2(yX, yY); - } - return vec; - } - - public static void GetRollPitch(Quaternion rot, out float roll, out float pitch) - { - // assuming rot is normalised - // rot.Normalize(); - - float zX = rot.X * rot.Z + rot.Y * rot.W; - - if (zX < -0.49999f) - { - roll = 0; - pitch = -halfpi; - } - else if (zX > 0.49999f) - { - roll = 0; - pitch = halfpi; - } - else - { - pitch = (float)Math.Asin(2 * zX); - - float minuszY = rot.X * rot.W - rot.Y * rot.Z; - float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f; - - roll = (float)Math.Atan2(minuszY, zZ); - } - return ; - } - - internal void Step() - { - IntPtr Body = rootPrim.Body; - - d.Mass dmass; - d.BodyGetMass(Body, out dmass); - - d.Quaternion rot = d.BodyGetQuaternion(Body); - Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object - Quaternion rotq = objrotq; // rotq = rotation of object - rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame - Quaternion irotq = Quaternion.Inverse(rotq); - - d.Vector3 dvtmp; - Vector3 tmpV; - Vector3 curVel; // velocity in world - Vector3 curAngVel; // angular velocity in world - Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame - Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame - d.Vector3 dtorque = new d.Vector3(); - - dvtmp = d.BodyGetLinearVel(Body); - curVel.X = dvtmp.X; - curVel.Y = dvtmp.Y; - curVel.Z = dvtmp.Z; - Vector3 curLocalVel = curVel * irotq; // current velocity in local - - dvtmp = d.BodyGetAngularVel(Body); - curAngVel.X = dvtmp.X; - curAngVel.Y = dvtmp.Y; - curAngVel.Z = dvtmp.Z; - Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local - - float ldampZ = 0; - - // linear motor - if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) - { - tmpV = m_linearMotorDirection - curLocalVel; // velocity error - tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep - tmpV *= rotq; // to world - - if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) - tmpV.Z = 0; - - if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0) - { - // have offset, do it now - tmpV *= dmass.mass; - d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z); - } - else - { - force.X += tmpV.X; - force.Y += tmpV.Y; - force.Z += tmpV.Z; - } - - m_lmEfect *= m_lmDecay; -// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); - m_ffactor = 0.0f; - } - else - { - m_lmEfect = 0; - m_ffactor = 1f; - } - - // hover - if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero) - { - // d.Vector3 pos = d.BodyGetPosition(Body); - d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom); - pos.Z -= 0.21f; // minor offset that seems to be always there in sl - - float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); - float perr; - - // default to global but don't go underground - perr = m_VhoverHeight - pos.Z; - - if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0) - { - if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) - { - perr += _pParentScene.GetWaterLevel(); - } - else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) - { - perr += t; - } - else - { - float w = _pParentScene.GetWaterLevel(); - if (t > w) - perr += t; - else - perr += w; - } - } - else if (t > m_VhoverHeight) - perr = t - pos.Z; ; - - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > -0.1) - { - ldampZ = m_VhoverEfficiency * m_invtimestep; - - perr *= (1.0f + ldampZ) / m_VhoverTimescale; - - // force.Z += perr - curVel.Z * tmp; - force.Z += perr; - ldampZ *= -curVel.Z; - - force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy); - } - else // no buoyancy - force.Z += _pParentScene.gravityz; - } - else - { - // default gravity and Buoyancy - force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy); - } - - // linear deflection - if (m_linearDeflectionEfficiency > 0) - { - float len = curVel.Length(); - if (len > 0.01) // if moving - { - Vector3 atAxis; - atAxis = Xrot(rotq); // where are we pointing to - atAxis *= len; // make it same size as world velocity vector - - tmpV = -atAxis; // oposite direction - atAxis -= curVel; // error to one direction - len = atAxis.LengthSquared(); - - tmpV -= curVel; // error to oposite - float lens = tmpV.LengthSquared(); - - if (len > 0.01 || lens > 0.01) // do nothing if close enougth - { - if (len < lens) - tmpV = atAxis; - - tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep - force.X += tmpV.X; - force.Y += tmpV.Y; - if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0) - force.Z += tmpV.Z; - } - } - } - - // linear friction/damping - if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0) - { - tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X; - tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y; - tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z; - tmpV *= rotq; // to world - - if(ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z)) - tmpV.Z = ldampZ; - force.X += tmpV.X; - force.Y += tmpV.Y; - force.Z += tmpV.Z; - } - - // vertical atractor - if (m_verticalAttractionTimescale < 300) - { - float roll; - float pitch; - - - - float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale; - - float ftmp2; - ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep; - m_amdampX = ftmp2; - - m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency; - - GetRollPitch(irotq, out roll, out pitch); - - if (roll > halfpi) - roll = pi - roll; - else if (roll < -halfpi) - roll = -pi - roll; - - float effroll = pitch / halfpi; - effroll *= effroll; - effroll = 1 - effroll; - effroll *= roll; - - - torque.X += effroll * ftmp; - - if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0) - { - float effpitch = roll / halfpi; - effpitch *= effpitch; - effpitch = 1 - effpitch; - effpitch *= pitch; - - torque.Y += effpitch * ftmp; - } - - if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01) - { - - float broll = effroll; - /* - if (broll > halfpi) - broll = pi - broll; - else if (broll < -halfpi) - broll = -pi - broll; - */ - broll *= m_bankingEfficiency; - if (m_bankingMix != 0) - { - float vfact = Math.Abs(curLocalVel.X) / 10.0f; - if (vfact > 1.0f) vfact = 1.0f; - - if (curLocalVel.X >= 0) - broll *= (1 + (vfact - 1) * m_bankingMix); - else - broll *= -(1 + (vfact - 1) * m_bankingMix); - } - // make z rot be in world Z not local as seems to be in sl - - broll = broll / m_bankingTimescale; - - - tmpV = Zrot(irotq); - tmpV *= broll; - - torque.X += tmpV.X; - torque.Y += tmpV.Y; - torque.Z += tmpV.Z; - - m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale; - m_amdampY = m_amdampZ; - - } - else - { - m_amdampZ = 1 / m_angularFrictionTimescale.Z; - m_amdampY = m_amdampX; - } - } - else - { - m_ampwr = 1.0f; - m_amdampX = 1 / m_angularFrictionTimescale.X; - m_amdampY = 1 / m_angularFrictionTimescale.Y; - m_amdampZ = 1 / m_angularFrictionTimescale.Z; - } - - // angular motor - if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) - { - tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error - tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep - torque.X += tmpV.X * m_ampwr; - torque.Y += tmpV.Y * m_ampwr; - torque.Z += tmpV.Z; - - m_amEfect *= m_amDecay; - } - else - m_amEfect = 0; - - // angular deflection - if (m_angularDeflectionEfficiency > 0) - { - Vector3 dirv; - - if (curLocalVel.X > 0.01f) - dirv = curLocalVel; - else if (curLocalVel.X < -0.01f) - // use oposite - dirv = -curLocalVel; - else - { - // make it fall into small positive x case - dirv.X = 0.01f; - dirv.Y = curLocalVel.Y; - dirv.Z = curLocalVel.Z; - } - - float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale; - - if (Math.Abs(dirv.Z) > 0.01) - { - torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp; - } - - if (Math.Abs(dirv.Y) > 0.01) - { - torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp; - } - } - - // angular friction - if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0) - { - torque.X -= curLocalAngVel.X * m_amdampX; - torque.Y -= curLocalAngVel.Y * m_amdampY; - torque.Z -= curLocalAngVel.Z * m_amdampZ; - } - - - if (force.X != 0 || force.Y != 0 || force.Z != 0) - { - force *= dmass.mass; - d.BodyAddForce(Body, force.X, force.Y, force.Z); - } - - if (torque.X != 0 || torque.Y != 0 || torque.Z != 0) - { - torque *= m_referenceFrame; // to object frame - dtorque.X = torque.X ; - dtorque.Y = torque.Y; - dtorque.Z = torque.Z; - - d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque); - d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame - } - } - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODEMeshWorker.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODEMeshWorker.cs deleted file mode 100644 index 330b191..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODEMeshWorker.cs +++ /dev/null @@ -1,933 +0,0 @@ -/* - * AJLDuarte 2012 - */ - -using System; -using System.Threading; -using System.Collections.Generic; -using System.IO; -using System.Reflection; -using System.Runtime.InteropServices; -using System.Text; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; -using OdeAPI; -using log4net; -using Nini.Config; -using OpenMetaverse; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - public enum MeshState : byte - { - noNeed = 0, - - loadingAsset = 1, - - AssetOK = 0x0f, // 00001111 - - NeedMask = 0x30, // 00110000 - needMesh = 0x10, // 00010000 - needAsset = 0x20, // 00100000 - - FailMask = 0xC0, // 11000000 - AssetFailed = 0x40, // 01000000 - MeshFailed = 0x80, // 10000000 - - MeshNoColide = FailMask | needAsset - } - - public enum meshWorkerCmnds : byte - { - nop = 0, - addnew, - changefull, - changesize, - changeshapetype, - getmesh, - } - - public class ODEPhysRepData - { - public PhysicsActor actor; - public PrimitiveBaseShape pbs; - public IMesh mesh; - - public Vector3 size; - public Vector3 OBB; - public Vector3 OBBOffset; - - public float volume; - - public byte shapetype; - public bool hasOBB; - public bool hasMeshVolume; - public MeshState meshState; - public UUID? assetID; - public meshWorkerCmnds comand; - } - - public class ODEMeshWorker - { - - private ILog m_log; - private ODEScene m_scene; - private IMesher m_mesher; - - public bool meshSculptedPrim = true; - public bool forceSimplePrimMeshing = false; - public float meshSculptLOD = 32; - public float MeshSculptphysicalLOD = 32; - - - private OpenSim.Framework.BlockingQueue createqueue = new OpenSim.Framework.BlockingQueue(); - private bool m_running; - - private Thread m_thread; - - public ODEMeshWorker(ODEScene pScene, ILog pLog, IMesher pMesher, IConfig pConfig) - { - m_scene = pScene; - m_log = pLog; - m_mesher = pMesher; - - if (pConfig != null) - { - forceSimplePrimMeshing = pConfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); - meshSculptedPrim = pConfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim); - meshSculptLOD = pConfig.GetFloat("mesh_lod", meshSculptLOD); - MeshSculptphysicalLOD = pConfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD); - } - m_running = true; - m_thread = new Thread(DoWork); - m_thread.Name = "OdeMeshWorker"; - m_thread.Start(); - } - - private void DoWork() - { - m_mesher.ExpireFileCache(); - - while(m_running) - { - ODEPhysRepData nextRep = createqueue.Dequeue(); - if(!m_running) - return; - if (nextRep == null) - continue; - if (m_scene.haveActor(nextRep.actor)) - { - switch (nextRep.comand) - { - case meshWorkerCmnds.changefull: - case meshWorkerCmnds.changeshapetype: - case meshWorkerCmnds.changesize: - GetMesh(nextRep); - if (CreateActorPhysRep(nextRep) && m_scene.haveActor(nextRep.actor)) - m_scene.AddChange(nextRep.actor, changes.PhysRepData, nextRep); - break; - case meshWorkerCmnds.getmesh: - DoRepDataGetMesh(nextRep); - break; - } - } - } - } - - public void Stop() - { - try - { - m_thread.Abort(); - createqueue.Clear(); - } - catch - { - } - } - - public void ChangeActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, - Vector3 size, byte shapetype) - { - ODEPhysRepData repData = new ODEPhysRepData(); - repData.actor = actor; - repData.pbs = pbs; - repData.size = size; - repData.shapetype = shapetype; - - CheckMesh(repData); - CalcVolumeData(repData); - m_scene.AddChange(actor, changes.PhysRepData, repData); - return; - } - - public ODEPhysRepData NewActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, - Vector3 size, byte shapetype) - { - ODEPhysRepData repData = new ODEPhysRepData(); - repData.actor = actor; - repData.pbs = pbs; - repData.size = size; - repData.shapetype = shapetype; - - CheckMesh(repData); - CalcVolumeData(repData); - m_scene.AddChange(actor, changes.AddPhysRep, repData); - return repData; - } - - public void RequestMesh(ODEPhysRepData repData) - { - repData.mesh = null; - - if (repData.meshState == MeshState.needAsset) - { - PrimitiveBaseShape pbs = repData.pbs; - - // check if we got outdated - - if (!pbs.SculptEntry || pbs.SculptTexture == UUID.Zero) - { - repData.meshState = MeshState.noNeed; - return; - } - - repData.assetID = pbs.SculptTexture; - repData.meshState = MeshState.loadingAsset; - - repData.comand = meshWorkerCmnds.getmesh; - createqueue.Enqueue(repData); - } - } - - // creates and prepares a mesh to use and calls parameters estimation - public bool CreateActorPhysRep(ODEPhysRepData repData) - { - IMesh mesh = repData.mesh; - - if (mesh != null) - { - IntPtr vertices, indices; - int vertexCount, indexCount; - int vertexStride, triStride; - - 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 prim {0} mesh UUID {1}", - repData.actor.Name, repData.pbs.SculptTexture.ToString()); - repData.meshState = MeshState.MeshFailed; - repData.hasOBB = false; - repData.mesh = null; - m_scene.mesher.ReleaseMesh(mesh); - } - else - { - repData.OBBOffset = mesh.GetCentroid(); - repData.OBB = mesh.GetOBB(); - repData.hasOBB = true; - mesh.releaseSourceMeshData(); - } - } - CalcVolumeData(repData); - return true; - } - - public void AssetLoaded(ODEPhysRepData repData) - { - if (m_scene.haveActor(repData.actor)) - { - if (needsMeshing(repData.pbs)) // no need for pbs now? - { - repData.comand = meshWorkerCmnds.changefull; - createqueue.Enqueue(repData); - } - } - else - repData.pbs.SculptData = Utils.EmptyBytes; - } - - public void DoRepDataGetMesh(ODEPhysRepData repData) - { - if (!repData.pbs.SculptEntry) - return; - - if (repData.meshState != MeshState.loadingAsset) - return; - - if (repData.assetID == null || repData.assetID == UUID.Zero) - return; - - if (repData.assetID != repData.pbs.SculptTexture) - return; - - // check if it is in cache - GetMesh(repData); - if (repData.meshState != MeshState.needAsset) - { - CreateActorPhysRep(repData); - m_scene.AddChange(repData.actor, changes.PhysRepData, repData); - return; - } - - RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod; - if (assetProvider == null) - return; - ODEAssetRequest asr = new ODEAssetRequest(this, assetProvider, repData, m_log); - } - - - /// - /// Routine to figure out if we need to mesh this prim with our mesher - /// - /// - /// - public bool needsMeshing(PrimitiveBaseShape pbs) - { - // check sculpts or meshs - if (pbs.SculptEntry) - { - if (meshSculptedPrim) - return true; - - if (pbs.SculptType == (byte)SculptType.Mesh) // always do meshs - return true; - - return false; - } - - if (forceSimplePrimMeshing) - return true; - - // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim - - if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) - || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 - && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) - { - - if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 - && pbs.ProfileHollow == 0 - && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 - && pbs.PathBegin == 0 && pbs.PathEnd == 0 - && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 - && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 - && pbs.PathShearX == 0 && pbs.PathShearY == 0) - { - return false; - } - } - - // following code doesn't give meshs to boxes and spheres ever - // and it's odd.. so for now just return true if asked to force meshs - // hopefully mesher will fail if doesn't suport so things still get basic boxes - - int iPropertiesNotSupportedDefault = 0; - - if (pbs.ProfileHollow != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) - iPropertiesNotSupportedDefault++; - - if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) - iPropertiesNotSupportedDefault++; - - // test for torus - if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - - // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - - if (iPropertiesNotSupportedDefault == 0) - { - return false; - } - return true; - } - - // see if we need a mesh and if so if we have a cached one - // called with a new repData - public void CheckMesh(ODEPhysRepData repData) - { - PhysicsActor actor = repData.actor; - PrimitiveBaseShape pbs = repData.pbs; - - if (!needsMeshing(pbs)) - { - repData.meshState = MeshState.noNeed; - return; - } - - IMesh mesh = null; - - Vector3 size = repData.size; - byte shapetype = repData.shapetype; - - bool convex; - - int clod = (int)LevelOfDetail.High; - if (shapetype == 0) - convex = false; - else - { - convex = true; - if (pbs.SculptType != (byte)SculptType.Mesh) - clod = (int)LevelOfDetail.Low; - } - - mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); - - if (mesh == null) - { - if (pbs.SculptEntry) - { - if (pbs.SculptTexture != null && pbs.SculptTexture != UUID.Zero) - { - repData.assetID = pbs.SculptTexture; - repData.meshState = MeshState.needAsset; - } - else - repData.meshState = MeshState.MeshFailed; - - return; - } - else - { - repData.meshState = MeshState.needMesh; - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); - if (mesh == null) - { - repData.meshState = MeshState.MeshFailed; - return; - } - } - } - - repData.meshState = MeshState.AssetOK; - repData.mesh = mesh; - - if (pbs.SculptEntry) - { - repData.assetID = pbs.SculptTexture; - } - - pbs.SculptData = Utils.EmptyBytes; - return ; - } - - public void GetMesh(ODEPhysRepData repData) - { - PhysicsActor actor = repData.actor; - - PrimitiveBaseShape pbs = repData.pbs; - - repData.mesh = null; - repData.hasOBB = false; - - if (!needsMeshing(pbs)) - { - repData.meshState = MeshState.noNeed; - return; - } - - if (repData.meshState == MeshState.MeshFailed) - return; - - if (pbs.SculptEntry) - { - if (repData.meshState == MeshState.AssetFailed) - { - if (pbs.SculptTexture == repData.assetID) - return; - } - } - - repData.meshState = MeshState.noNeed; - - IMesh mesh = null; - Vector3 size = repData.size; - byte shapetype = repData.shapetype; - - bool convex; - int clod = (int)LevelOfDetail.High; - if (shapetype == 0) - convex = false; - else - { - convex = true; - if (pbs.SculptType != (byte)SculptType.Mesh) - clod = (int)LevelOfDetail.Low; - } - - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); - - if (mesh == null) - { - if (pbs.SculptEntry) - { - if (pbs.SculptTexture == UUID.Zero) - return; - - repData.assetID = pbs.SculptTexture; - - if (pbs.SculptData == null || pbs.SculptData.Length == 0) - { - repData.meshState = MeshState.needAsset; - return; - } - } - } - - repData.mesh = mesh; - repData.pbs.SculptData = Utils.EmptyBytes; - - if (mesh == null) - { - if (pbs.SculptEntry) - repData.meshState = MeshState.AssetFailed; - else - repData.meshState = MeshState.MeshFailed; - - return; - } - - repData.meshState = MeshState.AssetOK; - - return; - } - - private void CalculateBasicPrimVolume(ODEPhysRepData repData) - { - PrimitiveBaseShape _pbs = repData.pbs; - Vector3 _size = repData.size; - - float volume = _size.X * _size.Y * _size.Z; // default - float tmp; - - float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; - float hollowVolume = hollowAmount * hollowAmount; - - switch (_pbs.ProfileShape) - { - case ProfileShape.Square: - // default box - - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - if (hollowAmount > 0.0) - { - switch (_pbs.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - - hollowVolume *= 0.78539816339f; - break; - - case HollowShape.Triangle: - - hollowVolume *= (0.5f * .5f); - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - //a tube - - volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); - volume -= volume * tmp * tmp; - - if (hollowAmount > 0.0) - { - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - hollowVolume *= 0.78539816339f; - break; - - case HollowShape.Triangle: - hollowVolume *= 0.5f * 0.5f; - break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - break; - - case ProfileShape.Circle: - - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.78539816339f; // elipse base - - if (hollowAmount > 0.0) - { - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - case ProfileShape.HalfCircle: - if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.5236f; - - if (hollowAmount > 0.0) - { - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Circle: - case HollowShape.Triangle: // diference in sl is minor and odd - case HollowShape.Same: - break; - - case HollowShape.Square: - hollowVolume *= 0.909f; - break; - - // case HollowShape.Triangle: - // hollowVolume *= .827f; - // break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - - } - break; - - case ProfileShape.EquilateralTriangle: - - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.32475953f; - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - // Hollow shape is a perfect cyllinder in respect to the cube's scale - // Cyllinder hollow volume calculation - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - default: - break; - } - - float taperX1; - float taperY1; - float taperX; - float taperY; - float pathBegin; - float pathEnd; - float profileBegin; - float profileEnd; - - if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) - { - taperX1 = _pbs.PathScaleX * 0.01f; - if (taperX1 > 1.0f) - taperX1 = 2.0f - taperX1; - taperX = 1.0f - taperX1; - - taperY1 = _pbs.PathScaleY * 0.01f; - if (taperY1 > 1.0f) - taperY1 = 2.0f - taperY1; - taperY = 1.0f - taperY1; - } - else - { - taperX = _pbs.PathTaperX * 0.01f; - if (taperX < 0.0f) - taperX = -taperX; - taperX1 = 1.0f - taperX; - - taperY = _pbs.PathTaperY * 0.01f; - if (taperY < 0.0f) - taperY = -taperY; - taperY1 = 1.0f - taperY; - } - - volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - - pathBegin = (float)_pbs.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; - volume *= (pathEnd - pathBegin); - - // this is crude aproximation - profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; - volume *= (profileEnd - profileBegin); - - repData.volume = volume; - } - - private void CalcVolumeData(ODEPhysRepData repData) - { - if (repData.hasOBB) - { - Vector3 OBB = repData.OBB; - } - else - { - Vector3 OBB = repData.size; - OBB.X *= 0.5f; - OBB.Y *= 0.5f; - OBB.Z *= 0.5f; - - repData.OBB = OBB; - repData.OBBOffset = Vector3.Zero; - } - - CalculateBasicPrimVolume(repData); - } - } - - public class ODEAssetRequest - { - ODEMeshWorker m_worker; - private ILog m_log; - ODEPhysRepData repData; - - public ODEAssetRequest(ODEMeshWorker pWorker, RequestAssetDelegate provider, - ODEPhysRepData pRepData, ILog plog) - { - m_worker = pWorker; - m_log = plog; - repData = pRepData; - - repData.meshState = MeshState.AssetFailed; - if (provider == null) - return; - - if (repData.assetID == null) - return; - - UUID assetID = (UUID) repData.assetID; - if (assetID == UUID.Zero) - return; - - repData.meshState = MeshState.loadingAsset; - provider(assetID, ODEassetReceived); - } - - void ODEassetReceived(AssetBase asset) - { - repData.meshState = MeshState.AssetFailed; - if (asset != null) - { - if (asset.Data != null && asset.Data.Length > 0) - { - repData.meshState = MeshState.noNeed; - - if (!repData.pbs.SculptEntry) - return; - if (repData.pbs.SculptTexture != repData.assetID) - return; - -// repData.pbs.SculptData = new byte[asset.Data.Length]; -// asset.Data.CopyTo(repData.pbs.SculptData,0); - repData.pbs.SculptData = asset.Data; - repData.meshState = MeshState.AssetOK; - m_worker.AssetLoaded(repData); - } - else - m_log.WarnFormat("[PHYSICS]: asset provider returned invalid mesh data for prim {0} asset UUID {1}.", - repData.actor.Name, asset.ID.ToString()); - } - else - m_log.WarnFormat("[PHYSICS]: asset provider returned null asset fo mesh of prim {0}.", - repData.actor.Name); - } - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODEModule.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODEModule.cs deleted file mode 100644 index 8be7c7c..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODEModule.cs +++ /dev/null @@ -1,97 +0,0 @@ -using System; -using System.Reflection; -using log4net; -using Nini.Config; -using Mono.Addins; -using OdeAPI; -using OpenSim.Framework; -using OpenSim.Region.Framework.Scenes; -using OpenSim.Region.Framework.Interfaces; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "UBITODEPhysicsScene")] - class UbitOdeModule : INonSharedRegionModule - { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - - private bool m_Enabled = false; - private IConfigSource m_config; - private ODEScene m_scene; - private bool OdeUbitLib; - - #region INonSharedRegionModule - - public string Name - { - get { return "UbitODE"; } - } - - public Type ReplaceableInterface - { - get { return null; } - } - - public void Initialise(IConfigSource source) - { - IConfig config = source.Configs["Startup"]; - if (config != null) - { - string physics = config.GetString("physics", string.Empty); - if (physics == Name) - { - m_config = source; - m_Enabled = true; - } - } - } - - public void Close() - { - } - - public void AddRegion(Scene scene) - { - if (!m_Enabled) - return; - - if (Util.IsWindows()) - Util.LoadArchSpecificWindowsDll("ode.dll"); - - // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to - // http://opensimulator.org/mantis/view.php?id=2750). - d.InitODE(); - - string ode_config = d.GetConfiguration(); - if (ode_config != null && ode_config != "") - { - m_log.InfoFormat("[UbitODE] ode library configuration: {0}", ode_config); - - if (ode_config.Contains("ODE_Ubit")) - { - OdeUbitLib = true; - } - } - - m_scene = new ODEScene(scene, m_config, Name, OdeUbitLib); - } - - public void RemoveRegion(Scene scene) - { - if (!m_Enabled || m_scene == null) - return; - - m_scene.Dispose(); - m_scene = null; - } - - public void RegionLoaded(Scene scene) - { - if (!m_Enabled || m_scene == null) - return; - - m_scene.RegionLoaded(); - } - #endregion - } -} 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; - } - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODERayCastRequestManager.cs deleted file mode 100644 index 6b3672a..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODERayCastRequestManager.cs +++ /dev/null @@ -1,683 +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. - */ - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using System.Text; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; -using OdeAPI; -using log4net; -using OpenMetaverse; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - /// - /// Processes raycast requests as ODE is in a state to be able to do them. - /// This ensures that it's thread safe and there will be no conflicts. - /// Requests get returned by a different thread then they were requested by. - /// - public class ODERayCastRequestManager - { - /// - /// Pending ray requests - /// - protected OpenSim.Framework.LocklessQueue m_PendingRequests = new OpenSim.Framework.LocklessQueue(); - - /// - /// Scene that created this object. - /// - private ODEScene m_scene; - - IntPtr ray; // the ray. we only need one for our lifetime - IntPtr Sphere; - IntPtr Box; - IntPtr Plane; - - private int CollisionContactGeomsPerTest = 25; - private const int DefaultMaxCount = 25; - private const int MaxTimePerCallMS = 30; - - /// - /// ODE near callback delegate - /// - private d.NearCallback nearCallback; - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - private List m_contactResults = new List(); - private RayFilterFlags CurrentRayFilter; - private int CurrentMaxCount; - - public ODERayCastRequestManager(ODEScene pScene) - { - m_scene = pScene; - nearCallback = near; - ray = d.CreateRay(IntPtr.Zero, 1.0f); - d.GeomSetCategoryBits(ray, 0); - Box = d.CreateBox(IntPtr.Zero, 1.0f, 1.0f, 1.0f); - d.GeomSetCategoryBits(Box, 0); - Sphere = d.CreateSphere(IntPtr.Zero,1.0f); - d.GeomSetCategoryBits(Sphere, 0); - Plane = d.CreatePlane(IntPtr.Zero, 0f,0f,1f,1f); - d.GeomSetCategoryBits(Sphere, 0); - } - - public void QueueRequest(ODERayRequest req) - { - if (req.Count == 0) - req.Count = DefaultMaxCount; - - m_PendingRequests.Enqueue(req); - } - - /// - /// Process all queued raycast requests - /// - /// Time in MS the raycasts took to process. - public int ProcessQueuedRequests() - { - - if (m_PendingRequests.Count <= 0) - return 0; - - if (m_scene.ContactgeomsArray == IntPtr.Zero || ray == IntPtr.Zero) - // oops something got wrong or scene isn't ready still - { - m_PendingRequests.Clear(); - return 0; - } - - int time = Util.EnvironmentTickCount(); - - ODERayRequest req; - int closestHit; - int backfacecull; - CollisionCategories catflags; - - while (m_PendingRequests.Dequeue(out req)) - { - if (req.callbackMethod != null) - { - IntPtr geom = IntPtr.Zero; - if (req.actor != null) - { - if (m_scene.haveActor(req.actor)) - { - if (req.actor is OdePrim) - geom = ((OdePrim)req.actor).prim_geom; - else if (req.actor is OdeCharacter) - geom = ((OdePrim)req.actor).prim_geom; - } - if (geom == IntPtr.Zero) - { - NoContacts(req); - continue; - } - } - - - CurrentRayFilter = req.filter; - CurrentMaxCount = req.Count; - - CollisionContactGeomsPerTest = req.Count & 0xffff; - - closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1); - backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1); - - if (req.callbackMethod is ProbeBoxCallback) - { - if (CollisionContactGeomsPerTest > 80) - CollisionContactGeomsPerTest = 80; - d.GeomBoxSetLengths(Box, req.Normal.X, req.Normal.Y, req.Normal.Z); - d.GeomSetPosition(Box, req.Origin.X, req.Origin.Y, req.Origin.Z); - d.Quaternion qtmp; - qtmp.X = req.orientation.X; - qtmp.Y = req.orientation.Y; - qtmp.Z = req.orientation.Z; - qtmp.W = req.orientation.W; - d.GeomSetQuaternion(Box, ref qtmp); - } - else if (req.callbackMethod is ProbeSphereCallback) - { - if (CollisionContactGeomsPerTest > 80) - CollisionContactGeomsPerTest = 80; - - d.GeomSphereSetRadius(Sphere, req.length); - d.GeomSetPosition(Sphere, req.Origin.X, req.Origin.Y, req.Origin.Z); - } - else if (req.callbackMethod is ProbePlaneCallback) - { - if (CollisionContactGeomsPerTest > 80) - CollisionContactGeomsPerTest = 80; - - d.GeomPlaneSetParams(Plane, req.Normal.X, req.Normal.Y, req.Normal.Z, req.length); - } - - else - { - if (CollisionContactGeomsPerTest > 25) - CollisionContactGeomsPerTest = 25; - - d.GeomRaySetLength(ray, req.length); - d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); - d.GeomRaySetParams(ray, 0, backfacecull); - d.GeomRaySetClosestHit(ray, closestHit); - - if (req.callbackMethod is RaycastCallback) - { - // if we only want one get only one per Collision pair saving memory - CurrentRayFilter |= RayFilterFlags.ClosestHit; - d.GeomRaySetClosestHit(ray, 1); - } - else - d.GeomRaySetClosestHit(ray, closestHit); - } - - if ((CurrentRayFilter & RayFilterFlags.ContactsUnImportant) != 0) - unchecked - { - CollisionContactGeomsPerTest |= (int)d.CONTACTS_UNIMPORTANT; - } - - if (geom == IntPtr.Zero) - { - // translate ray filter to Collision flags - catflags = 0; - if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0) - catflags |= CollisionCategories.VolumeDtc; - if ((CurrentRayFilter & RayFilterFlags.phantom) != 0) - catflags |= CollisionCategories.Phantom; - if ((CurrentRayFilter & RayFilterFlags.agent) != 0) - catflags |= CollisionCategories.Character; - if ((CurrentRayFilter & RayFilterFlags.PrimsNonPhantom) != 0) - catflags |= CollisionCategories.Geom; - if ((CurrentRayFilter & RayFilterFlags.land) != 0) - catflags |= CollisionCategories.Land; - if ((CurrentRayFilter & RayFilterFlags.water) != 0) - catflags |= CollisionCategories.Water; - - if (catflags != 0) - { - if (req.callbackMethod is ProbeBoxCallback) - { - catflags |= CollisionCategories.Space; - d.GeomSetCollideBits(Box, (uint)catflags); - d.GeomSetCategoryBits(Box, (uint)catflags); - doProbe(req, Box); - } - else if (req.callbackMethod is ProbeSphereCallback) - { - catflags |= CollisionCategories.Space; - d.GeomSetCollideBits(Sphere, (uint)catflags); - d.GeomSetCategoryBits(Sphere, (uint)catflags); - doProbe(req, Sphere); - } - else if (req.callbackMethod is ProbePlaneCallback) - { - catflags |= CollisionCategories.Space; - d.GeomSetCollideBits(Plane, (uint)catflags); - d.GeomSetCategoryBits(Plane, (uint)catflags); - doPlane(req,IntPtr.Zero); - } - else - { - d.GeomSetCollideBits(ray, (uint)catflags); - doSpaceRay(req); - } - } - } - else - { - // if we select a geom don't use filters - - if (req.callbackMethod is ProbePlaneCallback) - { - d.GeomSetCollideBits(Plane, (uint)CollisionCategories.All); - doPlane(req,geom); - } - else - { - d.GeomSetCollideBits(ray, (uint)CollisionCategories.All); - doGeomRay(req,geom); - } - } - } - - if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS) - break; - } - - lock (m_contactResults) - m_contactResults.Clear(); - - return Util.EnvironmentTickCountSubtract(time); - } - /// - /// Method that actually initiates the raycast with spaces - /// - /// - /// - - private void NoContacts(ODERayRequest req) - { - if (req.callbackMethod is RaycastCallback) - { - ((RaycastCallback)req.callbackMethod)(false, Vector3.Zero, 0, 0, Vector3.Zero); - return; - } - List cresult = new List(); - - if (req.callbackMethod is RayCallback) - ((RayCallback)req.callbackMethod)(cresult); - else if (req.callbackMethod is ProbeBoxCallback) - ((ProbeBoxCallback)req.callbackMethod)(cresult); - else if (req.callbackMethod is ProbeSphereCallback) - ((ProbeSphereCallback)req.callbackMethod)(cresult); - } - - private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhantom; -// private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton; - private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhantom; - - private void doSpaceRay(ODERayRequest req) - { - // Collide tests - if ((CurrentRayFilter & FilterActiveSpace) != 0) - { - d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback); - d.SpaceCollide2(ray, m_scene.CharsSpace, IntPtr.Zero, nearCallback); - } - if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount)) - d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback); - if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount)) - { - // current ode land to ray collisions is very bad - // so for now limit its range badly - - if (req.length > 30.0f) - d.GeomRaySetLength(ray, 30.0f); - - d.SpaceCollide2(ray, m_scene.GroundSpace, IntPtr.Zero, nearCallback); - } - - if (req.callbackMethod is RaycastCallback) - { - // Define default results - bool hitYN = false; - uint hitConsumerID = 0; - float distance = float.MaxValue; - Vector3 closestcontact = Vector3.Zero; - Vector3 snormal = Vector3.Zero; - - // Find closest contact and object. - lock (m_contactResults) - { - foreach (ContactResult cResult in m_contactResults) - { - if(cResult.Depth < distance) - { - closestcontact = cResult.Pos; - hitConsumerID = cResult.ConsumerID; - distance = cResult.Depth; - snormal = cResult.Normal; - } - } - m_contactResults.Clear(); - } - - if (distance > 0 && distance < float.MaxValue) - hitYN = true; - ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal); - } - else - { - List cresult = new List(m_contactResults.Count); - lock (m_PendingRequests) - { - cresult.AddRange(m_contactResults); - m_contactResults.Clear(); - } - ((RayCallback)req.callbackMethod)(cresult); - } - } - - private void doProbe(ODERayRequest req, IntPtr probe) - { - // Collide tests - if ((CurrentRayFilter & FilterActiveSpace) != 0) - { - d.SpaceCollide2(probe, m_scene.ActiveSpace, IntPtr.Zero, nearCallback); - d.SpaceCollide2(probe, m_scene.CharsSpace, IntPtr.Zero, nearCallback); - } - if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount)) - d.SpaceCollide2(probe, m_scene.StaticSpace, IntPtr.Zero, nearCallback); - if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount)) - d.SpaceCollide2(probe, m_scene.GroundSpace, IntPtr.Zero, nearCallback); - - List cresult = new List(m_contactResults.Count); - lock (m_PendingRequests) - { - cresult.AddRange(m_contactResults); - m_contactResults.Clear(); - } - if (req.callbackMethod is ProbeBoxCallback) - ((ProbeBoxCallback)req.callbackMethod)(cresult); - else if (req.callbackMethod is ProbeSphereCallback) - ((ProbeSphereCallback)req.callbackMethod)(cresult); - } - - private void doPlane(ODERayRequest req,IntPtr geom) - { - // Collide tests - if (geom == IntPtr.Zero) - { - if ((CurrentRayFilter & FilterActiveSpace) != 0) - { - d.SpaceCollide2(Plane, m_scene.ActiveSpace, IntPtr.Zero, nearCallback); - d.SpaceCollide2(Plane, m_scene.CharsSpace, IntPtr.Zero, nearCallback); - } - if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount)) - d.SpaceCollide2(Plane, m_scene.StaticSpace, IntPtr.Zero, nearCallback); - if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount)) - d.SpaceCollide2(Plane, m_scene.GroundSpace, IntPtr.Zero, nearCallback); - } - else - { - d.SpaceCollide2(Plane, geom, IntPtr.Zero, nearCallback); - } - - List cresult = new List(m_contactResults.Count); - lock (m_PendingRequests) - { - cresult.AddRange(m_contactResults); - m_contactResults.Clear(); - } - - ((ProbePlaneCallback)req.callbackMethod)(cresult); - } - - /// - /// Method that actually initiates the raycast with a geom - /// - /// - private void doGeomRay(ODERayRequest req, IntPtr geom) - { - // Collide test - d.SpaceCollide2(ray, geom, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test - - if (req.callbackMethod is RaycastCallback) - { - // Define default results - bool hitYN = false; - uint hitConsumerID = 0; - float distance = float.MaxValue; - Vector3 closestcontact = Vector3.Zero; - Vector3 snormal = Vector3.Zero; - - // Find closest contact and object. - lock (m_contactResults) - { - foreach (ContactResult cResult in m_contactResults) - { - if(cResult.Depth < distance ) - { - closestcontact = cResult.Pos; - hitConsumerID = cResult.ConsumerID; - distance = cResult.Depth; - snormal = cResult.Normal; - } - } - m_contactResults.Clear(); - } - - if (distance > 0 && distance < float.MaxValue) - hitYN = true; - - ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal); - } - else - { - List cresult = new List(m_contactResults.Count); - lock (m_PendingRequests) - { - cresult.AddRange(m_contactResults); - m_contactResults.Clear(); - } - ((RayCallback)req.callbackMethod)(cresult); - } - } - - private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) - { - IntPtr ContactgeomsArray = m_scene.ContactgeomsArray; - if (ContactgeomsArray == IntPtr.Zero || index >= CollisionContactGeomsPerTest) - return false; - - IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); - newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); - return true; - } - - // This is the standard Near. g1 is the ray - private void near(IntPtr space, IntPtr g1, IntPtr g2) - { - if (g2 == IntPtr.Zero || g1 == g2) - return; - - if (m_contactResults.Count >= CurrentMaxCount) - return; - - if (d.GeomIsSpace(g2)) - { - try - { - d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); - } - catch (Exception e) - { - m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message); - } - return; - } - - int count = 0; - try - { - count = d.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); - } - catch (Exception e) - { - m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message); - return; - } - - if (count == 0) - return; -/* - uint cat1 = d.GeomGetCategoryBits(g1); - uint cat2 = d.GeomGetCategoryBits(g2); - uint col1 = d.GeomGetCollideBits(g1); - uint col2 = d.GeomGetCollideBits(g2); -*/ - - uint ID = 0; - PhysicsActor p2 = null; - - m_scene.actor_name_map.TryGetValue(g2, out p2); - - if (p2 == null) - return; - - switch (p2.PhysicsActorType) - { - case (int)ActorTypes.Prim: - - RayFilterFlags thisFlags; - - if (p2.IsPhysical) - thisFlags = RayFilterFlags.physical; - else - thisFlags = RayFilterFlags.nonphysical; - - if (p2.Phantom) - thisFlags |= RayFilterFlags.phantom; - - if (p2.IsVolumeDtc) - thisFlags |= RayFilterFlags.volumedtc; - - if ((thisFlags & CurrentRayFilter) == 0) - return; - - ID = ((OdePrim)p2).LocalID; - break; - - case (int)ActorTypes.Agent: - - if ((CurrentRayFilter & RayFilterFlags.agent) == 0) - return; - else - ID = ((OdeCharacter)p2).LocalID; - break; - - case (int)ActorTypes.Ground: - - if ((CurrentRayFilter & RayFilterFlags.land) == 0) - return; - break; - - case (int)ActorTypes.Water: - - if ((CurrentRayFilter & RayFilterFlags.water) == 0) - return; - break; - - default: - break; - } - - d.ContactGeom curcontact = new d.ContactGeom(); - - // closestHit for now only works for meshs, so must do it for others - if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0) - { - // Loop all contacts, build results. - for (int i = 0; i < count; i++) - { - if (!GetCurContactGeom(i, ref curcontact)) - break; - - ContactResult collisionresult = new ContactResult(); - collisionresult.ConsumerID = ID; - collisionresult.Pos.X = curcontact.pos.X; - collisionresult.Pos.Y = curcontact.pos.Y; - collisionresult.Pos.Z = curcontact.pos.Z; - collisionresult.Depth = curcontact.depth; - collisionresult.Normal.X = curcontact.normal.X; - collisionresult.Normal.Y = curcontact.normal.Y; - collisionresult.Normal.Z = curcontact.normal.Z; - lock (m_contactResults) - { - m_contactResults.Add(collisionresult); - if (m_contactResults.Count >= CurrentMaxCount) - return; - } - } - } - else - { - // keep only closest contact - ContactResult collisionresult = new ContactResult(); - collisionresult.ConsumerID = ID; - collisionresult.Depth = float.MaxValue; - - for (int i = 0; i < count; i++) - { - if (!GetCurContactGeom(i, ref curcontact)) - break; - - if (curcontact.depth < collisionresult.Depth) - { - collisionresult.Pos.X = curcontact.pos.X; - collisionresult.Pos.Y = curcontact.pos.Y; - collisionresult.Pos.Z = curcontact.pos.Z; - collisionresult.Depth = curcontact.depth; - collisionresult.Normal.X = curcontact.normal.X; - collisionresult.Normal.Y = curcontact.normal.Y; - collisionresult.Normal.Z = curcontact.normal.Z; - } - } - - if (collisionresult.Depth != float.MaxValue) - { - lock (m_contactResults) - m_contactResults.Add(collisionresult); - } - } - } - - /// - /// Dereference the creator scene so that it can be garbage collected if needed. - /// - internal void Dispose() - { - m_scene = null; - if (ray != IntPtr.Zero) - { - d.GeomDestroy(ray); - ray = IntPtr.Zero; - } - if (Box != IntPtr.Zero) - { - d.GeomDestroy(Box); - Box = IntPtr.Zero; - } - if (Sphere != IntPtr.Zero) - { - d.GeomDestroy(Sphere); - Sphere = IntPtr.Zero; - } - if (Plane != IntPtr.Zero) - { - d.GeomDestroy(Plane); - Plane = IntPtr.Zero; - } - } - } - - public struct ODERayRequest - { - public PhysicsActor actor; - public Vector3 Origin; - public Vector3 Normal; - public int Count; - public float length; - public object callbackMethod; - public RayFilterFlags filter; - public Quaternion orientation; - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/ODESitAvatar.cs b/OpenSim/Region/PhysicsModules/UbitOde/ODESitAvatar.cs deleted file mode 100644 index ef828de..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/ODESitAvatar.cs +++ /dev/null @@ -1,356 +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. - */ -// Ubit 2012 -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using System.Text; -using OpenSim.Framework; -using OpenSim.Region.PhysicsModules.SharedBase; -using OdeAPI; -using log4net; -using OpenMetaverse; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - /// - /// - public class ODESitAvatar - { - private ODEScene m_scene; - private ODERayCastRequestManager m_raymanager; - - public ODESitAvatar(ODEScene pScene, ODERayCastRequestManager raymanager) - { - m_scene = pScene; - m_raymanager = raymanager; - } - - private static Vector3 SitAjust = new Vector3(0, 0, 0.4f); - private const RayFilterFlags RaySitFlags = RayFilterFlags.AllPrims | RayFilterFlags.ClosestHit; - - private void RotAroundZ(float x, float y, ref Quaternion ori) - { - double ang = Math.Atan2(y, x); - ang *= 0.5d; - float s = (float)Math.Sin(ang); - float c = (float)Math.Cos(ang); - - ori.X = 0; - ori.Y = 0; - ori.Z = s; - ori.W = c; - } - - - public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse) - { - if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).prim_geom == IntPtr.Zero) - { - PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity); - return; - } - - IntPtr geom = ((OdePrim)actor).prim_geom; - - Vector3 geopos = d.GeomGetPositionOMV(geom); - Quaternion geomOri = d.GeomGetQuaternionOMV(geom); - -// Vector3 geopos = actor.Position; -// Quaternion geomOri = actor.Orientation; - - Quaternion geomInvOri = Quaternion.Conjugate(geomOri); - - Quaternion ori = Quaternion.Identity; - - Vector3 rayDir = geopos + offset - avCameraPosition; - - float raylen = rayDir.Length(); - if (raylen < 0.001f) - { - PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity); - return; - } - float t = 1 / raylen; - rayDir.X *= t; - rayDir.Y *= t; - rayDir.Z *= t; - - raylen += 30f; // focal point may be far - List rayResults; - - rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags); - if (rayResults.Count == 0) - { -/* if this fundamental ray failed, then just fail so user can try another spot and not be sitted far on a big prim - d.AABB aabb; - d.GeomGetAABB(geom, out aabb); - offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z); - ori = geomInvOri; - offset *= geomInvOri; - PhysicsSitResponse(1, actor.LocalID, offset, ori); -*/ - PhysicsSitResponse(0, actor.LocalID, offset, ori); - return; - } - - int status = 1; - - offset = rayResults[0].Pos - geopos; - - d.GeomClassID geoclass = d.GeomGetClass(geom); - - if (geoclass == d.GeomClassID.SphereClass) - { - float r = d.GeomSphereGetRadius(geom); - - offset.Normalize(); - offset *= r; - - RotAroundZ(offset.X, offset.Y, ref ori); - - if (r < 0.4f) - { - offset = new Vector3(0, 0, r); - } - else - { - if (offset.Z < 0.4f) - { - t = offset.Z; - float rsq = r * r; - - t = 1.0f / (rsq - t * t); - offset.X *= t; - offset.Y *= t; - offset.Z = 0.4f; - t = rsq - 0.16f; - offset.X *= t; - offset.Y *= t; - } - else if (r > 0.8f && offset.Z > 0.8f * r) - { - status = 3; - avOffset.X = -avOffset.X; - avOffset.Z *= 1.6f; - } - } - - offset += avOffset * ori; - - ori = geomInvOri * ori; - offset *= geomInvOri; - - PhysicsSitResponse(status, actor.LocalID, offset, ori); - return; - } - - Vector3 norm = rayResults[0].Normal; - - if (norm.Z < -0.4f) - { - PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity); - return; - } - - - float SitNormX = -rayDir.X; - float SitNormY = -rayDir.Y; - - Vector3 pivot = geopos + offset; - - float edgeNormalX = norm.X; - float edgeNormalY = norm.Y; - float edgeDirX = -rayDir.X; - float edgeDirY = -rayDir.Y; - Vector3 edgePos = rayResults[0].Pos; - float edgeDist = float.MaxValue; - - bool foundEdge = false; - - if (norm.Z < 0.5f) - { - float rayDist = 4.0f; - - for (int i = 0; i < 6; i++) - { - pivot.X -= 0.01f * norm.X; - pivot.Y -= 0.01f * norm.Y; - pivot.Z -= 0.01f * norm.Z; - - rayDir.X = -norm.X * norm.Z; - rayDir.Y = -norm.Y * norm.Z; - rayDir.Z = 1.0f - norm.Z * norm.Z; - rayDir.Normalize(); - - rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims); - if (rayResults.Count == 0) - break; - - if (Math.Abs(rayResults[0].Normal.Z) < 0.7f) - { - rayDist -= rayResults[0].Depth; - if (rayDist < 0f) - break; - - pivot = rayResults[0].Pos; - norm = rayResults[0].Normal; - edgeNormalX = norm.X; - edgeNormalY = norm.Y; - edgeDirX = -rayDir.X; - edgeDirY = -rayDir.Y; - } - else - { - foundEdge = true; - edgePos = rayResults[0].Pos; - break; - } - } - - if (!foundEdge) - { - PhysicsSitResponse(0, actor.LocalID, offset, ori); - return; - } - avOffset.X *= 0.5f; - } - - else if (norm.Z > 0.866f) - { - float toCamBaseX = avCameraPosition.X - pivot.X; - float toCamBaseY = avCameraPosition.Y - pivot.Y; - float toCamX = toCamBaseX; - float toCamY = toCamBaseY; - - for (int j = 0; j < 4; j++) - { - float rayDist = 1.0f; - float curEdgeDist = 0.0f; - - for (int i = 0; i < 3; i++) - { - pivot.Z -= 0.01f; - rayDir.X = toCamX; - rayDir.Y = toCamY; - rayDir.Z = (-toCamX * norm.X - toCamY * norm.Y) / norm.Z; - rayDir.Normalize(); - - rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims); - if (rayResults.Count == 0) - break; - - curEdgeDist += rayResults[0].Depth; - - if (rayResults[0].Normal.Z > 0.5f) - { - rayDist -= rayResults[0].Depth; - if (rayDist < 0f) - break; - - pivot = rayResults[0].Pos; - norm = rayResults[0].Normal; - } - else - { - foundEdge = true; - if (curEdgeDist < edgeDist) - { - edgeDist = curEdgeDist; - edgeNormalX = rayResults[0].Normal.X; - edgeNormalY = rayResults[0].Normal.Y; - edgeDirX = rayDir.X; - edgeDirY = rayDir.Y; - edgePos = rayResults[0].Pos; - } - break; - } - } - if (foundEdge && edgeDist < 0.2f) - break; - - pivot = geopos + offset; - - switch (j) - { - case 0: - toCamX = -toCamBaseY; - toCamY = toCamBaseX; - break; - case 1: - toCamX = toCamBaseY; - toCamY = -toCamBaseX; - break; - case 2: - toCamX = -toCamBaseX; - toCamY = -toCamBaseY; - break; - default: - break; - } - } - - if (!foundEdge) - { - avOffset.X = -avOffset.X; - avOffset.Z *= 1.6f; - - RotAroundZ(SitNormX, SitNormY, ref ori); - - offset += avOffset * ori; - - ori = geomInvOri * ori; - offset *= geomInvOri; - - PhysicsSitResponse(3, actor.LocalID, offset, ori); - return; - } - avOffset.X *= 0.5f; - } - - SitNormX = edgeNormalX; - SitNormY = edgeNormalY; - if (edgeDirX * SitNormX + edgeDirY * SitNormY < 0) - { - SitNormX = -SitNormX; - SitNormY = -SitNormY; - } - - RotAroundZ(SitNormX, SitNormY, ref ori); - - offset = edgePos + avOffset * ori; - offset -= geopos; - - ori = geomInvOri * ori; - offset *= geomInvOri; - - PhysicsSitResponse(1, actor.LocalID, offset, ori); - return; - } - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/OdeApi.cs b/OpenSim/Region/PhysicsModules/UbitOde/OdeApi.cs deleted file mode 100644 index 10d7d50..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/OdeApi.cs +++ /dev/null @@ -1,2025 +0,0 @@ -/* - * based on: - * Ode.NET - .NET bindings for ODE - * Jason Perkins (starkos@industriousone.com) - * Licensed under the New BSD - * Part of the OpenDynamicsEngine -Open Dynamics Engine -Copyright (c) 2001-2007, Russell L. Smith. -All rights reserved. - -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 names of ODE's copyright owner 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 COPYRIGHT HOLDERS AND CONTRIBUTORS -"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 COPYRIGHT -OWNER OR 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. - * - * changes by opensim team; - * changes by Aurora team http://www.aurora-sim.org/ - - * Revision/fixs by Ubit Umarov - */ - -using System; -using System.Runtime.InteropServices; -using System.Security; -using OMV = OpenMetaverse; -namespace OdeAPI -{ -//#if dDOUBLE -// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim -// at least we save same memory and memory access time, FPU performance on intel usually is similar -// using dReal = System.Double; -//#else - using dReal = System.Single; -//#endif - - public static class d - { - public static dReal Infinity = dReal.MaxValue; - public static int NTotalBodies = 0; - public static int NTotalGeoms = 0; - - public const uint CONTACTS_UNIMPORTANT = 0x80000000; - - #region Flags and Enumerations - - [Flags] - public enum AllocateODEDataFlags : uint - { - BasicData = 0, - CollisionData = 0x00000001, - All = ~0u - } - - [Flags] - public enum IniteODEFlags : uint - { - dInitFlagManualThreadCleanup = 0x00000001 - } - - [Flags] - public enum ContactFlags : int - { - Mu2 = 0x001, - FDir1 = 0x002, - Bounce = 0x004, - SoftERP = 0x008, - SoftCFM = 0x010, - Motion1 = 0x020, - Motion2 = 0x040, - MotionN = 0x080, - Slip1 = 0x100, - Slip2 = 0x200, - Approx0 = 0x0000, - Approx1_1 = 0x1000, - Approx1_2 = 0x2000, - Approx1 = 0x3000 - } - - public enum GeomClassID : int - { - SphereClass, - BoxClass, - CapsuleClass, - CylinderClass, - PlaneClass, - RayClass, - ConvexClass, - GeomTransformClass, - TriMeshClass, - HeightfieldClass, - FirstSpaceClass, - SimpleSpaceClass = FirstSpaceClass, - HashSpaceClass, - QuadTreeSpaceClass, - LastSpaceClass = QuadTreeSpaceClass, - UbitTerrainClass, - FirstUserClass, - LastUserClass = FirstUserClass + MaxUserClasses - 1, - NumClasses, - MaxUserClasses = 5 - } - - public enum JointType : int - { - None, - Ball, - Hinge, - Slider, - Contact, - Universal, - Hinge2, - Fixed, - Null, - AMotor, - LMotor, - Plane2D - } - - public enum JointParam : int - { - LoStop, - HiStop, - Vel, - FMax, - FudgeFactor, - Bounce, - CFM, - StopERP, - StopCFM, - SuspensionERP, - SuspensionCFM, - LoStop2 = 256, - HiStop2, - Vel2, - FMax2, - FudgeFactor2, - Bounce2, - CFM2, - StopERP2, - StopCFM2, - SuspensionERP2, - SuspensionCFM2, - LoStop3 = 512, - HiStop3, - Vel3, - FMax3, - FudgeFactor3, - Bounce3, - CFM3, - StopERP3, - StopCFM3, - SuspensionERP3, - SuspensionCFM3 - } - - public enum dSweepAndPruneAxis : int - { - XYZ = ((0)|(1<<2)|(2<<4)), - XZY = ((0)|(2<<2)|(1<<4)), - YXZ = ((1)|(0<<2)|(2<<4)), - YZX = ((1)|(2<<2)|(0<<4)), - ZXY = ((2)|(0<<2)|(1<<4)), - ZYX = ((2)|(1<<2)|(0<<4)) - } - - #endregion - - #region Callbacks - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void GetAABBFn(IntPtr geom, out AABB aabb); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate ColliderFn GetColliderFnFn(int num); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void GeomDtorFn(IntPtr o); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate dReal UbitTerrainGetHeight(IntPtr p_user_data, int x, int z); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); - - #endregion - - #region Structs - - [StructLayout(LayoutKind.Sequential)] - public struct AABB - { - public dReal MinX, MaxX; - public dReal MinY, MaxY; - public dReal MinZ, MaxZ; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Contact - { - public SurfaceParameters surface; - public ContactGeom geom; - public Vector3 fdir1; - public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact)); - } - - - [StructLayout(LayoutKind.Sequential)] - public struct ContactGeom - { - - public Vector3 pos; - public Vector3 normal; - public dReal depth; - public IntPtr g1; - public IntPtr g2; - public int side1; - public int side2; - public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom)); - } - - [StructLayout(LayoutKind.Sequential)] - public struct GeomClass - { - public int bytes; - public GetColliderFnFn collider; - public GetAABBFn aabb; - public AABBTestFn aabb_test; - public GeomDtorFn dtor; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct JointFeedback - { - public Vector3 f1; - public Vector3 t1; - public Vector3 f2; - public Vector3 t2; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Mass - { - public dReal mass; - public Vector4 c; - public Matrix3 I; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Matrix3 - { - public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) - { - M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; - M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; - M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; - } - public dReal M00, M10, M20; - private dReal _m30; - public dReal M01, M11, M21; - private dReal _m31; - public dReal M02, M12, M22; - private dReal _m32; - } - - [StructLayout(LayoutKind.Sequential)] - public struct Matrix4 - { - public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, - dReal m01, dReal m11, dReal m21, dReal m31, - dReal m02, dReal m12, dReal m22, dReal m32, - dReal m03, dReal m13, dReal m23, dReal m33) - { - M00 = m00; M10 = m10; M20 = m20; M30 = m30; - M01 = m01; M11 = m11; M21 = m21; M31 = m31; - M02 = m02; M12 = m12; M22 = m22; M32 = m32; - M03 = m03; M13 = m13; M23 = m23; M33 = m33; - } - public dReal M00, M10, M20, M30; - public dReal M01, M11, M21, M31; - public dReal M02, M12, M22, M32; - public dReal M03, M13, M23, M33; - } - - [StructLayout(LayoutKind.Sequential)] - public struct Quaternion - { - public dReal W, X, Y, Z; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct SurfaceParameters - { - public ContactFlags mode; - public dReal mu; - public dReal mu2; - public dReal bounce; - public dReal bounce_vel; - public dReal soft_erp; - public dReal soft_cfm; - public dReal motion1; - public dReal motion2; - public dReal motionN; - public dReal slip1; - public dReal slip2; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Vector3 - { - public Vector3(dReal x, dReal y, dReal z) - { - X = x; Y = y; Z = z; _w = 0.0f; - } - public dReal X, Y, Z; - private dReal _w; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Vector4 - { - public Vector4(dReal x, dReal y, dReal z, dReal w) - { - X = x; Y = y; Z = z; W = w; - } - public dReal X, Y, Z, W; - } - - #endregion - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] - public static extern int AllocateODEDataForThread(uint ODEInitFlags); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] - public static extern bool AreConnected(IntPtr b1, IntPtr b2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] - public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyPosition(IntPtr body, out dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyRotation(IntPtr body, out dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyiCreate(IntPtr world); - public static IntPtr BodyCreate(IntPtr world) - { - NTotalBodies++; - return BodyiCreate(world); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void BodyiDestroy(IntPtr body); - public static void BodyDestroy(IntPtr body) - { - NTotalBodies--; - BodyiDestroy(body); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] - public static extern void BodyDisable(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] - public static extern void BodyEnable(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyGetAutoDisableFlag(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetAutoDisableDefaults(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetAutoDisableSteps(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableTime(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); - public static Vector3 BodyGetAngularVel(IntPtr body) - { - unsafe { return *(BodyGetAngularVelUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetData(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetFiniteRotationMode(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); - public static Vector3 BodyGetForce(IntPtr body) - { - unsafe { return *(BodyGetForceUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyGetGravityMode(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetGyroscopicMode(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetJoint(IntPtr body, int index); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); - public static Vector3 BodyGetLinearVel(IntPtr body) - { - unsafe { return *(BodyGetLinearVelUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetMass(IntPtr body, out Mass mass); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetNumJoints(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); - public static Vector3 BodyGetPosition(IntPtr body) - { - unsafe { return *(BodyGetPositionUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); - public static Quaternion BodyGetQuaternion(IntPtr body) - { - unsafe { return *(BodyGetQuaternionUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); - public static Matrix3 BodyGetRotation(IntPtr body) - { - unsafe { return *(BodyGetRotationUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); - public static Vector3 BodyGetTorque(IntPtr body) - { - unsafe { return *(BodyGetTorqueUnsafe(body)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetWorld(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetFirstGeom(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr dBodyGetNextGeom(IntPtr Geom); - - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyIsEnabled(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableDefaults(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetData(IntPtr body, IntPtr data); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearDamping(IntPtr body, dReal scale); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularDamping(IntPtr body, dReal scale); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetLinearDamping(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAngularDamping(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetGravityMode(IntPtr body, bool mode); - - /// - /// Sets the Gyroscopic term status on the body specified. - /// - /// Pointer to body - /// NonZero enabled, Zero disabled - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] - public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetMass(IntPtr body, ref Mass mass); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetQuaternion(IntPtr body, ref dReal w); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetRotation(IntPtr body, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] - public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] - public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] - public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, - ref Vector3 side1, ref Vector3 p2, - ref Matrix3 R2, ref Vector3 side2, - ref Vector3 normal, out dReal depth, out int return_code, - int maxc, out ContactGeom contact, int skip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] - public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, - ref Vector3 side1, ref Vector3 _p2, - ref Matrix3 R2, ref Vector3 side2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] - public static extern void CleanupODEAllDataForThread(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] - public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, - ref Vector3 b1, ref Vector3 b2, - ref Vector3 cp1, ref Vector3 cp2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] - public static extern void CloseODE(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] - public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] - public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz); - public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz) - { - NTotalGeoms++; - return CreateiBox(space, lx, ly, lz); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length); - public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length) - { - NTotalGeoms++; - return CreateiCapsule(space, radius, length); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons) - { - NTotalGeoms++; - return CreateiConvex(space, planes, planeCount, points, pointCount, polygons); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length); - public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length) - { - NTotalGeoms++; - return CreateiCylinder(space, radius, length); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable); - public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable) - { - NTotalGeoms++; - return CreateiHeightfield(space, data, bPlaceable); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateUbitTerrain"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiUbitTerrain(IntPtr space, IntPtr data, int bPlaceable); - public static IntPtr CreateUbitTerrain(IntPtr space, IntPtr data, int bPlaceable) - { - NTotalGeoms++; - return CreateiUbitTerrain(space, data, bPlaceable); - } - - - - - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiGeom(int classnum); - public static IntPtr CreateGeom(int classnum) - { - NTotalGeoms++; - return CreateiGeom(classnum); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] - public static extern int CreateGeomClass(ref GeomClass classptr); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateGeomTransform(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); - public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d) - { - NTotalGeoms++; - return CreateiPlane(space, a, b, c, d); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiRay(IntPtr space, dReal length); - public static IntPtr CreateRay(IntPtr space, dReal length) - { - NTotalGeoms++; - return CreateiRay(space, length); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiSphere(IntPtr space, dReal radius); - public static IntPtr CreateSphere(IntPtr space, dReal radius) - { - NTotalGeoms++; - return CreateiSphere(space, radius); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data, - TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); - public static IntPtr CreateTriMesh(IntPtr space, IntPtr data, - TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback) - { - NTotalGeoms++; - return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback); - } - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] - public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] - public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] - public static extern int FactorCholesky(ref dReal A00, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] - public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] - public static extern void GeomClearOffset(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyPosition(IntPtr geom, out dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomiDestroy(IntPtr geom); - public static void GeomDestroy(IntPtr geom) - { - NTotalGeoms--; - GeomiDestroy(geom); - } - - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] - public static extern void GeomDisable(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] - public static extern void GeomEnable(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] - public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] - public static extern void GeomGetAABB(IntPtr geom, out dReal minX); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetBody(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] - public static extern uint GeomGetCategoryBits(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetClassData(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] - public static extern uint GeomGetCollideBits(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] - public static extern GeomClassID GeomGetClass(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetData(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); - public static Vector3 GeomGetOffsetPosition(IntPtr geom) - { - unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); - public static Matrix3 GeomGetOffsetRotation(IntPtr geom) - { - unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); - public static Vector3 GeomGetPosition(IntPtr geom) - { - unsafe { return *(GeomGetPositionUnsafe(geom)); } - } - public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom) - { - Vector3 vtmp = GeomGetPosition(geom); - return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); - public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom) - { - Quaternion qtmp; - GeomCopyQuaternion(geom, out qtmp); - return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); - public static Matrix3 GeomGetRotation(IntPtr geom) - { - unsafe { return *(GeomGetRotationUnsafe(geom)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetSpace(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomHeightfieldDataCreate(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataDestroy(IntPtr d); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); - - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] - public static extern void GeomUbitTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData, - dReal sampleSize, int widthSamples, int depthSamples, - dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity] - public static extern void GeomUbitTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal sampleSize, int widthSamples, int depthSamples, - dReal thickness, int bWrap); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomUbitTerrainDataCreate(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomUbitTerrainDataDestroy(IntPtr d); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity] - public static extern void GeomUbitTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomUbitTerrainGetHeightfieldData(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomUbitTerrainSetHeightfieldData(IntPtr g, IntPtr d); - - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsEnabled(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsOffset(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsSpace(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] - public static extern int GeomRayGetClosestHit(IntPtr ray); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomRayGetLength(IntPtr ray); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetLength(IntPtr ray, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetBody(IntPtr geom, IntPtr body); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetCategoryBits(IntPtr geom, uint bits); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetCollideBits(IntPtr geom, uint bits); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetData(IntPtr geom, IntPtr data); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomSphereGetRadius(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern int GeomTransformGetCleanup(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTransformGetGeom(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] - public static extern int GeomTransformGetInfo(IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetInfo(IntPtr geom, int info); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - double[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, - double[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - double[] normals); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle(IntPtr d, - dReal[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, - dReal[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - dReal[] normals); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple(IntPtr d, - float[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, - float[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - float[] normals); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshClearTCCache(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshDataCreate(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataDestroy(IntPtr d); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataPreprocess(IntPtr d); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataUpdate(IntPtr d); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshGetData(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); - public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) - { - unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] - public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] - public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] - public extern static int GeomTriMeshGetTriangleCount(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr iGetConfiguration(); - - public static string GetConfiguration() - { - IntPtr ptr = iGetConfiguration(); - string s = Marshal.PtrToStringAnsi(ptr); - return s; - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr HashSpaceCreate(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] - public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] - public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] - public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] - public static extern void InitODE(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] - public static extern int InitODE2(uint ODEInitFlags); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] - public static extern int IsPositiveDefinite(ref dReal A, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] - public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddPRTorque(IntPtr joint, dReal torque); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddSliderForce(IntPtr joint, dReal force); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] - public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void JointDestroy(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorMode(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorNumAxes(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGetBody(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGetData(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] - public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); - public static JointFeedback JointGetFeedback(IntPtr j) - { - unsafe { return *(JointGetFeedbackUnsafe(j)); } - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeAngle(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeAngleRate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeParam(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle1(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetLMotorNumAxes(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRParam(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRPosition(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRPositionRate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderParam(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderPosition(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderPositionRate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] - public static extern JointType JointGetType(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle1(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle2(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGroupCreate(int max_size); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void JointGroupDestroy(IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] - public static extern void JointGroupEmpty(IntPtr group); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorMode(IntPtr j, int mode); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorNumAxes(IntPtr group, int num); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetData(IntPtr j, IntPtr data); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetFixed(IntPtr j); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorNumAxes(IntPtr j, int num); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] - public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] - public static extern void MassAdd(ref Mass a, ref Mass b); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] - public static extern void MassAdjust(ref Mass m, dReal newmass); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] - public static extern bool MassCheck(ref Mass m); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] - public static extern void MassRotate(ref Mass mass, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] - public static extern void MassRotate(ref Mass mass, ref dReal M00); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetParameters(out Mass mass, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal i11, dReal i22, dReal i33, - dReal i12, dReal i13, dReal i23); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] - public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetZero(out Mass mass); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] - public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] - private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r); - public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector) - { - MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1); - } - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] - public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] - public static extern void QfromR(out Quaternion q, ref Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] - public static extern void QSetIdentity(out Quaternion q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] - public static extern dReal RandReal(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] - public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] - public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] - public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] - public static extern void RfromQ(out Matrix3 R, ref Quaternion q); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] - public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] - public static extern void RSetIdentity(out Matrix3 R); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] - public static extern void SetValue(out dReal a, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] - public static extern void SetZero(out dReal a, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SimpleSpaceCreate(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] - public static extern void SolveCholesky(ref dReal L, out dReal b, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] - public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] - public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] - public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceAdd(IntPtr space, IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceLockQuery(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceClean(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceDestroy(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceGetCleanup(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] - public static extern int SpaceGetNumGeoms(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SpaceGetGeom(IntPtr space, int i); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] - public static extern int SpaceGetSublevel(IntPtr space); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceQuery(IntPtr space, IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceRemove(IntPtr space, IntPtr geom); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceSetCleanup(IntPtr space, bool mode); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceSetSublevel(IntPtr space, int sublevel); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] - public static extern void VectorScale(out dReal a, ref dReal d, int n); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr WorldCreate(); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void WorldDestroy(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern bool WorldGetAutoDisableFlag(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoDisableSteps(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableTime(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetCFM(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetERP(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldGetGravity(IntPtr world, out dReal X); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAngularDamping(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetLinearDamping(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetQuickStepNumIterations(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetQuickStepW(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] - public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] - public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] - public static extern void WorldQuickStep(IntPtr world, dReal stepsize); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetCFM(IntPtr world, dReal cfm); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetERP(IntPtr world, dReal erp); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] - public static extern void WorldStep(IntPtr world, dReal stepsize); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] - public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); - - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] - public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/OdeScene.cs b/OpenSim/Region/PhysicsModules/UbitOde/OdeScene.cs deleted file mode 100644 index bd0e372..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/OdeScene.cs +++ /dev/null @@ -1,2818 +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 -//#define SPAM - -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using System.Threading; -using System.IO; -using System.Diagnostics; -using log4net; -using Nini.Config; -using Mono.Addins; -using OdeAPI; -using OpenSim.Framework; -using OpenSim.Region.Framework.Scenes; -using OpenSim.Region.Framework.Interfaces; -using OpenSim.Region.PhysicsModules.SharedBase; -using OpenMetaverse; - -namespace OpenSim.Region.PhysicsModule.UbitOde -{ - // colision flags of things others can colide with - // rays, sensors, probes removed since can't be colided with - // The top space where things are placed provided further selection - // ie physical are in active space nonphysical in static - // this should be exclusive as possible - - [Flags] - public enum CollisionCategories : uint - { - Disabled = 0, - //by 'things' types - Space = 0x01, - Geom = 0x02, // aka prim/part - Character = 0x04, - Land = 0x08, - Water = 0x010, - - // by state - Phantom = 0x01000, - VolumeDtc = 0x02000, - Selected = 0x04000, - NoShape = 0x08000, - - - All = 0xffffffff - } - - /// - /// Material type for a primitive - /// - public enum Material : int - { - /// - Stone = 0, - /// - Metal = 1, - /// - Glass = 2, - /// - Wood = 3, - /// - Flesh = 4, - /// - Plastic = 5, - /// - Rubber = 6, - - light = 7 // compatibility with old viewers - } - - public enum changes : int - { - Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) - Remove, - Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root - // or removes from a object if arg is null - DeLink, - Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child - Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child - PosOffset, // not in use - // arg Vector3 new position in local coords. Changes prim position in object - OriOffset, // not in use - // arg Vector3 new position in local coords. Changes prim position in object - Velocity, - AngVelocity, - Acceleration, - Force, - Torque, - Momentum, - - AddForce, - AddAngForce, - AngLock, - - Buoyancy, - - PIDTarget, - PIDTau, - PIDActive, - - PIDHoverHeight, - PIDHoverType, - PIDHoverTau, - PIDHoverActive, - - Size, - AvatarSize, - Shape, - PhysRepData, - AddPhysRep, - - CollidesWater, - VolumeDtc, - - Physical, - Phantom, - Selected, - disabled, - building, - - VehicleType, - VehicleFloatParam, - VehicleVectorParam, - VehicleRotationParam, - VehicleFlags, - SetVehicle, - - Null //keep this last used do dim the methods array. does nothing but pulsing the prim - } - - public struct ODEchangeitem - { - public PhysicsActor actor; - public OdeCharacter character; - public changes what; - public Object arg; - } - - public class ODEScene : PhysicsScene - { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - - public bool m_odeUbitLib = false; - public bool m_suportCombine = false; // mega suport not tested - public Scene m_frameWorkScene = null; - -// private int threadid = 0; - -// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; - - const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2; - const float comumContactERP = 0.7f; - const float comumContactCFM = 0.0001f; - const float comumContactSLIP = 0f; - - float frictionMovementMult = 0.8f; - - float TerrainBounce = 0.1f; - float TerrainFriction = 0.3f; - - public float AvatarFriction = 0;// 0.9f * 0.5f; - - // this netx dimensions are only relevant for terrain partition (mega regions) - // WorldExtents below has the simulation dimensions - // they should be identical except on mega regions - private uint m_regionWidth = Constants.RegionSize; - private uint m_regionHeight = Constants.RegionSize; - - public float ODE_STEPSIZE = 0.020f; - public float HalfOdeStep = 0.01f; - public int odetimestepMS = 20; // rounded - private float metersInSpace = 25.6f; - private float m_timeDilation = 1.0f; - - private DateTime m_lastframe; - private DateTime m_lastMeshExpire; - - public float gravityx = 0f; - public float gravityy = 0f; - public float gravityz = -9.8f; - - private float waterlevel = 0f; - private int framecount = 0; - -// private int m_meshExpireCntr; - - private float avDensity = 3f; - private float avMovementDivisorWalk = 1.3f; - private float avMovementDivisorRun = 0.8f; - private float minimumGroundFlightOffset = 3f; - public float maximumMassObject = 10000.01f; - - - public float geomDefaultDensity = 10.000006836f; - - public float bodyPIDD = 35f; - public float bodyPIDG = 25; - - public int bodyFramesAutoDisable = 5; - - private d.NearCallback nearCallback; - - private HashSet _characters = new HashSet(); - private HashSet _prims = new HashSet(); - private HashSet _activeprims = new HashSet(); - private HashSet _activegroups = new HashSet(); - - public OpenSim.Framework.LocklessQueue ChangesQueue = new OpenSim.Framework.LocklessQueue(); - - /// - /// A list of actors that should receive collision events. - /// - private List _collisionEventPrim = new List(); - private List _collisionEventPrimRemove = new List(); - - private HashSet _badCharacter = new HashSet(); -// public Dictionary geom_name_map = new Dictionary(); - public Dictionary actor_name_map = new Dictionary(); - - private float contactsurfacelayer = 0.001f; - - private int contactsPerCollision = 80; - internal IntPtr ContactgeomsArray = IntPtr.Zero; - private IntPtr GlobalContactsArray = IntPtr.Zero; - private d.Contact SharedTmpcontact = new d.Contact(); - - const int maxContactsbeforedeath = 4000; - private volatile int m_global_contactcount = 0; - - private IntPtr contactgroup; - - public ContactData[] m_materialContactsData = new ContactData[8]; - - private Dictionary RegionTerrain = new Dictionary(); - private Dictionary TerrainHeightFieldHeights = new Dictionary(); - private Dictionary TerrainHeightFieldHeightsHandlers = new Dictionary(); - - private int m_physicsiterations = 15; - private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag -// private PhysicsActor PANull = new NullPhysicsActor(); - private float step_time = 0.0f; - - public IntPtr world; - - - // split the spaces acording to contents type - // ActiveSpace contains characters and active prims - // StaticSpace contains land and other that is mostly static in enviroment - // this can contain subspaces, like the grid in staticspace - // as now space only contains this 2 top spaces - - public IntPtr TopSpace; // the global space - public IntPtr ActiveSpace; // space for active prims - public IntPtr CharsSpace; // space for active prims - public IntPtr StaticSpace; // space for the static things around - public IntPtr GroundSpace; // space for ground - - // some speedup variables - private int spaceGridMaxX; - private int spaceGridMaxY; - private float spacesPerMeterX; - private float spacesPerMeterY; - - // split static geometry collision into a grid as before - private IntPtr[,] staticPrimspace; - private IntPtr[] staticPrimspaceOffRegion; - - public Object OdeLock; - public static Object SimulationLock; - - public IMesher mesher; - - public IConfigSource m_config; - - public bool physics_logging = false; - public int physics_logging_interval = 0; - public bool physics_logging_append_existing_logfile = false; - - private Vector3 m_worldOffset = Vector3.Zero; - public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); - private PhysicsScene m_parentScene = null; - - private ODERayCastRequestManager m_rayCastManager; - public ODEMeshWorker m_meshWorker; - - /* maybe needed if ode uses tls - private void checkThread() - { - - int th = Thread.CurrentThread.ManagedThreadId; - if(th != threadid) - { - threadid = th; - d.AllocateODEDataForThread(~0U); - } - } - */ - - IConfig physicsconfig = null; - - public ODEScene(Scene pscene, IConfigSource psourceconfig, string pname, bool podeUbitLib) - { - OdeLock = new Object(); - - EngineType = pname; - PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName; - - m_config = psourceconfig; - m_odeUbitLib = podeUbitLib; - m_frameWorkScene = pscene; - - m_frameWorkScene.RegisterModuleInterface(this); - - Initialization(); - - base.Initialise(m_frameWorkScene.PhysicsRequestAsset, - (m_frameWorkScene.Heightmap != null ? m_frameWorkScene.Heightmap.GetFloatsSerialised() : new float[m_frameWorkScene.RegionInfo.RegionSizeX * m_frameWorkScene.RegionInfo.RegionSizeY]), - (float)m_frameWorkScene.RegionInfo.RegionSettings.WaterHeight); - } - - // core hack this just means all modules where loaded - // so now we can look for dependencies - public void RegionLoaded() - { - mesher = m_frameWorkScene.RequestModuleInterface(); - if (mesher == null) - { - m_log.WarnFormat("[UbitODE] No mesher. module disabled"); - return; - } - - m_meshWorker = new ODEMeshWorker(this, m_log, mesher, physicsconfig); - m_frameWorkScene.PhysicsEnabled = true; - } - /// - /// Initiailizes the scene - /// Sets many properties that ODE requires to be stable - /// These settings need to be tweaked 'exactly' right or weird stuff happens. - /// - private void Initialization() - { - // checkThread(); - SimulationLock = new Object(); - - nearCallback = near; - - m_rayCastManager = new ODERayCastRequestManager(this); - - WorldExtents.X = m_frameWorkScene.RegionInfo.RegionSizeX; - m_regionWidth = (uint)WorldExtents.X; - WorldExtents.Y = m_frameWorkScene.RegionInfo.RegionSizeY; - m_regionHeight = (uint)WorldExtents.Y; - - m_suportCombine = false; - - lock (OdeLock) - { - // Create the world and the first space - try - { - world = d.WorldCreate(); - TopSpace = d.HashSpaceCreate(IntPtr.Zero); - - // now the major subspaces - ActiveSpace = d.HashSpaceCreate(TopSpace); - CharsSpace = d.HashSpaceCreate(TopSpace); - StaticSpace = d.HashSpaceCreate(TopSpace); - GroundSpace = d.HashSpaceCreate(TopSpace); - } - catch - { - // i must RtC#FM - // i did! - } - - d.HashSpaceSetLevels(TopSpace, -2, 8); - d.HashSpaceSetLevels(ActiveSpace, -2, 8); - d.HashSpaceSetLevels(CharsSpace, -4, 3); - d.HashSpaceSetLevels(StaticSpace, -2, 8); - d.HashSpaceSetLevels(GroundSpace, 0, 8); - - // demote to second level - d.SpaceSetSublevel(ActiveSpace, 1); - d.SpaceSetSublevel(CharsSpace, 1); - d.SpaceSetSublevel(StaticSpace, 1); - d.SpaceSetSublevel(GroundSpace, 1); - - d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Character | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(ActiveSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Character | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCategoryBits(CharsSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Character | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(CharsSpace, 0); - - d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - // CollisionCategories.Land | - // CollisionCategories.Water | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(StaticSpace, 0); - - d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundSpace, 0); - - contactgroup = d.JointGroupCreate(maxContactsbeforedeath + 1); - //contactgroup - - d.WorldSetAutoDisableFlag(world, false); - } - - - // checkThread(); - - - // Defaults - - int contactsPerCollision = 80; - - physicsconfig = null; - - if (m_config != null) - { - physicsconfig = m_config.Configs["ODEPhysicsSettings"]; - if (physicsconfig != null) - { - gravityx = physicsconfig.GetFloat("world_gravityx", gravityx); - gravityy = physicsconfig.GetFloat("world_gravityy", gravityy); - gravityz = physicsconfig.GetFloat("world_gravityz", gravityz); - - metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); - - // contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); - - ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); - - avDensity = physicsconfig.GetFloat("av_density", avDensity); - avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); - avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun); - - contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); - - geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); - bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable); - - physics_logging = physicsconfig.GetBoolean("physics_logging", false); - physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); - physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); - - minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset); - maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject); - } - } - - d.WorldSetCFM(world, comumContactCFM); - d.WorldSetERP(world, comumContactERP); - - d.WorldSetGravity(world, gravityx, gravityy, gravityz); - - d.WorldSetLinearDamping(world, 0.002f); - d.WorldSetAngularDamping(world, 0.002f); - d.WorldSetAngularDampingThreshold(world, 0f); - d.WorldSetLinearDampingThreshold(world, 0f); - d.WorldSetMaxAngularSpeed(world, 100f); - - d.WorldSetQuickStepNumIterations(world, m_physicsiterations); - - d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); - d.WorldSetContactMaxCorrectingVel(world, 60.0f); - - HalfOdeStep = ODE_STEPSIZE * 0.5f; - odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f); - - ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); - GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); - - SharedTmpcontact.geom.g1 = IntPtr.Zero; - SharedTmpcontact.geom.g2 = IntPtr.Zero; - - SharedTmpcontact.geom.side1 = -1; - SharedTmpcontact.geom.side2 = -1; - - SharedTmpcontact.surface.mode = comumContactFlags; - SharedTmpcontact.surface.mu = 0; - SharedTmpcontact.surface.bounce = 0; - SharedTmpcontact.surface.soft_cfm = comumContactCFM; - SharedTmpcontact.surface.soft_erp = comumContactERP; - SharedTmpcontact.surface.slip1 = comumContactSLIP; - SharedTmpcontact.surface.slip2 = comumContactSLIP; - - m_materialContactsData[(int)Material.Stone].mu = 0.8f; - m_materialContactsData[(int)Material.Stone].bounce = 0.4f; - - m_materialContactsData[(int)Material.Metal].mu = 0.3f; - m_materialContactsData[(int)Material.Metal].bounce = 0.4f; - - m_materialContactsData[(int)Material.Glass].mu = 0.2f; - m_materialContactsData[(int)Material.Glass].bounce = 0.7f; - - m_materialContactsData[(int)Material.Wood].mu = 0.6f; - m_materialContactsData[(int)Material.Wood].bounce = 0.5f; - - m_materialContactsData[(int)Material.Flesh].mu = 0.9f; - m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; - - m_materialContactsData[(int)Material.Plastic].mu = 0.4f; - m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; - - m_materialContactsData[(int)Material.Rubber].mu = 0.9f; - m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; - - m_materialContactsData[(int)Material.light].mu = 0.0f; - m_materialContactsData[(int)Material.light].bounce = 0.0f; - - - spacesPerMeterX = 1.0f / metersInSpace; - spacesPerMeterY = spacesPerMeterX; - spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX); - spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY); - - if (spaceGridMaxX > 24) - { - spaceGridMaxX = 24; - spacesPerMeterX = spaceGridMaxX / WorldExtents.X; - } - - if (spaceGridMaxY > 24) - { - spaceGridMaxY = 24; - spacesPerMeterY = spaceGridMaxY / WorldExtents.Y; - } - - staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; - - // create all spaces now - int i, j; - IntPtr newspace; - - for (i = 0; i < spaceGridMaxX; i++) - for (j = 0; j < spaceGridMaxY; j++) - { - newspace = d.HashSpaceCreate(StaticSpace); - d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); - waitForSpaceUnlock(newspace); - d.SpaceSetSublevel(newspace, 2); - d.HashSpaceSetLevels(newspace, -2, 8); - d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Land | - CollisionCategories.Water | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(newspace, 0); - - staticPrimspace[i, j] = newspace; - } - - // let this now be index limit - spaceGridMaxX--; - spaceGridMaxY--; - - // create 4 off world spaces (x<0,x>max,y<0,y>max) - staticPrimspaceOffRegion = new IntPtr[4]; - - for (i = 0; i < 4; i++) - { - newspace = d.HashSpaceCreate(StaticSpace); - d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); - waitForSpaceUnlock(newspace); - d.SpaceSetSublevel(newspace, 2); - d.HashSpaceSetLevels(newspace, -2, 8); - d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Land | - CollisionCategories.Water | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(newspace, 0); - - staticPrimspaceOffRegion[i] = newspace; - } - - m_lastframe = DateTime.UtcNow; - m_lastMeshExpire = m_lastframe; - } - - internal void waitForSpaceUnlock(IntPtr space) - { - //if (space != IntPtr.Zero) - //while (d.SpaceLockQuery(space)) { } // Wait and do nothing - } - - #region Collision Detection - - // sets a global contact for a joint for contactgeom , and base contact description) - - - - private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom) - { - if (m_global_contactcount >= maxContactsbeforedeath) - return IntPtr.Zero; - - m_global_contactcount++; - - SharedTmpcontact.geom.depth = contactGeom.depth; - SharedTmpcontact.geom.pos = contactGeom.pos; - SharedTmpcontact.geom.normal = contactGeom.normal; - - IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); - Marshal.StructureToPtr(SharedTmpcontact, contact, true); - return d.JointCreateContactPtr(world, contactgroup, contact); - } - - private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) - { - if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision) - return false; - - IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); - newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); - return true; - } - - /// - /// This is our near callback. A geometry is near a body - /// - /// The space that contains the geoms. Remember, spaces are also geoms - /// a geometry or space - /// another geometry or space - /// - - private void near(IntPtr space, IntPtr g1, IntPtr g2) - { - // no lock here! It's invoked from within Simulate(), which is thread-locked - - if (m_global_contactcount >= maxContactsbeforedeath) - return; - - // Test if we're colliding a geom with a space. - // If so we have to drill down into the space recursively - - if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) - return; - - if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) - { - // We'll be calling near recursivly if one - // of them is a space to find all of the - // contact points in the space - try - { - d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); - } - catch (AccessViolationException) - { - m_log.Warn("[PHYSICS]: Unable to collide test a space"); - return; - } - //here one should check collisions of geoms inside a space - // but on each space we only should have geoms that not colide amoung each other - // so we don't dig inside spaces - return; - } - - // get geom bodies to check if we already a joint contact - // guess this shouldn't happen now - IntPtr b1 = d.GeomGetBody(g1); - IntPtr b2 = d.GeomGetBody(g2); - - // d.GeomClassID id = d.GeomGetClass(g1); - - // Figure out how many contact points we have - int count = 0; - try - { - // Colliding Geom To Geom - // This portion of the function 'was' blatantly ripped off from BoxStack.cs - - if (g1 == g2) - return; // Can't collide with yourself - - if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) - return; - /* - // debug - PhysicsActor dp2; - if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) - { - d.AABB aabb; - d.GeomGetAABB(g2, 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) - { - if (!actor_name_map.TryGetValue(g2, out dp2)) - m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); - else - m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})", - dp2.Name, dp2.Size, x, y, z, - dp2.Position.ToString(), - dp2.Orientation.ToString(), - dp2.Orientation.Length()); - return; - } - } - // - */ - - - if (d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || - d.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc) - { - int cflags; - unchecked - { - cflags = (int)(1 | d.CONTACTS_UNIMPORTANT); - } - count = d.CollidePtr(g1, g2, cflags, ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); - } - else - count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); - } - catch (SEHException) - { - m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); - // ode.drelease(world); - base.TriggerPhysicsBasedRestart(); - } - catch (Exception e) - { - m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message); - return; - } - - // contacts done - if (count == 0) - return; - - // try get physical actors - PhysicsActor p1; - PhysicsActor p2; - - if (!actor_name_map.TryGetValue(g1, out p1)) - { - m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1"); - return; - } - - if (!actor_name_map.TryGetValue(g2, out p2)) - { - m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); - return; - } - - // update actors collision score - if (p1.CollisionScore >= float.MaxValue - count) - p1.CollisionScore = 0; - p1.CollisionScore += count; - - if (p2.CollisionScore >= float.MaxValue - count) - p2.CollisionScore = 0; - p2.CollisionScore += count; - - // get first contact - d.ContactGeom curContact = new d.ContactGeom(); - - if (!GetCurContactGeom(0, ref curContact)) - return; - - ContactPoint maxDepthContact = new ContactPoint(); - - // do volume detection case - if ((p1.IsVolumeDtc || p2.IsVolumeDtc)) - { - maxDepthContact = new ContactPoint( - new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), - new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), - curContact.depth, false - ); - - collision_accounting_events(p1, p2, maxDepthContact); - return; - } - - // big messy collision analises - - float mu = 0; - float bounce = 0; -// bool IgnoreNegSides = false; - - ContactData contactdata1 = new ContactData(0, 0, false); - ContactData contactdata2 = new ContactData(0, 0, false); - - bool dop1ava = false; - bool dop2ava = false; - bool ignore = false; - - switch (p1.PhysicsActorType) - { - case (int)ActorTypes.Agent: - { - dop1ava = true; - switch (p2.PhysicsActorType) - { - case (int)ActorTypes.Agent: - case (int)ActorTypes.Prim: - break; - - default: - ignore = true; // avatar to terrain and water ignored - break; - } - break; - } - - case (int)ActorTypes.Prim: - { - switch (p2.PhysicsActorType) - { - case (int)ActorTypes.Agent: - dop2ava = true; - break; - - case (int)ActorTypes.Prim: - Vector3 relV = p1.Velocity - p2.Velocity; - float relVlenSQ = relV.LengthSquared(); - if (relVlenSQ > 0.0001f) - { - p1.CollidingObj = true; - p2.CollidingObj = true; - } - p1.getContactData(ref contactdata1); - p2.getContactData(ref contactdata2); - bounce = contactdata1.bounce * contactdata2.bounce; - mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); - - if (relVlenSQ > 0.01f) - mu *= frictionMovementMult; - - break; - - case (int)ActorTypes.Ground: - p1.getContactData(ref contactdata1); - bounce = contactdata1.bounce * TerrainBounce; - mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); - - if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) - mu *= frictionMovementMult; - p1.CollidingGround = true; - /* - if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) - { - if (curContact.side1 > 0) - IgnoreNegSides = true; - } - */ - break; - - case (int)ActorTypes.Water: - default: - ignore = true; - break; - } - } - break; - - case (int)ActorTypes.Ground: - if (p2.PhysicsActorType == (int)ActorTypes.Prim) - { - p2.CollidingGround = true; - p2.getContactData(ref contactdata2); - bounce = contactdata2.bounce * TerrainBounce; - mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); - -// if (curContact.side1 > 0) // should be 2 ? -// IgnoreNegSides = true; - - if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) - mu *= frictionMovementMult; - } - else - ignore = true; - break; - - case (int)ActorTypes.Water: - default: - break; - } - - if (ignore) - return; - - IntPtr Joint; - bool FeetCollision = false; - int ncontacts = 0; - - int i = 0; - - maxDepthContact = new ContactPoint(); - maxDepthContact.PenetrationDepth = float.MinValue; - ContactPoint minDepthContact = new ContactPoint(); - minDepthContact.PenetrationDepth = float.MaxValue; - - SharedTmpcontact.geom.depth = 0; - SharedTmpcontact.surface.mu = mu; - SharedTmpcontact.surface.bounce = bounce; - - d.ContactGeom altContact = new d.ContactGeom(); - bool useAltcontact = false; - bool noskip = true; - - while (true) - { -// if (!(IgnoreNegSides && curContact.side1 < 0)) - { - noskip = true; - useAltcontact = false; - - if (dop1ava) - { - if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision))) - { - if (p2.PhysicsActorType == (int)ActorTypes.Agent) - { - p1.CollidingObj = true; - p2.CollidingObj = true; - } - else if (p2.Velocity.LengthSquared() > 0.0f) - p2.CollidingObj = true; - } - else - noskip = false; - } - else if (dop2ava) - { - if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision))) - { - if (p1.PhysicsActorType == (int)ActorTypes.Agent) - { - p1.CollidingObj = true; - p2.CollidingObj = true; - } - else if (p2.Velocity.LengthSquared() > 0.0f) - p1.CollidingObj = true; - } - else - noskip = false; - } - - if (noskip) - { - if(useAltcontact) - Joint = CreateContacJoint(ref altContact); - else - Joint = CreateContacJoint(ref curContact); - - if (Joint == IntPtr.Zero) - break; - - d.JointAttach(Joint, b1, b2); - - ncontacts++; - - if (curContact.depth > maxDepthContact.PenetrationDepth) - { - maxDepthContact.Position.X = curContact.pos.X; - maxDepthContact.Position.Y = curContact.pos.Y; - maxDepthContact.Position.Z = curContact.pos.Z; - maxDepthContact.PenetrationDepth = curContact.depth; - maxDepthContact.CharacterFeet = FeetCollision; - } - - if (curContact.depth < minDepthContact.PenetrationDepth) - { - minDepthContact.PenetrationDepth = curContact.depth; - minDepthContact.SurfaceNormal.X = curContact.normal.X; - minDepthContact.SurfaceNormal.Y = curContact.normal.Y; - minDepthContact.SurfaceNormal.Z = curContact.normal.Z; - } - } - } - if (++i >= count) - break; - - if (!GetCurContactGeom(i, ref curContact)) - break; - } - - if (ncontacts > 0) - { - maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X; - maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y; - maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z; - - collision_accounting_events(p1, p2, maxDepthContact); - } - } - - private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) - { - uint obj2LocalID = 0; - - bool p1events = p1.SubscribedEvents(); - bool p2events = p2.SubscribedEvents(); - - if (p1.IsVolumeDtc) - p2events = false; - if (p2.IsVolumeDtc) - p1events = false; - - if (!p2events && !p1events) - return; - - Vector3 vel = Vector3.Zero; - if (p2 != null && p2.IsPhysical) - vel = p2.Velocity; - - if (p1 != null && p1.IsPhysical) - vel -= p1.Velocity; - - contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal); - - switch ((ActorTypes)p1.PhysicsActorType) - { - case ActorTypes.Agent: - case ActorTypes.Prim: - { - switch ((ActorTypes)p2.PhysicsActorType) - { - case ActorTypes.Agent: - case ActorTypes.Prim: - if (p2events) - { - AddCollisionEventReporting(p2); - p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); - } - obj2LocalID = p2.ParentActor.LocalID; - break; - - case ActorTypes.Ground: - case ActorTypes.Unknown: - default: - obj2LocalID = 0; - break; - } - if (p1events) - { - contact.SurfaceNormal = -contact.SurfaceNormal; - AddCollisionEventReporting(p1); - p1.AddCollisionEvent(obj2LocalID, contact); - } - break; - } - case ActorTypes.Ground: - case ActorTypes.Unknown: - default: - { - if (p2events && !p2.IsVolumeDtc) - { - AddCollisionEventReporting(p2); - p2.AddCollisionEvent(0, contact); - } - break; - } - } - } - - /// - /// This is our collision testing routine in ODE - /// - /// - private void collision_optimized() - { - lock (_characters) - { - try - { - foreach (OdeCharacter chr in _characters) - { - if (chr == null || chr.Body == IntPtr.Zero) - continue; - - chr.IsColliding = false; - // chr.CollidingGround = false; not done here - chr.CollidingObj = false; - // do colisions with static space - d.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, nearCallback); - - // no coll with gnd - } - // chars with chars - d.SpaceCollide(CharsSpace, IntPtr.Zero, nearCallback); - - } - catch (AccessViolationException) - { - m_log.Warn("[PHYSICS]: Unable to collide Character to static space"); - } - - } - - lock (_activeprims) - { - foreach (OdePrim aprim in _activeprims) - { - aprim.CollisionScore = 0; - aprim.IsColliding = false; - } - } - - // collide active prims with static enviroment - lock (_activegroups) - { - try - { - foreach (OdePrim prm in _activegroups) - { - if (!prm.m_outbounds) - { - if (d.BodyIsEnabled(prm.Body)) - { - d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback); - d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback); - } - } - } - } - catch (AccessViolationException) - { - m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); - } - } - // colide active amoung them - try - { - d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); - } - catch (AccessViolationException) - { - m_log.Warn("[PHYSICS]: Unable to collide Active with Characters space"); - } - // and with chars - try - { - d.SpaceCollide2(CharsSpace,ActiveSpace, IntPtr.Zero, nearCallback); - } - catch (AccessViolationException) - { - m_log.Warn("[PHYSICS]: Unable to collide in Active space"); - } - // _perloopContact.Clear(); - } - - #endregion - /// - /// Add actor to the list that should receive collision events in the simulate loop. - /// - /// - public void AddCollisionEventReporting(PhysicsActor obj) - { - if (!_collisionEventPrim.Contains(obj)) - _collisionEventPrim.Add(obj); - } - - /// - /// Remove actor from the list that should receive collision events in the simulate loop. - /// - /// - public void RemoveCollisionEventReporting(PhysicsActor obj) - { - if (_collisionEventPrim.Contains(obj) && !_collisionEventPrimRemove.Contains(obj)) - _collisionEventPrimRemove.Add(obj); - } - - public override float TimeDilation - { - get { return m_timeDilation; } - } - - public override bool SupportsNINJAJoints - { - get { return false; } - } - - #region Add/Remove Entities - - public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) - { - return null; - } - - public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, float feetOffset, bool isFlying) - { - OdeCharacter newAv = new OdeCharacter(localID, avName, this, position, - size, feetOffset, avDensity, avMovementDivisorWalk, avMovementDivisorRun); - newAv.Flying = isFlying; - newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; - - return newAv; - } - - public void AddCharacter(OdeCharacter chr) - { - lock (_characters) - { - if (!_characters.Contains(chr)) - { - _characters.Add(chr); - if (chr.bad) - m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid); - } - } - } - - public void RemoveCharacter(OdeCharacter chr) - { - lock (_characters) - { - if (_characters.Contains(chr)) - { - _characters.Remove(chr); - } - } - } - - public void BadCharacter(OdeCharacter chr) - { - lock (_badCharacter) - { - if (!_badCharacter.Contains(chr)) - _badCharacter.Add(chr); - } - } - - public override void RemoveAvatar(PhysicsActor actor) - { - //m_log.Debug("[PHYSICS]:ODELOCK"); - ((OdeCharacter) actor).Destroy(); - } - - - public void addActivePrim(OdePrim activatePrim) - { - // adds active prim.. - lock (_activeprims) - { - if (!_activeprims.Contains(activatePrim)) - _activeprims.Add(activatePrim); - } - } - - public void addActiveGroups(OdePrim activatePrim) - { - lock (_activegroups) - { - if (!_activegroups.Contains(activatePrim)) - _activegroups.Add(activatePrim); - } - } - - private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, - PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID) - { - OdePrim newPrim; - lock (OdeLock) - { - newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID); - lock (_prims) - _prims.Add(newPrim); - } - return newPrim; - } - - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid) - { - return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, 0 , localid); - } - - - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical, uint localid) - { - return AddPrim(primName, position, size, rotation, pbs, isPhysical,false, 0, localid); - } - - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid) - { - - return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid); - } - - public void remActivePrim(OdePrim deactivatePrim) - { - lock (_activeprims) - { - _activeprims.Remove(deactivatePrim); - } - } - public void remActiveGroup(OdePrim deactivatePrim) - { - lock (_activegroups) - { - _activegroups.Remove(deactivatePrim); - } - } - - public override void RemovePrim(PhysicsActor prim) - { - // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be - // removed in the next physics simulate pass. - if (prim is OdePrim) - { -// lock (OdeLock) - { - - OdePrim p = (OdePrim)prim; - p.setPrimForRemoval(); - } - } - } - - public void RemovePrimThreadLocked(OdePrim prim) - { - //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); - lock (prim) - { -// RemoveCollisionEventReporting(prim); - lock (_prims) - _prims.Remove(prim); - } - - } - - public bool havePrim(OdePrim prm) - { - lock (_prims) - return _prims.Contains(prm); - } - - public bool haveActor(PhysicsActor actor) - { - if (actor is OdePrim) - { - lock (_prims) - return _prims.Contains((OdePrim)actor); - } - else if (actor is OdeCharacter) - { - lock (_characters) - return _characters.Contains((OdeCharacter)actor); - } - return false; - } - - #endregion - - #region Space Separation Calculation - - /// - /// Called when a static prim moves or becomes static - /// Places the prim in a space one the static sub-spaces grid - /// - /// the pointer to the geom that moved - /// the position that the geom moved to - /// a pointer to the space it was in before it was moved. - /// a pointer to the new space it's in - public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace) - { - // moves a prim into another static sub-space or from another space into a static sub-space - - // Called ODEPrim so - // it's already in locked space. - - if (geom == IntPtr.Zero) // shouldn't happen - return IntPtr.Zero; - - // get the static sub-space for current position - IntPtr newspace = calculateSpaceForGeom(pos); - - if (newspace == currentspace) // if we are there all done - return newspace; - - // else remove it from its current space - if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom)) - { - if (d.GeomIsSpace(currentspace)) - { - waitForSpaceUnlock(currentspace); - d.SpaceRemove(currentspace, geom); - - if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) - { - d.SpaceDestroy(currentspace); - } - } - else - { - m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace + - " Geom:" + geom); - } - } - else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space - { - currentspace = d.GeomGetSpace(geom); - if (currentspace != IntPtr.Zero) - { - if (d.GeomIsSpace(currentspace)) - { - waitForSpaceUnlock(currentspace); - d.SpaceRemove(currentspace, geom); - - if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) - { - d.SpaceDestroy(currentspace); - } - - } - } - } - - // put the geom in the newspace - waitForSpaceUnlock(newspace); - d.SpaceAdd(newspace, geom); - - // let caller know this newspace - return newspace; - } - - /// - /// Calculates the space the prim should be in by its position - /// - /// - /// a pointer to the space. This could be a new space or reused space. - public IntPtr calculateSpaceForGeom(Vector3 pos) - { - int x, y; - - if (pos.X < 0) - return staticPrimspaceOffRegion[0]; - - if (pos.Y < 0) - return staticPrimspaceOffRegion[2]; - - x = (int)(pos.X * spacesPerMeterX); - if (x > spaceGridMaxX) - return staticPrimspaceOffRegion[1]; - - y = (int)(pos.Y * spacesPerMeterY); - if (y > spaceGridMaxY) - return staticPrimspaceOffRegion[3]; - - return staticPrimspace[x, y]; - } - - #endregion - - - /// - /// Called to queue a change to a actor - /// to use in place of old taint mechanism so changes do have a time sequence - /// - - public void AddChange(PhysicsActor actor, changes what, Object arg) - { - ODEchangeitem item = new ODEchangeitem(); - item.actor = actor; - item.what = what; - item.arg = arg; - ChangesQueue.Enqueue(item); - } - - /// - /// Called after our prim properties are set Scale, position etc. - /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex - /// This assures us that we have no race conditions - /// - /// - public override void AddPhysicsActorTaint(PhysicsActor prim) - { - } - - // does all pending changes generated during region load process - public override void PrepareSimulation() - { - lock (OdeLock) - { - if (world == IntPtr.Zero) - { - ChangesQueue.Clear(); - return; - } - - ODEchangeitem item; - - int donechanges = 0; - if (ChangesQueue.Count > 0) - { - m_log.InfoFormat("[ODE] start processing pending actor operations"); - int tstart = Util.EnvironmentTickCount(); - - while (ChangesQueue.Dequeue(out item)) - { - if (item.actor != null) - { - try - { - if (item.actor is OdeCharacter) - ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); - else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) - RemovePrimThreadLocked((OdePrim)item.actor); - } - catch - { - m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}", - item.actor.Name, item.what.ToString()); - } - } - donechanges++; - } - int time = Util.EnvironmentTickCountSubtract(tstart); - m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time); - } - } - } - - /// - /// This is our main simulate loop - /// It's thread locked by a Mutex in the scene. - /// It holds Collisions, it instructs ODE to step through the physical reactions - /// It moves the objects around in memory - /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup) - /// - /// - /// - public override float Simulate(float timeStep) - { - DateTime now = DateTime.UtcNow; - TimeSpan timedif = now - m_lastframe; - timeStep = (float)timedif.TotalSeconds; - m_lastframe = now; - - // acumulate time so we can reduce error - step_time += timeStep; - - if (step_time < HalfOdeStep) - return 0; - - if (framecount < 0) - framecount = 0; - - framecount++; - -// int curphysiteractions; - - // if in trouble reduce step resolution -// if (step_time >= m_SkipFramesAtms) -// curphysiteractions = m_physicsiterations / 2; -// else -// curphysiteractions = m_physicsiterations; - -// checkThread(); - int nodeframes = 0; - - lock (SimulationLock) - lock(OdeLock) - { - if (world == IntPtr.Zero) - { - ChangesQueue.Clear(); - return 0; - } - - ODEchangeitem item; - -// d.WorldSetQuickStepNumIterations(world, curphysiteractions); - - int loopstartMS = Util.EnvironmentTickCount(); - int looptimeMS = 0; - - - while (step_time > HalfOdeStep) - { - try - { - // clear pointer/counter to contacts to pass into joints - m_global_contactcount = 0; - - if (ChangesQueue.Count > 0) - { - int changestartMS = Util.EnvironmentTickCount(); - int ttmp; - while (ChangesQueue.Dequeue(out item)) - { - if (item.actor != null) - { - try - { - if (item.actor is OdeCharacter) - ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); - else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) - RemovePrimThreadLocked((OdePrim)item.actor); - } - catch - { - m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", - item.actor.Name, item.what.ToString()); - } - } - ttmp = Util.EnvironmentTickCountSubtract(changestartMS); - if (ttmp > 20) - break; - } - } - - // Move characters - lock (_characters) - { - List defects = new List(); - foreach (OdeCharacter actor in _characters) - { - if (actor != null) - actor.Move(defects); - } - if (defects.Count != 0) - { - foreach (OdeCharacter defect in defects) - { - RemoveCharacter(defect); - } - defects.Clear(); - } - } - - // Move other active objects - lock (_activegroups) - { - foreach (OdePrim aprim in _activegroups) - { - aprim.Move(); - } - } - - m_rayCastManager.ProcessQueuedRequests(); - - collision_optimized(); - - foreach (PhysicsActor obj in _collisionEventPrim) - { - if (obj == null) - continue; - - switch ((ActorTypes)obj.PhysicsActorType) - { - case ActorTypes.Agent: - OdeCharacter cobj = (OdeCharacter)obj; - cobj.AddCollisionFrameTime((int)(odetimestepMS)); - cobj.SendCollisions(); - break; - - case ActorTypes.Prim: - OdePrim pobj = (OdePrim)obj; - if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds)) - if (!pobj.m_outbounds) - { - pobj.AddCollisionFrameTime((int)(odetimestepMS)); - pobj.SendCollisions(); - } - break; - } - } - - foreach (PhysicsActor obj in _collisionEventPrimRemove) - _collisionEventPrim.Remove(obj); - - _collisionEventPrimRemove.Clear(); - - // do a ode simulation step - d.WorldQuickStep(world, ODE_STEPSIZE); -// d.WorldStep(world, ODE_STEPSIZE); - d.JointGroupEmpty(contactgroup); - - // update managed ideia of physical data and do updates to core - /* - lock (_characters) - { - foreach (OdeCharacter actor in _characters) - { - if (actor != null) - { - if (actor.bad) - m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); - - actor.UpdatePositionAndVelocity(); - } - } - } - */ - - lock (_activegroups) - { - { - foreach (OdePrim actor in _activegroups) - { - if (actor.IsPhysical) - { - actor.UpdatePositionAndVelocity(framecount); - } - } - } - } - } - catch (Exception e) - { - m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); -// ode.dunlock(world); - } - - step_time -= ODE_STEPSIZE; - nodeframes++; - - looptimeMS = Util.EnvironmentTickCountSubtract(loopstartMS); - if (looptimeMS > 100) - break; - } - - lock (_badCharacter) - { - if (_badCharacter.Count > 0) - { - foreach (OdeCharacter chr in _badCharacter) - { - RemoveCharacter(chr); - } - - _badCharacter.Clear(); - } - } - - timedif = now - m_lastMeshExpire; - - if (timedif.Seconds > 10) - { - mesher.ExpireReleaseMeshs(); - m_lastMeshExpire = now; - } - -// information block running in debug only -/* - int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); - int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); - int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace); - - int nactivegeoms = 0; - int nactivespaces = 0; - - int nstaticgeoms = 0; - int nstaticspaces = 0; - IntPtr sp; - - for (int i = 0; i < ntopactivegeoms; i++) - { - sp = d.SpaceGetGeom(ActiveSpace, i); - if (d.GeomIsSpace(sp)) - { - nactivespaces++; - nactivegeoms += d.SpaceGetNumGeoms(sp); - } - else - nactivegeoms++; - } - - for (int i = 0; i < ntopstaticgeoms; i++) - { - sp = d.SpaceGetGeom(StaticSpace, i); - if (d.GeomIsSpace(sp)) - { - nstaticspaces++; - nstaticgeoms += d.SpaceGetNumGeoms(sp); - } - else - nstaticgeoms++; - } - - int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); - - int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray - int nbodies = d.NTotalBodies; - int ngeoms = d.NTotalGeoms; -*/ - // Finished with all sim stepping. If requested, dump world state to file for debugging. - // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? - // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots? - if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0)) - { - string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename - string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file - - if (physics_logging_append_existing_logfile) - { - string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------"; - TextWriter fwriter = File.AppendText(fname); - fwriter.WriteLine(header); - fwriter.Close(); - } - - d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); - } - - // think time dilation as to do with dinamic step size that we dont' have - // even so tell something to world - if (looptimeMS < 100) // we did the requested loops - m_timeDilation = 1.0f; - else if (step_time > 0) - { - m_timeDilation = timeStep / step_time; - if (m_timeDilation > 1) - m_timeDilation = 1; - if (step_time > m_SkipFramesAtms) - step_time = 0; - m_lastframe = DateTime.UtcNow; // skip also the time lost - } - } - return (float)nodeframes * ODE_STEPSIZE / timeStep; - } - - /// - public override void GetResults() - { - } - - public override bool IsThreaded - { - // for now we won't be multithreaded - get { return (false); } - } - - public float GetTerrainHeightAtXY(float x, float y) - { - - int offsetX = 0; - int offsetY = 0; - - if (m_suportCombine) - { - offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - } - - // get region map - IntPtr heightFieldGeom = IntPtr.Zero; - if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) - return 0f; - - if (heightFieldGeom == IntPtr.Zero) - return 0f; - - if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) - return 0f; - - // TerrainHeightField for ODE as offset 1m - x += 1f - offsetX; - y += 1f - offsetY; - - // make position fit into array - if (x < 0) - x = 0; - if (y < 0) - y = 0; - - // integer indexs - int ix; - int iy; - // interpolators offset - float dx; - float dy; - - int regsizeX = (int)m_regionWidth + 3; // map size see setterrain number of samples - int regsizeY = (int)m_regionHeight + 3; // map size see setterrain number of samples - int regsize = regsizeX; - - if (m_odeUbitLib) - { - if (x < regsizeX - 1) - { - ix = (int)x; - dx = x - (float)ix; - } - else // out world use external height - { - ix = regsizeX - 2; - dx = 0; - } - if (y < regsizeY - 1) - { - iy = (int)y; - dy = y - (float)iy; - } - else - { - iy = regsizeY - 2; - dy = 0; - } - } - else - { - // we still have square fixed size regions - // also flip x and y because of how map is done for ODE fliped axis - // so ix,iy,dx and dy are inter exchanged - - regsize = regsizeY; - - if (x < regsizeX - 1) - { - iy = (int)x; - dy = x - (float)iy; - } - else // out world use external height - { - iy = regsizeX - 2; - dy = 0; - } - if (y < regsizeY - 1) - { - ix = (int)y; - dx = y - (float)ix; - } - else - { - ix = regsizeY - 2; - dx = 0; - } - } - - float h0; - float h1; - float h2; - - iy *= regsize; - iy += ix; // all indexes have iy + ix - - float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; - /* - if ((dx + dy) <= 1.0f) - { - h0 = ((float)heights[iy]); // 0,0 vertice - h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0 - h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0 - } - else - { - h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice - h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0 - h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1 - } - */ - h0 = ((float)heights[iy]); // 0,0 vertice - - if (dy>dx) - { - iy += regsize; - h2 = (float)heights[iy]; // 0,1 vertice - h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0 - h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1 - } - else - { - iy++; - h2 = (float)heights[iy]; // vertice 1,0 - h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0 - h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0 - } - - return h0 + h1 + h2; - } - - public Vector3 GetTerrainNormalAtXY(float x, float y) - { - int offsetX = 0; - int offsetY = 0; - - if (m_suportCombine) - { - offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - } - - // get region map - IntPtr heightFieldGeom = IntPtr.Zero; - Vector3 norm = new Vector3(0, 0, 1); - - if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) - return norm; ; - - if (heightFieldGeom == IntPtr.Zero) - return norm; - - if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) - return norm; - - // TerrainHeightField for ODE as offset 1m - x += 1f - offsetX; - y += 1f - offsetY; - - // make position fit into array - if (x < 0) - x = 0; - if (y < 0) - y = 0; - - // integer indexs - int ix; - int iy; - // interpolators offset - float dx; - float dy; - - int regsizeX = (int)m_regionWidth + 3; // map size see setterrain number of samples - int regsizeY = (int)m_regionHeight + 3; // map size see setterrain number of samples - int regsize = regsizeX; - - int xstep = 1; - int ystep = regsizeX; - bool firstTri = false; - - if (m_odeUbitLib) - { - if (x < regsizeX - 1) - { - ix = (int)x; - dx = x - (float)ix; - } - else // out world use external height - { - ix = regsizeX - 2; - dx = 0; - } - if (y < regsizeY - 1) - { - iy = (int)y; - dy = y - (float)iy; - } - else - { - iy = regsizeY - 2; - dy = 0; - } - firstTri = dy > dx; - } - - else - { - xstep = regsizeY; - ystep = 1; - regsize = regsizeY; - - // we still have square fixed size regions - // also flip x and y because of how map is done for ODE fliped axis - // so ix,iy,dx and dy are inter exchanged - if (x < regsizeX - 1) - { - iy = (int)x; - dy = x - (float)iy; - } - else // out world use external height - { - iy = regsizeX - 2; - dy = 0; - } - if (y < regsizeY - 1) - { - ix = (int)y; - dx = y - (float)ix; - } - else - { - ix = regsizeY - 2; - dx = 0; - } - firstTri = dx > dy; - } - - float h0; - float h1; - float h2; - - iy *= regsize; - iy += ix; // all indexes have iy + ix - - float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; - - if (firstTri) - { - h1 = ((float)heights[iy]); // 0,0 vertice - iy += ystep; - h0 = (float)heights[iy]; // 0,1 - h2 = (float)heights[iy+xstep]; // 1,1 vertice - norm.X = h0 - h2; - norm.Y = h1 - h0; - } - else - { - h2 = ((float)heights[iy]); // 0,0 vertice - iy += xstep; - h0 = ((float)heights[iy]); // 1,0 vertice - h1 = (float)heights[iy+ystep]; // vertice 1,1 - norm.X = h2 - h0; - norm.Y = h0 - h1; - } - norm.Z = 1; - norm.Normalize(); - return norm; - } - - public override void SetTerrain(float[] heightMap) - { - if (m_worldOffset != Vector3.Zero && m_parentScene != null) - { - if (m_parentScene is ODEScene) - { - ((ODEScene)m_parentScene).SetTerrain(heightMap, m_worldOffset); - } - } - else - { - SetTerrain(heightMap, m_worldOffset); - } - } - - public override void CombineTerrain(float[] heightMap, Vector3 pOffset) - { - if(m_suportCombine) - SetTerrain(heightMap, pOffset); - } - - public void SetTerrain(float[] heightMap, Vector3 pOffset) - { - if (m_odeUbitLib) - UbitSetTerrain(heightMap, pOffset); - else - OriSetTerrain(heightMap, pOffset); - } - - public void OriSetTerrain(float[] heightMap, Vector3 pOffset) - { - // assumes 1m size grid and constante size square regions - // needs to know about sims around in future - - float[] _heightmap; - - uint regionsizeX = m_regionWidth; - uint regionsizeY = m_regionHeight; - - // map is rotated - uint heightmapWidth = regionsizeY + 2; - uint heightmapHeight = regionsizeX + 2; - - uint heightmapWidthSamples = heightmapWidth + 1; - uint heightmapHeightSamples = heightmapHeight + 1; - - _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; - - const float scale = 1.0f; - const float offset = 0.0f; - const float thickness = 10f; - const int wrap = 0; - - - float hfmin = float.MaxValue; - float hfmax = float.MinValue; - float val; - uint xx; - uint yy; - - uint maxXX = regionsizeX - 1; - uint maxYY = regionsizeY - 1; - // flipping map adding one margin all around so things don't fall in edges - - uint xt = 0; - xx = 0; - - for (uint x = 0; x < heightmapWidthSamples; x++) - { - if (x > 1 && xx < maxXX) - xx++; - yy = 0; - for (uint y = 0; y < heightmapHeightSamples; y++) - { - if (y > 1 && y < maxYY) - yy += regionsizeX; - - val = heightMap[yy + xx]; - if (val < 0.0f) - val = 0.0f; // no neg terrain as in chode - _heightmap[xt + y] = val; - - if (hfmin > val) - hfmin = val; - if (hfmax < val) - hfmax = val; - } - xt += heightmapHeightSamples; - } - - lock (OdeLock) - { - IntPtr GroundGeom = IntPtr.Zero; - if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) - { - RegionTerrain.Remove(pOffset); - if (GroundGeom != IntPtr.Zero) - { - actor_name_map.Remove(GroundGeom); - d.GeomDestroy(GroundGeom); - - if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) - { - TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); - TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); - TerrainHeightFieldHeights.Remove(GroundGeom); - } - } - } - IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); - - GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); - - d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight, - (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, - offset, thickness, wrap); - - d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - - GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1); - - if (GroundGeom != IntPtr.Zero) - { - d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundGeom, 0); - - PhysicsActor pa = new NullPhysicsActor(); - pa.Name = "Terrain"; - pa.PhysicsActorType = (int)ActorTypes.Ground; - actor_name_map[GroundGeom] = pa; - -// geom_name_map[GroundGeom] = "Terrain"; - - d.Matrix3 R = new d.Matrix3(); - - Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); - Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); - - - q1 = q1 * q2; - - Vector3 v3; - float angle; - q1.GetAxisAngle(out v3, out angle); - - d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); - d.GeomSetRotation(GroundGeom, ref R); - d.GeomSetPosition(GroundGeom, pOffset.X + m_regionWidth * 0.5f, pOffset.Y + m_regionHeight * 0.5f, 0); - RegionTerrain.Add(pOffset, GroundGeom); - TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); - TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); - } - } - } - - public void UbitSetTerrain(float[] heightMap, Vector3 pOffset) - { - // assumes 1m size grid and constante size square regions - // needs to know about sims around in future - - float[] _heightmap; - - uint regionsizeX = m_regionWidth; - uint regionsizeY = m_regionHeight; - - uint heightmapWidth = regionsizeX + 2; - uint heightmapHeight = regionsizeY + 2; - - uint heightmapWidthSamples = heightmapWidth + 1; - uint heightmapHeightSamples = heightmapHeight + 1; - - _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; - - - float hfmin = float.MaxValue; -// float hfmax = float.MinValue; - float val; - - - uint maxXX = regionsizeX - 1; - uint maxYY = regionsizeY - 1; - // adding one margin all around so things don't fall in edges - - uint xx; - uint yy = 0; - uint yt = 0; - - for (uint y = 0; y < heightmapHeightSamples; y++) - { - if (y > 1 && y < maxYY) - yy += regionsizeX; - xx = 0; - for (uint x = 0; x < heightmapWidthSamples; x++) - { - if (x > 1 && x < maxXX) - xx++; - - val = heightMap[yy + xx]; - if (val < 0.0f) - val = 0.0f; // no neg terrain as in chode - _heightmap[yt + x] = val; - - if (hfmin > val) - hfmin = val; -// if (hfmax < val) -// hfmax = val; - } - yt += heightmapWidthSamples; - } - lock (OdeLock) - { - IntPtr GroundGeom = IntPtr.Zero; - if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) - { - RegionTerrain.Remove(pOffset); - if (GroundGeom != IntPtr.Zero) - { - actor_name_map.Remove(GroundGeom); - d.GeomDestroy(GroundGeom); - - if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) - { - if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated) - TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); - TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); - TerrainHeightFieldHeights.Remove(GroundGeom); - } - } - } - IntPtr HeightmapData = d.GeomUbitTerrainDataCreate(); - - const int wrap = 0; - float thickness = hfmin; - if (thickness < 0) - thickness = 1; - - GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); - - d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f, - (int)heightmapWidthSamples, (int)heightmapHeightSamples, - thickness, wrap); - -// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - GroundGeom = d.CreateUbitTerrain(GroundSpace, HeightmapData, 1); - if (GroundGeom != IntPtr.Zero) - { - d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundGeom, 0); - - - PhysicsActor pa = new NullPhysicsActor(); - pa.Name = "Terrain"; - pa.PhysicsActorType = (int)ActorTypes.Ground; - actor_name_map[GroundGeom] = pa; - -// geom_name_map[GroundGeom] = "Terrain"; - - d.GeomSetPosition(GroundGeom, pOffset.X + m_regionWidth * 0.5f, pOffset.Y + m_regionHeight * 0.5f, 0); - RegionTerrain.Add(pOffset, GroundGeom); - TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); - TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); - } - } - } - - public override void DeleteTerrain() - { - } - - public float GetWaterLevel() - { - return waterlevel; - } - - public override bool SupportsCombining() - { - return m_suportCombine; - } - - public override void SetWaterLevel(float baseheight) - { - waterlevel = baseheight; - } - - public override void Dispose() - { - if (m_meshWorker != null) - m_meshWorker.Stop(); - - lock (OdeLock) - { - m_rayCastManager.Dispose(); - m_rayCastManager = null; - - lock (_prims) - { - ChangesQueue.Clear(); - foreach (OdePrim prm in _prims) - { - prm.DoAChange(changes.Remove, null); - _collisionEventPrim.Remove(prm); - } - _prims.Clear(); - } - - OdeCharacter[] chtorem; - lock (_characters) - { - chtorem = new OdeCharacter[_characters.Count]; - _characters.CopyTo(chtorem); - } - - ChangesQueue.Clear(); - foreach (OdeCharacter ch in chtorem) - ch.DoAChange(changes.Remove, null); - - - foreach (IntPtr GroundGeom in RegionTerrain.Values) - { - if (GroundGeom != IntPtr.Zero) - d.GeomDestroy(GroundGeom); - } - - - RegionTerrain.Clear(); - - if (TerrainHeightFieldHeightsHandlers.Count > 0) - { - foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values) - { - if (gch.IsAllocated) - gch.Free(); - } - } - - TerrainHeightFieldHeightsHandlers.Clear(); - TerrainHeightFieldHeights.Clear(); - - if (ContactgeomsArray != IntPtr.Zero) - Marshal.FreeHGlobal(ContactgeomsArray); - if (GlobalContactsArray != IntPtr.Zero) - Marshal.FreeHGlobal(GlobalContactsArray); - - - d.WorldDestroy(world); - world = IntPtr.Zero; - //d.CloseODE(); - } - } - - public override Dictionary GetTopColliders() - { - Dictionary returncolliders = new Dictionary(); - int cnt = 0; - lock (_prims) - { - foreach (OdePrim prm in _prims) - { - if (prm.CollisionScore > 0) - { - returncolliders.Add(prm.LocalID, prm.CollisionScore); - cnt++; - prm.CollisionScore = 0f; - if (cnt > 25) - { - break; - } - } - } - } - return returncolliders; - } - - public override bool SupportsRayCast() - { - return true; - } - - public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) - { - if (retMethod != null) - { - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.length = length; - req.Normal = direction; - req.Origin = position; - req.Count = 0; - req.filter = RayFilterFlags.AllPrims; - - m_rayCastManager.QueueRequest(req); - } - } - - public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) - { - if (retMethod != null) - { - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.length = length; - req.Normal = direction; - req.Origin = position; - req.Count = Count; - req.filter = RayFilterFlags.AllPrims; - - m_rayCastManager.QueueRequest(req); - } - } - - - public override List RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) - { - List ourresults = new List(); - object SyncObject = new object(); - - RayCallback retMethod = delegate(List results) - { - lock (SyncObject) - { - ourresults = results; - Monitor.PulseAll(SyncObject); - } - }; - - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.length = length; - req.Normal = direction; - req.Origin = position; - req.Count = Count; - req.filter = RayFilterFlags.AllPrims; - - lock (SyncObject) - { - m_rayCastManager.QueueRequest(req); - if (!Monitor.Wait(SyncObject, 500)) - return null; - else - return ourresults; - } - } - - public override bool SupportsRaycastWorldFiltered() - { - return true; - } - - public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) - { - object SyncObject = new object(); - List ourresults = new List(); - - RayCallback retMethod = delegate(List results) - { - lock (SyncObject) - { - ourresults = results; - Monitor.PulseAll(SyncObject); - } - }; - - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.length = length; - req.Normal = direction; - req.Origin = position; - req.Count = Count; - req.filter = filter; - - lock (SyncObject) - { - m_rayCastManager.QueueRequest(req); - if (!Monitor.Wait(SyncObject, 500)) - return null; - else - return ourresults; - } - } - - public override List RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags flags) - { - if (actor == null) - return new List(); - - IntPtr geom; - if (actor is OdePrim) - geom = ((OdePrim)actor).prim_geom; - else if (actor is OdeCharacter) - geom = ((OdePrim)actor).prim_geom; - else - return new List(); - - if (geom == IntPtr.Zero) - return new List(); - - List ourResults = null; - object SyncObject = new object(); - - RayCallback retMethod = delegate(List results) - { - lock (SyncObject) - { - ourResults = results; - Monitor.PulseAll(SyncObject); - } - }; - - ODERayRequest req = new ODERayRequest(); - req.actor = actor; - req.callbackMethod = retMethod; - req.length = length; - req.Normal = direction; - req.Origin = position; - req.Count = Count; - req.filter = flags; - - lock (SyncObject) - { - m_rayCastManager.QueueRequest(req); - if (!Monitor.Wait(SyncObject, 500)) - return new List(); - } - - if (ourResults == null) - return new List(); - return ourResults; - } - - public override List BoxProbe(Vector3 position, Vector3 size, Quaternion orientation, int Count, RayFilterFlags flags) - { - List ourResults = null; - object SyncObject = new object(); - - ProbeBoxCallback retMethod = delegate(List results) - { - lock (SyncObject) - { - ourResults = results; - Monitor.PulseAll(SyncObject); - } - }; - - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.Normal = size; - req.Origin = position; - req.orientation = orientation; - req.Count = Count; - req.filter = flags; - - lock (SyncObject) - { - m_rayCastManager.QueueRequest(req); - if (!Monitor.Wait(SyncObject, 500)) - return new List(); - } - - if (ourResults == null) - return new List(); - return ourResults; - } - - public override List SphereProbe(Vector3 position, float radius, int Count, RayFilterFlags flags) - { - List ourResults = null; - object SyncObject = new object(); - - ProbeSphereCallback retMethod = delegate(List results) - { - ourResults = results; - Monitor.PulseAll(SyncObject); - }; - - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.length = radius; - req.Origin = position; - req.Count = Count; - req.filter = flags; - - - lock (SyncObject) - { - m_rayCastManager.QueueRequest(req); - if (!Monitor.Wait(SyncObject, 500)) - return new List(); - } - - if (ourResults == null) - return new List(); - return ourResults; - } - - public override List PlaneProbe(PhysicsActor actor, Vector4 plane, int Count, RayFilterFlags flags) - { - IntPtr geom = IntPtr.Zero;; - - if (actor != null) - { - if (actor is OdePrim) - geom = ((OdePrim)actor).prim_geom; - else if (actor is OdeCharacter) - geom = ((OdePrim)actor).prim_geom; - } - - List ourResults = null; - object SyncObject = new object(); - - ProbePlaneCallback retMethod = delegate(List results) - { - ourResults = results; - Monitor.PulseAll(SyncObject); - }; - - ODERayRequest req = new ODERayRequest(); - req.actor = null; - req.callbackMethod = retMethod; - req.length = plane.W; - req.Normal.X = plane.X; - req.Normal.Y = plane.Y; - req.Normal.Z = plane.Z; - req.Count = Count; - req.filter = flags; - - lock (SyncObject) - { - m_rayCastManager.QueueRequest(req); - if (!Monitor.Wait(SyncObject, 500)) - return new List(); - } - - if (ourResults == null) - return new List(); - return ourResults; - } - - public override int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse) - { - Util.FireAndForget( delegate - { - ODESitAvatar sitAvatar = new ODESitAvatar(this, m_rayCastManager); - if(sitAvatar != null) - sitAvatar.Sit(actor, AbsolutePosition, CameraPosition, offset, AvatarSize, PhysicsSitResponse); - }); - return 1; - } - - } -} diff --git a/OpenSim/Region/PhysicsModules/UbitOde/Properties/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/UbitOde/Properties/AssemblyInfo.cs deleted file mode 100644 index 01c8470..0000000 --- a/OpenSim/Region/PhysicsModules/UbitOde/Properties/AssemblyInfo.cs +++ /dev/null @@ -1,61 +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. - */ - -using System.Reflection; -using System.Runtime.InteropServices; -using Mono.Addins; - -// Information about this assembly is defined by the following -// attributes. -// -// change them to the information which is associated with the assembly -// you compile. - -[assembly : AssemblyTitle("OpenSim.Region.PhysicsModule.UbitOde")] -[assembly : AssemblyDescription("Ubit Variation")] -[assembly : AssemblyConfiguration("")] -[assembly : AssemblyCompany("http://opensimulator.org")] -[assembly : AssemblyProduct("UbitOde")] -[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")] -[assembly : AssemblyTrademark("")] -[assembly : AssemblyCulture("")] - -// This sets the default COM visibility of types in the assembly to invisible. -// If you need to expose a type to COM, use [ComVisible(true)] on that type. - -[assembly : ComVisible(false)] - -// The assembly version has following format : -// -// Major.Minor.Build.Revision -// -// You can specify all values by your own or you can build default build and revision -// numbers with the '*' character (the default): - -[assembly : AssemblyVersion("0.8.2.*")] -[assembly: Addin("OpenSim.Region.PhysicsModule.UbitOde", OpenSim.VersionInfo.VersionNumber)] -[assembly: AddinDependency("OpenSim.Region.Framework", OpenSim.VersionInfo.VersionNumber)] \ No newline at end of file -- cgit v1.1