From 1d6b33bc2da3b312cff1d1802a73aacdf72b0385 Mon Sep 17 00:00:00 2001
From: Diva Canto
Date: Sun, 30 Aug 2015 20:06:53 -0700
Subject: Major renaming of Physics dlls / folders. No functional changes, just
renames.
---
.../Physics/BasicPhysicsPlugin/AssemblyInfo.cs | 58 -
.../BasicPhysicsPlugin/BasicPhysicsActor.cs | 303 --
.../BasicPhysicsPlugin/BasicPhysicsPlugin.cs | 64 -
.../Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs | 316 --
.../BasicPhysicsPlugin/BasicPhysicsScene.cs | 210 -
OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2120 ----------
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 2589 ------------
.../Physics/BulletSPlugin/BSActorAvatarMove.cs | 457 ---
.../Region/Physics/BulletSPlugin/BSActorHover.cs | 174 -
.../Physics/BulletSPlugin/BSActorLockAxis.cs | 219 -
.../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 220 -
.../Physics/BulletSPlugin/BSActorSetForce.cs | 138 -
.../Physics/BulletSPlugin/BSActorSetTorque.cs | 139 -
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 154 -
.../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 763 ----
.../Region/Physics/BulletSPlugin/BSCharacter.cs | 813 ----
.../Region/Physics/BulletSPlugin/BSConstraint.cs | 144 -
.../Physics/BulletSPlugin/BSConstraint6Dof.cs | 180 -
.../BulletSPlugin/BSConstraintCollection.cs | 181 -
.../Physics/BulletSPlugin/BSConstraintConeTwist.cs | 54 -
.../Physics/BulletSPlugin/BSConstraintHinge.cs | 55 -
.../Physics/BulletSPlugin/BSConstraintSlider.cs | 55 -
.../Physics/BulletSPlugin/BSConstraintSpring.cs | 103 -
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 1800 --------
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 503 ---
.../Physics/BulletSPlugin/BSLinksetCompound.cs | 477 ---
.../Physics/BulletSPlugin/BSLinksetConstraints.cs | 854 ----
.../Region/Physics/BulletSPlugin/BSMaterials.cs | 203 -
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 451 --
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 927 -----
.../Region/Physics/BulletSPlugin/BSPhysObject.cs | 620 ---
OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 76 -
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1896 ---------
.../Physics/BulletSPlugin/BSPrimDisplaced.cs | 182 -
.../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 350 --
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1281 ------
.../Physics/BulletSPlugin/BSShapeCollection.cs | 425 --
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 1463 -------
.../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 170 -
.../Physics/BulletSPlugin/BSTerrainManager.cs | 585 ---
.../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 441 --
.../Region/Physics/BulletSPlugin/BulletSimData.cs | 277 --
.../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 379 --
.../BulletSPlugin/Properties/AssemblyInfo.cs | 33 -
.../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 156 -
.../Physics/BulletSPlugin/Tests/BulletSimTests.cs | 56 -
.../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 100 -
.../Physics/BulletSPlugin/Tests/HullCreation.cs | 205 -
.../Physics/ConvexDecompositionDotNet/CTri.cs | 341 --
.../Physics/ConvexDecompositionDotNet/Concavity.cs | 233 --
.../ConvexDecompositionDotNet/ConvexBuilder.cs | 411 --
.../ConvexDecomposition.cs | 200 -
.../ConvexDecompositionDotNet/ConvexResult.cs | 74 -
.../ConvexDecompositionDotNet/HullClasses.cs | 171 -
.../ConvexDecompositionDotNet/HullTriangle.cs | 99 -
.../Physics/ConvexDecompositionDotNet/HullUtils.cs | 1868 ---------
.../Physics/ConvexDecompositionDotNet/LICENSE.txt | 28 -
.../Physics/ConvexDecompositionDotNet/Plane.cs | 99 -
.../Physics/ConvexDecompositionDotNet/PlaneTri.cs | 211 -
.../Properties/AssemblyInfo.cs | 36 -
.../ConvexDecompositionDotNet/Quaternion.cs | 209 -
.../Physics/ConvexDecompositionDotNet/README.txt | 7 -
.../ConvexDecompositionDotNet/SplitPlane.cs | 265 --
.../ConvexDecompositionDotNet/VertexLookup.cs | 70 -
.../Physics/ConvexDecompositionDotNet/float2.cs | 70 -
.../Physics/ConvexDecompositionDotNet/float3.cs | 444 --
.../Physics/ConvexDecompositionDotNet/float3x3.cs | 195 -
.../Physics/ConvexDecompositionDotNet/float4.cs | 170 -
.../Physics/ConvexDecompositionDotNet/float4x4.cs | 284 --
.../Physics/ConvexDecompositionDotNet/int3.cs | 128 -
.../Physics/ConvexDecompositionDotNet/int4.cs | 66 -
OpenSim/Region/Physics/Manager/AssemblyInfo.cs | 58 -
OpenSim/Region/Physics/Manager/CollisionLocker.cs | 73 -
OpenSim/Region/Physics/Manager/IMesher.cs | 71 -
.../Region/Physics/Manager/IPhysicsParameters.cs | 73 -
OpenSim/Region/Physics/Manager/NullPhysicsScene.cs | 122 -
OpenSim/Region/Physics/Manager/PhysicsActor.cs | 584 ---
OpenSim/Region/Physics/Manager/PhysicsJoint.cs | 55 -
.../Region/Physics/Manager/PhysicsPluginManager.cs | 242 --
OpenSim/Region/Physics/Manager/PhysicsScene.cs | 361 --
OpenSim/Region/Physics/Manager/PhysicsSensor.cs | 78 -
OpenSim/Region/Physics/Manager/PhysicsVector.cs | 186 -
OpenSim/Region/Physics/Manager/VehicleConstants.cs | 121 -
OpenSim/Region/Physics/Manager/ZeroMesher.cs | 83 -
OpenSim/Region/Physics/Meshing/HelperTypes.cs | 436 --
OpenSim/Region/Physics/Meshing/Mesh.cs | 333 --
OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 971 -----
OpenSim/Region/Physics/Meshing/PrimMesher.cs | 2324 -----------
.../Physics/Meshing/Properties/AssemblyInfo.cs | 33 -
OpenSim/Region/Physics/Meshing/SculptMap.cs | 183 -
OpenSim/Region/Physics/Meshing/SculptMesh.cs | 646 ---
OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs | 58 -
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 1409 -------
.../Physics/OdePlugin/ODEDynamics.c_comments | 630 ---
OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs | 974 -----
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 3387 ---------------
.../Physics/OdePlugin/ODERayCastRequestManager.cs | 434 --
.../Region/Physics/OdePlugin/OdePhysicsJoint.cs | 48 -
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 90 -
OpenSim/Region/Physics/OdePlugin/OdeScene.cs | 4319 --------------------
.../Region/Physics/OdePlugin/Tests/ODETestClass.cs | 128 -
OpenSim/Region/Physics/OdePlugin/drawstuff.cs | 98 -
OpenSim/Region/Physics/POSPlugin/AssemblyInfo.cs | 58 -
OpenSim/Region/Physics/POSPlugin/POSCharacter.cs | 341 --
OpenSim/Region/Physics/POSPlugin/POSPlugin.cs | 64 -
OpenSim/Region/Physics/POSPlugin/POSPrim.cs | 336 --
OpenSim/Region/Physics/POSPlugin/POSScene.cs | 273 --
.../PhysicsModules/BasicPhysics/AssemblyInfo.cs | 58 +
.../BasicPhysics/BasicPhysicsActor.cs | 303 ++
.../BasicPhysics/BasicPhysicsPlugin.cs | 64 +
.../BasicPhysics/BasicPhysicsPrim.cs | 316 ++
.../BasicPhysics/BasicPhysicsScene.cs | 210 +
.../Region/PhysicsModules/BulletS/BSAPIUnman.cs | 2120 ++++++++++
OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs | 2589 ++++++++++++
.../PhysicsModules/BulletS/BSActorAvatarMove.cs | 457 +++
.../Region/PhysicsModules/BulletS/BSActorHover.cs | 174 +
.../PhysicsModules/BulletS/BSActorLockAxis.cs | 219 +
.../PhysicsModules/BulletS/BSActorMoveToTarget.cs | 220 +
.../PhysicsModules/BulletS/BSActorSetForce.cs | 138 +
.../PhysicsModules/BulletS/BSActorSetTorque.cs | 139 +
OpenSim/Region/PhysicsModules/BulletS/BSActors.cs | 154 +
.../Region/PhysicsModules/BulletS/BSApiTemplate.cs | 763 ++++
.../Region/PhysicsModules/BulletS/BSCharacter.cs | 813 ++++
.../Region/PhysicsModules/BulletS/BSConstraint.cs | 144 +
.../PhysicsModules/BulletS/BSConstraint6Dof.cs | 180 +
.../BulletS/BSConstraintCollection.cs | 181 +
.../BulletS/BSConstraintConeTwist.cs | 54 +
.../PhysicsModules/BulletS/BSConstraintHinge.cs | 55 +
.../PhysicsModules/BulletS/BSConstraintSlider.cs | 55 +
.../PhysicsModules/BulletS/BSConstraintSpring.cs | 103 +
.../Region/PhysicsModules/BulletS/BSDynamics.cs | 1800 ++++++++
OpenSim/Region/PhysicsModules/BulletS/BSLinkset.cs | 503 +++
.../PhysicsModules/BulletS/BSLinksetCompound.cs | 477 +++
.../PhysicsModules/BulletS/BSLinksetConstraints.cs | 854 ++++
.../Region/PhysicsModules/BulletS/BSMaterials.cs | 203 +
OpenSim/Region/PhysicsModules/BulletS/BSMotors.cs | 451 ++
OpenSim/Region/PhysicsModules/BulletS/BSParam.cs | 927 +++++
.../Region/PhysicsModules/BulletS/BSPhysObject.cs | 620 +++
OpenSim/Region/PhysicsModules/BulletS/BSPlugin.cs | 76 +
OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs | 1896 +++++++++
.../PhysicsModules/BulletS/BSPrimDisplaced.cs | 182 +
.../PhysicsModules/BulletS/BSPrimLinkable.cs | 350 ++
OpenSim/Region/PhysicsModules/BulletS/BSScene.cs | 1281 ++++++
.../PhysicsModules/BulletS/BSShapeCollection.cs | 425 ++
OpenSim/Region/PhysicsModules/BulletS/BSShapes.cs | 1463 +++++++
.../PhysicsModules/BulletS/BSTerrainHeightmap.cs | 170 +
.../PhysicsModules/BulletS/BSTerrainManager.cs | 585 +++
.../Region/PhysicsModules/BulletS/BSTerrainMesh.cs | 441 ++
.../Region/PhysicsModules/BulletS/BulletSimData.cs | 277 ++
.../PhysicsModules/BulletS/BulletSimTODO.txt | 379 ++
.../BulletS/Properties/AssemblyInfo.cs | 33 +
.../PhysicsModules/BulletS/Tests/BasicVehicles.cs | 156 +
.../PhysicsModules/BulletS/Tests/BulletSimTests.cs | 56 +
.../BulletS/Tests/BulletSimTestsUtil.cs | 100 +
.../PhysicsModules/BulletS/Tests/HullCreation.cs | 205 +
.../ConvexDecompositionDotNet/CTri.cs | 341 ++
.../ConvexDecompositionDotNet/Concavity.cs | 233 ++
.../ConvexDecompositionDotNet/ConvexBuilder.cs | 411 ++
.../ConvexDecomposition.cs | 200 +
.../ConvexDecompositionDotNet/ConvexResult.cs | 74 +
.../ConvexDecompositionDotNet/HullClasses.cs | 171 +
.../ConvexDecompositionDotNet/HullTriangle.cs | 99 +
.../ConvexDecompositionDotNet/HullUtils.cs | 1868 +++++++++
.../ConvexDecompositionDotNet/LICENSE.txt | 28 +
.../ConvexDecompositionDotNet/Plane.cs | 99 +
.../ConvexDecompositionDotNet/PlaneTri.cs | 211 +
.../Properties/AssemblyInfo.cs | 36 +
.../ConvexDecompositionDotNet/Quaternion.cs | 209 +
.../ConvexDecompositionDotNet/README.txt | 7 +
.../ConvexDecompositionDotNet/SplitPlane.cs | 265 ++
.../ConvexDecompositionDotNet/VertexLookup.cs | 70 +
.../ConvexDecompositionDotNet/float2.cs | 70 +
.../ConvexDecompositionDotNet/float3.cs | 444 ++
.../ConvexDecompositionDotNet/float3x3.cs | 195 +
.../ConvexDecompositionDotNet/float4.cs | 170 +
.../ConvexDecompositionDotNet/float4x4.cs | 284 ++
.../ConvexDecompositionDotNet/int3.cs | 128 +
.../ConvexDecompositionDotNet/int4.cs | 66 +
.../Region/PhysicsModules/Meshing/HelperTypes.cs | 436 ++
OpenSim/Region/PhysicsModules/Meshing/Mesh.cs | 333 ++
.../Region/PhysicsModules/Meshing/Meshmerizer.cs | 971 +++++
.../Region/PhysicsModules/Meshing/PrimMesher.cs | 2324 +++++++++++
.../Meshing/Properties/AssemblyInfo.cs | 33 +
OpenSim/Region/PhysicsModules/Meshing/SculptMap.cs | 183 +
.../Region/PhysicsModules/Meshing/SculptMesh.cs | 646 +++
OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs | 58 +
OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs | 1409 +++++++
.../PhysicsModules/Ode/ODEDynamics.c_comments | 630 +++
OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs | 974 +++++
OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs | 3387 +++++++++++++++
.../PhysicsModules/Ode/ODERayCastRequestManager.cs | 434 ++
.../Region/PhysicsModules/Ode/OdePhysicsJoint.cs | 48 +
OpenSim/Region/PhysicsModules/Ode/OdePlugin.cs | 90 +
OpenSim/Region/PhysicsModules/Ode/OdeScene.cs | 4319 ++++++++++++++++++++
.../PhysicsModules/Ode/Tests/ODETestClass.cs | 128 +
OpenSim/Region/PhysicsModules/Ode/drawstuff.cs | 98 +
OpenSim/Region/PhysicsModules/POS/AssemblyInfo.cs | 58 +
OpenSim/Region/PhysicsModules/POS/POSCharacter.cs | 341 ++
OpenSim/Region/PhysicsModules/POS/POSPlugin.cs | 64 +
OpenSim/Region/PhysicsModules/POS/POSPrim.cs | 336 ++
OpenSim/Region/PhysicsModules/POS/POSScene.cs | 273 ++
.../PhysicsModules/SharedBase/AssemblyInfo.cs | 58 +
.../PhysicsModules/SharedBase/CollisionLocker.cs | 73 +
.../Region/PhysicsModules/SharedBase/IMesher.cs | 71 +
.../SharedBase/IPhysicsParameters.cs | 73 +
.../PhysicsModules/SharedBase/NullPhysicsScene.cs | 122 +
.../PhysicsModules/SharedBase/PhysicsActor.cs | 584 +++
.../PhysicsModules/SharedBase/PhysicsJoint.cs | 55 +
.../SharedBase/PhysicsPluginManager.cs | 242 ++
.../PhysicsModules/SharedBase/PhysicsScene.cs | 361 ++
.../PhysicsModules/SharedBase/PhysicsSensor.cs | 78 +
.../PhysicsModules/SharedBase/PhysicsVector.cs | 186 +
.../PhysicsModules/SharedBase/VehicleConstants.cs | 121 +
.../Region/PhysicsModules/SharedBase/ZeroMesher.cs | 83 +
214 files changed, 48778 insertions(+), 48778 deletions(-)
delete mode 100644 OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
delete mode 100644 OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
delete mode 100644 OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
delete mode 100644 OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs
delete mode 100644 OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs
delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
delete mode 100644 OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs
delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs
delete mode 100644 OpenSim/Region/Physics/Manager/AssemblyInfo.cs
delete mode 100644 OpenSim/Region/Physics/Manager/CollisionLocker.cs
delete mode 100644 OpenSim/Region/Physics/Manager/IMesher.cs
delete mode 100755 OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
delete mode 100644 OpenSim/Region/Physics/Manager/NullPhysicsScene.cs
delete mode 100644 OpenSim/Region/Physics/Manager/PhysicsActor.cs
delete mode 100644 OpenSim/Region/Physics/Manager/PhysicsJoint.cs
delete mode 100644 OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
delete mode 100644 OpenSim/Region/Physics/Manager/PhysicsScene.cs
delete mode 100644 OpenSim/Region/Physics/Manager/PhysicsSensor.cs
delete mode 100644 OpenSim/Region/Physics/Manager/PhysicsVector.cs
delete mode 100644 OpenSim/Region/Physics/Manager/VehicleConstants.cs
delete mode 100644 OpenSim/Region/Physics/Manager/ZeroMesher.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/HelperTypes.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/Mesh.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/Meshmerizer.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/PrimMesher.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/Properties/AssemblyInfo.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/SculptMap.cs
delete mode 100644 OpenSim/Region/Physics/Meshing/SculptMesh.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/OdeScene.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/drawstuff.cs
delete mode 100644 OpenSim/Region/Physics/POSPlugin/AssemblyInfo.cs
delete mode 100644 OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
delete mode 100644 OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
delete mode 100644 OpenSim/Region/Physics/POSPlugin/POSPrim.cs
delete mode 100644 OpenSim/Region/Physics/POSPlugin/POSScene.cs
create mode 100644 OpenSim/Region/PhysicsModules/BasicPhysics/AssemblyInfo.cs
create mode 100644 OpenSim/Region/PhysicsModules/BasicPhysics/BasicPhysicsActor.cs
create mode 100644 OpenSim/Region/PhysicsModules/BasicPhysics/BasicPhysicsPlugin.cs
create mode 100644 OpenSim/Region/PhysicsModules/BasicPhysics/BasicPhysicsPrim.cs
create mode 100644 OpenSim/Region/PhysicsModules/BasicPhysics/BasicPhysicsScene.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorHover.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorLockAxis.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorSetForce.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSActors.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraint.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraintCollection.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraintConeTwist.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraintHinge.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraintSlider.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraintSpring.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSLinkset.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSLinksetConstraints.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSMaterials.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSMotors.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSPlugin.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSPrimDisplaced.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSPrimLinkable.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSShapes.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSTerrainHeightmap.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSTerrainManager.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSTerrainMesh.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BulletSimTODO.txt
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/Properties/AssemblyInfo.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTests.cs
create mode 100755 OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTestsUtil.cs
create mode 100644 OpenSim/Region/PhysicsModules/BulletS/Tests/HullCreation.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/CTri.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Concavity.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexBuilder.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexDecomposition.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/ConvexResult.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullClasses.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullTriangle.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/HullUtils.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/LICENSE.txt
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Plane.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/PlaneTri.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/Quaternion.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/README.txt
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/SplitPlane.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/VertexLookup.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float2.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float3x3.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int3.cs
create mode 100644 OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/int4.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/HelperTypes.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/Mesh.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/Meshmerizer.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/PrimMesher.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/Properties/AssemblyInfo.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/SculptMap.cs
create mode 100644 OpenSim/Region/PhysicsModules/Meshing/SculptMesh.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments
create mode 100644 OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/OdePlugin.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs
create mode 100644 OpenSim/Region/PhysicsModules/Ode/drawstuff.cs
create mode 100644 OpenSim/Region/PhysicsModules/POS/AssemblyInfo.cs
create mode 100644 OpenSim/Region/PhysicsModules/POS/POSCharacter.cs
create mode 100644 OpenSim/Region/PhysicsModules/POS/POSPlugin.cs
create mode 100644 OpenSim/Region/PhysicsModules/POS/POSPrim.cs
create mode 100644 OpenSim/Region/PhysicsModules/POS/POSScene.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/AssemblyInfo.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/CollisionLocker.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/IMesher.cs
create mode 100755 OpenSim/Region/PhysicsModules/SharedBase/IPhysicsParameters.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/NullPhysicsScene.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/PhysicsJoint.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/PhysicsPluginManager.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/PhysicsSensor.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/PhysicsVector.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/VehicleConstants.cs
create mode 100644 OpenSim/Region/PhysicsModules/SharedBase/ZeroMesher.cs
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
deleted file mode 100644
index 7d054dd..0000000
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
+++ /dev/null
@@ -1,58 +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;
-
-// 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("BasicPhysicsPlugin")]
-[assembly : AssemblyDescription("")]
-[assembly : AssemblyConfiguration("")]
-[assembly : AssemblyCompany("http://opensimulator.org")]
-[assembly : AssemblyProduct("BasicPhysicsPlugin")]
-[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers")]
-[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.*")]
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
deleted file mode 100644
index 43fba7b..0000000
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ /dev/null
@@ -1,303 +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 Nini.Config;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BasicPhysicsPlugin
-{
- public class BasicActor : PhysicsActor
- {
- public BasicActor(Vector3 size)
- {
- Size = size;
- }
-
- public override int PhysicsActorType
- {
- get { return (int) ActorTypes.Agent; }
- set { return; }
- }
-
- public override Vector3 RotationalVelocity { get; set; }
-
- public override bool SetAlwaysRun
- {
- get { return false; }
- set { return; }
- }
-
- public override uint LocalID
- {
- set { return; }
- }
-
- public override bool Grabbed
- {
- set { return; }
- }
-
- public override bool Selected
- {
- set { return; }
- }
-
- public override float Buoyancy
- {
- get { return 0f; }
- set { return; }
- }
-
- public override bool FloatOnWater
- {
- set { return; }
- }
-
- public override bool IsPhysical
- {
- get { return false; }
- set { return; }
- }
-
- public override bool ThrottleUpdates
- {
- get { return false; }
- set { return; }
- }
-
- public override bool Flying { get; set; }
-
- public override bool IsColliding { get; set; }
-
- public override bool CollidingGround
- {
- get { return false; }
- set { return; }
- }
-
- public override bool CollidingObj
- {
- get { return false; }
- set { return; }
- }
-
- public override bool Stopped
- {
- get { return false; }
- }
-
- public override Vector3 Position { get; set; }
-
- public override Vector3 Size { get; set; }
-
- public override PrimitiveBaseShape Shape
- {
- set { return; }
- }
-
- public override float Mass
- {
- get { return 0f; }
- }
-
- public override Vector3 Force
- {
- get { return Vector3.Zero; }
- 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 { return Vector3.Zero; }
- }
-
- public override Vector3 GeometricCenter
- {
- get { return Vector3.Zero; }
- }
-
- public override Vector3 Velocity { get; set; }
-
- public override Vector3 Torque
- {
- get { return Vector3.Zero; }
- set { return; }
- }
-
- public override float CollisionScore
- {
- get { return 0f; }
- set { }
- }
-
- public override Quaternion Orientation
- {
- get { return Quaternion.Identity; }
- set { }
- }
-
- public override Vector3 Acceleration { get; set; }
-
- public override bool Kinematic
- {
- get { return true; }
- set { }
- }
-
- public override void link(PhysicsActor obj)
- {
- }
-
- public override void delink()
- {
- }
-
- public override void LockAngularMotion(Vector3 axis)
- {
- }
-
- public override void AddForce(Vector3 force, bool pushforce)
- {
- }
-
- public override void AddAngularForce(Vector3 force, bool pushforce)
- {
- }
-
- public override void SetMomentum(Vector3 momentum)
- {
- }
-
- public override void CrossingFailure()
- {
- }
-
- public override Vector3 PIDTarget
- {
- set { return; }
- }
-
- public override bool PIDActive
- {
- get { return false; }
- 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)
- {
- }
-
- public override void UnSubscribeEvents()
- {
- }
-
- public override bool SubscribedEvents()
- {
- return false;
- }
- }
-}
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
deleted file mode 100644
index 373c7e0..0000000
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
+++ /dev/null
@@ -1,64 +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 Nini.Config;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BasicPhysicsPlugin
-{
- ///
- /// Effectively a physics plugin that simulates no physics at all.
- ///
- public class BasicPhysicsPlugin : IPhysicsPlugin
- {
- public BasicPhysicsPlugin()
- {
- }
-
- public bool Init()
- {
- return true;
- }
-
- public PhysicsScene GetScene(string sceneIdentifier)
- {
- return new BasicScene(GetName(), sceneIdentifier);
- }
-
- public string GetName()
- {
- return ("basicphysics");
- }
-
- public void Dispose()
- {
- }
- }
-}
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs
deleted file mode 100644
index dfe4c19..0000000
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPrim.cs
+++ /dev/null
@@ -1,316 +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 Nini.Config;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BasicPhysicsPlugin
-{
- public class BasicPhysicsPrim : PhysicsActor
- {
- private Vector3 _size;
-// private PrimitiveBaseShape _shape;
-
- public BasicPhysicsPrim(
- string name, uint localId, Vector3 position, Vector3 size, Quaternion orientation, PrimitiveBaseShape shape)
- {
- Name = name;
- LocalID = localId;
- Position = position;
- Size = size;
- Orientation = orientation;
- Shape = shape;
- }
-
- public override int PhysicsActorType
- {
- get { return (int) ActorTypes.Agent; }
- set { return; }
- }
-
- public override Vector3 RotationalVelocity { get; set; }
-
- public override bool SetAlwaysRun
- {
- get { return false; }
- set { return; }
- }
-
- public override uint LocalID
- {
- set { return; }
- }
-
- public override bool Grabbed
- {
- set { return; }
- }
-
- public override bool Selected
- {
- set { return; }
- }
-
- public override float Buoyancy
- {
- get { return 0f; }
- set { return; }
- }
-
- public override bool FloatOnWater
- {
- set { return; }
- }
-
- public override bool IsPhysical
- {
- get { return false; }
- set { return; }
- }
-
- public override bool ThrottleUpdates
- {
- get { return false; }
- set { return; }
- }
-
- public override bool Flying { get; set; }
-
- public override bool IsColliding { get; set; }
-
- public override bool CollidingGround
- {
- get { return false; }
- set { return; }
- }
-
- public override bool CollidingObj
- {
- get { return false; }
- set { return; }
- }
-
- public override bool Stopped
- {
- get { return false; }
- }
-
- public override Vector3 Position { get; set; }
-
- public override Vector3 Size
- {
- get { return _size; }
- set {
- _size = value;
- _size.Z = _size.Z / 2.0f;
- }
- }
-
- public override PrimitiveBaseShape Shape
- {
-// set { _shape = value; }
- set {}
- }
-
- public override float Mass
- {
- get { return 0f; }
- }
-
- public override Vector3 Force
- {
- get { return Vector3.Zero; }
- 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 { return Vector3.Zero; }
- }
-
- public override Vector3 GeometricCenter
- {
- get { return Vector3.Zero; }
- }
-
- public override Vector3 Velocity { get; set; }
-
- public override Vector3 Torque
- {
- get { return Vector3.Zero; }
- set { return; }
- }
-
- public override float CollisionScore
- {
- get { return 0f; }
- set { }
- }
-
- public override Quaternion Orientation { get; set; }
-
- public override Vector3 Acceleration { get; set; }
-
- public override bool Kinematic
- {
- get { return true; }
- set { }
- }
-
- public override void link(PhysicsActor obj)
- {
- }
-
- public override void delink()
- {
- }
-
- public override void LockAngularMotion(Vector3 axis)
- {
- }
-
- public override void AddForce(Vector3 force, bool pushforce)
- {
- }
-
- public override void AddAngularForce(Vector3 force, bool pushforce)
- {
- }
-
- public override void SetMomentum(Vector3 momentum)
- {
- }
-
- public override void CrossingFailure()
- {
- }
-
- public override Vector3 PIDTarget
- {
- set { return; }
- }
-
- public override bool PIDActive
- {
- get { return false; }
- 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)
- {
- }
-
- public override void UnSubscribeEvents()
- {
- }
-
- public override bool SubscribedEvents()
- {
- return false;
- }
- }
-}
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
deleted file mode 100644
index 06a205e..0000000
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ /dev/null
@@ -1,210 +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 Nini.Config;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BasicPhysicsPlugin
-{
- ///
- /// This is an incomplete extremely basic physics implementation
- ///
- ///
- /// Not useful for anything at the moment apart from some regression testing in other components where some form
- /// of physics plugin is needed.
- ///
- public class BasicScene : PhysicsScene
- {
- private List _actors = new List();
- private List _prims = new List();
- private float[] _heightMap;
- private Vector3 m_regionExtent;
-
- //protected internal string sceneIdentifier;
-
- public BasicScene(string engineType, string _sceneIdentifier)
- {
- EngineType = engineType;
- Name = EngineType + "/" + _sceneIdentifier;
- //sceneIdentifier = _sceneIdentifier;
- }
-
- public override void Initialise(IMesher meshmerizer, IConfigSource config)
- {
- throw new Exception("Should not be called.");
- }
-
- public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
- {
- m_regionExtent = regionExtent;
- }
-
- public override void Dispose() {}
-
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
- Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
- {
- BasicPhysicsPrim prim = new BasicPhysicsPrim(primName, localid, position, size, rotation, pbs);
- prim.IsPhysical = isPhysical;
-
- _prims.Add(prim);
-
- return prim;
- }
-
- public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
- {
- BasicActor act = new BasicActor(size);
- act.Position = position;
- act.Velocity = velocity;
- act.Flying = isFlying;
- _actors.Add(act);
- return act;
- }
-
- public override void RemovePrim(PhysicsActor actor)
- {
- BasicPhysicsPrim prim = (BasicPhysicsPrim)actor;
- if (_prims.Contains(prim))
- _prims.Remove(prim);
- }
-
- public override void RemoveAvatar(PhysicsActor actor)
- {
- BasicActor act = (BasicActor)actor;
- if (_actors.Contains(act))
- _actors.Remove(act);
- }
-
- public override void AddPhysicsActorTaint(PhysicsActor prim)
- {
- }
-
- public override float Simulate(float timeStep)
- {
-// Console.WriteLine("Simulating");
-
- float fps = 0;
- for (int i = 0; i < _actors.Count; ++i)
- {
- BasicActor actor = _actors[i];
- Vector3 actorPosition = actor.Position;
- Vector3 actorVelocity = actor.Velocity;
-
-// Console.WriteLine(
-// "Processing actor {0}, starting pos {1}, starting vel {2}", i, actorPosition, actorVelocity);
-
- actorPosition.X += actor.Velocity.X * timeStep;
- actorPosition.Y += actor.Velocity.Y * timeStep;
-
- if (actor.Position.Y < 0)
- {
- actorPosition.Y = 0.1F;
- }
- else if (actor.Position.Y >= m_regionExtent.Y)
- {
- actorPosition.Y = (m_regionExtent.Y - 0.1f);
- }
-
- if (actor.Position.X < 0)
- {
- actorPosition.X = 0.1F;
- }
- else if (actor.Position.X >= m_regionExtent.X)
- {
- actorPosition.X = (m_regionExtent.X - 0.1f);
- }
-
- float terrainHeight = 0;
- if (_heightMap != null)
- terrainHeight = _heightMap[(int)actor.Position.Y * (int)m_regionExtent.Y + (int)actor.Position.X];
-
- float height = terrainHeight + actor.Size.Z;
-// Console.WriteLine("height {0}, actorPosition {1}", height, actorPosition);
-
- if (actor.Flying)
- {
- if (actor.Position.Z + (actor.Velocity.Z * timeStep) < terrainHeight + 2)
- {
- actorPosition.Z = height;
- actorVelocity.Z = 0;
- actor.IsColliding = true;
- }
- else
- {
- actorPosition.Z += actor.Velocity.Z * timeStep;
- actor.IsColliding = false;
- }
- }
- else
- {
- actorPosition.Z = height;
- actorVelocity.Z = 0;
- actor.IsColliding = true;
- }
-
- actor.Position = actorPosition;
- actor.Velocity = actorVelocity;
- }
-
- return fps;
- }
-
- public override void GetResults()
- {
- }
-
- public override bool IsThreaded
- {
- get { return (false); // for now we won't be multithreaded
- }
- }
-
- public override void SetTerrain(float[] heightMap)
- {
- _heightMap = heightMap;
- }
-
- public override void DeleteTerrain()
- {
- }
-
- public override void SetWaterLevel(float baseheight)
- {
- }
-
- public override Dictionary GetTopColliders()
- {
- Dictionary returncolliders = new Dictionary();
- return returncolliders;
- }
- }
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
deleted file mode 100755
index 3bd81d4..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ /dev/null
@@ -1,2120 +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 copyrightD
- * 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.Security;
-using System.Text;
-
-using OpenSim.Framework;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSAPIUnman : BSAPITemplate
-{
-
-private sealed class BulletWorldUnman : BulletWorld
-{
- public IntPtr ptr;
- public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
- : base(id, physScene)
- {
- ptr = xx;
- }
-}
-
-private sealed class BulletBodyUnman : BulletBody
-{
- public IntPtr ptr;
- public BulletBodyUnman(uint id, IntPtr xx)
- : base(id)
- {
- ptr = xx;
- }
- public override bool HasPhysicalBody
- {
- get { return ptr != IntPtr.Zero; }
- }
- public override void Clear()
- {
- ptr = IntPtr.Zero;
- }
- public override string AddrString
- {
- get { return ptr.ToString("X"); }
- }
-}
-
-private sealed class BulletShapeUnman : BulletShape
-{
- public IntPtr ptr;
- public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
- : base()
- {
- ptr = xx;
- shapeType = typ;
- }
- public override bool HasPhysicalShape
- {
- get { return ptr != IntPtr.Zero; }
- }
- public override void Clear()
- {
- ptr = IntPtr.Zero;
- }
- public override BulletShape Clone()
- {
- return new BulletShapeUnman(ptr, shapeType);
- }
- public override bool ReferenceSame(BulletShape other)
- {
- BulletShapeUnman otheru = other as BulletShapeUnman;
- return (otheru != null) && (this.ptr == otheru.ptr);
-
- }
- public override string AddrString
- {
- get { return ptr.ToString("X"); }
- }
-}
-private sealed class BulletConstraintUnman : BulletConstraint
-{
- public BulletConstraintUnman(IntPtr xx) : base()
- {
- ptr = xx;
- }
- public IntPtr ptr;
-
- public override void Clear()
- {
- ptr = IntPtr.Zero;
- }
- public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
-
- // Used for log messages for a unique display of the memory/object allocated to this instance
- public override string AddrString
- {
- get { return ptr.ToString("X"); }
- }
-}
-
-// We pin the memory passed between the managed and unmanaged code.
-GCHandle m_paramsHandle;
-private GCHandle m_collisionArrayPinnedHandle;
-private GCHandle m_updateArrayPinnedHandle;
-
-// Handle to the callback used by the unmanaged code to call into the managed code.
-// Used for debug logging.
-// Need to store the handle in a persistant variable so it won't be freed.
-private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
-
-private BSScene PhysicsScene { get; set; }
-
-public override string BulletEngineName { get { return "BulletUnmanaged"; } }
-public override string BulletEngineVersion { get; protected set; }
-
-public BSAPIUnman(string paramName, BSScene physScene)
-{
- PhysicsScene = physScene;
-
- // Do something fancy with the paramName to get the right DLL implementation
- // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
- if (Util.IsWindows())
- Util.LoadArchSpecificWindowsDll("BulletSim.dll");
- // If not Windows, loading is performed by the
- // Mono loader as specified in
- // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
-}
-
-// Initialization and simulation
-public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
- int maxCollisions, ref CollisionDesc[] collisionArray,
- int maxUpdates, ref EntityProperties[] updateArray
- )
-{
- // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
- m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
- m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
- m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
-
- // If Debug logging level, enable logging from the unmanaged code
- m_DebugLogCallbackHandle = null;
- if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
- {
- BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
- if (PhysicsScene.PhysicsLogging.Enabled)
- // The handle is saved in a variable to make sure it doesn't get freed after this call
- m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
- else
- m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
- }
-
- // Get the version of the DLL
- // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
- // BulletEngineVersion = BulletSimAPI.GetVersion2();
- BulletEngineVersion = "";
-
- // Call the unmanaged code with the buffers and other information
- return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
- maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
- maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
- m_DebugLogCallbackHandle));
-
-}
-
-// Called directly from unmanaged code so don't do much
-private void BulletLogger(string msg)
-{
- BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-}
-
-// Called directly from unmanaged code so don't do much
-private void BulletLoggerPhysLog(string msg)
-{
- PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
-}
-
-public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount, out int collidersCount)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
-}
-
-public override void Shutdown(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.Shutdown2(worldu.ptr);
-
- if (m_paramsHandle.IsAllocated)
- {
- m_paramsHandle.Free();
- }
- if (m_collisionArrayPinnedHandle.IsAllocated)
- {
- m_collisionArrayPinnedHandle.Free();
- }
- if (m_updateArrayPinnedHandle.IsAllocated)
- {
- m_updateArrayPinnedHandle.Free();
- }
-}
-
-public override bool PushUpdate(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.PushUpdate2(bodyu.ptr);
-}
-
-public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
-}
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-public override BulletShape CreateMeshShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_MESH);
-}
-
-public override BulletShape CreateGImpactShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_GIMPACT);
-}
-
-public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
- BSPhysicsShapeType.SHAPE_HULL);
-}
-
-public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
- return new BulletShapeUnman(
- BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms),
- BSPhysicsShapeType.SHAPE_HULL);
-}
-
-public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
- return new BulletShapeUnman(
- BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
- BSPhysicsShapeType.SHAPE_CONVEXHULL);
-}
-
-public override BulletShape CreateConvexHullShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_CONVEXHULL);
-}
-
-public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
-}
-
-public override bool IsNativeShape(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (shapeu != null && shapeu.HasPhysicalShape)
- return BSAPICPP.IsNativeShape2(shapeu.ptr);
- return false;
-}
-
-public override void SetShapeCollisionMargin(BulletShape shape, float margin)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (shapeu != null && shapeu.HasPhysicalShape)
- BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin);
-}
-
-public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
- BSPhysicsShapeType.SHAPE_CAPSULE);
-}
-
-public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
- BSPhysicsShapeType.SHAPE_COMPOUND);
-
-}
-
-public override int GetNumberOfCompoundChildren(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (shapeu != null && shapeu.HasPhysicalShape)
- return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
- return 0;
-}
-
-public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
- BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
-}
-
-public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
-}
-
-public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
-}
-
-public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
- BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
-}
-
-public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
-{
- BulletShapeUnman shapeu = pShape as BulletShapeUnman;
- BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
-}
-
-public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
-}
-
-public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
- return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType);
-}
-
-public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
-}
-
-public override CollisionObjectTypes GetBodyType(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
-}
-
-public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
-}
-
-public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
-}
-
-public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
-}
-
-public override void DestroyObject(BulletWorld world, BulletBody obj)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
-}
-
-// =====================================================================================
-// Terrain creation and helper routines
-public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
-{
- return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-}
-
-public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
- float scaleFactor, float collisionMargin)
-{
- return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
- BSPhysicsShapeType.SHAPE_TERRAIN);
-}
-
-// =====================================================================================
-// Constraint creation and helper routines
-public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
- joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr,
- frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotinA, Vector3 pivotinB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
- pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 axisInA, Vector3 axisInB,
- float ratio, bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB,
- ratio, disableCollisionsBetweenLinkedBodies));
-}
-
-public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- bool disableCollisionsBetweenLinkedBodies)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB,
- disableCollisionsBetweenLinkedBodies));
-}
-
-public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
-}
-
-public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
-}
-
-public override bool SetFrames(BulletConstraint constrain,
- Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
-}
-
-public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
-}
-
-public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
-}
-
-public override bool UseFrameOffset(BulletConstraint constrain, float enable)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
-}
-
-public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
-}
-
-public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
-}
-
-public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation);
-}
-
-public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse);
-}
-
-public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint);
-}
-
-public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss);
-}
-
-public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping);
-}
-
-public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val);
-}
-
-public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val);
-}
-
-public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse);
-}
-
-public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val);
-}
-
-public override bool CalculateTransforms(BulletConstraint constrain)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.CalculateTransforms2(constrainu.ptr);
-}
-
-public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
-}
-
-public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
-}
-
-// =====================================================================================
-// btCollisionWorld entries
-public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
-}
-
-public override void UpdateAabbs(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.UpdateAabbs2(worldu.ptr);
-}
-
-public override bool GetForceUpdateAllAabbs(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
-}
-
-public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
-}
-
-// =====================================================================================
-// btDynamicsWorld entries
-public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
-
- // Bullet resets several variables when an object is added to the world.
- // Gravity is reset to world default depending on the static/dynamic
- // type. Of course, the collision flags in the broadphase proxy are initialized to default.
- Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
-
- bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
-
- if (ret)
- {
- BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
- obj.ApplyCollisionMask(world.physicsScene);
- }
- return ret;
-}
-
-public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
-}
-
-public override bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.ClearCollisionProxyCache2(worldu.ptr, bodyu.ptr);
-}
-
-public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
-}
-
-public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
-}
-// =====================================================================================
-// btCollisionObject entries
-public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
-}
-
-public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
-}
-
-public override bool HasAnisotripicFriction(BulletConstraint constrain)
-{
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
-}
-
-public override void SetContactProcessingThreshold(BulletBody obj, float val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
-}
-
-public override float GetContactProcessingThreshold(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
-}
-
-public override bool IsStaticObject(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsStaticObject2(bodyu.ptr);
-}
-
-public override bool IsKinematicObject(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsKinematicObject2(bodyu.ptr);
-}
-
-public override bool IsStaticOrKinematicObject(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
-}
-
-public override bool HasContactResponse(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.HasContactResponse2(bodyu.ptr);
-}
-
-public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (worldu != null && bodyu != null)
- {
- // Special case to allow the caller to zero out the reference to any physical shape
- if (shapeu != null)
- BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
- else
- BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
- }
-}
-
-public override BulletShape GetCollisionShape(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
-}
-
-public override int GetActivationState(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetActivationState2(bodyu.ptr);
-}
-
-public override void SetActivationState(BulletBody obj, int state)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetActivationState2(bodyu.ptr, state);
-}
-
-public override void SetDeactivationTime(BulletBody obj, float dtime)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
-}
-
-public override float GetDeactivationTime(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
-}
-
-public override void ForceActivationState(BulletBody obj, ActivationState state)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ForceActivationState2(bodyu.ptr, state);
-}
-
-public override void Activate(BulletBody obj, bool forceActivation)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.Activate2(bodyu.ptr, forceActivation);
-}
-
-public override bool IsActive(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsActive2(bodyu.ptr);
-}
-
-public override void SetRestitution(BulletBody obj, float val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetRestitution2(bodyu.ptr, val);
-}
-
-public override float GetRestitution(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetRestitution2(bodyu.ptr);
-}
-
-public override void SetFriction(BulletBody obj, float val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetFriction2(bodyu.ptr, val);
-}
-
-public override float GetFriction(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetFriction2(bodyu.ptr);
-}
-
-public override Vector3 GetPosition(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetPosition2(bodyu.ptr);
-}
-
-public override Quaternion GetOrientation(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetOrientation2(bodyu.ptr);
-}
-
-public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
-}
-
- /*
-public override IntPtr GetBroadphaseHandle(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
-}
-
-public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
-}
- */
-
-public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
-}
-
-public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
-}
-
-public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
-}
-
-public override float GetHitFraction(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetHitFraction2(bodyu.ptr);
-}
-
-public override void SetHitFraction(BulletBody obj, float val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetHitFraction2(bodyu.ptr, val);
-}
-
-public override CollisionFlags GetCollisionFlags(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
-}
-
-public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
-}
-
-public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
-}
-
-public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
-}
-
-public override float GetCcdMotionThreshold(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
-}
-
-
-public override void SetCcdMotionThreshold(BulletBody obj, float val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
-}
-
-public override float GetCcdSweptSphereRadius(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
-}
-
-public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
-}
-
-public override IntPtr GetUserPointer(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetUserPointer2(bodyu.ptr);
-}
-
-public override void SetUserPointer(BulletBody obj, IntPtr val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetUserPointer2(bodyu.ptr, val);
-}
-
-// =====================================================================================
-// btRigidBody entries
-public override void ApplyGravity(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyGravity2(bodyu.ptr);
-}
-
-public override void SetGravity(BulletBody obj, Vector3 val)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetGravity2(bodyu.ptr, val);
-}
-
-public override Vector3 GetGravity(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetGravity2(bodyu.ptr);
-}
-
-public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
-}
-
-public override void SetLinearDamping(BulletBody obj, float lin_damping)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
-}
-
-public override void SetAngularDamping(BulletBody obj, float ang_damping)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
-}
-
-public override float GetLinearDamping(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearDamping2(bodyu.ptr);
-}
-
-public override float GetAngularDamping(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetAngularDamping2(bodyu.ptr);
-}
-
-public override float GetLinearSleepingThreshold(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
-}
-
-public override void ApplyDamping(BulletBody obj, float timeStep)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
-}
-
-public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
-}
-
-public override Vector3 GetLinearFactor(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearFactor2(bodyu.ptr);
-}
-
-public override void SetLinearFactor(BulletBody obj, Vector3 factor)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
-}
-
-public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
-}
-
-// Add a force to the object as if its mass is one.
-// Deep down in Bullet: m_totalForce += force*m_linearFactor;
-public override void ApplyCentralForce(BulletBody obj, Vector3 force)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
-}
-
-// Set the force being applied to the object as if its mass is one.
-public override void SetObjectForce(BulletBody obj, Vector3 force)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetObjectForce2(bodyu.ptr, force);
-}
-
-public override Vector3 GetTotalForce(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetTotalForce2(bodyu.ptr);
-}
-
-public override Vector3 GetTotalTorque(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetTotalTorque2(bodyu.ptr);
-}
-
-public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
-}
-
-public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
-}
-
-public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
-}
-
-// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
-public override void ApplyTorque(BulletBody obj, Vector3 torque)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
-}
-
-// Apply force at the given point. Will add torque to the object.
-// Deep down in Bullet: applyCentralForce(force);
-// applyTorque(rel_pos.cross(force*m_linearFactor));
-public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
-}
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
-public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
-}
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
-public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
-}
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-// Deep down in Bullet: applyCentralImpulse(impulse);
-// applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
-public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
-}
-
-public override void ClearForces(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ClearForces2(bodyu.ptr);
-}
-
-public override void ClearAllForces(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ClearAllForces2(bodyu.ptr);
-}
-
-public override void UpdateInertiaTensor(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
-}
-
-public override Vector3 GetLinearVelocity(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
-}
-
-public override Vector3 GetAngularVelocity(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
-}
-
-public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
-}
-
-public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
-}
-
-public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
-}
-
-public override void Translate(BulletBody obj, Vector3 trans)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.Translate2(bodyu.ptr, trans);
-}
-
-public override void UpdateDeactivation(BulletBody obj, float timeStep)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
-}
-
-public override bool WantsSleeping(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.WantsSleeping2(bodyu.ptr);
-}
-
-public override void SetAngularFactor(BulletBody obj, float factor)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
-}
-
-public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
-}
-
-public override Vector3 GetAngularFactor(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetAngularFactor2(bodyu.ptr);
-}
-
-public override bool IsInWorld(BulletWorld world, BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsInWorld2(bodyu.ptr);
-}
-
-public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
-}
-
-public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
-}
-
-public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
-}
-
-public override int GetNumConstraintRefs(BulletBody obj)
-{
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
-}
-
-public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
-{
- BulletBodyUnman bodyu = body as BulletBodyUnman;
- return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
-}
-
-// =====================================================================================
-// btCollisionShape entries
-
-public override float GetAngularMotionDisc(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
-}
-
-public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
-}
-
-public override bool IsPolyhedral(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsPolyhedral2(shapeu.ptr);
-}
-
-public override bool IsConvex2d(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsConvex2d2(shapeu.ptr);
-}
-
-public override bool IsConvex(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsConvex2(shapeu.ptr);
-}
-
-public override bool IsNonMoving(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsNonMoving2(shapeu.ptr);
-}
-
-public override bool IsConcave(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsConcave2(shapeu.ptr);
-}
-
-public override bool IsCompound(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsCompound2(shapeu.ptr);
-}
-
-public override bool IsSoftBody(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsSoftBody2(shapeu.ptr);
-}
-
-public override bool IsInfinite(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsInfinite2(shapeu.ptr);
-}
-
-public override void SetLocalScaling(BulletShape shape, Vector3 scale)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
-}
-
-public override Vector3 GetLocalScaling(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetLocalScaling2(shapeu.ptr);
-}
-
-public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
-}
-
-public override int GetShapeType(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetShapeType2(shapeu.ptr);
-}
-
-public override void SetMargin(BulletShape shape, float val)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BSAPICPP.SetMargin2(shapeu.ptr, val);
-}
-
-public override float GetMargin(BulletShape shape)
-{
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetMargin2(shapeu.ptr);
-}
-
-// =====================================================================================
-// Debugging
-public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
- BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
-}
-
-public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
- BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
-}
-
-public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
-}
-
-public override void DumpActivationInfo(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.DumpActivationInfo2(worldu.ptr);
-}
-
-public override void DumpAllInfo(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.DumpAllInfo2(worldu.ptr);
-}
-
-public override void DumpPhysicsStatistics(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
-}
-public override void ResetBroadphasePool(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.ResetBroadphasePool(worldu.ptr);
-}
-public override void ResetConstraintSolver(BulletWorld world)
-{
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.ResetConstraintSolver(worldu.ptr);
-}
-
-// =====================================================================================
-// =====================================================================================
-// =====================================================================================
-// =====================================================================================
-// =====================================================================================
-// The actual interface to the unmanaged code
-static class BSAPICPP
-{
-// ===============================================================================
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
- int maxCollisions, IntPtr collisionArray,
- int maxUpdates, IntPtr updateArray,
- DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount, out int collidersCount);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(IntPtr world,
- int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
- int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGImpactShape2(IntPtr world,
- int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
- int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHullShape2(IntPtr world,
- int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateConvexHullShape2(IntPtr world,
- int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
- int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNativeShape2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetBodyType2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight,
- [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
- float scaleFactor, float collisionMargin);
-
-// =====================================================================================
-// Constraint creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 pivotinA, Vector3 pivotinB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 axisInA, Vector3 axisInB,
- float ratio, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- bool disableCollisionsBetweenLinkedBodies);
-
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain,
- Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CalculateTransforms2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ClearCollisionProxyCache2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
-// =====================================================================================
-// btCollisionObject entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactProcessingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasContactResponse2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetCollisionShape2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetActivationState2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetActivationState2(IntPtr obj, int state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetDeactivationTime2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Activate2(IntPtr obj, bool forceActivation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsActive2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetRestitution2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetRestitution2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetFriction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetFriction2(IntPtr obj);
-
- /* Haven't defined the type 'Transform'
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void setWorldTransform2(IntPtr obj, Transform trans);
- */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPosition2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Quaternion GetOrientation2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
-
- /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
- */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetHitFraction2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHitFraction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdMotionThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetUserPointer2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetGravity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyDamping2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
-
- /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
- */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalForce2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalTorque2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearAllForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateInertiaTensor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
-
- /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
- */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Translate2(IntPtr obj, Vector3 trans);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool WantsSleeping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactor2(IntPtr obj, float factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInWorld2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumConstraintRefs2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularMotionDisc2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsPolyhedral2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2d2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNonMoving2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConcave2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsCompound2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsSoftBody2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInfinite2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLocalScaling2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetShapeType2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMargin2(IntPtr shape, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetMargin2(IntPtr shape);
-
-// =====================================================================================
-// Debugging
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpActivationInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpPhysicsStatistics2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ResetBroadphasePool(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ResetConstraintSolver(IntPtr sim);
-
-}
-
-}
-
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
deleted file mode 100755
index 741f8db..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ /dev/null
@@ -1,2589 +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 copyrightD
- * 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.IO;
-using System.Runtime.InteropServices;
-using System.Text;
-
-using OpenSim.Framework;
-
-using OpenMetaverse;
-
-using BulletXNA;
-using BulletXNA.LinearMath;
-using BulletXNA.BulletCollision;
-using BulletXNA.BulletDynamics;
-using BulletXNA.BulletCollision.CollisionDispatch;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSAPIXNA : BSAPITemplate
-{
-private sealed class BulletWorldXNA : BulletWorld
-{
- public DiscreteDynamicsWorld world;
- public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
- : base(id, physScene)
- {
- world = xx;
- }
-}
-
-private sealed class BulletBodyXNA : BulletBody
-{
- public CollisionObject body;
- public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }
-
- public BulletBodyXNA(uint id, CollisionObject xx)
- : base(id)
- {
- body = xx;
- }
- public override bool HasPhysicalBody
- {
- get { return body != null; }
- }
- public override void Clear()
- {
- body = null;
- }
- public override string AddrString
- {
- get { return "XNARigidBody"; }
- }
-}
-
-private sealed class BulletShapeXNA : BulletShape
-{
- public CollisionShape shape;
- public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
- : base()
- {
- shape = xx;
- shapeType = typ;
- }
- public override bool HasPhysicalShape
- {
- get { return shape != null; }
- }
- public override void Clear()
- {
- shape = null;
- }
- public override BulletShape Clone()
- {
- return new BulletShapeXNA(shape, shapeType);
- }
- public override bool ReferenceSame(BulletShape other)
- {
- BulletShapeXNA otheru = other as BulletShapeXNA;
- return (otheru != null) && (this.shape == otheru.shape);
-
- }
- public override string AddrString
- {
- get { return "XNACollisionShape"; }
- }
-}
-private sealed class BulletConstraintXNA : BulletConstraint
-{
- public TypedConstraint constrain;
- public BulletConstraintXNA(TypedConstraint xx) : base()
- {
- constrain = xx;
- }
-
- public override void Clear()
- {
- constrain = null;
- }
- public override bool HasPhysicalConstraint { get { return constrain != null; } }
-
- // Used for log messages for a unique display of the memory/object allocated to this instance
- public override string AddrString
- {
- get { return "XNAConstraint"; }
- }
-}
- internal int m_maxCollisions;
- internal CollisionDesc[] UpdatedCollisions;
- internal int LastCollisionDesc = 0;
- internal int m_maxUpdatesPerFrame;
- internal int LastEntityProperty = 0;
-
- internal EntityProperties[] UpdatedObjects;
- internal Dictionary specialCollisionObjects;
-
- private static int m_collisionsThisFrame;
- private BSScene PhysicsScene { get; set; }
-
- public override string BulletEngineName { get { return "BulletXNA"; } }
- public override string BulletEngineVersion { get; protected set; }
-
- public BSAPIXNA(string paramName, BSScene physScene)
- {
- PhysicsScene = physScene;
- }
-
- ///
- ///
- ///
- ///
- ///
- public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
- if (body != null)
- world.RemoveRigidBody(body);
- else if (collisionObject != null)
- world.RemoveCollisionObject(collisionObject);
- else
- return false;
- return true;
- }
-
- public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
- if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null)
- {
- world.RemoveCollisionObject(collisionObject);
- world.AddCollisionObject(collisionObject);
- }
- return true;
- }
-
- public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
- world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
-
- return true;
-
- }
-
- public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
- world.RemoveConstraint(constraint);
- return true;
- }
-
- public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- collisionObject.SetRestitution(pRestitution);
- }
-
- public override int GetShapeType(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return (int)shape.GetShapeType();
- }
- public override void SetMargin(BulletShape pShape, float pMargin)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- shape.SetMargin(pMargin);
- }
-
- public override float GetMargin(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.GetMargin();
- }
-
- public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
- shape.SetLocalScaling(ref vec);
-
- }
-
- public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
- }
-
- public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
- }
-
- public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
- }
-
- public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
- }
-
- public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
- existingcollisionFlags |= pcollisionFlags;
- collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
- return (CollisionFlags) (uint) existingcollisionFlags;
- }
-
- public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionObject cbody = (pBody as BulletBodyXNA).body;
- RigidBody rbody = cbody as RigidBody;
-
- // Bullet resets several variables when an object is added to the world. In particular,
- // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
- // type. Of course, the collision flags in the broadphase proxy are initialized to default.
- IndexedMatrix origPos = cbody.GetWorldTransform();
- if (rbody != null)
- {
- IndexedVector3 origGrav = rbody.GetGravity();
- world.AddRigidBody(rbody);
- rbody.SetGravity(origGrav);
- }
- else
- {
- world.AddCollisionObject(cbody);
- }
- cbody.SetWorldTransform(origPos);
-
- pBody.ApplyCollisionMask(pWorld.physicsScene);
-
- //if (body.GetBroadphaseHandle() != null)
- // world.UpdateSingleAabb(body);
- return true;
- }
-
- public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
- }
-
- public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- world.UpdateSingleAabb(collisionObject);
- }
-
- public override void UpdateAabbs(BulletWorld pWorld) {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- world.UpdateAabbs();
- }
- public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- return world.GetForceUpdateAllAabbs();
-
- }
- public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- world.SetForceUpdateAllAabbs(pForce);
- }
-
- public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
- return false;
- return true;
- }
-
- public override void ClearAllForces(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
- collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
- collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
- IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
-
- collisionObject.SetInterpolationWorldTransform(ref bodytransform);
-
- if (collisionObject is RigidBody)
- {
- RigidBody rigidbody = collisionObject as RigidBody;
- rigidbody.SetLinearVelocity(zeroVector);
- rigidbody.SetAngularVelocity(zeroVector);
- rigidbody.ClearForces();
- }
- }
-
- public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- collisionObject.SetInterpolationAngularVelocity(ref vec);
- }
-
- public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- body.SetAngularVelocity(ref vec);
- }
- public override Vector3 GetTotalForce(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = body.GetTotalForce();
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
- public override Vector3 GetTotalTorque(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = body.GetTotalTorque();
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
- public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
- public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
- body.SetInvInertiaDiagLocal(ref iv3);
- }
- public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
- IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
- body.ApplyForce(ref forceiv3, ref posiv3);
- }
- public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
- IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
- body.ApplyImpulse(ref impiv3, ref posiv3);
- }
-
- public override void ClearForces(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.ClearForces();
- }
-
- public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
- IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
- _orientation.W);
- IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
- mat._origin = vposition;
- collisionObject.SetWorldTransform(mat);
-
- }
-
- public override Vector3 GetPosition(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
- return new Vector3(pos.X, pos.Y, pos.Z);
- }
-
- public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- IndexedVector3 inertia = IndexedVector3.Zero;
- shape.CalculateLocalInertia(pphysMass, out inertia);
- return new Vector3(inertia.X, inertia.Y, inertia.Z);
- }
-
- public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- if (body != null) // Can't set mass props on collision object.
- {
- IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
- body.SetMassProps(pphysMass, inertia);
- }
- }
-
-
- public override void SetObjectForce(BulletBody pBody, Vector3 _force)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
- body.SetTotalForce(ref force);
- }
-
- public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- collisionObject.SetFriction(_currentFriction);
- }
-
- public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
- body.SetLinearVelocity(velocity);
- }
-
- public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- collisionObject.Activate(pforceactivation);
-
- }
-
- public override Quaternion GetOrientation(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
- return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
- }
-
- public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
- existingcollisionFlags &= ~pcollisionFlags;
- collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
- return (CollisionFlags)(uint)existingcollisionFlags;
- }
-
- public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- return collisionObject.GetCcdSquareMotionThreshold();
- }
-
- public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- return collisionObject.GetCcdSweptSphereRadius();
-
- }
-
- public override IntPtr GetUserPointer(BulletBody pCollisionObject)
- {
- CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
- return (IntPtr)shape.GetUserPointer();
- }
-
- public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
- {
- CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
- shape.SetUserPointer(val);
- }
-
- public override void SetGravity(BulletBody pBody, Vector3 pGravity)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- if (body != null) // Can't set collisionobject.set gravity
- {
- IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
- body.SetGravity(gravity);
- }
- }
-
- public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
- world.RemoveConstraint(constraint);
- return true;
- }
-
- public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
- IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
- constraint.SetLinearLowerLimit(lowlimit);
- constraint.SetLinearUpperLimit(highlimit);
- return true;
- }
-
- public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
- IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
- constraint.SetAngularLowerLimit(lowlimit);
- constraint.SetAngularUpperLimit(highlimit);
- return true;
- }
-
- public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- constraint.SetOverrideNumSolverIterations((int)cnt);
- }
-
- public override bool CalculateTransforms(BulletConstraint pConstraint)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- constraint.CalculateTransforms();
- return true;
- }
-
- public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- constraint.SetEnabled((p_2 == 0) ? false : true);
- }
-
-
- public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
- bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
- puseLinearReferenceFrameA);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
-
- return new BulletConstraintXNA(consttr);
- }
-
- public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1,
- Vector3 pframe1, Quaternion pframe1rot,
- bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
-
- return new BulletConstraintXNA(consttr);
- }
-
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
- IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
- IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-
- IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
- IndexedMatrix mat = IndexedMatrix.Identity;
- mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
- frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
- frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
-
- return new BulletConstraintXNA(consttr);
- }
- //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
- public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame2v;
- constraint.SetFrames(ref frame1, ref frame2);
- return true;
- }
-
- public override Vector3 GetLinearVelocity(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = body.GetLinearVelocity();
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
- public override Vector3 GetAngularVelocity(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = body.GetAngularVelocity();
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
- public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
- IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
- public override void Translate(BulletBody pCollisionObject, Vector3 trans)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
- }
- public override void UpdateDeactivation(BulletBody pBody, float timeStep)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.UpdateDeactivation(timeStep);
- }
-
- public override bool WantsSleeping(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- return body.WantsSleeping();
- }
-
- public override void SetAngularFactor(BulletBody pBody, float factor)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.SetAngularFactor(factor);
- }
-
- public override Vector3 GetAngularFactor(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 iv3 = body.GetAngularFactor();
- return new Vector3(iv3.X, iv3.Y, iv3.Z);
- }
-
- public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- return world.IsInWorld(collisionObject);
- }
-
- public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
- body.AddConstraintRef(constrain);
- }
-
- public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
- body.RemoveConstraintRef(constrain);
- }
-
- public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- return new BulletConstraintXNA(body.GetConstraintRef(index));
- }
-
- public override int GetNumConstraintRefs(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- return body.GetNumConstraintRefs();
- }
-
- public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
- collisionObject.SetInterpolationLinearVelocity(ref velocity);
- }
-
- public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- constraint.SetUseFrameOffset((onOff == 0) ? false : true);
- return true;
- }
- //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
- public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
- {
- Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- constraint.SetBreakingImpulseThreshold(threshold);
- return true;
- }
- public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
- {
- HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
- if (softness == HINGE_NOT_SPECIFIED)
- constraint.SetLimit(low, high);
- else
- constraint.SetLimit(low, high, softness, bias, relaxation);
- return true;
- }
- public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
- {
- Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
- constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
- return true;
- }
-
- public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
- {
- Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
- if (index == SPRING_NOT_SPECIFIED)
- {
- constraint.SetEquilibriumPoint();
- }
- else
- {
- if (equilibriumPoint == SPRING_NOT_SPECIFIED)
- constraint.SetEquilibriumPoint(index);
- else
- constraint.SetEquilibriumPoint(index, equilibriumPoint);
- }
- return true;
- }
-
- public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
- {
- Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
- constraint.SetStiffness(index, stiffness);
- return true;
- }
-
- public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
- {
- Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
- constraint.SetDamping(index, damping);
- return true;
- }
-
- public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
- {
- SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
- switch (lowerUpper)
- {
- case SLIDER_LOWER_LIMIT:
- switch (linAng)
- {
- case SLIDER_LINEAR:
- constraint.SetLowerLinLimit(val);
- break;
- case SLIDER_ANGULAR:
- constraint.SetLowerAngLimit(val);
- break;
- }
- break;
- case SLIDER_UPPER_LIMIT:
- switch (linAng)
- {
- case SLIDER_LINEAR:
- constraint.SetUpperLinLimit(val);
- break;
- case SLIDER_ANGULAR:
- constraint.SetUpperAngLimit(val);
- break;
- }
- break;
- }
- return true;
- }
- public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
- {
- SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
- switch (softRestDamp)
- {
- case SLIDER_SET_SOFTNESS:
- switch (dirLimOrtho)
- {
- case SLIDER_SET_DIRECTION:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
- case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
- }
- break;
- case SLIDER_SET_LIMIT:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
- case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
- }
- break;
- case SLIDER_SET_ORTHO:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
- case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
- }
- break;
- }
- break;
- case SLIDER_SET_RESTITUTION:
- switch (dirLimOrtho)
- {
- case SLIDER_SET_DIRECTION:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
- case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
- }
- break;
- case SLIDER_SET_LIMIT:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
- case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
- }
- break;
- case SLIDER_SET_ORTHO:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
- case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
- }
- break;
- }
- break;
- case SLIDER_SET_DAMPING:
- switch (dirLimOrtho)
- {
- case SLIDER_SET_DIRECTION:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
- case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
- }
- break;
- case SLIDER_SET_LIMIT:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
- case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
- }
- break;
- case SLIDER_SET_ORTHO:
- switch (linAng)
- {
- case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
- case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
- }
- break;
- }
- break;
- }
- return true;
- }
- public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
- {
- SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
- switch (linAng)
- {
- case SLIDER_LINEAR:
- constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
- break;
- case SLIDER_ANGULAR:
- constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
- break;
- }
- return true;
- }
- public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
- {
- SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
- switch (forceVel)
- {
- case SLIDER_MOTOR_VELOCITY:
- switch (linAng)
- {
- case SLIDER_LINEAR:
- constraint.SetTargetLinMotorVelocity(val);
- break;
- case SLIDER_ANGULAR:
- constraint.SetTargetAngMotorVelocity(val);
- break;
- }
- break;
- case SLIDER_MAX_MOTOR_FORCE:
- switch (linAng)
- {
- case SLIDER_LINEAR:
- constraint.SetMaxLinMotorForce(val);
- break;
- case SLIDER_ANGULAR:
- constraint.SetMaxAngMotorForce(val);
- break;
- }
- break;
- }
- return true;
- }
-
- //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
- public override void SetAngularDamping(BulletBody pBody, float angularDamping)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- float lineardamping = body.GetLinearDamping();
- body.SetDamping(lineardamping, angularDamping);
-
- }
-
- public override void UpdateInertiaTensor(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- if (body != null) // can't update inertia tensor on CollisionObject
- body.UpdateInertiaTensor();
- }
-
- public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
- {
- CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
- shape.RecalculateLocalAabb();
- }
-
- //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
- public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- uint flags = (uint)collisionObject.GetCollisionFlags();
- return (CollisionFlags) flags;
- }
-
- public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.SetDamping(pLinear, pAngular);
- }
- //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
- public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- collisionObject.SetDeactivationTime(pDeactivationTime);
- }
- //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
- public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
- }
-
- public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
- }
-
- public override void ApplyGravity(BulletBody pBody)
- {
-
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.ApplyGravity();
- }
-
- public override Vector3 GetGravity(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 gravity = body.GetGravity();
- return new Vector3(gravity.X, gravity.Y, gravity.Z);
- }
-
- public override void SetLinearDamping(BulletBody pBody, float lin_damping)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- float angularDamping = body.GetAngularDamping();
- body.SetDamping(lin_damping, angularDamping);
- }
-
- public override float GetLinearDamping(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- return body.GetLinearDamping();
- }
-
- public override float GetAngularDamping(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- return body.GetAngularDamping();
- }
-
- public override float GetLinearSleepingThreshold(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- return body.GetLinearSleepingThreshold();
- }
-
- public override void ApplyDamping(BulletBody pBody, float timeStep)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.ApplyDamping(timeStep);
- }
-
- public override Vector3 GetLinearFactor(BulletBody pBody)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 linearFactor = body.GetLinearFactor();
- return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
- }
-
- public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
- }
-
- public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
- IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
- mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
- body.SetCenterOfMassTransform( ref mat);
- /* TODO: double check this */
- }
-
- //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
- public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyCentralForce(ref fSum);
- }
- public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyCentralImpulse(ref fSum);
- }
- public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyTorque(ref fSum);
- }
- public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
- {
- RigidBody body = (pBody as BulletBodyXNA).rigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyTorqueImpulse(ref fSum);
- }
-
- public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
- RigidBody bo = co as RigidBody;
- if (bo == null)
- {
-
- if (world.IsInWorld(co))
- {
- world.RemoveCollisionObject(co);
- }
- }
- else
- {
-
- if (world.IsInWorld(bo))
- {
- world.RemoveRigidBody(bo);
- }
- }
- if (co != null)
- {
- if (co.GetUserPointer() != null)
- {
- uint localId = (uint) co.GetUserPointer();
- if (specialCollisionObjects.ContainsKey(localId))
- {
- specialCollisionObjects.Remove(localId);
- }
- }
- }
-
- }
-
- public override void Shutdown(BulletWorld pWorld)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- world.Cleanup();
- }
-
- public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
- {
- CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
-
- // TODO: Turn this from a reference copy to a Value Copy.
- BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
-
- return shape2;
- }
-
- public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
- {
- //TODO:
- return false;
- }
- //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-
- public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
- CollisionWorld world = (pWorld as BulletWorldXNA).world;
- IndexedMatrix mat =
- IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
- pRawOrientation.Z, pRawOrientation.W));
- mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- //UpdateSingleAabb(world, shape);
- // TODO: Feed Update array into null
- SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null);
- RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
- RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero)
- {
- m_mass = 0
- };
- /*
- m_mass = mass;
- m_motionState =motionState;
- m_collisionShape = collisionShape;
- m_localInertia = localInertia;
- m_linearDamping = 0f;
- m_angularDamping = 0f;
- m_friction = 0.5f;
- m_restitution = 0f;
- m_linearSleepingThreshold = 0.8f;
- m_angularSleepingThreshold = 1f;
- m_additionalDamping = false;
- m_additionalDampingFactor = 0.005f;
- m_additionalLinearDampingThresholdSqr = 0.01f;
- m_additionalAngularDampingThresholdSqr = 0.01f;
- m_additionalAngularDampingFactor = 0.01f;
- m_startWorldTransform = IndexedMatrix.Identity;
- */
- body.SetUserPointer(pLocalID);
-
- return new BulletBodyXNA(pLocalID, body);
- }
-
-
- public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
-
- IndexedMatrix mat =
- IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
- pRawOrientation.Z, pRawOrientation.W));
- mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
-
- // TODO: Feed Update array into null
- RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
- body.SetWorldTransform(mat);
- body.SetUserPointer(pLocalID);
- return new BulletBodyXNA(pLocalID, body);
- }
- //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
- public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
- return (CollisionFlags)collisionObject.GetCollisionFlags();
- }
-
- public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
- {
-
- /* TODO */
- return Vector3.Zero;
- }
- public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
- public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
- public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
- public override bool IsStaticObject(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- return collisionObject.IsStaticObject();
-
- }
- public override bool IsKinematicObject(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- return collisionObject.IsKinematicObject();
- }
- public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- return collisionObject.IsStaticOrKinematicObject();
- }
- public override bool HasContactResponse(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- return collisionObject.HasContactResponse();
- }
- public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
- public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
- public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
- public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
- public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
- public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
- public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
- public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
-
- //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
- public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- collisionObject.SetHitFraction(pHitFraction);
- }
- //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
- public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
- CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
- capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
- capsuleShapeZ.SetLocalScaling(ref scale);
-
- return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ;
- }
-
- public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
- int maxCollisions, ref CollisionDesc[] collisionArray,
- int maxUpdates, ref EntityProperties[] updateArray
- )
- {
-
- UpdatedObjects = updateArray;
- UpdatedCollisions = collisionArray;
- /* TODO */
- ConfigurationParameters[] configparms = new ConfigurationParameters[1];
- configparms[0] = parms;
- Vector3 worldExtent = maxPosition;
- m_maxCollisions = maxCollisions;
- m_maxUpdatesPerFrame = maxUpdates;
- specialCollisionObjects = new Dictionary();
-
- return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
- }
-
- private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
- ConfigurationParameters[] o,
- int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
- int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
- object mDebugLogCallbackHandle)
- {
- CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
-
- p.angularDamping = BSParam.AngularDamping;
- p.defaultFriction = o[0].defaultFriction;
- p.defaultFriction = o[0].defaultFriction;
- p.defaultDensity = o[0].defaultDensity;
- p.defaultRestitution = o[0].defaultRestitution;
- p.collisionMargin = o[0].collisionMargin;
- p.gravity = o[0].gravity;
-
- p.linearDamping = BSParam.LinearDamping;
- p.angularDamping = BSParam.AngularDamping;
- p.deactivationTime = BSParam.DeactivationTime;
- p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
- p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
- p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
- p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
- p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
-
- p.terrainImplementation = BSParam.TerrainImplementation;
- p.terrainFriction = BSParam.TerrainFriction;
-
- p.terrainHitFraction = BSParam.TerrainHitFraction;
- p.terrainRestitution = BSParam.TerrainRestitution;
- p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
-
- p.avatarFriction = BSParam.AvatarFriction;
- p.avatarStandingFriction = BSParam.AvatarStandingFriction;
- p.avatarDensity = BSParam.AvatarDensity;
- p.avatarRestitution = BSParam.AvatarRestitution;
- p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
- p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
- p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
- p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
-
- p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
-
- p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
- p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
- p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
- p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
- p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
- p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
- p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
- p.numberOfSolverIterations = o[0].numberOfSolverIterations;
-
- p.linksetImplementation = BSParam.LinksetImplementation;
- p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
- p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
- p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
- p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
- p.linkConstraintERP = BSParam.LinkConstraintERP;
- p.linkConstraintCFM = BSParam.LinkConstraintCFM;
- p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
- p.physicsLoggingFrames = o[0].physicsLoggingFrames;
- DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-
- DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
- CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
-
-
- if (p.maxPersistantManifoldPoolSize > 0)
- cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
- if (p.shouldDisableContactPoolDynamicAllocation !=0)
- m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
- //if (p.maxCollisionAlgorithmPoolSize >0 )
-
- DbvtBroadphase m_broadphase = new DbvtBroadphase();
- //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
- //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
-
- //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
- m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
-
- SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
-
- DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
-
- world.LastCollisionDesc = 0;
- world.LastEntityProperty = 0;
-
- world.WorldSettings.Params = p;
- world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
- world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
- if (p.shouldRandomizeSolverOrder != 0)
- world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
-
- world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
- //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
-
- if (p.shouldEnableFrictionCaching != 0)
- world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
-
- if (p.numberOfSolverIterations > 0)
- world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
-
-
- world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
- world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
- world.GetSolverInfo().m_globalCfm = 0.0f;
- world.GetSolverInfo().m_tau = 0.6f;
- world.GetSolverInfo().m_friction = 0.3f;
- world.GetSolverInfo().m_maxErrorReduction = 20f;
- world.GetSolverInfo().m_numIterations = 10;
- world.GetSolverInfo().m_erp = 0.2f;
- world.GetSolverInfo().m_erp2 = 0.1f;
- world.GetSolverInfo().m_sor = 1.0f;
- world.GetSolverInfo().m_splitImpulse = false;
- world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
- world.GetSolverInfo().m_linearSlop = 0.0f;
- world.GetSolverInfo().m_warmstartingFactor = 0.85f;
- world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
- world.SetForceUpdateAllAabbs(true);
-
- //BSParam.TerrainImplementation = 0;
- world.SetGravity(new IndexedVector3(0,0,p.gravity));
-
- // Turn off Pooling since globals and pooling are bad for threading.
- BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
- BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
- BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
- BulletGlobals.CastResultPool.SetPoolingEnabled(false);
- BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
- BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
- BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
- BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
- BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
- BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
- BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
- BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
- BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
-
- BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
- BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
- BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
- BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
- BulletGlobals.GJKPool.SetPoolingEnabled(false);
- BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
- BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
- BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
- BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
- BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
- BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
-
- return world;
- }
- //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
- public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
- {
- Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
- if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
- }
- if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
- }
- if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
- }
- return true;
- }
-
- public override bool PushUpdate(BulletBody pCollisionObject)
- {
- bool ret = false;
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- RigidBody rb = collisionObject as RigidBody;
- if (rb != null)
- {
- SimMotionState sms = rb.GetMotionState() as SimMotionState;
- if (sms != null)
- {
- IndexedMatrix wt = IndexedMatrix.Identity;
- sms.GetWorldTransform(out wt);
- sms.SetWorldTransform(ref wt, true);
- ret = true;
- }
- }
- return ret;
-
- }
-
- public override float GetAngularMotionDisc(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.GetAngularMotionDisc();
- }
- public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.GetContactBreakingThreshold(defaultFactor);
- }
- public override bool IsCompound(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsCompound();
- }
- public override bool IsSoftBody(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsSoftBody();
- }
- public override bool IsPolyhedral(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsPolyhedral();
- }
- public override bool IsConvex2d(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsConvex2d();
- }
- public override bool IsConvex(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsConvex();
- }
- public override bool IsNonMoving(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsNonMoving();
- }
- public override bool IsConcave(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsConcave();
- }
- public override bool IsInfinite(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- return shape.IsInfinite();
- }
- public override bool IsNativeShape(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- bool ret;
- switch (shape.GetShapeType())
- {
- case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
- ret = true;
- break;
- default:
- ret = false;
- break;
- }
- return ret;
- }
-
- public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- shape.SetMargin(pMargin);
- }
-
- //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
- public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- IndexedMatrix bodyTransform = new IndexedMatrix();
- bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
- GhostObject gObj = new PairCachingGhostObject();
- gObj.SetWorldTransform(bodyTransform);
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- gObj.SetCollisionShape(shape);
- gObj.SetUserPointer(pLocalID);
-
- if (specialCollisionObjects.ContainsKey(pLocalID))
- specialCollisionObjects[pLocalID] = gObj;
- else
- specialCollisionObjects.Add(pLocalID, gObj);
-
- // TODO: Add to Special CollisionObjects!
- return new BulletBodyXNA(pLocalID, gObj);
- }
-
- public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
- if (pShape == null)
- {
- collisionObject.SetCollisionShape(new EmptyShape());
- }
- else
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- collisionObject.SetCollisionShape(shape);
- }
- }
- public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
- {
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- CollisionShape shape = collisionObject.GetCollisionShape();
- return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
- }
-
- //(PhysicsScene.World.ptr, nativeShapeData)
- public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionShape shape = null;
- switch (pShapeData.Type)
- {
- case BSPhysicsShapeType.SHAPE_BOX:
- shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
- break;
- case BSPhysicsShapeType.SHAPE_CONE:
- shape = new ConeShapeZ(0.5f, 1.0f);
- break;
- case BSPhysicsShapeType.SHAPE_CYLINDER:
- shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
- break;
- case BSPhysicsShapeType.SHAPE_SPHERE:
- shape = new SphereShape(0.5f);
- break;
-
- }
- if (shape != null)
- {
- IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
- shape.SetMargin(world.WorldSettings.Params.collisionMargin);
- shape.SetLocalScaling(ref scaling);
-
- }
- return new BulletShapeXNA(shape, pShapeData.Type);
- }
- //PhysicsScene.World.ptr, false
- public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
- {
- return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
- }
-
- public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
- {
- CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
- return compoundshape.GetNumChildShapes();
- }
- //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
- public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
- {
- IndexedMatrix relativeTransform = new IndexedMatrix();
- CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
- CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
-
- relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
- relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
- compoundshape.AddChildShape(ref relativeTransform, addshape);
-
- }
-
- public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
- {
- CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
- CollisionShape ret = null;
- ret = compoundshape.GetChildShape(pii);
- compoundshape.RemoveChildShapeByIndex(pii);
- return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
- }
-
- public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
-
- if (cShape == null)
- return null;
- CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
- CollisionShape shape = compoundShape.GetChildShape(indx);
- BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
-
-
- return retShape;
- }
-
- public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
- {
- BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- switch (pin)
- {
- case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_BOX;
- break;
- case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
-
- case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
- break;
- case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_HULL;
- break;
- case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- //implicit convex shapes
- case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_SPHERE;
- break;
- case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_CAPSULE;
- break;
- case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_CONE;
- break;
- case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
- break;
- case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_CYLINDER;
- break;
- case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- //concave shape
- case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
- case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_MESH;
- break;
- case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_MESH;
- break;
- ///used for demo integration FAST/Swift collision library and Bullet
- case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_MESH;
- break;
- //terrain
- case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP;
- break;
- ///Used for GIMPACT Trimesh integration
- case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_GIMPACT;
- break;
- ///Multimaterial mesh
- case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_MESH;
- break;
-
- case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE;
- break;
- case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
-
- case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_COMPOUND;
- break;
-
- case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_MESH;
- break;
- case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE:
- ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- break;
- }
- return ret;
- }
-
- public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
- public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
-
- public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
- {
- StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
- m_planeshape.SetMargin(pcollisionMargin);
- m_planeshape.SetUserPointer(pLocalId);
- return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
- }
-
- public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
- bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-
- {
- Generic6DofSpringConstraint constrain = null;
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
- if (body1 != null && body2 != null)
- {
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
-
- constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
-
- constrain.CalculateTransforms();
- }
-
- return new BulletConstraintXNA(constrain);
- }
-
- public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB,
- bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- HingeConstraint constrain = null;
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
- IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
- IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
- IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
- constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA);
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- return new BulletConstraintXNA(constrain);
- }
-
- public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 pframe1, Quaternion pframe1rot,
- Vector3 pframe2, Quaternion pframe2rot,
- bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- SliderConstraint constrain = null;
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
-
- constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA);
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- return new BulletConstraintXNA(constrain);
- }
-
- public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 pframe1, Quaternion pframe1rot,
- Vector3 pframe2, Quaternion pframe2rot,
- bool pdisableCollisionsBetweenLinkedBodies)
- {
- ConeTwistConstraint constrain = null;
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
-
- constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2);
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- return new BulletConstraintXNA(constrain);
- }
-
- public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 paxisInA, Vector3 paxisInB,
- float pratio, bool pdisableCollisionsBetweenLinkedBodies)
- {
- Generic6DofConstraint constrain = null;
- /* BulletXNA does not have a gear constraint
- GearConstraint constrain = null;
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
- IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
- constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio);
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- */
- return new BulletConstraintXNA(constrain);
- }
-
- public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
- Vector3 ppivotInA, Vector3 ppivotInB,
- bool pdisableCollisionsBetweenLinkedBodies)
- {
- Point2PointConstraint constrain = null;
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
- RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
- IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
- constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB);
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- return new BulletConstraintXNA(constrain);
- }
-
- public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CompoundShape compoundshape = new CompoundShape(false);
-
- compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
- int ii = 1;
-
- for (int i = 0; i < pHullCount; i++)
- {
- int vertexCount = (int) pConvHulls[ii];
-
- IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
- IndexedMatrix childTrans = IndexedMatrix.Identity;
- childTrans._origin = centroid;
-
- List virts = new List();
- int ender = ((ii + 4) + (vertexCount*3));
- for (int iii = ii + 4; iii < ender; iii+=3)
- {
-
- virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
- }
- ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
- convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
- compoundshape.AddChildShape(ref childTrans, convexShape);
- ii += (vertexCount*3 + 4);
- }
-
- return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
- }
-
- public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
- {
- /* TODO */ return null;
- }
-
- public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
- {
- /* TODO */ return null;
- }
-
- public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
- {
- /* TODO */ return null;
- }
-
- public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
- {
- //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-
- for (int iter = 0; iter < pVerticesCount; iter++)
- {
- if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
- if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
- }
-
- ObjectArray indicesarr = new ObjectArray(indices);
- ObjectArray vertices = new ObjectArray(verticesAsFloats);
- DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- IndexedMesh mesh = new IndexedMesh();
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount/3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indicesarr;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
- BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
- meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
- // world.UpdateSingleAabb(meshShape);
- return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
-
- }
- public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
- {
- // TODO:
- return null;
- }
- public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount )
- {
-
- String fileName = "objTest3.raw";
- String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
- StreamWriter sw = new StreamWriter(completePath);
- IndexedMesh mesh = new IndexedMesh();
-
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount / 3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indices;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-
- for (int i = 0; i < pVerticesCount; i++)
- {
-
- string s = vertices[indices[i * 3]].ToString("0.0000");
- s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
- s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-
- sw.Write(s + "\n");
- }
-
- sw.Close();
- }
- public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
- {
-
- String fileName = "objTest6.raw";
- String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
- StreamWriter sw = new StreamWriter(completePath);
- IndexedMesh mesh = new IndexedMesh();
-
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount / 3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indices;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
- sw.WriteLine("Indices");
- sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
- for (int iter = 0; iter < indices.Length; iter++)
- {
- sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
- }
- sw.WriteLine("VerticesFloats");
- sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
- for (int iter = 0; iter < vertices.Length; iter++)
- {
- sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
- }
-
- // for (int i = 0; i < pVerticesCount; i++)
- // {
- //
- // string s = vertices[indices[i * 3]].ToString("0.0000");
- // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
- // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
- //
- // sw.Write(s + "\n");
- //}
-
- sw.Close();
- }
-
- public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
- float scaleFactor, float collisionMargin)
- {
- const int upAxis = 2;
- HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
- heightMap, scaleFactor,
- minHeight, maxHeight, upAxis,
- false);
- terrainShape.SetMargin(collisionMargin);
- terrainShape.SetUseDiamondSubdivision(true);
- terrainShape.SetUserPointer(id);
- return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
- }
-
- public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
- {
- TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
- bool onOff = ponOff != 0;
- bool ret = false;
-
- switch (tconstrain.GetConstraintType())
- {
- case TypedConstraintType.D6_CONSTRAINT_TYPE:
- Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
- constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
- constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
- constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
- ret = true;
- break;
- }
-
-
- return ret;
-
- }
-
- public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount, out int collidersCount)
- {
- /* TODO */
- updatedEntityCount = 0;
- collidersCount = 0;
-
-
- int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
-
- return ret;
- }
-
- private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
- out int updatedEntityCount, out EntityProperties[] updatedEntities,
- out int collidersCount, out CollisionDesc[] colliders)
- {
- int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
- out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
- return epic;
- }
-
- private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
- out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
- {
- int numSimSteps = 0;
- Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
- Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
- LastEntityProperty=0;
-
-
-
-
-
-
- LastCollisionDesc=0;
-
- updatedEntityCount = 0;
- collidersCount = 0;
-
-
- if (pWorld is BulletWorldXNA)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
-
- world.LastCollisionDesc = 0;
- world.LastEntityProperty = 0;
- numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
-
- PersistentManifold contactManifold;
- CollisionObject objA;
- CollisionObject objB;
- ManifoldPoint manifoldPoint;
- PairCachingGhostObject pairCachingGhostObject;
-
- m_collisionsThisFrame = 0;
- int numManifolds = world.GetDispatcher().GetNumManifolds();
- for (int j = 0; j < numManifolds; j++)
- {
- contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
- int numContacts = contactManifold.GetNumContacts();
- if (numContacts == 0)
- continue;
-
- objA = contactManifold.GetBody0() as CollisionObject;
- objB = contactManifold.GetBody1() as CollisionObject;
-
- manifoldPoint = contactManifold.GetContactPoint(0);
- //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
- // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
-
- RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
- m_collisionsThisFrame ++;
- if (m_collisionsThisFrame >= 9999999)
- break;
-
-
- }
-
- foreach (GhostObject ghostObject in specialCollisionObjects.Values)
- {
- pairCachingGhostObject = ghostObject as PairCachingGhostObject;
- if (pairCachingGhostObject != null)
- {
- RecordGhostCollisions(pairCachingGhostObject);
- }
-
- }
-
-
- updatedEntityCount = LastEntityProperty;
- updatedEntities = UpdatedObjects;
-
- collidersCount = LastCollisionDesc;
- colliders = UpdatedCollisions;
-
-
- }
- else
- {
- //if (updatedEntities is null)
- //updatedEntities = new List();
- //updatedEntityCount = 0;
-
-
- //collidersCount = 0;
-
- updatedEntities = new EntityProperties[0];
-
-
- colliders = new CollisionDesc[0];
-
- }
- return numSimSteps;
- }
- public void RecordGhostCollisions(PairCachingGhostObject obj)
- {
- IOverlappingPairCache cache = obj.GetOverlappingPairCache();
- ObjectArray pairs = cache.GetOverlappingPairArray();
-
- DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
- PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
- BroadphasePair collisionPair;
- PersistentManifold contactManifold;
-
- CollisionObject objA;
- CollisionObject objB;
-
- ManifoldPoint pt;
-
- int numPairs = pairs.Count;
-
- for (int i = 0; i < numPairs; i++)
- {
- manifoldArray.Clear();
- if (LastCollisionDesc < UpdatedCollisions.Length)
- break;
- collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
- if (collisionPair == null)
- continue;
-
- collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
- for (int j = 0; j < manifoldArray.Count; j++)
- {
- contactManifold = manifoldArray[j];
- int numContacts = contactManifold.GetNumContacts();
- objA = contactManifold.GetBody0() as CollisionObject;
- objB = contactManifold.GetBody1() as CollisionObject;
- for (int p = 0; p < numContacts; p++)
- {
- pt = contactManifold.GetContactPoint(p);
- if (pt.GetDistance() < 0.0f)
- {
- RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
- break;
- }
- }
- }
- }
-
- }
- private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
- {
-
- IndexedVector3 contactNormal = norm;
- if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
- (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
- {
- return;
- }
- uint idA = (uint)objA.GetUserPointer();
- uint idB = (uint)objB.GetUserPointer();
- if (idA > idB)
- {
- uint temp = idA;
- idA = idB;
- idB = temp;
- contactNormal = -contactNormal;
- }
-
- //ulong collisionID = ((ulong) idA << 32) | idB;
-
- CollisionDesc cDesc = new CollisionDesc()
- {
- aID = idA,
- bID = idB,
- point = new Vector3(contact.X,contact.Y,contact.Z),
- normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
- penetration = penetration
-
- };
- if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
- world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
- m_collisionsThisFrame++;
-
-
- }
- private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
- {
- EntityProperties ent = new EntityProperties();
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
- IndexedMatrix transform = collisionObject.GetWorldTransform();
- IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
- IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
- IndexedQuaternion rotation = transform.GetRotation();
- ent.Acceleration = Vector3.Zero;
- ent.ID = (uint)collisionObject.GetUserPointer();
- ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
- ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
- ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
- ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
- return ent;
- }
-
- public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */
- return false; }
-
- public override Vector3 GetLocalScaling(BulletShape pShape)
- {
- CollisionShape shape = (pShape as BulletShapeXNA).shape;
- IndexedVector3 scale = shape.GetLocalScaling();
- return new Vector3(scale.X,scale.Y,scale.Z);
- }
-
- public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
- {
- DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
- if (world != null)
- {
- if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
- {
- CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
-
- IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
- IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
- using (
- ClosestNotMeRayResultCallback rayCallback =
- new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
- )
- {
- world.RayTest(ref rOrigin, ref rEnd, rayCallback);
- if (rayCallback.HasHit())
- {
- IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
- }
- return rayCallback.HasHit();
- }
- }
- }
- return false;
- }
-}
-
-
-
-
- public class SimMotionState : DefaultMotionState
- {
- public RigidBody Rigidbody;
- public Vector3 ZeroVect;
-
- private IndexedMatrix m_xform;
-
- private EntityProperties m_properties;
- private EntityProperties m_lastProperties;
- private BSAPIXNA m_world;
-
- const float POSITION_TOLERANCE = 0.05f;
- const float VELOCITY_TOLERANCE = 0.001f;
- const float ROTATION_TOLERANCE = 0.01f;
- const float ANGULARVELOCITY_TOLERANCE = 0.01f;
-
- public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
- {
- IndexedQuaternion OrientationQuaterion = starTransform.GetRotation();
- m_properties = new EntityProperties()
- {
- ID = id,
- Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z),
- Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W)
- };
- m_lastProperties = new EntityProperties()
- {
- ID = id,
- Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z),
- Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W)
- };
- m_world = pWorld;
- m_xform = starTransform;
- }
-
- public override void GetWorldTransform(out IndexedMatrix worldTrans)
- {
- worldTrans = m_xform;
- }
-
- public override void SetWorldTransform(IndexedMatrix worldTrans)
- {
- SetWorldTransform(ref worldTrans);
- }
-
- public override void SetWorldTransform(ref IndexedMatrix worldTrans)
- {
- SetWorldTransform(ref worldTrans, false);
- }
- public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
- {
- m_xform = worldTrans;
- // Put the new transform into m_properties
- IndexedQuaternion OrientationQuaternion = m_xform.GetRotation();
- IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity();
- IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity();
- m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z);
- m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y,
- OrientationQuaternion.Z, OrientationQuaternion.W);
- // A problem with stock Bullet is that we don't get an event when an object is deactivated.
- // This means that the last non-zero values for linear and angular velocity
- // are left in the viewer who does dead reconning and the objects look like
- // they float off.
- // BulletSim ships with a patch to Bullet which creates such an event.
- m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z);
- m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z);
-
- if (force
-
- || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE)
- || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE)
- // If the Velocity and AngularVelocity are zero, most likely the object has
- // been deactivated. If they both are zero and they have become zero recently,
- // make sure a property update is sent so the zeros make it to the viewer.
- || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect)
- &&
- (m_properties.Velocity != m_lastProperties.Velocity ||
- m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity))
- // If Velocity and AngularVelocity are non-zero but have changed, send an update.
- || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE)
- ||
- !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity,
- ANGULARVELOCITY_TOLERANCE)
- )
-
-
- {
- // Add this update to the list of updates for this frame.
- m_lastProperties = m_properties;
- if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
- m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
-
- //(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
- }
-
-
-
-
- }
- public override void SetRigidBody(RigidBody body)
- {
- Rigidbody = body;
- }
- internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon)
- {
- return
- (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
- (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
- (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon)));
- }
-
- internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon)
- {
- return
- (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
- (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
- (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
- (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
- }
-
- }
-}
-
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
deleted file mode 100755
index bde4557..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ /dev/null
@@ -1,457 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorAvatarMove : BSActor
-{
- BSVMotor m_velocityMotor;
-
- // Set to true if we think we're going up stairs.
- // This state is remembered because collisions will turn on and off as we go up stairs.
- int m_walkingUpStairs;
- // The amount the step up is applying. Used to smooth stair walking.
- float m_lastStepUp;
-
- // Jumping happens over several frames. If use applies up force while colliding, start the
- // jump and allow the jump to continue for this number of frames.
- int m_jumpFrames = 0;
- float m_jumpVelocity = 0f;
-
- public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_velocityMotor = null;
- m_walkingUpStairs = 0;
- m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
- }
-
- // BSActor.isActive
- public override bool isActive
- {
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
- }
-
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- base.SetEnabled(false);
- DeactivateAvatarMove();
- }
-
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID);
-
- // If the object is physically active, add the hoverer prestep action
- if (isActive)
- {
- ActivateAvatarMove();
- }
- else
- {
- DeactivateAvatarMove();
- }
- }
-
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- // Nothing to do for the hoverer since it is all software at pre-step action time.
- }
-
- // Usually called when target velocity changes to set the current velocity and the target
- // into the movement motor.
- public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime)
- {
- m_physicsScene.TaintedObject(inTaintTime, m_controllingPrim.LocalID, "BSActorAvatarMove.setVelocityAndTarget", delegate()
- {
- if (m_velocityMotor != null)
- {
-// if (targ == OMV.Vector3.Zero)
-// Util.PrintCallStack();
-//
-// Console.WriteLine("SetVelocityAndTarget, {0} {1}", vel, targ);
- m_velocityMotor.Reset();
- m_velocityMotor.SetTarget(targ);
- m_velocityMotor.SetCurrent(vel);
- m_velocityMotor.Enabled = true;
- }
- });
- }
-
- // If a hover motor has not been created, create one and start the hovering.
- private void ActivateAvatarMove()
- {
- if (m_velocityMotor == null)
- {
- // Infinite decay and timescale values so motor only changes current to target values.
- m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
- 0.2f, // time scale
- BSMotor.Infinite, // decay time scale
- 1f // efficiency
- );
- m_velocityMotor.ErrorZeroThreshold = BSParam.AvatarStopZeroThreshold;
- // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
- SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
-
- m_physicsScene.BeforeStep += Mover;
- m_controllingPrim.OnPreUpdateProperty += Process_OnPreUpdateProperty;
-
- m_walkingUpStairs = 0;
- }
- }
-
- private void DeactivateAvatarMove()
- {
- if (m_velocityMotor != null)
- {
- m_controllingPrim.OnPreUpdateProperty -= Process_OnPreUpdateProperty;
- m_physicsScene.BeforeStep -= Mover;
- m_velocityMotor = null;
- }
- }
-
- // Called just before the simulation step. Update the vertical position for hoverness.
- private void Mover(float timeStep)
- {
- // Don't do movement while the object is selected.
- if (!isActive)
- return;
-
- // TODO: Decide if the step parameters should be changed depending on the avatar's
- // state (flying, colliding, ...). There is code in ODE to do this.
-
- // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
- // specified for the avatar is the one that should be used. For falling, if the avatar
- // is not flying and is not colliding then it is presumed to be falling and the Z
- // component is not fooled with (thus allowing gravity to do its thing).
- // When the avatar is standing, though, the user has specified a velocity of zero and
- // the avatar should be standing. But if the avatar is pushed by something in the world
- // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
- // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
- // errors can creap in and the avatar will slowly float off in some direction.
- // So, the problem is that, when an avatar is standing, we cannot tell creaping error
- // from real pushing.
- // The code below uses whether the collider is static or moving to decide whether to zero motion.
-
- m_velocityMotor.Step(timeStep);
- m_controllingPrim.IsStationary = false;
-
- // If we're not supposed to be moving, make sure things are zero.
- if (m_velocityMotor.ErrorIsZero() && m_velocityMotor.TargetValue == OMV.Vector3.Zero)
- {
- // The avatar shouldn't be moving
- m_velocityMotor.Zero();
-
- if (m_controllingPrim.IsColliding)
- {
- // If we are colliding with a stationary object, presume we're standing and don't move around
- if (!m_controllingPrim.ColliderIsMoving && !m_controllingPrim.ColliderIsVolumeDetect)
- {
- m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID);
- m_controllingPrim.IsStationary = true;
- m_controllingPrim.ZeroMotion(true /* inTaintTime */);
- }
-
- // Standing has more friction on the ground
- if (m_controllingPrim.Friction != BSParam.AvatarStandingFriction)
- {
- m_controllingPrim.Friction = BSParam.AvatarStandingFriction;
- m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
- }
- }
- else
- {
- if (m_controllingPrim.Flying)
- {
- // Flying and not colliding and velocity nearly zero.
- m_controllingPrim.ZeroMotion(true /* inTaintTime */);
- }
- else
- {
- //We are falling but are not touching any keys make sure not falling too fast
- if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity)
- {
-
- OMV.Vector3 slowingForce = new OMV.Vector3(0f, 0f, BSParam.AvatarTerminalVelocity - m_controllingPrim.RawVelocity.Z) * m_controllingPrim.Mass;
- m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, slowingForce);
- }
-
- }
- }
-
- m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}",
- m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding);
- }
- else
- {
- // Supposed to be moving.
- OMV.Vector3 stepVelocity = m_velocityMotor.CurrentValue;
-
- if (m_controllingPrim.Friction != BSParam.AvatarFriction)
- {
- // Probably starting to walk. Set friction to moving friction.
- m_controllingPrim.Friction = BSParam.AvatarFriction;
- m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
- }
-
- if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
- {
- stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
- }
-
- // Colliding and not flying with an upward force. The avatar must be trying to jump.
- if (!m_controllingPrim.Flying && m_controllingPrim.IsColliding && stepVelocity.Z > 0)
- {
- // We allow the upward force to happen for this many frames.
- m_jumpFrames = BSParam.AvatarJumpFrames;
- m_jumpVelocity = stepVelocity.Z;
- }
-
- // The case where the avatar is not colliding and is not flying is special.
- // The avatar is either falling or jumping and the user can be applying force to the avatar
- // (force in some direction or force up or down).
- // If the avatar has negative Z velocity and is not colliding, presume we're falling and keep the velocity.
- // If the user is trying to apply upward force but we're not colliding, assume the avatar
- // is trying to jump and don't apply the upward force if not touching the ground any more.
- if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
- {
- // If upward velocity is being applied, this must be a jump and only allow that to go on so long
- if (m_jumpFrames > 0)
- {
- // Since not touching the ground, only apply upward force for so long.
- m_jumpFrames--;
- stepVelocity.Z = m_jumpVelocity;
- }
- else
- {
-
- // Since we're not affected by anything, the avatar must be falling and we do not want that to be too fast.
- if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity)
- {
-
- stepVelocity.Z = BSParam.AvatarTerminalVelocity;
- }
- else
- {
- stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
- }
- }
- // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
- }
-
- //Alicia: Maintain minimum height when flying.
- // SL has a flying effect that keeps the avatar flying above the ground by some margin
- if (m_controllingPrim.Flying)
- {
- float hover_height = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition)
- + BSParam.AvatarFlyingGroundMargin;
-
- if( m_controllingPrim.Position.Z < hover_height)
- {
- stepVelocity.Z += BSParam.AvatarFlyingGroundUpForce;
- }
- }
-
- // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
- OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass;
-
- // Add special movement force to allow avatars to walk up stepped surfaces.
- moveForce += WalkUpStairs();
-
- m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
- m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce);
- m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce);
- }
- }
-
- // Called just as the property update is received from the physics engine.
- // Do any mode necessary for avatar movement.
- private void Process_OnPreUpdateProperty(ref EntityProperties entprop)
- {
- // Don't change position if standing on a stationary object.
- if (m_controllingPrim.IsStationary)
- {
- entprop.Position = m_controllingPrim.RawPosition;
- entprop.Velocity = OMV.Vector3.Zero;
- m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation);
- }
-
- }
-
- // Decide if the character is colliding with a low object and compute a force to pop the
- // avatar up so it can walk up and over the low objects.
- private OMV.Vector3 WalkUpStairs()
- {
- OMV.Vector3 ret = OMV.Vector3.Zero;
-
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4},avHeight={5}",
- m_controllingPrim.LocalID, m_controllingPrim.IsColliding, m_controllingPrim.Flying,
- m_controllingPrim.TargetVelocitySpeed, m_controllingPrim.CollisionsLastTick.Count, m_controllingPrim.Size.Z);
-
- // Check for stairs climbing if colliding, not flying and moving forward
- if ( m_controllingPrim.IsColliding
- && !m_controllingPrim.Flying
- && m_controllingPrim.TargetVelocitySpeed > 0.1f )
- {
- // The range near the character's feet where we will consider stairs
- // float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f;
- // Note: there is a problem with the computation of the capsule height. Thus RawPosition is off
- // from the height. Revisit size and this computation when height is scaled properly.
- float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - BSParam.AvatarStepGroundFudge;
- float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
-
- // Look for a collision point that is near the character's feet and is oriented the same as the charactor is.
- // Find the highest 'good' collision.
- OMV.Vector3 highestTouchPosition = OMV.Vector3.Zero;
- foreach (KeyValuePair kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList)
- {
- // Don't care about collisions with the terrain
- if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID)
- {
- BSPhysObject collisionObject;
- if (m_physicsScene.PhysObjects.TryGetValue(kvp.Key, out collisionObject))
- {
- if (!collisionObject.IsVolumeDetect)
- {
- OMV.Vector3 touchPosition = kvp.Value.Position;
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
- m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
- if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
- {
- // This contact is within the 'near the feet' range.
- // The step is presumed to be more or less vertical. Thus the Z component should
- // be nearly horizontal.
- OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation;
- OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
- const float PIOver2 = 1.571f; // Used to make unit vector axis into approx radian angles
- // m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,avNormal={1},colNormal={2},diff={3}",
- // m_controllingPrim.LocalID, directionFacing, touchNormal,
- // Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)) );
- if ((Math.Abs(directionFacing.Z) * PIOver2) < BSParam.AvatarStepAngle
- && (Math.Abs(touchNormal.Z) * PIOver2) < BSParam.AvatarStepAngle)
- {
- // The normal should be our contact point to the object so it is pointing away
- // thus the difference between our facing orientation and the normal should be small.
- float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
- if (diff < BSParam.AvatarStepApproachFactor)
- {
- if (highestTouchPosition.Z < touchPosition.Z)
- highestTouchPosition = touchPosition;
- }
- }
- }
- }
- }
- }
- }
- m_walkingUpStairs = 0;
- // If there is a good step sensing, move the avatar over the step.
- if (highestTouchPosition != OMV.Vector3.Zero)
- {
- // Remember that we are going up stairs. This is needed because collisions
- // will stop when we move up so this smoothes out that effect.
- m_walkingUpStairs = BSParam.AvatarStepSmoothingSteps;
-
- m_lastStepUp = highestTouchPosition.Z - nearFeetHeightMin;
- ret = ComputeStairCorrection(m_lastStepUp);
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},ret={3}",
- m_controllingPrim.LocalID, highestTouchPosition, nearFeetHeightMin, ret);
- }
- }
- else
- {
- // If we used to be going up stairs but are not now, smooth the case where collision goes away while
- // we are bouncing up the stairs.
- if (m_walkingUpStairs > 0)
- {
- m_walkingUpStairs--;
- ret = ComputeStairCorrection(m_lastStepUp);
- }
- }
-
- return ret;
- }
-
- private OMV.Vector3 ComputeStairCorrection(float stepUp)
- {
- OMV.Vector3 ret = OMV.Vector3.Zero;
- OMV.Vector3 displacement = OMV.Vector3.Zero;
-
- if (stepUp > 0f)
- {
- // Found the stairs contact point. Push up a little to raise the character.
- if (BSParam.AvatarStepForceFactor > 0f)
- {
- float upForce = stepUp * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor;
- ret = new OMV.Vector3(0f, 0f, upForce);
- }
-
- // Also move the avatar up for the new height
- if (BSParam.AvatarStepUpCorrectionFactor > 0f)
- {
- // Move the avatar up related to the height of the collision
- displacement = new OMV.Vector3(0f, 0f, stepUp * BSParam.AvatarStepUpCorrectionFactor);
- m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
- }
- else
- {
- if (BSParam.AvatarStepUpCorrectionFactor < 0f)
- {
- // Move the avatar up about the specified step height
- displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight);
- m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
- }
- }
- m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,stepUp={1},isp={2},force={3}",
- m_controllingPrim.LocalID, stepUp, displacement, ret);
-
- }
- return ret;
- }
-}
-}
-
-
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
deleted file mode 100755
index e54c27b..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ /dev/null
@@ -1,174 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorHover : BSActor
-{
- private BSFMotor m_hoverMotor;
-
- public BSActorHover(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_hoverMotor = null;
- m_physicsScene.DetailLog("{0},BSActorHover,constructor", m_controllingPrim.LocalID);
- }
-
- // BSActor.isActive
- public override bool isActive
- {
- get { return Enabled; }
- }
-
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- Enabled = false;
- DeactivateHover();
- }
-
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID);
-
- // If not active any more, turn me off
- if (!m_controllingPrim.HoverActive)
- {
- SetEnabled(false);
- }
-
- // If the object is physically active, add the hoverer prestep action
- if (isActive)
- {
- ActivateHover();
- }
- else
- {
- DeactivateHover();
- }
- }
-
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- // Nothing to do for the hoverer since it is all software at pre-step action time.
- }
-
- // If a hover motor has not been created, create one and start the hovering.
- private void ActivateHover()
- {
- if (m_hoverMotor == null)
- {
- // Turning the target on
- m_hoverMotor = new BSFMotor("BSActorHover",
- m_controllingPrim.HoverTau, // timeScale
- BSMotor.Infinite, // decay time scale
- 1f // efficiency
- );
- m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
- m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
- m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
- m_physicsScene.BeforeStep += Hoverer;
- }
- }
-
- private void DeactivateHover()
- {
- if (m_hoverMotor != null)
- {
- m_physicsScene.BeforeStep -= Hoverer;
- m_hoverMotor = null;
- }
- }
-
- // Called just before the simulation step. Update the vertical position for hoverness.
- private void Hoverer(float timeStep)
- {
- // Don't do hovering while the object is selected.
- if (!isActive)
- return;
-
- m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
- m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
- float targetHeight = m_hoverMotor.Step(timeStep);
-
- // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
- // Compute the amount of force to push us there.
- float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass;
- // Undo anything the object thinks it's doing at the moment
- moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass;
-
- m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce));
- m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}",
- m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass);
- }
-
- // Based on current position, determine what we should be hovering at now.
- // Must recompute often. What if we walked offa cliff>
- private float ComputeCurrentHoverHeight()
- {
- float ret = m_controllingPrim.HoverHeight;
- float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition);
-
- switch (m_controllingPrim.HoverType)
- {
- case PIDHoverType.Ground:
- ret = groundHeight + m_controllingPrim.HoverHeight;
- break;
- case PIDHoverType.GroundAndWater:
- float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition);
- if (groundHeight > waterHeight)
- {
- ret = groundHeight + m_controllingPrim.HoverHeight;
- }
- else
- {
- ret = waterHeight + m_controllingPrim.HoverHeight;
- }
- break;
- }
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
deleted file mode 100755
index 3b3c161..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ /dev/null
@@ -1,219 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorLockAxis : BSActor
-{
- private BSConstraint LockAxisConstraint = null;
- private bool HaveRegisteredForBeforeStepCallback = false;
-
- // The lock access flags (which axises were locked) when the contraint was built.
- // Used to see if locking has changed since when the constraint was built.
- OMV.Vector3 LockAxisLinearFlags;
- OMV.Vector3 LockAxisAngularFlags;
-
- public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
- LockAxisConstraint = null;
- HaveRegisteredForBeforeStepCallback = false;
- }
-
- // BSActor.isActive
- public override bool isActive
- {
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
- }
-
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- Enabled = false;
- UnRegisterForBeforeStepCallback();
- RemoveAxisLockConstraint();
- }
-
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- // Since the axis logging is done with a constraint, Refresh() time is good for
- // changing parameters but this needs to wait until the prim/linkset is physically
- // constructed. Therefore, the constraint itself is placed at pre-step time.
-
- // If all the axis are free, we don't need to exist
- // Refresh() only turns off. Enabling is done by InitializeAxisActor()
- // whenever parameters are changed.
- // This leaves 'enable' free to turn off an actor when it is not wanted to run.
- if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
- && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
- {
- Enabled = false;
- }
-
- if (isActive)
- {
- RegisterForBeforeStepCallback();
- }
- else
- {
- RemoveDependencies();
- UnRegisterForBeforeStepCallback();
- }
- }
-
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- RemoveAxisLockConstraint();
- }
-
- private void RegisterForBeforeStepCallback()
- {
- if (!HaveRegisteredForBeforeStepCallback)
- {
- m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
- HaveRegisteredForBeforeStepCallback = true;
- }
- }
-
- private void UnRegisterForBeforeStepCallback()
- {
- if (HaveRegisteredForBeforeStepCallback)
- {
- m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep;
- HaveRegisteredForBeforeStepCallback = false;
- }
- }
-
- private void PhysicsScene_BeforeStep(float timestep)
- {
- // If all the axis are free, we don't need to exist
- if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
- && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
- {
- Enabled = false;
- }
-
- // If the object is physically active, add the axis locking constraint
- if (isActive)
- {
- // Check to see if the locking parameters have changed
- if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags
- || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags)
- {
- // The locking has changed. Remove the old constraint and build a new one
- RemoveAxisLockConstraint();
- }
-
- AddAxisLockConstraint();
- }
- else
- {
- RemoveAxisLockConstraint();
- }
- }
-
- // Note that this relies on being called at TaintTime
- private void AddAxisLockConstraint()
- {
- if (LockAxisConstraint == null)
- {
- // Lock that axis by creating a 6DOF constraint that has one end in the world and
- // the other in the object.
- // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
- // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
-
- // Remove any existing axis constraint (just to be sure)
- RemoveAxisLockConstraint();
-
- BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
- OMV.Vector3.Zero, OMV.Quaternion.Identity,
- false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
- LockAxisConstraint = axisConstrainer;
- m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
-
- // Remember the clocking being inforced so we can notice if they have changed
- LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
- LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
-
- // The constraint is tied to the world and oriented to the prim.
-
- if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
- {
- m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
- m_controllingPrim.LocalID);
- }
-
- if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
- {
- m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
- m_controllingPrim.LocalID);
- }
-
- m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
- m_controllingPrim.LocalID,
- m_controllingPrim.LockedLinearAxisLow,
- m_controllingPrim.LockedLinearAxisHigh,
- m_controllingPrim.LockedAngularAxisLow,
- m_controllingPrim.LockedAngularAxisHigh);
-
- // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
- axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
-
- axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
-
- RegisterForBeforeStepCallback();
- }
- }
-
- private void RemoveAxisLockConstraint()
- {
- UnRegisterForBeforeStepCallback();
- if (LockAxisConstraint != null)
- {
- m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
- LockAxisConstraint = null;
- m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
- }
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
deleted file mode 100755
index 1145006..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ /dev/null
@@ -1,220 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorMoveToTarget : BSActor
-{
- private BSVMotor m_targetMotor;
-
- public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_targetMotor = null;
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
- }
-
- // BSActor.isActive
- public override bool isActive
- {
- // MoveToTarget only works on physical prims
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
- }
-
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- Enabled = false;
- DeactivateMoveToTarget();
- }
-
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
- m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
- m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
-
- // If not active any more...
- if (!m_controllingPrim.MoveToTargetActive)
- {
- Enabled = false;
- }
-
- if (isActive)
- {
- ActivateMoveToTarget();
- }
- else
- {
- DeactivateMoveToTarget();
- }
- }
-
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- // Nothing to do for the moveToTarget since it is all software at pre-step action time.
- }
-
- // If a hover motor has not been created, create one and start the hovering.
- private void ActivateMoveToTarget()
- {
- if (m_targetMotor == null)
- {
- // We're taking over after this.
- m_controllingPrim.ZeroMotion(true);
-
- /* Someday use the PID controller
- m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
- m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
- m_targetMotor.Efficiency = 1f;
- */
- m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
- m_controllingPrim.MoveToTargetTau, // timeScale
- BSMotor.Infinite, // decay time scale
- 1f // efficiency
- );
- m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
- m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
- m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
-
- // m_physicsScene.BeforeStep += Mover;
- m_physicsScene.BeforeStep += Mover2;
- }
- else
- {
- // If already allocated, make sure the target and other paramters are current
- m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
- m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
- }
- }
-
- private void DeactivateMoveToTarget()
- {
- if (m_targetMotor != null)
- {
- // m_physicsScene.BeforeStep -= Mover;
- m_physicsScene.BeforeStep -= Mover2;
- m_targetMotor = null;
- }
- }
-
- // Origional mover that set the objects position to move to the target.
- // The problem was that gravity would keep trying to push the object down so
- // the overall downward velocity would increase to infinity.
- // Called just before the simulation step.
- private void Mover(float timeStep)
- {
- // Don't do hovering while the object is selected.
- if (!isActive)
- return;
-
- OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
-
- // 'movePosition' is where we'd like the prim to be at this moment.
- OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
-
- // If we are very close to our target, turn off the movement motor.
- if (m_targetMotor.ErrorIsZero())
- {
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
- m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
- m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
- m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
- // Setting the position does not cause the physics engine to generate a property update. Force it.
- m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
- }
- else
- {
- m_controllingPrim.ForcePosition = movePosition;
- // Setting the position does not cause the physics engine to generate a property update. Force it.
- m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
- }
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
- m_controllingPrim.LocalID, origPosition, movePosition);
- }
-
- // Version of mover that applies forces to move the physical object to the target.
- // Also overcomes gravity so the object doesn't just drop to the ground.
- // Called just before the simulation step.
- private void Mover2(float timeStep)
- {
- // Don't do hovering while the object is selected.
- if (!isActive)
- return;
-
- OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
- OMV.Vector3 addedForce = OMV.Vector3.Zero;
-
- // CorrectionVector is the movement vector required this step
- OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
-
- // If we are very close to our target, turn off the movement motor.
- if (m_targetMotor.ErrorIsZero())
- {
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
- m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
- m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
- m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
- // Setting the position does not cause the physics engine to generate a property update. Force it.
- m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
- }
- else
- {
- // First force to move us there -- the motor return a timestep scaled value.
- addedForce = correctionVector / timeStep;
- // Remove the existing velocity (only the moveToTarget force counts)
- addedForce -= m_controllingPrim.RawVelocity;
- // Overcome gravity.
- addedForce -= m_controllingPrim.Gravity;
-
- // Add enough force to overcome the mass of the object
- addedForce *= m_controllingPrim.Mass;
-
- m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
- }
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
- m_controllingPrim.LocalID, origPosition, addedForce);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
deleted file mode 100755
index 4e81363..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
+++ /dev/null
@@ -1,138 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorSetForce : BSActor
-{
- BSFMotor m_forceMotor;
-
- public BSActorSetForce(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_forceMotor = null;
- m_physicsScene.DetailLog("{0},BSActorSetForce,constructor", m_controllingPrim.LocalID);
- }
-
- // BSActor.isActive
- public override bool isActive
- {
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
- }
-
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- Enabled = false;
- DeactivateSetForce();
- }
-
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- m_physicsScene.DetailLog("{0},BSActorSetForce,refresh", m_controllingPrim.LocalID);
-
- // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
- if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
- {
- m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName);
- Enabled = false;
- return;
- }
-
- // If the object is physically active, add the hoverer prestep action
- if (isActive)
- {
- ActivateSetForce();
- }
- else
- {
- DeactivateSetForce();
- }
- }
-
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- // Nothing to do for the hoverer since it is all software at pre-step action time.
- }
-
- // If a hover motor has not been created, create one and start the hovering.
- private void ActivateSetForce()
- {
- if (m_forceMotor == null)
- {
- // A fake motor that might be used someday
- m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f);
-
- m_physicsScene.BeforeStep += Mover;
- }
- }
-
- private void DeactivateSetForce()
- {
- if (m_forceMotor != null)
- {
- m_physicsScene.BeforeStep -= Mover;
- m_forceMotor = null;
- }
- }
-
- // Called just before the simulation step. Update the vertical position for hoverness.
- private void Mover(float timeStep)
- {
- // Don't do force while the object is selected.
- if (!isActive)
- return;
-
- m_physicsScene.DetailLog("{0},BSActorSetForce,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawForce);
- if (m_controllingPrim.PhysBody.HasPhysicalBody)
- {
- m_physicsScene.PE.ApplyCentralForce(m_controllingPrim.PhysBody, m_controllingPrim.RawForce);
- m_controllingPrim.ActivateIfPhysical(false);
- }
-
- // TODO:
- }
-}
-}
-
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
deleted file mode 100755
index 79e1d38..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ /dev/null
@@ -1,139 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorSetTorque : BSActor
-{
- BSFMotor m_torqueMotor;
-
- public BSActorSetTorque(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj, actorName)
- {
- m_torqueMotor = null;
- m_physicsScene.DetailLog("{0},BSActorSetTorque,constructor", m_controllingPrim.LocalID);
- }
-
- // BSActor.isActive
- public override bool isActive
- {
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
- }
-
- // Release any connections and resources used by the actor.
- // BSActor.Dispose()
- public override void Dispose()
- {
- Enabled = false;
- DeactivateSetTorque();
- }
-
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- // Called at taint-time.
- // BSActor.Refresh()
- public override void Refresh()
- {
- m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,torque={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque);
-
- // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
- if (m_controllingPrim.RawTorque == OMV.Vector3.Zero)
- {
- m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,disabling={1}", m_controllingPrim.LocalID, ActorName);
- Enabled = false;
- return;
- }
-
- // If the object is physically active, add the hoverer prestep action
- if (isActive)
- {
- ActivateSetTorque();
- }
- else
- {
- DeactivateSetTorque();
- }
- }
-
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- // Called at taint-time.
- // BSActor.RemoveDependencies()
- public override void RemoveDependencies()
- {
- // Nothing to do for the hoverer since it is all software at pre-step action time.
- }
-
- // If a hover motor has not been created, create one and start the hovering.
- private void ActivateSetTorque()
- {
- if (m_torqueMotor == null)
- {
- // A fake motor that might be used someday
- m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f);
-
- m_physicsScene.BeforeStep += Mover;
- }
- }
-
- private void DeactivateSetTorque()
- {
- if (m_torqueMotor != null)
- {
- m_physicsScene.BeforeStep -= Mover;
- m_torqueMotor = null;
- }
- }
-
- // Called just before the simulation step. Update the vertical position for hoverness.
- private void Mover(float timeStep)
- {
- // Don't do force while the object is selected.
- if (!isActive)
- return;
-
- m_physicsScene.DetailLog("{0},BSActorSetTorque,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque);
- if (m_controllingPrim.PhysBody.HasPhysicalBody)
- {
- m_controllingPrim.AddAngularForce(m_controllingPrim.RawTorque, false, true);
- m_controllingPrim.ActivateIfPhysical(false);
- }
-
- // TODO:
- }
-}
-}
-
-
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
deleted file mode 100755
index 7f45e2c..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ /dev/null
@@ -1,154 +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 copyrightD
- * 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.Text;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSActorCollection
-{
- private Dictionary m_actors;
-
- public BSActorCollection()
- {
- m_actors = new Dictionary();
- }
- public void Add(string name, BSActor actor)
- {
- lock (m_actors)
- {
- if (!m_actors.ContainsKey(name))
- {
- m_actors[name] = actor;
- }
- }
- }
- public bool RemoveAndRelease(string name)
- {
- bool ret = false;
- lock (m_actors)
- {
- if (m_actors.ContainsKey(name))
- {
- BSActor beingRemoved = m_actors[name];
- m_actors.Remove(name);
- beingRemoved.Dispose();
- ret = true;
- }
- }
- return ret;
- }
- public void Clear()
- {
- lock (m_actors)
- {
- ForEachActor(a => a.Dispose());
- m_actors.Clear();
- }
- }
- public void Dispose()
- {
- Clear();
- }
- public bool HasActor(string name)
- {
- return m_actors.ContainsKey(name);
- }
- public bool TryGetActor(string actorName, out BSActor theActor)
- {
- return m_actors.TryGetValue(actorName, out theActor);
- }
- public void ForEachActor(Action act)
- {
- lock (m_actors)
- {
- foreach (KeyValuePair kvp in m_actors)
- act(kvp.Value);
- }
- }
-
- public void Enable(bool enabl)
- {
- ForEachActor(a => a.SetEnabled(enabl));
- }
- public void Refresh()
- {
- ForEachActor(a => a.Refresh());
- }
- public void RemoveDependencies()
- {
- ForEachActor(a => a.RemoveDependencies());
- }
-}
-
-// =============================================================================
-///
-/// Each physical object can have 'actors' who are pushing the object around.
-/// This can be used for hover, locking axis, making vehicles, etc.
-/// Each physical object can have multiple actors acting on it.
-///
-/// An actor usually registers itself with physics scene events (pre-step action)
-/// and modifies the parameters on the host physical object.
-///
-public abstract class BSActor
-{
- protected BSScene m_physicsScene { get; private set; }
- protected BSPhysObject m_controllingPrim { get; private set; }
- public virtual bool Enabled { get; set; }
- public string ActorName { get; private set; }
-
- public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
- {
- m_physicsScene = physicsScene;
- m_controllingPrim = pObj;
- ActorName = actorName;
- Enabled = true;
- }
-
- // Return 'true' if activily updating the prim
- public virtual bool isActive
- {
- get { return Enabled; }
- }
-
- // Turn the actor on an off. Only used by ActorCollection to set all enabled/disabled.
- // Anyone else should assign true/false to 'Enabled'.
- public void SetEnabled(bool setEnabled)
- {
- Enabled = setEnabled;
- }
- // Release any connections and resources used by the actor.
- public abstract void Dispose();
- // Called when physical parameters (properties set in Bullet) need to be re-applied.
- public abstract void Refresh();
- // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
- // Register a prestep action to restore physical requirements before the next simulation step.
- public abstract void RemoveDependencies();
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
deleted file mode 100644
index 8491c0f..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ /dev/null
@@ -1,763 +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.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin {
-
- // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
- POINT2POINT_CONSTRAINT_TYPE = 3,
- HINGE_CONSTRAINT_TYPE,
- CONETWIST_CONSTRAINT_TYPE,
- D6_CONSTRAINT_TYPE,
- SLIDER_CONSTRAINT_TYPE,
- CONTACT_CONSTRAINT_TYPE,
- D6_SPRING_CONSTRAINT_TYPE,
- GEAR_CONSTRAINT_TYPE, // added in Bullet 2.82
- FIXED_CONSTRAINT_TYPE, // added in Bullet 2.82
- MAX_CONSTRAINT_TYPE, // last type defined by Bullet
- //
- BS_FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
- Vector3 Offset;
- int VertexCount;
- Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
- SHAPE_UNKNOWN = 0,
- SHAPE_CAPSULE = 1,
- SHAPE_BOX = 2,
- SHAPE_CONE = 3,
- SHAPE_CYLINDER = 4,
- SHAPE_SPHERE = 5,
- SHAPE_MESH = 6,
- SHAPE_HULL = 7,
- // following defined by BulletSim
- SHAPE_GROUNDPLANE = 20,
- SHAPE_TERRAIN = 21,
- SHAPE_COMPOUND = 22,
- SHAPE_HEIGHTMAP = 23,
- SHAPE_AVATAR = 24,
- SHAPE_CONVEXHULL= 25,
- SHAPE_GIMPACT = 26,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
- KEY_NONE = 0,
- KEY_BOX = 1,
- KEY_SPHERE = 2,
- KEY_CONE = 3,
- KEY_CYLINDER = 4,
- KEY_CAPSULE = 5,
- KEY_AVATAR = 6,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
- public UInt32 ID;
- public BSPhysicsShapeType Type;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Scale;
- public float Mass;
- public float Buoyancy;
- public System.UInt64 HullKey;
- public System.UInt64 MeshKey;
- public float Friction;
- public float Restitution;
- public float Collidable; // true of things bump into this
- public float Static; // true if a static object. Otherwise gravity, etc.
- public float Solid; // true if object cannot be passed through
- public Vector3 Size;
-
- // note that bools are passed as floats since bool size changes by language and architecture
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
- public UInt32 ID;
- public float Fraction;
- public Vector3 Normal;
- public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
- public UInt32 ID;
- public float Fraction;
- public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
- public UInt32 aID;
- public UInt32 bID;
- public Vector3 point;
- public Vector3 normal;
- public float penetration;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
- public UInt32 ID;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Acceleration;
- public Vector3 RotationalVelocity;
-
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("");
- return buff.ToString();
- }
-}
-
-// Format of this structure must match the definition in the C++ code
-// NOTE: adding the X causes compile breaks if used. These are unused symbols
-// that can be removed from both here and the unmanaged definition of this structure.
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
- public float defaultFriction;
- public float defaultDensity;
- public float defaultRestitution;
- public float collisionMargin;
- public float gravity;
-
- public float maxPersistantManifoldPoolSize;
- public float maxCollisionAlgorithmPoolSize;
- public float shouldDisableContactPoolDynamicAllocation;
- public float shouldForceUpdateAllAabbs;
- public float shouldRandomizeSolverOrder;
- public float shouldSplitSimulationIslands;
- public float shouldEnableFrictionCaching;
- public float numberOfSolverIterations;
- public float useSingleSidedMeshes;
- public float globalContactBreakingThreshold;
-
- public float physicsLoggingFrames;
-
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
-}
-
-// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library.
-[StructLayout(LayoutKind.Sequential)]
-public struct HACDParams
-{
- // usual default values
- public float maxVerticesPerHull; // 100
- public float minClusters; // 2
- public float compacityWeight; // 0.1
- public float volumeWeight; // 0.0
- public float concavity; // 100
- public float addExtraDistPoints; // false
- public float addNeighboursDistPoints; // false
- public float addFacesPoints; // false
- public float shouldAdjustCollisionMargin; // false
- // VHACD
- public float whichHACD; // zero if Bullet HACD, non-zero says VHACD
- // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
- public float vHACDresolution; // 100,000 max number of voxels generated during voxelization stage
- public float vHACDdepth; // 20 max number of clipping stages
- public float vHACDconcavity; // 0.0025 maximum concavity
- public float vHACDplaneDownsampling; // 4 granularity of search for best clipping plane
- public float vHACDconvexHullDownsampling; // 4 precision of hull gen process
- public float vHACDalpha; // 0.05 bias toward clipping along symmetry planes
- public float vHACDbeta; // 0.05 bias toward clipping along revolution axis
- public float vHACDgamma; // 0.00125 max concavity when merging
- public float vHACDpca; // 0 on/off normalizing mesh before decomp
- public float vHACDmode; // 0 0:voxel based, 1: tetrahedron based
- public float vHACDmaxNumVerticesPerCH; // 64 max triangles per convex hull
- public float vHACDminVolumePerCH; // 0.0001 sampling of generated convex hulls
-}
-
-// The states a bullet collision object can have
-public enum ActivationState : uint
-{
- ACTIVE_TAG = 1,
- ISLAND_SLEEPING,
- WANTS_DEACTIVATION,
- DISABLE_DEACTIVATION,
- DISABLE_SIMULATION,
-}
-
-public enum CollisionObjectTypes : int
-{
- CO_COLLISION_OBJECT = 1 << 0,
- CO_RIGID_BODY = 1 << 1,
- CO_GHOST_OBJECT = 1 << 2,
- CO_SOFT_BODY = 1 << 3,
- CO_HF_FLUID = 1 << 4,
- CO_USER_TYPE = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-// object (if collisions happen, if gravity effects it, ...).
-public enum CollisionFlags : uint
-{
- CF_STATIC_OBJECT = 1 << 0,
- CF_KINEMATIC_OBJECT = 1 << 1,
- CF_NO_CONTACT_RESPONSE = 1 << 2,
- CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
- CF_CHARACTER_OBJECT = 1 << 4,
- CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
- CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
- // Following used by BulletSim to control collisions and updates
- BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, // return collision events from unmanaged to managed
- BS_FLOATS_ON_WATER = 1 << 11, // the object should float at water level
- BS_VEHICLE_COLLISIONS = 1 << 12, // return collisions for vehicle ground checking
- BS_RETURN_ROOT_COMPOUND_SHAPE = 1 << 13, // return the pos/rot of the root shape in a compound shape
- BS_NONE = 0,
- BS_ALL = 0x7FFF // collision flags are a signed short
-};
-
-// Values f collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
- // Don't use the bit definitions!! Define the use in a
- // filter/mask definition below. This way collision interactions
- // are more easily found and debugged.
- BNoneGroup = 0,
- BDefaultGroup = 1 << 0, // 0001
- BStaticGroup = 1 << 1, // 0002
- BKinematicGroup = 1 << 2, // 0004
- BDebrisGroup = 1 << 3, // 0008
- BSensorTrigger = 1 << 4, // 0010
- BCharacterGroup = 1 << 5, // 0020
- BAllGroup = 0x0007FFF, // collision flags are a signed short
- // Filter groups defined by BulletSim
- BGroundPlaneGroup = 1 << 8, // 0400
- BTerrainGroup = 1 << 9, // 0800
- BRaycastGroup = 1 << 10, // 1000
- BSolidGroup = 1 << 11, // 2000
- // BLinksetGroup = xx // a linkset proper is either static or dynamic
- BLinksetChildGroup = 1 << 12, // 4000
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
- BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
- BT_CONSTRAINT_STOP_ERP,
- BT_CONSTRAINT_CFM,
- BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
- AXIS_LINEAR_X = 0,
- AXIS_LINEAR_Y,
- AXIS_LINEAR_Z,
- AXIS_ANGULAR_X,
- AXIS_ANGULAR_Y,
- AXIS_ANGULAR_Z,
- AXIS_LINEAR_ALL = 20, // added by BulletSim so we don't have to do zillions of calls
- AXIS_ANGULAR_ALL,
- AXIS_ALL
-};
-
-public abstract class BSAPITemplate
-{
-// Returns the name of the underlying Bullet engine
-public abstract string BulletEngineName { get; }
-public abstract string BulletEngineVersion { get; protected set;}
-
-// Initialization and simulation
-public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
- int maxCollisions, ref CollisionDesc[] collisionArray,
- int maxUpdates, ref EntityProperties[] updateArray
- );
-
-public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount, out int collidersCount);
-
-public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
-
-public abstract void Shutdown(BulletWorld sim);
-
-public abstract bool PushUpdate(BulletBody obj);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-public abstract BulletShape CreateMeshShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices );
-
-public abstract BulletShape CreateGImpactShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices );
-
-public abstract BulletShape CreateHullShape(BulletWorld world,
- int hullCount, float[] hulls);
-
-public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
-
-public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
-
-public abstract BulletShape CreateConvexHullShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices );
-
-public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
-
-public abstract bool IsNativeShape(BulletShape shape);
-
-public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
-
-public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
-
-public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
-
-public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
-
-public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
-
-public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
-
-public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
-
-public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
-
-public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
-
-public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
-
-public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
-
-public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
-
-public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
-
-public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
-
-public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
-
-public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
-
-public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
-
-// =====================================================================================
-public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin);
-
-public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
- float scaleFactor, float collisionMargin);
-
-// =====================================================================================
-// Constraint creation and helper routines
-public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotinA, Vector3 pivotinB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 axisInA, Vector3 axisInB,
- float ratio, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- bool disableCollisionsBetweenLinkedBodies);
-
-public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
-
-public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
-
-public abstract bool SetFrames(BulletConstraint constrain,
- Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
-
-public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
-
-public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
-
-public const int HINGE_NOT_SPECIFIED = -1;
-public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
-
-public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
-
-public const int SPRING_NOT_SPECIFIED = -1;
-public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
-
-public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
-
-public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
-
-public const int SLIDER_LOWER_LIMIT = 0;
-public const int SLIDER_UPPER_LIMIT = 1;
-public const int SLIDER_LINEAR = 2;
-public const int SLIDER_ANGULAR = 3;
-public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
-
-public const int SLIDER_SET_SOFTNESS = 4;
-public const int SLIDER_SET_RESTITUTION = 5;
-public const int SLIDER_SET_DAMPING = 6;
-public const int SLIDER_SET_DIRECTION = 7;
-public const int SLIDER_SET_LIMIT = 8;
-public const int SLIDER_SET_ORTHO = 9;
-public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
-
-public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
-
-public const int SLIDER_MOTOR_VELOCITY = 10;
-public const int SLIDER_MAX_MOTOR_FORCE = 11;
-public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
-
-public abstract bool CalculateTransforms(BulletConstraint constrain);
-
-public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
-
-public abstract void UpdateAabbs(BulletWorld world);
-
-public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
-
-public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
-public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
-
-public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
-
-public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj);
-
-public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
-
-public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
-// =====================================================================================
-// btCollisionObject entries
-public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
-
-public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
-
-public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
-
-public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
-
-public abstract float GetContactProcessingThreshold(BulletBody obj);
-
-public abstract bool IsStaticObject(BulletBody obj);
-
-public abstract bool IsKinematicObject(BulletBody obj);
-
-public abstract bool IsStaticOrKinematicObject(BulletBody obj);
-
-public abstract bool HasContactResponse(BulletBody obj);
-
-public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
-
-public abstract BulletShape GetCollisionShape(BulletBody obj);
-
-public abstract int GetActivationState(BulletBody obj);
-
-public abstract void SetActivationState(BulletBody obj, int state);
-
-public abstract void SetDeactivationTime(BulletBody obj, float dtime);
-
-public abstract float GetDeactivationTime(BulletBody obj);
-
-public abstract void ForceActivationState(BulletBody obj, ActivationState state);
-
-public abstract void Activate(BulletBody obj, bool forceActivation);
-
-public abstract bool IsActive(BulletBody obj);
-
-public abstract void SetRestitution(BulletBody obj, float val);
-
-public abstract float GetRestitution(BulletBody obj);
-
-public abstract void SetFriction(BulletBody obj, float val);
-
-public abstract float GetFriction(BulletBody obj);
-
-public abstract Vector3 GetPosition(BulletBody obj);
-
-public abstract Quaternion GetOrientation(BulletBody obj);
-
-public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
-
-// public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
-
-// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
-
-public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
-
-public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
-
-public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
-
-public abstract float GetHitFraction(BulletBody obj);
-
-public abstract void SetHitFraction(BulletBody obj, float val);
-
-public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
-
-public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
-
-public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
-
-public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
-
-public abstract float GetCcdMotionThreshold(BulletBody obj);
-
-public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
-
-public abstract float GetCcdSweptSphereRadius(BulletBody obj);
-
-public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
-
-public abstract IntPtr GetUserPointer(BulletBody obj);
-
-public abstract void SetUserPointer(BulletBody obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-public abstract void ApplyGravity(BulletBody obj);
-
-public abstract void SetGravity(BulletBody obj, Vector3 val);
-
-public abstract Vector3 GetGravity(BulletBody obj);
-
-public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
-
-public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
-
-public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
-
-public abstract float GetLinearDamping(BulletBody obj);
-
-public abstract float GetAngularDamping(BulletBody obj);
-
-public abstract float GetLinearSleepingThreshold(BulletBody obj);
-
-public abstract void ApplyDamping(BulletBody obj, float timeStep);
-
-public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
-
-public abstract Vector3 GetLinearFactor(BulletBody obj);
-
-public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
-
-public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-public abstract void SetObjectForce(BulletBody obj, Vector3 force);
-
-public abstract Vector3 GetTotalForce(BulletBody obj);
-
-public abstract Vector3 GetTotalTorque(BulletBody obj);
-
-public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
-
-public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
-
-public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
-
-public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
-
-public abstract void ClearForces(BulletBody obj);
-
-public abstract void ClearAllForces(BulletBody obj);
-
-public abstract void UpdateInertiaTensor(BulletBody obj);
-
-public abstract Vector3 GetLinearVelocity(BulletBody obj);
-
-public abstract Vector3 GetAngularVelocity(BulletBody obj);
-
-public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
-
-public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
-
-public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
-
-public abstract void Translate(BulletBody obj, Vector3 trans);
-
-public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
-
-public abstract bool WantsSleeping(BulletBody obj);
-
-public abstract void SetAngularFactor(BulletBody obj, float factor);
-
-public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
-
-public abstract Vector3 GetAngularFactor(BulletBody obj);
-
-public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
-
-public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
-
-public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
-
-public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
-
-public abstract int GetNumConstraintRefs(BulletBody obj);
-
-public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-public abstract float GetAngularMotionDisc(BulletShape shape);
-
-public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
-
-public abstract bool IsPolyhedral(BulletShape shape);
-
-public abstract bool IsConvex2d(BulletShape shape);
-
-public abstract bool IsConvex(BulletShape shape);
-
-public abstract bool IsNonMoving(BulletShape shape);
-
-public abstract bool IsConcave(BulletShape shape);
-
-public abstract bool IsCompound(BulletShape shape);
-
-public abstract bool IsSoftBody(BulletShape shape);
-
-public abstract bool IsInfinite(BulletShape shape);
-
-public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
-
-public abstract Vector3 GetLocalScaling(BulletShape shape);
-
-public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
-
-public abstract int GetShapeType(BulletShape shape);
-
-public abstract void SetMargin(BulletShape shape, float val);
-
-public abstract float GetMargin(BulletShape shape);
-
-// =====================================================================================
-// Debugging
-public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
-
-public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { }
-
-public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { }
-
-public virtual void DumpActivationInfo(BulletWorld sim) { }
-
-public virtual void DumpAllInfo(BulletWorld sim) { }
-
-public virtual void DumpPhysicsStatistics(BulletWorld sim) { }
-
-public virtual void ResetBroadphasePool(BulletWorld sim) { }
-
-public virtual void ResetConstraintSolver(BulletWorld sim) { }
-
-};
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
deleted file mode 100644
index 9c3f160..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ /dev/null
@@ -1,813 +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 copyrightD
- * 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 log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSCharacter : BSPhysObject
-{
- private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- private static readonly string LogHeader = "[BULLETS CHAR]";
-
- // private bool _stopped;
- private OMV.Vector3 _size;
- private bool _grabbed;
- private bool _selected;
- private float _mass;
- private float _avatarVolume;
- private float _collisionScore;
- private OMV.Vector3 _acceleration;
- private int _physicsActorType;
- private bool _isPhysical;
- private bool _flying;
- private bool _setAlwaysRun;
- private bool _throttleUpdates;
- private bool _floatOnWater;
- private OMV.Vector3 _rotationalVelocity;
- private bool _kinematic;
- private float _buoyancy;
-
- private BSActorAvatarMove m_moveActor;
- private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
-
- private OMV.Vector3 _PIDTarget;
- private float _PIDTau;
-
-// public override OMV.Vector3 RawVelocity
-// { get { return base.RawVelocity; }
-// set {
-// if (value != base.RawVelocity)
-// Util.PrintCallStack();
-// Console.WriteLine("Set rawvel to {0}", value);
-// base.RawVelocity = value; }
-// }
-
- // Avatars are always complete (in the physics engine sense)
- public override bool IsIncomplete { get { return false; } }
-
- public BSCharacter(
- uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
-
- : base(parent_scene, localID, avName, "BSCharacter")
- {
- _physicsActorType = (int)ActorTypes.Agent;
- RawPosition = pos;
-
- _flying = isFlying;
- RawOrientation = OMV.Quaternion.Identity;
- RawVelocity = vel;
- _buoyancy = ComputeBuoyancyFromFlying(isFlying);
- Friction = BSParam.AvatarStandingFriction;
- Density = BSParam.AvatarDensity;
-
- // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
- // replace with the default values.
- _size = size;
- if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
- if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
- // The dimensions of the physical capsule are kept in the scale.
- // Physics creates a unit capsule which is scaled by the physics engine.
- Scale = ComputeAvatarScale(_size);
- // set _avatarVolume and _mass based on capsule size, _density and Scale
- ComputeAvatarVolumeAndMass();
-
- DetailLog(
- "{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
- LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
-
- // do actual creation in taint time
- PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
- {
- DetailLog("{0},BSCharacter.create,taint", LocalID);
-
- // New body and shape into PhysBody and PhysShape
- PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
-
- // The avatar's movement is controlled by this motor that speeds up and slows down
- // the avatar seeking to reach the motor's target speed.
- // This motor runs as a prestep action for the avatar so it will keep the avatar
- // standing as well as moving. Destruction of the avatar will destroy the pre-step action.
- m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
- PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
-
- SetPhysicalProperties();
-
- IsInitialized = true;
- });
- return;
- }
-
- // called when this character is being destroyed and the resources should be released
- public override void Destroy()
- {
- IsInitialized = false;
-
- base.Destroy();
-
- DetailLog("{0},BSCharacter.Destroy", LocalID);
- PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate()
- {
- PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
- PhysBody.Clear();
- PhysShape.Dereference(PhysScene);
- PhysShape = new BSShapeNull();
- });
- }
-
- private void SetPhysicalProperties()
- {
- PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
-
- ForcePosition = RawPosition;
-
- // Set the velocity
- if (m_moveActor != null)
- m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
-
- ForceVelocity = RawVelocity;
- TargetVelocity = RawVelocity;
-
- // This will enable or disable the flying buoyancy of the avatar.
- // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
- Flying = _flying;
-
- PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
- PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin);
- PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
- PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
- if (BSParam.CcdMotionThreshold > 0f)
- {
- PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
- PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
- }
-
- UpdatePhysicalMassProperties(RawMass, false);
-
- // Make so capsule does not fall over
- PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
-
- // The avatar mover sets some parameters.
- PhysicalActors.Refresh();
-
- PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
-
- PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
-
- // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
- PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
- PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
-
- // Do this after the object has been added to the world
- if (BSParam.AvatarToAvatarCollisionsByDefault)
- PhysBody.collisionType = CollisionType.Avatar;
- else
- PhysBody.collisionType = CollisionType.PhantomToOthersAvatar;
-
- PhysBody.ApplyCollisionMask(PhysScene);
- }
-
- public override void RequestPhysicsterseUpdate()
- {
- base.RequestPhysicsterseUpdate();
- }
-
- // No one calls this method so I don't know what it could possibly mean
- public override bool Stopped { get { return false; } }
-
- public override OMV.Vector3 Size {
- get
- {
- // Avatar capsule size is kept in the scale parameter.
- return _size;
- }
-
- set {
- // This is how much the avatar size is changing. Positive means getting bigger.
- // The avatar altitude must be adjusted for this change.
- float heightChange = value.Z - _size.Z;
-
- _size = value;
- // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
- // replace with the default values.
- if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
- if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
- Scale = ComputeAvatarScale(_size);
- ComputeAvatarVolumeAndMass();
- DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
- LocalID, _size, Scale, Density, _avatarVolume, RawMass);
-
- PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
- {
- if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
- {
- PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
- UpdatePhysicalMassProperties(RawMass, true);
-
- // Adjust the avatar's position to account for the increase/decrease in size
- ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
-
- // Make sure this change appears as a property update event
- PhysScene.PE.PushUpdate(PhysBody);
- }
- });
-
- }
- }
-
- public override PrimitiveBaseShape Shape
- {
- set { BaseShape = value; }
- }
-
- public override bool Grabbed {
- set { _grabbed = value; }
- }
- public override bool Selected {
- set { _selected = value; }
- }
- public override bool IsSelected
- {
- get { return _selected; }
- }
- public override void CrossingFailure() { return; }
- public override void link(PhysicsActor obj) { return; }
- public override void delink() { return; }
-
- // Set motion values to zero.
- // Do it to the properties so the values get set in the physics engine.
- // Push the setting of the values to the viewer.
- // Called at taint time!
- public override void ZeroMotion(bool inTaintTime)
- {
- RawVelocity = OMV.Vector3.Zero;
- _acceleration = OMV.Vector3.Zero;
- _rotationalVelocity = OMV.Vector3.Zero;
-
- // Zero some other properties directly into the physics engine
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- PhysScene.PE.ClearAllForces(PhysBody);
- });
- }
-
- public override void ZeroAngularMotion(bool inTaintTime)
- {
- _rotationalVelocity = OMV.Vector3.Zero;
-
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
- PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
- // The next also get rid of applied linear force but the linear velocity is untouched.
- PhysScene.PE.ClearForces(PhysBody);
- }
- });
- }
-
-
- public override void LockAngularMotion(OMV.Vector3 axis) { return; }
-
- public override OMV.Vector3 Position {
- get {
- // Don't refetch the position because this function is called a zillion times
- // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
- return RawPosition;
- }
- set {
- RawPosition = value;
-
- PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate()
- {
- DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
- PositionSanityCheck();
- ForcePosition = RawPosition;
- });
- }
- }
- public override OMV.Vector3 ForcePosition {
- get {
- RawPosition = PhysScene.PE.GetPosition(PhysBody);
- return RawPosition;
- }
- set {
- RawPosition = value;
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
- }
- }
- }
-
-
- // Check that the current position is sane and, if not, modify the position to make it so.
- // Check for being below terrain or on water.
- // Returns 'true' of the position was made sane by some action.
- private bool PositionSanityCheck()
- {
- bool ret = false;
-
- // TODO: check for out of bounds
- if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
- {
- // The character is out of the known/simulated area.
- // Force the avatar position to be within known. ScenePresence will use the position
- // plus the velocity to decide if the avatar is moving out of the region.
- RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition);
- DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition);
- return true;
- }
-
- // If below the ground, move the avatar up
- float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
- if (Position.Z < terrainHeight)
- {
- DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
- RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters);
- ret = true;
- }
- if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
- {
- float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
- if (Position.Z < waterHeight)
- {
- RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight);
- ret = true;
- }
- }
-
- return ret;
- }
-
- // A version of the sanity check that also makes sure a new position value is
- // pushed back to the physics engine. This routine would be used by anyone
- // who is not already pushing the value.
- private bool PositionSanityCheck(bool inTaintTime)
- {
- bool ret = false;
- if (PositionSanityCheck())
- {
- // The new position value must be pushed into the physics engine but we can't
- // just assign to "Position" because of potential call loops.
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate()
- {
- DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
- ForcePosition = RawPosition;
- });
- ret = true;
- }
- return ret;
- }
-
- public override float Mass { get { return _mass; } }
-
- // used when we only want this prim's mass and not the linkset thing
- public override float RawMass {
- get {return _mass; }
- }
- public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
- {
- OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
- PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia);
- }
-
- public override OMV.Vector3 Force {
- get { return RawForce; }
- set {
- RawForce = value;
- // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
- PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate()
- {
- DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
- if (PhysBody.HasPhysicalBody)
- PhysScene.PE.SetObjectForce(PhysBody, RawForce);
- });
- }
- }
-
- // Avatars don't do vehicles
- public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
- public override void VehicleFloatParam(int param, float value) { }
- public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
- public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
- public override void VehicleFlags(int param, bool remove) { }
-
- // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
- public override void SetVolumeDetect(int param) { return; }
- public override bool IsVolumeDetect { get { return false; } }
-
- public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
- public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
-
- // Sets the target in the motor. This starts the changing of the avatar's velocity.
- public override OMV.Vector3 TargetVelocity
- {
- get
- {
- return base.m_targetVelocity;
- }
- set
- {
- DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
- m_targetVelocity = value;
- OMV.Vector3 targetVel = value;
- if (_setAlwaysRun && !_flying)
- targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
-
- if (m_moveActor != null)
- m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
- }
- }
- // Directly setting velocity means this is what the user really wants now.
- public override OMV.Vector3 Velocity {
- get { return RawVelocity; }
- set {
- RawVelocity = value;
- OMV.Vector3 vel = RawVelocity;
-
- DetailLog("{0}: set Velocity = {1}", LocalID, value);
-
- PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate()
- {
- if (m_moveActor != null)
- m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */);
-
- DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel);
- ForceVelocity = vel;
- });
- }
- }
-
- public override OMV.Vector3 ForceVelocity {
- get { return RawVelocity; }
- set {
- PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-// Util.PrintCallStack();
- DetailLog("{0}: set ForceVelocity = {1}", LocalID, value);
-
- RawVelocity = value;
- PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
- PhysScene.PE.Activate(PhysBody, true);
- }
- }
-
- public override OMV.Vector3 Torque {
- get { return RawTorque; }
- set { RawTorque = value;
- }
- }
-
- public override float CollisionScore {
- get { return _collisionScore; }
- set { _collisionScore = value;
- }
- }
- public override OMV.Vector3 Acceleration {
- get { return _acceleration; }
- set { _acceleration = value; }
- }
- public override OMV.Quaternion Orientation {
- get { return RawOrientation; }
- set {
- // Orientation is set zillions of times when an avatar is walking. It's like
- // the viewer doesn't trust us.
- if (RawOrientation != value)
- {
- RawOrientation = value;
- PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate()
- {
- // Bullet assumes we know what we are doing when forcing orientation
- // so it lets us go against all the rules and just compensates for them later.
- // This forces rotation to be only around the Z axis and doesn't change any of the other axis.
- // This keeps us from flipping the capsule over which the veiwer does not understand.
- float oRoll, oPitch, oYaw;
- RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw);
- OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw);
- // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}",
- // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation,
- // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation);
- ForceOrientation = trimmedOrientation;
- });
- }
- }
- }
- // Go directly to Bullet to get/set the value.
- public override OMV.Quaternion ForceOrientation
- {
- get
- {
- RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
- return RawOrientation;
- }
- set
- {
- RawOrientation = value;
- if (PhysBody.HasPhysicalBody)
- {
- // RawPosition = PhysicsScene.PE.GetPosition(BSBody);
- PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
- }
- }
- }
- public override int PhysicsActorType {
- get { return _physicsActorType; }
- set { _physicsActorType = value;
- }
- }
- public override bool IsPhysical {
- get { return _isPhysical; }
- set { _isPhysical = value;
- }
- }
- public override bool IsSolid {
- get { return true; }
- }
- public override bool IsStatic {
- get { return false; }
- }
- public override bool IsPhysicallyActive {
- get { return true; }
- }
- public override bool Flying {
- get { return _flying; }
- set {
- _flying = value;
-
- // simulate flying by changing the effect of gravity
- Buoyancy = ComputeBuoyancyFromFlying(_flying);
- }
- }
- // Flying is implimented by changing the avatar's buoyancy.
- // Would this be done better with a vehicle type?
- private float ComputeBuoyancyFromFlying(bool ifFlying) {
- return ifFlying ? 1f : 0f;
- }
- public override bool
- SetAlwaysRun {
- get { return _setAlwaysRun; }
- set { _setAlwaysRun = value; }
- }
- public override bool ThrottleUpdates {
- get { return _throttleUpdates; }
- set { _throttleUpdates = value; }
- }
- public override bool FloatOnWater {
- set {
- _floatOnWater = value;
- PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- if (_floatOnWater)
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
- else
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
- }
- });
- }
- }
- public override OMV.Vector3 RotationalVelocity {
- get { return _rotationalVelocity; }
- set { _rotationalVelocity = value; }
- }
- public override OMV.Vector3 ForceRotationalVelocity {
- get { return _rotationalVelocity; }
- set { _rotationalVelocity = value; }
- }
- public override bool Kinematic {
- get { return _kinematic; }
- set { _kinematic = value; }
- }
- // neg=fall quickly, 0=1g, 1=0g, pos=float up
- public override float Buoyancy {
- get { return _buoyancy; }
- set { _buoyancy = value;
- PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate()
- {
- DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
- ForceBuoyancy = _buoyancy;
- });
- }
- }
- public override float ForceBuoyancy {
- get { return _buoyancy; }
- set {
- PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
-
- _buoyancy = value;
- DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
- // Buoyancy is faked by changing the gravity applied to the object
- float grav = BSParam.Gravity * (1f - _buoyancy);
- Gravity = new OMV.Vector3(0f, 0f, grav);
- if (PhysBody.HasPhysicalBody)
- PhysScene.PE.SetGravity(PhysBody, Gravity);
- }
- }
-
- // Used for MoveTo
- public override OMV.Vector3 PIDTarget {
- set { _PIDTarget = value; }
- }
-
- public override bool PIDActive { get; set; }
-
- public override float PIDTau {
- set { _PIDTau = value; }
- }
-
- public override void AddForce(OMV.Vector3 force, bool pushforce)
- {
- // Since this force is being applied in only one step, make this a force per second.
- OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
- AddForce(addForce, pushforce, false);
- }
- public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
- if (force.IsFinite())
- {
- OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
- // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
-
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
- {
- // Bullet adds this central force to the total force for this tick
- // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
- }
- });
- }
- else
- {
- m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
- return;
- }
- }
-
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
- }
- public override void SetMomentum(OMV.Vector3 momentum) {
- }
-
- private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
- {
- OMV.Vector3 newScale = size;
-
- // Bullet's capsule total height is the "passed height + radius * 2";
- // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
- // The number we pass in for 'scaling' is the multiplier to get that base
- // shape to be the size desired.
- // So, when creating the scale for the avatar height, we take the passed height
- // (size.Z) and remove the caps.
- // An oddity of the Bullet capsule implementation is that it presumes the Y
- // dimension is the radius of the capsule. Even though some of the code allows
- // for a asymmetrical capsule, other parts of the code presume it is cylindrical.
-
- // Scale is multiplier of radius with one of "0.5"
-
- float heightAdjust = BSParam.AvatarHeightMidFudge;
- if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
- {
- const float AVATAR_LOW = 1.1f;
- const float AVATAR_MID = 1.775f; // 1.87f
- const float AVATAR_HI = 2.45f;
- // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
- float midHeightOffset = size.Z - AVATAR_MID;
- if (midHeightOffset < 0f)
- {
- // Small avatar. Add the adjustment based on the distance from midheight
- heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
- }
- else
- {
- // Large avatar. Add the adjustment based on the distance from midheight
- heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
- }
- }
- if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
- {
- newScale.X = size.X / 2f;
- newScale.Y = size.Y / 2f;
- // The total scale height is the central cylindar plus the caps on the two ends.
- newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
- }
- else
- {
- newScale.Z = size.Z + heightAdjust;
- }
- // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
-
- // If smaller than the endcaps, just fake like we're almost that small
- if (newScale.Z < 0)
- newScale.Z = 0.1f;
-
- DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
- LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
-
- return newScale;
- }
-
- // set _avatarVolume and _mass based on capsule size, _density and Scale
- private void ComputeAvatarVolumeAndMass()
- {
- _avatarVolume = (float)(
- Math.PI
- * Size.X / 2f
- * Size.Y / 2f // the area of capsule cylinder
- * Size.Z // times height of capsule cylinder
- + 1.33333333f
- * Math.PI
- * Size.X / 2f
- * Math.Min(Size.X, Size.Y) / 2
- * Size.Y / 2f // plus the volume of the capsule end caps
- );
- _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
- }
-
- // The physics engine says that properties have updated. Update same and inform
- // the world that things have changed.
- public override void UpdateProperties(EntityProperties entprop)
- {
- // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
- TriggerPreUpdatePropertyAction(ref entprop);
-
- RawPosition = entprop.Position;
- RawOrientation = entprop.Rotation;
-
- // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
- // and will send agent updates to the clients if velocity changes by more than
- // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
- // extra updates.
- //
- // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to
- // avatar movement rather than removes it. The larger the threshold, the bigger the jitter.
- // This is most noticeable in level flight and can be seen with
- // the "show updates" option in a viewer. With an update threshold, the RawVelocity cycles between a lower
- // bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
- // and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients(). The cause of this cycle (feedback?)
- // has not yet been identified.
- //
- // If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
- // updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
-// if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
- RawVelocity = entprop.Velocity;
-
- _acceleration = entprop.Acceleration;
- _rotationalVelocity = entprop.RotationalVelocity;
-
- // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
- if (PositionSanityCheck(true))
- {
- DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
- entprop.Position = RawPosition;
- }
-
- // remember the current and last set values
- LastEntityProperties = CurrentEntityProperties;
- CurrentEntityProperties = entprop;
-
- // Tell the linkset about value changes
- // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
-
- // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
- // PhysScene.PostUpdate(this);
-
- DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
- LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
deleted file mode 100755
index b47e9a8..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ /dev/null
@@ -1,144 +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 copyrightD
- * 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.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public abstract class BSConstraint : IDisposable
-{
- private static string LogHeader = "[BULLETSIM CONSTRAINT]";
-
- protected BulletWorld m_world;
- protected BSScene PhysicsScene;
- protected BulletBody m_body1;
- protected BulletBody m_body2;
- protected BulletConstraint m_constraint;
- protected bool m_enabled = false;
-
- public BulletBody Body1 { get { return m_body1; } }
- public BulletBody Body2 { get { return m_body2; } }
- public BulletConstraint Constraint { get { return m_constraint; } }
- public abstract ConstraintType Type { get; }
- public bool IsEnabled { get { return m_enabled; } }
-
- public BSConstraint(BulletWorld world)
- {
- m_world = world;
- PhysicsScene = m_world.physicsScene;
- }
-
- public virtual void Dispose()
- {
- if (m_enabled)
- {
- m_enabled = false;
- if (m_constraint.HasPhysicalConstraint)
- {
- bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
- m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
- m_body1.ID,
- m_body1.ID, m_body1.AddrString,
- m_body2.ID, m_body2.AddrString,
- success);
- m_constraint.Clear();
- }
- }
- }
-
- public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
- {
- bool ret = false;
- if (m_enabled)
- {
- m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high);
- ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
- }
- return ret;
- }
-
- public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
- {
- bool ret = false;
- if (m_enabled)
- {
- m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high);
- ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
- }
- return ret;
- }
-
- public virtual bool SetSolverIterations(float cnt)
- {
- bool ret = false;
- if (m_enabled)
- {
- PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
- ret = true;
- }
- return ret;
- }
-
- public virtual bool CalculateTransforms()
- {
- bool ret = false;
- if (m_enabled)
- {
- // Recompute the internal transforms
- PhysicsScene.PE.CalculateTransforms(m_constraint);
- ret = true;
- }
- return ret;
- }
-
- // Reset this constraint making sure it has all its internal structures
- // recomputed and is enabled and ready to go.
- public virtual bool RecomputeConstraintVariables(float mass)
- {
- bool ret = false;
- if (m_enabled)
- {
- ret = CalculateTransforms();
- if (ret)
- {
- // Setting an object's mass to zero (making it static like when it's selected)
- // automatically disables the constraints.
- // If the link is enabled, be sure to set the constraint itself to enabled.
- PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
- }
- else
- {
- m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
- }
- }
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
deleted file mode 100755
index 7fcb75c..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ /dev/null
@@ -1,180 +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 copyrightD
- * 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.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public class BSConstraint6Dof : BSConstraint
-{
- private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
-
- public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
-
- public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world)
- {
- m_body1 = obj1;
- m_body2 = obj2;
- m_enabled = false;
- }
-
- // Create a btGeneric6DofConstraint
- public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1, Quaternion frame1rot,
- Vector3 frame2, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- : base(world)
- {
- m_body1 = obj1;
- m_body2 = obj2;
- m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
- frame1, frame1rot,
- frame2, frame2rot,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
- m_enabled = true;
- PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- m_body1.ID, world.worldID,
- obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
- PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
- m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
- }
-
- // 6 Dof constraint based on a midpoint between the two constrained bodies
- public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- : base(world)
- {
- m_body1 = obj1;
- m_body2 = obj2;
- if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
- {
- world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- BSScene.DetailLogZero, world.worldID,
- obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
- world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
- m_enabled = false;
- }
- else
- {
- m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
- joinPoint,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
-
- PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
- m_body1.ID, world.worldID, m_constraint.AddrString,
- obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
-
- if (!m_constraint.HasPhysicalConstraint)
- {
- world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
- LogHeader, obj1.ID, obj2.ID);
- m_enabled = false;
- }
- else
- {
- m_enabled = true;
- }
- }
- }
-
- // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
- public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
- : base(world)
- {
- m_body1 = obj1;
- m_body2 = obj1; // Look out for confusion down the road
- m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
- frameInBloc, frameInBrot,
- useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
- m_enabled = true;
- PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
- m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
- PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}",
- m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
- }
-
- public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
- {
- bool ret = false;
- if (m_enabled)
- {
- PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
- ret = true;
- }
- return ret;
- }
-
- public bool SetCFMAndERP(float cfm, float erp)
- {
- bool ret = false;
- if (m_enabled)
- {
- PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
- PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
- PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
- ret = true;
- }
- return ret;
- }
-
- public bool UseFrameOffset(bool useOffset)
- {
- bool ret = false;
- float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
- if (m_enabled)
- ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
- return ret;
- }
-
- public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
- {
- bool ret = false;
- float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
- if (m_enabled)
- {
- ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
- m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
- BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
- }
- return ret;
- }
-
- public bool SetBreakingImpulseThreshold(float threshold)
- {
- bool ret = false;
- if (m_enabled)
- ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
deleted file mode 100755
index 5c8d94e..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ /dev/null
@@ -1,181 +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 copyrightD
- * 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.Text;
-using log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSConstraintCollection : IDisposable
-{
- // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
- // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
-
- delegate bool ConstraintAction(BSConstraint constrain);
-
- private List m_constraints;
- private BulletWorld m_world;
-
- public BSConstraintCollection(BulletWorld world)
- {
- m_world = world;
- m_constraints = new List();
- }
-
- public void Dispose()
- {
- this.Clear();
- }
-
- public void Clear()
- {
- lock (m_constraints)
- {
- foreach (BSConstraint cons in m_constraints)
- {
- cons.Dispose();
- }
- m_constraints.Clear();
- }
- }
-
- public bool AddConstraint(BSConstraint cons)
- {
- lock (m_constraints)
- {
- // There is only one constraint between any bodies. Remove any old just to make sure.
- RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-
- m_constraints.Add(cons);
- }
-
- return true;
- }
-
- // Get the constraint between two bodies. There can be only one.
- // Return 'true' if a constraint was found.
- public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
- {
- bool found = false;
- BSConstraint foundConstraint = null;
-
- uint lookingID1 = body1.ID;
- uint lookingID2 = body2.ID;
- lock (m_constraints)
- {
- foreach (BSConstraint constrain in m_constraints)
- {
- if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
- || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
- {
- foundConstraint = constrain;
- found = true;
- break;
- }
- }
- }
- returnConstraint = foundConstraint;
- return found;
- }
-
- // Remove any constraint between the passed bodies.
- // Presumed there is only one such constraint possible.
- // Return 'true' if a constraint was found and destroyed.
- public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
- {
- bool ret = false;
- lock (m_constraints)
- {
- BSConstraint constrain;
- if (this.TryGetConstraint(body1, body2, out constrain))
- {
- // remove the constraint from our collection
- ret = RemoveAndDestroyConstraint(constrain);
- }
- }
-
- return ret;
- }
-
- // The constraint MUST exist in the collection
- // Could be called if the constraint was previously removed.
- // Return 'true' if the constraint was actually removed and disposed.
- public bool RemoveAndDestroyConstraint(BSConstraint constrain)
- {
- bool removed = false;
- lock (m_constraints)
- {
- // remove the constraint from our collection
- removed = m_constraints.Remove(constrain);
- }
- // Dispose() is safe to call multiple times
- constrain.Dispose();
- return removed;
- }
-
- // Remove all constraints that reference the passed body.
- // Return 'true' if any constraints were destroyed.
- public bool RemoveAndDestroyConstraint(BulletBody body1)
- {
- List toRemove = new List();
- uint lookingID = body1.ID;
- lock (m_constraints)
- {
- foreach (BSConstraint constrain in m_constraints)
- {
- if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
- {
- toRemove.Add(constrain);
- }
- }
- foreach (BSConstraint constrain in toRemove)
- {
- m_constraints.Remove(constrain);
- constrain.Dispose();
- }
- }
- return (toRemove.Count > 0);
- }
-
- public bool RecalculateAllConstraints()
- {
- bool ret = false;
- lock (m_constraints)
- {
- foreach (BSConstraint constrain in m_constraints)
- {
- constrain.CalculateTransforms();
- ret = true;
- }
- }
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
deleted file mode 100755
index 7a76a9a..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
+++ /dev/null
@@ -1,54 +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 copyrightD
- * 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.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSConstraintConeTwist : BSConstraint
-{
- public override ConstraintType Type { get { return ConstraintType.CONETWIST_CONSTRAINT_TYPE; } }
-
- public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool disableCollisionsBetweenLinkedBodies)
- : base(world)
- {
- m_body1 = obj1;
- m_body2 = obj2;
- m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
- frameInAloc, frameInArot, frameInBloc, frameInBrot,
- disableCollisionsBetweenLinkedBodies);
- m_enabled = true;
- }
-}
-
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
deleted file mode 100755
index ed89f63..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ /dev/null
@@ -1,55 +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 copyrightD
- * 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.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSConstraintHinge : BSConstraint
-{
- public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
-
- public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- : base(world)
- {
- m_body1 = obj1;
- m_body2 = obj2;
- m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
- pivotInA, pivotInB, axisInA, axisInB,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
- m_enabled = true;
- }
-
-}
-
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
deleted file mode 100755
index 37cfa07..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
+++ /dev/null
@@ -1,55 +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 copyrightD
- * 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.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSConstraintSlider : BSConstraint
-{
- public override ConstraintType Type { get { return ConstraintType.SLIDER_CONSTRAINT_TYPE; } }
-
- public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- : base(world)
- {
- m_body1 = obj1;
- m_body2 = obj2;
- m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
- frameInAloc, frameInArot, frameInBloc, frameInBrot,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
- m_enabled = true;
- }
-
-}
-
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
deleted file mode 100755
index 8e7ddff..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
+++ /dev/null
@@ -1,103 +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 copyrightD
- * 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.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSConstraintSpring : BSConstraint6Dof
-{
- public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } }
-
- public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1Loc, Quaternion frame1Rot,
- Vector3 frame2Loc, Quaternion frame2Rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- :base(world, obj1, obj2)
- {
- m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
- frame1Loc, frame1Rot, frame2Loc, frame2Rot,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
- m_enabled = true;
-
- PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
- PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
- m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
- }
-
- public bool SetAxisEnable(int pIndex, bool pAxisEnable)
- {
- PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
- m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
- PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable));
- return true;
- }
-
- public bool SetStiffness(int pIndex, float pStiffness)
- {
- PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}",
- m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
- PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness);
- return true;
- }
-
- public bool SetDamping(int pIndex, float pDamping)
- {
- PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}",
- m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
- PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping);
- return true;
- }
-
- public bool SetEquilibriumPoint(int pIndex, float pEqPoint)
- {
- PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}",
- m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
- return true;
- }
-
- public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
- {
- PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
- m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
- PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
- return true;
- }
-
-}
-
-}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
deleted file mode 100644
index c6d6331..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ /dev/null
@@ -1,1800 +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.
- *
- * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
- * are Copyright (c) 2009 Linden Research, Inc and are used under their license
- * of Creative Commons Attribution-Share Alike 3.0
- * (http://creativecommons.org/licenses/by-sa/3.0/).
- */
-
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
- public sealed class BSDynamics : BSActor
- {
-#pragma warning disable 414
- private static string LogHeader = "[BULLETSIM VEHICLE]";
-#pragma warning restore 414
-
- // the prim this dynamic controller belongs to
- private BSPrimLinkable ControllingPrim { get; set; }
-
- private bool m_haveRegisteredForSceneEvents;
-
- // mass of the vehicle fetched each time we're calles
- private float m_vehicleMass;
-
- // Vehicle properties
- public Vehicle Type { get; set; }
-
- // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
- 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;
- private Quaternion m_RollreferenceFrame = Quaternion.Identity;
- private Quaternion m_referenceFrame = Quaternion.Identity;
-
- // Linear properties
- private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
- private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
- private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center
- private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
- private Vector3 m_linearFrictionTimescale = Vector3.Zero;
- private float m_linearMotorDecayTimescale = 1;
- private float m_linearMotorTimescale = 1;
- private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
- private Vector3 m_lastPositionVector = Vector3.Zero;
- // private bool m_LinearMotorSetLastFrame = false;
- // private Vector3 m_linearMotorOffset = Vector3.Zero;
-
- //Angular properties
- private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
- private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
- // private int m_angularMotorApply = 0; // application frame counter
- private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
- private float m_angularMotorTimescale = 1; // motor angular velocity ramp up rate
- private float m_angularMotorDecayTimescale = 1; // motor angular velocity decay rate
- private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
- private Vector3 m_lastAngularVelocity = Vector3.Zero;
- private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
-
- //Deflection properties
- private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
- private float m_angularDeflectionEfficiency = 0;
- private float m_angularDeflectionTimescale = 0;
- private float m_linearDeflectionEfficiency = 0;
- private float m_linearDeflectionTimescale = 0;
-
- //Banking properties
- private float m_bankingEfficiency = 0;
- private float m_bankingMix = 1;
- private float m_bankingTimescale = 0;
-
- //Hover and Buoyancy properties
- private BSVMotor m_hoverMotor = new BSVMotor("Hover");
- private float m_VhoverHeight = 0f;
- private float m_VhoverEfficiency = 0f;
- private float m_VhoverTimescale = 0f;
- private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
- // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
- private float m_VehicleBuoyancy = 0f;
- private Vector3 m_VehicleGravity = Vector3.Zero; // Gravity computed when buoyancy set
-
- //Attractor properties
- private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
- private float m_verticalAttractionEfficiency = 1.0f; // damped
- private float m_verticalAttractionCutoff = 500f; // per the documentation
- // Timescale > cutoff means no vert attractor.
- private float m_verticalAttractionTimescale = 510f;
-
- // Just some recomputed constants:
-#pragma warning disable 414
- static readonly float TwoPI = ((float)Math.PI) * 2f;
- static readonly float FourPI = ((float)Math.PI) * 4f;
- static readonly float PIOverFour = ((float)Math.PI) / 4f;
- static readonly float PIOverTwo = ((float)Math.PI) / 2f;
-#pragma warning restore 414
-
- public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
- : base(myScene, myPrim, actorName)
- {
- Type = Vehicle.TYPE_NONE;
- m_haveRegisteredForSceneEvents = false;
-
- ControllingPrim = myPrim as BSPrimLinkable;
- if (ControllingPrim == null)
- {
- // THIS CANNOT HAPPEN!!
- }
- VDetailLog("{0},Creation", ControllingPrim.LocalID);
- }
-
- // Return 'true' if this vehicle is doing vehicle things
- public bool IsActive
- {
- get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); }
- }
-
- // Return 'true' if this a vehicle that should be sitting on the ground
- public bool IsGroundVehicle
- {
- get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); }
- }
-
- #region Vehicle parameter setting
- public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
- {
- VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
- float clampTemp;
-
- switch (pParam)
- {
- case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
- m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
- break;
- case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
- m_angularDeflectionTimescale = ClampInRange(0.25f, pValue, 120);
- break;
- case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
- m_angularMotorDecayTimescale = ClampInRange(0.25f, pValue, 120);
- m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
- break;
- case Vehicle.ANGULAR_MOTOR_TIMESCALE:
- m_angularMotorTimescale = ClampInRange(0.25f, pValue, 120);
- m_angularMotor.TimeScale = m_angularMotorTimescale;
- break;
- case Vehicle.BANKING_EFFICIENCY:
- m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
- break;
- case Vehicle.BANKING_MIX:
- m_bankingMix = ClampInRange(0.01f, pValue, 1);
- break;
- case Vehicle.BANKING_TIMESCALE:
- m_bankingTimescale = ClampInRange(0.25f, pValue, 120);
- break;
- case Vehicle.BUOYANCY:
- m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
- m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
- break;
- case Vehicle.HOVER_EFFICIENCY:
- m_VhoverEfficiency = ClampInRange(0.01f, pValue, 1f);
- break;
- case Vehicle.HOVER_HEIGHT:
- m_VhoverHeight = ClampInRange(0f, pValue, 1000000f);
- break;
- case Vehicle.HOVER_TIMESCALE:
- m_VhoverTimescale = ClampInRange(0.01f, pValue, 120);
- break;
- case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
- m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
- break;
- case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
- m_linearDeflectionTimescale = ClampInRange(0.01f, pValue, 120);
- break;
- case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
- m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
- m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
- break;
- case Vehicle.LINEAR_MOTOR_TIMESCALE:
- m_linearMotorTimescale = ClampInRange(0.01f, pValue, 120);
- m_linearMotor.TimeScale = m_linearMotorTimescale;
- break;
- case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
- m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
- m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
- break;
- case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
- m_verticalAttractionTimescale = ClampInRange(0.01f, pValue, 120);
- m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
- 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:
- clampTemp = ClampInRange(0.01f, pValue, 120);
- m_angularFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp);
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- clampTemp = ClampInRange(-TwoPI, pValue, TwoPI);
- m_angularMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp);
- m_angularMotor.Zero();
- m_angularMotor.SetTarget(m_angularMotorDirection);
- break;
- case Vehicle.LINEAR_FRICTION_TIMESCALE:
- clampTemp = ClampInRange(0.01f, pValue, 120);
- m_linearFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp);
- break;
- case Vehicle.LINEAR_MOTOR_DIRECTION:
- clampTemp = ClampInRange(-BSParam.MaxLinearVelocity, pValue, BSParam.MaxLinearVelocity);
- m_linearMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp);
- m_linearMotorDirectionLASTSET = new Vector3(clampTemp, clampTemp, clampTemp);
- m_linearMotor.SetTarget(m_linearMotorDirection);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
- clampTemp = ClampInRange(-1000, pValue, 1000);
- m_linearMotorOffset = new Vector3(clampTemp, clampTemp, clampTemp);
- break;
-
- }
- }//end ProcessFloatVehicleParam
-
- internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
- {
- VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
- switch (pParam)
- {
- case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- pValue.X = ClampInRange(0.25f, pValue.X, 120);
- pValue.Y = ClampInRange(0.25f, pValue.Y, 120);
- pValue.Z = ClampInRange(0.25f, pValue.Z, 120);
- m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- // Limit requested angular speed to 2 rps= 4 pi rads/sec
- pValue.X = ClampInRange(-FourPI, pValue.X, FourPI);
- pValue.Y = ClampInRange(-FourPI, pValue.Y, FourPI);
- pValue.Z = ClampInRange(-FourPI, pValue.Z, FourPI);
- m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_angularMotor.Zero();
- m_angularMotor.SetTarget(m_angularMotorDirection);
- break;
- case Vehicle.LINEAR_FRICTION_TIMESCALE:
- pValue.X = ClampInRange(0.25f, pValue.X, 120);
- pValue.Y = ClampInRange(0.25f, pValue.Y, 120);
- pValue.Z = ClampInRange(0.25f, pValue.Z, 120);
- m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.LINEAR_MOTOR_DIRECTION:
- pValue.X = ClampInRange(-BSParam.MaxLinearVelocity, pValue.X, BSParam.MaxLinearVelocity);
- pValue.Y = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Y, BSParam.MaxLinearVelocity);
- pValue.Z = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Z, BSParam.MaxLinearVelocity);
- m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_linearMotor.SetTarget(m_linearMotorDirection);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
- // Not sure the correct range to limit this variable
- pValue.X = ClampInRange(-1000, pValue.X, 1000);
- pValue.Y = ClampInRange(-1000, pValue.Y, 1000);
- pValue.Z = ClampInRange(-1000, pValue.Z, 1000);
- m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.BLOCK_EXIT:
- // Not sure the correct range to limit this variable
- pValue.X = ClampInRange(-10000, pValue.X, 10000);
- pValue.Y = ClampInRange(-10000, pValue.Y, 10000);
- pValue.Z = ClampInRange(-10000, pValue.Z, 10000);
- m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- }
- }//end ProcessVectorVehicleParam
-
- internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
- {
- VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
- switch (pParam)
- {
- case Vehicle.REFERENCE_FRAME:
- m_referenceFrame = pValue;
- break;
- case Vehicle.ROLL_FRAME:
- m_RollreferenceFrame = pValue;
- break;
- }
- }//end ProcessRotationVehicleParam
-
- internal void ProcessVehicleFlags(int pParam, bool remove)
- {
- VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", ControllingPrim.LocalID, pParam, remove);
- VehicleFlag parm = (VehicleFlag)pParam;
- if (pParam == -1)
- m_flags = (VehicleFlag)0;
- else
- {
- if (remove)
- m_flags &= ~parm;
- else
- m_flags |= parm;
- }
- }
-
- public void ProcessTypeChange(Vehicle pType)
- {
- VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.LocalID, pType);
- // Set Defaults For Type
- Type = pType;
- switch (pType)
- {
- case Vehicle.TYPE_NONE:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 0;
- m_linearMotorDecayTimescale = 0;
- m_linearFrictionTimescale = new Vector3(0, 0, 0);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorDecayTimescale = 0;
- m_angularMotorTimescale = 0;
- m_angularFrictionTimescale = new Vector3(0, 0, 0);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 0;
- m_VhoverTimescale = 0;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 1;
- m_linearDeflectionTimescale = 1;
-
- m_angularDeflectionEfficiency = 0;
- m_angularDeflectionTimescale = 1000;
-
- m_verticalAttractionEfficiency = 0;
- m_verticalAttractionTimescale = 0;
-
- m_bankingEfficiency = 0;
- m_bankingTimescale = 1000;
- m_bankingMix = 1;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags = (VehicleFlag)0;
-
- break;
-
- case Vehicle.TYPE_SLED:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120;
- m_linearFrictionTimescale = new Vector3(30, 1, 1000);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 120;
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 10; // TODO: this looks wrong!!
- m_VhoverTimescale = 10;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 1;
- m_linearDeflectionTimescale = 1;
-
- m_angularDeflectionEfficiency = 1;
- m_angularDeflectionTimescale = 1000;
-
- m_verticalAttractionEfficiency = 0;
- m_verticalAttractionTimescale = 0;
-
- m_bankingEfficiency = 0;
- m_bankingTimescale = 10;
- m_bankingMix = 1;
-
- m_referenceFrame = Quaternion.Identity;
- 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_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1;
- m_linearMotorDecayTimescale = 60;
- m_linearFrictionTimescale = new Vector3(100, 2, 1000);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1;
- m_angularMotorDecayTimescale = 0.8f;
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
- 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_referenceFrame = Quaternion.Identity;
- 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_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60;
- m_linearFrictionTimescale = new Vector3(10, 3, 2);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- m_angularFrictionTimescale = new Vector3(10,10,10);
-
- 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_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT
- | VehicleFlag.LIMIT_ROLL_ONLY
- | VehicleFlag.HOVER_UP_ONLY);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_MOTOR_UP
- | VehicleFlag.HOVER_WATER_ONLY);
- break;
- case Vehicle.TYPE_AIRPLANE:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 2;
- m_linearMotorDecayTimescale = 60;
- m_linearFrictionTimescale = new Vector3(200, 10, 5);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- m_angularFrictionTimescale = new Vector3(20, 20, 20);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 0.5f;
- m_VhoverTimescale = 1000;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 0.5f;
- m_linearDeflectionTimescale = 3;
-
- m_angularDeflectionEfficiency = 1;
- m_angularDeflectionTimescale = 2;
-
- m_verticalAttractionEfficiency = 0.9f;
- m_verticalAttractionTimescale = 2f;
-
- m_bankingEfficiency = 1;
- m_bankingMix = 0.7f;
- m_bankingTimescale = 2;
-
- m_referenceFrame = Quaternion.Identity;
- 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_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearFrictionTimescale = new Vector3(5, 5, 5);
- m_linearMotorDecayTimescale = 60;
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 6;
- m_angularFrictionTimescale = new Vector3(10, 10, 10);
- m_angularMotorDecayTimescale = 10;
-
- m_VhoverHeight = 5;
- m_VhoverEfficiency = 0.8f;
- m_VhoverTimescale = 10;
- m_VehicleBuoyancy = 1;
-
- m_linearDeflectionEfficiency = 0;
- m_linearDeflectionTimescale = 5;
-
- m_angularDeflectionEfficiency = 0;
- m_angularDeflectionTimescale = 5;
-
- m_verticalAttractionEfficiency = 1f;
- m_verticalAttractionTimescale = 100f;
-
- m_bankingEfficiency = 0;
- m_bankingMix = 0.7f;
- m_bankingTimescale = 5;
-
- m_referenceFrame = Quaternion.Identity;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
- | VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_UP_ONLY
- | VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT);
- break;
- }
-
- m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
- // m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
-
- m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
- // m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
-
- /* Not implemented
- m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
- BSMotor.Infinite, BSMotor.InfiniteVector,
- m_verticalAttractionEfficiency);
- // Z goes away and we keep X and Y
- m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
- */
-
- if (this.Type == Vehicle.TYPE_NONE)
- {
- UnregisterForSceneEvents();
- }
- else
- {
- RegisterForSceneEvents();
- }
-
- // Update any physical parameters based on this type.
- Refresh();
- }
- #endregion // Vehicle parameter setting
-
- // BSActor.Refresh()
- public override void Refresh()
- {
- // If asking for a refresh, reset the physical parameters before the next simulation step.
- // Called whether active or not since the active state may be updated before the next step.
- m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate()
- {
- SetPhysicalParameters();
- });
- }
-
- // Some of the properties of this prim may have changed.
- // Do any updating needed for a vehicle
- private void SetPhysicalParameters()
- {
- if (IsActive)
- {
- // Remember the mass so we don't have to fetch it every step
- m_vehicleMass = ControllingPrim.TotalMass;
-
- // Friction affects are handled by this vehicle code
- // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
- // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
- ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
- ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
-
- // Moderate angular movement introduced by Bullet.
- // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
- // Maybe compute linear and angular factor and damping from params.
- m_physicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping);
- m_physicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor);
- m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
-
- // Vehicles report collision events so we know when it's on the ground
- // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
- ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
-
- // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
- // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
- // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
- // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
- ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
-
- // Set the gravity for the vehicle depending on the buoyancy
- // TODO: what should be done if prim and vehicle buoyancy differ?
- m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
- // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
- // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
- ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
-
- VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
- ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
- BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
- BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
- );
- }
- else
- {
- if (ControllingPrim.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
- // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
- }
- }
-
- // BSActor.RemoveBodyDependencies
- public override void RemoveDependencies()
- {
- Refresh();
- }
-
- // BSActor.Release()
- public override void Dispose()
- {
- VDetailLog("{0},Dispose", ControllingPrim.LocalID);
- UnregisterForSceneEvents();
- Type = Vehicle.TYPE_NONE;
- Enabled = false;
- return;
- }
-
- private void RegisterForSceneEvents()
- {
- if (!m_haveRegisteredForSceneEvents)
- {
- m_physicsScene.BeforeStep += this.Step;
- m_physicsScene.AfterStep += this.PostStep;
- ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty;
- m_haveRegisteredForSceneEvents = true;
- }
- }
-
- private void UnregisterForSceneEvents()
- {
- if (m_haveRegisteredForSceneEvents)
- {
- m_physicsScene.BeforeStep -= this.Step;
- m_physicsScene.AfterStep -= this.PostStep;
- ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty;
- m_haveRegisteredForSceneEvents = false;
- }
- }
-
- private void PreUpdateProperty(ref EntityProperties entprop)
- {
- // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
- // TODO: handle physics introduced by Bullet with computed vehicle physics.
- if (IsActive)
- {
- entprop.RotationalVelocity = Vector3.Zero;
- }
- }
-
- #region Known vehicle value functions
- // Vehicle physical parameters that we buffer from constant getting and setting.
- // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
- // Changing is remembered and the parameter is stored back into the physics engine only if updated.
- // This does two things: 1) saves continuious calls into unmanaged code, and
- // 2) signals when a physics property update must happen back to the simulator
- // to update values modified for the vehicle.
- private int m_knownChanged;
- private int m_knownHas;
- private float m_knownTerrainHeight;
- private float m_knownWaterLevel;
- private Vector3 m_knownPosition;
- private Vector3 m_knownVelocity;
- private Vector3 m_knownForce;
- private Vector3 m_knownForceImpulse;
- private Quaternion m_knownOrientation;
- private Vector3 m_knownRotationalVelocity;
- private Vector3 m_knownRotationalForce;
- private Vector3 m_knownRotationalImpulse;
-
- private const int m_knownChangedPosition = 1 << 0;
- private const int m_knownChangedVelocity = 1 << 1;
- private const int m_knownChangedForce = 1 << 2;
- private const int m_knownChangedForceImpulse = 1 << 3;
- private const int m_knownChangedOrientation = 1 << 4;
- private const int m_knownChangedRotationalVelocity = 1 << 5;
- private const int m_knownChangedRotationalForce = 1 << 6;
- private const int m_knownChangedRotationalImpulse = 1 << 7;
- private const int m_knownChangedTerrainHeight = 1 << 8;
- private const int m_knownChangedWaterLevel = 1 << 9;
-
- public void ForgetKnownVehicleProperties()
- {
- m_knownHas = 0;
- m_knownChanged = 0;
- }
- // Push all the changed values back into the physics engine
- public void PushKnownChanged()
- {
- if (m_knownChanged != 0)
- {
- if ((m_knownChanged & m_knownChangedPosition) != 0)
- ControllingPrim.ForcePosition = m_knownPosition;
-
- if ((m_knownChanged & m_knownChangedOrientation) != 0)
- ControllingPrim.ForceOrientation = m_knownOrientation;
-
- if ((m_knownChanged & m_knownChangedVelocity) != 0)
- {
- ControllingPrim.ForceVelocity = m_knownVelocity;
- // Fake out Bullet by making it think the velocity is the same as last time.
- // Bullet does a bunch of smoothing for changing parameters.
- // Since the vehicle is demanding this setting, we override Bullet's smoothing
- // by telling Bullet the value was the same last time.
- // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
- }
-
- if ((m_knownChanged & m_knownChangedForce) != 0)
- ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
-
- if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
- ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
-
- if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
- {
- ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity;
- // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
- }
-
- if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
- ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
-
- if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
- {
- ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
- }
-
- // If we set one of the values (ie, the physics engine didn't do it) we must force
- // an UpdateProperties event to send the changes up to the simulator.
- m_physicsScene.PE.PushUpdate(ControllingPrim.PhysBody);
- }
- m_knownChanged = 0;
- }
-
- // Since the computation of terrain height can be a little involved, this routine
- // is used to fetch the height only once for each vehicle simulation step.
- Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1);
- private float GetTerrainHeight(Vector3 pos)
- {
- if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
- {
- lastRememberedHeightPos = pos;
- m_knownTerrainHeight = ControllingPrim.PhysScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
- m_knownHas |= m_knownChangedTerrainHeight;
- }
- return m_knownTerrainHeight;
- }
-
- // Since the computation of water level can be a little involved, this routine
- // is used ot fetch the level only once for each vehicle simulation step.
- Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1);
- private float GetWaterLevel(Vector3 pos)
- {
- if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos)
- {
- lastRememberedWaterHeightPos = pos;
- m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos);
- m_knownHas |= m_knownChangedWaterLevel;
- }
- return m_knownWaterLevel;
- }
-
- private Vector3 VehiclePosition
- {
- get
- {
- if ((m_knownHas & m_knownChangedPosition) == 0)
- {
- m_knownPosition = ControllingPrim.ForcePosition;
- m_knownHas |= m_knownChangedPosition;
- }
- return m_knownPosition;
- }
- set
- {
- m_knownPosition = value;
- m_knownChanged |= m_knownChangedPosition;
- m_knownHas |= m_knownChangedPosition;
- }
- }
-
- private Quaternion VehicleOrientation
- {
- get
- {
- if ((m_knownHas & m_knownChangedOrientation) == 0)
- {
- m_knownOrientation = ControllingPrim.ForceOrientation;
- m_knownHas |= m_knownChangedOrientation;
- }
- return m_knownOrientation;
- }
- set
- {
- m_knownOrientation = value;
- m_knownChanged |= m_knownChangedOrientation;
- m_knownHas |= m_knownChangedOrientation;
- }
- }
-
- private Vector3 VehicleVelocity
- {
- get
- {
- if ((m_knownHas & m_knownChangedVelocity) == 0)
- {
- m_knownVelocity = ControllingPrim.ForceVelocity;
- m_knownHas |= m_knownChangedVelocity;
- }
- return m_knownVelocity;
- }
- set
- {
- m_knownVelocity = value;
- m_knownChanged |= m_knownChangedVelocity;
- m_knownHas |= m_knownChangedVelocity;
- }
- }
-
- private void VehicleAddForce(Vector3 pForce)
- {
- if ((m_knownHas & m_knownChangedForce) == 0)
- {
- m_knownForce = Vector3.Zero;
- m_knownHas |= m_knownChangedForce;
- }
- m_knownForce += pForce;
- m_knownChanged |= m_knownChangedForce;
- }
-
- private void VehicleAddForceImpulse(Vector3 pImpulse)
- {
- if ((m_knownHas & m_knownChangedForceImpulse) == 0)
- {
- m_knownForceImpulse = Vector3.Zero;
- m_knownHas |= m_knownChangedForceImpulse;
- }
- m_knownForceImpulse += pImpulse;
- m_knownChanged |= m_knownChangedForceImpulse;
- }
-
- private Vector3 VehicleRotationalVelocity
- {
- get
- {
- if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
- {
- m_knownRotationalVelocity = ControllingPrim.ForceRotationalVelocity;
- m_knownHas |= m_knownChangedRotationalVelocity;
- }
- return (Vector3)m_knownRotationalVelocity;
- }
- set
- {
- m_knownRotationalVelocity = value;
- m_knownChanged |= m_knownChangedRotationalVelocity;
- m_knownHas |= m_knownChangedRotationalVelocity;
- }
- }
- private void VehicleAddAngularForce(Vector3 aForce)
- {
- if ((m_knownHas & m_knownChangedRotationalForce) == 0)
- {
- m_knownRotationalForce = Vector3.Zero;
- }
- m_knownRotationalForce += aForce;
- m_knownChanged |= m_knownChangedRotationalForce;
- m_knownHas |= m_knownChangedRotationalForce;
- }
- private void VehicleAddRotationalImpulse(Vector3 pImpulse)
- {
- if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
- {
- m_knownRotationalImpulse = Vector3.Zero;
- m_knownHas |= m_knownChangedRotationalImpulse;
- }
- m_knownRotationalImpulse += pImpulse;
- m_knownChanged |= m_knownChangedRotationalImpulse;
- }
-
- // Vehicle relative forward velocity
- private Vector3 VehicleForwardVelocity
- {
- get
- {
- return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleFrameOrientation));
- }
- }
-
- private float VehicleForwardSpeed
- {
- get
- {
- return VehicleForwardVelocity.X;
- }
- }
- private Quaternion VehicleFrameOrientation
- {
- get
- {
- return VehicleOrientation * m_referenceFrame;
- }
- }
-
- #endregion // Known vehicle value functions
-
- // One step of the vehicle properties for the next 'pTimestep' seconds.
- internal void Step(float pTimestep)
- {
- if (!IsActive) return;
-
- ForgetKnownVehicleProperties();
-
- MoveLinear(pTimestep);
- MoveAngular(pTimestep);
-
- LimitRotation(pTimestep);
-
- // remember the position so next step we can limit absolute movement effects
- m_lastPositionVector = VehiclePosition;
-
- // If we forced the changing of some vehicle parameters, update the values and
- // for the physics engine to note the changes so an UpdateProperties event will happen.
- PushKnownChanged();
-
- if (m_physicsScene.VehiclePhysicalLoggingEnabled)
- m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody);
-
- VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
- ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
- }
-
- // Called after the simulation step
- internal void PostStep(float pTimestep)
- {
- if (!IsActive) return;
-
- if (m_physicsScene.VehiclePhysicalLoggingEnabled)
- m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody);
- }
-
- // Apply the effect of the linear motor and other linear motions (like hover and float).
- private void MoveLinear(float pTimestep)
- {
- ComputeLinearVelocity(pTimestep);
-
- ComputeLinearDeflection(pTimestep);
-
- ComputeLinearTerrainHeightCorrection(pTimestep);
-
- ComputeLinearHover(pTimestep);
-
- ComputeLinearBlockingEndPoint(pTimestep);
-
- ComputeLinearMotorUp(pTimestep);
-
- ApplyGravity(pTimestep);
-
- // If not changing some axis, reduce out velocity
- if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
- {
- Vector3 vel = VehicleVelocity;
- if ((m_flags & (VehicleFlag.NO_X)) != 0)
- {
- vel.X = 0;
- }
- if ((m_flags & (VehicleFlag.NO_Y)) != 0)
- {
- vel.Y = 0;
- }
- if ((m_flags & (VehicleFlag.NO_Z)) != 0)
- {
- vel.Z = 0;
- }
- VehicleVelocity = vel;
- }
-
- // ==================================================================
- // Clamp high or low velocities
- float newVelocityLengthSq = VehicleVelocity.LengthSquared();
- if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySquared)
- {
- Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
- VehicleVelocity /= VehicleVelocity.Length();
- VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
- VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
- ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
- }
- else if (newVelocityLengthSq < BSParam.VehicleMinLinearVelocitySquared)
- {
- Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
- VDetailLog("{0}, MoveLinear,clampMin,origVelW={1},lenSq={2}",
- ControllingPrim.LocalID, origVelW, newVelocityLengthSq);
- VehicleVelocity = Vector3.Zero;
- }
-
- VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
-
- } // end MoveLinear()
-
- public void ComputeLinearVelocity(float pTimestep)
- {
- // Step the motor from the current value. Get the correction needed this step.
- Vector3 origVelW = VehicleVelocity; // DEBUG
- Vector3 currentVelV = VehicleForwardVelocity;
- Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
-
- // Friction reduces vehicle motion based on absolute speed. Slow vehicle down by friction.
- Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
- linearMotorCorrectionV -= (currentVelV * frictionFactorV);
-
- // Motor is vehicle coordinates. Rotate it to world coordinates
- Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleFrameOrientation;
-
- // If we're a ground vehicle, don't add any upward Z movement
- if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
- {
- if (linearMotorVelocityW.Z > 0f)
- linearMotorVelocityW.Z = 0f;
- }
-
- // Add this correction to the velocity to make it faster/slower.
- VehicleVelocity += linearMotorVelocityW;
-
- VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
- ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
- linearMotorVelocityW, VehicleVelocity, frictionFactorV);
- }
-
- //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
- //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
- private void ComputeLinearDeflection(float pTimestep)
- {
- Vector3 linearDeflectionV = Vector3.Zero;
- Vector3 velocityV = VehicleForwardVelocity;
-
- if (BSParam.VehicleEnableLinearDeflection)
- {
- // Velocity in Y and Z dimensions is movement to the side or turning.
- // Compute deflection factor from the to the side and rotational velocity
- linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y);
- linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z);
-
- // Velocity to the side and around is corrected and moved into the forward direction
- linearDeflectionV.X += Math.Abs(linearDeflectionV.Y);
- linearDeflectionV.X += Math.Abs(linearDeflectionV.Z);
-
- // Scale the deflection to the fractional simulation time
- linearDeflectionV *= pTimestep;
-
- // Subtract the sideways and rotational velocity deflection factors while adding the correction forward
- linearDeflectionV *= new Vector3(1, -1, -1);
-
- // Correction is vehicle relative. Convert to world coordinates.
- Vector3 linearDeflectionW = linearDeflectionV * VehicleFrameOrientation;
-
- // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
- if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
- {
- linearDeflectionW.Z = 0f;
- }
-
- VehicleVelocity += linearDeflectionW;
-
- VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}",
- ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV);
- }
- }
-
- public void ComputeLinearTerrainHeightCorrection(float pTimestep)
- {
- // If below the terrain, move us above the ground a little.
- // TODO: Consider taking the rotated size of the object or possibly casting a ray.
- if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
- {
- // Force position because applying force won't get the vehicle through the terrain
- Vector3 newPosition = VehiclePosition;
- newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
- VehiclePosition = newPosition;
- VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
- ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
- }
- }
-
- public void ComputeLinearHover(float pTimestep)
- {
- // m_VhoverEfficiency: 0=bouncy, 1=totally damped
- // m_VhoverTimescale: time to achieve height
- if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0 && (m_VhoverHeight > 0) && (m_VhoverTimescale < 300))
- {
- // We should hover, get the target height
- if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
- {
- m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
- }
- if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
- {
- m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
- }
- if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
- {
- m_VhoverTargetHeight = m_VhoverHeight;
- }
- if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
- {
- // If body is already heigher, use its height as target height
- if (VehiclePosition.Z > m_VhoverTargetHeight)
- {
- m_VhoverTargetHeight = VehiclePosition.Z;
-
- // A 'misfeature' of this flag is that if the vehicle is above it's hover height,
- // the vehicle's buoyancy goes away. This is an SL bug that got used by so many
- // scripts that it could not be changed.
- // So, if above the height, reapply gravity if buoyancy had it turned off.
- if (m_VehicleBuoyancy != 0)
- {
- Vector3 appliedGravity = ControllingPrim.ComputeGravity(ControllingPrim.Buoyancy) * m_vehicleMass;
- VehicleAddForce(appliedGravity);
- }
- }
- }
-
- if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
- {
- if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
- {
- Vector3 pos = VehiclePosition;
- pos.Z = m_VhoverTargetHeight;
- VehiclePosition = pos;
-
- VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos);
- }
- }
- else
- {
- // Error is positive if below the target and negative if above.
- Vector3 hpos = VehiclePosition;
- float verticalError = m_VhoverTargetHeight - hpos.Z;
- float verticalCorrection = verticalError / m_VhoverTimescale;
- verticalCorrection *= m_VhoverEfficiency;
-
- hpos.Z += verticalCorrection;
- VehiclePosition = hpos;
-
- // Since we are hovering, we need to do the opposite of falling -- get rid of world Z
- Vector3 vel = VehicleVelocity;
- vel.Z = 0f;
- VehicleVelocity = vel;
-
- /*
- float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
- Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
- verticalCorrection *= m_vehicleMass;
-
- // TODO: implement m_VhoverEfficiency correctly
- VehicleAddForceImpulse(verticalCorrection);
- */
-
- VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
- ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency,
- m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
- verticalError, verticalCorrection);
- }
- }
- }
-
- public bool ComputeLinearBlockingEndPoint(float pTimestep)
- {
- bool changed = false;
-
- Vector3 pos = VehiclePosition;
- Vector3 posChange = pos - m_lastPositionVector;
- if (m_BlockingEndPoint != Vector3.Zero)
- {
- if (pos.X >= (m_BlockingEndPoint.X - (float)1))
- {
- pos.X -= posChange.X + 1;
- changed = true;
- }
- if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
- {
- pos.Y -= posChange.Y + 1;
- changed = true;
- }
- if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
- {
- pos.Z -= posChange.Z + 1;
- changed = true;
- }
- if (pos.X <= 0)
- {
- pos.X += posChange.X + 1;
- changed = true;
- }
- if (pos.Y <= 0)
- {
- pos.Y += posChange.Y + 1;
- changed = true;
- }
- if (changed)
- {
- VehiclePosition = pos;
- VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
- ControllingPrim.LocalID, m_BlockingEndPoint, posChange, pos);
- }
- }
- return changed;
- }
-
- // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
- // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
- // used with conjunction with banking: the strength of the banking will decay when the
- // vehicle no longer experiences collisions. The decay timescale is the same as
- // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
- // when they are in mid jump.
- // TODO: this code is wrong. Also, what should it do for boats (height from water)?
- // This is just using the ground and a general collision check. Should really be using
- // a downward raycast to find what is below.
- public void ComputeLinearMotorUp(float pTimestep)
- {
- if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
- {
- // This code tries to decide if the object is not on the ground and then pushing down
- /*
- float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
- distanceAboveGround = VehiclePosition.Z - targetHeight;
- // Not colliding if the vehicle is off the ground
- if (!Prim.HasSomeCollision)
- {
- // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
- VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
- }
- // TODO: this calculation is wrong. From the description at
- // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
- // has a decay factor. This says this force should
- // be computed with a motor.
- // TODO: add interaction with banking.
- VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
- Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
- */
-
- // Another approach is to measure if we're going up. If going up and not colliding,
- // the vehicle is in the air. Fix that by pushing down.
- if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
- {
- // Get rid of any of the velocity vector that is pushing us up.
- float upVelocity = VehicleVelocity.Z;
- VehicleVelocity += new Vector3(0, 0, -upVelocity);
-
- /*
- // If we're pointed up into the air, we should nose down
- Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
- // The rotation around the Y axis is pitch up or down
- if (pointingDirection.Y > 0.01f)
- {
- float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y);
- Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f);
- // Rotate into world coordinates and apply to vehicle
- angularCorrectionVector *= VehicleOrientation;
- VehicleAddAngularForce(angularCorrectionVector);
- VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
- Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
- }
- */
- VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
- ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
- }
- }
- }
-
- private void ApplyGravity(float pTimeStep)
- {
- Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
-
- // Hack to reduce downward force if the vehicle is probably sitting on the ground
- if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
- appliedGravity *= BSParam.VehicleGroundGravityFudge;
-
- VehicleAddForce(appliedGravity);
-
- VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
- ControllingPrim.LocalID, m_VehicleGravity,
- ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
- }
-
- // =======================================================================
- // =======================================================================
- // Apply the effect of the angular motor.
- // The 'contribution' is how much angular correction velocity each function wants.
- // All the contributions are added together and the resulting velocity is
- // set directly on the vehicle.
- private void MoveAngular(float pTimestep)
- {
- ComputeAngularTurning(pTimestep);
-
- ComputeAngularVerticalAttraction();
-
- ComputeAngularDeflection();
-
- ComputeAngularBanking();
-
- // ==================================================================
- if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
- {
- // The vehicle is not adding anything angular wise.
- VehicleRotationalVelocity = Vector3.Zero;
- VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID);
- }
- else
- {
- VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity);
- }
-
- // ==================================================================
- //Offset section
- if (m_linearMotorOffset != Vector3.Zero)
- {
- //Offset of linear velocity doesn't change the linear velocity,
- // but causes a torque to be applied, for example...
- //
- // IIIII >>> IIIII
- // IIIII >>> IIIII
- // IIIII >>> IIIII
- // ^
- // | Applying a force at the arrow will cause the object to move forward, but also rotate
- //
- //
- // The torque created is the linear velocity crossed with the offset
-
- // TODO: this computation should be in the linear section
- // because that is where we know the impulse being applied.
- Vector3 torqueFromOffset = Vector3.Zero;
- // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
- if (float.IsNaN(torqueFromOffset.X))
- torqueFromOffset.X = 0;
- if (float.IsNaN(torqueFromOffset.Y))
- torqueFromOffset.Y = 0;
- if (float.IsNaN(torqueFromOffset.Z))
- torqueFromOffset.Z = 0;
-
- VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
- VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID, torqueFromOffset);
- }
-
- }
-
- private void ComputeAngularTurning(float pTimestep)
- {
- // The user wants this many radians per second angular change?
- Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
- Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleFrameOrientation);
- Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
-
- // ==================================================================
- // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
- // This flag prevents linear deflection parallel to world z-axis. This is useful
- // for preventing ground vehicles with large linear deflection, like bumper cars,
- // from climbing their linear deflection into the sky.
- // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
- // TODO: This is here because this is where ODE put it but documentation says it
- // is a linear effect. Where should this check go?
- //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
- // {
- // angularMotorContributionV.X = 0f;
- // angularMotorContributionV.Y = 0f;
- // }
-
- // Reduce any velocity by friction.
- Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
- angularMotorContributionV -= (currentAngularV * frictionFactorW);
-
- Vector3 angularMotorContributionW = angularMotorContributionV * VehicleFrameOrientation;
- VehicleRotationalVelocity += angularMotorContributionW;
-
- VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
- ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
- }
-
- // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
- // Some vehicles, like boats, should always keep their up-side up. This can be done by
- // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
- // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
- // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
- // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
- // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
- // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
- public void ComputeAngularVerticalAttraction()
- {
-
- // If vertical attaction timescale is reasonable
- if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
- {
- Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleFrameOrientation;
- switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
- {
- case 0:
- {
- //Another formula to try got from :
- //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
-
- // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
- // since only computing half the distance between the angles.
- float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
-
- // Make a prediction of where the up axis will be when this is applied rather then where it is now as
- // this makes for a smoother adjustment and less fighting between the various forces.
- Vector3 predictedUp = vehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
-
- // This is only half the distance to the target so it will take 2 seconds to complete the turn.
- Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
-
- if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0)
- {
- Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleFrameOrientation;
- torqueVector = ProjectVector(torqueVector, vehicleForwardAxis);
- }
-
- // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
- Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
-
- VehicleRotationalVelocity += vertContributionV;
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
- ControllingPrim.LocalID,
- verticalAttractionSpeed,
- vehicleUpAxis,
- predictedUp,
- torqueVector,
- vertContributionV);
- break;
- }
- case 1:
- {
- // Possible solution derived from a discussion at:
- // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
-
- // Create a rotation that is only the vehicle's rotation around Z
- Vector3 currentEulerW = Vector3.Zero;
- VehicleFrameOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
- Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
-
- // Create the axis that is perpendicular to the up vector and the rotated up vector.
- Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleFrameOrientation);
- // Compute the angle between those to vectors.
- double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation)));
- // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
-
- // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
- // TODO: add 'efficiency'.
- // differenceAngle /= m_verticalAttractionTimescale;
-
- // Create the quaterian representing the correction angle
- Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
-
- // Turn that quaternion into Euler values to make it into velocities to apply.
- Vector3 vertContributionW = Vector3.Zero;
- correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
- vertContributionW *= -1f;
- vertContributionW /= m_verticalAttractionTimescale;
-
- VehicleRotationalVelocity += vertContributionW;
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
- ControllingPrim.LocalID,
- vehicleUpAxis,
- differenceAxisW,
- differenceAngle,
- correctionRotationW,
- vertContributionW);
- break;
- }
- case 2:
- {
- Vector3 vertContributionV = Vector3.Zero;
- Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
-
- // Take a vector pointing up and convert it from world to vehicle relative coords.
- Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation);
-
- // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
- // is now:
- // leaning to one side: rotated around the X axis with the Y value going
- // from zero (nearly straight up) to one (completely to the side)) or
- // leaning front-to-back: rotated around the Y axis with the value of X being between
- // zero and one.
- // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
-
- // Y error means needed rotation around X axis and visa versa.
- // Since the error goes from zero to one, the asin is the corresponding angle.
- vertContributionV.X = (float)Math.Asin(verticalError.Y);
- // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
- vertContributionV.Y = -(float)Math.Asin(verticalError.X);
-
- // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
- if (verticalError.Z < 0f)
- {
- vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
- // vertContribution.Y -= PIOverFour;
- }
-
- // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
- // Correction happens over a number of seconds.
- Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
-
- // The correction happens over the user's time period
- vertContributionV /= m_verticalAttractionTimescale;
-
- // Rotate the vehicle rotation to the world coordinates.
- VehicleRotationalVelocity += (vertContributionV * VehicleFrameOrientation);
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
- ControllingPrim.LocalID,
- vehicleUpAxis,
- origRotVelW,
- verticalError,
- unscaledContribVerticalErrorV,
- m_verticalAttractionEfficiency,
- m_verticalAttractionTimescale,
- vertContributionV);
- break;
- }
- default:
- {
- break;
- }
- }
- }
- }
-
- // Angular correction to correct the direction the vehicle is pointing to be
- // the direction is should want to be pointing.
- // The vehicle is moving in some direction and correct its orientation to it is pointing
- // in that direction.
- // TODO: implement reference frame.
- public void ComputeAngularDeflection()
- {
-
- if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
- {
- Vector3 deflectContributionV = Vector3.Zero;
-
- // The direction the vehicle is moving
- Vector3 movingDirection = VehicleVelocity;
- movingDirection.Normalize();
-
- // If the vehicle is going backward, it is still pointing forward
- movingDirection *= Math.Sign(VehicleForwardSpeed);
-
- // The direction the vehicle is pointing
- Vector3 pointingDirection = Vector3.UnitX * VehicleFrameOrientation;
- //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
- // from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
- Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
- predictedPointingDirection.Normalize();
-
- // The difference between what is and what should be.
- // Vector3 deflectionError = movingDirection - predictedPointingDirection;
- Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection);
-
- // Don't try to correct very large errors (not our job)
- // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
- // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
- // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
- if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
- if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
- if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
-
- // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
-
- // Scale the correction by recovery timescale and efficiency
- // Not modeling a spring so clamp the scale to no more then the arc
- deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f);
- //deflectContributionV /= m_angularDeflectionTimescale;
-
- VehicleRotationalVelocity += deflectContributionV;
- VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
- ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
- VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}",
- ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection);
- }
- }
-
- // Angular change to rotate the vehicle around the Z axis when the vehicle
- // is tipped around the X axis.
- // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
- // The vertical attractor feature must be enabled in order for the banking behavior to
- // function. The way banking works is this: a rotation around the vehicle's roll-axis will
- // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
- // of the yaw effect will be proportional to the
- // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
- // velocity along its preferred axis of motion.
- // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
- // positive rotation (by the right-hand rule) about the roll-axis will effect a
- // (negative) torque around the yaw-axis, making it turn to the right--that is the
- // vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
- // Negating the banking coefficient will make it so that the vehicle leans to the
- // outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
- // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
- // banking vehicles do what you want rather than what the laws of physics allow.
- // For example, consider a real motorcycle...it must be moving forward in order for
- // it to turn while banking, however video-game motorcycles are often configured
- // to turn in place when at a dead stop--because they are often easier to control
- // that way using the limited interface of the keyboard or game controller. The
- // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
- // banking by functioning as a slider between a banking that is correspondingly
- // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
- // banking effect depends only on the vehicle's rotation about its roll-axis compared
- // to "dynamic" where the banking is also proportional to its velocity along its
- // roll-axis. Finding the best value of the "mixture" will probably require trial and error.
- // The time it takes for the banking behavior to defeat a preexisting angular velocity about the
- // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
- // bank quickly then give it a banking timescale of about a second or less, otherwise you can
- // make a sluggish vehicle by giving it a timescale of several seconds.
- public void ComputeAngularBanking()
- {
- if (BSParam.VehicleEnableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
- {
- Vector3 bankingContributionV = Vector3.Zero;
-
- // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
- // As the vehicle rolls to the right or left, the Y value will increase from
- // zero (straight up) to 1 or -1 (full tilt right or left)
- Vector3 rollComponents = Vector3.UnitZ * VehicleFrameOrientation;
-
- // Figure out the yaw value for this much roll.
- float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
- // actual error = static turn error + dynamic turn error
- float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed);
-
- // TODO: the banking effect should not go to infinity but what to limit it to?
- // And what should happen when this is being added to a user defined yaw that is already PI*4?
- mixedYawAngle = ClampInRange(-FourPI, mixedYawAngle, FourPI);
-
- // Build the force vector to change rotation from what it is to what it should be
- bankingContributionV.Z = -mixedYawAngle;
-
- // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4.
- bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge;
-
- VehicleRotationalVelocity += bankingContributionV;
-
-
- VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
- ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
- }
- }
-
- // This is from previous instantiations of XXXDynamics.cs.
- // Applies roll reference frame.
- // TODO: is this the right way to separate the code to do this operation?
- // Should this be in MoveAngular()?
- internal void LimitRotation(float timestep)
- {
- Quaternion rotq = VehicleOrientation;
- Quaternion m_rot = rotq;
- if (m_RollreferenceFrame != Quaternion.Identity)
- {
- if (rotq.X >= m_RollreferenceFrame.X)
- {
- m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
- }
- if (rotq.Y >= m_RollreferenceFrame.Y)
- {
- m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
- }
- if (rotq.X <= -m_RollreferenceFrame.X)
- {
- m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
- }
- if (rotq.Y <= -m_RollreferenceFrame.Y)
- {
- m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
- }
- }
- if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
- {
- m_rot.X = 0;
- m_rot.Y = 0;
- }
- if (rotq != m_rot)
- {
- VehicleOrientation = m_rot;
- VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", ControllingPrim.LocalID, rotq, m_rot);
- }
-
- }
-
- // Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce
- // some value by to apply this friction.
- private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep)
- {
- Vector3 frictionFactor = Vector3.Zero;
- if (friction != BSMotor.InfiniteVector)
- {
- // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
- // Individual friction components can be 'infinite' so compute each separately.
- frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X);
- frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y);
- frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z);
- frictionFactor *= pTimestep;
- }
- return frictionFactor;
- }
-
- private float SortedClampInRange(float clampa, float val, float clampb)
- {
- if (clampa > clampb)
- {
- float temp = clampa;
- clampa = clampb;
- clampb = temp;
- }
- return ClampInRange(clampa, val, clampb);
-
- }
-
- //Given a Vector and a unit vector will return the amount of the vector is on the same axis as the unit.
- private Vector3 ProjectVector(Vector3 vector, Vector3 onNormal)
- {
- float vectorDot = Vector3.Dot(vector, onNormal);
- return onNormal * vectorDot;
-
- }
-
- private float ClampInRange(float low, float val, float high)
- {
- return Math.Max(low, Math.Min(val, high));
- // return Utils.Clamp(val, low, high);
- }
-
- // Invoke the detailed logger and output something if it's enabled.
- private void VDetailLog(string msg, params Object[] args)
- {
- if (ControllingPrim.PhysScene.VehicleLoggingEnabled)
- ControllingPrim.PhysScene.DetailLog(msg, args);
- }
- }
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
deleted file mode 100755
index 87eba33..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ /dev/null
@@ -1,503 +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 copyrightD
- * 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.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public abstract class BSLinkset
-{
- // private static string LogHeader = "[BULLETSIM LINKSET]";
-
- public enum LinksetImplementation
- {
- Constraint = 0, // linkset tied together with constraints
- Compound = 1, // linkset tied together as a compound object
- Manual = 2 // linkset tied together manually (code moves all the pieces)
- }
- // Create the correct type of linkset for this child
- public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
- {
- BSLinkset ret = null;
-
- switch (parent.LinksetType)
- {
- case LinksetImplementation.Constraint:
- ret = new BSLinksetConstraints(physScene, parent);
- break;
- case LinksetImplementation.Compound:
- ret = new BSLinksetCompound(physScene, parent);
- break;
- case LinksetImplementation.Manual:
- // ret = new BSLinksetManual(physScene, parent);
- break;
- default:
- ret = new BSLinksetCompound(physScene, parent);
- break;
- }
- if (ret == null)
- {
- physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
- }
- return ret;
- }
-
- public class BSLinkInfo
- {
- public BSPrimLinkable member;
- public BSLinkInfo(BSPrimLinkable pMember)
- {
- member = pMember;
- }
- public virtual void ResetLink() { }
- public virtual void SetLinkParameters(BSConstraint constrain) { }
- // Returns 'true' if physical property updates from the child should be reported to the simulator
- public virtual bool ShouldUpdateChildProperties() { return false; }
- }
-
- public LinksetImplementation LinksetImpl { get; protected set; }
-
- public BSPrimLinkable LinksetRoot { get; protected set; }
-
- protected BSScene m_physicsScene { get; private set; }
-
- static int m_nextLinksetID = 1;
- public int LinksetID { get; private set; }
-
- // The children under the root in this linkset.
- // protected HashSet m_children;
- protected Dictionary m_children;
-
- // We lock the diddling of linkset classes to prevent any badness.
- // This locks the modification of the instances of this class. Changes
- // to the physical representation is done via the tainting mechenism.
- protected object m_linksetActivityLock = new Object();
-
- // We keep the prim's mass in the linkset structure since it could be dependent on other prims
- public float LinksetMass { get; protected set; }
-
- public virtual bool LinksetIsColliding { get { return false; } }
-
- public OMV.Vector3 CenterOfMass
- {
- get { return ComputeLinksetCenterOfMass(); }
- }
-
- public OMV.Vector3 GeometricCenter
- {
- get { return ComputeLinksetGeometricCenter(); }
- }
-
- protected BSLinkset(BSScene scene, BSPrimLinkable parent)
- {
- // A simple linkset of one (no children)
- LinksetID = m_nextLinksetID++;
- // We create LOTS of linksets.
- if (m_nextLinksetID <= 0)
- m_nextLinksetID = 1;
- m_physicsScene = scene;
- LinksetRoot = parent;
- m_children = new Dictionary();
- LinksetMass = parent.RawMass;
- Rebuilding = false;
- RebuildScheduled = false;
-
- parent.ClearDisplacement();
- }
-
- // Link to a linkset where the child knows the parent.
- // Parent changing should not happen so do some sanity checking.
- // We return the parent's linkset so the child can track its membership.
- // Called at runtime.
- public BSLinkset AddMeToLinkset(BSPrimLinkable child)
- {
- lock (m_linksetActivityLock)
- {
- // Don't add the root to its own linkset
- if (!IsRoot(child))
- AddChildToLinkset(child);
- LinksetMass = ComputeLinksetMass();
- }
- return this;
- }
-
- // Remove a child from a linkset.
- // Returns a new linkset for the child which is a linkset of one (just the
- // orphened child).
- // Called at runtime.
- public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime)
- {
- lock (m_linksetActivityLock)
- {
- if (IsRoot(child))
- {
- // Cannot remove the root from a linkset.
- return this;
- }
- RemoveChildFromLinkset(child, inTaintTime);
- LinksetMass = ComputeLinksetMass();
- }
-
- // The child is down to a linkset of just itself
- return BSLinkset.Factory(m_physicsScene, child);
- }
-
- // Return 'true' if the passed object is the root object of this linkset
- public bool IsRoot(BSPrimLinkable requestor)
- {
- return (requestor.LocalID == LinksetRoot.LocalID);
- }
-
- public int NumberOfChildren { get { return m_children.Count; } }
-
- // Return 'true' if this linkset has any children (more than the root member)
- public bool HasAnyChildren { get { return (m_children.Count > 0); } }
-
- // Return 'true' if this child is in this linkset
- public bool HasChild(BSPrimLinkable child)
- {
- bool ret = false;
- lock (m_linksetActivityLock)
- {
- ret = m_children.ContainsKey(child);
- }
- return ret;
- }
-
- // Perform an action on each member of the linkset including root prim.
- // Depends on the action on whether this should be done at taint time.
- public delegate bool ForEachMemberAction(BSPrimLinkable obj);
- public virtual bool ForEachMember(ForEachMemberAction action)
- {
- bool ret = false;
- lock (m_linksetActivityLock)
- {
- action(LinksetRoot);
- foreach (BSPrimLinkable po in m_children.Keys)
- {
- if (action(po))
- break;
- }
- }
- return ret;
- }
-
- public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo)
- {
- bool ret = false;
- BSLinkInfo found = null;
- lock (m_linksetActivityLock)
- {
- ret = m_children.TryGetValue(child, out found);
- }
- foundInfo = found;
- return ret;
- }
- // Perform an action on each member of the linkset including root prim.
- // Depends on the action on whether this should be done at taint time.
- public delegate bool ForEachLinkInfoAction(BSLinkInfo obj);
- public virtual bool ForEachLinkInfo(ForEachLinkInfoAction action)
- {
- bool ret = false;
- lock (m_linksetActivityLock)
- {
- foreach (BSLinkInfo po in m_children.Values)
- {
- if (action(po))
- break;
- }
- }
- return ret;
- }
-
- // Check the type of the link and return 'true' if the link is flexible and the
- // updates from the child should be sent to the simulator so things change.
- public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child)
- {
- bool ret = false;
-
- BSLinkInfo linkInfo;
- if (m_children.TryGetValue(child, out linkInfo))
- {
- ret = linkInfo.ShouldUpdateChildProperties();
- }
-
- return ret;
- }
-
- // Called after a simulation step to post a collision with this object.
- // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
- // anything to add for the collision and it should be passed through normal processing.
- // Default processing for a linkset.
- public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
- OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
- {
- bool ret = false;
-
- // prims in the same linkset cannot collide with each other
- BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
- if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
- {
- // By returning 'true', we tell the caller the collision has been 'handled' so it won't
- // do anything about this collision and thus, effectivily, ignoring the collision.
- ret = true;
- }
- else
- {
- // Not a collision between members of the linkset. Must be a real collision.
- // So the linkset root can know if there is a collision anywhere in the linkset.
- LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
- }
-
- return ret;
- }
-
- // I am the root of a linkset and a new child is being added
- // Called while LinkActivity is locked.
- protected abstract void AddChildToLinkset(BSPrimLinkable child);
-
- // I am the root of a linkset and one of my children is being removed.
- // Safe to call even if the child is not really in my linkset.
- protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime);
-
- // When physical properties are changed the linkset needs to recalculate
- // its internal properties.
- // May be called at runtime or taint-time.
- public virtual void Refresh(BSPrimLinkable requestor)
- {
- LinksetMass = ComputeLinksetMass();
- }
-
- // Flag denoting the linkset is in the process of being rebuilt.
- // Used to know not the schedule a rebuild in the middle of a rebuild.
- // Because of potential update calls that could want to schedule another rebuild.
- protected bool Rebuilding { get; set; }
-
- // Flag saying a linkset rebuild has been scheduled.
- // This is turned on when the rebuild is requested and turned off when
- // the rebuild is complete. Used to limit modifications to the
- // linkset parameters while the linkset is in an intermediate state.
- // Protected by a "lock(m_linsetActivityLock)" on the BSLinkset object
- public bool RebuildScheduled { get; protected set; }
-
- // The object is going dynamic (physical). Do any setup necessary
- // for a dynamic linkset.
- // Only the state of the passed object can be modified. The rest of the linkset
- // has not yet been fully constructed.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public abstract bool MakeDynamic(BSPrimLinkable child);
-
- public virtual bool AllPartsComplete
- {
- get {
- bool ret = true;
- this.ForEachMember((member) =>
- {
- if ((!member.IsInitialized) || member.IsIncomplete || member.PrimAssetState == BSPhysObject.PrimAssetCondition.Waiting)
- {
- ret = false;
- return true; // exit loop
- }
- return false; // continue loop
- });
- return ret;
- }
- }
-
- // The object is going static (non-physical). Do any setup necessary
- // for a static linkset.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public abstract bool MakeStatic(BSPrimLinkable child);
-
- // Called when a parameter update comes from the physics engine for any object
- // of the linkset is received.
- // Passed flag is update came from physics engine (true) or the user (false).
- // Called at taint-time!!
- public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
-
- // Routine used when rebuilding the body of the root of the linkset
- // Destroy all the constraints have have been made to root.
- // This is called when the root body is changing.
- // Returns 'true' of something was actually removed and would need restoring
- // Called at taint-time!!
- public abstract bool RemoveDependencies(BSPrimLinkable child);
-
- // ================================================================
- // Some physical setting happen to all members of the linkset
- public virtual void SetPhysicalFriction(float friction)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetFriction(member.PhysBody, friction);
- return false; // 'false' says to continue looping
- }
- );
- }
- public virtual void SetPhysicalRestitution(float restitution)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
- return false; // 'false' says to continue looping
- }
- );
- }
- public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
- return false; // 'false' says to continue looping
- }
- );
- }
- public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- {
- OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
- member.Inertia = inertia * inertiaFactor;
- m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
- m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
- DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
-
- }
- return false; // 'false' says to continue looping
- }
- );
- }
- public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
- return false; // 'false' says to continue looping
- }
- );
- }
- public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
- return false; // 'false' says to continue looping
- }
- );
- }
- public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
- {
- ForEachMember((member) =>
- {
- if (member.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
- return false; // 'false' says to continue looping
- }
- );
- }
- // ================================================================
- protected virtual float ComputeLinksetMass()
- {
- float mass = LinksetRoot.RawMass;
- if (HasAnyChildren)
- {
- lock (m_linksetActivityLock)
- {
- foreach (BSPrimLinkable bp in m_children.Keys)
- {
- mass += bp.RawMass;
- }
- }
- }
- return mass;
- }
-
- // Computes linkset's center of mass in world coordinates.
- protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
- {
- OMV.Vector3 com;
- lock (m_linksetActivityLock)
- {
- com = LinksetRoot.Position * LinksetRoot.RawMass;
- float totalMass = LinksetRoot.RawMass;
-
- foreach (BSPrimLinkable bp in m_children.Keys)
- {
- com += bp.Position * bp.RawMass;
- totalMass += bp.RawMass;
- }
- if (totalMass != 0f)
- com /= totalMass;
- }
-
- return com;
- }
-
- protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
- {
- OMV.Vector3 com;
- lock (m_linksetActivityLock)
- {
- com = LinksetRoot.Position;
-
- foreach (BSPrimLinkable bp in m_children.Keys)
- {
- com += bp.Position;
- }
- com /= (m_children.Count + 1);
- }
-
- return com;
- }
-
- #region Extension
- public virtual object Extension(string pFunct, params object[] pParams)
- {
- return null;
- }
- #endregion // Extension
-
- // Invoke the detailed logger and output something if it's enabled.
- protected void DetailLog(string msg, params Object[] args)
- {
- if (m_physicsScene.PhysicsLogging.Enabled)
- m_physicsScene.DetailLog(msg, args);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
deleted file mode 100755
index cae9efa..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ /dev/null
@@ -1,477 +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 copyrightD
- * 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.Text;
-
-using OpenSim.Framework;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public sealed class BSLinksetCompound : BSLinkset
-{
-#pragma warning disable 414
- private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
-#pragma warning restore 414
-
- public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
- : base(scene, parent)
- {
- LinksetImpl = LinksetImplementation.Compound;
- }
-
- // ================================================================
- // Changing the physical property of the linkset only needs to change the root
- public override void SetPhysicalFriction(float friction)
- {
- if (LinksetRoot.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
- }
- public override void SetPhysicalRestitution(float restitution)
- {
- if (LinksetRoot.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
- }
- public override void SetPhysicalGravity(OMV.Vector3 gravity)
- {
- if (LinksetRoot.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
- }
- public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
- {
- OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
- LinksetRoot.Inertia = inertia * inertiaFactor;
- m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
- m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
- }
- public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
- {
- if (LinksetRoot.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
- }
- public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
- {
- if (LinksetRoot.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
- }
- public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
- {
- if (LinksetRoot.PhysBody.HasPhysicalBody)
- m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
- }
- // ================================================================
-
- // When physical properties are changed the linkset needs to recalculate
- // its internal properties.
- public override void Refresh(BSPrimLinkable requestor)
- {
- // Something changed so do the rebuilding thing
- ScheduleRebuild(requestor);
- base.Refresh(requestor);
- }
-
- // Schedule a refresh to happen after all the other taint processing.
- private void ScheduleRebuild(BSPrimLinkable requestor)
- {
- // When rebuilding, it is possible to set properties that would normally require a rebuild.
- // If already rebuilding, don't request another rebuild.
- // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
- lock (m_linksetActivityLock)
- {
- if (!RebuildScheduled && !Rebuilding && HasAnyChildren)
- {
- InternalScheduleRebuild(requestor);
- }
- }
- }
-
- // Must be called with m_linksetActivityLock or race conditions will haunt you.
- private void InternalScheduleRebuild(BSPrimLinkable requestor)
- {
- DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rebuilding={1},hasChildren={2}",
- requestor.LocalID, Rebuilding, HasAnyChildren);
- RebuildScheduled = true;
- m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
- {
- if (HasAnyChildren)
- {
- if (this.AllPartsComplete)
- {
- RecomputeLinksetCompound();
- }
- else
- {
- DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rescheduling because not all children complete",
- requestor.LocalID);
- InternalScheduleRebuild(requestor);
- }
- }
- RebuildScheduled = false;
- });
- }
-
- // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
- // Only the state of the passed object can be modified. The rest of the linkset
- // has not yet been fully constructed.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public override bool MakeDynamic(BSPrimLinkable child)
- {
- bool ret = false;
- DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
- if (IsRoot(child))
- {
- // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
- Refresh(LinksetRoot);
- }
- return ret;
- }
-
- // The object is going static (non-physical). We do not do anything for static linksets.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public override bool MakeStatic(BSPrimLinkable child)
- {
- bool ret = false;
-
- DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
- child.ClearDisplacement();
- if (IsRoot(child))
- {
- // Schedule a rebuild to verify that the root shape is set to the real shape.
- Refresh(LinksetRoot);
- }
- return ret;
- }
-
- // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
- // Called at taint-time.
- public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
- {
- if (!LinksetRoot.IsPhysicallyActive)
- {
- // No reason to do this physical stuff for static linksets.
- DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);
- return;
- }
-
- // The user moving a child around requires the rebuilding of the linkset compound shape
- // One problem is this happens when a border is crossed -- the simulator implementation
- // stores the position into the group which causes the move of the object
- // but it also means all the child positions get updated.
- // What would cause an unnecessary rebuild so we make sure the linkset is in a
- // region before bothering to do a rebuild.
- if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
- {
- // If a child of the linkset is updating only the position or rotation, that can be done
- // without rebuilding the linkset.
- // If a handle for the child can be fetch, we update the child here. If a rebuild was
- // scheduled by someone else, the rebuild will just replace this setting.
-
- bool updatedChild = false;
- // Anything other than updating position or orientation usually means a physical update
- // and that is caused by us updating the object.
- if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
- {
- // Find the physical instance of the child
- if (!RebuildScheduled // if rebuilding, let the rebuild do it
- && !LinksetRoot.IsIncomplete // if waiting for assets or whatever, don't change
- && LinksetRoot.PhysShape.HasPhysicalShape // there must be a physical shape assigned
- && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
- {
- // It is possible that the linkset is still under construction and the child is not yet
- // inserted into the compound shape. A rebuild of the linkset in a pre-step action will
- // build the whole thing with the new position or rotation.
- // The index must be checked because Bullet references the child array but does no validity
- // checking of the child index passed.
- int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo);
- if (updated.LinksetChildIndex < numLinksetChildren)
- {
- BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex);
- if (linksetChildShape.HasPhysicalShape)
- {
- // Found the child shape within the compound shape
- m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex,
- updated.RawPosition - LinksetRoot.RawPosition,
- updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
- true /* shouldRecalculateLocalAabb */);
- updatedChild = true;
- DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",
- updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);
- }
- else // DEBUG DEBUG
- { // DEBUG DEBUG
- DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
- updated.LocalID, linksetChildShape);
- } // DEBUG DEBUG
- }
- else // DEBUG DEBUG
- { // DEBUG DEBUG
- // the child is not yet in the compound shape. This is non-fatal.
- DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
- updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);
- } // DEBUG DEBUG
- }
- else // DEBUG DEBUG
- { // DEBUG DEBUG
- DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
- } // DEBUG DEBUG
-
- if (!updatedChild)
- {
- // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
- // Note: there are several ways through this code that will not update the child if
- // the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
- // there will already be a rebuild scheduled.
- DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
- updated.LocalID, whichUpdated);
- Refresh(updated);
- }
- }
- }
- }
-
- // Routine called when rebuilding the body of some member of the linkset.
- // If one of the bodies is being changed, the linkset needs rebuilding.
- // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.
- // Returns 'true' of something was actually removed and would need restoring
- // Called at taint-time!!
- public override bool RemoveDependencies(BSPrimLinkable child)
- {
- bool ret = false;
-
- DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
- child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
-
- Refresh(child);
-
- return ret;
- }
-
- // ================================================================
-
- // Add a new child to the linkset.
- // Called while LinkActivity is locked.
- protected override void AddChildToLinkset(BSPrimLinkable child)
- {
- if (!HasChild(child))
- {
- m_children.Add(child, new BSLinkInfo(child));
-
- DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
- // Rebuild the compound shape with the new child shape included
- Refresh(child);
- }
- return;
- }
-
- // Remove the specified child from the linkset.
- // Safe to call even if the child is not really in the linkset.
- protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
- {
- child.ClearDisplacement();
-
- if (m_children.Remove(child))
- {
- DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
- child.LocalID,
- LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
- child.LocalID, child.PhysBody.AddrString);
-
- // Cause the child's body to be rebuilt and thus restored to normal operation
- child.ForceBodyShapeRebuild(inTaintTime);
-
- if (!HasAnyChildren)
- {
- // The linkset is now empty. The root needs rebuilding.
- LinksetRoot.ForceBodyShapeRebuild(inTaintTime);
- }
- else
- {
- // Rebuild the compound shape with the child removed
- Refresh(LinksetRoot);
- }
- }
- return;
- }
-
- // Called before the simulation step to make sure the compound based linkset
- // is all initialized.
- // Constraint linksets are rebuilt every time.
- // Note that this works for rebuilding just the root after a linkset is taken apart.
- // Called at taint time!!
- private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape
- private void RecomputeLinksetCompound()
- {
- try
- {
- Rebuilding = true;
-
- // No matter what is being done, force the root prim's PhysBody and PhysShape to get set
- // to what they should be as if the root was not in a linkset.
- // Not that bad since we only get into this routine if there are children in the linkset and
- // something has been updated/changed.
- // Have to do the rebuild before checking for physical because this might be a linkset
- // being destructed and going non-physical.
- LinksetRoot.ForceBodyShapeRebuild(true);
-
- // There is no reason to build all this physical stuff for a non-physical or empty linkset.
- if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
- {
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
- return; // Note the 'finally' clause at the botton which will get executed.
- }
-
- // Get a new compound shape to build the linkset shape in.
- BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
-
- // Compute a displacement for each component so it is relative to the center-of-mass.
- // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
- OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
-
- OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
- OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;
-
- // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass
- OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
- if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
- {
- // Zero everything if center-of-mass displacement is not being done.
- centerDisplacementV = OMV.Vector3.Zero;
- LinksetRoot.ClearDisplacement();
- }
- else
- {
- // The actual center-of-mass could have been set by the user.
- centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
- }
-
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
- LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);
-
- // Add the shapes of all the components of the linkset
- int memberIndex = 1;
- ForEachMember((cPrim) =>
- {
- if (IsRoot(cPrim))
- {
- // Root shape is always index zero.
- cPrim.LinksetChildIndex = 0;
- }
- else
- {
- cPrim.LinksetChildIndex = memberIndex;
- memberIndex++;
- }
-
- // Get a reference to the shape of the child for adding of that shape to the linkset compound shape
- BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
-
- // Offset the child shape from the center-of-mass and rotate it to root relative.
- OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;
- OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
-
- // Add the child shape to the compound shape being built
- if (childShape.physShapeInfo.HasPhysicalShape)
- {
- m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
- LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);
-
- // Since we are borrowing the shape of the child, disable the origional child body
- if (!IsRoot(cPrim))
- {
- m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
- m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION);
- // We don't want collisions from the old linkset children.
- m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
- }
- }
- else
- {
- // The linkset must be in an intermediate state where all the children have not yet
- // been constructed. This sometimes happens on startup when everything is getting
- // built and some shapes have to wait for assets to be read in.
- // Just skip this linkset for the moment and cause the shape to be rebuilt next tick.
- // One problem might be that the shape is broken somehow and it never becomes completely
- // available. This might cause the rebuild to happen over and over.
- InternalScheduleRebuild(LinksetRoot);
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}",
- LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);
- // Output an annoying warning. It should only happen once but if it keeps coming out,
- // the user knows there is something wrong and will report it.
- m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader);
- m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}",
- LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape);
-
- // This causes the loop to bail on building the rest of this linkset.
- // The rebuild operation will fix it up next tick or declare the object unbuildable.
- return true;
- }
-
- return false; // 'false' says to move onto the next child in the list
- });
-
- // Replace the root shape with the built compound shape.
- // Object removed and added to world to get collision cache rebuilt for new shape.
- LinksetRoot.PhysShape.Dereference(m_physicsScene);
- LinksetRoot.PhysShape = linksetShape;
- m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
- m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo);
- m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
- LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);
-
- // With all of the linkset packed into the root prim, it has the mass of everyone.
- LinksetMass = ComputeLinksetMass();
- LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
-
- if (UseBulletSimRootOffsetHack)
- {
- // Enable the physical position updator to return the position and rotation of the root shape.
- // This enables a feature in the C++ code to return the world coordinates of the first shape in the
- // compound shape. This aleviates the need to offset the returned physical position by the
- // center-of-mass offset.
- // TODO: either debug this feature or remove it.
- m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
- }
- }
- finally
- {
- Rebuilding = false;
- }
-
- // See that the Aabb surrounds the new shape
- m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
- }
-}
-}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
deleted file mode 100755
index 4384cdc..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ /dev/null
@@ -1,854 +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 copyrightD
- * 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.Text;
-
-using OpenSim.Region.OptionalModules.Scripting;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSLinksetConstraints : BSLinkset
-{
- // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
-
- public class BSLinkInfoConstraint : BSLinkInfo
- {
- public ConstraintType constraintType;
- public BSConstraint constraint;
- public OMV.Vector3 linearLimitLow;
- public OMV.Vector3 linearLimitHigh;
- public OMV.Vector3 angularLimitLow;
- public OMV.Vector3 angularLimitHigh;
- public bool useFrameOffset;
- public bool enableTransMotor;
- public float transMotorMaxVel;
- public float transMotorMaxForce;
- public float cfm;
- public float erp;
- public float solverIterations;
- //
- public OMV.Vector3 frameInAloc;
- public OMV.Quaternion frameInArot;
- public OMV.Vector3 frameInBloc;
- public OMV.Quaternion frameInBrot;
- public bool useLinearReferenceFrameA;
- // Spring
- public bool[] springAxisEnable;
- public float[] springDamping;
- public float[] springStiffness;
- public OMV.Vector3 springLinearEquilibriumPoint;
- public OMV.Vector3 springAngularEquilibriumPoint;
-
- public BSLinkInfoConstraint(BSPrimLinkable pMember)
- : base(pMember)
- {
- constraint = null;
- ResetLink();
- member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID);
- }
-
- // Set all the parameters for this constraint to a fixed, non-movable constraint.
- public override void ResetLink()
- {
- // constraintType = ConstraintType.D6_CONSTRAINT_TYPE;
- constraintType = ConstraintType.BS_FIXED_CONSTRAINT_TYPE;
- linearLimitLow = OMV.Vector3.Zero;
- linearLimitHigh = OMV.Vector3.Zero;
- angularLimitLow = OMV.Vector3.Zero;
- angularLimitHigh = OMV.Vector3.Zero;
- useFrameOffset = BSParam.LinkConstraintUseFrameOffset;
- enableTransMotor = BSParam.LinkConstraintEnableTransMotor;
- transMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
- transMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
- cfm = BSParam.LinkConstraintCFM;
- erp = BSParam.LinkConstraintERP;
- solverIterations = BSParam.LinkConstraintSolverIterations;
- frameInAloc = OMV.Vector3.Zero;
- frameInArot = OMV.Quaternion.Identity;
- frameInBloc = OMV.Vector3.Zero;
- frameInBrot = OMV.Quaternion.Identity;
- useLinearReferenceFrameA = true;
- springAxisEnable = new bool[6];
- springDamping = new float[6];
- springStiffness = new float[6];
- for (int ii = 0; ii < springAxisEnable.Length; ii++)
- {
- springAxisEnable[ii] = false;
- springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
- springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
- }
- springLinearEquilibriumPoint = OMV.Vector3.Zero;
- springAngularEquilibriumPoint = OMV.Vector3.Zero;
- member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
- }
-
- // Given a constraint, apply the current constraint parameters to same.
- public override void SetLinkParameters(BSConstraint constrain)
- {
- member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType);
- switch (constraintType)
- {
- case ConstraintType.BS_FIXED_CONSTRAINT_TYPE:
- case ConstraintType.D6_CONSTRAINT_TYPE:
- BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof;
- if (constrain6dof != null)
- {
- // NOTE: D6_SPRING_CONSTRAINT_TYPE should be updated if you change any of this code.
- // zero linear and angular limits makes the objects unable to move in relation to each other
- constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh);
- constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh);
-
- // tweek the constraint to increase stability
- constrain6dof.UseFrameOffset(useFrameOffset);
- constrain6dof.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
- constrain6dof.SetCFMAndERP(cfm, erp);
- if (solverIterations != 0f)
- {
- constrain6dof.SetSolverIterations(solverIterations);
- }
- }
- break;
- case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
- BSConstraintSpring constrainSpring = constrain as BSConstraintSpring;
- if (constrainSpring != null)
- {
- // zero linear and angular limits makes the objects unable to move in relation to each other
- constrainSpring.SetLinearLimits(linearLimitLow, linearLimitHigh);
- constrainSpring.SetAngularLimits(angularLimitLow, angularLimitHigh);
-
- // tweek the constraint to increase stability
- constrainSpring.UseFrameOffset(useFrameOffset);
- constrainSpring.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
- constrainSpring.SetCFMAndERP(cfm, erp);
- if (solverIterations != 0f)
- {
- constrainSpring.SetSolverIterations(solverIterations);
- }
- for (int ii = 0; ii < springAxisEnable.Length; ii++)
- {
- constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
- if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
- constrainSpring.SetDamping(ii, springDamping[ii]);
- if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
- constrainSpring.SetStiffness(ii, springStiffness[ii]);
- }
- constrainSpring.CalculateTransforms();
-
- if (springLinearEquilibriumPoint != OMV.Vector3.Zero)
- constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint);
- else
- constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
- }
- break;
- default:
- break;
- }
- }
-
- // Return 'true' if the property updates from the physics engine should be reported
- // to the simulator.
- // If the constraint is fixed, we don't need to report as the simulator and viewer will
- // report the right things.
- public override bool ShouldUpdateChildProperties()
- {
- bool ret = true;
- if (constraintType == ConstraintType.BS_FIXED_CONSTRAINT_TYPE)
- ret = false;
-
- return ret;
- }
- }
-
- public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
- {
- LinksetImpl = LinksetImplementation.Constraint;
- }
-
- private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]";
-
- // When physical properties are changed the linkset needs to recalculate
- // its internal properties.
- // This is queued in the 'post taint' queue so the
- // refresh will happen once after all the other taints are applied.
- public override void Refresh(BSPrimLinkable requestor)
- {
- ScheduleRebuild(requestor);
- base.Refresh(requestor);
-
- }
-
- private void ScheduleRebuild(BSPrimLinkable requestor)
- {
- DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
- requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
-
- // When rebuilding, it is possible to set properties that would normally require a rebuild.
- // If already rebuilding, don't request another rebuild.
- // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
- lock (this)
- {
- if (!RebuildScheduled)
- {
- if (!Rebuilding && HasAnyChildren)
- {
- RebuildScheduled = true;
- // Queue to happen after all the other taint processing
- m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
- {
- if (HasAnyChildren)
- {
- // Constraints that have not been changed are not rebuild but make sure
- // the constraint of the requestor is rebuilt.
- PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor);
- // Rebuild the linkset and all its constraints.
- RecomputeLinksetConstraints();
- }
- RebuildScheduled = false;
- });
- }
- }
- }
- }
-
- // The object is going dynamic (physical). Do any setup necessary
- // for a dynamic linkset.
- // Only the state of the passed object can be modified. The rest of the linkset
- // has not yet been fully constructed.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public override bool MakeDynamic(BSPrimLinkable child)
- {
- bool ret = false;
- DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
- if (IsRoot(child))
- {
- // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
- Refresh(LinksetRoot);
- }
- return ret;
- }
-
- // The object is going static (non-physical). Do any setup necessary for a static linkset.
- // Return 'true' if any properties updated on the passed object.
- // This doesn't normally happen -- OpenSim removes the objects from the physical
- // world if it is a static linkset.
- // Called at taint-time!
- public override bool MakeStatic(BSPrimLinkable child)
- {
- bool ret = false;
-
- DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
- child.ClearDisplacement();
- if (IsRoot(child))
- {
- // Schedule a rebuild to verify that the root shape is set to the real shape.
- Refresh(LinksetRoot);
- }
- return ret;
- }
-
- // Called at taint-time!!
- public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
- {
- // Nothing to do for constraints on property updates
- }
-
- // Routine called when rebuilding the body of some member of the linkset.
- // Destroy all the constraints have have been made to root and set
- // up to rebuild the constraints before the next simulation step.
- // Returns 'true' of something was actually removed and would need restoring
- // Called at taint-time!!
- public override bool RemoveDependencies(BSPrimLinkable child)
- {
- bool ret = false;
-
- DetailLog("{0},BSLinksetConstraint.RemoveDependencies,removeChildrenForRoot,rID={1},rBody={2}",
- child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
-
- lock (m_linksetActivityLock)
- {
- // Just undo all the constraints for this linkset. Rebuild at the end of the step.
- ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
- // Cause the constraints, et al to be rebuilt before the next simulation step.
- Refresh(LinksetRoot);
- }
- return ret;
- }
-
- // ================================================================
-
- // Add a new child to the linkset.
- // Called while LinkActivity is locked.
- protected override void AddChildToLinkset(BSPrimLinkable child)
- {
- if (!HasChild(child))
- {
- m_children.Add(child, new BSLinkInfoConstraint(child));
-
- DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
- // Cause constraints and assorted properties to be recomputed before the next simulation step.
- Refresh(LinksetRoot);
- }
- return;
- }
-
- // Remove the specified child from the linkset.
- // Safe to call even if the child is not really in my linkset.
- protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
- {
- if (m_children.Remove(child))
- {
- BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
- BSPrimLinkable childx = child;
-
- DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
- childx.LocalID,
- rootx.LocalID, rootx.PhysBody.AddrString,
- childx.LocalID, childx.PhysBody.AddrString);
-
- m_physicsScene.TaintedObject(inTaintTime, childx.LocalID, "BSLinksetConstraints.RemoveChildFromLinkset", delegate()
- {
- PhysicallyUnlinkAChildFromRoot(rootx, childx);
- });
- // See that the linkset parameters are recomputed at the end of the taint time.
- Refresh(LinksetRoot);
- }
- else
- {
- // Non-fatal occurance.
- // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
- }
- return;
- }
-
- // Create a constraint between me (root of linkset) and the passed prim (the child).
- // Called at taint time!
- private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
- {
- // Don't build the constraint when asked. Put it off until just before the simulation step.
- Refresh(rootPrim);
- }
-
- // Create a static constraint between the two passed objects
- private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li)
- {
- BSLinkInfoConstraint linkInfo = li as BSLinkInfoConstraint;
- if (linkInfo == null)
- return null;
-
- // Zero motion for children so they don't interpolate
- li.member.ZeroMotion(true);
-
- BSConstraint constrain = null;
-
- switch (linkInfo.constraintType)
- {
- case ConstraintType.BS_FIXED_CONSTRAINT_TYPE:
- case ConstraintType.D6_CONSTRAINT_TYPE:
- // Relative position normalized to the root prim
- // Essentually a vector pointing from center of rootPrim to center of li.member
- OMV.Vector3 childRelativePosition = linkInfo.member.Position - rootPrim.Position;
-
- // real world coordinate of midpoint between the two objects
- OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
-
- DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}",
- rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody,
- rootPrim.Position, linkInfo.member.Position, midPoint);
-
- // create a constraint that allows no freedom of movement between the two objects
- // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-
- constrain = new BSConstraint6Dof(
- m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, midPoint, true, true );
-
- /* NOTE: below is an attempt to build constraint with full frame computation, etc.
- * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
- * of the objects.
- * Code left for future programmers.
- // ==================================================================================
- // relative position normalized to the root prim
- OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
- OMV.Vector3 childRelativePosition = (liConstraint.member.Position - rootPrim.Position) * invThisOrientation;
-
- // relative rotation of the child to the parent
- OMV.Quaternion childRelativeRotation = invThisOrientation * liConstraint.member.Orientation;
- OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
-
- DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, liConstraint.member.LocalID);
- constrain = new BS6DofConstraint(
- PhysicsScene.World, rootPrim.Body, liConstraint.member.Body,
- OMV.Vector3.Zero,
- OMV.Quaternion.Inverse(rootPrim.Orientation),
- OMV.Vector3.Zero,
- OMV.Quaternion.Inverse(liConstraint.member.Orientation),
- true,
- true
- );
- // ==================================================================================
- */
-
- break;
- case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
- constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
- linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot,
- linkInfo.useLinearReferenceFrameA,
- true /*disableCollisionsBetweenLinkedBodies*/);
- DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}",
- rootPrim.LocalID,
- rootPrim.LocalID, rootPrim.PhysBody.AddrString,
- linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString,
- rootPrim.Position, linkInfo.member.Position);
-
- break;
- default:
- break;
- }
-
- linkInfo.SetLinkParameters(constrain);
-
- m_physicsScene.Constraints.AddConstraint(constrain);
-
- return constrain;
- }
-
- // Remove linkage between the linkset root and a particular child
- // The root and child bodies are passed in because we need to remove the constraint between
- // the bodies that were present at unlink time.
- // Called at taint time!
- private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
- {
- bool ret = false;
- DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
- rootPrim.LocalID,
- rootPrim.LocalID, rootPrim.PhysBody.AddrString,
- childPrim.LocalID, childPrim.PhysBody.AddrString);
-
- // If asked to unlink root from root, just remove all the constraints
- if (rootPrim == childPrim || childPrim == LinksetRoot)
- {
- PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
- ret = true;
- }
- else
- {
- // Find the constraint for this link and get rid of it from the overall collection and from my list
- if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
- {
- // Make the child refresh its location
- m_physicsScene.PE.PushUpdate(childPrim.PhysBody);
- ret = true;
- }
- }
-
- return ret;
- }
-
- // Remove linkage between myself and any possible children I might have.
- // Returns 'true' of any constraints were destroyed.
- // Called at taint time!
- private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
- {
- DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
-
- return m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
- }
-
- // Call each of the constraints that make up this linkset and recompute the
- // various transforms and variables. Create constraints of not created yet.
- // Called before the simulation step to make sure the constraint based linkset
- // is all initialized.
- // Called at taint time!!
- private void RecomputeLinksetConstraints()
- {
- float linksetMass = LinksetMass;
- LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
-
- DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
- LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
-
- try
- {
- Rebuilding = true;
-
- // There is no reason to build all this physical stuff for a non-physical linkset.
- if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
- {
- DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
- return; // Note the 'finally' clause at the botton which will get executed.
- }
-
- ForEachLinkInfo((li) =>
- {
- // A child in the linkset physically shows the mass of the whole linkset.
- // This allows Bullet to apply enough force on the child to move the whole linkset.
- // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
- li.member.UpdatePhysicalMassProperties(linksetMass, true);
-
- BSConstraint constrain;
- if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, li.member.PhysBody, out constrain))
- {
- // If constraint doesn't exist yet, create it.
- constrain = BuildConstraint(LinksetRoot, li);
- }
- li.SetLinkParameters(constrain);
- constrain.RecomputeConstraintVariables(linksetMass);
-
- // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG
- return false; // 'false' says to keep processing other members
- });
- }
- finally
- {
- Rebuilding = false;
- }
- }
-
- #region Extension
- public override object Extension(string pFunct, params object[] pParams)
- {
- object ret = null;
- switch (pFunct)
- {
- // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
- case ExtendedPhysics.PhysFunctChangeLinkType:
- if (pParams.Length > 2)
- {
- int requestedType = (int)pParams[2];
- DetailLog("{0},BSLinksetConstraint.ChangeLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType);
- if (requestedType == (int)ConstraintType.BS_FIXED_CONSTRAINT_TYPE
- || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE
- || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE
- || requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE
- || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE
- || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE)
- {
- BSPrimLinkable child = pParams[1] as BSPrimLinkable;
- if (child != null)
- {
- DetailLog("{0},BSLinksetConstraint.ChangeLinkType,rootID={1},childID={2},type={3}",
- LinksetRoot.LocalID, LinksetRoot.LocalID, child.LocalID, requestedType);
- m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate()
- {
- // Pick up all the constraints currently created.
- RemoveDependencies(child);
-
- BSLinkInfo linkInfo = null;
- if (TryGetLinkInfo(child, out linkInfo))
- {
- BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
- if (linkInfoC != null)
- {
- linkInfoC.constraintType = (ConstraintType)requestedType;
- ret = (object)true;
- DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}",
- linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType);
- }
- else
- {
- DetailLog("{0},BSLinksetConstraint.ChangeLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID);
- }
- }
- else
- {
- DetailLog("{0},BSLinksetConstraint.ChangeLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID);
- }
- // Cause the whole linkset to be rebuilt in post-taint time.
- Refresh(child);
- });
- }
- else
- {
- DetailLog("{0},BSLinksetConstraint.SetLinkType,childNotBSPrimLinkable", LinksetRoot.LocalID);
- }
- }
- else
- {
- DetailLog("{0},BSLinksetConstraint.SetLinkType,illegalRequestedType,reqested={1},spring={2}",
- LinksetRoot.LocalID, requestedType, ((int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE));
- }
- }
- break;
- // pParams = [ BSPhysObject root, BSPhysObject child ]
- case ExtendedPhysics.PhysFunctGetLinkType:
- if (pParams.Length > 0)
- {
- BSPrimLinkable child = pParams[1] as BSPrimLinkable;
- if (child != null)
- {
- BSLinkInfo linkInfo = null;
- if (TryGetLinkInfo(child, out linkInfo))
- {
- BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
- if (linkInfoC != null)
- {
- ret = (object)(int)linkInfoC.constraintType;
- DetailLog("{0},BSLinksetConstraint.GetLinkType,link={1},type={2}",
- linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType);
-
- }
- }
- }
- }
- break;
- // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ]
- case ExtendedPhysics.PhysFunctChangeLinkParams:
- // There should be two parameters: the childActor and a list of parameters to set
- if (pParams.Length > 2)
- {
- BSPrimLinkable child = pParams[1] as BSPrimLinkable;
- BSLinkInfo baseLinkInfo = null;
- if (TryGetLinkInfo(child, out baseLinkInfo))
- {
- BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint;
- if (linkInfo != null)
- {
- int valueInt;
- float valueFloat;
- bool valueBool;
- OMV.Vector3 valueVector;
- OMV.Vector3 valueVector2;
- OMV.Quaternion valueQuaternion;
- int axisLow, axisHigh;
-
- int opIndex = 2;
- while (opIndex < pParams.Length)
- {
- int thisOp = 0;
- string errMsg = "";
- try
- {
- thisOp = (int)pParams[opIndex];
- DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}",
- linkInfo.member.LocalID, thisOp, pParams[opIndex + 1]);
- switch (thisOp)
- {
- case ExtendedPhysics.PHYS_PARAM_LINK_TYPE:
- valueInt = (int)pParams[opIndex + 1];
- ConstraintType valueType = (ConstraintType)valueInt;
- if (valueType == ConstraintType.BS_FIXED_CONSTRAINT_TYPE
- || valueType == ConstraintType.D6_CONSTRAINT_TYPE
- || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE
- || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE
- || valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE
- || valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE)
- {
- linkInfo.constraintType = valueType;
- }
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
- errMsg = "PHYS_PARAM_FRAMEINA_LOC takes one parameter of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- linkInfo.frameInAloc = valueVector;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
- errMsg = "PHYS_PARAM_FRAMEINA_ROT takes one parameter of type rotation";
- valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
- linkInfo.frameInArot = valueQuaternion;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
- errMsg = "PHYS_PARAM_FRAMEINB_LOC takes one parameter of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- linkInfo.frameInBloc = valueVector;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
- errMsg = "PHYS_PARAM_FRAMEINB_ROT takes one parameter of type rotation";
- valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
- linkInfo.frameInBrot = valueQuaternion;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
- errMsg = "PHYS_PARAM_LINEAR_LIMIT_LOW takes one parameter of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- linkInfo.linearLimitLow = valueVector;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
- errMsg = "PHYS_PARAM_LINEAR_LIMIT_HIGH takes one parameter of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- linkInfo.linearLimitHigh = valueVector;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
- errMsg = "PHYS_PARAM_ANGULAR_LIMIT_LOW takes one parameter of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- linkInfo.angularLimitLow = valueVector;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
- errMsg = "PHYS_PARAM_ANGULAR_LIMIT_HIGH takes one parameter of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- linkInfo.angularLimitHigh = valueVector;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
- errMsg = "PHYS_PARAM_USE_FRAME_OFFSET takes one parameter of type integer (bool)";
- valueBool = ((int)pParams[opIndex + 1]) != 0;
- linkInfo.useFrameOffset = valueBool;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
- errMsg = "PHYS_PARAM_ENABLE_TRANSMOTOR takes one parameter of type integer (bool)";
- valueBool = ((int)pParams[opIndex + 1]) != 0;
- linkInfo.enableTransMotor = valueBool;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
- errMsg = "PHYS_PARAM_TRANSMOTOR_MAXVEL takes one parameter of type float";
- valueFloat = (float)pParams[opIndex + 1];
- linkInfo.transMotorMaxVel = valueFloat;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
- errMsg = "PHYS_PARAM_TRANSMOTOR_MAXFORCE takes one parameter of type float";
- valueFloat = (float)pParams[opIndex + 1];
- linkInfo.transMotorMaxForce = valueFloat;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_CFM:
- errMsg = "PHYS_PARAM_CFM takes one parameter of type float";
- valueFloat = (float)pParams[opIndex + 1];
- linkInfo.cfm = valueFloat;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_ERP:
- errMsg = "PHYS_PARAM_ERP takes one parameter of type float";
- valueFloat = (float)pParams[opIndex + 1];
- linkInfo.erp = valueFloat;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
- errMsg = "PHYS_PARAM_SOLVER_ITERATIONS takes one parameter of type float";
- valueFloat = (float)pParams[opIndex + 1];
- linkInfo.solverIterations = valueFloat;
- opIndex += 2;
- break;
- case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE:
- errMsg = "PHYS_PARAM_SPRING_AXIS_ENABLE takes two parameters of types integer and integer (bool)";
- valueInt = (int)pParams[opIndex + 1];
- valueBool = ((int)pParams[opIndex + 2]) != 0;
- GetAxisRange(valueInt, out axisLow, out axisHigh);
- for (int ii = axisLow; ii <= axisHigh; ii++)
- linkInfo.springAxisEnable[ii] = valueBool;
- opIndex += 3;
- break;
- case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
- errMsg = "PHYS_PARAM_SPRING_DAMPING takes two parameters of types integer and float";
- valueInt = (int)pParams[opIndex + 1];
- valueFloat = (float)pParams[opIndex + 2];
- GetAxisRange(valueInt, out axisLow, out axisHigh);
- for (int ii = axisLow; ii <= axisHigh; ii++)
- linkInfo.springDamping[ii] = valueFloat;
- opIndex += 3;
- break;
- case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
- errMsg = "PHYS_PARAM_SPRING_STIFFNESS takes two parameters of types integer and float";
- valueInt = (int)pParams[opIndex + 1];
- valueFloat = (float)pParams[opIndex + 2];
- GetAxisRange(valueInt, out axisLow, out axisHigh);
- for (int ii = axisLow; ii <= axisHigh; ii++)
- linkInfo.springStiffness[ii] = valueFloat;
- opIndex += 3;
- break;
- case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT:
- errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector";
- valueVector = (OMV.Vector3)pParams[opIndex + 1];
- valueVector2 = (OMV.Vector3)pParams[opIndex + 2];
- linkInfo.springLinearEquilibriumPoint = valueVector;
- linkInfo.springAngularEquilibriumPoint = valueVector2;
- opIndex += 3;
- break;
- case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
- errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)";
- valueBool = ((int)pParams[opIndex + 1]) != 0;
- linkInfo.useLinearReferenceFrameA = valueBool;
- opIndex += 2;
- break;
- default:
- break;
- }
- }
- catch (InvalidCastException e)
- {
- m_physicsScene.Logger.WarnFormat("{0} value of wrong type in physSetLinksetParams: {1}, err={2}",
- LogHeader, errMsg, e);
- }
- catch (Exception e)
- {
- m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
- }
- }
- }
- // Something changed so a rebuild is in order
- Refresh(child);
- }
- }
- break;
- default:
- ret = base.Extension(pFunct, pParams);
- break;
- }
- return ret;
- }
-
- // Bullet constraints keep some limit parameters for each linear and angular axis.
- // Setting same is easier if there is an easy way to see all or types.
- // This routine returns the array limits for the set of axis.
- private void GetAxisRange(int rangeSpec, out int low, out int high)
- {
- switch (rangeSpec)
- {
- case ExtendedPhysics.PHYS_AXIS_LINEAR_ALL:
- low = 0;
- high = 2;
- break;
- case ExtendedPhysics.PHYS_AXIS_ANGULAR_ALL:
- low = 3;
- high = 5;
- break;
- case ExtendedPhysics.PHYS_AXIS_ALL:
- low = 0;
- high = 5;
- break;
- default:
- low = high = rangeSpec;
- break;
- }
- return;
- }
- #endregion // Extension
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
deleted file mode 100755
index ee77d6e..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
+++ /dev/null
@@ -1,203 +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 copyrightD
- * 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.Text;
-using System.Reflection;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
-public struct MaterialAttributes
-{
- // Material type values that correspond with definitions for LSL
- public enum Material : int
- {
- Stone = 0,
- Metal,
- Glass,
- Wood,
- Flesh,
- Plastic,
- Rubber,
- Light,
- // Hereafter are BulletSim additions
- Avatar,
- NumberOfTypes // the count of types in the enum.
- }
-
- // Names must be in the order of the above enum.
- // These names must coorespond to the lower case field names in the MaterialAttributes
- // structure as reflection is used to select the field to put the value in.
- public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
-
- public MaterialAttributes(string t, float d, float f, float r)
- {
- type = t;
- density = d;
- friction = f;
- restitution = r;
- }
- public string type;
- public float density;
- public float friction;
- public float restitution;
-}
-
-public static class BSMaterials
-{
- // Attributes for each material type
- private static readonly MaterialAttributes[] Attributes;
-
- // Map of material name to material type code
- public static readonly Dictionary MaterialMap;
-
- static BSMaterials()
- {
- // Attribute sets for both the non-physical and physical instances of materials.
- Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
-
- // Map of name to type code.
- MaterialMap = new Dictionary();
- MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
- MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
- MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
- MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
- MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
- MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
- MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
- MaterialMap.Add("Light", MaterialAttributes.Material.Light);
- MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
- }
-
- // This is where all the default material attributes are defined.
- public static void InitializeFromDefaults(ConfigurationParameters parms)
- {
- // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
- float dDensity = parms.defaultDensity;
- float dFriction = parms.defaultFriction;
- float dRestitution = parms.defaultRestitution;
- Attributes[(int)MaterialAttributes.Material.Stone] =
- new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Metal] =
- new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Glass] =
- new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Wood] =
- new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
- Attributes[(int)MaterialAttributes.Material.Flesh] =
- new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
- Attributes[(int)MaterialAttributes.Material.Plastic] =
- new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Rubber] =
- new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
- Attributes[(int)MaterialAttributes.Material.Light] =
- new MaterialAttributes("light",dDensity, dFriction, dRestitution);
- Attributes[(int)MaterialAttributes.Material.Avatar] =
- new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
-
- Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
- Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
- Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
- Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
- Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
- }
-
- // Under the [BulletSim] section, one can change the individual material
- // attribute values. The format of the configuration parameter is:
- // ["Physical"] = floatValue
- // For instance:
- // [BulletSim]
- // StoneFriction = 0.2
- // FleshRestitutionPhysical = 0.8
- // Materials can have different parameters for their static and
- // physical instantiations. When setting the non-physical value,
- // both values are changed. Setting the physical value only changes
- // the physical value.
- public static void InitializefromParameters(IConfig pConfig)
- {
- foreach (KeyValuePair kvp in MaterialMap)
- {
- string matName = kvp.Key;
- foreach (string attribName in MaterialAttributes.MaterialAttribs)
- {
- string paramName = matName + attribName;
- if (pConfig.Contains(paramName))
- {
- float paramValue = pConfig.GetFloat(paramName);
- SetAttributeValue((int)kvp.Value, attribName, paramValue);
- // set the physical value also
- SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
- }
- paramName += "Physical";
- if (pConfig.Contains(paramName))
- {
- float paramValue = pConfig.GetFloat(paramName);
- SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
- }
- }
- }
- }
-
- // Use reflection to set the value in the attribute structure.
- private static void SetAttributeValue(int matType, string attribName, float val)
- {
- // Get the current attribute values for this material
- MaterialAttributes thisAttrib = Attributes[matType];
- // Find the field for the passed attribute name (eg, find field named 'friction')
- FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
- if (fieldInfo != null)
- {
- fieldInfo.SetValue(thisAttrib, val);
- // Copy new attributes back to array -- since MaterialAttributes is 'struct', passed by value, not reference.
- Attributes[matType] = thisAttrib;
- }
- }
-
- // Given a material type, return a structure of attributes.
- public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
- {
- int ind = (int)type;
- if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
- return Attributes[ind];
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
deleted file mode 100755
index 7693195..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ /dev/null
@@ -1,451 +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.Text;
-using OpenMetaverse;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public abstract class BSMotor
-{
- // Timescales and other things can be turned off by setting them to 'infinite'.
- public const float Infinite = 12345.6f;
- public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
-
- public BSMotor(string useName)
- {
- UseName = useName;
- PhysicsScene = null;
- Enabled = true;
- }
- public virtual bool Enabled { get; set; }
- public virtual void Reset() { }
- public virtual void Zero() { }
- public virtual void GenerateTestOutput(float timeStep) { }
-
- // A name passed at motor creation for easily identifyable debugging messages.
- public string UseName { get; private set; }
-
- // Used only for outputting debug information. Might not be set so check for null.
- public BSScene PhysicsScene { get; set; }
- protected void MDetailLog(string msg, params Object[] parms)
- {
- if (PhysicsScene != null)
- {
- PhysicsScene.DetailLog(msg, parms);
- }
- }
-}
-
-// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale.
-// This motor will "zero itself" over time in that the targetValue will
-// decay to zero and the currentValue will follow it to that zero.
-// The overall effect is for the returned correction value to go from large
-// values to small and eventually zero values.
-// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
-
-// For instance, if something is moving at speed X and the desired speed is Y,
-// CurrentValue is X and TargetValue is Y. As the motor is stepped, new
-// values of CurrentValue are returned that approach the TargetValue.
-// The feature of decaying TargetValue is so vehicles will eventually
-// come to a stop rather than run forever. This can be disabled by
-// setting TargetValueDecayTimescale to 'infinite'.
-// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
-public class BSVMotor : BSMotor
-{
- // public Vector3 FrameOfReference { get; set; }
- // public Vector3 Offset { get; set; }
-
- public virtual float TimeScale { get; set; }
- public virtual float TargetValueDecayTimeScale { get; set; }
- public virtual float Efficiency { get; set; }
-
- public virtual float ErrorZeroThreshold { get; set; }
-
- public virtual Vector3 TargetValue { get; protected set; }
- public virtual Vector3 CurrentValue { get; protected set; }
- public virtual Vector3 LastError { get; protected set; }
-
- public virtual bool ErrorIsZero()
- {
- return ErrorIsZero(LastError);
- }
- public virtual bool ErrorIsZero(Vector3 err)
- {
- return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
- }
-
- public BSVMotor(string useName)
- : base(useName)
- {
- TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
- Efficiency = 1f;
- CurrentValue = TargetValue = Vector3.Zero;
- ErrorZeroThreshold = 0.001f;
- }
- public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
- : this(useName)
- {
- TimeScale = timeScale;
- TargetValueDecayTimeScale = decayTimeScale;
- Efficiency = efficiency;
- CurrentValue = TargetValue = Vector3.Zero;
- }
- public void SetCurrent(Vector3 current)
- {
- CurrentValue = current;
- }
- public void SetTarget(Vector3 target)
- {
- TargetValue = target;
- }
- public override void Zero()
- {
- base.Zero();
- CurrentValue = TargetValue = Vector3.Zero;
- }
-
- // Compute the next step and return the new current value.
- // Returns the correction needed to move 'current' to 'target'.
- public virtual Vector3 Step(float timeStep)
- {
- if (!Enabled) return TargetValue;
-
- Vector3 origTarget = TargetValue; // DEBUG
- Vector3 origCurrVal = CurrentValue; // DEBUG
-
- Vector3 correction = Vector3.Zero;
- Vector3 error = TargetValue - CurrentValue;
- if (!ErrorIsZero(error))
- {
- correction = StepError(timeStep, error);
-
- CurrentValue += correction;
-
- // The desired value reduces to zero which also reduces the difference with current.
- // If the decay time is infinite, don't decay at all.
- float decayFactor = 0f;
- if (TargetValueDecayTimeScale != BSMotor.Infinite)
- {
- decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
- TargetValue *= (1f - decayFactor);
- }
-
- MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
- timeStep, error, correction);
- MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
- BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
- }
- else
- {
- // Difference between what we have and target is small. Motor is done.
- if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
- {
- // The target can step down to nearly zero but not get there. If close to zero
- // it is really zero.
- TargetValue = Vector3.Zero;
- }
- CurrentValue = TargetValue;
- MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
- }
- LastError = error;
-
- return correction;
- }
- // version of step that sets the current value before doing the step
- public virtual Vector3 Step(float timeStep, Vector3 current)
- {
- CurrentValue = current;
- return Step(timeStep);
- }
- // Given and error, computer a correction for this step.
- // Simple scaling of the error by the timestep.
- public virtual Vector3 StepError(float timeStep, Vector3 error)
- {
- if (!Enabled) return Vector3.Zero;
-
- Vector3 returnCorrection = Vector3.Zero;
- if (!ErrorIsZero(error))
- {
- // correction = error / secondsItShouldTakeToCorrect
- Vector3 correctionAmount;
- if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
- correctionAmount = error * timeStep;
- else
- correctionAmount = error / TimeScale * timeStep;
-
- returnCorrection = correctionAmount;
- MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
- BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
- }
- return returnCorrection;
- }
-
- // The user sets all the parameters and calls this which outputs values until error is zero.
- public override void GenerateTestOutput(float timeStep)
- {
- // maximum number of outputs to generate.
- int maxOutput = 50;
- MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
- MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
- BSScene.DetailLogZero, UseName,
- TimeScale, TargetValueDecayTimeScale, Efficiency,
- CurrentValue, TargetValue);
-
- LastError = BSMotor.InfiniteVector;
- while (maxOutput-- > 0 && !ErrorIsZero())
- {
- Vector3 lastStep = Step(timeStep);
- MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
- BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
- }
- MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-
-
- }
-
- public override string ToString()
- {
- return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
- UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
- }
-}
-
-// ============================================================================
-// ============================================================================
-public class BSFMotor : BSMotor
-{
- public virtual float TimeScale { get; set; }
- public virtual float TargetValueDecayTimeScale { get; set; }
- public virtual float Efficiency { get; set; }
-
- public virtual float ErrorZeroThreshold { get; set; }
-
- public virtual float TargetValue { get; protected set; }
- public virtual float CurrentValue { get; protected set; }
- public virtual float LastError { get; protected set; }
-
- public virtual bool ErrorIsZero()
- {
- return ErrorIsZero(LastError);
- }
- public virtual bool ErrorIsZero(float err)
- {
- return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
- }
-
- public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
- : base(useName)
- {
- TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
- Efficiency = 1f;
- CurrentValue = TargetValue = 0f;
- ErrorZeroThreshold = 0.01f;
- }
- public void SetCurrent(float current)
- {
- CurrentValue = current;
- }
- public void SetTarget(float target)
- {
- TargetValue = target;
- }
- public override void Zero()
- {
- base.Zero();
- CurrentValue = TargetValue = 0f;
- }
-
- public virtual float Step(float timeStep)
- {
- if (!Enabled) return TargetValue;
-
- float origTarget = TargetValue; // DEBUG
- float origCurrVal = CurrentValue; // DEBUG
-
- float correction = 0f;
- float error = TargetValue - CurrentValue;
- if (!ErrorIsZero(error))
- {
- correction = StepError(timeStep, error);
-
- CurrentValue += correction;
-
- // The desired value reduces to zero which also reduces the difference with current.
- // If the decay time is infinite, don't decay at all.
- float decayFactor = 0f;
- if (TargetValueDecayTimeScale != BSMotor.Infinite)
- {
- decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
- TargetValue *= (1f - decayFactor);
- }
-
- MDetailLog("{0}, BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
- timeStep, error, correction);
- MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
- BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
- }
- else
- {
- // Difference between what we have and target is small. Motor is done.
- if (Util.InRange(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
- {
- // The target can step down to nearly zero but not get there. If close to zero
- // it is really zero.
- TargetValue = 0f;
- }
- CurrentValue = TargetValue;
- MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
- }
- LastError = error;
-
- return CurrentValue;
- }
-
- public virtual float StepError(float timeStep, float error)
- {
- if (!Enabled) return 0f;
-
- float returnCorrection = 0f;
- if (!ErrorIsZero(error))
- {
- // correction = error / secondsItShouldTakeToCorrect
- float correctionAmount;
- if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
- correctionAmount = error * timeStep;
- else
- correctionAmount = error / TimeScale * timeStep;
-
- returnCorrection = correctionAmount;
- MDetailLog("{0}, BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
- BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
- }
- return returnCorrection;
- }
-
- public override string ToString()
- {
- return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
- UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
- }
-
-}
-
-// ============================================================================
-// ============================================================================
-// Proportional, Integral, Derivitive ("PID") Motor
-// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
-public class BSPIDVMotor : BSVMotor
-{
- // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
- public Vector3 proportionFactor { get; set; }
- public Vector3 integralFactor { get; set; }
- public Vector3 derivFactor { get; set; }
-
- // The factors are vectors for the three dimensions. This is the proportional of each
- // that is applied. This could be multiplied through the actual factors but it
- // is sometimes easier to manipulate the factors and their mix separately.
- public Vector3 FactorMix;
-
- // Arbritrary factor range.
- // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
- public float EfficiencyHigh = 0.4f;
- public float EfficiencyLow = 4.0f;
-
- // Running integration of the error
- Vector3 RunningIntegration { get; set; }
-
- public BSPIDVMotor(string useName)
- : base(useName)
- {
- proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
- integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
- derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
- FactorMix = new Vector3(0.5f, 0.25f, 0.25f);
- RunningIntegration = Vector3.Zero;
- LastError = Vector3.Zero;
- }
-
- public override void Zero()
- {
- base.Zero();
- }
-
- public override float Efficiency
- {
- get { return base.Efficiency; }
- set
- {
- base.Efficiency = Util.Clamp(value, 0f, 1f);
-
- // Compute factors based on efficiency.
- // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
- // If efficiency is low (0f), use a factor value that overcorrects.
- // TODO: might want to vary contribution of different factor depending on efficiency.
- // float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
- float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
-
- proportionFactor = new Vector3(factor, factor, factor);
- integralFactor = new Vector3(factor, factor, factor);
- derivFactor = new Vector3(factor, factor, factor);
-
- MDetailLog("{0}, BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
- }
- }
-
- // Advance the PID computation on this error.
- public override Vector3 StepError(float timeStep, Vector3 error)
- {
- if (!Enabled) return Vector3.Zero;
-
- // Add up the error so we can integrate over the accumulated errors
- RunningIntegration += error * timeStep;
-
- // A simple derivitive is the rate of change from the last error.
- Vector3 derivitive = (error - LastError) * timeStep;
-
- // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
- Vector3 ret = error / TimeScale * timeStep * proportionFactor * FactorMix.X
- + RunningIntegration / TimeScale * integralFactor * FactorMix.Y
- + derivitive / TimeScale * derivFactor * FactorMix.Z
- ;
-
- MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}",
- BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret);
-
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
deleted file mode 100755
index 6d46fe6..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ /dev/null
@@ -1,927 +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 copyrightD
- * 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.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OpenMetaverse;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public static class BSParam
-{
- private static string LogHeader = "[BULLETSIM PARAMETERS]";
-
- // Tuning notes:
- // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575
- // Contact points can be added even if the distance is positive. The constraint solver can deal with
- // contacts with positive distances as well as negative (penetration). Contact points are discarded
- // if the distance exceeds a certain threshold.
- // Bullet has a contact processing threshold and a contact breaking threshold.
- // If the distance is larger than the contact breaking threshold, it will be removed after one frame.
- // If the distance is larger than the contact processing threshold, the constraint solver will ignore it.
-
- // This is separate/independent from the collision margin. The collision margin increases the object a bit
- // to improve collision detection performance and accuracy.
- // ===================
- // From:
-
- ///
- /// Set whether physics is active or not.
- ///
- ///
- /// Can be enabled and disabled to start and stop physics.
- ///
- public static bool Active { get; private set; }
-
- public static bool UseSeparatePhysicsThread { get; private set; }
- public static float PhysicsTimeStep { get; private set; }
-
- // Level of Detail values kept as float because that's what the Meshmerizer wants
- public static float MeshLOD { get; private set; }
- public static float MeshCircularLOD { get; private set; }
- public static float MeshMegaPrimLOD { get; private set; }
- public static float MeshMegaPrimThreshold { get; private set; }
- public static float SculptLOD { get; private set; }
-
- public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
- public static float UpdateVelocityChangeThreshold { get; private set; }
-
- public static float MinimumObjectMass { get; private set; }
- public static float MaximumObjectMass { get; private set; }
- public static float MaxLinearVelocity { get; private set; }
- public static float MaxLinearVelocitySquared { get; private set; }
- public static float MaxAngularVelocity { get; private set; }
- public static float MaxAngularVelocitySquared { get; private set; }
- public static float MaxAddForceMagnitude { get; private set; }
- public static float MaxAddForceMagnitudeSquared { get; private set; }
- public static float DensityScaleFactor { get; private set; }
-
- public static float LinearDamping { get; private set; }
- public static float AngularDamping { get; private set; }
- public static float DeactivationTime { get; private set; }
- public static float LinearSleepingThreshold { get; private set; }
- public static float AngularSleepingThreshold { get; private set; }
- public static float CcdMotionThreshold { get; private set; }
- public static float CcdSweptSphereRadius { get; private set; }
- public static float ContactProcessingThreshold { get; private set; }
-
- public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
- public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
- public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
- public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
- public static bool ShouldUseBulletHACD { get; set; }
- public static bool ShouldUseSingleConvexHullForPrims { get; set; }
- public static bool ShouldUseGImpactShapeForPrims { get; set; }
- public static bool ShouldUseAssetHulls { get; set; }
-
- public static float TerrainImplementation { get; set; }
- public static int TerrainMeshMagnification { get; private set; }
- public static float TerrainGroundPlane { get; private set; }
- public static float TerrainFriction { get; private set; }
- public static float TerrainHitFraction { get; private set; }
- public static float TerrainRestitution { get; private set; }
- public static float TerrainContactProcessingThreshold { get; private set; }
- public static float TerrainCollisionMargin { get; private set; }
-
- public static float DefaultFriction { get; private set; }
- public static float DefaultDensity { get; private set; }
- public static float DefaultRestitution { get; private set; }
- public static float CollisionMargin { get; private set; }
- public static float Gravity { get; private set; }
-
- // Physics Engine operation
- public static float MaxPersistantManifoldPoolSize { get; private set; }
- public static float MaxCollisionAlgorithmPoolSize { get; private set; }
- public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
- public static bool ShouldForceUpdateAllAabbs { get; private set; }
- public static bool ShouldRandomizeSolverOrder { get; private set; }
- public static bool ShouldSplitSimulationIslands { get; private set; }
- public static bool ShouldEnableFrictionCaching { get; private set; }
- public static float NumberOfSolverIterations { get; private set; }
- public static bool UseSingleSidedMeshes { get; private set; }
- public static float GlobalContactBreakingThreshold { get; private set; }
- public static float PhysicsUnmanLoggingFrames { get; private set; }
-
- // Avatar parameters
- public static bool AvatarToAvatarCollisionsByDefault { get; private set; }
- public static float AvatarFriction { get; private set; }
- public static float AvatarStandingFriction { get; private set; }
- public static float AvatarAlwaysRunFactor { get; private set; }
- public static float AvatarDensity { get; private set; }
- public static float AvatarRestitution { get; private set; }
- public static int AvatarShape { get; private set; }
- public static float AvatarCapsuleWidth { get; private set; }
- public static float AvatarCapsuleDepth { get; private set; }
- public static float AvatarCapsuleHeight { get; private set; }
- public static float AvatarHeightLowFudge { get; private set; }
- public static float AvatarHeightMidFudge { get; private set; }
- public static float AvatarHeightHighFudge { get; private set; }
- public static float AvatarFlyingGroundMargin { get; private set; }
- public static float AvatarFlyingGroundUpForce { get; private set; }
- public static float AvatarTerminalVelocity { get; private set; }
- public static float AvatarContactProcessingThreshold { get; private set; }
- public static float AvatarStopZeroThreshold { get; private set; }
- public static int AvatarJumpFrames { get; private set; }
- public static float AvatarBelowGroundUpCorrectionMeters { get; private set; }
- public static float AvatarStepHeight { get; private set; }
- public static float AvatarStepAngle { get; private set; }
- public static float AvatarStepGroundFudge { get; private set; }
- public static float AvatarStepApproachFactor { get; private set; }
- public static float AvatarStepForceFactor { get; private set; }
- public static float AvatarStepUpCorrectionFactor { get; private set; }
- public static int AvatarStepSmoothingSteps { get; private set; }
-
- // Vehicle parameters
- public static float VehicleMaxLinearVelocity { get; private set; }
- public static float VehicleMaxLinearVelocitySquared { get; private set; }
- public static float VehicleMinLinearVelocity { get; private set; }
- public static float VehicleMinLinearVelocitySquared { get; private set; }
- public static float VehicleMaxAngularVelocity { get; private set; }
- public static float VehicleMaxAngularVelocitySq { get; private set; }
- public static float VehicleAngularDamping { get; private set; }
- public static float VehicleFriction { get; private set; }
- public static float VehicleRestitution { get; private set; }
- public static Vector3 VehicleLinearFactor { get; private set; }
- public static Vector3 VehicleAngularFactor { get; private set; }
- public static Vector3 VehicleInertiaFactor { get; private set; }
- public static float VehicleGroundGravityFudge { get; private set; }
- public static float VehicleAngularBankingTimescaleFudge { get; private set; }
- public static bool VehicleEnableLinearDeflection { get; private set; }
- public static bool VehicleLinearDeflectionNotCollidingNoZ { get; private set; }
- public static bool VehicleEnableAngularVerticalAttraction { get; private set; }
- public static int VehicleAngularVerticalAttractionAlgorithm { get; private set; }
- public static bool VehicleEnableAngularDeflection { get; private set; }
- public static bool VehicleEnableAngularBanking { get; private set; }
-
- // Convex Hulls
- // Parameters for convex hull routine that ships with Bullet
- public static int CSHullMaxDepthSplit { get; private set; }
- public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; }
- public static float CSHullConcavityThresholdPercent { get; private set; }
- public static float CSHullVolumeConservationThresholdPercent { get; private set; }
- public static int CSHullMaxVertices { get; private set; }
- public static float CSHullMaxSkinWidth { get; private set; }
- public static float BHullMaxVerticesPerHull { get; private set; } // 100
- public static float BHullMinClusters { get; private set; } // 2
- public static float BHullCompacityWeight { get; private set; } // 0.1
- public static float BHullVolumeWeight { get; private set; } // 0.0
- public static float BHullConcavity { get; private set; } // 100
- public static bool BHullAddExtraDistPoints { get; private set; } // false
- public static bool BHullAddNeighboursDistPoints { get; private set; } // false
- public static bool BHullAddFacesPoints { get; private set; } // false
- public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false
- public static float WhichHACD { get; private set; } // zero if Bullet HACD, non-zero says VHACD
- // Parameters for VHACD 2.0: http://code.google.com/p/v-hacd
- // To enable, set both ShouldUseBulletHACD=true and WhichHACD=1
- // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
- public static float VHACDresolution { get; private set; } // 100,000 max number of voxels generated during voxelization stage
- public static float VHACDdepth { get; private set; } // 20 max number of clipping stages
- public static float VHACDconcavity { get; private set; } // 0.0025 maximum concavity
- public static float VHACDplaneDownsampling { get; private set; } // 4 granularity of search for best clipping plane
- public static float VHACDconvexHullDownsampling { get; private set; } // 4 precision of hull gen process
- public static float VHACDalpha { get; private set; } // 0.05 bias toward clipping along symmetry planes
- public static float VHACDbeta { get; private set; } // 0.05 bias toward clipping along revolution axis
- public static float VHACDgamma { get; private set; } // 0.00125 max concavity when merging
- public static float VHACDpca { get; private set; } // 0 on/off normalizing mesh before decomp
- public static float VHACDmode { get; private set; } // 0 0:voxel based, 1: tetrahedron based
- public static float VHACDmaxNumVerticesPerCH { get; private set; } // 64 max triangles per convex hull
- public static float VHACDminVolumePerCH { get; private set; } // 0.0001 sampling of generated convex hulls
-
- // Linkset implementation parameters
- public static float LinksetImplementation { get; private set; }
- public static bool LinksetOffsetCenterOfMass { get; private set; }
- public static bool LinkConstraintUseFrameOffset { get; private set; }
- public static bool LinkConstraintEnableTransMotor { get; private set; }
- public static float LinkConstraintTransMotorMaxVel { get; private set; }
- public static float LinkConstraintTransMotorMaxForce { get; private set; }
- public static float LinkConstraintERP { get; private set; }
- public static float LinkConstraintCFM { get; private set; }
- public static float LinkConstraintSolverIterations { get; private set; }
-
- public static float PID_D { get; private set; } // derivative
- public static float PID_P { get; private set; } // proportional
-
- // Various constants that come from that other virtual world that shall not be named.
- public const float MinGravityZ = -1f;
- public const float MaxGravityZ = 28f;
- public const float MinFriction = 0f;
- public const float MaxFriction = 255f;
- public const float MinDensity = 0.01f;
- public const float MaxDensity = 22587f;
- public const float MinRestitution = 0f;
- public const float MaxRestitution = 1f;
-
- // =====================================================================================
- // =====================================================================================
-
- // Base parameter definition that gets and sets parameter values via a string
- public abstract class ParameterDefnBase
- {
- public string name; // string name of the parameter
- public string desc; // a short description of what the parameter means
- public ParameterDefnBase(string pName, string pDesc)
- {
- name = pName;
- desc = pDesc;
- }
- // Set the parameter value to the default
- public abstract void AssignDefault(BSScene s);
- // Get the value as a string
- public abstract string GetValue(BSScene s);
- // Set the value to this string value
- public abstract void SetValue(BSScene s, string valAsString);
- // set the value on a particular object (usually sets in physics engine)
- public abstract void SetOnObject(BSScene s, BSPhysObject obj);
- public abstract bool HasSetOnObject { get; }
- }
-
- // Specific parameter definition for a parameter of a specific type.
- public delegate T PGetValue(BSScene s);
- public delegate void PSetValue(BSScene s, T val);
- public delegate void PSetOnObject(BSScene scene, BSPhysObject obj);
- public sealed class ParameterDefn : ParameterDefnBase
- {
- private T defaultValue;
- private PSetValue setter;
- private PGetValue getter;
- private PSetOnObject objectSet;
- public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter)
- : base(pName, pDesc)
- {
- defaultValue = pDefault;
- setter = pSetter;
- getter = pGetter;
- objectSet = null;
- }
- public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter, PSetOnObject pObjSetter)
- : base(pName, pDesc)
- {
- defaultValue = pDefault;
- setter = pSetter;
- getter = pGetter;
- objectSet = pObjSetter;
- }
- // Simple parameter variable where property name is the same as the INI file name
- // and the value is only a simple get and set.
- public ParameterDefn(string pName, string pDesc, T pDefault)
- : base(pName, pDesc)
- {
- defaultValue = pDefault;
- setter = (s, v) => { SetValueByName(s, name, v); };
- getter = (s) => { return GetValueByName(s, name); };
- objectSet = null;
- }
- // Use reflection to find the property named 'pName' in BSParam and assign 'val' to same.
- private void SetValueByName(BSScene s, string pName, T val)
- {
- PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
- if (prop == null)
- {
- // This should only be output when someone adds a new INI parameter and misspells the name.
- s.Logger.ErrorFormat("{0} SetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameters name.", LogHeader, pName);
- }
- else
- {
- prop.SetValue(null, val, null);
- }
- }
- // Use reflection to find the property named 'pName' in BSParam and return the value in same.
- private T GetValueByName(BSScene s, string pName)
- {
- PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
- if (prop == null)
- {
- // This should only be output when someone adds a new INI parameter and misspells the name.
- s.Logger.ErrorFormat("{0} GetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameter name.", LogHeader, pName);
- }
- return (T)prop.GetValue(null, null);
- }
- public override void AssignDefault(BSScene s)
- {
- setter(s, defaultValue);
- }
- public override string GetValue(BSScene s)
- {
- return getter(s).ToString();
- }
- public override void SetValue(BSScene s, string valAsString)
- {
- // Get the generic type of the setter
- Type genericType = setter.GetType().GetGenericArguments()[0];
- // Find the 'Parse' method on that type
- System.Reflection.MethodInfo parser = null;
- try
- {
- parser = genericType.GetMethod("Parse", new Type[] { typeof(String) } );
- }
- catch (Exception e)
- {
- s.Logger.ErrorFormat("{0} Exception getting parser for type '{1}': {2}", LogHeader, genericType, e);
- parser = null;
- }
- if (parser != null)
- {
- // Parse the input string
- try
- {
- T setValue = (T)parser.Invoke(genericType, new Object[] { valAsString });
- // Store the parsed value
- setter(s, setValue);
- // s.Logger.DebugFormat("{0} Parameter {1} = {2}", LogHeader, name, setValue);
- }
- catch
- {
- s.Logger.ErrorFormat("{0} Failed parsing parameter value '{1}' as type '{2}'", LogHeader, valAsString, genericType);
- }
- }
- else
- {
- s.Logger.ErrorFormat("{0} Could not find parameter parser for type '{1}'", LogHeader, genericType);
- }
- }
- public override bool HasSetOnObject
- {
- get { return objectSet != null; }
- }
- public override void SetOnObject(BSScene s, BSPhysObject obj)
- {
- if (objectSet != null)
- objectSet(s, obj);
- }
- }
-
- // List of all of the externally visible parameters.
- // For each parameter, this table maps a text name to getter and setters.
- // To add a new externally referencable/settable parameter, add the paramter storage
- // location somewhere in the program and make an entry in this table with the
- // getters and setters.
- // It is easiest to find an existing definition and copy it.
- //
- // A ParameterDefn() takes the following parameters:
- // -- the text name of the parameter. This is used for console input and ini file.
- // -- a short text description of the parameter. This shows up in the console listing.
- // -- a default value
- // -- a delegate for getting the value
- // -- a delegate for setting the value
- // -- an optional delegate to update the value in the world. Most often used to
- // push the new value to an in-world object.
- //
- // The single letter parameters for the delegates are:
- // s = BSScene
- // o = BSPhysObject
- // v = value (appropriate type)
- private static ParameterDefnBase[] ParameterDefinitions =
- {
- new ParameterDefn("Active", "If 'true', false then physics is not active",
- false ),
- new ParameterDefn("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat",
- false ),
- new ParameterDefn("PhysicsTimeStep", "If separate thread, seconds to simulate each interval",
- 0.089f ),
-
- new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
- true,
- (s) => { return ShouldMeshSculptedPrim; },
- (s,v) => { ShouldMeshSculptedPrim = v; } ),
- new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
- false,
- (s) => { return ShouldForceSimplePrimMeshing; },
- (s,v) => { ShouldForceSimplePrimMeshing = v; } ),
- new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
- true,
- (s) => { return ShouldUseHullsForPhysicalObjects; },
- (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ),
- new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes",
- true ),
- new ParameterDefn("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
- false ),
- new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
- true ),
- new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists",
- false ),
- new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info",
- true ),
-
- new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
- 5 ),
- new ParameterDefn("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
- 0.1f ),
-
- new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
- 32f,
- (s) => { return MeshLOD; },
- (s,v) => { MeshLOD = v; } ),
- new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes",
- 32f,
- (s) => { return MeshCircularLOD; },
- (s,v) => { MeshCircularLOD = v; } ),
- new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
- 10f,
- (s) => { return MeshMegaPrimThreshold; },
- (s,v) => { MeshMegaPrimThreshold = v; } ),
- new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
- 32f,
- (s) => { return MeshMegaPrimLOD; },
- (s,v) => { MeshMegaPrimLOD = v; } ),
- new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
- 32f,
- (s) => { return SculptLOD; },
- (s,v) => { SculptLOD = v; } ),
-
- new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
- 10,
- (s) => { return s.m_maxSubSteps; },
- (s,v) => { s.m_maxSubSteps = (int)v; } ),
- new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
- 1f / 60f,
- (s) => { return s.m_fixedTimeStep; },
- (s,v) => { s.m_fixedTimeStep = v; } ),
- new ParameterDefn("NominalFrameRate", "The base frame rate we claim",
- 55f,
- (s) => { return s.NominalFrameRate; },
- (s,v) => { s.NominalFrameRate = (int)v; } ),
- new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
- 2048,
- (s) => { return s.m_maxCollisionsPerFrame; },
- (s,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
- new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
- 8000,
- (s) => { return s.m_maxUpdatesPerFrame; },
- (s,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
-
- new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
- 0.0001f,
- (s) => { return MinimumObjectMass; },
- (s,v) => { MinimumObjectMass = v; } ),
- new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
- 10000.01f,
- (s) => { return MaximumObjectMass; },
- (s,v) => { MaximumObjectMass = v; } ),
- new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
- 1000.0f,
- (s) => { return MaxLinearVelocity; },
- (s,v) => { MaxLinearVelocity = v; MaxLinearVelocitySquared = v * v; } ),
- new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
- 1000.0f,
- (s) => { return MaxAngularVelocity; },
- (s,v) => { MaxAngularVelocity = v; MaxAngularVelocitySquared = v * v; } ),
- // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
- new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
- 20000.0f,
- (s) => { return MaxAddForceMagnitude; },
- (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
- // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
- // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
- new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
- 0.01f ),
-
- new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
- 2200f ),
- new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
- 900f ),
-
- new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
- 0.2f,
- (s) => { return DefaultFriction; },
- (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
- // For historical reasons, the viewer and simulator multiply the density by 100
- new ParameterDefn("DefaultDensity", "Density for new objects" ,
- 1000.0006836f, // Aluminum g/cm3 * 100
- (s) => { return DefaultDensity; },
- (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
- new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
- 0f,
- (s) => { return DefaultRestitution; },
- (s,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ),
- new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
- 0.04f,
- (s) => { return CollisionMargin; },
- (s,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ),
- new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
- -9.80665f,
- (s) => { return Gravity; },
- (s,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; },
- (s,o) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,Gravity)); } ),
-
-
- new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
- 0f,
- (s) => { return LinearDamping; },
- (s,v) => { LinearDamping = v; },
- (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
- new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
- 0f,
- (s) => { return AngularDamping; },
- (s,v) => { AngularDamping = v; },
- (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
- new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
- 0.2f,
- (s) => { return DeactivationTime; },
- (s,v) => { DeactivationTime = v; },
- (s,o) => { s.PE.SetDeactivationTime(o.PhysBody, DeactivationTime); } ),
- new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
- 0.8f,
- (s) => { return LinearSleepingThreshold; },
- (s,v) => { LinearSleepingThreshold = v;},
- (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
- new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
- 1.0f,
- (s) => { return AngularSleepingThreshold; },
- (s,v) => { AngularSleepingThreshold = v;},
- (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
- new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
- 0.0f, // set to zero to disable
- (s) => { return CcdMotionThreshold; },
- (s,v) => { CcdMotionThreshold = v;},
- (s,o) => { s.PE.SetCcdMotionThreshold(o.PhysBody, CcdMotionThreshold); } ),
- new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
- 0.2f,
- (s) => { return CcdSweptSphereRadius; },
- (s,v) => { CcdSweptSphereRadius = v;},
- (s,o) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, CcdSweptSphereRadius); } ),
- new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" ,
- 0.0f,
- (s) => { return ContactProcessingThreshold; },
- (s,v) => { ContactProcessingThreshold = v;},
- (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ),
-
- new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
- (float)BSTerrainPhys.TerrainImplementation.Heightmap ),
- new ParameterDefn("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
- 2 ),
- new ParameterDefn("TerrainGroundPlane", "Altitude of ground plane used to keep things from falling to infinity" ,
- -500.0f ),
- new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
- 0.3f ),
- new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
- 0.8f ),
- new ParameterDefn("TerrainRestitution", "Bouncyness" ,
- 0f ),
- new ParameterDefn("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" ,
- 0.0f ),
- new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
- 0.04f ),
-
- new ParameterDefn("AvatarToAvatarCollisionsByDefault", "Should avatars collide with other avatars by default?",
- true),
- new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
- 0.2f ),
- new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
- 0.95f ),
- new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
- 1.3f ),
- // For historical reasons, density is reported * 100
- new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
- 3500f) , // 3.5 * 100
- new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
- 0f ),
- new ParameterDefn("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh",
- BSShapeCollection.AvatarShapeCube ) ,
- new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
- 0.6f ) ,
- new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
- 0.45f ),
- new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
- 1.5f ),
- new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground",
- 0f ),
- new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground",
- 0f ),
- new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground",
- 0f ),
- new ParameterDefn("AvatarFlyingGroundMargin", "Meters avatar is kept above the ground when flying",
- 5f ),
- new ParameterDefn("AvatarFlyingGroundUpForce", "Upward force applied to the avatar to keep it at flying ground margin",
- 2.0f ),
- new ParameterDefn("AvatarTerminalVelocity", "Terminal Velocity of falling avatar",
- -54.0f ),
- new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
- 0.1f ),
- new ParameterDefn("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
- 0.1f ),
- new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
- 1.0f ),
- new ParameterDefn("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.",
- 4 ),
- new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction",
- 0.999f ) ,
- new ParameterDefn("AvatarStepAngle", "The angle (in radians) for a vertical surface to be considered a step",
- 0.3f ) ,
- new ParameterDefn("AvatarStepGroundFudge", "Fudge factor subtracted from avatar base when comparing collision height",
- 0.1f ) ,
- new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
- 2f ),
- new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
- 0f ),
- new ParameterDefn("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
- 0.8f ),
- new ParameterDefn("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
- 1 ),
-
- new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
- 1000.0f,
- (s) => { return (float)VehicleMaxLinearVelocity; },
- (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ),
- new ParameterDefn("VehicleMinLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
- 0.001f,
- (s) => { return (float)VehicleMinLinearVelocity; },
- (s,v) => { VehicleMinLinearVelocity = v; VehicleMinLinearVelocitySquared = v * v; } ),
- new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
- 12.0f,
- (s) => { return (float)VehicleMaxAngularVelocity; },
- (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
- new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
- 0.0f ),
- new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)",
- new Vector3(1f, 1f, 1f) ),
- new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)",
- new Vector3(1f, 1f, 1f) ),
- new ParameterDefn("VehicleInertiaFactor", "Fraction of physical inertia applied (<0,0,0> to <1,1,1>)",
- new Vector3(1f, 1f, 1f) ),
- new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
- 0.0f ),
- new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
- 0.0f ),
- new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
- 0.2f ),
- new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
- 60.0f ),
- new ParameterDefn("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
- true ),
- new ParameterDefn("VehicleLinearDeflectionNotCollidingNoZ", "Turn on/off linear deflection Z effect on non-colliding vehicles",
- true ),
- new ParameterDefn("VehicleEnableAngularVerticalAttraction", "Turn on/off vehicle angular vertical attraction effect",
- true ),
- new ParameterDefn("VehicleAngularVerticalAttractionAlgorithm", "Select vertical attraction algo. You need to look at the source.",
- 0 ),
- new ParameterDefn("VehicleEnableAngularDeflection", "Turn on/off vehicle angular deflection effect",
- true ),
- new ParameterDefn("VehicleEnableAngularBanking", "Turn on/off vehicle angular banking effect",
- true ),
-
- new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
- 0f,
- (s) => { return MaxPersistantManifoldPoolSize; },
- (s,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
- new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
- 0f,
- (s) => { return MaxCollisionAlgorithmPoolSize; },
- (s,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
- new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
- false,
- (s) => { return ShouldDisableContactPoolDynamicAllocation; },
- (s,v) => { ShouldDisableContactPoolDynamicAllocation = v;
- s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ),
- new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
- false,
- (s) => { return ShouldForceUpdateAllAabbs; },
- (s,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = NumericBool(v); } ),
- new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
- true,
- (s) => { return ShouldRandomizeSolverOrder; },
- (s,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = NumericBool(v); } ),
- new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
- true,
- (s) => { return ShouldSplitSimulationIslands; },
- (s,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = NumericBool(v); } ),
- new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
- true,
- (s) => { return ShouldEnableFrictionCaching; },
- (s,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = NumericBool(v); } ),
- new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
- 0f, // zero says use Bullet default
- (s) => { return NumberOfSolverIterations; },
- (s,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
- new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.",
- true,
- (s) => { return UseSingleSidedMeshes; },
- (s,v) => { UseSingleSidedMeshes = v; s.UnmanagedParams[0].useSingleSidedMeshes = NumericBool(v); } ),
- new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
- 0f,
- (s) => { return GlobalContactBreakingThreshold; },
- (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
- new ParameterDefn("PhysicsUnmanLoggingFrames", "If non-zero, frames between output of detailed unmanaged physics statistics",
- 0f,
- (s) => { return PhysicsUnmanLoggingFrames; },
- (s,v) => { PhysicsUnmanLoggingFrames = v; s.UnmanagedParams[0].physicsLoggingFrames = v; } ),
-
- new ParameterDefn("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy",
- 7 ),
- new ParameterDefn("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes",
- 2 ),
- new ParameterDefn("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)",
- 5f ),
- new ParameterDefn("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)",
- 5f ),
- new ParameterDefn("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.",
- 32 ),
- new ParameterDefn("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
- 0f ),
-
- new ParameterDefn("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
- 200f ),
- new ParameterDefn("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
- 10f ),
- new ParameterDefn("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
- 20f ),
- new ParameterDefn("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
- 0.1f ),
- new ParameterDefn("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
- 10f ),
- new ParameterDefn("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
- true ),
- new ParameterDefn("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
- true ),
- new ParameterDefn("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
- true ),
- new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
- false ),
-
- new ParameterDefn("WhichHACD", "zero if Bullet HACD, non-zero says VHACD",
- 0f ),
- new ParameterDefn("VHACDresolution", "max number of voxels generated during voxelization stage",
- 100000f ),
- new ParameterDefn("VHACDdepth", "max number of clipping stages",
- 20f ),
- new ParameterDefn("VHACDconcavity", "maximum concavity",
- 0.0025f ),
- new ParameterDefn("VHACDplaneDownsampling", "granularity of search for best clipping plane",
- 4f ),
- new ParameterDefn("VHACDconvexHullDownsampling", "precision of hull gen process",
- 4f ),
- new ParameterDefn("VHACDalpha", "bias toward clipping along symmetry planes",
- 0.05f ),
- new ParameterDefn("VHACDbeta", "bias toward clipping along revolution axis",
- 0.05f ),
- new ParameterDefn("VHACDgamma", "max concavity when merging",
- 0.00125f ),
- new ParameterDefn("VHACDpca", "on/off normalizing mesh before decomp",
- 0f ),
- new ParameterDefn("VHACDmode", "0:voxel based, 1: tetrahedron based",
- 0f ),
- new ParameterDefn("VHACDmaxNumVerticesPerCH", "max triangles per convex hull",
- 64f ),
- new ParameterDefn("VHACDminVolumePerCH", "sampling of generated convex hulls",
- 0.0001f ),
-
- new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
- (float)BSLinkset.LinksetImplementation.Compound ),
- new ParameterDefn("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",
- true ),
- new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
- false ),
- new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
- true ),
- new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
- 5.0f ),
- new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
- 0.1f ),
- new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
- 0.1f ),
- new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
- 0.1f ),
- new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
- 40 ),
-
- new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
- 0,
- (s) => { return s.PhysicsMetricDumpFrames; },
- (s,v) => { s.PhysicsMetricDumpFrames = v; } ),
- new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
- 0f,
- (s) => { return 0f; },
- (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ),
- new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
- 0f,
- (s) => { return 0f; },
- (s,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ),
- };
-
- // Convert a boolean to our numeric true and false values
- public static float NumericBool(bool b)
- {
- return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
- }
-
- // Convert numeric true and false values to a boolean
- public static bool BoolNumeric(float b)
- {
- return (b == ConfigurationParameters.numericTrue ? true : false);
- }
-
- // Search through the parameter definitions and return the matching
- // ParameterDefn structure.
- // Case does not matter as names are compared after converting to lower case.
- // Returns 'false' if the parameter is not found.
- internal static bool TryGetParameter(string paramName, out ParameterDefnBase defn)
- {
- bool ret = false;
- ParameterDefnBase foundDefn = null;
- string pName = paramName.ToLower();
-
- foreach (ParameterDefnBase parm in ParameterDefinitions)
- {
- if (pName == parm.name.ToLower())
- {
- foundDefn = parm;
- ret = true;
- break;
- }
- }
- defn = foundDefn;
- return ret;
- }
-
- // Pass through the settable parameters and set the default values
- internal static void SetParameterDefaultValues(BSScene physicsScene)
- {
- foreach (ParameterDefnBase parm in ParameterDefinitions)
- {
- parm.AssignDefault(physicsScene);
- }
- }
-
- // Get user set values out of the ini file.
- internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
- {
- foreach (ParameterDefnBase parm in ParameterDefinitions)
- {
- parm.SetValue(physicsScene, cfg.GetString(parm.name, parm.GetValue(physicsScene)));
- }
- }
-
- internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
- // This creates an array in the correct format for returning the list of
- // parameters. This is used by the 'list' option of the 'physics' command.
- internal static void BuildParameterTable()
- {
- if (SettableParameters.Length < ParameterDefinitions.Length)
- {
- List entries = new List();
- for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
- {
- ParameterDefnBase pd = ParameterDefinitions[ii];
- entries.Add(new PhysParameterEntry(pd.name, pd.desc));
- }
-
- // make the list alphabetical for ease of finding anything
- entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
-
- SettableParameters = entries.ToArray();
- }
- }
-
- // =====================================================================
- // =====================================================================
- // There are parameters that, when set, cause things to happen in the physics engine.
- // This causes the broadphase collision cache to be cleared.
- private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime)
- {
- BSScene physScene = pPhysScene;
- physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate()
- {
- physScene.PE.ResetBroadphasePool(physScene.World);
- });
- }
-
- // This causes the constraint solver cache to be cleared and reset.
- private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
- {
- BSScene physScene = pPhysScene;
- physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetConstraintSolver", delegate()
- {
- physScene.PE.ResetConstraintSolver(physScene.World);
- });
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
deleted file mode 100755
index 90da7a6..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ /dev/null
@@ -1,620 +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 copyrightD
- * 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.Text;
-
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-/*
- * Class to wrap all objects.
- * The rest of BulletSim doesn't need to keep checking for avatars or prims
- * unless the difference is significant.
- *
- * Variables in the physicsl objects are in three forms:
- * VariableName: used by the simulator and performs taint operations, etc
- * RawVariableName: direct reference to the BulletSim storage for the variable value
- * ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
- * The last one should only be referenced in taint-time.
- */
-
-/*
- * As of 20121221, the following are the call sequences (going down) for different script physical functions:
- * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce
- * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce
- * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse
- * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque
- */
-
-// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
-public enum UpdatedProperties : uint
-{
- Position = 1 << 0,
- Orientation = 1 << 1,
- Velocity = 1 << 2,
- Acceleration = 1 << 3,
- RotationalVelocity = 1 << 4,
- EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
-}
-public abstract class BSPhysObject : PhysicsActor
-{
- protected BSPhysObject()
- {
- }
- protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
- {
- IsInitialized = false;
-
- PhysScene = parentScene;
- LocalID = localID;
- PhysObjectName = name;
- Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
- TypeName = typeName;
-
- // Oddity if object is destroyed and recreated very quickly it could still have the old body.
- if (!PhysBody.HasPhysicalBody)
- PhysBody = new BulletBody(localID);
-
- // Clean out anything that might be in the physical actor list.
- // Again, a workaround for destroying and recreating an object very quickly.
- PhysicalActors.Dispose();
-
- UserSetCenterOfMassDisplacement = null;
-
- PrimAssetState = PrimAssetCondition.Unknown;
-
- // Initialize variables kept in base.
- // Beware that these cause taints to be queued whch can cause race conditions on startup.
- GravModifier = 1.0f;
- Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
- HoverActive = false;
-
- // Default material type. Also sets Friction, Restitution and Density.
- SetMaterial((int)MaterialAttributes.Material.Wood);
-
- CollisionsLastTickStep = -1;
-
- SubscribedEventsMs = 0;
- // Crazy values that will never be true
- CollidingStep = BSScene.NotASimulationStep;
- CollidingGroundStep = BSScene.NotASimulationStep;
- CollisionAccumulation = BSScene.NotASimulationStep;
- ColliderIsMoving = false;
- CollisionScore = 0;
-
- // All axis free.
- LockedLinearAxis = LockedAxisFree;
- LockedAngularAxis = LockedAxisFree;
- }
-
- // Tell the object to clean up.
- public virtual void Destroy()
- {
- PhysicalActors.Enable(false);
- PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate()
- {
- PhysicalActors.Dispose();
- });
- }
-
- public BSScene PhysScene { get; protected set; }
- // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
- public string PhysObjectName { get; protected set; }
- public string TypeName { get; protected set; }
-
- // Set to 'true' when the object is completely initialized.
- // This mostly prevents property updates and collisions until the object is completely here.
- public bool IsInitialized { get; protected set; }
-
- // Set to 'true' if an object (mesh/linkset/sculpty) is not completely constructed.
- // This test is used to prevent some updates to the object when it only partially exists.
- // There are several reasons and object might be incomplete:
- // Its underlying mesh/sculpty is an asset which must be fetched from the asset store
- // It is a linkset who is being added to or removed from
- // It is changing state (static to physical, for instance) which requires rebuilding
- // This is a computed value based on the underlying physical object construction
- abstract public bool IsIncomplete { get; }
-
- // Return the object mass without calculating it or having side effects
- public abstract float RawMass { get; }
- // Set the raw mass but also update physical mass properties (inertia, ...)
- // 'inWorld' true if the object has already been added to the dynamic world.
- public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
-
- // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
- public virtual OMV.Vector3 Gravity { get; set; }
- // The last value calculated for the prim's inertia
- public OMV.Vector3 Inertia { get; set; }
-
- // Reference to the physical body (btCollisionObject) of this object
- public BulletBody PhysBody = new BulletBody(0);
- // Reference to the physical shape (btCollisionShape) of this object
- public BSShape PhysShape = new BSShapeNull();
-
- // The physical representation of the prim might require an asset fetch.
- // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
- public enum PrimAssetCondition
- {
- Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched
- }
- public PrimAssetCondition PrimAssetState { get; set; }
- public virtual bool AssetFailed()
- {
- return ( (this.PrimAssetState == PrimAssetCondition.FailedAssetFetch)
- || (this.PrimAssetState == PrimAssetCondition.FailedMeshing) );
- }
-
- // The objects base shape information. Null if not a prim type shape.
- public PrimitiveBaseShape BaseShape { get; protected set; }
-
- // When the physical properties are updated, an EntityProperty holds the update values.
- // Keep the current and last EntityProperties to enable computation of differences
- // between the current update and the previous values.
- public EntityProperties CurrentEntityProperties { get; set; }
- public EntityProperties LastEntityProperties { get; set; }
-
- public virtual OMV.Vector3 Scale { get; set; }
-
- // It can be confusing for an actor to know if it should move or update an object
- // depeneding on the setting of 'selected', 'physical, ...
- // This flag is the true test -- if true, the object is being acted on in the physical world
- public abstract bool IsPhysicallyActive { get; }
-
- // Detailed state of the object.
- public abstract bool IsSolid { get; }
- public abstract bool IsStatic { get; }
- public abstract bool IsSelected { get; }
- public abstract bool IsVolumeDetect { get; }
-
- // Materialness
- public MaterialAttributes.Material Material { get; private set; }
- public override void SetMaterial(int material)
- {
- Material = (MaterialAttributes.Material)material;
-
- // Setting the material sets the material attributes also.
- // TODO: decide if this is necessary -- the simulator does this.
- MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
- Friction = matAttrib.friction;
- Restitution = matAttrib.restitution;
- Density = matAttrib.density;
- // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
- }
-
- public override float Density
- {
- get
- {
- return base.Density;
- }
- set
- {
- DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
- base.Density = value;
- }
- }
-
- // Stop all physical motion.
- public abstract void ZeroMotion(bool inTaintTime);
- public abstract void ZeroAngularMotion(bool inTaintTime);
-
- // Update the physical location and motion of the object. Called with data from Bullet.
- public abstract void UpdateProperties(EntityProperties entprop);
-
- public virtual OMV.Vector3 RawPosition { get; set; }
- public abstract OMV.Vector3 ForcePosition { get; set; }
-
- public virtual OMV.Quaternion RawOrientation { get; set; }
- public abstract OMV.Quaternion ForceOrientation { get; set; }
-
- public virtual OMV.Vector3 RawVelocity { get; set; }
- public abstract OMV.Vector3 ForceVelocity { get; set; }
-
- public OMV.Vector3 RawForce { get; set; }
- public OMV.Vector3 RawTorque { get; set; }
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
- {
- AddAngularForce(force, pushforce, false);
- }
- public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
- public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
-
- public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
-
- public abstract float ForceBuoyancy { get; set; }
-
- public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
-
- public override bool PIDActive
- {
- get { return MoveToTargetActive; }
- set { MoveToTargetActive = value; }
- }
-
- public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } }
- public override float PIDTau { set { MoveToTargetTau = value; } }
-
- public bool MoveToTargetActive { get; set; }
- public OMV.Vector3 MoveToTargetTarget { get; set; }
- public float MoveToTargetTau { get; set; }
-
- // Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z
- public override bool PIDHoverActive { set { HoverActive = value; } }
- public override float PIDHoverHeight { set { HoverHeight = value; } }
- public override PIDHoverType PIDHoverType { set { HoverType = value; } }
- public override float PIDHoverTau { set { HoverTau = value; } }
-
- public bool HoverActive { get; set; }
- public float HoverHeight { get; set; }
- public PIDHoverType HoverType { get; set; }
- public float HoverTau { get; set; }
-
- // For RotLookAt
- public override OMV.Quaternion APIDTarget { set { return; } }
- public override bool APIDActive { set { return; } }
- public override float APIDStrength { set { return; } }
- public override float APIDDamping { set { return; } }
-
- // The current velocity forward
- public virtual float ForwardSpeed
- {
- get
- {
- OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
- return characterOrientedVelocity.X;
- }
- }
- // The forward speed we are trying to achieve (TargetVelocity)
- public virtual float TargetVelocitySpeed
- {
- get
- {
- OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
- return characterOrientedVelocity.X;
- }
- }
-
- // The user can optionally set the center of mass. The user's setting will override any
- // computed center-of-mass (like in linksets).
- // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
- public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
-
- public OMV.Vector3 LockedLinearAxis; // zero means locked. one means free.
- public OMV.Vector3 LockedAngularAxis; // zero means locked. one means free.
- public const float FreeAxis = 1f;
- public const float LockedAxis = 0f;
- public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free
-
- // If an axis is locked (flagged above) then the limits of that axis are specified here.
- // Linear axis limits are relative to the object's starting coordinates.
- // Angular limits are limited to -PI to +PI
- public OMV.Vector3 LockedLinearAxisLow;
- public OMV.Vector3 LockedLinearAxisHigh;
- public OMV.Vector3 LockedAngularAxisLow;
- public OMV.Vector3 LockedAngularAxisHigh;
-
- // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
- // they need waking up when parameters are changed.
- // Called in taint-time!!
- public void ActivateIfPhysical(bool forceIt)
- {
- if (PhysBody.HasPhysicalBody)
- {
- if (IsPhysical)
- {
- // Physical objects might need activating
- PhysScene.PE.Activate(PhysBody, forceIt);
- }
- else
- {
- // Clear the collision cache since we've changed some properties.
- PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody);
- }
- }
- }
-
- // 'actors' act on the physical object to change or constrain its motion. These can range from
- // hovering to complex vehicle motion.
- // May be called at non-taint time as this just adds the actor to the action list and the real
- // work is done during the simulation step.
- // Note that, if the actor is already in the list and we are disabling same, the actor is just left
- // in the list disabled.
- public delegate BSActor CreateActor();
- public void EnableActor(bool enableActor, string actorName, CreateActor creator)
- {
- lock (PhysicalActors)
- {
- BSActor theActor;
- if (PhysicalActors.TryGetActor(actorName, out theActor))
- {
- // The actor already exists so just turn it on or off
- DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor);
- theActor.Enabled = enableActor;
- }
- else
- {
- // The actor does not exist. If it should, create it.
- if (enableActor)
- {
- DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName);
- theActor = creator();
- PhysicalActors.Add(actorName, theActor);
- theActor.Enabled = true;
- }
- else
- {
- DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName);
- }
- }
- }
- }
-
- #region Collisions
-
- // Requested number of milliseconds between collision events. Zero means disabled.
- protected int SubscribedEventsMs { get; set; }
- // Given subscription, the time that a collision may be passed up
- protected int NextCollisionOkTime { get; set; }
- // The simulation step that last had a collision
- protected long CollidingStep { get; set; }
- // The simulation step that last had a collision with the ground
- protected long CollidingGroundStep { get; set; }
- // The simulation step that last collided with an object
- protected long CollidingObjectStep { get; set; }
- // The collision flags we think are set in Bullet
- protected CollisionFlags CurrentCollisionFlags { get; set; }
- // On a collision, check the collider and remember if the last collider was moving
- // Used to modify the standing of avatars (avatars on stationary things stand still)
- public bool ColliderIsMoving;
- // 'true' if the last collider was a volume detect object
- public bool ColliderIsVolumeDetect;
- // Used by BSCharacter to manage standing (and not slipping)
- public bool IsStationary;
-
- // Count of collisions for this object
- protected long CollisionAccumulation { get; set; }
-
- public override bool IsColliding {
- get { return (CollidingStep == PhysScene.SimulationStep); }
- set {
- if (value)
- CollidingStep = PhysScene.SimulationStep;
- else
- CollidingStep = BSScene.NotASimulationStep;
- }
- }
- // Complex objects (like linksets) need to know if there is a collision on any part of
- // their shape. 'IsColliding' has an existing definition of reporting a collision on
- // only this specific prim or component of linksets.
- // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
- // the complex body that this prim is the root of.
- public virtual bool HasSomeCollision
- {
- get { return IsColliding; }
- set { IsColliding = value; }
- }
- public override bool CollidingGround {
- get { return (CollidingGroundStep == PhysScene.SimulationStep); }
- set
- {
- if (value)
- CollidingGroundStep = PhysScene.SimulationStep;
- else
- CollidingGroundStep = BSScene.NotASimulationStep;
- }
- }
- public override bool CollidingObj {
- get { return (CollidingObjectStep == PhysScene.SimulationStep); }
- set {
- if (value)
- CollidingObjectStep = PhysScene.SimulationStep;
- else
- CollidingObjectStep = BSScene.NotASimulationStep;
- }
- }
-
- // The collisions that have been collected for the next collision reporting (throttled by subscription)
- protected CollisionEventUpdate CollisionCollection = new CollisionEventUpdate();
- // This is the collision collection last reported to the Simulator.
- public CollisionEventUpdate CollisionsLastReported = new CollisionEventUpdate();
- // Remember the collisions recorded in the last tick for fancy collision checking
- // (like a BSCharacter walking up stairs).
- public CollisionEventUpdate CollisionsLastTick = new CollisionEventUpdate();
- private long CollisionsLastTickStep = -1;
-
- // The simulation step is telling this object about a collision.
- // Return 'true' if a collision was processed and should be sent up.
- // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
- // Called at taint time from within the Step() function
- public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
- public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
- OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
- {
- bool ret = false;
-
- // The following lines make IsColliding(), CollidingGround() and CollidingObj work
- CollidingStep = PhysScene.SimulationStep;
- if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID)
- {
- CollidingGroundStep = PhysScene.SimulationStep;
- }
- else
- {
- CollidingObjectStep = PhysScene.SimulationStep;
- }
-
- CollisionAccumulation++;
-
- // For movement tests, remember if we are colliding with an object that is moving.
- ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
- ColliderIsVolumeDetect = collidee != null ? (collidee.IsVolumeDetect) : false;
-
- // Make a collection of the collisions that happened the last simulation tick.
- // This is different than the collection created for sending up to the simulator as it is cleared every tick.
- if (CollisionsLastTickStep != PhysScene.SimulationStep)
- {
- CollisionsLastTick = new CollisionEventUpdate();
- CollisionsLastTickStep = PhysScene.SimulationStep;
- }
- CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-
- // If someone has subscribed for collision events log the collision so it will be reported up
- if (SubscribedEvents()) {
- lock (PhysScene.CollisionLock)
- {
- CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
- }
- DetailLog("{0},{1}.Collision.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
- LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
-
- ret = true;
- }
- return ret;
- }
-
- // Send the collected collisions into the simulator.
- // Called at taint time from within the Step() function thus no locking problems
- // with CollisionCollection and ObjectsWithNoMoreCollisions.
- // Called with BSScene.CollisionLock locked to protect the collision lists.
- // Return 'true' if there were some actual collisions passed up
- public virtual bool SendCollisions()
- {
- bool ret = true;
-
- // If no collisions this call but there were collisions last call, force the collision
- // event to be happen right now so quick collision_end.
- bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
-
- // throttle the collisions to the number of milliseconds specified in the subscription
- if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime))
- {
- NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs;
-
- // We are called if we previously had collisions. If there are no collisions
- // this time, send up one last empty event so OpenSim can sense collision end.
- if (CollisionCollection.Count == 0)
- {
- // If I have no collisions this time, remove me from the list of objects with collisions.
- ret = false;
- }
-
- DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
- base.SendCollisionUpdate(CollisionCollection);
-
- // Remember the collisions from this tick for some collision specific processing.
- CollisionsLastReported = CollisionCollection;
-
- // The CollisionCollection instance is passed around in the simulator.
- // Make sure we don't have a handle to that one and that a new one is used for next time.
- // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
- // a race condition is created for the other users of this instance.
- CollisionCollection = new CollisionEventUpdate();
- }
- return ret;
- }
-
- // Subscribe for collision events.
- // Parameter is the millisecond rate the caller wishes collision events to occur.
- public override void SubscribeEvents(int ms) {
- // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
- SubscribedEventsMs = ms;
- if (ms > 0)
- {
- // make sure first collision happens
- NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-
- PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- });
- }
- else
- {
- // Subscribing for zero or less is the same as unsubscribing
- UnSubscribeEvents();
- }
- }
- public override void UnSubscribeEvents() {
- // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
- SubscribedEventsMs = 0;
- PhysScene.TaintedObject(LocalID, TypeName+".UnSubscribeEvents", delegate()
- {
- // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
- if (PhysBody.HasPhysicalBody)
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- });
- }
- // Return 'true' if the simulator wants collision events
- public override bool SubscribedEvents() {
- return (SubscribedEventsMs > 0);
- }
- // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
- // each time called. So this is built to be light weight for each collision and to do
- // all the processing when the user asks for the info.
- public void ComputeCollisionScore()
- {
- // Scale the collision count by the time since the last collision.
- // The "+1" prevents dividing by zero.
- long timeAgo = PhysScene.SimulationStep - CollidingStep + 1;
- CollisionScore = CollisionAccumulation / timeAgo;
- }
- public override float CollisionScore { get; set; }
-
- #endregion // Collisions
-
- #region Per Simulation Step actions
-
- public BSActorCollection PhysicalActors = new BSActorCollection();
-
- // When an update to the physical properties happens, this event is fired to let
- // different actors to modify the update before it is passed around
- public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
- public event PreUpdatePropertyAction OnPreUpdateProperty;
- protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
- {
- PreUpdatePropertyAction actions = OnPreUpdateProperty;
- if (actions != null)
- actions(ref entprop);
- }
-
- #endregion // Per Simulation Step actions
-
- // High performance detailed logging routine used by the physical objects.
- protected void DetailLog(string msg, params Object[] args)
- {
- if (PhysScene.PhysicsLogging.Enabled)
- PhysScene.DetailLog(msg, args);
- }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
deleted file mode 100644
index 9442854..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ /dev/null
@@ -1,76 +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 copyrightD
- * 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 OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
- ///
- /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
- /// This module interfaces to an unmanaged C++ library which makes the
- /// actual calls into the Bullet physics engine.
- /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
- /// The unmanaged library is compiled and linked statically with Bullet
- /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
- ///
-public class BSPlugin : IPhysicsPlugin
-{
- //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-
- private BSScene _mScene;
-
- public BSPlugin()
- {
- }
-
- public bool Init()
- {
- return true;
- }
-
- public PhysicsScene GetScene(String sceneIdentifier)
- {
- if (_mScene == null)
- {
- _mScene = new BSScene(GetName(), sceneIdentifier);
- }
- return (_mScene);
- }
-
- public string GetName()
- {
- return ("BulletSim");
- }
-
- public void Dispose()
- {
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
deleted file mode 100644
index a00991f..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ /dev/null
@@ -1,1896 +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 copyrightD
- * 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.Reflection;
-using System.Collections.Generic;
-using System.Xml;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-using OpenSim.Region.OptionalModules.Scripting; // for ExtendedPhysics
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-
- [Serializable]
-public class BSPrim : BSPhysObject
-{
- protected static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- private static readonly string LogHeader = "[BULLETS PRIM]";
-
- // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
- private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
-
- private bool _grabbed;
- private bool _isSelected;
- private bool _isVolumeDetect;
-
- private float _mass; // the mass of this object
- private OMV.Vector3 _acceleration;
- private int _physicsActorType;
- private bool _isPhysical;
- private bool _flying;
- private bool _setAlwaysRun;
- private bool _throttleUpdates;
- private bool _floatOnWater;
- private OMV.Vector3 _rotationalVelocity;
- private bool _kinematic;
- private float _buoyancy;
-
- private int CrossingFailures { get; set; }
-
- // Keep a handle to the vehicle actor so it is easy to set parameters on same.
- public const string VehicleActorName = "BasicVehicle";
-
- // Parameters for the hover actor
- public const string HoverActorName = "BSPrim.HoverActor";
- // Parameters for the axis lock actor
- public const String LockedAxisActorName = "BSPrim.LockedAxis";
- // Parameters for the move to target actor
- public const string MoveToTargetActorName = "BSPrim.MoveToTargetActor";
- // Parameters for the setForce and setTorque actors
- public const string SetForceActorName = "BSPrim.SetForceActor";
- public const string SetTorqueActorName = "BSPrim.SetTorqueActor";
-
- public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
- OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
- : base(parent_scene, localID, primName, "BSPrim")
- {
- // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
- _physicsActorType = (int)ActorTypes.Prim;
- RawPosition = pos;
- _size = size;
- Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
- RawOrientation = rotation;
- _buoyancy = 0f;
- RawVelocity = OMV.Vector3.Zero;
- _rotationalVelocity = OMV.Vector3.Zero;
- BaseShape = pbs;
- _isPhysical = pisPhysical;
- _isVolumeDetect = false;
-
- _mass = CalculateMass();
-
- DetailLog("{0},BSPrim.constructor,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(pbs));
- // DetailLog("{0},BSPrim.constructor,call", LocalID);
- // do the actual object creation at taint time
- PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate()
- {
- // Make sure the object is being created with some sanity.
- ExtremeSanityCheck(true /* inTaintTime */);
-
- CreateGeomAndObject(true);
-
- CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody);
-
- IsInitialized = true;
- });
- }
-
- // called when this prim is being destroyed and we should free all the resources
- public override void Destroy()
- {
- // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
- IsInitialized = false;
-
- base.Destroy();
-
- // Undo any vehicle properties
- this.VehicleType = (int)Vehicle.TYPE_NONE;
-
- PhysScene.TaintedObject(LocalID, "BSPrim.Destroy", delegate()
- {
- DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
- // If there are physical body and shape, release my use of same.
- PhysScene.Shapes.DereferenceBody(PhysBody, null);
- PhysBody.Clear();
- PhysShape.Dereference(PhysScene);
- PhysShape = new BSShapeNull();
- });
- }
-
- // No one uses this property.
- public override bool Stopped {
- get { return false; }
- }
-
- public override bool IsIncomplete {
- get {
- return ShapeRebuildScheduled;
- }
- }
-
- // 'true' if this object's shape is in need of a rebuild and a rebuild has been queued.
- // The prim is still available but its underlying shape will change soon.
- // This is protected by a 'lock(this)'.
- public bool ShapeRebuildScheduled { get; protected set; }
-
- public override OMV.Vector3 Size {
- get { return _size; }
- set {
- // We presume the scale and size are the same. If scale must be changed for
- // the physical shape, that is done when the geometry is built.
- _size = value;
- Scale = _size;
- ForceBodyShapeRebuild(false);
- }
- }
-
- public override PrimitiveBaseShape Shape {
- set {
- BaseShape = value;
- DetailLog("{0},BSPrim.changeShape,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(BaseShape));
- PrimAssetState = PrimAssetCondition.Unknown;
- ForceBodyShapeRebuild(false);
- }
- }
- // Cause the body and shape of the prim to be rebuilt if necessary.
- // If there are no changes required, this is quick and does not make changes to the prim.
- // If rebuilding is necessary (like changing from static to physical), that will happen.
- // The 'ShapeRebuildScheduled' tells any checker that the body/shape may change shortly.
- // The return parameter is not used by anyone.
- public override bool ForceBodyShapeRebuild(bool inTaintTime)
- {
- if (inTaintTime)
- {
- // If called in taint time, do the operation immediately
- _mass = CalculateMass(); // changing the shape changes the mass
- CreateGeomAndObject(true);
- }
- else
- {
- lock (this)
- {
- // If a rebuild is not already in the queue
- if (!ShapeRebuildScheduled)
- {
- // Remember that a rebuild is queued -- this is used to flag an incomplete object
- ShapeRebuildScheduled = true;
- PhysScene.TaintedObject(LocalID, "BSPrim.ForceBodyShapeRebuild", delegate()
- {
- _mass = CalculateMass(); // changing the shape changes the mass
- CreateGeomAndObject(true);
- ShapeRebuildScheduled = false;
- });
- }
- }
- }
- return true;
- }
- public override bool Grabbed {
- set { _grabbed = value;
- }
- }
- public override bool Selected {
- set
- {
- if (value != _isSelected)
- {
- _isSelected = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setSelected", delegate()
- {
- DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
- SetObjectDynamic(false);
- });
- }
- }
- }
- public override bool IsSelected
- {
- get { return _isSelected; }
- }
-
- public override void CrossingFailure()
- {
- CrossingFailures++;
- if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
- {
- base.RaiseOutOfBounds(RawPosition);
- }
- else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
- {
- m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
- }
- return;
- }
-
- // link me to the specified parent
- public override void link(PhysicsActor obj) {
- }
-
- // delink me from my linkset
- public override void delink() {
- }
-
- // Set motion values to zero.
- // Do it to the properties so the values get set in the physics engine.
- // Push the setting of the values to the viewer.
- // Called at taint time!
- public override void ZeroMotion(bool inTaintTime)
- {
- RawVelocity = OMV.Vector3.Zero;
- _acceleration = OMV.Vector3.Zero;
- _rotationalVelocity = OMV.Vector3.Zero;
-
- // Zero some other properties in the physics engine
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- PhysScene.PE.ClearAllForces(PhysBody);
- });
- }
- public override void ZeroAngularMotion(bool inTaintTime)
- {
- _rotationalVelocity = OMV.Vector3.Zero;
- // Zero some other properties in the physics engine
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
- {
- // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
- PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
- }
- });
- }
-
- public override void LockAngularMotion(OMV.Vector3 axis)
- {
- DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
-
- ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f);
- if (axis.X != 1)
- {
- ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f);
- }
- if (axis.Y != 1)
- {
- ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f);
- }
- if (axis.Z != 1)
- {
- ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f);
- }
-
- InitializeAxisActor();
-
- return;
- }
-
- public override OMV.Vector3 Position {
- get {
- // don't do the GetObjectPosition for root elements because this function is called a zillion times.
- // RawPosition = ForcePosition;
- return RawPosition;
- }
- set {
- // If the position must be forced into the physics engine, use ForcePosition.
- // All positions are given in world positions.
- if (RawPosition == value)
- {
- DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
- return;
- }
- RawPosition = value;
- PositionSanityCheck(false);
-
- PhysScene.TaintedObject(LocalID, "BSPrim.setPosition", delegate()
- {
- DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
- ForcePosition = RawPosition;
- });
- }
- }
-
- // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity.
- public override OMV.Vector3 ForcePosition {
- get {
- RawPosition = PhysScene.PE.GetPosition(PhysBody);
- return RawPosition;
- }
- set {
- RawPosition = value;
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
- ActivateIfPhysical(false);
- }
- }
- }
-
- // Check that the current position is sane and, if not, modify the position to make it so.
- // Check for being below terrain and being out of bounds.
- // Returns 'true' of the position was made sane by some action.
- private bool PositionSanityCheck(bool inTaintTime)
- {
- bool ret = false;
-
- // We don't care where non-physical items are placed
- if (!IsPhysicallyActive)
- return ret;
-
- if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
- {
- // The physical object is out of the known/simulated area.
- // Upper levels of code will handle the transition to other areas so, for
- // the time, we just ignore the position.
- return ret;
- }
-
- float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
- OMV.Vector3 upForce = OMV.Vector3.Zero;
- float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
- if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
- {
- DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
- float targetHeight = terrainHeight + (Size.Z / 2f);
- // If the object is below ground it just has to be moved up because pushing will
- // not get it through the terrain
- RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight);
- if (inTaintTime)
- {
- ForcePosition = RawPosition;
- }
- // If we are throwing the object around, zero its other forces
- ZeroMotion(inTaintTime);
- ret = true;
- }
-
- if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
- {
- float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
- // TODO: a floating motor so object will bob in the water
- if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
- {
- // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
- upForce.Z = (waterHeight - RawPosition.Z) * 1f;
-
- // Apply upforce and overcome gravity.
- OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity;
- DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce);
- AddForce(correctionForce, false, inTaintTime);
- ret = true;
- }
- }
-
- return ret;
- }
-
- // Occasionally things will fly off and really get lost.
- // Find the wanderers and bring them back.
- // Return 'true' if some parameter need some sanity.
- private bool ExtremeSanityCheck(bool inTaintTime)
- {
- bool ret = false;
-
- int wayOverThere = -1000;
- int wayOutThere = 10000;
- // There have been instances of objects getting thrown way out of bounds and crashing
- // the border crossing code.
- if ( RawPosition.X < wayOverThere || RawPosition.X > wayOutThere
- || RawPosition.Y < wayOverThere || RawPosition.X > wayOutThere
- || RawPosition.Z < wayOverThere || RawPosition.X > wayOutThere)
- {
- RawPosition = new OMV.Vector3(10, 10, 50);
- ZeroMotion(inTaintTime);
- ret = true;
- }
- if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocitySquared)
- {
- RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity);
- ret = true;
- }
- if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
- {
- _rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
- ret = true;
- }
-
- return ret;
- }
-
- // Return the effective mass of the object.
- // The definition of this call is to return the mass of the prim.
- // If the simulator cares about the mass of the linkset, it will sum it itself.
- public override float Mass
- {
- get { return _mass; }
- }
- // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
- public virtual float TotalMass
- {
- get { return _mass; }
- }
- // used when we only want this prim's mass and not the linkset thing
- public override float RawMass {
- get { return _mass; }
- }
- // Set the physical mass to the passed mass.
- // Note that this does not change _mass!
- public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
- {
- if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
- {
- if (IsStatic)
- {
- PhysScene.PE.SetGravity(PhysBody, PhysScene.DefaultGravity);
- Inertia = OMV.Vector3.Zero;
- PhysScene.PE.SetMassProps(PhysBody, 0f, Inertia);
- PhysScene.PE.UpdateInertiaTensor(PhysBody);
- }
- else
- {
- if (inWorld)
- {
- // Changing interesting properties doesn't change proxy and collision cache
- // information. The Bullet solution is to re-add the object to the world
- // after parameters are changed.
- PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
- }
-
- // The computation of mass props requires gravity to be set on the object.
- Gravity = ComputeGravity(Buoyancy);
- PhysScene.PE.SetGravity(PhysBody, Gravity);
-
- // OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG
- // DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG
-
- Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
- PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
- PhysScene.PE.UpdateInertiaTensor(PhysBody);
-
- DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
- LocalID, physMass, Inertia, Gravity, inWorld);
-
- if (inWorld)
- {
- AddObjectToPhysicalWorld();
- }
- }
- }
- }
-
- // Return what gravity should be set to this very moment
- public OMV.Vector3 ComputeGravity(float buoyancy)
- {
- OMV.Vector3 ret = PhysScene.DefaultGravity;
-
- if (!IsStatic)
- {
- ret *= (1f - buoyancy);
- ret *= GravModifier;
- }
-
- return ret;
- }
-
- // Is this used?
- public override OMV.Vector3 CenterOfMass
- {
- get { return RawPosition; }
- }
-
- // Is this used?
- public override OMV.Vector3 GeometricCenter
- {
- get { return RawPosition; }
- }
-
- public override OMV.Vector3 Force {
- get { return RawForce; }
- set {
- RawForce = value;
- EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate()
- {
- return new BSActorSetForce(PhysScene, this, SetForceActorName);
- });
-
- // Call update so actor Refresh() is called to start things off
- PhysScene.TaintedObject(LocalID, "BSPrim.setForce", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
-
- // Find and return a handle to the current vehicle actor.
- // Return 'null' if there is no vehicle actor.
- public BSDynamics GetVehicleActor(bool createIfNone)
- {
- BSDynamics ret = null;
- BSActor actor;
- if (PhysicalActors.TryGetActor(VehicleActorName, out actor))
- {
- ret = actor as BSDynamics;
- }
- else
- {
- if (createIfNone)
- {
- ret = new BSDynamics(PhysScene, this, VehicleActorName);
- PhysicalActors.Add(ret.ActorName, ret);
- }
- }
- return ret;
- }
-
- public override int VehicleType {
- get {
- int ret = (int)Vehicle.TYPE_NONE;
- BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
- if (vehicleActor != null)
- ret = (int)vehicleActor.Type;
- return ret;
- }
- set {
- Vehicle type = (Vehicle)value;
-
- PhysScene.TaintedObject(LocalID, "setVehicleType", delegate()
- {
- // Some vehicle scripts change vehicle type on the fly as an easy way to
- // change all the parameters. Like a plane changing to CAR when on the
- // ground. In this case, don't want to zero motion.
- // ZeroMotion(true /* inTaintTime */);
- if (type == Vehicle.TYPE_NONE)
- {
- // Vehicle type is 'none' so get rid of any actor that may have been allocated.
- BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
- if (vehicleActor != null)
- {
- PhysicalActors.RemoveAndRelease(vehicleActor.ActorName);
- }
- }
- else
- {
- // Vehicle type is not 'none' so create an actor and set it running.
- BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
- if (vehicleActor != null)
- {
- vehicleActor.ProcessTypeChange(type);
- ActivateIfPhysical(false);
- }
- }
- });
- }
- }
- public override void VehicleFloatParam(int param, float value)
- {
- PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFloatParam", delegate()
- {
- BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
- if (vehicleActor != null)
- {
- vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
- ActivateIfPhysical(false);
- }
- });
- }
- public override void VehicleVectorParam(int param, OMV.Vector3 value)
- {
- PhysScene.TaintedObject(LocalID, "BSPrim.VehicleVectorParam", delegate()
- {
- BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
- if (vehicleActor != null)
- {
- vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
- ActivateIfPhysical(false);
- }
- });
- }
- public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
- {
- PhysScene.TaintedObject(LocalID, "BSPrim.VehicleRotationParam", delegate()
- {
- BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
- if (vehicleActor != null)
- {
- vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
- ActivateIfPhysical(false);
- }
- });
- }
- public override void VehicleFlags(int param, bool remove)
- {
- PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFlags", delegate()
- {
- BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
- if (vehicleActor != null)
- {
- vehicleActor.ProcessVehicleFlags(param, remove);
- }
- });
- }
-
- // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
- public override void SetVolumeDetect(int param) {
- bool newValue = (param != 0);
- if (_isVolumeDetect != newValue)
- {
- _isVolumeDetect = newValue;
- PhysScene.TaintedObject(LocalID, "BSPrim.SetVolumeDetect", delegate()
- {
- // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
- SetObjectDynamic(true);
- });
- }
- return;
- }
- public override bool IsVolumeDetect
- {
- get { return _isVolumeDetect; }
- }
- public override void SetMaterial(int material)
- {
- base.SetMaterial(material);
- PhysScene.TaintedObject(LocalID, "BSPrim.SetMaterial", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- public override float Friction
- {
- get { return base.Friction; }
- set
- {
- if (base.Friction != value)
- {
- base.Friction = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setFriction", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
- }
- public override float Restitution
- {
- get { return base.Restitution; }
- set
- {
- if (base.Restitution != value)
- {
- base.Restitution = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setRestitution", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
- }
- // The simulator/viewer keep density as 100kg/m3.
- // Remember to use BSParam.DensityScaleFactor to create the physical density.
- public override float Density
- {
- get { return base.Density; }
- set
- {
- if (base.Density != value)
- {
- base.Density = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setDensity", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
- }
- public override float GravModifier
- {
- get { return base.GravModifier; }
- set
- {
- if (base.GravModifier != value)
- {
- base.GravModifier = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setGravityModifier", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
- }
- public override OMV.Vector3 Velocity {
- get { return RawVelocity; }
- set {
- RawVelocity = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setVelocity", delegate()
- {
- // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity);
- ForceVelocity = RawVelocity;
- });
- }
- }
- public override OMV.Vector3 ForceVelocity {
- get { return RawVelocity; }
- set {
- PhysScene.AssertInTaintTime("BSPrim.ForceVelocity");
-
- RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
- if (PhysBody.HasPhysicalBody)
- {
- DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity);
- PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
- ActivateIfPhysical(false);
- }
- }
- }
- public override OMV.Vector3 Torque {
- get { return RawTorque; }
- set {
- RawTorque = value;
- EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate()
- {
- return new BSActorSetTorque(PhysScene, this, SetTorqueActorName);
- });
- DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque);
-
- // Call update so actor Refresh() is called to start things off
- PhysScene.TaintedObject(LocalID, "BSPrim.setTorque", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
- public override OMV.Vector3 Acceleration {
- get { return _acceleration; }
- set { _acceleration = value; }
- }
-
- public override OMV.Quaternion Orientation {
- get {
- return RawOrientation;
- }
- set {
- if (RawOrientation == value)
- return;
- RawOrientation = value;
-
- PhysScene.TaintedObject(LocalID, "BSPrim.setOrientation", delegate()
- {
- ForceOrientation = RawOrientation;
- });
- }
- }
- // Go directly to Bullet to get/set the value.
- public override OMV.Quaternion ForceOrientation
- {
- get
- {
- RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
- return RawOrientation;
- }
- set
- {
- RawOrientation = value;
- if (PhysBody.HasPhysicalBody)
- PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
- }
- }
- public override int PhysicsActorType {
- get { return _physicsActorType; }
- set { _physicsActorType = value; }
- }
- public override bool IsPhysical {
- get { return _isPhysical; }
- set {
- if (_isPhysical != value)
- {
- _isPhysical = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setIsPhysical", delegate()
- {
- DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
- SetObjectDynamic(true);
- // whether phys-to-static or static-to-phys, the object is not moving.
- ZeroMotion(true);
-
- });
- }
- }
- }
-
- // An object is static (does not move) if selected or not physical
- public override bool IsStatic
- {
- get { return _isSelected || !IsPhysical; }
- }
-
- // An object is solid if it's not phantom and if it's not doing VolumeDetect
- public override bool IsSolid
- {
- get { return !IsPhantom && !_isVolumeDetect; }
- }
-
- // The object is moving and is actively being dynamic in the physical world
- public override bool IsPhysicallyActive
- {
- get { return !_isSelected && IsPhysical; }
- }
-
- // Make gravity work if the object is physical and not selected
- // Called at taint-time!!
- private void SetObjectDynamic(bool forceRebuild)
- {
- // Recreate the physical object if necessary
- CreateGeomAndObject(forceRebuild);
- }
-
- // Convert the simulator's physical properties into settings on BulletSim objects.
- // There are four flags we're interested in:
- // IsStatic: Object does not move, otherwise the object has mass and moves
- // isSolid: other objects bounce off of this object
- // isVolumeDetect: other objects pass through but can generate collisions
- // collisionEvents: whether this object returns collision events
- // NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters.
- public virtual void UpdatePhysicalParameters()
- {
- if (!PhysBody.HasPhysicalBody)
- {
- // This would only happen if updates are called for during initialization when the body is not set up yet.
- // DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
- return;
- }
-
- // Mangling all the physical properties requires the object not be in the physical world.
- // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
- PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
-
- // Set up the object physicalness (does gravity and collisions move this object)
- MakeDynamic(IsStatic);
-
- // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
- PhysicalActors.Refresh();
-
- // Arrange for collision events if the simulator wants them
- EnableCollisions(SubscribedEvents());
-
- // Make solid or not (do things bounce off or pass through this object).
- MakeSolid(IsSolid);
-
- AddObjectToPhysicalWorld();
-
- // Rebuild its shape
- PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
-
- DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
- LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(),
- CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
- }
-
- // "Making dynamic" means changing to and from static.
- // When static, gravity does not effect the object and it is fixed in space.
- // When dynamic, the object can fall and be pushed by others.
- // This is independent of its 'solidness' which controls what passes through
- // this object and what interacts with it.
- protected virtual void MakeDynamic(bool makeStatic)
- {
- if (makeStatic)
- {
- // Become a Bullet 'static' object type
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
- // Stop all movement
- ZeroMotion(true);
-
- // Set various physical properties so other object interact properly
- PhysScene.PE.SetFriction(PhysBody, Friction);
- PhysScene.PE.SetRestitution(PhysBody, Restitution);
- PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
-
- // Mass is zero which disables a bunch of physics stuff in Bullet
- UpdatePhysicalMassProperties(0f, false);
- // Set collision detection parameters
- if (BSParam.CcdMotionThreshold > 0f)
- {
- PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
- PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
- }
-
- // The activation state is 'disabled' so Bullet will not try to act on it.
- // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
- // Start it out sleeping and physical actions could wake it up.
- PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
-
- // This collides like a static object
- PhysBody.collisionType = CollisionType.Static;
- }
- else
- {
- // Not a Bullet static object
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
-
- // Set various physical properties so other object interact properly
- PhysScene.PE.SetFriction(PhysBody, Friction);
- PhysScene.PE.SetRestitution(PhysBody, Restitution);
- // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
-
- // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
- // Since this can be called multiple times, only zero forces when becoming physical
- // PhysicsScene.PE.ClearAllForces(BSBody);
-
- // For good measure, make sure the transform is set through to the motion state
- ForcePosition = RawPosition;
- ForceVelocity = RawVelocity;
- ForceRotationalVelocity = _rotationalVelocity;
-
- // A dynamic object has mass
- UpdatePhysicalMassProperties(RawMass, false);
-
- // Set collision detection parameters
- if (BSParam.CcdMotionThreshold > 0f)
- {
- PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
- PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
- }
-
- // Various values for simulation limits
- PhysScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
- PhysScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
- PhysScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
- PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
-
- // This collides like an object.
- PhysBody.collisionType = CollisionType.Dynamic;
-
- // Force activation of the object so Bullet will act on it.
- // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
- PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
- }
- }
-
- // "Making solid" means that other object will not pass through this object.
- // To make transparent, we create a Bullet ghost object.
- // Note: This expects to be called from the UpdatePhysicalParameters() routine as
- // the functions after this one set up the state of a possibly newly created collision body.
- private void MakeSolid(bool makeSolid)
- {
- CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysScene.PE.GetBodyType(PhysBody);
- if (makeSolid)
- {
- // Verify the previous code created the correct shape for this type of thing.
- if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
- {
- m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
- }
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
- }
- else
- {
- if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
- {
- m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
- }
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
- // Change collision info from a static object to a ghosty collision object
- PhysBody.collisionType = CollisionType.VolumeDetect;
- }
- }
-
- // Turn on or off the flag controlling whether collision events are returned to the simulator.
- private void EnableCollisions(bool wantsCollisionEvents)
- {
- if (wantsCollisionEvents)
- {
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- }
- else
- {
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- }
- }
-
- // Add me to the physical world.
- // Object MUST NOT already be in the world.
- // This routine exists because some assorted properties get mangled by adding to the world.
- internal void AddObjectToPhysicalWorld()
- {
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody);
- }
- else
- {
- m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
- DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
- }
- }
-
- // prims don't fly
- public override bool Flying {
- get { return _flying; }
- set {
- _flying = value;
- }
- }
- public override bool SetAlwaysRun {
- get { return _setAlwaysRun; }
- set { _setAlwaysRun = value; }
- }
- public override bool ThrottleUpdates {
- get { return _throttleUpdates; }
- set { _throttleUpdates = value; }
- }
- public bool IsPhantom {
- get {
- // SceneObjectPart removes phantom objects from the physics scene
- // so, although we could implement touching and such, we never
- // are invoked as a phantom object
- return false;
- }
- }
- public override bool FloatOnWater {
- set {
- _floatOnWater = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setFloatOnWater", delegate()
- {
- if (_floatOnWater)
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
- else
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
- });
- }
- }
- public override OMV.Vector3 RotationalVelocity {
- get {
- return _rotationalVelocity;
- }
- set {
- _rotationalVelocity = value;
- Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
- // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
- PhysScene.TaintedObject(LocalID, "BSPrim.setRotationalVelocity", delegate()
- {
- ForceRotationalVelocity = _rotationalVelocity;
- });
- }
- }
- public override OMV.Vector3 ForceRotationalVelocity {
- get {
- return _rotationalVelocity;
- }
- set {
- _rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
- if (PhysBody.HasPhysicalBody)
- {
- DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
- PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
- // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
- ActivateIfPhysical(false);
- }
- }
- }
- public override bool Kinematic {
- get { return _kinematic; }
- set { _kinematic = value;
- // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
- }
- }
- public override float Buoyancy {
- get { return _buoyancy; }
- set {
- _buoyancy = value;
- PhysScene.TaintedObject(LocalID, "BSPrim.setBuoyancy", delegate()
- {
- ForceBuoyancy = _buoyancy;
- });
- }
- }
- public override float ForceBuoyancy {
- get { return _buoyancy; }
- set {
- _buoyancy = value;
- // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
- // Force the recalculation of the various inertia,etc variables in the object
- UpdatePhysicalMassProperties(RawMass, true);
- DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2},grav={3}", LocalID, _buoyancy, RawMass, Gravity);
- ActivateIfPhysical(false);
- }
- }
-
- public override bool PIDActive
- {
- get
- {
- return MoveToTargetActive;
- }
-
- set
- {
- MoveToTargetActive = value;
-
- EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate()
- {
- return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName);
- });
-
- // Call update so actor Refresh() is called to start things off
- PhysScene.TaintedObject(LocalID, "BSPrim.PIDActive", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
-
- public override OMV.Vector3 PIDTarget
- {
- set
- {
- base.PIDTarget = value;
- BSActor actor;
- if (PhysicalActors.TryGetActor(MoveToTargetActorName, out actor))
- {
- // if the actor exists, tell it to refresh its values.
- actor.Refresh();
- }
-
- }
- }
- // Used for llSetHoverHeight and maybe vehicle height
- // Hover Height will override MoveTo target's Z
- public override bool PIDHoverActive {
- set {
- base.HoverActive = value;
- EnableActor(HoverActive, HoverActorName, delegate()
- {
- return new BSActorHover(PhysScene, this, HoverActorName);
- });
-
- // Call update so actor Refresh() is called to start things off
- PhysScene.TaintedObject(LocalID, "BSPrim.PIDHoverActive", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
- }
-
- public override void AddForce(OMV.Vector3 force, bool pushforce) {
- // Per documentation, max force is limited.
- OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
-
- // Since this force is being applied in only one step, make this a force per second.
- addForce /= PhysScene.LastTimeStep;
- AddForce(addForce, pushforce, false /* inTaintTime */);
- }
-
- // Applying a force just adds this to the total force on the object.
- // This added force will only last the next simulation tick.
- public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
- // for an object, doesn't matter if force is a pushforce or not
- if (IsPhysicallyActive)
- {
- if (force.IsFinite())
- {
- // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
-
- OMV.Vector3 addForce = force;
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddForce", delegate()
- {
- // Bullet adds this central force to the total force for this tick.
- // Deep down in Bullet:
- // linearVelocity += totalForce / mass * timeStep;
- DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
- ActivateIfPhysical(false);
- }
- });
- }
- else
- {
- m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
- return;
- }
- }
- }
-
- public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
- // for an object, doesn't matter if force is a pushforce or not
- if (!IsPhysicallyActive)
- {
- if (impulse.IsFinite())
- {
- OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
- // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
-
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddImpulse", delegate()
- {
- // Bullet adds this impulse immediately to the velocity
- DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
- ActivateIfPhysical(false);
- }
- });
- }
- else
- {
- m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
- return;
- }
- }
- }
-
- // BSPhysObject.AddAngularForce()
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
- {
- if (force.IsFinite())
- {
- OMV.Vector3 angForce = force;
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddAngularForce", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce);
- PhysScene.PE.ApplyTorque(PhysBody, angForce);
- ActivateIfPhysical(false);
- }
- });
- }
- else
- {
- m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
- return;
- }
- }
-
- // A torque impulse.
- // ApplyTorqueImpulse adds torque directly to the angularVelocity.
- // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
- // Computed as: angularVelocity += impulse * inertia;
- public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
- {
- OMV.Vector3 applyImpulse = impulse;
- PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ApplyTorqueImpulse", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
- ActivateIfPhysical(false);
- }
- });
- }
-
- public override void SetMomentum(OMV.Vector3 momentum) {
- // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
- }
- #region Mass Calculation
-
- private float CalculateMass()
- {
- float volume = _size.X * _size.Y * _size.Z; // default
- float tmp;
-
- float returnMass = 0;
- float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
- float hollowVolume = hollowAmount * hollowAmount;
-
- switch (BaseShape.ProfileShape)
- {
- case ProfileShape.Square:
- // default box
-
- if (BaseShape.PathCurve == (byte)Extrusion.Straight)
- {
- if (hollowAmount > 0.0)
- {
- switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- //a tube
-
- volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
- tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
- volume -= volume*tmp*tmp;
-
- if (hollowAmount > 0.0)
- {
- hollowVolume *= hollowAmount;
-
- switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Straight)
- {
- volume *= 0.78539816339f; // elipse base
-
- if (hollowAmount > 0.0)
- {
- switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
- tmp = 1.0f - .02f * (float)(200 - BaseShape.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 (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- volume *= 0.52359877559829887307710723054658f;
- }
- break;
-
- case ProfileShape.EquilateralTriangle:
-
- if (BaseShape.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 (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- volume *= 0.32475953f;
- volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
- tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
- volume *= (1.0f - tmp * tmp);
-
- if (hollowAmount > 0.0)
- {
-
- hollowVolume *= hollowAmount;
-
- switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
- {
- taperX1 = BaseShape.PathScaleX * 0.01f;
- if (taperX1 > 1.0f)
- taperX1 = 2.0f - taperX1;
- taperX = 1.0f - taperX1;
-
- taperY1 = BaseShape.PathScaleY * 0.01f;
- if (taperY1 > 1.0f)
- taperY1 = 2.0f - taperY1;
- taperY = 1.0f - taperY1;
- }
- else
- {
- taperX = BaseShape.PathTaperX * 0.01f;
- if (taperX < 0.0f)
- taperX = -taperX;
- taperX1 = 1.0f - taperX;
-
- taperY = BaseShape.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)BaseShape.PathBegin * 2.0e-5f;
- pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
- volume *= (pathEnd - pathBegin);
-
- // this is crude aproximation
- profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
- profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
- volume *= (profileEnd - profileBegin);
-
- returnMass = Density * BSParam.DensityScaleFactor * volume;
-
- returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
- // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
- DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3},pathB={4},pathE={5},profB={6},profE={7},siz={8}",
- LocalID, Density, volume, returnMass, pathBegin, pathEnd, profileBegin, profileEnd, _size);
-
- return returnMass;
- }// end CalculateMass
- #endregion Mass Calculation
-
- // Rebuild the geometry and object.
- // This is called when the shape changes so we need to recreate the mesh/hull.
- // Called at taint-time!!!
- public void CreateGeomAndObject(bool forceRebuild)
- {
- // Create the correct physical representation for this type of object.
- // Updates base.PhysBody and base.PhysShape with the new information.
- // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary.
- PhysScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysScene.World, this, delegate(BulletBody pBody, BulletShape pShape)
- {
- // Called if the current prim body is about to be destroyed.
- // Remove all the physical dependencies on the old body.
- // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
- // Note: this virtual function is overloaded by BSPrimLinkable to remove linkset constraints.
- RemoveDependencies();
- });
-
- // Make sure the properties are set on the new object
- UpdatePhysicalParameters();
- return;
- }
-
- // Called at taint-time
- protected virtual void RemoveDependencies()
- {
- PhysicalActors.RemoveDependencies();
- }
-
- #region Extension
- public override object Extension(string pFunct, params object[] pParams)
- {
- DetailLog("{0} BSPrim.Extension,op={1}", LocalID, pFunct);
- object ret = null;
- switch (pFunct)
- {
- case ExtendedPhysics.PhysFunctAxisLockLimits:
- ret = SetAxisLockLimitsExtension(pParams);
- break;
- default:
- ret = base.Extension(pFunct, pParams);
- break;
- }
- return ret;
- }
-
- private void InitializeAxisActor()
- {
- EnableActor(LockedAngularAxis != LockedAxisFree || LockedLinearAxis != LockedAxisFree,
- LockedAxisActorName, delegate()
- {
- return new BSActorLockAxis(PhysScene, this, LockedAxisActorName);
- });
-
- // Update parameters so the new actor's Refresh() action is called at the right time.
- PhysScene.TaintedObject(LocalID, "BSPrim.LockAxis", delegate()
- {
- UpdatePhysicalParameters();
- });
- }
-
- // Passed an array of an array of parameters, set the axis locking.
- // This expects an int (PHYS_AXIS_*) followed by none or two limit floats
- // followed by another int and floats, etc.
- private object SetAxisLockLimitsExtension(object[] pParams)
- {
- DetailLog("{0} SetAxisLockLimitsExtension. parmlen={1}", LocalID, pParams.GetLength(0));
- object ret = null;
- try
- {
- if (pParams.GetLength(0) > 1)
- {
- int index = 2;
- while (index < pParams.GetLength(0))
- {
- var funct = pParams[index];
- DetailLog("{0} SetAxisLockLimitsExtension. op={1}, index={2}", LocalID, funct, index);
- if (funct is Int32 || funct is Int64)
- {
- switch ((int)funct)
- {
- // Those that take no parameters
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
- case ExtendedPhysics.PHYS_AXIS_UNLOCK:
- ApplyAxisLimits((int)funct, 0f, 0f);
- index += 1;
- break;
- // Those that take two parameters (the limits)
- case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
- case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
- case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
- case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
- case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
- case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
- ApplyAxisLimits((int)funct, (float)pParams[index + 1], (float)pParams[index + 2]);
- index += 3;
- break;
- default:
- m_log.WarnFormat("{0} SetSxisLockLimitsExtension. Unknown op={1}", LogHeader, funct);
- index += 1;
- break;
- }
- }
- }
- InitializeAxisActor();
- ret = (object)index;
- }
- }
- catch (Exception e)
- {
- m_log.WarnFormat("{0} SetSxisLockLimitsExtension exception in object {1}: {2}", LogHeader, this.Name, e);
- ret = null;
- }
- return ret; // not implemented yet
- }
-
- // Set the locking parameters.
- // If an axis is locked, the limits for the axis are set to zero,
- // If the axis is being constrained, the high and low value are passed and set.
- // When done here, LockedXXXAxis flags are set and LockedXXXAxixLow/High are set to the range.
- protected void ApplyAxisLimits(int funct, float low, float high)
- {
- DetailLog("{0} ApplyAxisLimits. op={1}, low={2}, high={3}", LocalID, funct, low, high);
- float linearMax = 23000f;
- float angularMax = (float)Math.PI;
-
- switch (funct)
- {
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
- this.LockedLinearAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis);
- this.LockedLinearAxisLow = OMV.Vector3.Zero;
- this.LockedLinearAxisHigh = OMV.Vector3.Zero;
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
- this.LockedLinearAxis.X = LockedAxis;
- this.LockedLinearAxisLow.X = 0f;
- this.LockedLinearAxisHigh.X = 0f;
- break;
- case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
- this.LockedLinearAxis.X = LockedAxis;
- this.LockedLinearAxisLow.X = Util.Clip(low, -linearMax, linearMax);
- this.LockedLinearAxisHigh.X = Util.Clip(high, -linearMax, linearMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
- this.LockedLinearAxis.Y = LockedAxis;
- this.LockedLinearAxisLow.Y = 0f;
- this.LockedLinearAxisHigh.Y = 0f;
- break;
- case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
- this.LockedLinearAxis.Y = LockedAxis;
- this.LockedLinearAxisLow.Y = Util.Clip(low, -linearMax, linearMax);
- this.LockedLinearAxisHigh.Y = Util.Clip(high, -linearMax, linearMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
- this.LockedLinearAxis.Z = LockedAxis;
- this.LockedLinearAxisLow.Z = 0f;
- this.LockedLinearAxisHigh.Z = 0f;
- break;
- case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
- this.LockedLinearAxis.Z = LockedAxis;
- this.LockedLinearAxisLow.Z = Util.Clip(low, -linearMax, linearMax);
- this.LockedLinearAxisHigh.Z = Util.Clip(high, -linearMax, linearMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
- this.LockedAngularAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis);
- this.LockedAngularAxisLow = OMV.Vector3.Zero;
- this.LockedAngularAxisHigh = OMV.Vector3.Zero;
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
- this.LockedAngularAxis.X = LockedAxis;
- this.LockedAngularAxisLow.X = 0;
- this.LockedAngularAxisHigh.X = 0;
- break;
- case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
- this.LockedAngularAxis.X = LockedAxis;
- this.LockedAngularAxisLow.X = Util.Clip(low, -angularMax, angularMax);
- this.LockedAngularAxisHigh.X = Util.Clip(high, -angularMax, angularMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
- this.LockedAngularAxis.Y = LockedAxis;
- this.LockedAngularAxisLow.Y = 0;
- this.LockedAngularAxisHigh.Y = 0;
- break;
- case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
- this.LockedAngularAxis.Y = LockedAxis;
- this.LockedAngularAxisLow.Y = Util.Clip(low, -angularMax, angularMax);
- this.LockedAngularAxisHigh.Y = Util.Clip(high, -angularMax, angularMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
- this.LockedAngularAxis.Z = LockedAxis;
- this.LockedAngularAxisLow.Z = 0;
- this.LockedAngularAxisHigh.Z = 0;
- break;
- case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
- this.LockedAngularAxis.Z = LockedAxis;
- this.LockedAngularAxisLow.Z = Util.Clip(low, -angularMax, angularMax);
- this.LockedAngularAxisHigh.Z = Util.Clip(high, -angularMax, angularMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
- this.LockedLinearAxis = LockedAxisFree;
- this.LockedLinearAxisLow = new OMV.Vector3(-linearMax, -linearMax, -linearMax);
- this.LockedLinearAxisHigh = new OMV.Vector3(linearMax, linearMax, linearMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
- this.LockedLinearAxis.X = FreeAxis;
- this.LockedLinearAxisLow.X = -linearMax;
- this.LockedLinearAxisHigh.X = linearMax;
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
- this.LockedLinearAxis.Y = FreeAxis;
- this.LockedLinearAxisLow.Y = -linearMax;
- this.LockedLinearAxisHigh.Y = linearMax;
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
- this.LockedLinearAxis.Z = FreeAxis;
- this.LockedLinearAxisLow.Z = -linearMax;
- this.LockedLinearAxisHigh.Z = linearMax;
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
- this.LockedAngularAxis = LockedAxisFree;
- this.LockedAngularAxisLow = new OMV.Vector3(-angularMax, -angularMax, -angularMax);
- this.LockedAngularAxisHigh = new OMV.Vector3(angularMax, angularMax, angularMax);
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
- this.LockedAngularAxis.X = FreeAxis;
- this.LockedAngularAxisLow.X = -angularMax;
- this.LockedAngularAxisHigh.X = angularMax;
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
- this.LockedAngularAxis.Y = FreeAxis;
- this.LockedAngularAxisLow.Y = -angularMax;
- this.LockedAngularAxisHigh.Y = angularMax;
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
- this.LockedAngularAxis.Z = FreeAxis;
- this.LockedAngularAxisLow.Z = -angularMax;
- this.LockedAngularAxisHigh.Z = angularMax;
- break;
- case ExtendedPhysics.PHYS_AXIS_UNLOCK:
- ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR, 0f, 0f);
- ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f);
- break;
- default:
- break;
- }
- return;
- }
- #endregion // Extension
-
- // The physics engine says that properties have updated. Update same and inform
- // the world that things have changed.
- // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims.
- // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position.
- public override void UpdateProperties(EntityProperties entprop)
- {
- // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
- TriggerPreUpdatePropertyAction(ref entprop);
-
- // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
-
- // Assign directly to the local variables so the normal set actions do not happen
- RawPosition = entprop.Position;
- RawOrientation = entprop.Rotation;
- // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
- // very sensitive to velocity changes.
- if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
- RawVelocity = entprop.Velocity;
- _acceleration = entprop.Acceleration;
- _rotationalVelocity = entprop.RotationalVelocity;
-
- // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
-
- // The sanity check can change the velocity and/or position.
- if (PositionSanityCheck(true /* inTaintTime */ ))
- {
- entprop.Position = RawPosition;
- entprop.Velocity = RawVelocity;
- entprop.RotationalVelocity = _rotationalVelocity;
- entprop.Acceleration = _acceleration;
- }
-
- OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG
- DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
-
- // remember the current and last set values
- LastEntityProperties = CurrentEntityProperties;
- CurrentEntityProperties = entprop;
-
- PhysScene.PostUpdate(this);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
deleted file mode 100755
index 2eb1440..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
+++ /dev/null
@@ -1,182 +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 OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSPrimDisplaced : BSPrim
-{
- // The purpose of this subclass is to do any mapping between what the simulator thinks
- // the prim position and orientation is and what the physical position/orientation.
- // This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
- // of the prim/linkset. The simulator, on the other hand, tracks the location of
- // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere
- // but the origin of the root prim, the physical origin is displaced from the simulator origin.
- //
- // This routine works by capturing ForcePosition and
- // adjusting the simulator values (being set) into the physical values.
- // The conversion is also done in the opposite direction (physical origin -> simulator origin).
- //
- // The updateParameter call is also captured and the values from the physics engine
- // are converted into simulator origin values before being passed to the base
- // class.
-
- // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass.
- public virtual OMV.Vector3 PositionDisplacement { get; set; }
-
- public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
- OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
- : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
- {
- ClearDisplacement();
- }
-
- // Clears any center-of-mass displacement introduced by linksets, etc.
- // Does not clear the displacement set by the user.
- public void ClearDisplacement()
- {
- if (UserSetCenterOfMassDisplacement.HasValue)
- PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement;
- else
- PositionDisplacement = OMV.Vector3.Zero;
- }
-
- // Set this sets and computes the displacement from the passed prim to the center-of-mass.
- // A user set value for center-of-mass overrides whatever might be passed in here.
- // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
- // Returns the relative offset from the root position to the center-of-mass.
- // Called at taint time.
- public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
- {
- PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
- Vector3 comDisp;
- if (UserSetCenterOfMassDisplacement.HasValue)
- comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
- else
- comDisp = centerOfMassDisplacement;
-
- // Eliminate any jitter caused be very slight differences in masses and positions
- if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
- comDisp = Vector3.Zero;
-
- DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
- LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
- if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) )
- {
- // Displacement setting is changing.
- // The relationship between the physical object and simulated object must be aligned.
- PositionDisplacement = comDisp;
- this.ForcePosition = RawPosition;
- }
-
- return PositionDisplacement;
- }
-
- // 'ForcePosition' is the one way to set the physical position of the body in the physics engine.
- // Displace the simulator idea of position (center of root prim) to the physical position.
- public override Vector3 ForcePosition
- {
- get {
- OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody);
- if (PositionDisplacement != OMV.Vector3.Zero)
- {
- // If there is some displacement, return the physical position (center-of-mass)
- // location minus the displacement to give the center of the root prim.
- OMV.Vector3 displacement = PositionDisplacement * ForceOrientation;
- DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}",
- LocalID, physPosition, displacement, physPosition - displacement);
- physPosition -= displacement;
- }
- RawPosition = physPosition;
- return physPosition;
- }
- set
- {
- if (PositionDisplacement != OMV.Vector3.Zero)
- {
- // This value is the simulator's idea of where the prim is: the center of the root prim
- RawPosition = value;
-
- // Move the passed root prim postion to the center-of-mass position and set in the physics engine.
- OMV.Vector3 displacement = PositionDisplacement * RawOrientation;
- OMV.Vector3 displacedPos = RawPosition + displacement;
- DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}",
- LocalID, RawPosition, displacement, displacedPos);
- if (PhysBody.HasPhysicalBody)
- {
- PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation);
- ActivateIfPhysical(false);
- }
- }
- else
- {
- base.ForcePosition = value;
- }
- }
- }
-
- // These are also overridden by BSPrimLinkable if the prim can be part of a linkset
- public override OMV.Vector3 CenterOfMass
- {
- get { return RawPosition; }
- }
-
- public override OMV.Vector3 GeometricCenter
- {
- get { return RawPosition; }
- }
-
- public override void UpdateProperties(EntityProperties entprop)
- {
- // Undo any center-of-mass displacement that might have been done.
- if (PositionDisplacement != OMV.Vector3.Zero)
- {
- // The origional shape was offset from 'zero' by PositionDisplacement.
- // These physical location must be back converted to be centered around the displaced
- // root shape.
-
- // Move the returned center-of-mass location to the root prim location.
- OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
- OMV.Vector3 displacedPos = entprop.Position - displacement;
- DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
- LocalID, entprop.Position, displacement, displacedPos);
- entprop.Position = displacedPos;
- }
-
- base.UpdateProperties(entprop);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
deleted file mode 100755
index 430d645..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ /dev/null
@@ -1,350 +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 copyrightD
- * 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.Linq;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.OptionalModules.Scripting;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public class BSPrimLinkable : BSPrimDisplaced
-{
- // The purpose of this subclass is to add linkset functionality to the prim. This overrides
- // operations necessary for keeping the linkset created and, additionally, this
- // calls the linkset implementation for its creation and management.
-
-#pragma warning disable 414
- private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]";
-#pragma warning restore 414
-
- // This adds the overrides for link() and delink() so the prim is linkable.
-
- public BSLinkset Linkset { get; set; }
- // The index of this child prim.
- public int LinksetChildIndex { get; set; }
-
- public BSLinkset.LinksetImplementation LinksetType { get; set; }
-
- public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
- OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
- : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
- {
- // Default linkset implementation for this prim
- LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
-
- Linkset = BSLinkset.Factory(PhysScene, this);
-
- Linkset.Refresh(this);
- }
-
- public override void Destroy()
- {
- Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */);
- base.Destroy();
- }
-
- public override void link(Manager.PhysicsActor obj)
- {
- BSPrimLinkable parent = obj as BSPrimLinkable;
- if (parent != null)
- {
- BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
- int childrenBefore = Linkset.NumberOfChildren; // DEBUG
-
- Linkset = parent.Linkset.AddMeToLinkset(this);
-
- DetailLog("{0},BSPrimLinkable.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
- LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
- }
- return;
- }
-
- public override void delink()
- {
- // TODO: decide if this parent checking needs to happen at taint time
- // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-
- BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
- int childrenBefore = Linkset.NumberOfChildren; // DEBUG
-
- Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/);
-
- DetailLog("{0},BSPrimLinkable.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
- LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
- return;
- }
-
- // When simulator changes position, this might be moving a child of the linkset.
- public override OMV.Vector3 Position
- {
- get { return base.Position; }
- set
- {
- base.Position = value;
- PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setPosition", delegate()
- {
- Linkset.UpdateProperties(UpdatedProperties.Position, this);
- });
- }
- }
-
- // When simulator changes orientation, this might be moving a child of the linkset.
- public override OMV.Quaternion Orientation
- {
- get { return base.Orientation; }
- set
- {
- base.Orientation = value;
- PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setOrientation", delegate()
- {
- Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
- });
- }
- }
-
- public override float TotalMass
- {
- get { return Linkset.LinksetMass; }
- }
-
- public override OMV.Vector3 CenterOfMass
- {
- get { return Linkset.CenterOfMass; }
- }
-
- public override OMV.Vector3 GeometricCenter
- {
- get { return Linkset.GeometricCenter; }
- }
-
- // Refresh the linkset structure and parameters when the prim's physical parameters are changed.
- public override void UpdatePhysicalParameters()
- {
- base.UpdatePhysicalParameters();
- // Recompute any linkset parameters.
- // When going from non-physical to physical, this re-enables the constraints that
- // had been automatically disabled when the mass was set to zero.
- // For compound based linksets, this enables and disables interactions of the children.
- if (Linkset != null) // null can happen during initialization
- Linkset.Refresh(this);
- }
-
- // When the prim is made dynamic or static, the linkset needs to change.
- protected override void MakeDynamic(bool makeStatic)
- {
- base.MakeDynamic(makeStatic);
- if (Linkset != null) // null can happen during initialization
- {
- if (makeStatic)
- Linkset.MakeStatic(this);
- else
- Linkset.MakeDynamic(this);
- }
- }
-
- // Body is being taken apart. Remove physical dependencies and schedule a rebuild.
- protected override void RemoveDependencies()
- {
- Linkset.RemoveDependencies(this);
- base.RemoveDependencies();
- }
-
- // Called after a simulation step for the changes in physical object properties.
- // Do any filtering/modification needed for linksets.
- public override void UpdateProperties(EntityProperties entprop)
- {
- if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this))
- {
- // Properties are only updated for the roots of a linkset.
- // TODO: this will have to change when linksets are articulated.
- base.UpdateProperties(entprop);
- }
- /*
- else
- {
- // For debugging, report the movement of children
- DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
- LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
- entprop.Acceleration, entprop.RotationalVelocity);
- }
- */
- // The linkset might like to know about changing locations
- Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
- }
-
- // Called after a simulation step to post a collision with this object.
- // This returns 'true' if the collision has been queued and the SendCollisions call must
- // be made at the end of the simulation step.
- public override bool Collide(uint collidingWith, BSPhysObject collidee,
- OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
- {
- bool ret = false;
- // Ask the linkset if it wants to handle the collision
- if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
- {
- // The linkset didn't handle it so pass the collision through normal processing
- ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
- }
- return ret;
- }
-
- // A linkset reports any collision on any part of the linkset.
- public long SomeCollisionSimulationStep = 0;
- public override bool HasSomeCollision
- {
- get
- {
- return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
- }
- set
- {
- if (value)
- SomeCollisionSimulationStep = PhysScene.SimulationStep;
- else
- SomeCollisionSimulationStep = 0;
-
- base.HasSomeCollision = value;
- }
- }
-
- // Convert the existing linkset of this prim into a new type.
- public bool ConvertLinkset(BSLinkset.LinksetImplementation newType)
- {
- bool ret = false;
- if (LinksetType != newType)
- {
- DetailLog("{0},BSPrimLinkable.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType);
-
- // Set the implementation type first so the call to BSLinkset.Factory gets the new type.
- this.LinksetType = newType;
-
- BSLinkset oldLinkset = this.Linkset;
- BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this);
-
- this.Linkset = newLinkset;
-
- // Pick up any physical dependencies this linkset might have in the physics engine.
- oldLinkset.RemoveDependencies(this);
-
- // Create a list of the children (mainly because can't interate through a list that's changing)
- List children = new List();
- oldLinkset.ForEachMember((child) =>
- {
- if (!oldLinkset.IsRoot(child))
- children.Add(child);
- return false; // 'false' says to continue to next member
- });
-
- // Remove the children from the old linkset and add to the new (will be a new instance from the factory)
- foreach (BSPrimLinkable child in children)
- {
- oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/);
- }
- foreach (BSPrimLinkable child in children)
- {
- newLinkset.AddMeToLinkset(child);
- child.Linkset = newLinkset;
- }
-
- // Force the shape and linkset to get reconstructed
- newLinkset.Refresh(this);
- this.ForceBodyShapeRebuild(true /* inTaintTime */);
- }
- return ret;
- }
-
- #region Extension
- public override object Extension(string pFunct, params object[] pParams)
- {
- DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length);
- object ret = null;
- switch (pFunct)
- {
- // physGetLinksetType();
- // pParams = [ BSPhysObject root, null ]
- case ExtendedPhysics.PhysFunctGetLinksetType:
- {
- ret = (object)LinksetType;
- DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret);
- break;
- }
- // physSetLinksetType(type);
- // pParams = [ BSPhysObject root, null, integer type ]
- case ExtendedPhysics.PhysFunctSetLinksetType:
- {
- if (pParams.Length > 2)
- {
- BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2];
- if (Linkset.IsRoot(this))
- {
- PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate()
- {
- // Cause the linkset type to change
- DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}",
- LocalID, Linkset.LinksetImpl, linksetType);
- ConvertLinkset(linksetType);
- });
- }
- ret = (object)(int)linksetType;
- }
- break;
- }
- // physChangeLinkType(linknum, typeCode);
- // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
- case ExtendedPhysics.PhysFunctChangeLinkType:
- {
- ret = Linkset.Extension(pFunct, pParams);
- break;
- }
- // physGetLinkType(linknum);
- // pParams = [ BSPhysObject root, BSPhysObject child ]
- case ExtendedPhysics.PhysFunctGetLinkType:
- {
- ret = Linkset.Extension(pFunct, pParams);
- break;
- }
- // physChangeLinkParams(linknum, [code, value, code, value, ...]);
- // pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ]
- case ExtendedPhysics.PhysFunctChangeLinkParams:
- {
- ret = Linkset.Extension(pFunct, pParams);
- break;
- }
- default:
- ret = base.Extension(pFunct, pParams);
- break;
- }
- return ret;
- }
- #endregion // Extension
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
deleted file mode 100644
index 8a19944..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ /dev/null
@@ -1,1281 +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 copyrightD
- * 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.Linq;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading;
-using OpenSim.Framework;
-using OpenSim.Framework.Monitoring;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
-using OpenSim.Region.Physics.Manager;
-using Nini.Config;
-using log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSScene : PhysicsScene, IPhysicsParameters
-{
- internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
- internal static readonly string LogHeader = "[BULLETS SCENE]";
-
- // The name of the region we're working for.
- public string RegionName { get; private set; }
-
- public string BulletSimVersion = "?";
-
- // The handle to the underlying managed or unmanaged version of Bullet being used.
- public string BulletEngineName { get; private set; }
- public BSAPITemplate PE;
-
- // If the physics engine is running on a separate thread
- public Thread m_physicsThread;
-
- public Dictionary PhysObjects;
- public BSShapeCollection Shapes;
-
- // Keeping track of the objects with collisions so we can report begin and end of a collision
- public HashSet ObjectsWithCollisions = new HashSet();
- public HashSet ObjectsWithNoMoreCollisions = new HashSet();
-
- // All the collision processing is protected with this lock object
- public Object CollisionLock = new Object();
-
- // Properties are updated here
- public Object UpdateLock = new Object();
- public HashSet ObjectsWithUpdates = new HashSet();
-
- // Keep track of all the avatars so we can send them a collision event
- // every tick so OpenSim will update its animation.
- private HashSet AvatarsInScene = new HashSet();
- private Object AvatarsInSceneLock = new Object();
-
- // let my minuions use my logger
- public ILog Logger { get { return m_log; } }
-
- public IMesher mesher;
- public uint WorldID { get; private set; }
- public BulletWorld World { get; private set; }
-
- // All the constraints that have been allocated in this instance.
- public BSConstraintCollection Constraints { get; private set; }
-
- // Simulation parameters
- //internal float m_physicsStepTime; // if running independently, the interval simulated by default
-
- internal int m_maxSubSteps;
- internal float m_fixedTimeStep;
-
- internal float m_simulatedTime; // the time simulated previously. Used for physics framerate calc.
-
- internal long m_simulationStep = 0; // The current simulation step.
- public long SimulationStep { get { return m_simulationStep; } }
- // A number to use for SimulationStep that is probably not any step value
- // Used by the collision code (which remembers the step when a collision happens) to remember not any simulation step.
- public static long NotASimulationStep = -1234;
-
- internal float LastTimeStep { get; private set; } // The simulation time from the last invocation of Simulate()
-
- internal float NominalFrameRate { get; set; } // Parameterized ideal frame rate that simulation is scaled to
-
- // Physical objects can register for prestep or poststep events
- public delegate void PreStepAction(float timeStep);
- public delegate void PostStepAction(float timeStep);
- public event PreStepAction BeforeStep;
- public event PostStepAction AfterStep;
-
- // A value of the time 'now' so all the collision and update routines do not have to get their own
- // Set to 'now' just before all the prims and actors are called for collisions and updates
- public int SimulationNowTime { get; private set; }
-
- // True if initialized and ready to do simulation steps
- private bool m_initialized = false;
-
- // Flag which is true when processing taints.
- // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
- public bool InTaintTime { get; private set; }
-
- // Pinned memory used to pass step information between managed and unmanaged
- internal int m_maxCollisionsPerFrame;
- internal CollisionDesc[] m_collisionArray;
-
- internal int m_maxUpdatesPerFrame;
- internal EntityProperties[] m_updateArray;
-
- ///
- /// Used to control physics simulation timing if Bullet is running on its own thread.
- ///
- private ManualResetEvent m_updateWaitEvent;
-
- public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
- public const uint GROUNDPLANE_ID = 1;
- public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
-
- public float SimpleWaterLevel { get; set; }
- public BSTerrainManager TerrainManager { get; private set; }
-
- public ConfigurationParameters Params
- {
- get { return UnmanagedParams[0]; }
- }
- public Vector3 DefaultGravity
- {
- get { return new Vector3(0f, 0f, Params.gravity); }
- }
- // Just the Z value of the gravity
- public float DefaultGravityZ
- {
- get { return Params.gravity; }
- }
-
- // When functions in the unmanaged code must be called, it is only
- // done at a known time just before the simulation step. The taint
- // system saves all these function calls and executes them in
- // order before the simulation.
- public delegate void TaintCallback();
- private struct TaintCallbackEntry
- {
- public String originator;
- public String ident;
- public TaintCallback callback;
- public TaintCallbackEntry(string pIdent, TaintCallback pCallBack)
- {
- originator = BSScene.DetailLogZero;
- ident = pIdent;
- callback = pCallBack;
- }
- public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack)
- {
- originator = pOrigin;
- ident = pIdent;
- callback = pCallBack;
- }
- }
- private Object _taintLock = new Object(); // lock for using the next object
- private List _taintOperations;
- private Dictionary _postTaintOperations;
- private List _postStepOperations;
-
- // A pointer to an instance if this structure is passed to the C++ code
- // Used to pass basic configuration values to the unmanaged code.
- internal ConfigurationParameters[] UnmanagedParams;
-
- // Sometimes you just have to log everything.
- public Logging.LogWriter PhysicsLogging;
- private bool m_physicsLoggingEnabled;
- private string m_physicsLoggingDir;
- private string m_physicsLoggingPrefix;
- private int m_physicsLoggingFileMinutes;
- private bool m_physicsLoggingDoFlush;
- private bool m_physicsPhysicalDumpEnabled;
- public int PhysicsMetricDumpFrames { get; set; }
- // 'true' of the vehicle code is to log lots of details
- public bool VehicleLoggingEnabled { get; private set; }
- public bool VehiclePhysicalLoggingEnabled { get; private set; }
-
- #region Construction and Initialization
- public BSScene(string engineType, string identifier)
- {
- m_initialized = false;
-
- // The name of the region we're working for is passed to us. Keep for identification.
- RegionName = identifier;
-
- // Set identifying variables in the PhysicsScene interface.
- EngineType = engineType;
- Name = EngineType + "/" + RegionName;
- }
-
- // Old version of initialization that assumes legacy sized regions (256x256)
- public override void Initialise(IMesher meshmerizer, IConfigSource config)
- {
- m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up.");
- Vector3 regionExtent = new Vector3( Constants.RegionSize, Constants.RegionSize, Constants.RegionSize);
- Initialise(meshmerizer, config, regionExtent);
-
- }
-
- public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
- {
- mesher = meshmerizer;
- _taintOperations = new List();
- _postTaintOperations = new Dictionary();
- _postStepOperations = new List();
- PhysObjects = new Dictionary();
- Shapes = new BSShapeCollection(this);
-
- m_simulatedTime = 0f;
- LastTimeStep = 0.1f;
-
- // Allocate pinned memory to pass parameters.
- UnmanagedParams = new ConfigurationParameters[1];
-
- // Set default values for physics parameters plus any overrides from the ini file
- GetInitialParameterValues(config);
-
- // Force some parameters to values depending on other configurations
- // Only use heightmap terrain implementation if terrain larger than legacy size
- if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize)
- {
- m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader);
- BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
- }
-
- // Get the connection to the physics engine (could be native or one of many DLLs)
- PE = SelectUnderlyingBulletEngine(BulletEngineName);
-
- // Enable very detailed logging.
- // By creating an empty logger when not logging, the log message invocation code
- // can be left in and every call doesn't have to check for null.
- if (m_physicsLoggingEnabled)
- {
- PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush);
- PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages.
- }
- else
- {
- PhysicsLogging = new Logging.LogWriter();
- }
-
- // Allocate memory for returning of the updates and collisions from the physics engine
- m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
- m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
-
- // The bounding box for the simulated world. The origin is 0,0,0 unless we're
- // a child in a mega-region.
- // Bullet actually doesn't care about the extents of the simulated
- // area. It tracks active objects no matter where they are.
- Vector3 worldExtent = regionExtent;
-
- World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
-
- Constraints = new BSConstraintCollection(World);
-
- TerrainManager = new BSTerrainManager(this, worldExtent);
- TerrainManager.CreateInitialGroundPlaneAndTerrain();
-
- // Put some informational messages into the log file.
- m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
-
- InTaintTime = false;
- m_initialized = true;
-
- // If the physics engine runs on its own thread, start same.
- if (BSParam.UseSeparatePhysicsThread)
- {
- // The physics simulation should happen independently of the heartbeat loop
- m_physicsThread
- = WorkManager.StartThread(
- BulletSPluginPhysicsThread,
- string.Format("{0} ({1})", BulletEngineName, RegionName),
- ThreadPriority.Normal,
- true,
- true);
- }
- }
-
- // All default parameter values are set here. There should be no values set in the
- // variable definitions.
- private void GetInitialParameterValues(IConfigSource config)
- {
- ConfigurationParameters parms = new ConfigurationParameters();
- UnmanagedParams[0] = parms;
-
- BSParam.SetParameterDefaultValues(this);
-
- if (config != null)
- {
- // If there are specifications in the ini file, use those values
- IConfig pConfig = config.Configs["BulletSim"];
- if (pConfig != null)
- {
- BSParam.SetParameterConfigurationValues(this, pConfig);
-
- // There are two Bullet implementations to choose from
- BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
-
- // Very detailed logging for physics debugging
- // TODO: the boolean values can be moved to the normal parameter processing.
- m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
- m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
- m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
- m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
- m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
- m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
- // Very detailed logging for vehicle debugging
- VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
- VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
-
- // Do any replacements in the parameters
- m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
- }
- else
- {
- // Nothing in the configuration INI file so assume unmanaged and other defaults.
- BulletEngineName = "BulletUnmanaged";
- m_physicsLoggingEnabled = false;
- VehicleLoggingEnabled = false;
- }
-
- // The material characteristics.
- BSMaterials.InitializeFromDefaults(Params);
- if (pConfig != null)
- {
- // Let the user add new and interesting material property values.
- BSMaterials.InitializefromParameters(pConfig);
- }
- }
- }
-
- // A helper function that handles a true/false parameter and returns the proper float number encoding
- float ParamBoolean(IConfig config, string parmName, float deflt)
- {
- float ret = deflt;
- if (config.Contains(parmName))
- {
- ret = ConfigurationParameters.numericFalse;
- if (config.GetBoolean(parmName, false))
- {
- ret = ConfigurationParameters.numericTrue;
- }
- }
- return ret;
- }
-
- // Select the connection to the actual Bullet implementation.
- // The main engine selection is the engineName up to the first hypen.
- // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
- // is passed to the engine to do its special selection, etc.
- private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
- {
- // For the moment, do a simple switch statement.
- // Someday do fancyness with looking up the interfaces in the assembly.
- BSAPITemplate ret = null;
-
- string selectionName = engineName.ToLower();
- int hyphenIndex = engineName.IndexOf("-");
- if (hyphenIndex > 0)
- selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
-
- switch (selectionName)
- {
- case "bullet":
- case "bulletunmanaged":
- ret = new BSAPIUnman(engineName, this);
- break;
- case "bulletxna":
- ret = new BSAPIXNA(engineName, this);
- // Disable some features that are not implemented in BulletXNA
- m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader);
- m_log.InfoFormat("{0} Disabling ShouldUseBulletHACD", LogHeader);
- BSParam.ShouldUseBulletHACD = false;
- m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader);
- BSParam.ShouldUseSingleConvexHullForPrims = false;
- m_log.InfoFormat("{0} Disabling ShouldUseGImpactShapeForPrims", LogHeader);
- BSParam.ShouldUseGImpactShapeForPrims = false;
- m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader);
- BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
- break;
- }
-
- if (ret == null)
- {
- m_log.ErrorFormat("{0} COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
- }
- else
- {
- m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
- }
-
- return ret;
- }
-
- public override void Dispose()
- {
- // m_log.DebugFormat("{0}: Dispose()", LogHeader);
-
- // make sure no stepping happens while we're deleting stuff
- m_initialized = false;
-
- lock (PhysObjects)
- {
- foreach (KeyValuePair kvp in PhysObjects)
- {
- kvp.Value.Destroy();
- }
- PhysObjects.Clear();
- }
-
- // Now that the prims are all cleaned up, there should be no constraints left
- if (Constraints != null)
- {
- Constraints.Dispose();
- Constraints = null;
- }
-
- if (Shapes != null)
- {
- Shapes.Dispose();
- Shapes = null;
- }
-
- if (TerrainManager != null)
- {
- TerrainManager.ReleaseGroundPlaneAndTerrain();
- TerrainManager.Dispose();
- TerrainManager = null;
- }
-
- // Anything left in the unmanaged code should be cleaned out
- PE.Shutdown(World);
-
- // Not logging any more
- PhysicsLogging.Close();
- }
- #endregion // Construction and Initialization
-
- #region Prim and Avatar addition and removal
-
- public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
- {
- m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
- return null;
- }
-
- public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
- {
- // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
-
- if (!m_initialized) return null;
-
- BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying);
- lock (PhysObjects)
- PhysObjects.Add(localID, actor);
-
- // TODO: Remove kludge someday.
- // We must generate a collision for avatars whether they collide or not.
- // This is required by OpenSim to update avatar animations, etc.
- lock (AvatarsInSceneLock)
- AvatarsInScene.Add(actor);
-
- return actor;
- }
-
- public override void RemoveAvatar(PhysicsActor actor)
- {
- // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
-
- if (!m_initialized) return;
-
- BSCharacter bsactor = actor as BSCharacter;
- if (bsactor != null)
- {
- try
- {
- lock (PhysObjects)
- PhysObjects.Remove(bsactor.LocalID);
- // Remove kludge someday
- lock (AvatarsInSceneLock)
- AvatarsInScene.Remove(bsactor);
- }
- catch (Exception e)
- {
- m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
- }
- bsactor.Destroy();
- // bsactor.dispose();
- }
- else
- {
- m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
- LogHeader, actor.LocalID, actor.GetType().Name);
- }
- }
-
- public override void RemovePrim(PhysicsActor prim)
- {
- if (!m_initialized) return;
-
- BSPhysObject bsprim = prim as BSPhysObject;
- if (bsprim != null)
- {
- DetailLog("{0},RemovePrim,call", bsprim.LocalID);
- // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
- try
- {
- lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
- }
- catch (Exception e)
- {
- m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
- }
- bsprim.Destroy();
- // bsprim.dispose();
- }
- else
- {
- m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
- }
- }
-
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
- Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
- {
- // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
-
- if (!m_initialized) return null;
-
- // DetailLog("{0},BSScene.AddPrimShape,call", localID);
-
- BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
- lock (PhysObjects) PhysObjects.Add(localID, prim);
- return prim;
- }
-
- // This is a call from the simulator saying that some physical property has been updated.
- // The BulletSim driver senses the changing of relevant properties so this taint
- // information call is not needed.
- public override void AddPhysicsActorTaint(PhysicsActor prim) { }
-
- #endregion // Prim and Avatar addition and removal
-
- #region Simulation
-
- // Call from the simulator to send physics information to the simulator objects.
- // This pushes all the collision and property update events into the objects in
- // the simulator and, since it is on the heartbeat thread, there is an implicit
- // locking of those data structures from other heartbeat events.
- // If the physics engine is running on a separate thread, the update information
- // will be in the ObjectsWithCollions and ObjectsWithUpdates structures.
- public override float Simulate(float timeStep)
- {
- if (!BSParam.UseSeparatePhysicsThread)
- {
- DoPhysicsStep(timeStep);
- }
- return SendUpdatesToSimulator(timeStep);
- }
-
- // Call the physics engine to do one 'timeStep' and collect collisions and updates
- // into ObjectsWithCollisions and ObjectsWithUpdates data structures.
- private void DoPhysicsStep(float timeStep)
- {
- // prevent simulation until we've been initialized
- if (!m_initialized) return;
-
- LastTimeStep = timeStep;
-
- int updatedEntityCount = 0;
- int collidersCount = 0;
-
- int beforeTime = Util.EnvironmentTickCount();
- int simTime = 0;
-
- int numTaints = _taintOperations.Count;
- InTaintTime = true; // Only used for debugging so locking is not necessary.
-
- // update the prim states while we know the physics engine is not busy
- ProcessTaints();
-
- // Some of the physical objects requre individual, pre-step calls
- // (vehicles and avatar movement, in particular)
- TriggerPreStepEvent(timeStep);
-
- // the prestep actions might have added taints
- numTaints += _taintOperations.Count;
- ProcessTaints();
-
- InTaintTime = false; // Only used for debugging so locking is not necessary.
-
- // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
- // Only enable this in a limited test world with few objects.
- if (m_physicsPhysicalDumpEnabled)
- PE.DumpAllInfo(World);
-
- // step the physical world one interval
- m_simulationStep++;
- int numSubSteps = 0;
- try
- {
- numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
-
- }
- catch (Exception e)
- {
- m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
- LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
- DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
- DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
- updatedEntityCount = 0;
- collidersCount = 0;
- }
-
- // Make the physics engine dump useful statistics periodically
- if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
- PE.DumpPhysicsStatistics(World);
-
- // Get a value for 'now' so all the collision and update routines don't have to get their own.
- SimulationNowTime = Util.EnvironmentTickCount();
-
- // Send collision information to the colliding objects. The objects decide if the collision
- // is 'real' (like linksets don't collide with themselves) and the individual objects
- // know if the simulator has subscribed to collisions.
- lock (CollisionLock)
- {
- if (collidersCount > 0)
- {
- lock (PhysObjects)
- {
- for (int ii = 0; ii < collidersCount; ii++)
- {
- uint cA = m_collisionArray[ii].aID;
- uint cB = m_collisionArray[ii].bID;
- Vector3 point = m_collisionArray[ii].point;
- Vector3 normal = m_collisionArray[ii].normal;
- float penetration = m_collisionArray[ii].penetration;
- SendCollision(cA, cB, point, normal, penetration);
- SendCollision(cB, cA, point, -normal, penetration);
- }
- }
- }
- }
-
- // If any of the objects had updated properties, tell the managed objects about the update
- // and remember that there was a change so it will be passed to the simulator.
- lock (UpdateLock)
- {
- if (updatedEntityCount > 0)
- {
- lock (PhysObjects)
- {
- for (int ii = 0; ii < updatedEntityCount; ii++)
- {
- EntityProperties entprop = m_updateArray[ii];
- BSPhysObject pobj;
- if (PhysObjects.TryGetValue(entprop.ID, out pobj))
- {
- if (pobj.IsInitialized)
- pobj.UpdateProperties(entprop);
- }
- }
- }
- }
- }
-
- // Some actors want to know when the simulation step is complete.
- TriggerPostStepEvent(timeStep);
-
- simTime = Util.EnvironmentTickCountSubtract(beforeTime);
- if (PhysicsLogging.Enabled)
- {
- DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
- DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
- updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
- }
-
- // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
- // Only enable this in a limited test world with few objects.
- if (m_physicsPhysicalDumpEnabled)
- PE.DumpAllInfo(World);
-
- // The physics engine returns the number of milliseconds it simulated this call.
- // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
- // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
- m_simulatedTime += (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
- }
-
- // Called by a BSPhysObject to note that it has changed properties and this information
- // should be passed up to the simulator at the proper time.
- // Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so
- // this is is under UpdateLock.
- public void PostUpdate(BSPhysObject updatee)
- {
- lock (UpdateLock)
- {
- ObjectsWithUpdates.Add(updatee);
- }
- }
-
- // The simulator thinks it is physics time so return all the collisions and position
- // updates that were collected in actual physics simulation.
- private float SendUpdatesToSimulator(float timeStep)
- {
- if (!m_initialized) return 5.0f;
-
- DetailLog("{0},SendUpdatesToSimulator,collisions={1},updates={2},simedTime={3}",
- BSScene.DetailLogZero, ObjectsWithCollisions.Count, ObjectsWithUpdates.Count, m_simulatedTime);
- // Push the collisions into the simulator.
- lock (CollisionLock)
- {
- if (ObjectsWithCollisions.Count > 0)
- {
- foreach (BSPhysObject bsp in ObjectsWithCollisions)
- if (!bsp.SendCollisions())
- {
- // If the object is done colliding, see that it's removed from the colliding list
- ObjectsWithNoMoreCollisions.Add(bsp);
- }
- }
-
- // This is a kludge to get avatar movement updates.
- // The simulator expects collisions for avatars even if there are have been no collisions.
- // The event updates avatar animations and stuff.
- // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
- // Note that we get a copy of the list to search because SendCollision() can take a while.
- HashSet tempAvatarsInScene;
- lock (AvatarsInSceneLock)
- {
- tempAvatarsInScene = new HashSet(AvatarsInScene);
- }
- foreach (BSPhysObject actor in tempAvatarsInScene)
- {
- if (!ObjectsWithCollisions.Contains(actor)) // don't call avatars twice
- actor.SendCollisions();
- }
- tempAvatarsInScene = null;
-
- // Objects that are done colliding are removed from the ObjectsWithCollisions list.
- // Not done above because it is inside an iteration of ObjectWithCollisions.
- // This complex collision processing is required to create an empty collision
- // event call after all real collisions have happened on an object. This allows
- // the simulator to generate the 'collision end' event.
- if (ObjectsWithNoMoreCollisions.Count > 0)
- {
- foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
- ObjectsWithCollisions.Remove(po);
- ObjectsWithNoMoreCollisions.Clear();
- }
- }
-
- // Call the simulator for each object that has physics property updates.
- HashSet updatedObjects = null;
- lock (UpdateLock)
- {
- if (ObjectsWithUpdates.Count > 0)
- {
- updatedObjects = ObjectsWithUpdates;
- ObjectsWithUpdates = new HashSet();
- }
- }
- if (updatedObjects != null)
- {
- foreach (BSPhysObject obj in updatedObjects)
- {
- obj.RequestPhysicsterseUpdate();
- }
- updatedObjects.Clear();
- }
-
- // Return the framerate simulated to give the above returned results.
- // (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock).
- float simTime = m_simulatedTime;
- m_simulatedTime = 0f;
- return simTime;
- }
-
- // Something has collided
- private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
- {
- if (localID <= TerrainManager.HighestTerrainID)
- {
- return; // don't send collisions to the terrain
- }
-
- BSPhysObject collider;
- // NOTE that PhysObjects was locked before the call to SendCollision().
- if (!PhysObjects.TryGetValue(localID, out collider))
- {
- // If the object that is colliding cannot be found, just ignore the collision.
- DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
- return;
- }
-
- // Note: the terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
- BSPhysObject collidee = null;
- PhysObjects.TryGetValue(collidingWith, out collidee);
-
- // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
-
- if (collider.IsInitialized)
- {
- if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
- {
- // If a collision was 'good', remember to send it to the simulator
- lock (CollisionLock)
- {
- ObjectsWithCollisions.Add(collider);
- }
- }
- }
-
- return;
- }
-
- public void BulletSPluginPhysicsThread()
- {
- Thread.CurrentThread.Priority = ThreadPriority.Highest;
- m_updateWaitEvent = new ManualResetEvent(false);
-
- while (m_initialized)
- {
- int beginSimulationRealtimeMS = Util.EnvironmentTickCount();
-
- if (BSParam.Active)
- DoPhysicsStep(BSParam.PhysicsTimeStep);
-
- int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS);
- int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS;
-
- if (simulationTimeVsRealtimeDifferenceMS > 0)
- {
- // The simulation of the time interval took less than realtime.
- // Do a wait for the rest of realtime.
- m_updateWaitEvent.WaitOne(simulationTimeVsRealtimeDifferenceMS);
- //Thread.Sleep(simulationTimeVsRealtimeDifferenceMS);
- }
- else
- {
- // The simulation took longer than realtime.
- // Do some scaling of simulation time.
- // TODO.
- DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS);
- }
-
- Watchdog.UpdateThread();
- }
-
- Watchdog.RemoveThread();
- }
-
- #endregion // Simulation
-
- public override void GetResults() { }
-
- #region Terrain
-
- public override void SetTerrain(float[] heightMap) {
- TerrainManager.SetTerrain(heightMap);
- }
-
- public override void SetWaterLevel(float baseheight)
- {
- SimpleWaterLevel = baseheight;
- }
-
- public override void DeleteTerrain()
- {
- // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
- }
-
- // Although no one seems to check this, I do support combining.
- public override bool SupportsCombining()
- {
- return TerrainManager.SupportsCombining();
- }
- // This call says I am a child to region zero in a mega-region. 'pScene' is that
- // of region zero, 'offset' is my offset from regions zero's origin, and
- // 'extents' is the largest XY that is handled in my region.
- public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
- {
- TerrainManager.Combine(pScene, offset, extents);
- }
-
- // Unhook all the combining that I know about.
- public override void UnCombine(PhysicsScene pScene)
- {
- TerrainManager.UnCombine(pScene);
- }
-
- #endregion // Terrain
-
- public override Dictionary GetTopColliders()
- {
- Dictionary topColliders;
-
- lock (PhysObjects)
- {
- foreach (KeyValuePair kvp in PhysObjects)
- {
- kvp.Value.ComputeCollisionScore();
- }
-
- List orderedPrims = new List(PhysObjects.Values);
- orderedPrims.OrderByDescending(p => p.CollisionScore);
- topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
- }
-
- return topColliders;
- }
-
- public override bool IsThreaded { get { return false; } }
-
- #region Extensions
- public override object Extension(string pFunct, params object[] pParams)
- {
- DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct);
- return base.Extension(pFunct, pParams);
- }
- #endregion // Extensions
-
- public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs)
- {
- float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f;
- float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f;
- float pathBegin = (float)pbs.PathBegin * 2.0e-5f;
- float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f;
- float pathScaleX = (float)(200 - pbs.PathScaleX) * 0.01f;
- float pathScaleY = (float)(200 - pbs.PathScaleY) * 0.01f;
- float pathTaperX = pbs.PathTaperX * 0.01f;
- float pathTaperY = pbs.PathTaperY * 0.01f;
-
- float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f;
- float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f;
- float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f;
- if (profileHollow > 0.95f)
- profileHollow = 0.95f;
-
- StringBuilder buff = new StringBuilder();
- buff.Append("shape=");
- buff.Append(((ProfileShape)pbs.ProfileShape).ToString());
- buff.Append(",");
- buff.Append("hollow=");
- buff.Append(((HollowShape)pbs.HollowShape).ToString());
- buff.Append(",");
- buff.Append("pathCurve=");
- buff.Append(((Extrusion)pbs.PathCurve).ToString());
- buff.Append(",");
- buff.Append("profCurve=");
- buff.Append(((Extrusion)pbs.ProfileCurve).ToString());
- buff.Append(",");
- buff.Append("profHollow=");
- buff.Append(profileHollow.ToString());
- buff.Append(",");
- buff.Append("pathBegEnd=");
- buff.Append(pathBegin.ToString());
- buff.Append("/");
- buff.Append(pathEnd.ToString());
- buff.Append(",");
- buff.Append("profileBegEnd=");
- buff.Append(profileBegin.ToString());
- buff.Append("/");
- buff.Append(profileEnd.ToString());
- buff.Append(",");
- buff.Append("scaleXY=");
- buff.Append(pathScaleX.ToString());
- buff.Append("/");
- buff.Append(pathScaleY.ToString());
- buff.Append(",");
- buff.Append("shearXY=");
- buff.Append(pathShearX.ToString());
- buff.Append("/");
- buff.Append(pathShearY.ToString());
- buff.Append(",");
- buff.Append("taperXY=");
- buff.Append(pbs.PathTaperX.ToString());
- buff.Append("/");
- buff.Append(pbs.PathTaperY.ToString());
- buff.Append(",");
- buff.Append("skew=");
- buff.Append(pbs.PathSkew.ToString());
- buff.Append(",");
- buff.Append("twist/Beg=");
- buff.Append(pbs.PathTwist.ToString());
- buff.Append("/");
- buff.Append(pbs.PathTwistBegin.ToString());
-
- return buff.ToString();
- }
-
- #region Taints
- // The simulation execution order is:
- // Simulate()
- // DoOneTimeTaints
- // TriggerPreStepEvent
- // DoOneTimeTaints
- // Step()
- // ProcessAndSendToSimulatorCollisions
- // ProcessAndSendToSimulatorPropertyUpdates
- // TriggerPostStepEvent
-
- // Calls to the PhysicsActors can't directly call into the physics engine
- // because it might be busy. We delay changes to a known time.
- // We rely on C#'s closure to save and restore the context for the delegate.
- public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
- {
- TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback);
- }
- public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback)
- {
- TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
- }
- public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
- {
- TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback);
- }
- public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
- {
- TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
- }
- // Sometimes a potentially tainted operation can be used in and out of taint time.
- // This routine executes the command immediately if in taint-time otherwise it is queued.
- public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback)
- {
- if (!m_initialized) return;
-
- if (inTaintTime)
- pCallback();
- else
- {
- lock (_taintLock)
- {
- _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
- }
- }
- }
-
- private void TriggerPreStepEvent(float timeStep)
- {
- PreStepAction actions = BeforeStep;
- if (actions != null)
- actions(timeStep);
-
- }
-
- private void TriggerPostStepEvent(float timeStep)
- {
- PostStepAction actions = AfterStep;
- if (actions != null)
- actions(timeStep);
-
- }
-
- // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
- // a callback into itself to do the actual property change. That callback is called
- // here just before the physics engine is called to step the simulation.
- public void ProcessTaints()
- {
- ProcessRegularTaints();
- ProcessPostTaintTaints();
- }
-
- private void ProcessRegularTaints()
- {
- if (m_initialized && _taintOperations.Count > 0) // save allocating new list if there is nothing to process
- {
- // swizzle a new list into the list location so we can process what's there
- List oldList;
- lock (_taintLock)
- {
- oldList = _taintOperations;
- _taintOperations = new List();
- }
-
- foreach (TaintCallbackEntry tcbe in oldList)
- {
- try
- {
- DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG
- tcbe.callback();
- }
- catch (Exception e)
- {
- m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
- }
- }
- oldList.Clear();
- }
- }
-
- // Schedule an update to happen after all the regular taints are processed.
- // Note that new requests for the same operation ("ident") for the same object ("ID")
- // will replace any previous operation by the same object.
- public void PostTaintObject(String ident, uint ID, TaintCallback callback)
- {
- string IDAsString = ID.ToString();
- string uniqueIdent = ident + "-" + IDAsString;
- lock (_taintLock)
- {
- _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback);
- }
-
- return;
- }
-
- // Taints that happen after the normal taint processing but before the simulation step.
- private void ProcessPostTaintTaints()
- {
- if (m_initialized && _postTaintOperations.Count > 0)
- {
- Dictionary oldList;
- lock (_taintLock)
- {
- oldList = _postTaintOperations;
- _postTaintOperations = new Dictionary();
- }
-
- foreach (KeyValuePair kvp in oldList)
- {
- try
- {
- DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
- kvp.Value.callback();
- }
- catch (Exception e)
- {
- m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
- }
- }
- oldList.Clear();
- }
- }
-
- // Only used for debugging. Does not change state of anything so locking is not necessary.
- public bool AssertInTaintTime(string whereFrom)
- {
- if (!InTaintTime)
- {
- DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
- m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
- // Util.PrintCallStack(DetailLog);
- }
- return InTaintTime;
- }
-
- #endregion // Taints
-
- #region IPhysicsParameters
- // Get the list of parameters this physics engine supports
- public PhysParameterEntry[] GetParameterList()
- {
- BSParam.BuildParameterTable();
- return BSParam.SettableParameters;
- }
-
- // Set parameter on a specific or all instances.
- // Return 'false' if not able to set the parameter.
- // Setting the value in the m_params block will change the value the physics engine
- // will use the next time since it's pinned and shared memory.
- // Some of the values require calling into the physics engine to get the new
- // value activated ('terrainFriction' for instance).
- public bool SetPhysicsParameter(string parm, string val, uint localID)
- {
- bool ret = false;
-
- BSParam.ParameterDefnBase theParam;
- if (BSParam.TryGetParameter(parm, out theParam))
- {
- // Set the value in the C# code
- theParam.SetValue(this, val);
-
- // Optionally set the parameter in the unmanaged code
- if (theParam.HasSetOnObject)
- {
- // update all the localIDs specified
- // If the local ID is APPLY_TO_NONE, just change the default value
- // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
- // If the localID is a specific object, apply the parameter change to only that object
- List objectIDs = new List();
- switch (localID)
- {
- case PhysParameterEntry.APPLY_TO_NONE:
- // This will cause a call into the physical world if some operation is specified (SetOnObject).
- objectIDs.Add(TERRAIN_ID);
- TaintedUpdateParameter(parm, objectIDs, val);
- break;
- case PhysParameterEntry.APPLY_TO_ALL:
- lock (PhysObjects) objectIDs = new List(PhysObjects.Keys);
- TaintedUpdateParameter(parm, objectIDs, val);
- break;
- default:
- // setting only one localID
- objectIDs.Add(localID);
- TaintedUpdateParameter(parm, objectIDs, val);
- break;
- }
- }
-
- ret = true;
- }
- return ret;
- }
-
- // schedule the actual updating of the paramter to when the phys engine is not busy
- private void TaintedUpdateParameter(string parm, List lIDs, string val)
- {
- string xval = val;
- List xlIDs = lIDs;
- string xparm = parm;
- TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() {
- BSParam.ParameterDefnBase thisParam;
- if (BSParam.TryGetParameter(xparm, out thisParam))
- {
- if (thisParam.HasSetOnObject)
- {
- foreach (uint lID in xlIDs)
- {
- BSPhysObject theObject = null;
- if (PhysObjects.TryGetValue(lID, out theObject))
- thisParam.SetOnObject(this, theObject);
- }
- }
- }
- });
- }
-
- // Get parameter.
- // Return 'false' if not able to get the parameter.
- public bool GetPhysicsParameter(string parm, out string value)
- {
- string val = String.Empty;
- bool ret = false;
- BSParam.ParameterDefnBase theParam;
- if (BSParam.TryGetParameter(parm, out theParam))
- {
- val = theParam.GetValue(this);
- ret = true;
- }
- value = val;
- return ret;
- }
-
- #endregion IPhysicsParameters
-
- // Invoke the detailed logger and output something if it's enabled.
- public void DetailLog(string msg, params Object[] args)
- {
- PhysicsLogging.Write(msg, args);
- }
- // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
- public const string DetailLogZero = "0000000000";
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
deleted file mode 100755
index d1de844..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ /dev/null
@@ -1,425 +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 copyrightD
- * 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.Text;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSShapeCollection : IDisposable
-{
-#pragma warning disable 414
- private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
-#pragma warning restore 414
-
- private BSScene m_physicsScene { get; set; }
-
- private Object m_collectionActivityLock = new Object();
-
- private bool DDetail = false;
-
- public BSShapeCollection(BSScene physScene)
- {
- m_physicsScene = physScene;
- // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
- // While detailed debugging is still active, this is better than commenting out all the
- // DetailLog statements. When debugging slows down, this and the protected logging
- // statements can be commented/removed.
- DDetail = true;
- }
-
- public void Dispose()
- {
- // TODO!!!!!!!!!
- }
-
- // Callbacks called just before either the body or shape is destroyed.
- // Mostly used for changing bodies out from under Linksets.
- // Useful for other cases where parameters need saving.
- // Passing 'null' says no callback.
- public delegate void PhysicalDestructionCallback(BulletBody pBody, BulletShape pShape);
-
- // Called to update/change the body and shape for an object.
- // The object has some shape and body on it. Here we decide if that is the correct shape
- // for the current state of the object (static/dynamic/...).
- // If bodyCallback is not null, it is called if either the body or the shape are changed
- // so dependencies (like constraints) can be removed before the physical object is dereferenced.
- // Return 'true' if either the body or the shape changed.
- // Called at taint-time.
- public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
- {
- m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
-
- bool ret = false;
-
- // This lock could probably be pushed down lower but building shouldn't take long
- lock (m_collectionActivityLock)
- {
- // Do we have the correct geometry for this type of object?
- // Updates prim.BSShape with information/pointers to shape.
- // Returns 'true' of BSShape is changed to a new shape.
- bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback);
- // If we had to select a new shape geometry for the object,
- // rebuild the body around it.
- // Updates prim.BSBody with information/pointers to requested body
- // Returns 'true' if BSBody was changed.
- bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback);
- ret = newGeom || newBody;
- }
- DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
- prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
-
- return ret;
- }
-
- public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
- {
- return GetBodyAndShape(forceRebuild, sim, prim, null);
- }
-
- // If the existing prim's shape is to be replaced, remove the tie to the existing shape
- // before replacing it.
- private void DereferenceExistingShape(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
- {
- if (prim.PhysShape.HasPhysicalShape)
- {
- if (shapeCallback != null)
- shapeCallback(prim.PhysBody, prim.PhysShape.physShapeInfo);
- prim.PhysShape.Dereference(m_physicsScene);
- }
- prim.PhysShape = new BSShapeNull();
- }
-
- // Create the geometry information in Bullet for later use.
- // The objects needs a hull if it's physical otherwise a mesh is enough.
- // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
- // shared geometries will be used. If the parameters of the existing shape are the same
- // as this request, the shape is not rebuilt.
- // Info in prim.BSShape is updated to the new shape.
- // Returns 'true' if the geometry was rebuilt.
- // Called at taint-time!
- public const int AvatarShapeCapsule = 0;
- public const int AvatarShapeCube = 1;
- public const int AvatarShapeOvoid = 2;
- public const int AvatarShapeMesh = 3;
- private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
- {
- bool ret = false;
- bool haveShape = false;
- bool nativeShapePossible = true;
- PrimitiveBaseShape pbs = prim.BaseShape;
-
- // Kludge to create the capsule for the avatar.
- // TDOD: Remove/redo this when BSShapeAvatar is working!!
- BSCharacter theChar = prim as BSCharacter;
- if (theChar != null)
- {
- DereferenceExistingShape(prim, shapeCallback);
- switch (BSParam.AvatarShape)
- {
- case AvatarShapeCapsule:
- prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
- BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE);
- ret = true;
- haveShape = true;
- break;
- case AvatarShapeCube:
- prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
- BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_CAPSULE);
- ret = true;
- haveShape = true;
- break;
- case AvatarShapeOvoid:
- // Saddly, Bullet doesn't scale spheres so this doesn't work as an avatar shape
- prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
- BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_CAPSULE);
- ret = true;
- haveShape = true;
- break;
- case AvatarShapeMesh:
- break;
- default:
- break;
- }
- }
-
- // If the prim attributes are simple, this could be a simple Bullet native shape
- // Native shapes work whether to object is static or physical.
- if (!haveShape
- && nativeShapePossible
- && pbs != null
- && PrimHasNoCuts(pbs)
- && ( !pbs.SculptEntry || (pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) )
- )
- {
- // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
- OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
- if (prim.PhysShape.HasPhysicalShape)
- scaleOfExistingShape = m_physicsScene.PE.GetLocalScaling(prim.PhysShape.physShapeInfo);
-
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
- prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.physShapeInfo.shapeType);
-
- // It doesn't look like Bullet scales native spheres so make sure the scales are all equal
- if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
- && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
- {
- haveShape = true;
- if (forceRebuild
- || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_SPHERE
- )
- {
- DereferenceExistingShape(prim, shapeCallback);
- prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
- BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE);
- ret = true;
- }
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
- prim.LocalID, forceRebuild, ret, prim.PhysShape);
- }
- // If we didn't make a sphere, maybe a box will work.
- if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
- {
- haveShape = true;
- if (forceRebuild
- || prim.Scale != scaleOfExistingShape
- || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_BOX
- )
- {
- DereferenceExistingShape(prim, shapeCallback);
- prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
- BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
- ret = true;
- }
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
- prim.LocalID, forceRebuild, ret, prim.PhysShape);
- }
- }
-
- // If a simple shape is not happening, create a mesh and possibly a hull.
- if (!haveShape && pbs != null)
- {
- ret = CreateGeomMeshOrHull(prim, shapeCallback);
- }
-
- return ret;
- }
-
- // return 'true' if this shape description does not include any cutting or twisting.
- public static bool PrimHasNoCuts(PrimitiveBaseShape pbs)
- {
- return 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 'true' if the prim's shape was changed.
- private bool CreateGeomMeshOrHull(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
- {
-
- bool ret = false;
- // Note that if it's a native shape, the check for physical/non-physical is not
- // made. Native shapes work in either case.
- if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
- {
- // Use a simple, single mesh convex hull shape if the object is simple enough
- BSShape potentialHull = null;
-
- PrimitiveBaseShape pbs = prim.BaseShape;
- // Use a simple, one section convex shape for prims that are probably convex (no cuts or twists)
- if (BSParam.ShouldUseSingleConvexHullForPrims
- && pbs != null
- && !pbs.SculptEntry
- && PrimHasNoCuts(pbs)
- )
- {
- potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim);
- }
- // Use the GImpact shape if it is a prim that has some concaveness
- if (potentialHull == null
- && BSParam.ShouldUseGImpactShapeForPrims
- && pbs != null
- && !pbs.SculptEntry
- )
- {
- potentialHull = BSShapeGImpact.GetReference(m_physicsScene, false /* forceRebuild */, prim);
- }
- // If not any of the simple cases, just make a hull
- if (potentialHull == null)
- {
- potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
- }
-
- // If the current shape is not what is on the prim at the moment, time to change.
- if (!prim.PhysShape.HasPhysicalShape
- || potentialHull.ShapeType != prim.PhysShape.ShapeType
- || potentialHull.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
- {
- DereferenceExistingShape(prim, shapeCallback);
- prim.PhysShape = potentialHull;
- ret = true;
- }
- else
- {
- // The current shape on the prim is the correct one. We don't need the potential reference.
- potentialHull.Dereference(m_physicsScene);
- }
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape);
- }
- else
- {
- // Non-physical objects should be just meshes.
- BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
- // If the current shape is not what is on the prim at the moment, time to change.
- if (!prim.PhysShape.HasPhysicalShape
- || potentialMesh.ShapeType != prim.PhysShape.ShapeType
- || potentialMesh.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
- {
- DereferenceExistingShape(prim, shapeCallback);
- prim.PhysShape = potentialMesh;
- ret = true;
- }
- else
- {
- // We don't need this reference to the mesh that is already being using.
- potentialMesh.Dereference(m_physicsScene);
- }
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape);
- }
- return ret;
- }
-
- // Track another user of a body.
- // We presume the caller has allocated the body.
- // Bodies only have one user so the body is just put into the world if not already there.
- private void ReferenceBody(BulletBody body)
- {
- lock (m_collectionActivityLock)
- {
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
- if (!m_physicsScene.PE.IsInWorld(m_physicsScene.World, body))
- {
- m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, body);
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
- }
- }
- }
-
- // Release the usage of a body.
- // Called when releasing use of a BSBody. BSShape is handled separately.
- // Called in taint time.
- public void DereferenceBody(BulletBody body, PhysicalDestructionCallback bodyCallback )
- {
- if (!body.HasPhysicalBody)
- return;
-
- m_physicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
-
- lock (m_collectionActivityLock)
- {
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
- // If the caller needs to know the old body is going away, pass the event up.
- if (bodyCallback != null)
- bodyCallback(body, null);
-
- // Removing an object not in the world is a NOOP
- m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, body);
-
- // Zero any reference to the shape so it is not freed when the body is deleted.
- m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, body, null);
-
- m_physicsScene.PE.DestroyObject(m_physicsScene.World, body);
- }
- }
-
- // Create a body object in Bullet.
- // Updates prim.BSBody with the information about the new body if one is created.
- // Returns 'true' if an object was actually created.
- // Called at taint-time.
- private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, PhysicalDestructionCallback bodyCallback)
- {
- bool ret = false;
-
- // the mesh, hull or native shape must have already been created in Bullet
- bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
-
- // If there is an existing body, verify it's of an acceptable type.
- // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
- if (!mustRebuild)
- {
- CollisionObjectTypes bodyType = (CollisionObjectTypes)m_physicsScene.PE.GetBodyType(prim.PhysBody);
- if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
- || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
- {
- // If the collisionObject is not the correct type for solidness, rebuild what's there
- mustRebuild = true;
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
- }
- }
-
- if (mustRebuild || forceRebuild)
- {
- // Free any old body
- DereferenceBody(prim.PhysBody, bodyCallback);
-
- BulletBody aBody;
- if (prim.IsSolid)
- {
- aBody = m_physicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,rigid,body={1}", prim.LocalID, aBody);
- }
- else
- {
- aBody = m_physicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
- }
-
- ReferenceBody(aBody);
-
- prim.PhysBody = aBody;
-
- ret = true;
- }
-
- return ret;
- }
-
- private void DetailLog(string msg, params Object[] args)
- {
- if (m_physicsScene.PhysicsLogging.Enabled)
- m_physicsScene.DetailLog(msg, args);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
deleted file mode 100755
index 86d86cb..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ /dev/null
@@ -1,1463 +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 copyrightD
- * 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.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.Meshing;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-// Information class that holds stats for the shape. Which values mean
-// something depends on the type of shape.
-// This information is used for debugging and stats and is not used
-// for operational things.
-public class ShapeInfoInfo
-{
- public int Vertices { get; set; }
- private int m_hullCount;
- private int[] m_verticesPerHull;
- public ShapeInfoInfo()
- {
- Vertices = 0;
- m_hullCount = 0;
- m_verticesPerHull = null;
- }
- public int HullCount
- {
- set
- {
- m_hullCount = value;
- m_verticesPerHull = new int[m_hullCount];
- Array.Clear(m_verticesPerHull, 0, m_hullCount);
- }
- get { return m_hullCount; }
- }
- public void SetVerticesPerHull(int hullNum, int vertices)
- {
- if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
- {
- m_verticesPerHull[hullNum] = vertices;
- }
- }
- public int GetVerticesPerHull(int hullNum)
- {
- if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
- {
- return m_verticesPerHull[hullNum];
- }
- return 0;
- }
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- // buff.Append("ShapeInfo=<");
- buff.Append("<");
- if (Vertices > 0)
- {
- buff.Append("verts=");
- buff.Append(Vertices.ToString());
- }
-
- if (Vertices > 0 && HullCount > 0) buff.Append(",");
-
- if (HullCount > 0)
- {
- buff.Append("nHulls=");
- buff.Append(HullCount.ToString());
- buff.Append(",");
- buff.Append("hullVerts=");
- for (int ii = 0; ii < HullCount; ii++)
- {
- if (ii != 0) buff.Append(",");
- buff.Append(GetVerticesPerHull(ii).ToString());
- }
- }
- buff.Append(">");
- return buff.ToString();
- }
-}
-
-public abstract class BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE]";
-
- public int referenceCount { get; set; }
- public DateTime lastReferenced { get; set; }
- public BulletShape physShapeInfo { get; set; }
- public ShapeInfoInfo shapeInfo { get; private set; }
-
- public BSShape()
- {
- referenceCount = 1;
- lastReferenced = DateTime.Now;
- physShapeInfo = new BulletShape();
- shapeInfo = new ShapeInfoInfo();
- }
- public BSShape(BulletShape pShape)
- {
- referenceCount = 1;
- lastReferenced = DateTime.Now;
- physShapeInfo = pShape;
- shapeInfo = new ShapeInfoInfo();
- }
-
- // Get another reference to this shape.
- public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim);
-
- // Called when this shape is being used again.
- // Used internally. External callers should call instance.GetReference() to properly copy/reference
- // the shape.
- protected virtual void IncrementReference()
- {
- referenceCount++;
- lastReferenced = DateTime.Now;
- }
-
- // Called when this shape is done being used.
- protected virtual void DecrementReference()
- {
- referenceCount--;
- lastReferenced = DateTime.Now;
- }
-
- // Release the use of a physical shape.
- public abstract void Dereference(BSScene physicsScene);
-
- // Return 'true' if there is an allocated physics physical shape under this class instance.
- public virtual bool HasPhysicalShape
- {
- get
- {
- if (physShapeInfo != null)
- return physShapeInfo.HasPhysicalShape;
- return false;
- }
- }
- public virtual BSPhysicsShapeType ShapeType
- {
- get
- {
- BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- if (physShapeInfo != null && physShapeInfo.HasPhysicalShape)
- ret = physShapeInfo.shapeType;
- return ret;
- }
- }
-
- // Returns a string for debugging that uniquily identifies the memory used by this instance
- public virtual string AddrString
- {
- get
- {
- if (physShapeInfo != null)
- return physShapeInfo.AddrString;
- return "unknown";
- }
- }
-
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- if (physShapeInfo == null)
- {
- buff.Append("");
- return buff.ToString();
- }
-
- #region Common shape routines
- // Create a hash of all the shape parameters to be used as a key for this particular shape.
- public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
- {
- // level of detail based on size and type of the object
- float lod = BSParam.MeshLOD;
- if (pbs.SculptEntry)
- lod = BSParam.SculptLOD;
-
- // Mega prims usually get more detail because one can interact with shape approximations at this size.
- float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
- if (maxAxis > BSParam.MeshMegaPrimThreshold)
- lod = BSParam.MeshMegaPrimLOD;
-
- retLod = lod;
- return pbs.GetMeshKey(size, lod);
- }
-
- // The creation of a mesh or hull can fail if an underlying asset is not available.
- // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
- // and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
- // The first case causes the asset to be fetched. The second case requires
- // us to not loop forever.
- // Called after creating a physical mesh or hull. If the physical shape was created,
- // just return.
- public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
- {
- // If the shape was successfully created, nothing more to do
- if (newShape.HasPhysicalShape)
- return newShape;
-
- // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
- // fetched but we end up here again, the meshing of the asset must have failed.
- // Prevent trying to keep fetching the mesh by declaring failure.
- if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
- {
- prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
- physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. prim={1}, texture={2}",
- LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
- physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,prim={1},tex={2}",
- prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
- }
- else
- {
- // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
- if (prim.BaseShape.SculptEntry
- && !prim.AssetFailed()
- && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
- && prim.BaseShape.SculptTexture != OMV.UUID.Zero
- )
- {
- physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset,objNam={1},tex={2}",
- prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
- // Multiple requestors will know we're waiting for this asset
- prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
-
- BSPhysObject xprim = prim;
- RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
- if (assetProvider != null)
- {
- BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
- assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
- {
- // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID);
- bool assetFound = false;
- string mismatchIDs = String.Empty; // DEBUG DEBUG
- if (asset != null && yprim.BaseShape.SculptEntry)
- {
- if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
- {
- yprim.BaseShape.SculptData = asset.Data;
- // This will cause the prim to see that the filler shape is not the right
- // one and try again to build the object.
- // No race condition with the normal shape setting since the rebuild is at taint time.
- yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
- yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
- assetFound = true;
- }
- else
- {
- mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
- }
- }
- if (!assetFound)
- {
- yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
- }
- physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
- yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
- });
- }
- else
- {
- xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
- physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
- LogHeader, physicsScene.Name);
- }
- }
- else
- {
- if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
- {
- physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. prim={1}, texture={2}",
- LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
- physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,prim={1},tex={2}",
- prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
- }
- if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing)
- {
- physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. prim={1}, texture={2}",
- LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
- physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,prim={1},tex={2}",
- prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
- }
- }
- }
-
- // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
- BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
- physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID);
-
- return fillShape.physShapeInfo;
- }
-
- public static String UsefulPrimInfo(BSScene pScene, BSPhysObject prim)
- {
- StringBuilder buff = new StringBuilder(prim.PhysObjectName);
- buff.Append("/pos=");
- buff.Append(prim.RawPosition.ToString());
- if (pScene != null)
- {
- buff.Append("/rgn=");
- buff.Append(pScene.Name);
- }
- return buff.ToString();
- }
-
- #endregion // Common shape routines
-}
-
-// ============================================================================================================
-public class BSShapeNull : BSShape
-{
- public BSShapeNull() : base()
- {
- }
- public static BSShape GetReference() { return new BSShapeNull(); }
- public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { return new BSShapeNull(); }
- public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
-}
-
-// ============================================================================================================
-// BSShapeNative is a wrapper for a Bullet 'native' shape -- cube and sphere.
-// They are odd in that they don't allocate meshes but are computated/procedural.
-// This means allocation and freeing is different than meshes.
-public class BSShapeNative : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
- public BSShapeNative(BulletShape pShape) : base(pShape)
- {
- }
-
- public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
- BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
- {
- // Native shapes are not shared and are always built anew.
- return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
- }
-
- public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
- {
- // Native shapes are not shared so we return a new shape.
- BSShape ret = null;
- lock (physShapeInfo)
- {
- ret = new BSShapeNative(CreatePhysicalNativeShape(pPhysicsScene, pPrim,
- physShapeInfo.shapeType, (FixedShapeKey)physShapeInfo.shapeKey));
- }
- return ret;
- }
-
- // Make this reference to the physical shape go away since native shapes are not shared.
- public override void Dereference(BSScene physicsScene)
- {
- // Native shapes are not tracked and are released immediately
- lock (physShapeInfo)
- {
- if (physShapeInfo.HasPhysicalShape)
- {
- physicsScene.DetailLog("{0},BSShapeNative.Dereference,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
- physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
- }
- physShapeInfo.Clear();
- // Garbage collection will free up this instance.
- }
- }
-
- private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
- BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
- {
- BulletShape newShape;
-
- ShapeData nativeShapeData = new ShapeData();
- nativeShapeData.Type = shapeType;
- nativeShapeData.ID = prim.LocalID;
- nativeShapeData.Scale = prim.Scale;
- nativeShapeData.Size = prim.Scale;
- nativeShapeData.MeshKey = (ulong)shapeKey;
- nativeShapeData.HullKey = (ulong)shapeKey;
-
- if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
- {
- newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
- physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale);
- }
- else
- {
- newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
- }
- if (!newShape.HasPhysicalShape)
- {
- physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
- LogHeader, prim.LocalID, shapeType);
- }
- newShape.shapeType = shapeType;
- newShape.isNativeShape = true;
- newShape.shapeKey = (UInt64)shapeKey;
- return newShape;
- }
-
-}
-
-// ============================================================================================================
-// BSShapeMesh is a simple mesh.
-public class BSShapeMesh : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE MESH]";
- public static Dictionary Meshes = new Dictionary();
-
- public BSShapeMesh(BulletShape pShape) : base(pShape)
- {
- }
- public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
- {
- float lod;
- System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
- BSShapeMesh retMesh = null;
- lock (Meshes)
- {
- if (Meshes.TryGetValue(newMeshKey, out retMesh))
- {
- // The mesh has already been created. Return a new reference to same.
- retMesh.IncrementReference();
- }
- else
- {
- retMesh = new BSShapeMesh(new BulletShape());
- // An instance of this mesh has not been created. Build and remember same.
- BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
-
- // Check to see if mesh was created (might require an asset).
- newShape = VerifyMeshCreated(physicsScene, newShape, prim);
- if (!newShape.isNativeShape || prim.AssetFailed() )
- {
- // If a mesh was what was created, remember the built shape for later sharing.
- // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
- Meshes.Add(newMeshKey, retMesh);
- }
-
- retMesh.physShapeInfo = newShape;
- }
- }
- physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod);
- return retMesh;
- }
- public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
- {
- BSShape ret = null;
- // If the underlying shape is native, the actual shape has not been build (waiting for asset)
- // and we must create a copy of the native shape since they are never shared.
- if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
- {
- // TODO: decide when the native shapes should be freed. Check in Dereference?
- ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
- }
- else
- {
- // Another reference to this shape is just counted.
- IncrementReference();
- ret = this;
- }
- return ret;
- }
- public override void Dereference(BSScene physicsScene)
- {
- lock (Meshes)
- {
- this.DecrementReference();
- physicsScene.DetailLog("{0},BSShapeMesh.Dereference,shape={1}", BSScene.DetailLogZero, this);
- // TODO: schedule aging and destruction of unused meshes.
- }
- }
- // Loop through all the known meshes and return the description based on the physical address.
- public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh)
- {
- bool ret = false;
- BSShapeMesh foundDesc = null;
- lock (Meshes)
- {
- foreach (BSShapeMesh sm in Meshes.Values)
- {
- if (sm.physShapeInfo.ReferenceSame(pShape))
- {
- foundDesc = sm;
- ret = true;
- break;
- }
-
- }
- }
- outMesh = foundDesc;
- return ret;
- }
-
- public delegate BulletShape CreateShapeCall(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices );
- private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
- PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
- {
- return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
- (w, iC, i, vC, v) =>
- {
- shapeInfo.Vertices = vC;
- return physicsScene.PE.CreateMeshShape(w, iC, i, vC, v);
- });
- }
-
- // Code that uses the mesher to create the index/vertices info for a trimesh shape.
- // This is used by the passed 'makeShape' call to create the Bullet mesh shape.
- // The actual build call is passed so this logic can be used by several of the shapes that use a
- // simple mesh as their base shape.
- public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
- PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape)
- {
- BulletShape newShape = new BulletShape();
-
- IMesh meshData = null;
- lock (physicsScene.mesher)
- {
- meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
- false, // say it is not physical so a bounding box is not built
- false // do not cache the mesh and do not use previously built versions
- );
- }
-
- if (meshData != null)
- {
- if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
- {
- // Release the fetched asset data once it has been used.
- pbs.SculptData = new byte[0];
- prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
- }
-
- int[] indices = meshData.getIndexListAsInt();
- int realIndicesIndex = indices.Length;
- float[] verticesAsFloats = meshData.getVertexListAsFloat();
-
- if (BSParam.ShouldRemoveZeroWidthTriangles)
- {
- // Remove degenerate triangles. These are triangles with two of the vertices
- // are the same. This is complicated by the problem that vertices are not
- // made unique in sculpties so we have to compare the values in the vertex.
- realIndicesIndex = 0;
- for (int tri = 0; tri < indices.Length; tri += 3)
- {
- // Compute displacements into vertex array for each vertex of the triangle
- int v1 = indices[tri + 0] * 3;
- int v2 = indices[tri + 1] * 3;
- int v3 = indices[tri + 2] * 3;
- // Check to see if any two of the vertices are the same
- if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
- && verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
- && verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
- || ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
- && verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
- && verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
- || ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
- && verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
- && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) )
- )
- {
- // None of the vertices of the triangles are the same. This is a good triangle;
- indices[realIndicesIndex + 0] = indices[tri + 0];
- indices[realIndicesIndex + 1] = indices[tri + 1];
- indices[realIndicesIndex + 2] = indices[tri + 2];
- realIndicesIndex += 3;
- }
- }
- }
- physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}",
- BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
-
- if (realIndicesIndex != 0)
- {
- newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
- }
- else
- {
- // Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh.
- prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
- physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim={1}", LogHeader, UsefulPrimInfo(physicsScene, prim) );
- physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey);
- }
- }
- newShape.shapeKey = newMeshKey;
-
- return newShape;
- }
-}
-
-// ============================================================================================================
-// BSShapeHull is a physical shape representation htat is made up of many convex hulls.
-// The convex hulls are either supplied with the asset or are approximated by one of the
-// convex hull creation routines (in OpenSim or in Bullet).
-public class BSShapeHull : BSShape
-{
-#pragma warning disable 414
- private static string LogHeader = "[BULLETSIM SHAPE HULL]";
-#pragma warning restore 414
-
- public static Dictionary Hulls = new Dictionary();
-
-
- public BSShapeHull(BulletShape pShape) : base(pShape)
- {
- }
- public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
- {
- float lod;
- System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
- BSShapeHull retHull = null;
- lock (Hulls)
- {
- if (Hulls.TryGetValue(newHullKey, out retHull))
- {
- // The mesh has already been created. Return a new reference to same.
- retHull.IncrementReference();
- }
- else
- {
- retHull = new BSShapeHull(new BulletShape());
- // An instance of this mesh has not been created. Build and remember same.
- BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod);
-
- // Check to see if hull was created (might require an asset).
- newShape = VerifyMeshCreated(physicsScene, newShape, prim);
- if (!newShape.isNativeShape || prim.AssetFailed())
- {
- // If a mesh was what was created, remember the built shape for later sharing.
- Hulls.Add(newHullKey, retHull);
- }
- retHull.physShapeInfo = newShape;
- }
- }
- physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod);
- return retHull;
- }
- public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
- {
- BSShape ret = null;
- // If the underlying shape is native, the actual shape has not been build (waiting for asset)
- // and we must create a copy of the native shape since they are never shared.
- if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
- {
- // TODO: decide when the native shapes should be freed. Check in Dereference?
- ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
- }
- else
- {
- // Another reference to this shape is just counted.
- IncrementReference();
- ret = this;
- }
- return ret;
- }
- public override void Dereference(BSScene physicsScene)
- {
- lock (Hulls)
- {
- this.DecrementReference();
- physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
- // TODO: schedule aging and destruction of unused meshes.
- }
- }
-
- List m_hulls;
- private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
- PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
- {
- BulletShape newShape = new BulletShape();
-
- IMesh meshData = null;
- List> allHulls = null;
- lock (physicsScene.mesher)
- {
- // Pass true for physicalness as this prevents the creation of bounding box which is not needed
- meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
-
- // If we should use the asset's hull info, fetch it out of the locked mesher
- if (meshData != null && BSParam.ShouldUseAssetHulls)
- {
- Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
- if (realMesher != null)
- {
- allHulls = realMesher.GetConvexHulls(size);
- }
- if (allHulls == null)
- {
- physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID);
- }
- }
- }
-
- // If there is hull data in the mesh asset, build the hull from that
- if (allHulls != null && BSParam.ShouldUseAssetHulls)
- {
- int hullCount = allHulls.Count;
- shapeInfo.HullCount = hullCount;
- int totalVertices = 1; // include one for the count of the hulls
- // Using the structure described for HACD hulls, create the memory sturcture
- // to pass the hull data to the creater.
- foreach (List hullVerts in allHulls)
- {
- totalVertices += 4; // add four for the vertex count and centroid
- totalVertices += hullVerts.Count * 3; // one vertex is three dimensions
- }
- float[] convHulls = new float[totalVertices];
-
- convHulls[0] = (float)hullCount;
- int jj = 1;
- int hullIndex = 0;
- foreach (List hullVerts in allHulls)
- {
- convHulls[jj + 0] = hullVerts.Count;
- convHulls[jj + 1] = 0f; // centroid x,y,z
- convHulls[jj + 2] = 0f;
- convHulls[jj + 3] = 0f;
- jj += 4;
- foreach (OMV.Vector3 oneVert in hullVerts)
- {
- convHulls[jj + 0] = oneVert.X;
- convHulls[jj + 1] = oneVert.Y;
- convHulls[jj + 2] = oneVert.Z;
- jj += 3;
- }
- shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count);
- hullIndex++;
- }
-
- // create the hull data structure in Bullet
- newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
-
- physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}",
- prim.LocalID, hullCount, totalVertices, newShape);
- }
-
- // If no hull specified in the asset and we should use Bullet's HACD approximation...
- if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD)
- {
- // Build the hull shape from an existing mesh shape.
- // The mesh should have already been created in Bullet.
- physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID);
- BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);
-
- if (meshShape.physShapeInfo.HasPhysicalShape)
- {
- HACDParams parms = new HACDParams();
- parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
- parms.minClusters = BSParam.BHullMinClusters;
- parms.compacityWeight = BSParam.BHullCompacityWeight;
- parms.volumeWeight = BSParam.BHullVolumeWeight;
- parms.concavity = BSParam.BHullConcavity;
- parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
- parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
- parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
- parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
- parms.whichHACD = 0; // Use the HACD routine that comes with Bullet
-
- physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
- newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
- physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape);
-
- // Now done with the mesh shape.
- shapeInfo.HullCount = 1;
- BSShapeMesh maybeMesh = meshShape as BSShapeMesh;
- if (maybeMesh != null)
- shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices);
- meshShape.Dereference(physicsScene);
- }
- physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
- }
-
- // If no other hull specifications, use our HACD hull approximation.
- if (!newShape.HasPhysicalShape && meshData != null)
- {
- if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
- {
- // Release the fetched asset data once it has been used.
- pbs.SculptData = new byte[0];
- prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
- }
-
- int[] indices = meshData.getIndexListAsInt();
- List vertices = meshData.getVertexList();
-
- //format conversion from IMesh format to DecompDesc format
- List convIndices = new List();
- List convVertices = new List();
- for (int ii = 0; ii < indices.GetLength(0); ii++)
- {
- convIndices.Add(indices[ii]);
- }
- foreach (OMV.Vector3 vv in vertices)
- {
- convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
- }
-
- uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
- if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
- {
- // Simple primitive shapes we know are convex so they are better implemented with
- // fewer hulls.
- // Check for simple shape (prim without cuts) and reduce split parameter if so.
- if (BSShapeCollection.PrimHasNoCuts(pbs))
- {
- maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
- }
- }
-
- // setup and do convex hull conversion
- m_hulls = new List();
- DecompDesc dcomp = new DecompDesc();
- dcomp.mIndices = convIndices;
- dcomp.mVertices = convVertices;
- dcomp.mDepth = maxDepthSplit;
- dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
- dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
- dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
- dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
- ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
- // create the hull into the _hulls variable
- convexBuilder.process(dcomp);
-
- physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
- BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
-
- // Convert the vertices and indices for passing to unmanaged.
- // The hull information is passed as a large floating point array.
- // The format is:
- // convHulls[0] = number of hulls
- // convHulls[1] = number of vertices in first hull
- // convHulls[2] = hull centroid X coordinate
- // convHulls[3] = hull centroid Y coordinate
- // convHulls[4] = hull centroid Z coordinate
- // convHulls[5] = first hull vertex X
- // convHulls[6] = first hull vertex Y
- // convHulls[7] = first hull vertex Z
- // convHulls[8] = second hull vertex X
- // ...
- // convHulls[n] = number of vertices in second hull
- // convHulls[n+1] = second hull centroid X coordinate
- // ...
- //
- // TODO: is is very inefficient. Someday change the convex hull generator to return
- // data structures that do not need to be converted in order to pass to Bullet.
- // And maybe put the values directly into pinned memory rather than marshaling.
- int hullCount = m_hulls.Count;
- int totalVertices = 1; // include one for the count of the hulls
- foreach (ConvexResult cr in m_hulls)
- {
- totalVertices += 4; // add four for the vertex count and centroid
- totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
- }
- float[] convHulls = new float[totalVertices];
-
- convHulls[0] = (float)hullCount;
- int jj = 1;
- foreach (ConvexResult cr in m_hulls)
- {
- // copy vertices for index access
- float3[] verts = new float3[cr.HullVertices.Count];
- int kk = 0;
- foreach (float3 ff in cr.HullVertices)
- {
- verts[kk++] = ff;
- }
-
- // add to the array one hull's worth of data
- convHulls[jj++] = cr.HullIndices.Count;
- convHulls[jj++] = 0f; // centroid x,y,z
- convHulls[jj++] = 0f;
- convHulls[jj++] = 0f;
- foreach (int ind in cr.HullIndices)
- {
- convHulls[jj++] = verts[ind].x;
- convHulls[jj++] = verts[ind].y;
- convHulls[jj++] = verts[ind].z;
- }
- }
- // create the hull data structure in Bullet
- newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
- }
- newShape.shapeKey = newHullKey;
- return newShape;
- }
- // Callback from convex hull creater with a newly created hull.
- // Just add it to our collection of hulls for this shape.
- private void HullReturn(ConvexResult result)
- {
- m_hulls.Add(result);
- return;
- }
- // Loop through all the known hulls and return the description based on the physical address.
- public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull)
- {
- bool ret = false;
- BSShapeHull foundDesc = null;
- lock (Hulls)
- {
- foreach (BSShapeHull sh in Hulls.Values)
- {
- if (sh.physShapeInfo.ReferenceSame(pShape))
- {
- foundDesc = sh;
- ret = true;
- break;
- }
-
- }
- }
- outHull = foundDesc;
- return ret;
- }
-}
-
-// ============================================================================================================
-// BSShapeCompound is a wrapper for the Bullet compound shape which is built from multiple, separate
-// meshes. Used by BulletSim for complex shapes like linksets.
-public class BSShapeCompound : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
- public static Dictionary