/* * 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 OpenMetaverse; using System.Text; using System.IO; using System.Xml; namespace OpenSim.Framework { public class PhysicsInertiaData { public float TotalMass; // the total mass of a linkset public Vector3 CenterOfMass; // the center of mass position relative to root part position public Vector3 Inertia; // (Ixx, Iyy, Izz) moment of inertia relative to center of mass and principal axis in local coords public Vector4 InertiaRotation; // if principal axis don't match local axis, the principal axis rotation // or the upper triangle of the inertia tensor // Ixy (= Iyx), Ixz (= Izx), Iyz (= Izy)) public PhysicsInertiaData() { } public PhysicsInertiaData(PhysicsInertiaData source) { TotalMass = source.TotalMass; CenterOfMass = source.CenterOfMass; Inertia = source.Inertia; InertiaRotation = source.InertiaRotation; } private XmlTextWriter writer; private void XWint(string name, int i) { writer.WriteElementString(name, i.ToString()); } private void XWfloat(string name, float f) { writer.WriteElementString(name, f.ToString(Culture.FormatProvider)); } private void XWVector(string name, Vector3 vec) { writer.WriteStartElement(name); writer.WriteElementString("X", vec.X.ToString(Culture.FormatProvider)); writer.WriteElementString("Y", vec.Y.ToString(Culture.FormatProvider)); writer.WriteElementString("Z", vec.Z.ToString(Culture.FormatProvider)); writer.WriteEndElement(); } private void XWVector4(string name, Vector4 quat) { writer.WriteStartElement(name); writer.WriteElementString("X", quat.X.ToString(Culture.FormatProvider)); writer.WriteElementString("Y", quat.Y.ToString(Culture.FormatProvider)); writer.WriteElementString("Z", quat.Z.ToString(Culture.FormatProvider)); writer.WriteElementString("W", quat.W.ToString(Culture.FormatProvider)); writer.WriteEndElement(); } public void ToXml2(XmlTextWriter twriter) { writer = twriter; writer.WriteStartElement("PhysicsInertia"); XWfloat("MASS", TotalMass); XWVector("CM", CenterOfMass); XWVector("INERTIA", Inertia); XWVector4("IROT", InertiaRotation); writer.WriteEndElement(); writer = null; } XmlReader reader; private int XRint() { return reader.ReadElementContentAsInt(); } private float XRfloat() { return reader.ReadElementContentAsFloat(); } public Vector3 XRvector() { Vector3 vec; reader.ReadStartElement(); vec.X = reader.ReadElementContentAsFloat(); vec.Y = reader.ReadElementContentAsFloat(); vec.Z = reader.ReadElementContentAsFloat(); reader.ReadEndElement(); return vec; } public Vector4 XRVector4() { Vector4 q; reader.ReadStartElement(); q.X = reader.ReadElementContentAsFloat(); q.Y = reader.ReadElementContentAsFloat(); q.Z = reader.ReadElementContentAsFloat(); q.W = reader.ReadElementContentAsFloat(); reader.ReadEndElement(); return q; } public static bool EReadProcessors( Dictionary<string, Action> processors, XmlReader xtr) { bool errors = false; string nodeName = string.Empty; while (xtr.NodeType != XmlNodeType.EndElement) { nodeName = xtr.Name; Action p = null; if (processors.TryGetValue(xtr.Name, out p)) { try { p(); } catch { errors = true; if (xtr.NodeType == XmlNodeType.EndElement) xtr.Read(); } } else { xtr.ReadOuterXml(); // ignore } } return errors; } public string ToXml2() { using (StringWriter sw = new StringWriter()) { using (XmlTextWriter xwriter = new XmlTextWriter(sw)) { ToXml2(xwriter); } return sw.ToString(); } } public static PhysicsInertiaData FromXml2(string text) { if (text == String.Empty) return null; bool error; PhysicsInertiaData v; UTF8Encoding enc = new UTF8Encoding(); using(MemoryStream ms = new MemoryStream(enc.GetBytes(text))) using(XmlTextReader xreader = new XmlTextReader(ms)) { xreader.ProhibitDtd = true; v = new PhysicsInertiaData(); v.FromXml2(xreader, out error); } if (error) return null; return v; } public static PhysicsInertiaData FromXml2(XmlReader reader) { PhysicsInertiaData data = new PhysicsInertiaData(); bool errors = false; data.FromXml2(reader, out errors); if (errors) return null; return data; } private void FromXml2(XmlReader _reader, out bool errors) { errors = false; reader = _reader; Dictionary<string, Action> m_XmlProcessors = new Dictionary<string, Action>(); m_XmlProcessors.Add("MASS", ProcessXR_Mass); m_XmlProcessors.Add("CM", ProcessXR_CM); m_XmlProcessors.Add("INERTIA", ProcessXR_Inertia); m_XmlProcessors.Add("IROT", ProcessXR_InertiaRotation); reader.ReadStartElement("PhysicsInertia", String.Empty); errors = EReadProcessors( m_XmlProcessors, reader); reader.ReadEndElement(); reader = null; } private void ProcessXR_Mass() { TotalMass = XRfloat(); } private void ProcessXR_CM() { CenterOfMass = XRvector(); } private void ProcessXR_Inertia() { Inertia = XRvector(); } private void ProcessXR_InertiaRotation() { InertiaRotation = XRVector4(); } } }