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/*
* 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 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.
// 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);
PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
Linkset.Refresh(this);
});
}
public override void Destroy()
{
Linkset = Linkset.RemoveMeFromLinkset(this);
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},BSPrimLinkset.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);
DetailLog("{0},BSPrimLinkset.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("BSPrimLinkset.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("BSPrimLinkset.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))
{
// 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.
public override bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
// prims in the same linkset cannot collide with each other
BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
{
return false;
}
// TODO: handle collisions of other objects with with children of linkset.
// This is a problem for LinksetCompound since the children are packed into the root.
return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
}
}
}
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