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authorTeravus Ovares2009-04-05 08:43:29 +0000
committerTeravus Ovares2009-04-05 08:43:29 +0000
commitcf1e8b17237a7e4e5367e7bde887f97eba2547d8 (patch)
tree0c0fcd4b5473fdc5fedbd1c756dddc509d3e416f /OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
parent* Committing what I have on the BulletDotNETPlugin that I have so far. (diff)
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* Fixing SVN properties
Diffstat (limited to 'OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs4262
1 files changed, 2131 insertions, 2131 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index 3e26456..6fb82ef 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -1,2131 +1,2131 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright 9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSim Project nor the 12 * * Neither the name of the OpenSim Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection; 29using System.Reflection;
30using System.Runtime.InteropServices; 30using System.Runtime.InteropServices;
31using System.Threading; 31using System.Threading;
32using log4net; 32using log4net;
33using OpenMetaverse; 33using OpenMetaverse;
34using BulletDotNET; 34using BulletDotNET;
35using OpenSim.Framework; 35using OpenSim.Framework;
36using OpenSim.Region.Physics.Manager; 36using OpenSim.Region.Physics.Manager;
37 37
38namespace OpenSim.Region.Physics.BulletDotNETPlugin 38namespace OpenSim.Region.Physics.BulletDotNETPlugin
39{ 39{
40 public class BulletDotNETPrim : PhysicsActor 40 public class BulletDotNETPrim : PhysicsActor
41 { 41 {
42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
43 43
44 private PhysicsVector _position; 44 private PhysicsVector _position;
45 private PhysicsVector _velocity; 45 private PhysicsVector _velocity;
46 private PhysicsVector _torque = new PhysicsVector(0, 0, 0); 46 private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
47 private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); 47 private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
48 private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f); 48 private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
49 private Quaternion m_lastorientation = new Quaternion(); 49 private Quaternion m_lastorientation = new Quaternion();
50 private PhysicsVector m_rotationalVelocity; 50 private PhysicsVector m_rotationalVelocity;
51 private PhysicsVector _size; 51 private PhysicsVector _size;
52 private PhysicsVector _acceleration; 52 private PhysicsVector _acceleration;
53 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f); 53 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
54 private Quaternion _orientation; 54 private Quaternion _orientation;
55 private PhysicsVector m_taintposition; 55 private PhysicsVector m_taintposition;
56 private PhysicsVector m_taintsize; 56 private PhysicsVector m_taintsize;
57 private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0); 57 private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
58 private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0); 58 private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
59 private Quaternion m_taintrot; 59 private Quaternion m_taintrot;
60 private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f); 60 private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
61 private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f); 61 private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
62 private btGeneric6DofConstraint Amotor; 62 private btGeneric6DofConstraint Amotor;
63 63
64 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0); 64 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
65 private float m_PIDTau = 0f; 65 private float m_PIDTau = 0f;
66 private float m_PIDHoverHeight = 0f; 66 private float m_PIDHoverHeight = 0f;
67 private float m_PIDHoverTau = 0f; 67 private float m_PIDHoverTau = 0f;
68 private bool m_useHoverPID = false; 68 private bool m_useHoverPID = false;
69 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; 69 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
70 private float m_targetHoverHeight = 0f; 70 private float m_targetHoverHeight = 0f;
71 private float m_groundHeight = 0f; 71 private float m_groundHeight = 0f;
72 private float m_waterHeight = 0f; 72 private float m_waterHeight = 0f;
73 private float PID_D = 35f; 73 private float PID_D = 35f;
74 private float PID_G = 25f; 74 private float PID_G = 25f;
75 private float m_tensor = 5f; 75 private float m_tensor = 5f;
76 private int body_autodisable_frames = 20; 76 private int body_autodisable_frames = 20;
77 private IMesh primMesh = null; 77 private IMesh primMesh = null;
78 78
79 private bool m_usePID = false; 79 private bool m_usePID = false;
80 80
81 81
82 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom 82 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
83 | CollisionCategories.Space 83 | CollisionCategories.Space
84 | CollisionCategories.Body 84 | CollisionCategories.Body
85 | CollisionCategories.Character 85 | CollisionCategories.Character
86 ); 86 );
87 87
88 private bool m_taintshape = false; 88 private bool m_taintshape = false;
89 private bool m_taintPhysics = false; 89 private bool m_taintPhysics = false;
90 private bool m_collidesLand = true; 90 private bool m_collidesLand = true;
91 private bool m_collidesWater = false; 91 private bool m_collidesWater = false;
92 public bool m_returnCollisions = false; 92 public bool m_returnCollisions = false;
93 93
94 // Default we're a Geometry 94 // Default we're a Geometry
95 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); 95 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
96 96
97 // Default, Collide with Other Geometries, spaces and Bodies 97 // Default, Collide with Other Geometries, spaces and Bodies
98 private CollisionCategories m_collisionFlags = m_default_collisionFlags; 98 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
99 99
100 public bool m_taintremove = false; 100 public bool m_taintremove = false;
101 public bool m_taintdisable = false; 101 public bool m_taintdisable = false;
102 public bool m_disabled = false; 102 public bool m_disabled = false;
103 public bool m_taintadd = false; 103 public bool m_taintadd = false;
104 public bool m_taintselected = false; 104 public bool m_taintselected = false;
105 public bool m_taintCollidesWater = false; 105 public bool m_taintCollidesWater = false;
106 106
107 public uint m_localID = 0; 107 public uint m_localID = 0;
108 108
109 //public GCHandle gc; 109 //public GCHandle gc;
110 private CollisionLocker ode; 110 private CollisionLocker ode;
111 111
112 private bool m_taintforce = false; 112 private bool m_taintforce = false;
113 private bool m_taintaddangularforce = false; 113 private bool m_taintaddangularforce = false;
114 private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f); 114 private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
115 private List<PhysicsVector> m_forcelist = new List<PhysicsVector>(); 115 private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
116 private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>(); 116 private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
117 117
118 private IMesh _mesh; 118 private IMesh _mesh;
119 private PrimitiveBaseShape _pbs; 119 private PrimitiveBaseShape _pbs;
120 private BulletDotNETScene _parent_scene; 120 private BulletDotNETScene _parent_scene;
121 public btCollisionShape prim_geom; 121 public btCollisionShape prim_geom;
122 public IntPtr _triMeshData; 122 public IntPtr _triMeshData;
123 123
124 private PhysicsActor _parent = null; 124 private PhysicsActor _parent = null;
125 private PhysicsActor m_taintparent = null; 125 private PhysicsActor m_taintparent = null;
126 126
127 private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>(); 127 private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>();
128 128
129 private bool iscolliding = false; 129 private bool iscolliding = false;
130 private bool m_isphysical = false; 130 private bool m_isphysical = false;
131 private bool m_isSelected = false; 131 private bool m_isSelected = false;
132 132
133 internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively 133 internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
134 134
135 private bool m_throttleUpdates = false; 135 private bool m_throttleUpdates = false;
136 private int throttleCounter = 0; 136 private int throttleCounter = 0;
137 public int m_interpenetrationcount = 0; 137 public int m_interpenetrationcount = 0;
138 public float m_collisionscore = 0; 138 public float m_collisionscore = 0;
139 public int m_roundsUnderMotionThreshold = 0; 139 public int m_roundsUnderMotionThreshold = 0;
140 private int m_crossingfailures = 0; 140 private int m_crossingfailures = 0;
141 141
142 public float m_buoyancy = 0f; 142 public float m_buoyancy = 0f;
143 143
144 public bool outofBounds = false; 144 public bool outofBounds = false;
145 private float m_density = 10.000006836f; // Aluminum g/cm3; 145 private float m_density = 10.000006836f; // Aluminum g/cm3;
146 146
147 public bool _zeroFlag = false; 147 public bool _zeroFlag = false;
148 private bool m_lastUpdateSent = false; 148 private bool m_lastUpdateSent = false;
149 149
150 150
151 private String m_primName; 151 private String m_primName;
152 private PhysicsVector _target_velocity; 152 private PhysicsVector _target_velocity;
153 153
154 public int m_eventsubscription = 0; 154 public int m_eventsubscription = 0;
155 private CollisionEventUpdate CollisionEventsThisFrame = null; 155 private CollisionEventUpdate CollisionEventsThisFrame = null;
156 156
157 public volatile bool childPrim = false; 157 public volatile bool childPrim = false;
158 158
159 private btVector3 tempPosition1; 159 private btVector3 tempPosition1;
160 private btVector3 tempPosition2; 160 private btVector3 tempPosition2;
161 private btVector3 tempPosition3; 161 private btVector3 tempPosition3;
162 private btVector3 tempSize1; 162 private btVector3 tempSize1;
163 private btVector3 tempSize2; 163 private btVector3 tempSize2;
164 private btVector3 tempLinearVelocity1; 164 private btVector3 tempLinearVelocity1;
165 private btVector3 tempLinearVelocity2; 165 private btVector3 tempLinearVelocity2;
166 private btVector3 tempAngularVelocity1; 166 private btVector3 tempAngularVelocity1;
167 private btVector3 tempAngularVelocity2; 167 private btVector3 tempAngularVelocity2;
168 private btVector3 tempInertia1; 168 private btVector3 tempInertia1;
169 private btVector3 tempInertia2; 169 private btVector3 tempInertia2;
170 private btQuaternion tempOrientation1; 170 private btQuaternion tempOrientation1;
171 private btQuaternion tempOrientation2; 171 private btQuaternion tempOrientation2;
172 private btMotionState tempMotionState1; 172 private btMotionState tempMotionState1;
173 private btMotionState tempMotionState2; 173 private btMotionState tempMotionState2;
174 private btMotionState tempMotionState3; 174 private btMotionState tempMotionState3;
175 private btTransform tempTransform1; 175 private btTransform tempTransform1;
176 private btTransform tempTransform2; 176 private btTransform tempTransform2;
177 private btTransform tempTransform3; 177 private btTransform tempTransform3;
178 private btTransform tempTransform4; 178 private btTransform tempTransform4;
179 private btTriangleIndexVertexArray btshapeArray; 179 private btTriangleIndexVertexArray btshapeArray;
180 180
181 public btRigidBody Body; 181 public btRigidBody Body;
182 182
183 public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, 183 public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size,
184 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) 184 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
185 { 185 {
186 tempPosition1 = new btVector3(0, 0, 0); 186 tempPosition1 = new btVector3(0, 0, 0);
187 tempPosition2 = new btVector3(0, 0, 0); 187 tempPosition2 = new btVector3(0, 0, 0);
188 tempPosition3 = new btVector3(0, 0, 0); 188 tempPosition3 = new btVector3(0, 0, 0);
189 tempSize1 = new btVector3(0, 0, 0); 189 tempSize1 = new btVector3(0, 0, 0);
190 tempSize2 = new btVector3(0, 0, 0); 190 tempSize2 = new btVector3(0, 0, 0);
191 tempLinearVelocity1 = new btVector3(0, 0, 0); 191 tempLinearVelocity1 = new btVector3(0, 0, 0);
192 tempLinearVelocity2 = new btVector3(0, 0, 0); 192 tempLinearVelocity2 = new btVector3(0, 0, 0);
193 tempAngularVelocity1 = new btVector3(0, 0, 0); 193 tempAngularVelocity1 = new btVector3(0, 0, 0);
194 tempAngularVelocity2 = new btVector3(0, 0, 0); 194 tempAngularVelocity2 = new btVector3(0, 0, 0);
195 tempInertia1 = new btVector3(0, 0, 0); 195 tempInertia1 = new btVector3(0, 0, 0);
196 tempInertia2 = new btVector3(0, 0, 0); 196 tempInertia2 = new btVector3(0, 0, 0);
197 tempOrientation1 = new btQuaternion(0,0,0,1); 197 tempOrientation1 = new btQuaternion(0,0,0,1);
198 tempOrientation2 = new btQuaternion(0, 0, 0, 1); 198 tempOrientation2 = new btQuaternion(0, 0, 0, 1);
199 _parent_scene = parent_scene; 199 _parent_scene = parent_scene;
200 tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); 200 tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
201 tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ; 201 tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
202 tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ; 202 tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
203 tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ; 203 tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
204 204
205 tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero); 205 tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero);
206 tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero); 206 tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
207 tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero); 207 tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);
208 208
209 _target_velocity = new PhysicsVector(0, 0, 0); 209 _target_velocity = new PhysicsVector(0, 0, 0);
210 _velocity = new PhysicsVector(); 210 _velocity = new PhysicsVector();
211 _position = pos; 211 _position = pos;
212 m_taintposition = pos; 212 m_taintposition = pos;
213 PID_D = parent_scene.bodyPIDD; 213 PID_D = parent_scene.bodyPIDD;
214 PID_G = parent_scene.bodyPIDG; 214 PID_G = parent_scene.bodyPIDG;
215 m_density = parent_scene.geomDefaultDensity; 215 m_density = parent_scene.geomDefaultDensity;
216 m_tensor = parent_scene.bodyMotorJointMaxforceTensor; 216 m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
217 body_autodisable_frames = parent_scene.bodyFramesAutoDisable; 217 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
218 218
219 prim_geom = null; 219 prim_geom = null;
220 Body = null; 220 Body = null;
221 221
222 if (size.X <= 0) size.X = 0.01f; 222 if (size.X <= 0) size.X = 0.01f;
223 if (size.Y <= 0) size.Y = 0.01f; 223 if (size.Y <= 0) size.Y = 0.01f;
224 if (size.Z <= 0) size.Z = 0.01f; 224 if (size.Z <= 0) size.Z = 0.01f;
225 225
226 _size = size; 226 _size = size;
227 m_taintsize = _size; 227 m_taintsize = _size;
228 _acceleration = new PhysicsVector(); 228 _acceleration = new PhysicsVector();
229 m_rotationalVelocity = PhysicsVector.Zero; 229 m_rotationalVelocity = PhysicsVector.Zero;
230 _orientation = rotation; 230 _orientation = rotation;
231 m_taintrot = _orientation; 231 m_taintrot = _orientation;
232 _mesh = mesh; 232 _mesh = mesh;
233 _pbs = pbs; 233 _pbs = pbs;
234 234
235 _parent_scene = parent_scene; 235 _parent_scene = parent_scene;
236 236
237 if (pos.Z < 0) 237 if (pos.Z < 0)
238 m_isphysical = false; 238 m_isphysical = false;
239 else 239 else
240 { 240 {
241 m_isphysical = pisPhysical; 241 m_isphysical = pisPhysical;
242 // If we're physical, we need to be in the master space for now. 242 // If we're physical, we need to be in the master space for now.
243 // linksets *should* be in a space together.. but are not currently 243 // linksets *should* be in a space together.. but are not currently
244 } 244 }
245 m_primName = primName; 245 m_primName = primName;
246 m_taintadd = true; 246 m_taintadd = true;
247 _parent_scene.AddPhysicsActorTaint(this); 247 _parent_scene.AddPhysicsActorTaint(this);
248 248
249 } 249 }
250 250
251 #region PhysicsActor overrides 251 #region PhysicsActor overrides
252 252
253 public override bool Stopped 253 public override bool Stopped
254 { 254 {
255 get { return _zeroFlag; } 255 get { return _zeroFlag; }
256 } 256 }
257 257
258 public override PhysicsVector Size 258 public override PhysicsVector Size
259 { 259 {
260 get { return _size; } 260 get { return _size; }
261 set { _size = value; } 261 set { _size = value; }
262 } 262 }
263 263
264 public override PrimitiveBaseShape Shape 264 public override PrimitiveBaseShape Shape
265 { 265 {
266 set 266 set
267 { 267 {
268 _pbs = value; 268 _pbs = value;
269 m_taintshape = true; 269 m_taintshape = true;
270 } 270 }
271 } 271 }
272 272
273 public override uint LocalID 273 public override uint LocalID
274 { 274 {
275 set 275 set
276 { 276 {
277 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value); 277 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
278 m_localID = value; 278 m_localID = value;
279 } 279 }
280 } 280 }
281 281
282 public override bool Grabbed 282 public override bool Grabbed
283 { 283 {
284 set { return; } 284 set { return; }
285 } 285 }
286 286
287 public override bool Selected 287 public override bool Selected
288 { 288 {
289 set 289 set
290 { 290 {
291 // This only makes the object not collidable if the object 291 // This only makes the object not collidable if the object
292 // is physical or the object is modified somehow *IN THE FUTURE* 292 // is physical or the object is modified somehow *IN THE FUTURE*
293 // without this, if an avatar selects prim, they can walk right 293 // without this, if an avatar selects prim, they can walk right
294 // through it while it's selected 294 // through it while it's selected
295 m_collisionscore = 0; 295 m_collisionscore = 0;
296 if ((m_isphysical && !_zeroFlag) || !value) 296 if ((m_isphysical && !_zeroFlag) || !value)
297 { 297 {
298 m_taintselected = value; 298 m_taintselected = value;
299 _parent_scene.AddPhysicsActorTaint(this); 299 _parent_scene.AddPhysicsActorTaint(this);
300 } 300 }
301 else 301 else
302 { 302 {
303 m_taintselected = value; 303 m_taintselected = value;
304 m_isSelected = value; 304 m_isSelected = value;
305 } 305 }
306 } 306 }
307 } 307 }
308 308
309 public override void CrossingFailure() 309 public override void CrossingFailure()
310 { 310 {
311 m_crossingfailures++; 311 m_crossingfailures++;
312 if (m_crossingfailures > _parent_scene.geomCrossingFailuresBeforeOutofbounds) 312 if (m_crossingfailures > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
313 { 313 {
314 base.RaiseOutOfBounds(_position); 314 base.RaiseOutOfBounds(_position);
315 return; 315 return;
316 } 316 }
317 else if (m_crossingfailures == _parent_scene.geomCrossingFailuresBeforeOutofbounds) 317 else if (m_crossingfailures == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
318 { 318 {
319 m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName); 319 m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
320 } 320 }
321 } 321 }
322 public override void link(PhysicsActor obj) 322 public override void link(PhysicsActor obj)
323 { 323 {
324 //TODO: 324 //TODO:
325 } 325 }
326 326
327 public override void delink() 327 public override void delink()
328 { 328 {
329 //TODO: 329 //TODO:
330 } 330 }
331 331
332 public override void LockAngularMotion(PhysicsVector axis) 332 public override void LockAngularMotion(PhysicsVector axis)
333 { 333 {
334 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); 334 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
335 m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z); 335 m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
336 } 336 }
337 337
338 public override PhysicsVector Position 338 public override PhysicsVector Position
339 { 339 {
340 get { return _position; } 340 get { return _position; }
341 341
342 set 342 set
343 { 343 {
344 _position = value; 344 _position = value;
345 //m_log.Info("[PHYSICS]: " + _position.ToString()); 345 //m_log.Info("[PHYSICS]: " + _position.ToString());
346 } 346 }
347 } 347 }
348 348
349 public override float Mass 349 public override float Mass
350 { 350 {
351 get { return CalculateMass(); } 351 get { return CalculateMass(); }
352 } 352 }
353 353
354 public override PhysicsVector Force 354 public override PhysicsVector Force
355 { 355 {
356 //get { return PhysicsVector.Zero; } 356 //get { return PhysicsVector.Zero; }
357 get { return m_force; } 357 get { return m_force; }
358 set { m_force = value; } 358 set { m_force = value; }
359 } 359 }
360 360
361 public override int VehicleType 361 public override int VehicleType
362 { 362 {
363 get { return 0; } 363 get { return 0; }
364 set { return; } 364 set { return; }
365 } 365 }
366 366
367 public override void VehicleFloatParam(int param, float value) 367 public override void VehicleFloatParam(int param, float value)
368 { 368 {
369 //TODO: 369 //TODO:
370 } 370 }
371 371
372 public override void VehicleVectorParam(int param, PhysicsVector value) 372 public override void VehicleVectorParam(int param, PhysicsVector value)
373 { 373 {
374 //TODO: 374 //TODO:
375 } 375 }
376 376
377 public override void VehicleRotationParam(int param, Quaternion rotation) 377 public override void VehicleRotationParam(int param, Quaternion rotation)
378 { 378 {
379 //TODO: 379 //TODO:
380 } 380 }
381 381
382 public override void SetVolumeDetect(int param) 382 public override void SetVolumeDetect(int param)
383 { 383 {
384 //TODO: GhostObject 384 //TODO: GhostObject
385 m_isVolumeDetect = (param != 0); 385 m_isVolumeDetect = (param != 0);
386 386
387 } 387 }
388 388
389 public override PhysicsVector GeometricCenter 389 public override PhysicsVector GeometricCenter
390 { 390 {
391 get { return PhysicsVector.Zero; } 391 get { return PhysicsVector.Zero; }
392 } 392 }
393 393
394 public override PhysicsVector CenterOfMass 394 public override PhysicsVector CenterOfMass
395 { 395 {
396 get { return PhysicsVector.Zero; } 396 get { return PhysicsVector.Zero; }
397 } 397 }
398 398
399 public override PhysicsVector Velocity 399 public override PhysicsVector Velocity
400 { 400 {
401 get 401 get
402 { 402 {
403 // Averate previous velocity with the new one so 403 // Averate previous velocity with the new one so
404 // client object interpolation works a 'little' better 404 // client object interpolation works a 'little' better
405 PhysicsVector returnVelocity = new PhysicsVector(); 405 PhysicsVector returnVelocity = new PhysicsVector();
406 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2; 406 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
407 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2; 407 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
408 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2; 408 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
409 return returnVelocity; 409 return returnVelocity;
410 } 410 }
411 set 411 set
412 { 412 {
413 _velocity = value; 413 _velocity = value;
414 414
415 m_taintVelocity = value; 415 m_taintVelocity = value;
416 _parent_scene.AddPhysicsActorTaint(this); 416 _parent_scene.AddPhysicsActorTaint(this);
417 } 417 }
418 } 418 }
419 419
420 public override PhysicsVector Torque 420 public override PhysicsVector Torque
421 { 421 {
422 get 422 get
423 { 423 {
424 if (!m_isphysical || Body.Handle == IntPtr.Zero) 424 if (!m_isphysical || Body.Handle == IntPtr.Zero)
425 return new PhysicsVector(0, 0, 0); 425 return new PhysicsVector(0, 0, 0);
426 426
427 return _torque; 427 return _torque;
428 } 428 }
429 429
430 set 430 set
431 { 431 {
432 m_taintTorque = value; 432 m_taintTorque = value;
433 _parent_scene.AddPhysicsActorTaint(this); 433 _parent_scene.AddPhysicsActorTaint(this);
434 } 434 }
435 } 435 }
436 436
437 public override float CollisionScore 437 public override float CollisionScore
438 { 438 {
439 get { return m_collisionscore; } 439 get { return m_collisionscore; }
440 set { m_collisionscore = value; } 440 set { m_collisionscore = value; }
441 } 441 }
442 442
443 public override PhysicsVector Acceleration 443 public override PhysicsVector Acceleration
444 { 444 {
445 get { return _acceleration; } 445 get { return _acceleration; }
446 } 446 }
447 447
448 public override Quaternion Orientation 448 public override Quaternion Orientation
449 { 449 {
450 get { return _orientation; } 450 get { return _orientation; }
451 set { _orientation = value; } 451 set { _orientation = value; }
452 } 452 }
453 453
454 public override int PhysicsActorType 454 public override int PhysicsActorType
455 { 455 {
456 get { return (int)ActorTypes.Prim; } 456 get { return (int)ActorTypes.Prim; }
457 set { return; } 457 set { return; }
458 } 458 }
459 459
460 public override bool IsPhysical 460 public override bool IsPhysical
461 { 461 {
462 get { return m_isphysical; } 462 get { return m_isphysical; }
463 set { m_isphysical = value; } 463 set { m_isphysical = value; }
464 } 464 }
465 465
466 public override bool Flying 466 public override bool Flying
467 { 467 {
468 // no flying prims for you 468 // no flying prims for you
469 get { return false; } 469 get { return false; }
470 set { } 470 set { }
471 } 471 }
472 472
473 public override bool SetAlwaysRun 473 public override bool SetAlwaysRun
474 { 474 {
475 get { return false; } 475 get { return false; }
476 set { return; } 476 set { return; }
477 } 477 }
478 478
479 public override bool ThrottleUpdates 479 public override bool ThrottleUpdates
480 { 480 {
481 get { return m_throttleUpdates; } 481 get { return m_throttleUpdates; }
482 set { m_throttleUpdates = value; } 482 set { m_throttleUpdates = value; }
483 } 483 }
484 484
485 public override bool IsColliding 485 public override bool IsColliding
486 { 486 {
487 get { return iscolliding; } 487 get { return iscolliding; }
488 set { iscolliding = value; } 488 set { iscolliding = value; }
489 } 489 }
490 490
491 public override bool CollidingGround 491 public override bool CollidingGround
492 { 492 {
493 get { return false; } 493 get { return false; }
494 set { return; } 494 set { return; }
495 } 495 }
496 496
497 public override bool CollidingObj 497 public override bool CollidingObj
498 { 498 {
499 get { return false; } 499 get { return false; }
500 set { return; } 500 set { return; }
501 } 501 }
502 502
503 public override bool FloatOnWater 503 public override bool FloatOnWater
504 { 504 {
505 set 505 set
506 { 506 {
507 m_taintCollidesWater = value; 507 m_taintCollidesWater = value;
508 _parent_scene.AddPhysicsActorTaint(this); 508 _parent_scene.AddPhysicsActorTaint(this);
509 } 509 }
510 } 510 }
511 511
512 public override PhysicsVector RotationalVelocity 512 public override PhysicsVector RotationalVelocity
513 { 513 {
514 get 514 get
515 { 515 {
516 PhysicsVector pv = new PhysicsVector(0, 0, 0); 516 PhysicsVector pv = new PhysicsVector(0, 0, 0);
517 if (_zeroFlag) 517 if (_zeroFlag)
518 return pv; 518 return pv;
519 m_lastUpdateSent = false; 519 m_lastUpdateSent = false;
520 520
521 if (m_rotationalVelocity.IsIdentical(pv, 0.2f)) 521 if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
522 return pv; 522 return pv;
523 523
524 return m_rotationalVelocity; 524 return m_rotationalVelocity;
525 } 525 }
526 set { m_rotationalVelocity = value; } 526 set { m_rotationalVelocity = value; }
527 } 527 }
528 528
529 public override bool Kinematic 529 public override bool Kinematic
530 { 530 {
531 get { return false; } 531 get { return false; }
532 set { } 532 set { }
533 } 533 }
534 534
535 public override float Buoyancy 535 public override float Buoyancy
536 { 536 {
537 get { return m_buoyancy; } 537 get { return m_buoyancy; }
538 set { m_buoyancy = value; } 538 set { m_buoyancy = value; }
539 } 539 }
540 540
541 public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } } 541 public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
542 public override bool PIDActive { set { m_usePID = value; } } 542 public override bool PIDActive { set { m_usePID = value; } }
543 public override float PIDTau { set { m_PIDTau = value; } } 543 public override float PIDTau { set { m_PIDTau = value; } }
544 544
545 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } 545 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
546 public override bool PIDHoverActive { set { m_useHoverPID = value; } } 546 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
547 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } 547 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
548 public override float PIDHoverTau { set { m_PIDHoverTau = value; } } 548 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
549 549
550 550
551 public override void AddForce(PhysicsVector force, bool pushforce) 551 public override void AddForce(PhysicsVector force, bool pushforce)
552 { 552 {
553 m_forcelist.Add(force); 553 m_forcelist.Add(force);
554 m_taintforce = true; 554 m_taintforce = true;
555 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); 555 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
556 } 556 }
557 557
558 public override void AddAngularForce(PhysicsVector force, bool pushforce) 558 public override void AddAngularForce(PhysicsVector force, bool pushforce)
559 { 559 {
560 m_angularforcelist.Add(force); 560 m_angularforcelist.Add(force);
561 m_taintaddangularforce = true; 561 m_taintaddangularforce = true;
562 } 562 }
563 563
564 public override void SetMomentum(PhysicsVector momentum) 564 public override void SetMomentum(PhysicsVector momentum)
565 { 565 {
566 } 566 }
567 567
568 public override void SubscribeEvents(int ms) 568 public override void SubscribeEvents(int ms)
569 { 569 {
570 m_eventsubscription = ms; 570 m_eventsubscription = ms;
571 _parent_scene.addCollisionEventReporting(this); 571 _parent_scene.addCollisionEventReporting(this);
572 } 572 }
573 573
574 public override void UnSubscribeEvents() 574 public override void UnSubscribeEvents()
575 { 575 {
576 _parent_scene.remCollisionEventReporting(this); 576 _parent_scene.remCollisionEventReporting(this);
577 m_eventsubscription = 0; 577 m_eventsubscription = 0;
578 } 578 }
579 579
580 public override bool SubscribedEvents() 580 public override bool SubscribedEvents()
581 { 581 {
582 return (m_eventsubscription > 0); 582 return (m_eventsubscription > 0);
583 } 583 }
584 584
585 #endregion 585 #endregion
586 586
587 587
588 588
589 internal void Dispose() 589 internal void Dispose()
590 { 590 {
591 //TODO: 591 //TODO:
592 DisposeOfBody(); 592 DisposeOfBody();
593 SetCollisionShape(null); 593 SetCollisionShape(null);
594 594
595 if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero) 595 if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero)
596 { 596 {
597 tempMotionState3.Dispose(); 597 tempMotionState3.Dispose();
598 tempMotionState3 = null; 598 tempMotionState3 = null;
599 } 599 }
600 600
601 if (tempMotionState2 != null && tempMotionState2.Handle != IntPtr.Zero) 601 if (tempMotionState2 != null && tempMotionState2.Handle != IntPtr.Zero)
602 { 602 {
603 tempMotionState2.Dispose(); 603 tempMotionState2.Dispose();
604 tempMotionState2 = null; 604 tempMotionState2 = null;
605 } 605 }
606 606
607 if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) 607 if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
608 { 608 {
609 tempMotionState1.Dispose(); 609 tempMotionState1.Dispose();
610 tempMotionState1 = null; 610 tempMotionState1 = null;
611 } 611 }
612 612
613 if (tempTransform4 != null && tempTransform4.Handle != IntPtr.Zero) 613 if (tempTransform4 != null && tempTransform4.Handle != IntPtr.Zero)
614 { 614 {
615 tempTransform4.Dispose(); 615 tempTransform4.Dispose();
616 tempTransform4 = null; 616 tempTransform4 = null;
617 } 617 }
618 618
619 if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero) 619 if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
620 { 620 {
621 tempTransform3.Dispose(); 621 tempTransform3.Dispose();
622 tempTransform3 = null; 622 tempTransform3 = null;
623 } 623 }
624 624
625 if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero) 625 if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
626 { 626 {
627 tempTransform2.Dispose(); 627 tempTransform2.Dispose();
628 tempTransform2 = null; 628 tempTransform2 = null;
629 } 629 }
630 630
631 if (tempTransform1 != null && tempTransform1.Handle != IntPtr.Zero) 631 if (tempTransform1 != null && tempTransform1.Handle != IntPtr.Zero)
632 { 632 {
633 tempTransform1.Dispose(); 633 tempTransform1.Dispose();
634 tempTransform1 = null; 634 tempTransform1 = null;
635 } 635 }
636 636
637 if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) 637 if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
638 { 638 {
639 tempOrientation2.Dispose(); 639 tempOrientation2.Dispose();
640 tempOrientation2 = null; 640 tempOrientation2 = null;
641 } 641 }
642 642
643 if (tempOrientation1 != null && tempOrientation1.Handle != IntPtr.Zero) 643 if (tempOrientation1 != null && tempOrientation1.Handle != IntPtr.Zero)
644 { 644 {
645 tempOrientation1.Dispose(); 645 tempOrientation1.Dispose();
646 tempOrientation1 = null; 646 tempOrientation1 = null;
647 } 647 }
648 648
649 if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero) 649 if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
650 { 650 {
651 tempInertia1.Dispose(); 651 tempInertia1.Dispose();
652 tempInertia1 = null; 652 tempInertia1 = null;
653 } 653 }
654 654
655 if (tempInertia2 != null && tempInertia2.Handle != IntPtr.Zero) 655 if (tempInertia2 != null && tempInertia2.Handle != IntPtr.Zero)
656 { 656 {
657 tempInertia2.Dispose(); 657 tempInertia2.Dispose();
658 tempInertia1 = null; 658 tempInertia1 = null;
659 } 659 }
660 660
661 661
662 if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero) 662 if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero)
663 { 663 {
664 tempAngularVelocity2.Dispose(); 664 tempAngularVelocity2.Dispose();
665 tempAngularVelocity2 = null; 665 tempAngularVelocity2 = null;
666 } 666 }
667 667
668 if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero) 668 if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
669 { 669 {
670 tempAngularVelocity1.Dispose(); 670 tempAngularVelocity1.Dispose();
671 tempAngularVelocity1 = null; 671 tempAngularVelocity1 = null;
672 } 672 }
673 673
674 if (tempLinearVelocity2 != null && tempLinearVelocity2.Handle != IntPtr.Zero) 674 if (tempLinearVelocity2 != null && tempLinearVelocity2.Handle != IntPtr.Zero)
675 { 675 {
676 tempLinearVelocity2.Dispose(); 676 tempLinearVelocity2.Dispose();
677 tempLinearVelocity2 = null; 677 tempLinearVelocity2 = null;
678 } 678 }
679 679
680 if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero) 680 if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
681 { 681 {
682 tempLinearVelocity1.Dispose(); 682 tempLinearVelocity1.Dispose();
683 tempLinearVelocity1 = null; 683 tempLinearVelocity1 = null;
684 } 684 }
685 685
686 if (tempSize2 != null && tempSize2.Handle != IntPtr.Zero) 686 if (tempSize2 != null && tempSize2.Handle != IntPtr.Zero)
687 { 687 {
688 tempSize2.Dispose(); 688 tempSize2.Dispose();
689 tempSize2 = null; 689 tempSize2 = null;
690 } 690 }
691 691
692 if (tempSize1 != null && tempSize1.Handle != IntPtr.Zero) 692 if (tempSize1 != null && tempSize1.Handle != IntPtr.Zero)
693 { 693 {
694 tempSize1.Dispose(); 694 tempSize1.Dispose();
695 tempSize1 = null; 695 tempSize1 = null;
696 } 696 }
697 697
698 if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero) 698 if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
699 { 699 {
700 tempPosition3.Dispose(); 700 tempPosition3.Dispose();
701 tempPosition3 = null; 701 tempPosition3 = null;
702 } 702 }
703 703
704 if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero) 704 if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
705 { 705 {
706 tempPosition2.Dispose(); 706 tempPosition2.Dispose();
707 tempPosition2 = null; 707 tempPosition2 = null;
708 } 708 }
709 709
710 if (tempPosition1 != null && tempPosition1.Handle != IntPtr.Zero) 710 if (tempPosition1 != null && tempPosition1.Handle != IntPtr.Zero)
711 { 711 {
712 tempPosition1.Dispose(); 712 tempPosition1.Dispose();
713 tempPosition1 = null; 713 tempPosition1 = null;
714 } 714 }
715 715
716 } 716 }
717 717
718 718
719 719
720 public void ProcessTaints(float timestep) 720 public void ProcessTaints(float timestep)
721 { 721 {
722 if (m_taintadd) 722 if (m_taintadd)
723 { 723 {
724 changeadd(timestep); 724 changeadd(timestep);
725 } 725 }
726 726
727 if (prim_geom.Handle == IntPtr.Zero) 727 if (prim_geom.Handle == IntPtr.Zero)
728 { 728 {
729 CreateGeom(IntPtr.Zero, primMesh); 729 CreateGeom(IntPtr.Zero, primMesh);
730 730
731 if (IsPhysical) 731 if (IsPhysical)
732 SetBody(Mass); 732 SetBody(Mass);
733 else 733 else
734 SetBody(0); 734 SetBody(0);
735 735
736 } 736 }
737 737
738 if (!_position.IsIdentical(m_taintposition, 0f)) 738 if (!_position.IsIdentical(m_taintposition, 0f))
739 changemove(timestep); 739 changemove(timestep);
740 740
741 if (m_taintrot != _orientation) 741 if (m_taintrot != _orientation)
742 rotate(timestep); 742 rotate(timestep);
743 // 743 //
744 744
745 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) 745 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
746 changePhysicsStatus(timestep); 746 changePhysicsStatus(timestep);
747 // 747 //
748 748
749 if (!_size.IsIdentical(m_taintsize, 0)) 749 if (!_size.IsIdentical(m_taintsize, 0))
750 changesize(timestep); 750 changesize(timestep);
751 // 751 //
752 752
753 if (m_taintshape) 753 if (m_taintshape)
754 changeshape(timestep); 754 changeshape(timestep);
755 // 755 //
756 756
757 if (m_taintforce) 757 if (m_taintforce)
758 changeAddForce(timestep); 758 changeAddForce(timestep);
759 759
760 if (m_taintaddangularforce) 760 if (m_taintaddangularforce)
761 changeAddAngularForce(timestep); 761 changeAddAngularForce(timestep);
762 762
763 if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f)) 763 if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
764 changeSetTorque(timestep); 764 changeSetTorque(timestep);
765 765
766 if (m_taintdisable) 766 if (m_taintdisable)
767 changedisable(timestep); 767 changedisable(timestep);
768 768
769 if (m_taintselected != m_isSelected) 769 if (m_taintselected != m_isSelected)
770 changeSelectedStatus(timestep); 770 changeSelectedStatus(timestep);
771 771
772 if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f)) 772 if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
773 changevelocity(timestep); 773 changevelocity(timestep);
774 774
775 if (m_taintparent != _parent) 775 if (m_taintparent != _parent)
776 changelink(timestep); 776 changelink(timestep);
777 777
778 if (m_taintCollidesWater != m_collidesWater) 778 if (m_taintCollidesWater != m_collidesWater)
779 changefloatonwater(timestep); 779 changefloatonwater(timestep);
780 780
781 if (!m_angularlock.IsIdentical(m_taintAngularLock, 0)) 781 if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
782 changeAngularLock(timestep); 782 changeAngularLock(timestep);
783 783
784 784
785 } 785 }
786 786
787 #region Physics Scene Change Action routines 787 #region Physics Scene Change Action routines
788 788
789 private void changeadd(float timestep) 789 private void changeadd(float timestep)
790 { 790 {
791 if (_mesh == null) 791 if (_mesh == null)
792 { 792 {
793 if (_parent_scene.needsMeshing(_pbs)) 793 if (_parent_scene.needsMeshing(_pbs))
794 { 794 {
795 // Don't need to re-enable body.. it's done in SetMesh 795 // Don't need to re-enable body.. it's done in SetMesh
796 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); 796 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
797 // createmesh returns null when it's a shape that isn't a cube. 797 // createmesh returns null when it's a shape that isn't a cube.
798 } 798 }
799 } 799 }
800 CreateGeom(IntPtr.Zero, primMesh); 800 CreateGeom(IntPtr.Zero, primMesh);
801 801
802 enableBody(); 802 enableBody();
803 changeSelectedStatus(timestep); 803 changeSelectedStatus(timestep);
804 m_taintadd = false; 804 m_taintadd = false;
805 805
806 } 806 }
807 807
808 private void changemove(float timestep) 808 private void changemove(float timestep)
809 { 809 {
810 810
811 811
812 tempTransform2 = Body.getWorldTransform(); 812 tempTransform2 = Body.getWorldTransform();
813 btQuaternion quat = tempTransform2.getRotation(); 813 btQuaternion quat = tempTransform2.getRotation();
814 tempPosition2.setValue(_position.X, _position.Y, _position.Z); 814 tempPosition2.setValue(_position.X, _position.Y, _position.Z);
815 tempTransform2.Dispose(); 815 tempTransform2.Dispose();
816 tempTransform2 = new btTransform(quat, tempPosition2); 816 tempTransform2 = new btTransform(quat, tempPosition2);
817 Body.setWorldTransform(tempTransform2); 817 Body.setWorldTransform(tempTransform2);
818 818
819 changeSelectedStatus(timestep); 819 changeSelectedStatus(timestep);
820 820
821 resetCollisionAccounting(); 821 resetCollisionAccounting();
822 m_taintposition = _position; 822 m_taintposition = _position;
823 } 823 }
824 824
825 private void rotate(float timestep) 825 private void rotate(float timestep)
826 { 826 {
827 827
828 tempTransform2 = Body.getWorldTransform(); 828 tempTransform2 = Body.getWorldTransform();
829 tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); 829 tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
830 tempTransform2.setRotation(tempOrientation2); 830 tempTransform2.setRotation(tempOrientation2);
831 Body.setWorldTransform(tempTransform2); 831 Body.setWorldTransform(tempTransform2);
832 832
833 resetCollisionAccounting(); 833 resetCollisionAccounting();
834 m_taintrot = _orientation; 834 m_taintrot = _orientation;
835 } 835 }
836 836
837 private void changePhysicsStatus(float timestep) 837 private void changePhysicsStatus(float timestep)
838 { 838 {
839 SetCollisionShape(prim_geom); 839 SetCollisionShape(prim_geom);
840 SetBody(Mass); 840 SetBody(Mass);
841 changeSelectedStatus(timestep); 841 changeSelectedStatus(timestep);
842 842
843 resetCollisionAccounting(); 843 resetCollisionAccounting();
844 m_taintPhysics = m_isphysical; 844 m_taintPhysics = m_isphysical;
845 } 845 }
846 846
847 private void changesize(float timestep) 847 private void changesize(float timestep)
848 { 848 {
849 SetCollisionShape(null); 849 SetCollisionShape(null);
850 // Construction of new prim 850 // Construction of new prim
851 if (_parent_scene.needsMeshing(_pbs)) 851 if (_parent_scene.needsMeshing(_pbs))
852 { 852 {
853 float meshlod = _parent_scene.meshSculptLOD; 853 float meshlod = _parent_scene.meshSculptLOD;
854 854
855 if (IsPhysical) 855 if (IsPhysical)
856 meshlod = _parent_scene.MeshSculptphysicalLOD; 856 meshlod = _parent_scene.MeshSculptphysicalLOD;
857 // Don't need to re-enable body.. it's done in SetMesh 857 // Don't need to re-enable body.. it's done in SetMesh
858 858
859 IMesh mesh = null; 859 IMesh mesh = null;
860 860
861 if (_parent_scene.needsMeshing(_pbs)) 861 if (_parent_scene.needsMeshing(_pbs))
862 mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); 862 mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
863 863
864 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); 864 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
865 865
866 CreateGeom(IntPtr.Zero, mesh); 866 CreateGeom(IntPtr.Zero, mesh);
867 867
868 868
869 } 869 }
870 else 870 else
871 { 871 {
872 _mesh = null; 872 _mesh = null;
873 CreateGeom(IntPtr.Zero, _mesh); 873 CreateGeom(IntPtr.Zero, _mesh);
874 } 874 }
875 875
876 if (IsPhysical) 876 if (IsPhysical)
877 SetBody(Mass); 877 SetBody(Mass);
878 else 878 else
879 SetBody(0); 879 SetBody(0);
880 880
881 m_taintsize = _size; 881 m_taintsize = _size;
882 882
883 } 883 }
884 884
885 private void changeshape(float timestep) 885 private void changeshape(float timestep)
886 { 886 {
887 // Cleanup of old prim geometry and Bodies 887 // Cleanup of old prim geometry and Bodies
888 if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero) 888 if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero)
889 { 889 {
890 if (childPrim) 890 if (childPrim)
891 { 891 {
892 if (_parent != null) 892 if (_parent != null)
893 { 893 {
894 BulletDotNETPrim parent = (BulletDotNETPrim)_parent; 894 BulletDotNETPrim parent = (BulletDotNETPrim)_parent;
895 parent.ChildDelink(this); 895 parent.ChildDelink(this);
896 } 896 }
897 } 897 }
898 else 898 else
899 { 899 {
900 disableBody(); 900 disableBody();
901 } 901 }
902 } 902 }
903 try 903 try
904 { 904 {
905 SetCollisionShape(null); 905 SetCollisionShape(null);
906 } 906 }
907 catch (System.AccessViolationException) 907 catch (System.AccessViolationException)
908 { 908 {
909 //prim_geom = IntPtr.Zero; 909 //prim_geom = IntPtr.Zero;
910 m_log.Error("[PHYSICS]: PrimGeom dead"); 910 m_log.Error("[PHYSICS]: PrimGeom dead");
911 } 911 }
912 912
913 // we don't need to do space calculation because the client sends a position update also. 913 // we don't need to do space calculation because the client sends a position update also.
914 if (_size.X <= 0) _size.X = 0.01f; 914 if (_size.X <= 0) _size.X = 0.01f;
915 if (_size.Y <= 0) _size.Y = 0.01f; 915 if (_size.Y <= 0) _size.Y = 0.01f;
916 if (_size.Z <= 0) _size.Z = 0.01f; 916 if (_size.Z <= 0) _size.Z = 0.01f;
917 // Construction of new prim 917 // Construction of new prim
918 918
919 if (_parent_scene.needsMeshing(_pbs)) 919 if (_parent_scene.needsMeshing(_pbs))
920 { 920 {
921 // Don't need to re-enable body.. it's done in SetMesh 921 // Don't need to re-enable body.. it's done in SetMesh
922 float meshlod = _parent_scene.meshSculptLOD; 922 float meshlod = _parent_scene.meshSculptLOD;
923 923
924 if (IsPhysical) 924 if (IsPhysical)
925 meshlod = _parent_scene.MeshSculptphysicalLOD; 925 meshlod = _parent_scene.MeshSculptphysicalLOD;
926 926
927 IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); 927 IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
928 // createmesh returns null when it doesn't mesh. 928 // createmesh returns null when it doesn't mesh.
929 CreateGeom(IntPtr.Zero, mesh); 929 CreateGeom(IntPtr.Zero, mesh);
930 } 930 }
931 else 931 else
932 { 932 {
933 _mesh = null; 933 _mesh = null;
934 CreateGeom(IntPtr.Zero, null); 934 CreateGeom(IntPtr.Zero, null);
935 } 935 }
936 tempPosition1.setValue(_position.X, _position.Y, _position.Z); 936 tempPosition1.setValue(_position.X, _position.Y, _position.Z);
937 if (tempOrientation1.Handle != IntPtr.Zero) 937 if (tempOrientation1.Handle != IntPtr.Zero)
938 tempOrientation1.Dispose(); 938 tempOrientation1.Dispose();
939 tempOrientation1 = new btQuaternion(_orientation.X, Orientation.Y, _orientation.Z, _orientation.W); 939 tempOrientation1 = new btQuaternion(_orientation.X, Orientation.Y, _orientation.Z, _orientation.W);
940 if (tempTransform1 != null && tempTransform1.Handle != IntPtr.Zero) 940 if (tempTransform1 != null && tempTransform1.Handle != IntPtr.Zero)
941 tempTransform1.Dispose(); 941 tempTransform1.Dispose();
942 tempTransform1 = new btTransform(tempOrientation1, tempPosition1); 942 tempTransform1 = new btTransform(tempOrientation1, tempPosition1);
943 943
944 944
945 945
946 946
947 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 947 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
948 if (IsPhysical) 948 if (IsPhysical)
949 { 949 {
950 SetBody(Mass); 950 SetBody(Mass);
951 // Re creates body on size. 951 // Re creates body on size.
952 // EnableBody also does setMass() 952 // EnableBody also does setMass()
953 953
954 } 954 }
955 else 955 else
956 { 956 {
957 SetBody(0); 957 SetBody(0);
958 } 958 }
959 959
960 changeSelectedStatus(timestep); 960 changeSelectedStatus(timestep);
961 if (childPrim) 961 if (childPrim)
962 { 962 {
963 if (_parent is BulletDotNETPrim) 963 if (_parent is BulletDotNETPrim)
964 { 964 {
965 BulletDotNETPrim parent = (BulletDotNETPrim)_parent; 965 BulletDotNETPrim parent = (BulletDotNETPrim)_parent;
966 parent.ChildSetGeom(this); 966 parent.ChildSetGeom(this);
967 } 967 }
968 } 968 }
969 resetCollisionAccounting(); 969 resetCollisionAccounting();
970 m_taintshape = false; 970 m_taintshape = false;
971 } 971 }
972 972
973 private void resetCollisionAccounting() 973 private void resetCollisionAccounting()
974 { 974 {
975 m_collisionscore = 0; 975 m_collisionscore = 0;
976 } 976 }
977 977
978 private void ChildSetGeom(BulletDotNETPrim bulletDotNETPrim) 978 private void ChildSetGeom(BulletDotNETPrim bulletDotNETPrim)
979 { 979 {
980 // TODO: throw new NotImplementedException(); 980 // TODO: throw new NotImplementedException();
981 } 981 }
982 982
983 private void changeAddForce(float timestep) 983 private void changeAddForce(float timestep)
984 { 984 {
985 // TODO: throw new NotImplementedException(); 985 // TODO: throw new NotImplementedException();
986 } 986 }
987 987
988 private void changeAddAngularForce(float timestep) 988 private void changeAddAngularForce(float timestep)
989 { 989 {
990 // TODO: throw new NotImplementedException(); 990 // TODO: throw new NotImplementedException();
991 } 991 }
992 992
993 private void changeSetTorque(float timestep) 993 private void changeSetTorque(float timestep)
994 { 994 {
995 // TODO: throw new NotImplementedException(); 995 // TODO: throw new NotImplementedException();
996 } 996 }
997 997
998 private void changedisable(float timestep) 998 private void changedisable(float timestep)
999 { 999 {
1000 // TODO: throw new NotImplementedException(); 1000 // TODO: throw new NotImplementedException();
1001 } 1001 }
1002 1002
1003 private void changeSelectedStatus(float timestep) 1003 private void changeSelectedStatus(float timestep)
1004 { 1004 {
1005 // TODO: throw new NotImplementedException(); 1005 // TODO: throw new NotImplementedException();
1006 } 1006 }
1007 1007
1008 private void changevelocity(float timestep) 1008 private void changevelocity(float timestep)
1009 { 1009 {
1010 // TODO: throw new NotImplementedException(); 1010 // TODO: throw new NotImplementedException();
1011 } 1011 }
1012 1012
1013 private void changelink(float timestep) 1013 private void changelink(float timestep)
1014 { 1014 {
1015 // TODO: throw new NotImplementedException(); 1015 // TODO: throw new NotImplementedException();
1016 } 1016 }
1017 1017
1018 private void changefloatonwater(float timestep) 1018 private void changefloatonwater(float timestep)
1019 { 1019 {
1020 // TODO: throw new NotImplementedException(); 1020 // TODO: throw new NotImplementedException();
1021 } 1021 }
1022 1022
1023 private void changeAngularLock(float timestep) 1023 private void changeAngularLock(float timestep)
1024 { 1024 {
1025 // TODO: throw new NotImplementedException(); 1025 // TODO: throw new NotImplementedException();
1026 } 1026 }
1027 #endregion 1027 #endregion
1028 1028
1029 1029
1030 1030
1031 1031
1032 internal void Move(float timestep) 1032 internal void Move(float timestep)
1033 { 1033 {
1034 //TODO: 1034 //TODO:
1035 float fx = 0; 1035 float fx = 0;
1036 float fy = 0; 1036 float fy = 0;
1037 float fz = 0; 1037 float fz = 0;
1038 1038
1039 if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero && !m_isSelected) 1039 if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero && !m_isSelected)
1040 { 1040 {
1041 float m_mass = CalculateMass(); 1041 float m_mass = CalculateMass();
1042 1042
1043 fz = 0f; 1043 fz = 0f;
1044 //m_log.Info(m_collisionFlags.ToString()); 1044 //m_log.Info(m_collisionFlags.ToString());
1045 1045
1046 if (m_buoyancy != 0) 1046 if (m_buoyancy != 0)
1047 { 1047 {
1048 if (m_buoyancy > 0) 1048 if (m_buoyancy > 0)
1049 { 1049 {
1050 fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); 1050 fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass);
1051 1051
1052 //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); 1052 //d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
1053 //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); 1053 //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
1054 } 1054 }
1055 else 1055 else
1056 { 1056 {
1057 fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); 1057 fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass));
1058 } 1058 }
1059 } 1059 }
1060 1060
1061 if (m_usePID) 1061 if (m_usePID)
1062 { 1062 {
1063 //if (!d.BodyIsEnabled(Body)) 1063 //if (!d.BodyIsEnabled(Body))
1064 //d.BodySetForce(Body, 0f, 0f, 0f); 1064 //d.BodySetForce(Body, 0f, 0f, 0f);
1065 // If we're using the PID controller, then we have no gravity 1065 // If we're using the PID controller, then we have no gravity
1066 fz = (-1 * _parent_scene.gravityz) * m_mass; 1066 fz = (-1 * _parent_scene.gravityz) * m_mass;
1067 1067
1068 // no lock; for now it's only called from within Simulate() 1068 // no lock; for now it's only called from within Simulate()
1069 1069
1070 // If the PID Controller isn't active then we set our force 1070 // If the PID Controller isn't active then we set our force
1071 // calculating base velocity to the current position 1071 // calculating base velocity to the current position
1072 1072
1073 if ((m_PIDTau < 1) && (m_PIDTau != 0)) 1073 if ((m_PIDTau < 1) && (m_PIDTau != 0))
1074 { 1074 {
1075 //PID_G = PID_G / m_PIDTau; 1075 //PID_G = PID_G / m_PIDTau;
1076 m_PIDTau = 1; 1076 m_PIDTau = 1;
1077 } 1077 }
1078 1078
1079 if ((PID_G - m_PIDTau) <= 0) 1079 if ((PID_G - m_PIDTau) <= 0)
1080 { 1080 {
1081 PID_G = m_PIDTau + 1; 1081 PID_G = m_PIDTau + 1;
1082 } 1082 }
1083 1083
1084 // TODO: NEED btVector3 for Linear Velocity 1084 // TODO: NEED btVector3 for Linear Velocity
1085 // NEED btVector3 for Position 1085 // NEED btVector3 for Position
1086 1086
1087 PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet 1087 PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
1088 PhysicsVector vel = new PhysicsVector(0, 0, 0); 1088 PhysicsVector vel = new PhysicsVector(0, 0, 0);
1089 1089
1090 _target_velocity = 1090 _target_velocity =
1091 new PhysicsVector( 1091 new PhysicsVector(
1092 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), 1092 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
1093 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), 1093 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
1094 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) 1094 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
1095 ); 1095 );
1096 1096
1097 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) 1097 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
1098 { 1098 {
1099 1099
1100 /* TODO: Do Bullet equiv 1100 /* TODO: Do Bullet equiv
1101 * 1101 *
1102 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); 1102 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
1103 d.BodySetLinearVel(Body, 0, 0, 0); 1103 d.BodySetLinearVel(Body, 0, 0, 0);
1104 d.BodyAddForce(Body, 0, 0, fz); 1104 d.BodyAddForce(Body, 0, 0, fz);
1105 return; 1105 return;
1106 */ 1106 */
1107 } 1107 }
1108 else 1108 else
1109 { 1109 {
1110 _zeroFlag = false; 1110 _zeroFlag = false;
1111 1111
1112 fx = ((_target_velocity.X) - vel.X) * (PID_D); 1112 fx = ((_target_velocity.X) - vel.X) * (PID_D);
1113 fy = ((_target_velocity.Y) - vel.Y) * (PID_D); 1113 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
1114 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); 1114 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1115 1115
1116 } 1116 }
1117 1117
1118 } 1118 }
1119 1119
1120 if (m_useHoverPID && !m_usePID) 1120 if (m_useHoverPID && !m_usePID)
1121 { 1121 {
1122 // If we're using the PID controller, then we have no gravity 1122 // If we're using the PID controller, then we have no gravity
1123 fz = (-1 * _parent_scene.gravityz) * m_mass; 1123 fz = (-1 * _parent_scene.gravityz) * m_mass;
1124 1124
1125 // no lock; for now it's only called from within Simulate() 1125 // no lock; for now it's only called from within Simulate()
1126 1126
1127 // If the PID Controller isn't active then we set our force 1127 // If the PID Controller isn't active then we set our force
1128 // calculating base velocity to the current position 1128 // calculating base velocity to the current position
1129 1129
1130 if ((m_PIDTau < 1)) 1130 if ((m_PIDTau < 1))
1131 { 1131 {
1132 PID_G = PID_G / m_PIDTau; 1132 PID_G = PID_G / m_PIDTau;
1133 } 1133 }
1134 1134
1135 if ((PID_G - m_PIDTau) <= 0) 1135 if ((PID_G - m_PIDTau) <= 0)
1136 { 1136 {
1137 PID_G = m_PIDTau + 1; 1137 PID_G = m_PIDTau + 1;
1138 } 1138 }
1139 PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet 1139 PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
1140 PhysicsVector vel = new PhysicsVector(0, 0, 0); 1140 PhysicsVector vel = new PhysicsVector(0, 0, 0);
1141 1141
1142 // determine what our target height really is based on HoverType 1142 // determine what our target height really is based on HoverType
1143 switch (m_PIDHoverType) 1143 switch (m_PIDHoverType)
1144 { 1144 {
1145 case PIDHoverType.Absolute: 1145 case PIDHoverType.Absolute:
1146 m_targetHoverHeight = m_PIDHoverHeight; 1146 m_targetHoverHeight = m_PIDHoverHeight;
1147 break; 1147 break;
1148 case PIDHoverType.Ground: 1148 case PIDHoverType.Ground:
1149 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); 1149 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
1150 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; 1150 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
1151 break; 1151 break;
1152 case PIDHoverType.GroundAndWater: 1152 case PIDHoverType.GroundAndWater:
1153 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); 1153 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
1154 m_waterHeight = _parent_scene.GetWaterLevel(); 1154 m_waterHeight = _parent_scene.GetWaterLevel();
1155 if (m_groundHeight > m_waterHeight) 1155 if (m_groundHeight > m_waterHeight)
1156 { 1156 {
1157 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; 1157 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
1158 } 1158 }
1159 else 1159 else
1160 { 1160 {
1161 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; 1161 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
1162 } 1162 }
1163 break; 1163 break;
1164 case PIDHoverType.Water: 1164 case PIDHoverType.Water:
1165 m_waterHeight = _parent_scene.GetWaterLevel(); 1165 m_waterHeight = _parent_scene.GetWaterLevel();
1166 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; 1166 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
1167 break; 1167 break;
1168 } 1168 }
1169 1169
1170 1170
1171 _target_velocity = 1171 _target_velocity =
1172 new PhysicsVector(0.0f, 0.0f, 1172 new PhysicsVector(0.0f, 0.0f,
1173 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) 1173 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
1174 ); 1174 );
1175 1175
1176 // if velocity is zero, use position control; otherwise, velocity control 1176 // if velocity is zero, use position control; otherwise, velocity control
1177 1177
1178 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) 1178 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
1179 { 1179 {
1180 1180
1181 /* TODO: Do Bullet Equiv 1181 /* TODO: Do Bullet Equiv
1182 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); 1182 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
1183 d.BodySetLinearVel(Body, vel.X, vel.Y, 0); 1183 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
1184 d.BodyAddForce(Body, 0, 0, fz); 1184 d.BodyAddForce(Body, 0, 0, fz);
1185 */ 1185 */
1186 return; 1186 return;
1187 } 1187 }
1188 else 1188 else
1189 { 1189 {
1190 _zeroFlag = false; 1190 _zeroFlag = false;
1191 1191
1192 // We're flying and colliding with something 1192 // We're flying and colliding with something
1193 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); 1193 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1194 } 1194 }
1195 } 1195 }
1196 1196
1197 fx *= m_mass; 1197 fx *= m_mass;
1198 fy *= m_mass; 1198 fy *= m_mass;
1199 //fz *= m_mass; 1199 //fz *= m_mass;
1200 1200
1201 fx += m_force.X; 1201 fx += m_force.X;
1202 fy += m_force.Y; 1202 fy += m_force.Y;
1203 fz += m_force.Z; 1203 fz += m_force.Z;
1204 1204
1205 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); 1205 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
1206 if (fx != 0 || fy != 0 || fz != 0) 1206 if (fx != 0 || fy != 0 || fz != 0)
1207 { 1207 {
1208 /* 1208 /*
1209 * TODO: Do Bullet Equiv 1209 * TODO: Do Bullet Equiv
1210 if (!d.BodyIsEnabled(Body)) 1210 if (!d.BodyIsEnabled(Body))
1211 { 1211 {
1212 d.BodySetLinearVel(Body, 0f, 0f, 0f); 1212 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1213 d.BodySetForce(Body, 0, 0, 0); 1213 d.BodySetForce(Body, 0, 0, 0);
1214 enableBodySoft(); 1214 enableBodySoft();
1215 } 1215 }
1216 */ 1216 */
1217 // 35x10 = 350n times the mass per second applied maximum. 1217 // 35x10 = 350n times the mass per second applied maximum.
1218 1218
1219 float nmax = 35f * m_mass; 1219 float nmax = 35f * m_mass;
1220 float nmin = -35f * m_mass; 1220 float nmin = -35f * m_mass;
1221 1221
1222 1222
1223 if (fx > nmax) 1223 if (fx > nmax)
1224 fx = nmax; 1224 fx = nmax;
1225 if (fx < nmin) 1225 if (fx < nmin)
1226 fx = nmin; 1226 fx = nmin;
1227 if (fy > nmax) 1227 if (fy > nmax)
1228 fy = nmax; 1228 fy = nmax;
1229 if (fy < nmin) 1229 if (fy < nmin)
1230 fy = nmin; 1230 fy = nmin;
1231 1231
1232 // TODO: Do Bullet Equiv 1232 // TODO: Do Bullet Equiv
1233 // d.BodyAddForce(Body, fx, fy, fz); 1233 // d.BodyAddForce(Body, fx, fy, fz);
1234 } 1234 }
1235 } 1235 }
1236 else 1236 else
1237 { 1237 {
1238 // _zeroPosition = d.BodyGetPosition(Body); 1238 // _zeroPosition = d.BodyGetPosition(Body);
1239 return; 1239 return;
1240 } 1240 }
1241 } 1241 }
1242 1242
1243 1243
1244 1244
1245 1245
1246 #region Mass Calculation 1246 #region Mass Calculation
1247 1247
1248 private float CalculateMass() 1248 private float CalculateMass()
1249 { 1249 {
1250 float volume = 0; 1250 float volume = 0;
1251 1251
1252 // No material is passed to the physics engines yet.. soo.. 1252 // No material is passed to the physics engines yet.. soo..
1253 // we're using the m_density constant in the class definition 1253 // we're using the m_density constant in the class definition
1254 1254
1255 float returnMass = 0; 1255 float returnMass = 0;
1256 1256
1257 switch (_pbs.ProfileShape) 1257 switch (_pbs.ProfileShape)
1258 { 1258 {
1259 case ProfileShape.Square: 1259 case ProfileShape.Square:
1260 // Profile Volume 1260 // Profile Volume
1261 1261
1262 volume = _size.X * _size.Y * _size.Z; 1262 volume = _size.X * _size.Y * _size.Z;
1263 1263
1264 // If the user has 'hollowed out' 1264 // If the user has 'hollowed out'
1265 // ProfileHollow is one of those 0 to 50000 values :P 1265 // ProfileHollow is one of those 0 to 50000 values :P
1266 // we like percentages better.. so turning into a percentage 1266 // we like percentages better.. so turning into a percentage
1267 1267
1268 if (((float)_pbs.ProfileHollow / 50000f) > 0.0) 1268 if (((float)_pbs.ProfileHollow / 50000f) > 0.0)
1269 { 1269 {
1270 float hollowAmount = (float)_pbs.ProfileHollow / 50000f; 1270 float hollowAmount = (float)_pbs.ProfileHollow / 50000f;
1271 1271
1272 // calculate the hollow volume by it's shape compared to the prim shape 1272 // calculate the hollow volume by it's shape compared to the prim shape
1273 float hollowVolume = 0; 1273 float hollowVolume = 0;
1274 switch (_pbs.HollowShape) 1274 switch (_pbs.HollowShape)
1275 { 1275 {
1276 case HollowShape.Square: 1276 case HollowShape.Square:
1277 case HollowShape.Same: 1277 case HollowShape.Same:
1278 // Cube Hollow volume calculation 1278 // Cube Hollow volume calculation
1279 float hollowsizex = _size.X * hollowAmount; 1279 float hollowsizex = _size.X * hollowAmount;
1280 float hollowsizey = _size.Y * hollowAmount; 1280 float hollowsizey = _size.Y * hollowAmount;
1281 float hollowsizez = _size.Z * hollowAmount; 1281 float hollowsizez = _size.Z * hollowAmount;
1282 hollowVolume = hollowsizex * hollowsizey * hollowsizez; 1282 hollowVolume = hollowsizex * hollowsizey * hollowsizez;
1283 break; 1283 break;
1284 1284
1285 case HollowShape.Circle: 1285 case HollowShape.Circle:
1286 // Hollow shape is a perfect cyllinder in respect to the cube's scale 1286 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1287 // Cyllinder hollow volume calculation 1287 // Cyllinder hollow volume calculation
1288 float hRadius = _size.X / 2; 1288 float hRadius = _size.X / 2;
1289 float hLength = _size.Z; 1289 float hLength = _size.Z;
1290 1290
1291 // pi * r2 * h 1291 // pi * r2 * h
1292 hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount); 1292 hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount);
1293 break; 1293 break;
1294 1294
1295 case HollowShape.Triangle: 1295 case HollowShape.Triangle:
1296 // Equilateral Triangular Prism volume hollow calculation 1296 // Equilateral Triangular Prism volume hollow calculation
1297 // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y 1297 // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
1298 1298
1299 float aLength = _size.Y; 1299 float aLength = _size.Y;
1300 // 1/2 abh 1300 // 1/2 abh
1301 hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount); 1301 hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
1302 break; 1302 break;
1303 1303
1304 default: 1304 default:
1305 hollowVolume = 0; 1305 hollowVolume = 0;
1306 break; 1306 break;
1307 } 1307 }
1308 volume = volume - hollowVolume; 1308 volume = volume - hollowVolume;
1309 } 1309 }
1310 1310
1311 break; 1311 break;
1312 case ProfileShape.Circle: 1312 case ProfileShape.Circle:
1313 if (_pbs.PathCurve == (byte)Extrusion.Straight) 1313 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1314 { 1314 {
1315 // Cylinder 1315 // Cylinder
1316 float volume1 = (float)(Math.PI * Math.Pow(_size.X / 2, 2) * _size.Z); 1316 float volume1 = (float)(Math.PI * Math.Pow(_size.X / 2, 2) * _size.Z);
1317 float volume2 = (float)(Math.PI * Math.Pow(_size.Y / 2, 2) * _size.Z); 1317 float volume2 = (float)(Math.PI * Math.Pow(_size.Y / 2, 2) * _size.Z);
1318 1318
1319 // Approximating the cylinder's irregularity. 1319 // Approximating the cylinder's irregularity.
1320 if (volume1 > volume2) 1320 if (volume1 > volume2)
1321 { 1321 {
1322 volume = (float)volume1 - (volume1 - volume2); 1322 volume = (float)volume1 - (volume1 - volume2);
1323 } 1323 }
1324 else if (volume2 > volume1) 1324 else if (volume2 > volume1)
1325 { 1325 {
1326 volume = (float)volume2 - (volume2 - volume1); 1326 volume = (float)volume2 - (volume2 - volume1);
1327 } 1327 }
1328 else 1328 else
1329 { 1329 {
1330 // Regular cylinder 1330 // Regular cylinder
1331 volume = volume1; 1331 volume = volume1;
1332 } 1332 }
1333 } 1333 }
1334 else 1334 else
1335 { 1335 {
1336 // We don't know what the shape is yet, so use default 1336 // We don't know what the shape is yet, so use default
1337 volume = _size.X * _size.Y * _size.Z; 1337 volume = _size.X * _size.Y * _size.Z;
1338 } 1338 }
1339 // If the user has 'hollowed out' 1339 // If the user has 'hollowed out'
1340 // ProfileHollow is one of those 0 to 50000 values :P 1340 // ProfileHollow is one of those 0 to 50000 values :P
1341 // we like percentages better.. so turning into a percentage 1341 // we like percentages better.. so turning into a percentage
1342 1342
1343 if (((float)_pbs.ProfileHollow / 50000f) > 0.0) 1343 if (((float)_pbs.ProfileHollow / 50000f) > 0.0)
1344 { 1344 {
1345 float hollowAmount = (float)_pbs.ProfileHollow / 50000f; 1345 float hollowAmount = (float)_pbs.ProfileHollow / 50000f;
1346 1346
1347 // calculate the hollow volume by it's shape compared to the prim shape 1347 // calculate the hollow volume by it's shape compared to the prim shape
1348 float hollowVolume = 0; 1348 float hollowVolume = 0;
1349 switch (_pbs.HollowShape) 1349 switch (_pbs.HollowShape)
1350 { 1350 {
1351 case HollowShape.Same: 1351 case HollowShape.Same:
1352 case HollowShape.Circle: 1352 case HollowShape.Circle:
1353 // Hollow shape is a perfect cyllinder in respect to the cube's scale 1353 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1354 // Cyllinder hollow volume calculation 1354 // Cyllinder hollow volume calculation
1355 float hRadius = _size.X / 2; 1355 float hRadius = _size.X / 2;
1356 float hLength = _size.Z; 1356 float hLength = _size.Z;
1357 1357
1358 // pi * r2 * h 1358 // pi * r2 * h
1359 hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount); 1359 hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount);
1360 break; 1360 break;
1361 1361
1362 case HollowShape.Square: 1362 case HollowShape.Square:
1363 // Cube Hollow volume calculation 1363 // Cube Hollow volume calculation
1364 float hollowsizex = _size.X * hollowAmount; 1364 float hollowsizex = _size.X * hollowAmount;
1365 float hollowsizey = _size.Y * hollowAmount; 1365 float hollowsizey = _size.Y * hollowAmount;
1366 float hollowsizez = _size.Z * hollowAmount; 1366 float hollowsizez = _size.Z * hollowAmount;
1367 hollowVolume = hollowsizex * hollowsizey * hollowsizez; 1367 hollowVolume = hollowsizex * hollowsizey * hollowsizez;
1368 break; 1368 break;
1369 1369
1370 case HollowShape.Triangle: 1370 case HollowShape.Triangle:
1371 // Equilateral Triangular Prism volume hollow calculation 1371 // Equilateral Triangular Prism volume hollow calculation
1372 // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y 1372 // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
1373 1373
1374 float aLength = _size.Y; 1374 float aLength = _size.Y;
1375 // 1/2 abh 1375 // 1/2 abh
1376 hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount); 1376 hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
1377 break; 1377 break;
1378 1378
1379 default: 1379 default:
1380 hollowVolume = 0; 1380 hollowVolume = 0;
1381 break; 1381 break;
1382 } 1382 }
1383 volume = volume - hollowVolume; 1383 volume = volume - hollowVolume;
1384 } 1384 }
1385 break; 1385 break;
1386 1386
1387 case ProfileShape.HalfCircle: 1387 case ProfileShape.HalfCircle:
1388 if (_pbs.PathCurve == (byte)Extrusion.Curve1) 1388 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1389 { 1389 {
1390 if (_size.X == _size.Y && _size.Z == _size.X) 1390 if (_size.X == _size.Y && _size.Z == _size.X)
1391 { 1391 {
1392 // regular sphere 1392 // regular sphere
1393 // v = 4/3 * pi * r^3 1393 // v = 4/3 * pi * r^3
1394 float sradius3 = (float)Math.Pow((_size.X / 2), 3); 1394 float sradius3 = (float)Math.Pow((_size.X / 2), 3);
1395 volume = (float)((4 / 3f) * Math.PI * sradius3); 1395 volume = (float)((4 / 3f) * Math.PI * sradius3);
1396 } 1396 }
1397 else 1397 else
1398 { 1398 {
1399 // we treat this as a box currently 1399 // we treat this as a box currently
1400 volume = _size.X * _size.Y * _size.Z; 1400 volume = _size.X * _size.Y * _size.Z;
1401 } 1401 }
1402 } 1402 }
1403 else 1403 else
1404 { 1404 {
1405 // We don't know what the shape is yet, so use default 1405 // We don't know what the shape is yet, so use default
1406 volume = _size.X * _size.Y * _size.Z; 1406 volume = _size.X * _size.Y * _size.Z;
1407 } 1407 }
1408 break; 1408 break;
1409 1409
1410 case ProfileShape.EquilateralTriangle: 1410 case ProfileShape.EquilateralTriangle:
1411 /* 1411 /*
1412 v = (abs((xB*yA-xA*yB)+(xC*yB-xB*yC)+(xA*yC-xC*yA))/2) * h 1412 v = (abs((xB*yA-xA*yB)+(xC*yB-xB*yC)+(xA*yC-xC*yA))/2) * h
1413 1413
1414 // seed mesh 1414 // seed mesh
1415 Vertex MM = new Vertex(-0.25f, -0.45f, 0.0f); 1415 Vertex MM = new Vertex(-0.25f, -0.45f, 0.0f);
1416 Vertex PM = new Vertex(+0.5f, 0f, 0.0f); 1416 Vertex PM = new Vertex(+0.5f, 0f, 0.0f);
1417 Vertex PP = new Vertex(-0.25f, +0.45f, 0.0f); 1417 Vertex PP = new Vertex(-0.25f, +0.45f, 0.0f);
1418 */ 1418 */
1419 float xA = -0.25f * _size.X; 1419 float xA = -0.25f * _size.X;
1420 float yA = -0.45f * _size.Y; 1420 float yA = -0.45f * _size.Y;
1421 1421
1422 float xB = 0.5f * _size.X; 1422 float xB = 0.5f * _size.X;
1423 float yB = 0; 1423 float yB = 0;
1424 1424
1425 float xC = -0.25f * _size.X; 1425 float xC = -0.25f * _size.X;
1426 float yC = 0.45f * _size.Y; 1426 float yC = 0.45f * _size.Y;
1427 1427
1428 volume = (float)((Math.Abs((xB * yA - xA * yB) + (xC * yB - xB * yC) + (xA * yC - xC * yA)) / 2) * _size.Z); 1428 volume = (float)((Math.Abs((xB * yA - xA * yB) + (xC * yB - xB * yC) + (xA * yC - xC * yA)) / 2) * _size.Z);
1429 1429
1430 // If the user has 'hollowed out' 1430 // If the user has 'hollowed out'
1431 // ProfileHollow is one of those 0 to 50000 values :P 1431 // ProfileHollow is one of those 0 to 50000 values :P
1432 // we like percentages better.. so turning into a percentage 1432 // we like percentages better.. so turning into a percentage
1433 float fhollowFactor = ((float)_pbs.ProfileHollow / 1.9f); 1433 float fhollowFactor = ((float)_pbs.ProfileHollow / 1.9f);
1434 if (((float)fhollowFactor / 50000f) > 0.0) 1434 if (((float)fhollowFactor / 50000f) > 0.0)
1435 { 1435 {
1436 float hollowAmount = (float)fhollowFactor / 50000f; 1436 float hollowAmount = (float)fhollowFactor / 50000f;
1437 1437
1438 // calculate the hollow volume by it's shape compared to the prim shape 1438 // calculate the hollow volume by it's shape compared to the prim shape
1439 float hollowVolume = 0; 1439 float hollowVolume = 0;
1440 switch (_pbs.HollowShape) 1440 switch (_pbs.HollowShape)
1441 { 1441 {
1442 case HollowShape.Same: 1442 case HollowShape.Same:
1443 case HollowShape.Triangle: 1443 case HollowShape.Triangle:
1444 // Equilateral Triangular Prism volume hollow calculation 1444 // Equilateral Triangular Prism volume hollow calculation
1445 // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y 1445 // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
1446 1446
1447 float aLength = _size.Y; 1447 float aLength = _size.Y;
1448 // 1/2 abh 1448 // 1/2 abh
1449 hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount); 1449 hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
1450 break; 1450 break;
1451 1451
1452 case HollowShape.Square: 1452 case HollowShape.Square:
1453 // Cube Hollow volume calculation 1453 // Cube Hollow volume calculation
1454 float hollowsizex = _size.X * hollowAmount; 1454 float hollowsizex = _size.X * hollowAmount;
1455 float hollowsizey = _size.Y * hollowAmount; 1455 float hollowsizey = _size.Y * hollowAmount;
1456 float hollowsizez = _size.Z * hollowAmount; 1456 float hollowsizez = _size.Z * hollowAmount;
1457 hollowVolume = hollowsizex * hollowsizey * hollowsizez; 1457 hollowVolume = hollowsizex * hollowsizey * hollowsizez;
1458 break; 1458 break;
1459 1459
1460 case HollowShape.Circle: 1460 case HollowShape.Circle:
1461 // Hollow shape is a perfect cyllinder in respect to the cube's scale 1461 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1462 // Cyllinder hollow volume calculation 1462 // Cyllinder hollow volume calculation
1463 float hRadius = _size.X / 2; 1463 float hRadius = _size.X / 2;
1464 float hLength = _size.Z; 1464 float hLength = _size.Z;
1465 1465
1466 // pi * r2 * h 1466 // pi * r2 * h
1467 hollowVolume = ((float)((Math.PI * Math.Pow(hRadius, 2) * hLength) / 2) * hollowAmount); 1467 hollowVolume = ((float)((Math.PI * Math.Pow(hRadius, 2) * hLength) / 2) * hollowAmount);
1468 break; 1468 break;
1469 1469
1470 default: 1470 default:
1471 hollowVolume = 0; 1471 hollowVolume = 0;
1472 break; 1472 break;
1473 } 1473 }
1474 volume = volume - hollowVolume; 1474 volume = volume - hollowVolume;
1475 } 1475 }
1476 break; 1476 break;
1477 1477
1478 default: 1478 default:
1479 // we don't have all of the volume formulas yet so 1479 // we don't have all of the volume formulas yet so
1480 // use the common volume formula for all 1480 // use the common volume formula for all
1481 volume = _size.X * _size.Y * _size.Z; 1481 volume = _size.X * _size.Y * _size.Z;
1482 break; 1482 break;
1483 } 1483 }
1484 1484
1485 // Calculate Path cut effect on volume 1485 // Calculate Path cut effect on volume
1486 // Not exact, in the triangle hollow example 1486 // Not exact, in the triangle hollow example
1487 // They should never be zero or less then zero.. 1487 // They should never be zero or less then zero..
1488 // we'll ignore it if it's less then zero 1488 // we'll ignore it if it's less then zero
1489 1489
1490 // ProfileEnd and ProfileBegin are values 1490 // ProfileEnd and ProfileBegin are values
1491 // from 0 to 50000 1491 // from 0 to 50000
1492 1492
1493 // Turning them back into percentages so that I can cut that percentage off the volume 1493 // Turning them back into percentages so that I can cut that percentage off the volume
1494 1494
1495 float PathCutEndAmount = _pbs.ProfileEnd; 1495 float PathCutEndAmount = _pbs.ProfileEnd;
1496 float PathCutStartAmount = _pbs.ProfileBegin; 1496 float PathCutStartAmount = _pbs.ProfileBegin;
1497 if (((PathCutStartAmount + PathCutEndAmount) / 50000f) > 0.0f) 1497 if (((PathCutStartAmount + PathCutEndAmount) / 50000f) > 0.0f)
1498 { 1498 {
1499 float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount) / 50000f); 1499 float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount) / 50000f);
1500 1500
1501 // Check the return amount for sanity 1501 // Check the return amount for sanity
1502 if (pathCutAmount >= 0.99f) 1502 if (pathCutAmount >= 0.99f)
1503 pathCutAmount = 0.99f; 1503 pathCutAmount = 0.99f;
1504 1504
1505 volume = volume - (volume * pathCutAmount); 1505 volume = volume - (volume * pathCutAmount);
1506 } 1506 }
1507 UInt16 taperX = _pbs.PathScaleX; 1507 UInt16 taperX = _pbs.PathScaleX;
1508 UInt16 taperY = _pbs.PathScaleY; 1508 UInt16 taperY = _pbs.PathScaleY;
1509 float taperFactorX = 0; 1509 float taperFactorX = 0;
1510 float taperFactorY = 0; 1510 float taperFactorY = 0;
1511 1511
1512 // Mass = density * volume 1512 // Mass = density * volume
1513 if (taperX != 100) 1513 if (taperX != 100)
1514 { 1514 {
1515 if (taperX > 100) 1515 if (taperX > 100)
1516 { 1516 {
1517 taperFactorX = 1.0f - ((float)taperX / 200); 1517 taperFactorX = 1.0f - ((float)taperX / 200);
1518 //m_log.Warn("taperTopFactorX: " + extr.taperTopFactorX.ToString()); 1518 //m_log.Warn("taperTopFactorX: " + extr.taperTopFactorX.ToString());
1519 } 1519 }
1520 else 1520 else
1521 { 1521 {
1522 taperFactorX = 1.0f - ((100 - (float)taperX) / 100); 1522 taperFactorX = 1.0f - ((100 - (float)taperX) / 100);
1523 //m_log.Warn("taperBotFactorX: " + extr.taperBotFactorX.ToString()); 1523 //m_log.Warn("taperBotFactorX: " + extr.taperBotFactorX.ToString());
1524 } 1524 }
1525 volume = (float)volume * ((taperFactorX / 3f) + 0.001f); 1525 volume = (float)volume * ((taperFactorX / 3f) + 0.001f);
1526 } 1526 }
1527 1527
1528 if (taperY != 100) 1528 if (taperY != 100)
1529 { 1529 {
1530 if (taperY > 100) 1530 if (taperY > 100)
1531 { 1531 {
1532 taperFactorY = 1.0f - ((float)taperY / 200); 1532 taperFactorY = 1.0f - ((float)taperY / 200);
1533 //m_log.Warn("taperTopFactorY: " + extr.taperTopFactorY.ToString()); 1533 //m_log.Warn("taperTopFactorY: " + extr.taperTopFactorY.ToString());
1534 } 1534 }
1535 else 1535 else
1536 { 1536 {
1537 taperFactorY = 1.0f - ((100 - (float)taperY) / 100); 1537 taperFactorY = 1.0f - ((100 - (float)taperY) / 100);
1538 //m_log.Warn("taperBotFactorY: " + extr.taperBotFactorY.ToString()); 1538 //m_log.Warn("taperBotFactorY: " + extr.taperBotFactorY.ToString());
1539 } 1539 }
1540 volume = (float)volume * ((taperFactorY / 3f) + 0.001f); 1540 volume = (float)volume * ((taperFactorY / 3f) + 0.001f);
1541 } 1541 }
1542 returnMass = m_density * volume; 1542 returnMass = m_density * volume;
1543 if (returnMass <= 0) returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. 1543 if (returnMass <= 0) returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
1544 1544
1545 1545
1546 1546
1547 // Recursively calculate mass 1547 // Recursively calculate mass
1548 bool HasChildPrim = false; 1548 bool HasChildPrim = false;
1549 lock (childrenPrim) 1549 lock (childrenPrim)
1550 { 1550 {
1551 if (childrenPrim.Count > 0) 1551 if (childrenPrim.Count > 0)
1552 { 1552 {
1553 HasChildPrim = true; 1553 HasChildPrim = true;
1554 } 1554 }
1555 1555
1556 } 1556 }
1557 if (HasChildPrim) 1557 if (HasChildPrim)
1558 { 1558 {
1559 BulletDotNETPrim[] childPrimArr = new BulletDotNETPrim[0]; 1559 BulletDotNETPrim[] childPrimArr = new BulletDotNETPrim[0];
1560 1560
1561 lock (childrenPrim) 1561 lock (childrenPrim)
1562 childPrimArr = childrenPrim.ToArray(); 1562 childPrimArr = childrenPrim.ToArray();
1563 1563
1564 for (int i = 0; i < childPrimArr.Length; i++) 1564 for (int i = 0; i < childPrimArr.Length; i++)
1565 { 1565 {
1566 if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove) 1566 if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
1567 returnMass += childPrimArr[i].CalculateMass(); 1567 returnMass += childPrimArr[i].CalculateMass();
1568 // failsafe, this shouldn't happen but with OpenSim, you never know :) 1568 // failsafe, this shouldn't happen but with OpenSim, you never know :)
1569 if (i > 256) 1569 if (i > 256)
1570 break; 1570 break;
1571 } 1571 }
1572 } 1572 }
1573 1573
1574 1574
1575 1575
1576 1576
1577 1577
1578 return returnMass; 1578 return returnMass;
1579 } 1579 }
1580 1580
1581 #endregion 1581 #endregion
1582 1582
1583 1583
1584 public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh) 1584 public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh)
1585 { 1585 {
1586 if (p_mesh != null) 1586 if (p_mesh != null)
1587 { 1587 {
1588 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); 1588 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
1589 setMesh(_parent_scene, _mesh); 1589 setMesh(_parent_scene, _mesh);
1590 1590
1591 } 1591 }
1592 else 1592 else
1593 { 1593 {
1594 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) 1594 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
1595 { 1595 {
1596 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) 1596 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
1597 { 1597 {
1598 if (((_size.X / 2f) > 0f)) 1598 if (((_size.X / 2f) > 0f))
1599 { 1599 {
1600 //SetGeom to a Regular Sphere 1600 //SetGeom to a Regular Sphere
1601 tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); 1601 tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
1602 SetCollisionShape(new btSphereShape(_size.X*0.5f)); 1602 SetCollisionShape(new btSphereShape(_size.X*0.5f));
1603 } 1603 }
1604 else 1604 else
1605 { 1605 {
1606 // uses halfextents 1606 // uses halfextents
1607 tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f); 1607 tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f);
1608 SetCollisionShape(new btBoxShape(tempSize1)); 1608 SetCollisionShape(new btBoxShape(tempSize1));
1609 } 1609 }
1610 } 1610 }
1611 else 1611 else
1612 { 1612 {
1613 // uses halfextents 1613 // uses halfextents
1614 tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); 1614 tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
1615 SetCollisionShape(new btBoxShape(tempSize1)); 1615 SetCollisionShape(new btBoxShape(tempSize1));
1616 } 1616 }
1617 1617
1618 } 1618 }
1619 else 1619 else
1620 { 1620 {
1621 // uses halfextents 1621 // uses halfextents
1622 tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); 1622 tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
1623 SetCollisionShape(new btBoxShape(tempSize1)); 1623 SetCollisionShape(new btBoxShape(tempSize1));
1624 } 1624 }
1625 } 1625 }
1626 } 1626 }
1627 1627
1628 private void setMesh(BulletDotNETScene _parent_scene, IMesh mesh) 1628 private void setMesh(BulletDotNETScene _parent_scene, IMesh mesh)
1629 { 1629 {
1630 // TODO: Set Collision Body Mesh 1630 // TODO: Set Collision Body Mesh
1631 // This sleeper is there to moderate how long it takes between 1631 // This sleeper is there to moderate how long it takes between
1632 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object 1632 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
1633 1633
1634 Thread.Sleep(10); 1634 Thread.Sleep(10);
1635 1635
1636 //Kill Body so that mesh can re-make the geom 1636 //Kill Body so that mesh can re-make the geom
1637 if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero) 1637 if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero)
1638 { 1638 {
1639 if (childPrim) 1639 if (childPrim)
1640 { 1640 {
1641 if (_parent != null) 1641 if (_parent != null)
1642 { 1642 {
1643 BulletDotNETPrim parent = (BulletDotNETPrim)_parent; 1643 BulletDotNETPrim parent = (BulletDotNETPrim)_parent;
1644 parent.ChildDelink(this); 1644 parent.ChildDelink(this);
1645 } 1645 }
1646 } 1646 }
1647 else 1647 else
1648 { 1648 {
1649 disableBody(); 1649 disableBody();
1650 } 1650 }
1651 } 1651 }
1652 1652
1653 IMesh oldMesh = primMesh; 1653 IMesh oldMesh = primMesh;
1654 1654
1655 primMesh = mesh; 1655 primMesh = mesh;
1656 1656
1657 float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory 1657 float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
1658 int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage 1658 int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
1659 //Array.Reverse(indexList); 1659 //Array.Reverse(indexList);
1660 primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory 1660 primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
1661 1661
1662 int VertexCount = vertexList.GetLength(0) / 3; 1662 int VertexCount = vertexList.GetLength(0) / 3;
1663 int IndexCount = indexList.GetLength(0); 1663 int IndexCount = indexList.GetLength(0);
1664 1664
1665 if (btshapeArray != null && btshapeArray.Handle != IntPtr.Zero) 1665 if (btshapeArray != null && btshapeArray.Handle != IntPtr.Zero)
1666 btshapeArray.Dispose(); 1666 btshapeArray.Dispose();
1667 //Array.Reverse(indexList); 1667 //Array.Reverse(indexList);
1668 btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)), 1668 btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)),
1669 VertexCount, vertexList, 3*sizeof (float)); 1669 VertexCount, vertexList, 3*sizeof (float));
1670 SetCollisionShape(new btGImpactMeshShape(btshapeArray)); 1670 SetCollisionShape(new btGImpactMeshShape(btshapeArray));
1671 //((btGImpactMeshShape) prim_geom).updateBound(); 1671 //((btGImpactMeshShape) prim_geom).updateBound();
1672 ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1,1, 1)); 1672 ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1,1, 1));
1673 ((btGImpactMeshShape)prim_geom).updateBound(); 1673 ((btGImpactMeshShape)prim_geom).updateBound();
1674 _parent_scene.SetUsingGImpact(); 1674 _parent_scene.SetUsingGImpact();
1675 if (oldMesh != null) 1675 if (oldMesh != null)
1676 { 1676 {
1677 oldMesh.releasePinned(); 1677 oldMesh.releasePinned();
1678 oldMesh = null; 1678 oldMesh = null;
1679 } 1679 }
1680 1680
1681 } 1681 }
1682 1682
1683 private void SetCollisionShape(btCollisionShape shape) 1683 private void SetCollisionShape(btCollisionShape shape)
1684 { 1684 {
1685 if (shape == null) 1685 if (shape == null)
1686 m_log.Debug("[PHYSICS]:SetShape!Null"); 1686 m_log.Debug("[PHYSICS]:SetShape!Null");
1687 else 1687 else
1688 m_log.Debug("[PHYSICS]:SetShape!"); 1688 m_log.Debug("[PHYSICS]:SetShape!");
1689 1689
1690 if (Body != null) 1690 if (Body != null)
1691 { 1691 {
1692 DisposeOfBody(); 1692 DisposeOfBody();
1693 } 1693 }
1694 1694
1695 if (prim_geom != null) 1695 if (prim_geom != null)
1696 { 1696 {
1697 prim_geom.Dispose(); 1697 prim_geom.Dispose();
1698 prim_geom = null; 1698 prim_geom = null;
1699 } 1699 }
1700 prim_geom = shape; 1700 prim_geom = shape;
1701 1701
1702 //Body.set 1702 //Body.set
1703 } 1703 }
1704 1704
1705 public void SetBody(float mass) 1705 public void SetBody(float mass)
1706 { 1706 {
1707 m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass); 1707 m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass);
1708 if (Body != null && Body.Handle != IntPtr.Zero) 1708 if (Body != null && Body.Handle != IntPtr.Zero)
1709 { 1709 {
1710 DisposeOfBody(); 1710 DisposeOfBody();
1711 } 1711 }
1712 1712
1713 if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) 1713 if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
1714 tempMotionState1.Dispose(); 1714 tempMotionState1.Dispose();
1715 if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero) 1715 if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
1716 tempTransform2.Dispose(); 1716 tempTransform2.Dispose();
1717 if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) 1717 if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
1718 tempOrientation2.Dispose(); 1718 tempOrientation2.Dispose();
1719 1719
1720 if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero) 1720 if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
1721 tempPosition2.Dispose(); 1721 tempPosition2.Dispose();
1722 1722
1723 tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); 1723 tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
1724 tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z); 1724 tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z);
1725 tempTransform2 = new btTransform(tempOrientation2, tempPosition2); 1725 tempTransform2 = new btTransform(tempOrientation2, tempPosition2);
1726 tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero); 1726 tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero);
1727 if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero) 1727 if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
1728 tempInertia1.Dispose(); 1728 tempInertia1.Dispose();
1729 tempInertia1 = new btVector3(0, 0, 0); 1729 tempInertia1 = new btVector3(0, 0, 0);
1730 if (prim_geom.Handle == IntPtr.Zero) 1730 if (prim_geom.Handle == IntPtr.Zero)
1731 { 1731 {
1732 m_log.Warn("[PHYSICS]:PrimGeom is Disposed!"); 1732 m_log.Warn("[PHYSICS]:PrimGeom is Disposed!");
1733 CreateGeom(IntPtr.Zero, primMesh); 1733 CreateGeom(IntPtr.Zero, primMesh);
1734 1734
1735 } 1735 }
1736 prim_geom.calculateLocalInertia(mass, tempInertia1); 1736 prim_geom.calculateLocalInertia(mass, tempInertia1);
1737 1737
1738 if (mass == 0) 1738 if (mass == 0)
1739 Body = new btRigidBody(mass, tempMotionState1, prim_geom); 1739 Body = new btRigidBody(mass, tempMotionState1, prim_geom);
1740 else 1740 else
1741 Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); 1741 Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
1742 1742
1743 if (prim_geom is btGImpactMeshShape) 1743 if (prim_geom is btGImpactMeshShape)
1744 { 1744 {
1745 ((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1)); 1745 ((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1));
1746 ((btGImpactMeshShape) prim_geom).updateBound(); 1746 ((btGImpactMeshShape) prim_geom).updateBound();
1747 } 1747 }
1748 _parent_scene.AddPrimToScene(this); 1748 _parent_scene.AddPrimToScene(this);
1749 } 1749 }
1750 1750
1751 private void DisposeOfBody() 1751 private void DisposeOfBody()
1752 { 1752 {
1753 if (Body != null) 1753 if (Body != null)
1754 { 1754 {
1755 if (Body.Handle != IntPtr.Zero) 1755 if (Body.Handle != IntPtr.Zero)
1756 { 1756 {
1757 _parent_scene.removeFromWorld(this,Body); 1757 _parent_scene.removeFromWorld(this,Body);
1758 Body.Dispose(); 1758 Body.Dispose();
1759 } 1759 }
1760 Body = null; 1760 Body = null;
1761 // TODO: dispose parts that make up body 1761 // TODO: dispose parts that make up body
1762 } 1762 }
1763 } 1763 }
1764 1764
1765 private void ChildDelink(BulletDotNETPrim pPrim) 1765 private void ChildDelink(BulletDotNETPrim pPrim)
1766 { 1766 {
1767 // Okay, we have a delinked child.. need to rebuild the body. 1767 // Okay, we have a delinked child.. need to rebuild the body.
1768 lock (childrenPrim) 1768 lock (childrenPrim)
1769 { 1769 {
1770 foreach (BulletDotNETPrim prm in childrenPrim) 1770 foreach (BulletDotNETPrim prm in childrenPrim)
1771 { 1771 {
1772 prm.childPrim = true; 1772 prm.childPrim = true;
1773 prm.disableBody(); 1773 prm.disableBody();
1774 1774
1775 } 1775 }
1776 } 1776 }
1777 disableBody(); 1777 disableBody();
1778 1778
1779 lock (childrenPrim) 1779 lock (childrenPrim)
1780 { 1780 {
1781 childrenPrim.Remove(pPrim); 1781 childrenPrim.Remove(pPrim);
1782 } 1782 }
1783 1783
1784 1784
1785 1785
1786 1786
1787 if (Body != null && Body.Handle != IntPtr.Zero) 1787 if (Body != null && Body.Handle != IntPtr.Zero)
1788 { 1788 {
1789 _parent_scene.remActivePrim(this); 1789 _parent_scene.remActivePrim(this);
1790 } 1790 }
1791 1791
1792 1792
1793 1793
1794 lock (childrenPrim) 1794 lock (childrenPrim)
1795 { 1795 {
1796 foreach (BulletDotNETPrim prm in childrenPrim) 1796 foreach (BulletDotNETPrim prm in childrenPrim)
1797 { 1797 {
1798 ParentPrim(prm); 1798 ParentPrim(prm);
1799 } 1799 }
1800 } 1800 }
1801 1801
1802 } 1802 }
1803 1803
1804 private void ParentPrim(BulletDotNETPrim prm) 1804 private void ParentPrim(BulletDotNETPrim prm)
1805 { 1805 {
1806 // TODO: Parent Linking algorithm. Use btComplexObject 1806 // TODO: Parent Linking algorithm. Use btComplexObject
1807 } 1807 }
1808 1808
1809 public void disableBody() 1809 public void disableBody()
1810 { 1810 {
1811 //this kills the body so things like 'mesh' can re-create it. 1811 //this kills the body so things like 'mesh' can re-create it.
1812 lock (this) 1812 lock (this)
1813 { 1813 {
1814 if (!childPrim) 1814 if (!childPrim)
1815 { 1815 {
1816 if (Body != null && Body.Handle != IntPtr.Zero) 1816 if (Body != null && Body.Handle != IntPtr.Zero)
1817 { 1817 {
1818 _parent_scene.remActivePrim(this); 1818 _parent_scene.remActivePrim(this);
1819 1819
1820 m_collisionCategories &= ~CollisionCategories.Body; 1820 m_collisionCategories &= ~CollisionCategories.Body;
1821 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 1821 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1822 1822
1823 if (prim_geom != null && prim_geom.Handle != IntPtr.Zero) 1823 if (prim_geom != null && prim_geom.Handle != IntPtr.Zero)
1824 { 1824 {
1825 // TODO: Set Category bits and Flags 1825 // TODO: Set Category bits and Flags
1826 } 1826 }
1827 1827
1828 // TODO: destroy body 1828 // TODO: destroy body
1829 DisposeOfBody(); 1829 DisposeOfBody();
1830 1830
1831 lock (childrenPrim) 1831 lock (childrenPrim)
1832 { 1832 {
1833 if (childrenPrim.Count > 0) 1833 if (childrenPrim.Count > 0)
1834 { 1834 {
1835 foreach (BulletDotNETPrim prm in childrenPrim) 1835 foreach (BulletDotNETPrim prm in childrenPrim)
1836 { 1836 {
1837 _parent_scene.remActivePrim(prm); 1837 _parent_scene.remActivePrim(prm);
1838 prm.DisposeOfBody(); 1838 prm.DisposeOfBody();
1839 prm.SetCollisionShape(null); 1839 prm.SetCollisionShape(null);
1840 } 1840 }
1841 } 1841 }
1842 1842
1843 } 1843 }
1844 1844
1845 DisposeOfBody(); 1845 DisposeOfBody();
1846 } 1846 }
1847 } 1847 }
1848 else 1848 else
1849 { 1849 {
1850 _parent_scene.remActivePrim(this); 1850 _parent_scene.remActivePrim(this);
1851 m_collisionCategories &= ~CollisionCategories.Body; 1851 m_collisionCategories &= ~CollisionCategories.Body;
1852 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 1852 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1853 1853
1854 if (prim_geom != null && prim_geom.Handle != IntPtr.Zero) 1854 if (prim_geom != null && prim_geom.Handle != IntPtr.Zero)
1855 { 1855 {
1856 // TODO: Set Category bits and Flags 1856 // TODO: Set Category bits and Flags
1857 } 1857 }
1858 1858
1859 DisposeOfBody(); 1859 DisposeOfBody();
1860 } 1860 }
1861 1861
1862 } 1862 }
1863 m_disabled = true; 1863 m_disabled = true;
1864 m_collisionscore = 0; 1864 m_collisionscore = 0;
1865 } 1865 }
1866 1866
1867 public void disableBodySoft() 1867 public void disableBodySoft()
1868 { 1868 {
1869 m_disabled = true; 1869 m_disabled = true;
1870 1870
1871 if (m_isphysical && Body.Handle != IntPtr.Zero) 1871 if (m_isphysical && Body.Handle != IntPtr.Zero)
1872 { 1872 {
1873 Body.clearForces(); 1873 Body.clearForces();
1874 Body.forceActivationState(0); 1874 Body.forceActivationState(0);
1875 1875
1876 } 1876 }
1877 1877
1878 } 1878 }
1879 1879
1880 public void enableBodySoft() 1880 public void enableBodySoft()
1881 { 1881 {
1882 if (!childPrim) 1882 if (!childPrim)
1883 { 1883 {
1884 if (m_isphysical && Body.Handle != IntPtr.Zero) 1884 if (m_isphysical && Body.Handle != IntPtr.Zero)
1885 { 1885 {
1886 Body.clearForces(); 1886 Body.clearForces();
1887 Body.forceActivationState(1); 1887 Body.forceActivationState(1);
1888 } 1888 }
1889 m_disabled = false; 1889 m_disabled = false;
1890 } 1890 }
1891 } 1891 }
1892 1892
1893 public void enableBody() 1893 public void enableBody()
1894 { 1894 {
1895 if (!childPrim) 1895 if (!childPrim)
1896 { 1896 {
1897 //SetCollisionShape(prim_geom); 1897 //SetCollisionShape(prim_geom);
1898 if (IsPhysical) 1898 if (IsPhysical)
1899 SetBody(Mass); 1899 SetBody(Mass);
1900 else 1900 else
1901 SetBody(0); 1901 SetBody(0);
1902 1902
1903 // TODO: Set Collision Category Bits and Flags 1903 // TODO: Set Collision Category Bits and Flags
1904 // TODO: Set Auto Disable data 1904 // TODO: Set Auto Disable data
1905 1905
1906 m_interpenetrationcount = 0; 1906 m_interpenetrationcount = 0;
1907 m_collisionscore = 0; 1907 m_collisionscore = 0;
1908 m_disabled = false; 1908 m_disabled = false;
1909 // The body doesn't already have a finite rotation mode set here 1909 // The body doesn't already have a finite rotation mode set here
1910 if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) 1910 if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
1911 { 1911 {
1912 // TODO: Create Angular Motor on Axis Lock! 1912 // TODO: Create Angular Motor on Axis Lock!
1913 } 1913 }
1914 _parent_scene.addActivePrim(this); 1914 _parent_scene.addActivePrim(this);
1915 } 1915 }
1916 } 1916 }
1917 1917
1918 public void UpdatePositionAndVelocity() 1918 public void UpdatePositionAndVelocity()
1919 { 1919 {
1920 if (_parent == null) 1920 if (_parent == null)
1921 { 1921 {
1922 PhysicsVector pv = new PhysicsVector(0, 0, 0); 1922 PhysicsVector pv = new PhysicsVector(0, 0, 0);
1923 bool lastZeroFlag = _zeroFlag; 1923 bool lastZeroFlag = _zeroFlag;
1924 if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero) 1924 if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
1925 tempPosition2.Dispose(); 1925 tempPosition2.Dispose();
1926 if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero) 1926 if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
1927 tempTransform3.Dispose(); 1927 tempTransform3.Dispose();
1928 1928
1929 if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) 1929 if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
1930 tempOrientation2.Dispose(); 1930 tempOrientation2.Dispose();
1931 1931
1932 if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero) 1932 if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
1933 tempAngularVelocity1.Dispose(); 1933 tempAngularVelocity1.Dispose();
1934 1934
1935 if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero) 1935 if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
1936 tempLinearVelocity1.Dispose(); 1936 tempLinearVelocity1.Dispose();
1937 1937
1938 1938
1939 1939
1940 tempTransform3 = Body.getInterpolationWorldTransform(); 1940 tempTransform3 = Body.getInterpolationWorldTransform();
1941 tempPosition2 = tempTransform3.getOrigin(); // vec 1941 tempPosition2 = tempTransform3.getOrigin(); // vec
1942 tempOrientation2 = tempTransform3.getRotation(); // ori 1942 tempOrientation2 = tempTransform3.getRotation(); // ori
1943 tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel 1943 tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
1944 tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel 1944 tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
1945 1945
1946 _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), tempAngularVelocity1.getZ()); 1946 _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), tempAngularVelocity1.getZ());
1947 PhysicsVector l_position = new PhysicsVector(); 1947 PhysicsVector l_position = new PhysicsVector();
1948 Quaternion l_orientation = new Quaternion(); 1948 Quaternion l_orientation = new Quaternion();
1949 m_lastposition = _position; 1949 m_lastposition = _position;
1950 m_lastorientation = _orientation; 1950 m_lastorientation = _orientation;
1951 1951
1952 l_position.X = tempPosition2.getX(); 1952 l_position.X = tempPosition2.getX();
1953 l_position.Y = tempPosition2.getY(); 1953 l_position.Y = tempPosition2.getY();
1954 l_position.Z = tempPosition2.getZ(); 1954 l_position.Z = tempPosition2.getZ();
1955 l_orientation.X = tempOrientation2.getX(); 1955 l_orientation.X = tempOrientation2.getX();
1956 l_orientation.Y = tempOrientation2.getY(); 1956 l_orientation.Y = tempOrientation2.getY();
1957 l_orientation.Z = tempOrientation2.getZ(); 1957 l_orientation.Z = tempOrientation2.getZ();
1958 l_orientation.W = tempOrientation2.getW(); 1958 l_orientation.W = tempOrientation2.getW();
1959 1959
1960 if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f) 1960 if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
1961 { 1961 {
1962 //base.RaiseOutOfBounds(l_position); 1962 //base.RaiseOutOfBounds(l_position);
1963 1963
1964 if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) 1964 if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
1965 { 1965 {
1966 _position = l_position; 1966 _position = l_position;
1967 //_parent_scene.remActivePrim(this); 1967 //_parent_scene.remActivePrim(this);
1968 if (_parent == null) 1968 if (_parent == null)
1969 base.RequestPhysicsterseUpdate(); 1969 base.RequestPhysicsterseUpdate();
1970 return; 1970 return;
1971 } 1971 }
1972 else 1972 else
1973 { 1973 {
1974 if (_parent == null) 1974 if (_parent == null)
1975 base.RaiseOutOfBounds(l_position); 1975 base.RaiseOutOfBounds(l_position);
1976 return; 1976 return;
1977 } 1977 }
1978 } 1978 }
1979 1979
1980 if (l_position.Z < -200000f) 1980 if (l_position.Z < -200000f)
1981 { 1981 {
1982 // This is so prim that get lost underground don't fall forever and suck up 1982 // This is so prim that get lost underground don't fall forever and suck up
1983 // 1983 //
1984 // Sim resources and memory. 1984 // Sim resources and memory.
1985 // Disables the prim's movement physics.... 1985 // Disables the prim's movement physics....
1986 // It's a hack and will generate a console message if it fails. 1986 // It's a hack and will generate a console message if it fails.
1987 1987
1988 //IsPhysical = false; 1988 //IsPhysical = false;
1989 //if (_parent == null) 1989 //if (_parent == null)
1990 //base.RaiseOutOfBounds(_position); 1990 //base.RaiseOutOfBounds(_position);
1991 1991
1992 _acceleration.X = 0; 1992 _acceleration.X = 0;
1993 _acceleration.Y = 0; 1993 _acceleration.Y = 0;
1994 _acceleration.Z = 0; 1994 _acceleration.Z = 0;
1995 1995
1996 _velocity.X = 0; 1996 _velocity.X = 0;
1997 _velocity.Y = 0; 1997 _velocity.Y = 0;
1998 _velocity.Z = 0; 1998 _velocity.Z = 0;
1999 m_rotationalVelocity.X = 0; 1999 m_rotationalVelocity.X = 0;
2000 m_rotationalVelocity.Y = 0; 2000 m_rotationalVelocity.Y = 0;
2001 m_rotationalVelocity.Z = 0; 2001 m_rotationalVelocity.Z = 0;
2002 2002
2003 if (_parent == null) 2003 if (_parent == null)
2004 base.RequestPhysicsterseUpdate(); 2004 base.RequestPhysicsterseUpdate();
2005 2005
2006 m_throttleUpdates = false; 2006 m_throttleUpdates = false;
2007 throttleCounter = 0; 2007 throttleCounter = 0;
2008 _zeroFlag = true; 2008 _zeroFlag = true;
2009 //outofBounds = true; 2009 //outofBounds = true;
2010 } 2010 }
2011 2011
2012 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) 2012 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
2013 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) 2013 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
2014 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) 2014 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
2015 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01 )) 2015 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01 ))
2016 { 2016 {
2017 _zeroFlag = true; 2017 _zeroFlag = true;
2018 m_throttleUpdates = false; 2018 m_throttleUpdates = false;
2019 } 2019 }
2020 else 2020 else
2021 { 2021 {
2022 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); 2022 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
2023 _zeroFlag = false; 2023 _zeroFlag = false;
2024 } 2024 }
2025 2025
2026 if (_zeroFlag) 2026 if (_zeroFlag)
2027 { 2027 {
2028 _velocity.X = 0.0f; 2028 _velocity.X = 0.0f;
2029 _velocity.Y = 0.0f; 2029 _velocity.Y = 0.0f;
2030 _velocity.Z = 0.0f; 2030 _velocity.Z = 0.0f;
2031 2031
2032 _acceleration.X = 0; 2032 _acceleration.X = 0;
2033 _acceleration.Y = 0; 2033 _acceleration.Y = 0;
2034 _acceleration.Z = 0; 2034 _acceleration.Z = 0;
2035 2035
2036 //_orientation.w = 0f; 2036 //_orientation.w = 0f;
2037 //_orientation.X = 0f; 2037 //_orientation.X = 0f;
2038 //_orientation.Y = 0f; 2038 //_orientation.Y = 0f;
2039 //_orientation.Z = 0f; 2039 //_orientation.Z = 0f;
2040 m_rotationalVelocity.X = 0; 2040 m_rotationalVelocity.X = 0;
2041 m_rotationalVelocity.Y = 0; 2041 m_rotationalVelocity.Y = 0;
2042 m_rotationalVelocity.Z = 0; 2042 m_rotationalVelocity.Z = 0;
2043 if (!m_lastUpdateSent) 2043 if (!m_lastUpdateSent)
2044 { 2044 {
2045 m_throttleUpdates = false; 2045 m_throttleUpdates = false;
2046 throttleCounter = 0; 2046 throttleCounter = 0;
2047 m_rotationalVelocity = pv; 2047 m_rotationalVelocity = pv;
2048 2048
2049 if (_parent == null) 2049 if (_parent == null)
2050 base.RequestPhysicsterseUpdate(); 2050 base.RequestPhysicsterseUpdate();
2051 2051
2052 m_lastUpdateSent = true; 2052 m_lastUpdateSent = true;
2053 } 2053 }
2054 } 2054 }
2055 else 2055 else
2056 { 2056 {
2057 if (lastZeroFlag != _zeroFlag) 2057 if (lastZeroFlag != _zeroFlag)
2058 { 2058 {
2059 if (_parent == null) 2059 if (_parent == null)
2060 base.RequestPhysicsterseUpdate(); 2060 base.RequestPhysicsterseUpdate();
2061 } 2061 }
2062 2062
2063 m_lastVelocity = _velocity; 2063 m_lastVelocity = _velocity;
2064 2064
2065 _position = l_position; 2065 _position = l_position;
2066 2066
2067 _velocity.X = tempLinearVelocity1.getX(); 2067 _velocity.X = tempLinearVelocity1.getX();
2068 _velocity.Y = tempLinearVelocity1.getY(); 2068 _velocity.Y = tempLinearVelocity1.getY();
2069 _velocity.Z = tempLinearVelocity1.getZ(); 2069 _velocity.Z = tempLinearVelocity1.getZ();
2070 2070
2071 _acceleration = ((_velocity - m_lastVelocity) / 0.1f); 2071 _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
2072 _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); 2072 _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
2073 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); 2073 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
2074 2074
2075 if (_velocity.IsIdentical(pv, 0.5f)) 2075 if (_velocity.IsIdentical(pv, 0.5f))
2076 { 2076 {
2077 m_rotationalVelocity = pv; 2077 m_rotationalVelocity = pv;
2078 } 2078 }
2079 else 2079 else
2080 { 2080 {
2081 2081
2082 m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ()); 2082 m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
2083 } 2083 }
2084 2084
2085 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); 2085 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
2086 2086
2087 _orientation.X = l_orientation.X; 2087 _orientation.X = l_orientation.X;
2088 _orientation.Y = l_orientation.Y; 2088 _orientation.Y = l_orientation.Y;
2089 _orientation.Z = l_orientation.Z; 2089 _orientation.Z = l_orientation.Z;
2090 _orientation.W = l_orientation.W; 2090 _orientation.W = l_orientation.W;
2091 m_lastUpdateSent = false; 2091 m_lastUpdateSent = false;
2092 2092
2093 //if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) 2093 //if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
2094 //{ 2094 //{
2095 if (_parent == null) 2095 if (_parent == null)
2096 base.RequestPhysicsterseUpdate(); 2096 base.RequestPhysicsterseUpdate();
2097 // } 2097 // }
2098 // else 2098 // else
2099 // { 2099 // {
2100 // throttleCounter++; 2100 // throttleCounter++;
2101 //} 2101 //}
2102 2102
2103 } 2103 }
2104 m_lastposition = l_position; 2104 m_lastposition = l_position;
2105 } 2105 }
2106 else 2106 else
2107 { 2107 {
2108 // Not a body.. so Make sure the client isn't interpolating 2108 // Not a body.. so Make sure the client isn't interpolating
2109 _velocity.X = 0; 2109 _velocity.X = 0;
2110 _velocity.Y = 0; 2110 _velocity.Y = 0;
2111 _velocity.Z = 0; 2111 _velocity.Z = 0;
2112 2112
2113 _acceleration.X = 0; 2113 _acceleration.X = 0;
2114 _acceleration.Y = 0; 2114 _acceleration.Y = 0;
2115 _acceleration.Z = 0; 2115 _acceleration.Z = 0;
2116 2116
2117 m_rotationalVelocity.X = 0; 2117 m_rotationalVelocity.X = 0;
2118 m_rotationalVelocity.Y = 0; 2118 m_rotationalVelocity.Y = 0;
2119 m_rotationalVelocity.Z = 0; 2119 m_rotationalVelocity.Z = 0;
2120 _zeroFlag = true; 2120 _zeroFlag = true;
2121 } 2121 }
2122 } 2122 }
2123 2123
2124 2124
2125 internal void setPrimForRemoval() 2125 internal void setPrimForRemoval()
2126 { 2126 {
2127 m_taintremove = true; 2127 m_taintremove = true;
2128 } 2128 }
2129 } 2129 }
2130} 2130}
2131 2131