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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/BulletDotNETScene.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 '')
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs1284
1 files changed, 642 insertions, 642 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
index 4fcf035..f3fee33 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
@@ -1,642 +1,642 @@
1using System; 1using System;
2using System.Collections.Generic; 2using System.Collections.Generic;
3using System.Reflection; 3using System.Reflection;
4using System.IO; 4using System.IO;
5using System.Diagnostics; 5using System.Diagnostics;
6using System.Threading; 6using System.Threading;
7using log4net; 7using log4net;
8using Nini.Config; 8using Nini.Config;
9using OpenSim.Framework; 9using OpenSim.Framework;
10using OpenSim.Region.Physics.Manager; 10using OpenSim.Region.Physics.Manager;
11using OpenMetaverse; 11using OpenMetaverse;
12using BulletDotNET; 12using BulletDotNET;
13 13
14namespace OpenSim.Region.Physics.BulletDotNETPlugin 14namespace OpenSim.Region.Physics.BulletDotNETPlugin
15{ 15{
16 public class BulletDotNETScene : PhysicsScene 16 public class BulletDotNETScene : PhysicsScene
17 { 17 {
18 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 18 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
19 19
20 private string m_sceneIdentifier = string.Empty; 20 private string m_sceneIdentifier = string.Empty;
21 21
22 private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>(); 22 private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
23 private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>(); 23 private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
24 private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>(); 24 private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
25 private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>(); 25 private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
26 private btDiscreteDynamicsWorld m_world; 26 private btDiscreteDynamicsWorld m_world;
27 private btAxisSweep3 m_broadphase; 27 private btAxisSweep3 m_broadphase;
28 private btCollisionConfiguration m_collisionConfiguration; 28 private btCollisionConfiguration m_collisionConfiguration;
29 private btConstraintSolver m_solver; 29 private btConstraintSolver m_solver;
30 private btCollisionDispatcher m_dispatcher; 30 private btCollisionDispatcher m_dispatcher;
31 private btHeightfieldTerrainShape m_terrainShape; 31 private btHeightfieldTerrainShape m_terrainShape;
32 public btRigidBody TerrainBody; 32 public btRigidBody TerrainBody;
33 private btVector3 m_terrainPosition; 33 private btVector3 m_terrainPosition;
34 private btVector3 m_gravity; 34 private btVector3 m_gravity;
35 public btMotionState m_terrainMotionState; 35 public btMotionState m_terrainMotionState;
36 public btTransform m_terrainTransform; 36 public btTransform m_terrainTransform;
37 public btVector3 VectorZero; 37 public btVector3 VectorZero;
38 public btQuaternion QuatIdentity; 38 public btQuaternion QuatIdentity;
39 public btTransform TransZero; 39 public btTransform TransZero;
40 40
41 public float geomDefaultDensity = 10.000006836f; 41 public float geomDefaultDensity = 10.000006836f;
42 42
43 private float avPIDD = 65f; 43 private float avPIDD = 65f;
44 private float avPIDP = 28f; 44 private float avPIDP = 28f;
45 private float avCapRadius = 0.37f; 45 private float avCapRadius = 0.37f;
46 private float avStandupTensor = 2000000f; 46 private float avStandupTensor = 2000000f;
47 private float avDensity = 80f; 47 private float avDensity = 80f;
48 private float avHeightFudgeFactor = 0.52f; 48 private float avHeightFudgeFactor = 0.52f;
49 private float avMovementDivisorWalk = 1.0f; 49 private float avMovementDivisorWalk = 1.0f;
50 private float avMovementDivisorRun = 0.75f; 50 private float avMovementDivisorRun = 0.75f;
51 51
52 private float minimumGroundFlightOffset = 3f; 52 private float minimumGroundFlightOffset = 3f;
53 53
54 public bool meshSculptedPrim = true; 54 public bool meshSculptedPrim = true;
55 55
56 public float meshSculptLOD = 32; 56 public float meshSculptLOD = 32;
57 public float MeshSculptphysicalLOD = 16; 57 public float MeshSculptphysicalLOD = 16;
58 58
59 public float bodyPIDD = 35f; 59 public float bodyPIDD = 35f;
60 public float bodyPIDG = 25; 60 public float bodyPIDG = 25;
61 internal int geomCrossingFailuresBeforeOutofbounds = 4; 61 internal int geomCrossingFailuresBeforeOutofbounds = 4;
62 62
63 public float bodyMotorJointMaxforceTensor = 2; 63 public float bodyMotorJointMaxforceTensor = 2;
64 64
65 public int bodyFramesAutoDisable = 20; 65 public int bodyFramesAutoDisable = 20;
66 66
67 public float WorldTimeStep = 10f/60f; 67 public float WorldTimeStep = 10f/60f;
68 public const float WorldTimeComp = 1/60f; 68 public const float WorldTimeComp = 1/60f;
69 public float gravityz = -9.8f; 69 public float gravityz = -9.8f;
70 70
71 private float[] _origheightmap; // Used for Fly height. Kitto Flora 71 private float[] _origheightmap; // Used for Fly height. Kitto Flora
72 private bool usingGImpactAlgorithm = false; 72 private bool usingGImpactAlgorithm = false;
73 73
74 private IConfigSource m_config; 74 private IConfigSource m_config;
75 private readonly btVector3 worldAabbMin = new btVector3(0, 0, 0); 75 private readonly btVector3 worldAabbMin = new btVector3(0, 0, 0);
76 private readonly btVector3 worldAabbMax = new btVector3(Constants.RegionSize, Constants.RegionSize , 9000); 76 private readonly btVector3 worldAabbMax = new btVector3(Constants.RegionSize, Constants.RegionSize , 9000);
77 77
78 public IMesher mesher; 78 public IMesher mesher;
79 79
80 public BulletDotNETScene(string sceneIdentifier) 80 public BulletDotNETScene(string sceneIdentifier)
81 { 81 {
82 m_sceneIdentifier = sceneIdentifier; 82 m_sceneIdentifier = sceneIdentifier;
83 VectorZero = new btVector3(0, 0, 0); 83 VectorZero = new btVector3(0, 0, 0);
84 QuatIdentity = new btQuaternion(0, 0, 0, 1); 84 QuatIdentity = new btQuaternion(0, 0, 0, 1);
85 TransZero = new btTransform(QuatIdentity, VectorZero); 85 TransZero = new btTransform(QuatIdentity, VectorZero);
86 m_gravity = new btVector3(0, 0, gravityz); 86 m_gravity = new btVector3(0, 0, gravityz);
87 _origheightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize]; 87 _origheightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
88 } 88 }
89 89
90 public override void Initialise(IMesher meshmerizer, IConfigSource config) 90 public override void Initialise(IMesher meshmerizer, IConfigSource config)
91 { 91 {
92 mesher = meshmerizer; 92 mesher = meshmerizer;
93 m_config = config; 93 m_config = config;
94 if (Environment.OSVersion.Platform == PlatformID.Unix) 94 if (Environment.OSVersion.Platform == PlatformID.Unix)
95 { 95 {
96 m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently"); 96 m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
97 Thread.Sleep(5000); 97 Thread.Sleep(5000);
98 Environment.Exit(0); 98 Environment.Exit(0);
99 } 99 }
100 m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000); 100 m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
101 m_collisionConfiguration = new btDefaultCollisionConfiguration(); 101 m_collisionConfiguration = new btDefaultCollisionConfiguration();
102 m_solver = new btSequentialImpulseConstraintSolver(); 102 m_solver = new btSequentialImpulseConstraintSolver();
103 m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); 103 m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
104 m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); 104 m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
105 m_world.setGravity(m_gravity); 105 m_world.setGravity(m_gravity);
106 } 106 }
107 107
108 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 108 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
109 { 109 {
110 BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP, 110 BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
111 avCapRadius, avStandupTensor, avDensity, 111 avCapRadius, avStandupTensor, avDensity,
112 avHeightFudgeFactor, avMovementDivisorWalk, 112 avHeightFudgeFactor, avMovementDivisorWalk,
113 avMovementDivisorRun); 113 avMovementDivisorRun);
114 m_characters.Add(chr); 114 m_characters.Add(chr);
115 AddPhysicsActorTaint(chr); 115 AddPhysicsActorTaint(chr);
116 return chr; 116 return chr;
117 } 117 }
118 118
119 public override void RemoveAvatar(PhysicsActor actor) 119 public override void RemoveAvatar(PhysicsActor actor)
120 { 120 {
121 BulletDotNETCharacter chr = (BulletDotNETCharacter) actor; 121 BulletDotNETCharacter chr = (BulletDotNETCharacter) actor;
122 122
123 m_characters.Remove(chr); 123 m_characters.Remove(chr);
124 m_world.removeRigidBody(chr.Body); 124 m_world.removeRigidBody(chr.Body);
125 m_world.removeCollisionObject(chr.Body); 125 m_world.removeCollisionObject(chr.Body);
126 126
127 chr.Remove(); 127 chr.Remove();
128 AddPhysicsActorTaint(chr); 128 AddPhysicsActorTaint(chr);
129 //chr = null; 129 //chr = null;
130 } 130 }
131 131
132 public override void RemovePrim(PhysicsActor prim) 132 public override void RemovePrim(PhysicsActor prim)
133 { 133 {
134 if (prim is BulletDotNETPrim) 134 if (prim is BulletDotNETPrim)
135 { 135 {
136 136
137 BulletDotNETPrim p = (BulletDotNETPrim)prim; 137 BulletDotNETPrim p = (BulletDotNETPrim)prim;
138 138
139 p.setPrimForRemoval(); 139 p.setPrimForRemoval();
140 AddPhysicsActorTaint(prim); 140 AddPhysicsActorTaint(prim);
141 //RemovePrimThreadLocked(p); 141 //RemovePrimThreadLocked(p);
142 142
143 } 143 }
144 } 144 }
145 145
146 private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, 146 private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
147 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical) 147 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
148 { 148 {
149 PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z); 149 PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
150 //pos.X = position.X; 150 //pos.X = position.X;
151 //pos.Y = position.Y; 151 //pos.Y = position.Y;
152 //pos.Z = position.Z; 152 //pos.Z = position.Z;
153 PhysicsVector siz = new PhysicsVector(); 153 PhysicsVector siz = new PhysicsVector();
154 siz.X = size.X; 154 siz.X = size.X;
155 siz.Y = size.Y; 155 siz.Y = size.Y;
156 siz.Z = size.Z; 156 siz.Z = size.Z;
157 Quaternion rot = rotation; 157 Quaternion rot = rotation;
158 158
159 BulletDotNETPrim newPrim; 159 BulletDotNETPrim newPrim;
160 160
161 newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical); 161 newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical);
162 162
163 lock (m_prims) 163 lock (m_prims)
164 m_prims.Add(newPrim); 164 m_prims.Add(newPrim);
165 165
166 166
167 return newPrim; 167 return newPrim;
168 } 168 }
169 169
170 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) 170 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
171 { 171 {
172 return AddPrimShape(primName, pbs, position, size, rotation, false); 172 return AddPrimShape(primName, pbs, position, size, rotation, false);
173 } 173 }
174 174
175 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical) 175 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical)
176 { 176 {
177 PhysicsActor result; 177 PhysicsActor result;
178 IMesh mesh = null; 178 IMesh mesh = null;
179 179
180 //switch (pbs.ProfileShape) 180 //switch (pbs.ProfileShape)
181 //{ 181 //{
182 // case ProfileShape.Square: 182 // case ProfileShape.Square:
183 // //support simple box & hollow box now; later, more shapes 183 // //support simple box & hollow box now; later, more shapes
184 // if (needsMeshing(pbs)) 184 // if (needsMeshing(pbs))
185 // { 185 // {
186 // mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical); 186 // mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
187 // } 187 // }
188 188
189 // break; 189 // break;
190 //} 190 //}
191 191
192 if (needsMeshing(pbs)) 192 if (needsMeshing(pbs))
193 mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical); 193 mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
194 194
195 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical); 195 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
196 196
197 return result; 197 return result;
198 } 198 }
199 199
200 public override void AddPhysicsActorTaint(PhysicsActor prim) 200 public override void AddPhysicsActorTaint(PhysicsActor prim)
201 { 201 {
202 lock (m_taintedActors) 202 lock (m_taintedActors)
203 { 203 {
204 if (!m_taintedActors.Contains(prim)) 204 if (!m_taintedActors.Contains(prim))
205 { 205 {
206 m_taintedActors.Add(prim); 206 m_taintedActors.Add(prim);
207 } 207 }
208 } 208 }
209 } 209 }
210 internal void SetUsingGImpact() 210 internal void SetUsingGImpact()
211 { 211 {
212 if (!usingGImpactAlgorithm) 212 if (!usingGImpactAlgorithm)
213 btGImpactCollisionAlgorithm.registerAlgorithm(m_dispatcher); 213 btGImpactCollisionAlgorithm.registerAlgorithm(m_dispatcher);
214 usingGImpactAlgorithm = true; 214 usingGImpactAlgorithm = true;
215 } 215 }
216 216
217 public override float Simulate(float timeStep) 217 public override float Simulate(float timeStep)
218 { 218 {
219 lock (m_taintedActors) 219 lock (m_taintedActors)
220 { 220 {
221 foreach (PhysicsActor act in m_taintedActors) 221 foreach (PhysicsActor act in m_taintedActors)
222 { 222 {
223 if (act is BulletDotNETCharacter) 223 if (act is BulletDotNETCharacter)
224 ((BulletDotNETCharacter) act).ProcessTaints(timeStep); 224 ((BulletDotNETCharacter) act).ProcessTaints(timeStep);
225 if (act is BulletDotNETPrim) 225 if (act is BulletDotNETPrim)
226 ((BulletDotNETPrim)act).ProcessTaints(timeStep); 226 ((BulletDotNETPrim)act).ProcessTaints(timeStep);
227 } 227 }
228 m_taintedActors.Clear(); 228 m_taintedActors.Clear();
229 } 229 }
230 230
231 lock (m_characters) 231 lock (m_characters)
232 { 232 {
233 foreach (BulletDotNETCharacter chr in m_characters) 233 foreach (BulletDotNETCharacter chr in m_characters)
234 { 234 {
235 chr.Move(timeStep); 235 chr.Move(timeStep);
236 } 236 }
237 } 237 }
238 238
239 lock (m_prims) 239 lock (m_prims)
240 { 240 {
241 foreach (BulletDotNETPrim prim in m_prims) 241 foreach (BulletDotNETPrim prim in m_prims)
242 { 242 {
243 prim.Move(timeStep); 243 prim.Move(timeStep);
244 } 244 }
245 } 245 }
246 float steps = m_world.stepSimulation(WorldTimeStep, 5, WorldTimeComp); 246 float steps = m_world.stepSimulation(WorldTimeStep, 5, WorldTimeComp);
247 247
248 foreach (BulletDotNETCharacter chr in m_characters) 248 foreach (BulletDotNETCharacter chr in m_characters)
249 { 249 {
250 chr.UpdatePositionAndVelocity(); 250 chr.UpdatePositionAndVelocity();
251 } 251 }
252 252
253 foreach (BulletDotNETPrim prm in m_activePrims) 253 foreach (BulletDotNETPrim prm in m_activePrims)
254 { 254 {
255 prm.UpdatePositionAndVelocity(); 255 prm.UpdatePositionAndVelocity();
256 } 256 }
257 257
258 return steps; 258 return steps;
259 } 259 }
260 260
261 public override void GetResults() 261 public override void GetResults()
262 { 262 {
263 263
264 } 264 }
265 265
266 public override void SetTerrain(float[] heightMap) 266 public override void SetTerrain(float[] heightMap)
267 { 267 {
268 if (m_terrainShape != null) 268 if (m_terrainShape != null)
269 DeleteTerrain(); 269 DeleteTerrain();
270 270
271 float hfmax = -9000; 271 float hfmax = -9000;
272 float hfmin = 90000; 272 float hfmin = 90000;
273 273
274 for (int i = 0; i <heightMap.Length;i++) 274 for (int i = 0; i <heightMap.Length;i++)
275 { 275 {
276 if (Single.IsNaN(heightMap[i]) || Single.IsInfinity(heightMap[i])) 276 if (Single.IsNaN(heightMap[i]) || Single.IsInfinity(heightMap[i]))
277 { 277 {
278 heightMap[i] = 0f; 278 heightMap[i] = 0f;
279 } 279 }
280 280
281 hfmin = (heightMap[i] < hfmin) ? heightMap[i] : hfmin; 281 hfmin = (heightMap[i] < hfmin) ? heightMap[i] : hfmin;
282 hfmax = (heightMap[i] > hfmax) ? heightMap[i] : hfmax; 282 hfmax = (heightMap[i] > hfmax) ? heightMap[i] : hfmax;
283 } 283 }
284 // store this for later reference. 284 // store this for later reference.
285 // Note, we're storing it after we check it for anomolies above 285 // Note, we're storing it after we check it for anomolies above
286 _origheightmap = heightMap; 286 _origheightmap = heightMap;
287 287
288 hfmin = 0; 288 hfmin = 0;
289 hfmax = 256; 289 hfmax = 256;
290 290
291 m_terrainShape = new btHeightfieldTerrainShape((int)Constants.RegionSize, (int)Constants.RegionSize, heightMap, 291 m_terrainShape = new btHeightfieldTerrainShape((int)Constants.RegionSize, (int)Constants.RegionSize, heightMap,
292 1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z, 292 1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z,
293 (int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false); 293 (int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false);
294 float AabbCenterX = Constants.RegionSize/2f; 294 float AabbCenterX = Constants.RegionSize/2f;
295 float AabbCenterY = Constants.RegionSize/2f; 295 float AabbCenterY = Constants.RegionSize/2f;
296 296
297 float AabbCenterZ = 0; 297 float AabbCenterZ = 0;
298 float temphfmin, temphfmax; 298 float temphfmin, temphfmax;
299 299
300 temphfmin = hfmin; 300 temphfmin = hfmin;
301 temphfmax = hfmax; 301 temphfmax = hfmax;
302 302
303 if (temphfmin < 0) 303 if (temphfmin < 0)
304 { 304 {
305 temphfmax = 0 - temphfmin; 305 temphfmax = 0 - temphfmin;
306 temphfmin = 0 - temphfmin; 306 temphfmin = 0 - temphfmin;
307 } 307 }
308 else if (temphfmin > 0) 308 else if (temphfmin > 0)
309 { 309 {
310 temphfmax = temphfmax + (0 - temphfmin); 310 temphfmax = temphfmax + (0 - temphfmin);
311 //temphfmin = temphfmin + (0 - temphfmin); 311 //temphfmin = temphfmin + (0 - temphfmin);
312 } 312 }
313 AabbCenterZ = temphfmax/2f; 313 AabbCenterZ = temphfmax/2f;
314 314
315 if (m_terrainPosition == null) 315 if (m_terrainPosition == null)
316 { 316 {
317 m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ); 317 m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
318 } 318 }
319 else 319 else
320 { 320 {
321 try 321 try
322 { 322 {
323 m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ); 323 m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
324 } 324 }
325 catch (ObjectDisposedException) 325 catch (ObjectDisposedException)
326 { 326 {
327 m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ); 327 m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
328 } 328 }
329 } 329 }
330 if (m_terrainMotionState != null) 330 if (m_terrainMotionState != null)
331 { 331 {
332 m_terrainMotionState.Dispose(); 332 m_terrainMotionState.Dispose();
333 m_terrainMotionState = null; 333 m_terrainMotionState = null;
334 } 334 }
335 m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition); 335 m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
336 m_terrainMotionState = new btDefaultMotionState(m_terrainTransform); 336 m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
337 TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape); 337 TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
338 m_world.addRigidBody(TerrainBody); 338 m_world.addRigidBody(TerrainBody);
339 339
340 340
341 } 341 }
342 342
343 public override void SetWaterLevel(float baseheight) 343 public override void SetWaterLevel(float baseheight)
344 { 344 {
345 345
346 } 346 }
347 347
348 public override void DeleteTerrain() 348 public override void DeleteTerrain()
349 { 349 {
350 if (TerrainBody != null) 350 if (TerrainBody != null)
351 { 351 {
352 m_world.removeRigidBody(TerrainBody); 352 m_world.removeRigidBody(TerrainBody);
353 } 353 }
354 354
355 if (m_terrainShape != null) 355 if (m_terrainShape != null)
356 { 356 {
357 m_terrainShape.Dispose(); 357 m_terrainShape.Dispose();
358 m_terrainShape = null; 358 m_terrainShape = null;
359 } 359 }
360 360
361 if (m_terrainMotionState != null) 361 if (m_terrainMotionState != null)
362 { 362 {
363 m_terrainMotionState.Dispose(); 363 m_terrainMotionState.Dispose();
364 m_terrainMotionState = null; 364 m_terrainMotionState = null;
365 } 365 }
366 366
367 if (m_terrainTransform != null) 367 if (m_terrainTransform != null)
368 { 368 {
369 m_terrainTransform.Dispose(); 369 m_terrainTransform.Dispose();
370 m_terrainTransform = null; 370 m_terrainTransform = null;
371 } 371 }
372 372
373 if (m_terrainPosition != null) 373 if (m_terrainPosition != null)
374 { 374 {
375 m_terrainPosition.Dispose(); 375 m_terrainPosition.Dispose();
376 m_terrainPosition = null; 376 m_terrainPosition = null;
377 } 377 }
378 } 378 }
379 379
380 public override void Dispose() 380 public override void Dispose()
381 { 381 {
382 disposeAllBodies(); 382 disposeAllBodies();
383 m_world.Dispose(); 383 m_world.Dispose();
384 m_broadphase.Dispose(); 384 m_broadphase.Dispose();
385 ((btDefaultCollisionConfiguration) m_collisionConfiguration).Dispose(); 385 ((btDefaultCollisionConfiguration) m_collisionConfiguration).Dispose();
386 ((btSequentialImpulseConstraintSolver) m_solver).Dispose(); 386 ((btSequentialImpulseConstraintSolver) m_solver).Dispose();
387 worldAabbMax.Dispose(); 387 worldAabbMax.Dispose();
388 worldAabbMin.Dispose(); 388 worldAabbMin.Dispose();
389 VectorZero.Dispose(); 389 VectorZero.Dispose();
390 QuatIdentity.Dispose(); 390 QuatIdentity.Dispose();
391 m_gravity.Dispose(); 391 m_gravity.Dispose();
392 VectorZero = null; 392 VectorZero = null;
393 QuatIdentity = null; 393 QuatIdentity = null;
394 } 394 }
395 395
396 public override Dictionary<uint, float> GetTopColliders() 396 public override Dictionary<uint, float> GetTopColliders()
397 { 397 {
398 return new Dictionary<uint, float>(); 398 return new Dictionary<uint, float>();
399 } 399 }
400 400
401 public btDiscreteDynamicsWorld getBulletWorld() 401 public btDiscreteDynamicsWorld getBulletWorld()
402 { 402 {
403 return m_world; 403 return m_world;
404 } 404 }
405 405
406 private void disposeAllBodies() 406 private void disposeAllBodies()
407 { 407 {
408 lock (m_prims) 408 lock (m_prims)
409 { 409 {
410 foreach ( BulletDotNETPrim prim in m_prims) 410 foreach ( BulletDotNETPrim prim in m_prims)
411 { 411 {
412 if (prim.Body != null) 412 if (prim.Body != null)
413 m_world.removeRigidBody(prim.Body); 413 m_world.removeRigidBody(prim.Body);
414 414
415 prim.Dispose(); 415 prim.Dispose();
416 } 416 }
417 m_prims.Clear(); 417 m_prims.Clear();
418 418
419 foreach (BulletDotNETCharacter chr in m_characters) 419 foreach (BulletDotNETCharacter chr in m_characters)
420 { 420 {
421 if (chr.Body != null) 421 if (chr.Body != null)
422 m_world.removeRigidBody(chr.Body); 422 m_world.removeRigidBody(chr.Body);
423 chr.Dispose(); 423 chr.Dispose();
424 } 424 }
425 m_characters.Clear(); 425 m_characters.Clear();
426 } 426 }
427 } 427 }
428 428
429 public override bool IsThreaded 429 public override bool IsThreaded
430 { 430 {
431 get { return false; } 431 get { return false; }
432 } 432 }
433 433
434 internal void addCollisionEventReporting(PhysicsActor bulletDotNETCharacter) 434 internal void addCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
435 { 435 {
436 //TODO: FIXME: 436 //TODO: FIXME:
437 } 437 }
438 438
439 internal void remCollisionEventReporting(PhysicsActor bulletDotNETCharacter) 439 internal void remCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
440 { 440 {
441 //TODO: FIXME: 441 //TODO: FIXME:
442 } 442 }
443 443
444 internal void AddRigidBody(btRigidBody Body) 444 internal void AddRigidBody(btRigidBody Body)
445 { 445 {
446 m_world.addRigidBody(Body); 446 m_world.addRigidBody(Body);
447 } 447 }
448 [Obsolete("bad!")] 448 [Obsolete("bad!")]
449 internal void removeFromWorld(btRigidBody body) 449 internal void removeFromWorld(btRigidBody body)
450 { 450 {
451 451
452 m_world.removeRigidBody(body); 452 m_world.removeRigidBody(body);
453 } 453 }
454 454
455 internal void removeFromWorld(BulletDotNETPrim prm ,btRigidBody body) 455 internal void removeFromWorld(BulletDotNETPrim prm ,btRigidBody body)
456 { 456 {
457 lock (m_prims) 457 lock (m_prims)
458 { 458 {
459 if (m_prims.Contains(prm)) 459 if (m_prims.Contains(prm))
460 { 460 {
461 m_world.removeRigidBody(body); 461 m_world.removeRigidBody(body);
462 } 462 }
463 m_prims.Remove(prm); 463 m_prims.Remove(prm);
464 } 464 }
465 465
466 } 466 }
467 467
468 internal float GetWaterLevel() 468 internal float GetWaterLevel()
469 { 469 {
470 throw new NotImplementedException(); 470 throw new NotImplementedException();
471 } 471 }
472 472
473 // Recovered for use by fly height. Kitto Flora 473 // Recovered for use by fly height. Kitto Flora
474 public float GetTerrainHeightAtXY(float x, float y) 474 public float GetTerrainHeightAtXY(float x, float y)
475 { 475 {
476 // Teravus: Kitto, this code causes recurring errors that stall physics permenantly unless 476 // Teravus: Kitto, this code causes recurring errors that stall physics permenantly unless
477 // the values are checked, so checking below. 477 // the values are checked, so checking below.
478 // Is there any reason that we don't do this in ScenePresence? 478 // Is there any reason that we don't do this in ScenePresence?
479 // The only physics engine that benefits from it in the physics plugin is this one 479 // The only physics engine that benefits from it in the physics plugin is this one
480 480
481 if ((int)x > Constants.RegionSize || (int)y > Constants.RegionSize || 481 if ((int)x > Constants.RegionSize || (int)y > Constants.RegionSize ||
482 (int)x < 0.001f || (int)y < 0.001f) 482 (int)x < 0.001f || (int)y < 0.001f)
483 return 0; 483 return 0;
484 484
485 return _origheightmap[(int)y * Constants.RegionSize + (int)x]; 485 return _origheightmap[(int)y * Constants.RegionSize + (int)x];
486 } 486 }
487 // End recovered. Kitto Flora 487 // End recovered. Kitto Flora
488 488
489 /// <summary> 489 /// <summary>
490 /// Routine to figure out if we need to mesh this prim with our mesher 490 /// Routine to figure out if we need to mesh this prim with our mesher
491 /// </summary> 491 /// </summary>
492 /// <param name="pbs"></param> 492 /// <param name="pbs"></param>
493 /// <returns></returns> 493 /// <returns></returns>
494 public bool needsMeshing(PrimitiveBaseShape pbs) 494 public bool needsMeshing(PrimitiveBaseShape pbs)
495 { 495 {
496 // most of this is redundant now as the mesher will return null if it cant mesh a prim 496 // most of this is redundant now as the mesher will return null if it cant mesh a prim
497 // but we still need to check for sculptie meshing being enabled so this is the most 497 // but we still need to check for sculptie meshing being enabled so this is the most
498 // convenient place to do it for now... 498 // convenient place to do it for now...
499 499
500 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f) 500 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
501 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString()); 501 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
502 int iPropertiesNotSupportedDefault = 0; 502 int iPropertiesNotSupportedDefault = 0;
503 503
504 if (pbs.SculptEntry && !meshSculptedPrim) 504 if (pbs.SculptEntry && !meshSculptedPrim)
505 { 505 {
506#if SPAM 506#if SPAM
507 m_log.Warn("NonMesh"); 507 m_log.Warn("NonMesh");
508#endif 508#endif
509 return false; 509 return false;
510 } 510 }
511 511
512 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim 512 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
513 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) 513 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
514 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 514 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
515 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) 515 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
516 { 516 {
517 517
518 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 518 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
519 && pbs.ProfileHollow == 0 519 && pbs.ProfileHollow == 0
520 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 520 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
521 && pbs.PathBegin == 0 && pbs.PathEnd == 0 521 && pbs.PathBegin == 0 && pbs.PathEnd == 0
522 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 522 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
523 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 523 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
524 && pbs.PathShearX == 0 && pbs.PathShearY == 0) 524 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
525 { 525 {
526#if SPAM 526#if SPAM
527 m_log.Warn("NonMesh"); 527 m_log.Warn("NonMesh");
528#endif 528#endif
529 return false; 529 return false;
530 } 530 }
531 } 531 }
532 532
533 if (pbs.ProfileHollow != 0) 533 if (pbs.ProfileHollow != 0)
534 iPropertiesNotSupportedDefault++; 534 iPropertiesNotSupportedDefault++;
535 535
536 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) 536 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
537 iPropertiesNotSupportedDefault++; 537 iPropertiesNotSupportedDefault++;
538 538
539 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) 539 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
540 iPropertiesNotSupportedDefault++; 540 iPropertiesNotSupportedDefault++;
541 541
542 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) 542 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
543 iPropertiesNotSupportedDefault++; 543 iPropertiesNotSupportedDefault++;
544 544
545 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) 545 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
546 iPropertiesNotSupportedDefault++; 546 iPropertiesNotSupportedDefault++;
547 547
548 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) 548 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
549 iPropertiesNotSupportedDefault++; 549 iPropertiesNotSupportedDefault++;
550 550
551 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) 551 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
552 iPropertiesNotSupportedDefault++; 552 iPropertiesNotSupportedDefault++;
553 553
554 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) 554 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
555 iPropertiesNotSupportedDefault++; 555 iPropertiesNotSupportedDefault++;
556 556
557 // test for torus 557 // test for torus
558 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) 558 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
559 { 559 {
560 if (pbs.PathCurve == (byte)Extrusion.Curve1) 560 if (pbs.PathCurve == (byte)Extrusion.Curve1)
561 { 561 {
562 iPropertiesNotSupportedDefault++; 562 iPropertiesNotSupportedDefault++;
563 } 563 }
564 } 564 }
565 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) 565 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
566 { 566 {
567 if (pbs.PathCurve == (byte)Extrusion.Straight) 567 if (pbs.PathCurve == (byte)Extrusion.Straight)
568 { 568 {
569 iPropertiesNotSupportedDefault++; 569 iPropertiesNotSupportedDefault++;
570 } 570 }
571 571
572 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits 572 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
573 else if (pbs.PathCurve == (byte)Extrusion.Curve1) 573 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
574 { 574 {
575 iPropertiesNotSupportedDefault++; 575 iPropertiesNotSupportedDefault++;
576 } 576 }
577 } 577 }
578 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) 578 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
579 { 579 {
580 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) 580 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
581 { 581 {
582 iPropertiesNotSupportedDefault++; 582 iPropertiesNotSupportedDefault++;
583 } 583 }
584 } 584 }
585 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) 585 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
586 { 586 {
587 if (pbs.PathCurve == (byte)Extrusion.Straight) 587 if (pbs.PathCurve == (byte)Extrusion.Straight)
588 { 588 {
589 iPropertiesNotSupportedDefault++; 589 iPropertiesNotSupportedDefault++;
590 } 590 }
591 else if (pbs.PathCurve == (byte)Extrusion.Curve1) 591 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
592 { 592 {
593 iPropertiesNotSupportedDefault++; 593 iPropertiesNotSupportedDefault++;
594 } 594 }
595 } 595 }
596 596
597 597
598 if (iPropertiesNotSupportedDefault == 0) 598 if (iPropertiesNotSupportedDefault == 0)
599 { 599 {
600#if SPAM 600#if SPAM
601 m_log.Warn("NonMesh"); 601 m_log.Warn("NonMesh");
602#endif 602#endif
603 return false; 603 return false;
604 } 604 }
605#if SPAM 605#if SPAM
606 m_log.Debug("Mesh"); 606 m_log.Debug("Mesh");
607#endif 607#endif
608 return true; 608 return true;
609 } 609 }
610 610
611 internal void addActivePrim(BulletDotNETPrim pPrim) 611 internal void addActivePrim(BulletDotNETPrim pPrim)
612 { 612 {
613 lock (m_activePrims) 613 lock (m_activePrims)
614 { 614 {
615 if (!m_activePrims.Contains(pPrim)) 615 if (!m_activePrims.Contains(pPrim))
616 { 616 {
617 m_activePrims.Add(pPrim); 617 m_activePrims.Add(pPrim);
618 } 618 }
619 } 619 }
620 } 620 }
621 621
622 public void remActivePrim(BulletDotNETPrim pDeactivatePrim) 622 public void remActivePrim(BulletDotNETPrim pDeactivatePrim)
623 { 623 {
624 lock (m_activePrims) 624 lock (m_activePrims)
625 { 625 {
626 m_activePrims.Remove(pDeactivatePrim); 626 m_activePrims.Remove(pDeactivatePrim);
627 } 627 }
628 } 628 }
629 629
630 internal void AddPrimToScene(BulletDotNETPrim pPrim) 630 internal void AddPrimToScene(BulletDotNETPrim pPrim)
631 { 631 {
632 lock (m_prims) 632 lock (m_prims)
633 { 633 {
634 if (!m_prims.Contains(pPrim)) 634 if (!m_prims.Contains(pPrim))
635 { 635 {
636 m_prims.Add(pPrim); 636 m_prims.Add(pPrim);
637 m_world.addRigidBody(pPrim.Body); 637 m_world.addRigidBody(pPrim.Body);
638 } 638 }
639 } 639 }
640 } 640 }
641 } 641 }
642} 642}
generated by cgit v1.1 at 2024-07-02 19:54:11 +0000