vh: update BulletSim (OpenSim/Region/Physics/BulletSPlugin

and DLL/SO) to ac6dcd35fb77f118fc6c3d72cb029591306c7e99
(Mon May 6 21:10:02 2013 -0400) on top of 0.7.5-postfixes.

1 files changed, 165 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
new file mode 100755
index 0000000..f5ee671
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -0,0 +1,165 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
+ * of Creative Commons Attribution-Share Alike 3.0
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSPrimDisplaced : BSPrim
+{
+    // The purpose of this module is to do any mapping between what the simulator thinks
+    //    the prim position and orientation is and what the physical position/orientation.
+    //    This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
+    //    of the prim/linkset. The simulator tracks the location of the prim/linkset by
+    //    the location of the root prim. So, if center-of-mass is anywhere but the origin
+    //    of the root prim, the physical origin is displaced from the simulator origin.
+    //
+    // This routine works by capturing the Force* setting of position/orientation/... and
+    //    adjusting the simulator values (being set) into the physical values.
+    //    The conversion is also done in the opposite direction (physical origin -> simulator origin).
+    //
+    // The updateParameter call is also captured and the values from the physics engine
+    //    are converted into simulator origin values before being passed to the base
+    //    class.
+
+    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
+
+    public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+        : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
+    {
+        ClearDisplacement();
+    }
+
+    public void ClearDisplacement()
+    {
+        PositionDisplacement = OMV.Vector3.Zero;
+        OrientationDisplacement = OMV.Quaternion.Identity;
+    }
+
+    // Set this sets and computes the displacement from the passed prim to the center-of-mass.
+    // A user set value for center-of-mass overrides whatever might be passed in here.
+    // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
+    public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
+    {
+        Vector3 comDisp;
+        if (UserSetCenterOfMassDisplacement.HasValue)
+            comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
+        else
+            comDisp = centerOfMassDisplacement;
+
+        DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
+                                    LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
+        if (comDisp == Vector3.Zero)
+        {
+            // If there is no diplacement. Things get reset.
+            PositionDisplacement = OMV.Vector3.Zero;
+            OrientationDisplacement = OMV.Quaternion.Identity;
+        }
+        else
+        {
+            // Remember the displacement from root as well as the origional rotation of the
+            //    new center-of-mass.
+            PositionDisplacement = comDisp;
+            OrientationDisplacement = OMV.Quaternion.Identity;
+        }
+    }
+
+    public override Vector3 ForcePosition
+    {
+        get { return base.ForcePosition; }
+        set
+        {
+            if (PositionDisplacement != OMV.Vector3.Zero)
+            {
+                OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
+                DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
+                base.ForcePosition = displacedPos;
+            }
+            else
+            {
+                base.ForcePosition = value;
+            }
+        }
+    }
+
+    public override Quaternion ForceOrientation
+    {
+        get { return base.ForceOrientation; }
+        set
+        {
+            // TODO:
+            base.ForceOrientation = value;
+        }
+    }
+
+    // TODO: decide if this is the right place for these variables.
+    //     Somehow incorporate the optional settability by the user.
+    // Is this used?
+    public override OMV.Vector3 CenterOfMass
+    {
+        get { return RawPosition; }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 GeometricCenter
+    {
+        get { return RawPosition; }
+    }
+
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        // Undo any center-of-mass displacement that might have been done.
+        if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
+        {
+            // Correct for any rotation around the center-of-mass
+            // TODO!!!
+            
+            OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
+            DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
+            entprop.Position = displacedPos;
+            // entprop.Rotation = something;
+        }
+
+        base.UpdateProperties(entprop);
+    }
+}
+}