diff options
author | Mic Bowman | 2012-04-25 09:52:44 -0700 |
---|---|---|
committer | Mic Bowman | 2012-04-25 09:52:44 -0700 |
commit | 1afae013111b7c817037371fca805a78c3ab67cc (patch) | |
tree | dc4f08217c64fd92f4fac250344f009f583fca4e /OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |
parent | Add try/catch around Json script method registration to avoild some issues (diff) | |
parent | Slight rewording of output messages. (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/ODEPrim.cs')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 472 |
1 files changed, 227 insertions, 245 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 1f79cd8..0716214 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -156,7 +156,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
156 | /// </summary> | 156 | /// </summary> |
157 | public IntPtr m_targetSpace = IntPtr.Zero; | 157 | public IntPtr m_targetSpace = IntPtr.Zero; |
158 | 158 | ||
159 | /// <summary> | ||
160 | /// The prim geometry, used for collision detection. | ||
161 | /// </summary> | ||
162 | /// <remarks> | ||
163 | /// This is never null except for a brief period when the geometry needs to be replaced (due to resizing or | ||
164 | /// mesh change) or when the physical prim is being removed from the scene. | ||
165 | /// </remarks> | ||
159 | public IntPtr prim_geom { get; private set; } | 166 | public IntPtr prim_geom { get; private set; } |
167 | |||
160 | public IntPtr _triMeshData { get; private set; } | 168 | public IntPtr _triMeshData { get; private set; } |
161 | 169 | ||
162 | private IntPtr _linkJointGroup = IntPtr.Zero; | 170 | private IntPtr _linkJointGroup = IntPtr.Zero; |
@@ -325,14 +333,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
325 | { | 333 | { |
326 | prim_geom = geom; | 334 | prim_geom = geom; |
327 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); | 335 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); |
328 | if (prim_geom != IntPtr.Zero) | ||
329 | { | ||
330 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
331 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
332 | 336 | ||
333 | _parent_scene.geom_name_map[prim_geom] = Name; | 337 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
334 | _parent_scene.actor_name_map[prim_geom] = this; | 338 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
335 | } | 339 | |
340 | _parent_scene.geom_name_map[prim_geom] = Name; | ||
341 | _parent_scene.actor_name_map[prim_geom] = this; | ||
336 | 342 | ||
337 | if (childPrim) | 343 | if (childPrim) |
338 | { | 344 | { |
@@ -765,11 +771,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
765 | m_collisionCategories &= ~CollisionCategories.Body; | 771 | m_collisionCategories &= ~CollisionCategories.Body; |
766 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 772 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
767 | 773 | ||
768 | if (prim_geom != IntPtr.Zero) | 774 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
769 | { | 775 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
770 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
771 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
772 | } | ||
773 | 776 | ||
774 | d.BodyDestroy(Body); | 777 | d.BodyDestroy(Body); |
775 | lock (childrenPrim) | 778 | lock (childrenPrim) |
@@ -793,11 +796,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
793 | m_collisionCategories &= ~CollisionCategories.Body; | 796 | m_collisionCategories &= ~CollisionCategories.Body; |
794 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 797 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
795 | 798 | ||
796 | if (prim_geom != IntPtr.Zero) | 799 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
797 | { | 800 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
798 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
799 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
800 | } | ||
801 | 801 | ||
802 | Body = IntPtr.Zero; | 802 | Body = IntPtr.Zero; |
803 | } | 803 | } |
@@ -864,10 +864,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
864 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); | 864 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); |
865 | try | 865 | try |
866 | { | 866 | { |
867 | if (prim_geom == IntPtr.Zero) | 867 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); |
868 | { | ||
869 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); | ||
870 | } | ||
871 | } | 868 | } |
872 | catch (AccessViolationException) | 869 | catch (AccessViolationException) |
873 | { | 870 | { |
@@ -890,73 +887,67 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
890 | #if SPAM | 887 | #if SPAM |
891 | Console.WriteLine("ZProcessTaints for " + Name); | 888 | Console.WriteLine("ZProcessTaints for " + Name); |
892 | #endif | 889 | #endif |
890 | |||
891 | // This must be processed as the very first taint so that later operations have a prim_geom to work with | ||
892 | // if this is a new prim. | ||
893 | if (m_taintadd) | 893 | if (m_taintadd) |
894 | { | ||
895 | changeadd(); | 894 | changeadd(); |
896 | } | ||
897 | |||
898 | if (prim_geom != IntPtr.Zero) | ||
899 | { | ||
900 | if (!_position.ApproxEquals(m_taintposition, 0f)) | ||
901 | changemove(); | ||
902 | 895 | ||
903 | if (m_taintrot != _orientation) | 896 | if (!_position.ApproxEquals(m_taintposition, 0f)) |
904 | { | 897 | changemove(); |
905 | if (childPrim && IsPhysical) // For physical child prim... | 898 | |
906 | { | 899 | if (m_taintrot != _orientation) |
907 | rotate(); | 900 | { |
908 | // KF: ODE will also rotate the parent prim! | 901 | if (childPrim && IsPhysical) // For physical child prim... |
909 | // so rotate the root back to where it was | 902 | { |
910 | OdePrim parent = (OdePrim)_parent; | 903 | rotate(); |
911 | parent.rotate(); | 904 | // KF: ODE will also rotate the parent prim! |
912 | } | 905 | // so rotate the root back to where it was |
913 | else | 906 | OdePrim parent = (OdePrim)_parent; |
914 | { | 907 | parent.rotate(); |
915 | //Just rotate the prim | ||
916 | rotate(); | ||
917 | } | ||
918 | } | 908 | } |
919 | 909 | else | |
920 | if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) | 910 | { |
921 | changePhysicsStatus(); | 911 | //Just rotate the prim |
912 | rotate(); | ||
913 | } | ||
914 | } | ||
915 | |||
916 | if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) | ||
917 | changePhysicsStatus(); | ||
922 | 918 | ||
923 | if (!_size.ApproxEquals(m_taintsize, 0f)) | 919 | if (!_size.ApproxEquals(m_taintsize, 0f)) |
924 | changesize(); | 920 | changesize(); |
925 | 921 | ||
926 | if (m_taintshape) | 922 | if (m_taintshape) |
927 | changeshape(); | 923 | changeshape(); |
928 | 924 | ||
929 | if (m_taintforce) | 925 | if (m_taintforce) |
930 | changeAddForce(); | 926 | changeAddForce(); |
931 | 927 | ||
932 | if (m_taintaddangularforce) | 928 | if (m_taintaddangularforce) |
933 | changeAddAngularForce(); | 929 | changeAddAngularForce(); |
934 | 930 | ||
935 | if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) | 931 | if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) |
936 | changeSetTorque(); | 932 | changeSetTorque(); |
937 | 933 | ||
938 | if (m_taintdisable) | 934 | if (m_taintdisable) |
939 | changedisable(); | 935 | changedisable(); |
940 | 936 | ||
941 | if (m_taintselected != m_isSelected) | 937 | if (m_taintselected != m_isSelected) |
942 | changeSelectedStatus(); | 938 | changeSelectedStatus(); |
943 | 939 | ||
944 | if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) | 940 | if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) |
945 | changevelocity(); | 941 | changevelocity(); |
946 | 942 | ||
947 | if (m_taintparent != _parent) | 943 | if (m_taintparent != _parent) |
948 | changelink(); | 944 | changelink(); |
949 | 945 | ||
950 | if (m_taintCollidesWater != m_collidesWater) | 946 | if (m_taintCollidesWater != m_collidesWater) |
951 | changefloatonwater(); | 947 | changefloatonwater(); |
952 | 948 | ||
953 | if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f)) | 949 | if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f)) |
954 | changeAngularLock(); | 950 | changeAngularLock(); |
955 | } | ||
956 | else | ||
957 | { | ||
958 | m_log.ErrorFormat("[PHYSICS]: The scene reused a disposed PhysActor for {0}! *waves finger*, Don't be evil. A couple of things can cause this. An improper prim breakdown(be sure to set prim_geom to zero after d.GeomDestroy! An improper buildup (creating the geom failed). Or, the Scene Reused a physics actor after disposing it.)", Name); | ||
959 | } | ||
960 | } | 951 | } |
961 | 952 | ||
962 | /// <summary> | 953 | /// <summary> |
@@ -1052,150 +1043,146 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1052 | /// <param name="prim">Child prim</param> | 1043 | /// <param name="prim">Child prim</param> |
1053 | private void AddChildPrim(OdePrim prim) | 1044 | private void AddChildPrim(OdePrim prim) |
1054 | { | 1045 | { |
1055 | //Console.WriteLine("AddChildPrim " + Name); | 1046 | if (LocalID == prim.LocalID) |
1056 | if (LocalID != prim.LocalID) | 1047 | return; |
1048 | |||
1049 | if (Body == IntPtr.Zero) | ||
1057 | { | 1050 | { |
1058 | if (Body == IntPtr.Zero) | 1051 | Body = d.BodyCreate(_parent_scene.world); |
1052 | setMass(); | ||
1053 | } | ||
1054 | |||
1055 | lock (childrenPrim) | ||
1056 | { | ||
1057 | if (childrenPrim.Contains(prim)) | ||
1058 | return; | ||
1059 | |||
1060 | // m_log.DebugFormat( | ||
1061 | // "[ODE PRIM]: Linking prim {0} {1} to {2} {3}", prim.Name, prim.LocalID, Name, LocalID); | ||
1062 | |||
1063 | childrenPrim.Add(prim); | ||
1064 | |||
1065 | foreach (OdePrim prm in childrenPrim) | ||
1059 | { | 1066 | { |
1060 | Body = d.BodyCreate(_parent_scene.world); | 1067 | d.Mass m2; |
1061 | setMass(); | 1068 | d.MassSetZero(out m2); |
1069 | d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); | ||
1070 | |||
1071 | d.Quaternion quat = new d.Quaternion(); | ||
1072 | quat.W = prm._orientation.W; | ||
1073 | quat.X = prm._orientation.X; | ||
1074 | quat.Y = prm._orientation.Y; | ||
1075 | quat.Z = prm._orientation.Z; | ||
1076 | |||
1077 | d.Matrix3 mat = new d.Matrix3(); | ||
1078 | d.RfromQ(out mat, ref quat); | ||
1079 | d.MassRotate(ref m2, ref mat); | ||
1080 | d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); | ||
1081 | d.MassAdd(ref pMass, ref m2); | ||
1062 | } | 1082 | } |
1063 | if (Body != IntPtr.Zero) | 1083 | |
1084 | foreach (OdePrim prm in childrenPrim) | ||
1064 | { | 1085 | { |
1065 | lock (childrenPrim) | 1086 | prm.m_collisionCategories |= CollisionCategories.Body; |
1066 | { | 1087 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1067 | if (!childrenPrim.Contains(prim)) | ||
1068 | { | ||
1069 | //Console.WriteLine("childrenPrim.Add " + prim); | ||
1070 | childrenPrim.Add(prim); | ||
1071 | |||
1072 | foreach (OdePrim prm in childrenPrim) | ||
1073 | { | ||
1074 | d.Mass m2; | ||
1075 | d.MassSetZero(out m2); | ||
1076 | d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); | ||
1077 | |||
1078 | d.Quaternion quat = new d.Quaternion(); | ||
1079 | quat.W = prm._orientation.W; | ||
1080 | quat.X = prm._orientation.X; | ||
1081 | quat.Y = prm._orientation.Y; | ||
1082 | quat.Z = prm._orientation.Z; | ||
1083 | |||
1084 | d.Matrix3 mat = new d.Matrix3(); | ||
1085 | d.RfromQ(out mat, ref quat); | ||
1086 | d.MassRotate(ref m2, ref mat); | ||
1087 | d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); | ||
1088 | d.MassAdd(ref pMass, ref m2); | ||
1089 | } | ||
1090 | |||
1091 | foreach (OdePrim prm in childrenPrim) | ||
1092 | { | ||
1093 | prm.m_collisionCategories |= CollisionCategories.Body; | ||
1094 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | ||
1095 | 1088 | ||
1096 | if (prm.prim_geom == IntPtr.Zero) | ||
1097 | { | ||
1098 | m_log.WarnFormat( | ||
1099 | "[PHYSICS]: Unable to link one of the linkset elements {0} for parent {1}. No geom yet", | ||
1100 | prm.Name, prim.Name); | ||
1101 | continue; | ||
1102 | } | ||
1103 | //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); | 1089 | //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); |
1104 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); | 1090 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); |
1105 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); | 1091 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); |
1106 | |||
1107 | 1092 | ||
1108 | d.Quaternion quat = new d.Quaternion(); | 1093 | d.Quaternion quat = new d.Quaternion(); |
1109 | quat.W = prm._orientation.W; | 1094 | quat.W = prm._orientation.W; |
1110 | quat.X = prm._orientation.X; | 1095 | quat.X = prm._orientation.X; |
1111 | quat.Y = prm._orientation.Y; | 1096 | quat.Y = prm._orientation.Y; |
1112 | quat.Z = prm._orientation.Z; | 1097 | quat.Z = prm._orientation.Z; |
1113 | 1098 | ||
1114 | d.Matrix3 mat = new d.Matrix3(); | 1099 | d.Matrix3 mat = new d.Matrix3(); |
1115 | d.RfromQ(out mat, ref quat); | 1100 | d.RfromQ(out mat, ref quat); |
1116 | if (Body != IntPtr.Zero) | 1101 | if (Body != IntPtr.Zero) |
1117 | { | 1102 | { |
1118 | d.GeomSetBody(prm.prim_geom, Body); | 1103 | d.GeomSetBody(prm.prim_geom, Body); |
1119 | prm.childPrim = true; | 1104 | prm.childPrim = true; |
1120 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); | 1105 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); |
1121 | //d.GeomSetOffsetPosition(prim.prim_geom, | 1106 | //d.GeomSetOffsetPosition(prim.prim_geom, |
1122 | // (Position.X - prm.Position.X) - pMass.c.X, | 1107 | // (Position.X - prm.Position.X) - pMass.c.X, |
1123 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | 1108 | // (Position.Y - prm.Position.Y) - pMass.c.Y, |
1124 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | 1109 | // (Position.Z - prm.Position.Z) - pMass.c.Z); |
1125 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); | 1110 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); |
1126 | //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); | 1111 | //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); |
1127 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | 1112 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); |
1128 | d.BodySetMass(Body, ref pMass); | 1113 | d.BodySetMass(Body, ref pMass); |
1129 | } | 1114 | } |
1130 | else | 1115 | else |
1131 | { | 1116 | { |
1132 | m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); | 1117 | m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); |
1133 | } | 1118 | } |
1134 | 1119 | ||
1135 | prm.m_interpenetrationcount = 0; | 1120 | prm.m_interpenetrationcount = 0; |
1136 | prm.m_collisionscore = 0; | 1121 | prm.m_collisionscore = 0; |
1137 | prm.m_disabled = false; | 1122 | prm.m_disabled = false; |
1138 | 1123 | ||
1139 | // The body doesn't already have a finite rotation mode set here | 1124 | // The body doesn't already have a finite rotation mode set here |
1140 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | 1125 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) |
1141 | { | 1126 | { |
1142 | prm.createAMotor(m_angularlock); | 1127 | prm.createAMotor(m_angularlock); |
1143 | } | 1128 | } |
1144 | prm.Body = Body; | 1129 | prm.Body = Body; |
1145 | _parent_scene.ActivatePrim(prm); | 1130 | _parent_scene.ActivatePrim(prm); |
1146 | } | 1131 | } |
1147 | 1132 | ||
1148 | m_collisionCategories |= CollisionCategories.Body; | 1133 | m_collisionCategories |= CollisionCategories.Body; |
1149 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1134 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1150 | 1135 | ||
1151 | //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); | 1136 | //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); |
1152 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1137 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1153 | //Console.WriteLine(" Post GeomSetCategoryBits 2"); | 1138 | //Console.WriteLine(" Post GeomSetCategoryBits 2"); |
1154 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1139 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1155 | |||
1156 | d.Quaternion quat2 = new d.Quaternion(); | ||
1157 | quat2.W = _orientation.W; | ||
1158 | quat2.X = _orientation.X; | ||
1159 | quat2.Y = _orientation.Y; | ||
1160 | quat2.Z = _orientation.Z; | ||
1161 | |||
1162 | d.Matrix3 mat2 = new d.Matrix3(); | ||
1163 | d.RfromQ(out mat2, ref quat2); | ||
1164 | d.GeomSetBody(prim_geom, Body); | ||
1165 | d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); | ||
1166 | //d.GeomSetOffsetPosition(prim.prim_geom, | ||
1167 | // (Position.X - prm.Position.X) - pMass.c.X, | ||
1168 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | ||
1169 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | ||
1170 | //d.GeomSetOffsetRotation(prim_geom, ref mat2); | ||
1171 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1172 | d.BodySetMass(Body, ref pMass); | ||
1173 | |||
1174 | d.BodySetAutoDisableFlag(Body, true); | ||
1175 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | ||
1176 | 1140 | ||
1177 | m_interpenetrationcount = 0; | 1141 | d.Quaternion quat2 = new d.Quaternion(); |
1178 | m_collisionscore = 0; | 1142 | quat2.W = _orientation.W; |
1179 | m_disabled = false; | 1143 | quat2.X = _orientation.X; |
1144 | quat2.Y = _orientation.Y; | ||
1145 | quat2.Z = _orientation.Z; | ||
1180 | 1146 | ||
1181 | // The body doesn't already have a finite rotation mode set here | 1147 | d.Matrix3 mat2 = new d.Matrix3(); |
1182 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | 1148 | d.RfromQ(out mat2, ref quat2); |
1183 | { | 1149 | d.GeomSetBody(prim_geom, Body); |
1184 | createAMotor(m_angularlock); | 1150 | d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); |
1185 | } | 1151 | //d.GeomSetOffsetPosition(prim.prim_geom, |
1186 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); | 1152 | // (Position.X - prm.Position.X) - pMass.c.X, |
1187 | if (m_vehicle.Type != Vehicle.TYPE_NONE) | 1153 | // (Position.Y - prm.Position.Y) - pMass.c.Y, |
1188 | m_vehicle.Enable(Body, _parent_scene); | 1154 | // (Position.Z - prm.Position.Z) - pMass.c.Z); |
1155 | //d.GeomSetOffsetRotation(prim_geom, ref mat2); | ||
1156 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1157 | d.BodySetMass(Body, ref pMass); | ||
1189 | 1158 | ||
1190 | _parent_scene.ActivatePrim(this); | 1159 | d.BodySetAutoDisableFlag(Body, true); |
1191 | } | 1160 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
1192 | } | 1161 | |
1162 | m_interpenetrationcount = 0; | ||
1163 | m_collisionscore = 0; | ||
1164 | m_disabled = false; | ||
1165 | |||
1166 | // The body doesn't already have a finite rotation mode set here | ||
1167 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | ||
1168 | { | ||
1169 | createAMotor(m_angularlock); | ||
1193 | } | 1170 | } |
1171 | |||
1172 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); | ||
1173 | |||
1174 | if (m_vehicle.Type != Vehicle.TYPE_NONE) | ||
1175 | m_vehicle.Enable(Body, _parent_scene); | ||
1176 | |||
1177 | _parent_scene.ActivatePrim(this); | ||
1194 | } | 1178 | } |
1195 | } | 1179 | } |
1196 | 1180 | ||
1197 | private void ChildSetGeom(OdePrim odePrim) | 1181 | private void ChildSetGeom(OdePrim odePrim) |
1198 | { | 1182 | { |
1183 | // m_log.DebugFormat( | ||
1184 | // "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); | ||
1185 | |||
1199 | //if (IsPhysical && Body != IntPtr.Zero) | 1186 | //if (IsPhysical && Body != IntPtr.Zero) |
1200 | lock (childrenPrim) | 1187 | lock (childrenPrim) |
1201 | { | 1188 | { |
@@ -1210,12 +1197,14 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1210 | //prm.childPrim = false; | 1197 | //prm.childPrim = false; |
1211 | } | 1198 | } |
1212 | } | 1199 | } |
1200 | |||
1213 | disableBody(); | 1201 | disableBody(); |
1214 | 1202 | ||
1215 | if (Body != IntPtr.Zero) | 1203 | // Spurious - Body == IntPtr.Zero after disableBody() |
1216 | { | 1204 | // if (Body != IntPtr.Zero) |
1217 | _parent_scene.DeactivatePrim(this); | 1205 | // { |
1218 | } | 1206 | // _parent_scene.DeactivatePrim(this); |
1207 | // } | ||
1219 | 1208 | ||
1220 | lock (childrenPrim) | 1209 | lock (childrenPrim) |
1221 | { | 1210 | { |
@@ -1229,6 +1218,9 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1229 | 1218 | ||
1230 | private void ChildDelink(OdePrim odePrim) | 1219 | private void ChildDelink(OdePrim odePrim) |
1231 | { | 1220 | { |
1221 | // m_log.DebugFormat( | ||
1222 | // "[ODE PRIM]: Delinking prim {0} {1} from {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); | ||
1223 | |||
1232 | // Okay, we have a delinked child.. need to rebuild the body. | 1224 | // Okay, we have a delinked child.. need to rebuild the body. |
1233 | lock (childrenPrim) | 1225 | lock (childrenPrim) |
1234 | { | 1226 | { |
@@ -1243,6 +1235,7 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1243 | //prm.childPrim = false; | 1235 | //prm.childPrim = false; |
1244 | } | 1236 | } |
1245 | } | 1237 | } |
1238 | |||
1246 | disableBody(); | 1239 | disableBody(); |
1247 | 1240 | ||
1248 | lock (childrenPrim) | 1241 | lock (childrenPrim) |
@@ -1251,10 +1244,11 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1251 | childrenPrim.Remove(odePrim); | 1244 | childrenPrim.Remove(odePrim); |
1252 | } | 1245 | } |
1253 | 1246 | ||
1254 | if (Body != IntPtr.Zero) | 1247 | // Spurious - Body == IntPtr.Zero after disableBody() |
1255 | { | 1248 | // if (Body != IntPtr.Zero) |
1256 | _parent_scene.DeactivatePrim(this); | 1249 | // { |
1257 | } | 1250 | // _parent_scene.DeactivatePrim(this); |
1251 | // } | ||
1258 | 1252 | ||
1259 | lock (childrenPrim) | 1253 | lock (childrenPrim) |
1260 | { | 1254 | { |
@@ -1303,11 +1297,8 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1303 | disableBodySoft(); | 1297 | disableBodySoft(); |
1304 | } | 1298 | } |
1305 | 1299 | ||
1306 | if (prim_geom != IntPtr.Zero) | 1300 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1307 | { | 1301 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1308 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
1309 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
1310 | } | ||
1311 | 1302 | ||
1312 | if (IsPhysical) | 1303 | if (IsPhysical) |
1313 | { | 1304 | { |
@@ -1328,11 +1319,8 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1328 | if (m_collidesWater) | 1319 | if (m_collidesWater) |
1329 | m_collisionFlags |= CollisionCategories.Water; | 1320 | m_collisionFlags |= CollisionCategories.Water; |
1330 | 1321 | ||
1331 | if (prim_geom != IntPtr.Zero) | 1322 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1332 | { | 1323 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1333 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
1334 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
1335 | } | ||
1336 | 1324 | ||
1337 | if (IsPhysical) | 1325 | if (IsPhysical) |
1338 | { | 1326 | { |
@@ -1472,6 +1460,9 @@ Console.WriteLine("CreateGeom:"); | |||
1472 | } | 1460 | } |
1473 | else | 1461 | else |
1474 | { | 1462 | { |
1463 | m_log.WarnFormat( | ||
1464 | "[ODE PRIM]: Called RemoveGeom() on {0} {1} where geometry was already null.", Name, LocalID); | ||
1465 | |||
1475 | return false; | 1466 | return false; |
1476 | } | 1467 | } |
1477 | } | 1468 | } |
@@ -1505,16 +1496,13 @@ Console.WriteLine("changeadd 1"); | |||
1505 | #endif | 1496 | #endif |
1506 | CreateGeom(m_targetSpace, mesh); | 1497 | CreateGeom(m_targetSpace, mesh); |
1507 | 1498 | ||
1508 | if (prim_geom != IntPtr.Zero) | 1499 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
1509 | { | 1500 | d.Quaternion myrot = new d.Quaternion(); |
1510 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 1501 | myrot.X = _orientation.X; |
1511 | d.Quaternion myrot = new d.Quaternion(); | 1502 | myrot.Y = _orientation.Y; |
1512 | myrot.X = _orientation.X; | 1503 | myrot.Z = _orientation.Z; |
1513 | myrot.Y = _orientation.Y; | 1504 | myrot.W = _orientation.W; |
1514 | myrot.Z = _orientation.Z; | 1505 | d.GeomSetQuaternion(prim_geom, ref myrot); |
1515 | myrot.W = _orientation.W; | ||
1516 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
1517 | } | ||
1518 | 1506 | ||
1519 | if (IsPhysical && Body == IntPtr.Zero) | 1507 | if (IsPhysical && Body == IntPtr.Zero) |
1520 | enableBody(); | 1508 | enableBody(); |
@@ -1579,24 +1567,20 @@ Console.WriteLine(" JointCreateFixed"); | |||
1579 | //m_log.Debug("[BUG]: race!"); | 1567 | //m_log.Debug("[BUG]: race!"); |
1580 | //} | 1568 | //} |
1581 | } | 1569 | } |
1582 | else | ||
1583 | { | ||
1584 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | ||
1585 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | ||
1586 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1587 | 1570 | ||
1588 | IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); | 1571 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); |
1589 | m_targetSpace = tempspace; | 1572 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); |
1573 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1574 | |||
1575 | IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); | ||
1576 | m_targetSpace = tempspace; | ||
1590 | 1577 | ||
1591 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1578 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1592 | if (prim_geom != IntPtr.Zero) | 1579 | |
1593 | { | 1580 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
1594 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1595 | 1581 | ||
1596 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1582 | // _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1597 | d.SpaceAdd(m_targetSpace, prim_geom); | 1583 | d.SpaceAdd(m_targetSpace, prim_geom); |
1598 | } | ||
1599 | } | ||
1600 | 1584 | ||
1601 | changeSelectedStatus(); | 1585 | changeSelectedStatus(); |
1602 | 1586 | ||
@@ -2047,18 +2031,16 @@ Console.WriteLine(" JointCreateFixed"); | |||
2047 | { | 2031 | { |
2048 | m_collidesWater = m_taintCollidesWater; | 2032 | m_collidesWater = m_taintCollidesWater; |
2049 | 2033 | ||
2050 | if (prim_geom != IntPtr.Zero) | 2034 | if (m_collidesWater) |
2051 | { | 2035 | { |
2052 | if (m_collidesWater) | 2036 | m_collisionFlags |= CollisionCategories.Water; |
2053 | { | ||
2054 | m_collisionFlags |= CollisionCategories.Water; | ||
2055 | } | ||
2056 | else | ||
2057 | { | ||
2058 | m_collisionFlags &= ~CollisionCategories.Water; | ||
2059 | } | ||
2060 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
2061 | } | 2037 | } |
2038 | else | ||
2039 | { | ||
2040 | m_collisionFlags &= ~CollisionCategories.Water; | ||
2041 | } | ||
2042 | |||
2043 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
2062 | } | 2044 | } |
2063 | 2045 | ||
2064 | /// <summary> | 2046 | /// <summary> |