Merge branch 'ubitwork' into avination

1 files changed, 294 insertions, 564 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index f2f4725..ce67cc4 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -79,7 +79,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private bool m_lastdoneSelected;

         internal bool m_outbounds;

 

-        private Quaternion m_lastorientation = new Quaternion();

+        private Quaternion m_lastorientation;

         private Quaternion _orientation;

 

         private Vector3 _position;

@@ -91,33 +91,30 @@ namespace OpenSim.Region.Physics.OdePlugin
         private Vector3 _size;

         private Vector3 _acceleration;

         private Vector3 m_angularlock = Vector3.One;

-        private IntPtr Amotor = IntPtr.Zero;

+        private IntPtr Amotor;

 

         private Vector3 m_force;

         private Vector3 m_forceacc;

         private Vector3 m_angularForceacc;

 

-        private float m_invTimeStep = 50.0f;

-        private float m_timeStep = .02f;

+        private float m_invTimeStep;

+        private float m_timeStep;

 

         private Vector3 m_PIDTarget;

         private float m_PIDTau;

         private bool m_usePID;

 

-        // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),

-        // and are for non-VEHICLES only.

-

         private float m_PIDHoverHeight;

         private float m_PIDHoverTau;

         private bool m_useHoverPID;

-        private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;

+        private PIDHoverType m_PIDHoverType;

         private float m_targetHoverHeight;

         private float m_groundHeight;

         private float m_waterHeight;

         private float m_buoyancy;                //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 

 

-        private int body_autodisable_frames = 5;

-        public int bodydisablecontrol = 0;

+        private int body_autodisable_frames;

+        public int bodydisablecontrol;

 

 

         // Default we're a Geometry

@@ -147,12 +144,16 @@ namespace OpenSim.Region.Physics.OdePlugin
         private IMesh m_mesh;

         private object m_meshlock = new object();

         private PrimitiveBaseShape _pbs;

+

+        private UUID? m_assetID;

+        private MeshState m_meshState;

+        

         public OdeScene _parent_scene;

 

         /// <summary>

         /// The physics space which contains prim geometry

         /// </summary>

-        public IntPtr m_targetSpace = IntPtr.Zero;

+        public IntPtr m_targetSpace;

 

         public IntPtr prim_geom;

         public IntPtr _triMeshData;

@@ -166,27 +167,32 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         public IntPtr collide_geom; // for objects: geom if single prim space it linkset

 

-        private float m_density = 10.000006836f; // Aluminum g/cm3;

+        private float m_density;

         private byte m_shapetype;

         public bool _zeroFlag;

         private bool m_lastUpdateSent;

 

-        public IntPtr Body = IntPtr.Zero;

+        public IntPtr Body;

 

         private Vector3 _target_velocity;

 

-        public Vector3 primOOBsize; // prim real dimensions from mesh 

-        public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb

+        public Vector3 m_OBBOffset;

+        public Vector3 m_OBB;

         public float primOOBradiusSQ;

+

+        private bool m_hasOBB = true;

+

+        private float m_physCost;

+        private float m_streamCost;

+

         public d.Mass primdMass; // prim inertia information on it's own referencial

         float primMass; // prim own mass

         float primVolume; // prim own volume;

         float _mass; // object mass acording to case

-        private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb

 

-        public int givefakepos = 0;

+        public int givefakepos;

         private Vector3 fakepos;

-        public int givefakeori = 0;

+        public int givefakeori;

         private Quaternion fakeori;

 

         private int m_eventsubscription;

@@ -271,7 +277,23 @@ namespace OpenSim.Region.Physics.OdePlugin
                     cdata.mu *= veh.FrictionFactor;

 //                    cdata.mu *= 0;

             }

-        }    

+        }

+

+        public override float PhysicsCost

+        {

+            get

+            {

+                return m_physCost;

+            }

+        }

+

+        public override float StreamCost

+        {

+            get

+            {

+                return m_streamCost;

+            }

+        }

 

         public override int PhysicsActorType

         {

@@ -394,7 +416,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             {

                 if (value.IsFinite())

                 {

-                    AddChange(changes.Size, value);

+                     _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype);

                 }

                 else

                 {

@@ -464,7 +486,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         q.Z = dq.Z;

                         q.W = dq.W;

 

-                        Vector3 Ptot = primOOBoffset * q;

+                        Vector3 Ptot = m_OBBOffset * q;

                         dtmp = d.GeomGetPosition(prim_geom);

                         Ptot.X += dtmp.X;

                         Ptot.Y += dtmp.Y;

@@ -504,7 +526,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             {

             get

                 {

-                return primOOBsize;

+                return m_OBB;

                 }

             }

 

@@ -512,7 +534,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             {

             get

                 {

-                return primOOBoffset;

+                return m_OBBOffset;

                 }

             }

 

@@ -528,7 +550,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         {

             set

             {

-                AddChange(changes.Shape, value);

+//                AddChange(changes.Shape, value);

+                _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype);

             }

         }

 

@@ -541,11 +564,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             set

             {

                 m_shapetype = value;

-                AddChange(changes.Shape, null);

+               _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value);

             }

         }

 

-

         public override Vector3 Velocity

         {

             get

@@ -619,6 +641,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 {

                     fakeori = value;

                     givefakeori++;

+

+                    value.Normalize();

+

                     AddChange(changes.Orientation, value);

                 }

                 else

@@ -1012,7 +1037,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_invTimeStep = 1f / m_timeStep;

 

             m_density = parent_scene.geomDefaultDensity;

-            // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;

             body_autodisable_frames = parent_scene.bodyFramesAutoDisable;

 

             prim_geom = IntPtr.Zero;

@@ -1064,7 +1088,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_colliderfilter = 0;

             m_NoColide = false;

 

-            hasOOBoffsetFromMesh = false;

             _triMeshData = IntPtr.Zero;

 

             m_shapetype = _shapeType;

@@ -1079,27 +1102,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;

             bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;

 

-            CalcPrimBodyData();

+            m_building = true; // control must set this to false when done

 

-            m_mesh = null;

-            if (_parent_scene.needsMeshing(pbs) && (pbs.SculptData.Length > 0))

-            {

-                bool convex;

-                int clod = (int)LevelOfDetail.High;

-                if (m_shapetype == 0)

-                    convex = false;

-                else

-                {

-                    convex = true;

-                    if (_pbs.SculptType != (byte)SculptType.Mesh)

-                        clod = (int)LevelOfDetail.Low;

-                }

-                m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, clod, true, convex);

-            }

+            // get basic mass parameters

+            ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype);

 

-            m_building = true; // control must set this to false when done

+            primVolume = repData.volume;

 

-            AddChange(changes.Add, null);

+            UpdatePrimBodyData();

         }

 

         private void resetCollisionAccounting()

@@ -1323,76 +1333,88 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

-        private bool setMesh(OdeScene parent_scene)

-        {

-            IntPtr vertices, indices;

-            int vertexCount, indexCount;

-            int vertexStride, triStride;

 

-            if (Body != IntPtr.Zero)

+        private void SetGeom(IntPtr geom)

+        {

+            prim_geom = geom;

+            //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);

+            if (prim_geom != IntPtr.Zero)

             {

-                if (childPrim)

+

+                if (m_NoColide)

                 {

-                    if (_parent != null)

+                    d.GeomSetCategoryBits(prim_geom, 0);

+                    if (m_isphysical)

                     {

-                        OdePrim parent = (OdePrim)_parent;

-                        parent.ChildDelink(this, false);

+                        d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);

+                    }

+                    else

+                    {

+                        d.GeomSetCollideBits(prim_geom, 0);

+                        d.GeomDisable(prim_geom);

                     }

                 }

                 else

                 {

-                    DestroyBody();

+                    d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);

+                    d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);

                 }

-            }

 

-            IMesh mesh = null;

+                UpdatePrimBodyData();

+                _parent_scene.actor_name_map[prim_geom] = this;

 

-            lock (m_meshlock)

-            {

-                if (m_mesh == null)

-                {

-                    bool convex;

-                    int clod = (int)LevelOfDetail.High;

+/*

+// debug

+                d.AABB aabb;

+                d.GeomGetAABB(prim_geom, out aabb);

+                float x = aabb.MaxX - aabb.MinX;

+                float y = aabb.MaxY - aabb.MinY;

+                float z = aabb.MaxZ - aabb.MinZ;

+                if( x > 60.0f || y > 60.0f || z > 60.0f)

+                    m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}",

+                        Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString());

+                else if (x < 0.001f || y < 0.001f || z < 0.001f)

+                    m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}",

+                        Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString());

+

+//

+*/

 

-                    if (m_shapetype == 0)

-                        convex = false;

-                    else

-                    {

-                        convex = true;

-                        if (_pbs.SculptType != (byte)SculptType.Mesh)

-                            clod = (int)LevelOfDetail.Low;

-                    }

+            }

+            else

+                m_log.Warn("Setting bad Geom");

+        }

 

-                    mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, clod, true, convex);

-                }

-                else

-                {

-                    mesh = m_mesh;

-                }

+        private bool GetMeshGeom()

+        {

+            IntPtr vertices, indices;

+            int vertexCount, indexCount;

+            int vertexStride, triStride;

+            

+            IMesh mesh = m_mesh;

 

-                if (mesh == null)

-                {                  

-                    m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);

-                    return false;

-                }

+            if (mesh == null)

+                return false;

 

+            mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount);

+            mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount);

 

-                mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap

-                mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage

+            if (vertexCount == 0 || indexCount == 0)

+            {

+                m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1}",

+                    Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh");

 

-                if (vertexCount == 0 || indexCount == 0)

-                {

-                    m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",

-                        Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());

-                    mesh.releaseSourceMeshData();

-                    return false;

-                }

+                m_hasOBB = false;

+                m_OBBOffset = Vector3.Zero;

+                m_OBB = _size * 0.5f;

 

-                primOOBoffset = mesh.GetCentroid();

-                hasOOBoffsetFromMesh = true;

+                m_physCost = 0.1f;

+                m_streamCost = 1.0f;

 

-                mesh.releaseSourceMeshData();

-                m_mesh = mesh;

+                _parent_scene.mesher.ReleaseMesh(mesh);

+                m_meshState = MeshState.MeshFailed;

+                m_mesh = null;

+                return false;

             }

 

             IntPtr geo = IntPtr.Zero;

@@ -1404,7 +1426,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);

                 d.GeomTriMeshDataPreprocess(_triMeshData);

 

-                _parent_scene.waitForSpaceUnlock(m_targetSpace);

                 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);

             }

 

@@ -1413,85 +1434,65 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);

                 if (_triMeshData != IntPtr.Zero)

                 {

-                    d.GeomTriMeshDataDestroy(_triMeshData);

-                    _triMeshData = IntPtr.Zero;

-                }

-                return false;

-            }

-

-            SetGeom(geo);

-            return true;

-        }

-

-        private void SetGeom(IntPtr geom)

-        {

-            prim_geom = geom;

-            //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);

-            if (prim_geom != IntPtr.Zero)

-            {

-

-                if (m_NoColide)

-                {

-                    d.GeomSetCategoryBits(prim_geom, 0);

-                    if (m_isphysical)

+                    try

                     {

-                        d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);

+                        d.GeomTriMeshDataDestroy(_triMeshData);

                     }

-                    else

+                    catch

                     {

-                        d.GeomSetCollideBits(prim_geom, 0);

-                        d.GeomDisable(prim_geom);

                     }

                 }

-                else

-                {

-                    d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);

-                    d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);

-                }

+                _triMeshData = IntPtr.Zero;

 

-                CalcPrimBodyData();

+                m_hasOBB = false;

+                m_OBBOffset = Vector3.Zero;

+                m_OBB = _size * 0.5f;

+                m_physCost = 0.1f;

+                m_streamCost = 1.0f;

+              

+                _parent_scene.mesher.ReleaseMesh(mesh);

+                m_meshState = MeshState.MeshFailed;

+                m_mesh = null;

+                return false;

+            }

 

-                _parent_scene.actor_name_map[prim_geom] = this;

+            m_physCost = 0.0013f * (float)indexCount;

+            // todo

+            m_streamCost = 1.0f;

 

-            }

-            else

-                m_log.Warn("Setting bad Geom");

-        }

+            SetGeom(geo);

 

+            return true;

+        }

 

-        /// <summary>

-        /// Create a geometry for the given mesh in the given target space.

-        /// </summary>

-        /// <param name="m_targetSpace"></param>

-        /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>

         private void CreateGeom()

         {

-            if (_triMeshData != IntPtr.Zero)

-            {

-                d.GeomTriMeshDataDestroy(_triMeshData);

-                _triMeshData = IntPtr.Zero;

-            }

+            bool hasMesh = false;

 

-            bool haveMesh = false;

-            hasOOBoffsetFromMesh = false;

             m_NoColide = false;

 

-            if (_parent_scene.needsMeshing(_pbs))

+            if ((m_meshState & MeshState.MeshNoColide) != 0)

+                m_NoColide = true;

+

+            else if(m_mesh != null)

             {

-                haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims

-                if (!haveMesh)

+                if (GetMeshGeom())

+                    hasMesh = true;

+                else

                     m_NoColide = true;

             }

 

-            if (!haveMesh)

+

+            if (!hasMesh)

             {

+                IntPtr geo = IntPtr.Zero;

+

                 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1

                     && _size.X == _size.Y && _size.Y == _size.Z)

                 { // it's a sphere

-                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

                     try

                     {

-                        SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));

+                        geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f);

                     }

                     catch (Exception e)

                     {

@@ -1501,11 +1502,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }

                 else

                 {// do it as a box

-                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

                     try

                     {

-                        //Console.WriteLine("  CreateGeom 4");

-                        SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));

+                        geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);

                     }

                     catch (Exception e)

                     {

@@ -1513,19 +1512,18 @@ namespace OpenSim.Region.Physics.OdePlugin
                         return;

                     }

                 }

+                m_physCost = 0.1f;

+                m_streamCost = 1.0f;

+                SetGeom(geo);

             }

         }

 

-        /// <summary>

-        /// Set a new geometry for this prim.

-        /// </summary>

-        /// <param name="geom"></param>

         private void RemoveGeom()

         {

             if (prim_geom != IntPtr.Zero)

             {

-//                _parent_scene.geom_name_map.Remove(prim_geom);

                 _parent_scene.actor_name_map.Remove(prim_geom);

+

                 try

                 {

                     d.GeomDestroy(prim_geom);

@@ -1534,11 +1532,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         d.GeomTriMeshDataDestroy(_triMeshData);

                         _triMeshData = IntPtr.Zero;

                     }

-

                 }

-

-

-                //                catch (System.AccessViolationException)

                 catch (Exception e)

                 {

                     m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);

@@ -1546,29 +1540,26 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                 prim_geom = IntPtr.Zero;

                 collide_geom = IntPtr.Zero;

+                m_targetSpace = IntPtr.Zero;

             }

             else

             {

                 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);

             }

 

-            if (m_mesh != null)

+            lock (m_meshlock)

             {

-                _parent_scene.mesher.ReleaseMesh(m_mesh);

-                m_mesh = null;

+                if (m_mesh != null)

+                {

+                    _parent_scene.mesher.ReleaseMesh(m_mesh);

+                    m_mesh = null;

+                }

             }

 

             Body = IntPtr.Zero;

-            hasOOBoffsetFromMesh = false;

+            m_hasOBB = false;

         }

-/*

-        private void ChildSetGeom(OdePrim odePrim)

-        {

-            // well.. 

-            DestroyBody();

-            MakeBody();

-        }

-*/

+

         //sets non physical prim m_targetSpace to right space in spaces grid for static prims

         // should only be called for non physical prims unless they are becoming non physical

         private void SetInStaticSpace(OdePrim prim)

@@ -1631,9 +1622,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             if (Body != IntPtr.Zero)

             {

-//                d.BodyDestroy(Body);

-//                Body = IntPtr.Zero;

-                // do a more complet destruction

                 DestroyBody();

                 m_log.Warn("[PHYSICS]: MakeBody called having a body");

             }

@@ -2143,339 +2131,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         #region Mass Calculation

 

-        private float CalculatePrimVolume()

+        private void UpdatePrimBodyData()

         {

-            float volume = _size.X * _size.Y * _size.Z; // default

-            float tmp;

-

-            float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;

-            float hollowVolume = hollowAmount * hollowAmount;

-

-            switch (_pbs.ProfileShape)

-            {

-                case ProfileShape.Square:

-                    // default box

-

-                    if (_pbs.PathCurve == (byte)Extrusion.Straight)

-                    {

-                        if (hollowAmount > 0.0)

-                        {

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Square:

-                                case HollowShape.Same:

-                                    break;

-

-                                case HollowShape.Circle:

-

-                                    hollowVolume *= 0.78539816339f;

-                                    break;

-

-                                case HollowShape.Triangle:

-

-                                    hollowVolume *= (0.5f * .5f);

-                                    break;

-

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-                    }

-

-                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)

-                    {

-                        //a tube 

-

-                        volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);

-                        tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);

-                        volume -= volume * tmp * tmp;

-

-                        if (hollowAmount > 0.0)

-                        {

-                            hollowVolume *= hollowAmount;

-

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Square:

-                                case HollowShape.Same:

-                                    break;

-

-                                case HollowShape.Circle:

-                                    hollowVolume *= 0.78539816339f;

-                                    break;

-

-                                case HollowShape.Triangle:

-                                    hollowVolume *= 0.5f * 0.5f;

-                                    break;

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-                    }

-

-                    break;

-

-                case ProfileShape.Circle:

-

-                    if (_pbs.PathCurve == (byte)Extrusion.Straight)

-                    {

-                        volume *= 0.78539816339f; // elipse base

-

-                        if (hollowAmount > 0.0)

-                        {

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Same:

-                                case HollowShape.Circle:

-                                    break;

-

-                                case HollowShape.Square:

-                                    hollowVolume *= 0.5f * 2.5984480504799f;

-                                    break;

-

-                                case HollowShape.Triangle:

-                                    hollowVolume *= .5f * 1.27323954473516f;

-                                    break;

-

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-                    }

-

-                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)

-                    {

-                        volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);

-                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);

-                        volume *= (1.0f - tmp * tmp);

-

-                        if (hollowAmount > 0.0)

-                        {

-

-                            // calculate the hollow volume by it's shape compared to the prim shape

-                            hollowVolume *= hollowAmount;

-

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Same:

-                                case HollowShape.Circle:

-                                    break;

-

-                                case HollowShape.Square:

-                                    hollowVolume *= 0.5f * 2.5984480504799f;

-                                    break;

-

-                                case HollowShape.Triangle:

-                                    hollowVolume *= .5f * 1.27323954473516f;

-                                    break;

-

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-                    }

-                    break;

-

-                case ProfileShape.HalfCircle:

-                    if (_pbs.PathCurve == (byte)Extrusion.Curve1)

-                    {

-                        volume *= 0.5236f;

-

-                        if (hollowAmount > 0.0)

-                        {

-                            hollowVolume *= hollowAmount;

-

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Circle:

-                                case HollowShape.Triangle:  // diference in sl is minor and odd

-                                case HollowShape.Same:

-                                    break;

-

-                                case HollowShape.Square:

-                                    hollowVolume *= 0.909f;

-                                    break;

-

-                                //                                case HollowShape.Triangle:

-                                //                                    hollowVolume *= .827f;

-                                //                                    break;

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-

-                    }

-                    break;

-

-                case ProfileShape.EquilateralTriangle:

-

-                    if (_pbs.PathCurve == (byte)Extrusion.Straight)

-                    {

-                        volume *= 0.32475953f;

-

-                        if (hollowAmount > 0.0)

-                        {

-

-                            // calculate the hollow volume by it's shape compared to the prim shape

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Same:

-                                case HollowShape.Triangle:

-                                    hollowVolume *= .25f;

-                                    break;

-

-                                case HollowShape.Square:

-                                    hollowVolume *= 0.499849f * 3.07920140172638f;

-                                    break;

-

-                                case HollowShape.Circle:

-                                    // Hollow shape is a perfect cyllinder in respect to the cube's scale

-                                    // Cyllinder hollow volume calculation

-

-                                    hollowVolume *= 0.1963495f * 3.07920140172638f;

-                                    break;

-

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-                    }

-                    else if (_pbs.PathCurve == (byte)Extrusion.Curve1)

-                    {

-                        volume *= 0.32475953f;

-                        volume *= 0.01f * (float)(200 - _pbs.PathScaleX);

-                        tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);

-                        volume *= (1.0f - tmp * tmp);

-

-                        if (hollowAmount > 0.0)

-                        {

-

-                            hollowVolume *= hollowAmount;

-

-                            switch (_pbs.HollowShape)

-                            {

-                                case HollowShape.Same:

-                                case HollowShape.Triangle:

-                                    hollowVolume *= .25f;

-                                    break;

-

-                                case HollowShape.Square:

-                                    hollowVolume *= 0.499849f * 3.07920140172638f;

-                                    break;

-

-                                case HollowShape.Circle:

-

-                                    hollowVolume *= 0.1963495f * 3.07920140172638f;

-                                    break;

-

-                                default:

-                                    hollowVolume = 0;

-                                    break;

-                            }

-                            volume *= (1.0f - hollowVolume);

-                        }

-                    }

-                    break;

-

-                default:

-                    break;

-            }

-

-            float taperX1;

-            float taperY1;

-            float taperX;

-            float taperY;

-            float pathBegin;

-            float pathEnd;

-            float profileBegin;

-            float profileEnd;

-

-            if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)

-            {

-                taperX1 = _pbs.PathScaleX * 0.01f;

-                if (taperX1 > 1.0f)

-                    taperX1 = 2.0f - taperX1;

-                taperX = 1.0f - taperX1;

-

-                taperY1 = _pbs.PathScaleY * 0.01f;

-                if (taperY1 > 1.0f)

-                    taperY1 = 2.0f - taperY1;

-                taperY = 1.0f - taperY1;

-            }

-            else

-            {

-                taperX = _pbs.PathTaperX * 0.01f;

-                if (taperX < 0.0f)

-                    taperX = -taperX;

-                taperX1 = 1.0f - taperX;

-

-                taperY = _pbs.PathTaperY * 0.01f;

-                if (taperY < 0.0f)

-                    taperY = -taperY;

-                taperY1 = 1.0f - taperY;

-            }

-

-            volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);

-

-            pathBegin = (float)_pbs.PathBegin * 2.0e-5f;

-            pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;

-            volume *= (pathEnd - pathBegin);

-

-            // this is crude aproximation

-            profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;

-            profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;

-            volume *= (profileEnd - profileBegin);

-

-            return volume;

-        }

-

-

-        private void CalcPrimBodyData()

-        {

-            float volume;

-

-            if (prim_geom == IntPtr.Zero)

-            {

-                // Ubit let's have a initial basic OOB

-                primOOBsize.X = _size.X;

-                primOOBsize.Y = _size.Y;

-                primOOBsize.Z = _size.Z;

-                primOOBoffset = Vector3.Zero;

-            }

-            else

-            {

-                d.AABB AABB;

-                d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom

-

-                primOOBsize.X = (AABB.MaxX - AABB.MinX);

-                primOOBsize.Y = (AABB.MaxY - AABB.MinY);

-                primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);

-                if (!hasOOBoffsetFromMesh)

-                {

-                    primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;

-                    primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;

-                    primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;

-                }

-            }

-

-            // also its own inertia and mass

-            // keep using basic shape mass for now

-            volume = CalculatePrimVolume();

-

-            primVolume = volume;

-            primMass = m_density * volume;

+            primMass = m_density * primVolume;

 

             if (primMass <= 0)

                 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.

@@ -2484,17 +2142,31 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             _mass = primMass; // just in case

 

-            d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);

+            d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z);

 

             d.MassTranslate(ref primdMass,

-                                primOOBoffset.X,

-                                primOOBoffset.Y,

-                                primOOBoffset.Z);

+                                m_OBBOffset.X,

+                                m_OBBOffset.Y,

+                                m_OBBOffset.Z);

 

-            primOOBsize *= 0.5f; // let obb size be a corner coords

-            primOOBradiusSQ = primOOBsize.LengthSquared();

-        }

+            primOOBradiusSQ = m_OBB.LengthSquared();

 

+            if (_triMeshData != IntPtr.Zero)

+            {

+                float pc = m_physCost;

+                float psf = primOOBradiusSQ;

+                psf *= 1.33f * .2f;

+                pc *= psf;

+                if (pc < 0.1f)

+                    pc = 0.1f;

+

+                m_physCost = pc;

+            }

+            else

+                m_physCost = 0.1f;

+

+            m_streamCost = 1.0f;

+        }

 

         #endregion

 

@@ -2575,6 +2247,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                 _orientation.Y = qtmp.Y;

                 _orientation.Z = qtmp.Z;

                 _orientation.W = qtmp.W;

+/*

+// Debug

+                float qlen = _orientation.Length();

+                if (qlen > 1.01f || qlen < 0.99)

+                    m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen);

+//

+*/

+                _orientation.Normalize();

 

                 d.Vector3 lpos = d.GeomGetPosition(prim_geom);

                 _position.X = lpos.X;

@@ -2684,27 +2364,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         private void changeadd()

         {

-            CreateGeom();

-

-            if (prim_geom != IntPtr.Zero)

-            {

-                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

-                d.Quaternion myrot = new d.Quaternion();

-                myrot.X = _orientation.X;

-                myrot.Y = _orientation.Y;

-                myrot.Z = _orientation.Z;

-                myrot.W = _orientation.W;

-                d.GeomSetQuaternion(prim_geom, ref myrot);

-

-                if (!m_isphysical)

-                {

-                    SetInStaticSpace(this);

-                    UpdateCollisionCatFlags();

-                    ApplyCollisionCatFlags();

-                }

-                else 

-                    MakeBody();

-            }

         }

 

         private void changeAngularLock(Vector3 newLock)

@@ -2774,6 +2433,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 _target_velocity = Vector3.Zero;

                 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)

                     m_vehicle.Stop();

+

+                _zeroFlag = false;

+                base.RequestPhysicsterseUpdate();

             }

 

             if (Body != IntPtr.Zero)

@@ -3148,7 +2810,63 @@ namespace OpenSim.Region.Physics.OdePlugin
             resetCollisionAccounting();

         }

 

-        private void changeprimsizeshape()

+        private void changeSize(Vector3 newSize)

+        {

+        }

+

+        private void changeShape(PrimitiveBaseShape newShape)

+        {

+        }

+

+        private void changeAddPhysRep(ODEPhysRepData repData)

+        {

+            _size = repData.size; //??

+            _pbs = repData.pbs;

+            m_shapetype = repData.shapetype;

+

+            m_mesh = repData.mesh;

+

+            m_assetID = repData.assetID;

+            m_meshState = repData.meshState;

+

+            m_hasOBB = repData.hasOBB;

+            m_OBBOffset = repData.OBBOffset;

+            m_OBB = repData.OBB;

+

+            primVolume = repData.volume;

+

+            CreateGeom();

+

+            if (prim_geom != IntPtr.Zero)

+            {

+                d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

+                d.Quaternion myrot = new d.Quaternion();

+                myrot.X = _orientation.X;

+                myrot.Y = _orientation.Y;

+                myrot.Z = _orientation.Z;

+                myrot.W = _orientation.W;

+                d.GeomSetQuaternion(prim_geom, ref myrot);

+            }

+

+            if (!m_isphysical)

+            {

+                SetInStaticSpace(this);

+                UpdateCollisionCatFlags();

+                ApplyCollisionCatFlags();

+            }

+            else

+                MakeBody();

+

+            if ((m_meshState & MeshState.NeedMask) != 0)

+            {

+                repData.size = _size;

+                repData.pbs = _pbs;

+                repData.shapetype = m_shapetype;

+                _parent_scene.m_meshWorker.RequestMesh(repData);

+            }

+        }

+

+        private void changePhysRepData(ODEPhysRepData repData)

         {

             CheckDelaySelect();

 

@@ -3170,16 +2888,22 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             RemoveGeom();

 

-            // we don't need to do space calculation because the client sends a position update also.

-            if (_size.X <= 0)

-                _size.X = 0.01f;

-            if (_size.Y <= 0)

-                _size.Y = 0.01f;

-            if (_size.Z <= 0)

-                _size.Z = 0.01f;

-            // Construction of new prim

+            _size = repData.size;

+            _pbs = repData.pbs;

+            m_shapetype = repData.shapetype;

 

-            CreateGeom();

+            m_mesh = repData.mesh;

+

+            m_assetID = repData.assetID;

+            m_meshState = repData.meshState;

+

+            m_hasOBB = repData.hasOBB;

+            m_OBBOffset = repData.OBBOffset;

+            m_OBB = repData.OBB;

+

+            primVolume = repData.volume;

+

+            CreateGeom();          

 

             if (prim_geom != IntPtr.Zero)

             {

@@ -3202,29 +2926,24 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }

                 }

                 else

-                        MakeBody();

+                    MakeBody();

             }

-

             else

             {

+                SetInStaticSpace(this);

                 UpdateCollisionCatFlags();

                 ApplyCollisionCatFlags();

             }

 

             resetCollisionAccounting();

-        }

-

-        private void changeSize(Vector3 newSize)

-        {

-            _size = newSize;

-            changeprimsizeshape();

-        }

 

-        private void changeShape(PrimitiveBaseShape newShape)

-        {

-            if(newShape != null)

-                _pbs = newShape;

-            changeprimsizeshape();

+            if ((m_meshState & MeshState.NeedMask) != 0)

+            {

+                repData.size = _size;

+                repData.pbs = _pbs;

+                repData.shapetype = m_shapetype;

+                _parent_scene.m_meshWorker.RequestMesh(repData);

+            }

         }

 

         private void changeFloatOnWater(bool newval)

@@ -3891,7 +3610,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         public bool DoAChange(changes what, object arg)

         {

-            if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)

+            if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove)

             {

                 return false;

             }

@@ -3902,6 +3621,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                 case changes.Add:

                     changeadd();

                     break;

+

+                case changes.AddPhysRep:

+                    changeAddPhysRep((ODEPhysRepData)arg);

+                    break;

+

                 case changes.Remove:

                     //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...

                     //When we return true, it destroys all of the prims in the linkset anyway

@@ -3984,6 +3708,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                     changeShape((PrimitiveBaseShape)arg);

                     break;

 

+                case changes.PhysRepData:

+                    changePhysRepData((ODEPhysRepData) arg);

+                    break;

+

                 case changes.CollidesWater:

                     changeFloatOnWater((bool)arg);

                     break;

@@ -4072,6 +3800,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                     donullchange();

                     break;

 

+

+

                 default:

                     donullchange();

                     break;