diff options
author | lbsa71 | 2007-10-30 09:05:31 +0000 |
---|---|---|
committer | lbsa71 | 2007-10-30 09:05:31 +0000 |
commit | 67e12b95ea7b68f4904a7484d77ecfd787d16d0c (patch) | |
tree | 20b00d24c8a7617017960432ec044852e3ad5fa9 /OpenSim/Region/Physics | |
parent | * Deleted .user file (diff) | |
download | opensim-SC_OLD-67e12b95ea7b68f4904a7484d77ecfd787d16d0c.zip opensim-SC_OLD-67e12b95ea7b68f4904a7484d77ecfd787d16d0c.tar.gz opensim-SC_OLD-67e12b95ea7b68f4904a7484d77ecfd787d16d0c.tar.bz2 opensim-SC_OLD-67e12b95ea7b68f4904a7484d77ecfd787d16d0c.tar.xz |
* Optimized usings
* Shortened type references
* Removed redundant 'this' qualifier
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs | 22 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs | 106 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs | 24 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs | 589 | ||||
-rw-r--r-- | OpenSim/Region/Physics/Manager/AssemblyInfo.cs | 22 | ||||
-rw-r--r-- | OpenSim/Region/Physics/Manager/PhysicsActor.cs | 110 | ||||
-rw-r--r-- | OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs | 143 | ||||
-rw-r--r-- | OpenSim/Region/Physics/Manager/PhysicsScene.cs | 26 | ||||
-rw-r--r-- | OpenSim/Region/Physics/Manager/PhysicsVector.cs | 5 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs | 22 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs | 72 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs | 256 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 274 | ||||
-rw-r--r-- | OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs | 22 | ||||
-rw-r--r-- | OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs | 643 |
15 files changed, 1068 insertions, 1268 deletions
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs index 2d4d898..a8f1de1 100644 --- a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs | |||
@@ -27,24 +27,26 @@ | |||
27 | */ | 27 | */ |
28 | using System.Reflection; | 28 | using System.Reflection; |
29 | using System.Runtime.InteropServices; | 29 | using System.Runtime.InteropServices; |
30 | |||
30 | // Information about this assembly is defined by the following | 31 | // Information about this assembly is defined by the following |
31 | // attributes. | 32 | // attributes. |
32 | // | 33 | // |
33 | // change them to the information which is associated with the assembly | 34 | // change them to the information which is associated with the assembly |
34 | // you compile. | 35 | // you compile. |
35 | 36 | ||
36 | [assembly: AssemblyTitle("PhysXplugin")] | 37 | [assembly : AssemblyTitle("PhysXplugin")] |
37 | [assembly: AssemblyDescription("")] | 38 | [assembly : AssemblyDescription("")] |
38 | [assembly: AssemblyConfiguration("")] | 39 | [assembly : AssemblyConfiguration("")] |
39 | [assembly: AssemblyCompany("")] | 40 | [assembly : AssemblyCompany("")] |
40 | [assembly: AssemblyProduct("PhysXplugin")] | 41 | [assembly : AssemblyProduct("PhysXplugin")] |
41 | [assembly: AssemblyCopyright("")] | 42 | [assembly : AssemblyCopyright("")] |
42 | [assembly: AssemblyTrademark("")] | 43 | [assembly : AssemblyTrademark("")] |
43 | [assembly: AssemblyCulture("")] | 44 | [assembly : AssemblyCulture("")] |
44 | 45 | ||
45 | // This sets the default COM visibility of types in the assembly to invisible. | 46 | // This sets the default COM visibility of types in the assembly to invisible. |
46 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. | 47 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. |
47 | [assembly: ComVisible(false)] | 48 | |
49 | [assembly : ComVisible(false)] | ||
48 | 50 | ||
49 | // The assembly version has following format : | 51 | // The assembly version has following format : |
50 | // | 52 | // |
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices; | |||
53 | // You can specify all values by your own or you can build default build and revision | 55 | // You can specify all values by your own or you can build default build and revision |
54 | // numbers with the '*' character (the default): | 56 | // numbers with the '*' character (the default): |
55 | 57 | ||
56 | [assembly: AssemblyVersion("1.0.*")] | 58 | [assembly : AssemblyVersion("1.0.*")] \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs index 95e6095..b412818 100644 --- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs +++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs | |||
@@ -39,7 +39,6 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
39 | { | 39 | { |
40 | public BasicPhysicsPlugin() | 40 | public BasicPhysicsPlugin() |
41 | { | 41 | { |
42 | |||
43 | } | 42 | } |
44 | 43 | ||
45 | public bool Init() | 44 | public bool Init() |
@@ -59,7 +58,6 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
59 | 58 | ||
60 | public void Dispose() | 59 | public void Dispose() |
61 | { | 60 | { |
62 | |||
63 | } | 61 | } |
64 | } | 62 | } |
65 | 63 | ||
@@ -70,7 +68,6 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
70 | 68 | ||
71 | public BasicScene() | 69 | public BasicScene() |
72 | { | 70 | { |
73 | |||
74 | } | 71 | } |
75 | 72 | ||
76 | public override PhysicsActor AddAvatar(string avName, PhysicsVector position) | 73 | public override PhysicsActor AddAvatar(string avName, PhysicsVector position) |
@@ -83,17 +80,15 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
83 | 80 | ||
84 | public override void RemovePrim(PhysicsActor prim) | 81 | public override void RemovePrim(PhysicsActor prim) |
85 | { | 82 | { |
86 | |||
87 | } | 83 | } |
88 | 84 | ||
89 | public override void RemoveAvatar(PhysicsActor actor) | 85 | public override void RemoveAvatar(PhysicsActor actor) |
90 | { | 86 | { |
91 | BasicActor act = (BasicActor)actor; | 87 | BasicActor act = (BasicActor) actor; |
92 | if (_actors.Contains(act)) | 88 | if (_actors.Contains(act)) |
93 | { | 89 | { |
94 | _actors.Remove(act); | 90 | _actors.Remove(act); |
95 | } | 91 | } |
96 | |||
97 | } | 92 | } |
98 | 93 | ||
99 | /* | 94 | /* |
@@ -102,7 +97,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
102 | return null; | 97 | return null; |
103 | } | 98 | } |
104 | */ | 99 | */ |
105 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) | 100 | |
101 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, | ||
102 | PhysicsVector size, Quaternion rotation) | ||
106 | { | 103 | { |
107 | return null; | 104 | return null; |
108 | } | 105 | } |
@@ -112,8 +109,8 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
112 | { | 109 | { |
113 | foreach (BasicActor actor in _actors) | 110 | foreach (BasicActor actor in _actors) |
114 | { | 111 | { |
115 | actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep); | 112 | actor.Position.X = actor.Position.X + (actor.Velocity.X*timeStep); |
116 | actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep); | 113 | actor.Position.Y = actor.Position.Y + (actor.Velocity.Y*timeStep); |
117 | if (actor.Position.Y < 0) | 114 | if (actor.Position.Y < 0) |
118 | { | 115 | { |
119 | actor.Position.Y = 0.1F; | 116 | actor.Position.Y = 0.1F; |
@@ -132,17 +129,18 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
132 | actor.Position.X = 255.9F; | 129 | actor.Position.X = 255.9F; |
133 | } | 130 | } |
134 | 131 | ||
135 | float height = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1.0f; | 132 | float height = _heightMap[(int) actor.Position.Y*256 + (int) actor.Position.X] + 1.0f; |
136 | if (actor.Flying) | 133 | if (actor.Flying) |
137 | { | 134 | { |
138 | if (actor.Position.Z + (actor.Velocity.Z * timeStep) < _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 2) | 135 | if (actor.Position.Z + (actor.Velocity.Z*timeStep) < |
136 | _heightMap[(int) actor.Position.Y*256 + (int) actor.Position.X] + 2) | ||
139 | { | 137 | { |
140 | actor.Position.Z = height; | 138 | actor.Position.Z = height; |
141 | actor.Velocity.Z = 0; | 139 | actor.Velocity.Z = 0; |
142 | } | 140 | } |
143 | else | 141 | else |
144 | { | 142 | { |
145 | actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); | 143 | actor.Position.Z = actor.Position.Z + (actor.Velocity.Z*timeStep); |
146 | } | 144 | } |
147 | } | 145 | } |
148 | else | 146 | else |
@@ -150,32 +148,26 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
150 | actor.Position.Z = height; | 148 | actor.Position.Z = height; |
151 | actor.Velocity.Z = 0; | 149 | actor.Velocity.Z = 0; |
152 | } | 150 | } |
153 | |||
154 | |||
155 | } | 151 | } |
156 | } | 152 | } |
157 | 153 | ||
158 | public override void GetResults() | 154 | public override void GetResults() |
159 | { | 155 | { |
160 | |||
161 | } | 156 | } |
162 | 157 | ||
163 | public override bool IsThreaded | 158 | public override bool IsThreaded |
164 | { | 159 | { |
165 | get | 160 | get { return (false); // for now we won't be multithreaded |
166 | { | ||
167 | return (false); // for now we won't be multithreaded | ||
168 | } | 161 | } |
169 | } | 162 | } |
170 | 163 | ||
171 | public override void SetTerrain(float[] heightMap) | 164 | public override void SetTerrain(float[] heightMap) |
172 | { | 165 | { |
173 | this._heightMap = heightMap; | 166 | _heightMap = heightMap; |
174 | } | 167 | } |
175 | 168 | ||
176 | public override void DeleteTerrain() | 169 | public override void DeleteTerrain() |
177 | { | 170 | { |
178 | |||
179 | } | 171 | } |
180 | } | 172 | } |
181 | 173 | ||
@@ -185,6 +177,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
185 | private PhysicsVector _velocity; | 177 | private PhysicsVector _velocity; |
186 | private PhysicsVector _acceleration; | 178 | private PhysicsVector _acceleration; |
187 | private bool flying; | 179 | private bool flying; |
180 | |||
188 | public BasicActor() | 181 | public BasicActor() |
189 | { | 182 | { |
190 | _velocity = new PhysicsVector(); | 183 | _velocity = new PhysicsVector(); |
@@ -194,97 +187,56 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin | |||
194 | 187 | ||
195 | public override bool Flying | 188 | public override bool Flying |
196 | { | 189 | { |
197 | get | 190 | get { return flying; } |
198 | { | 191 | set { flying = value; } |
199 | return flying; | ||
200 | } | ||
201 | set | ||
202 | { | ||
203 | flying = value; | ||
204 | } | ||
205 | } | 192 | } |
206 | 193 | ||
207 | public override PhysicsVector Position | 194 | public override PhysicsVector Position |
208 | { | 195 | { |
209 | get | 196 | get { return _position; } |
210 | { | 197 | set { _position = value; } |
211 | return _position; | ||
212 | } | ||
213 | set | ||
214 | { | ||
215 | _position = value; | ||
216 | } | ||
217 | } | 198 | } |
218 | 199 | ||
219 | public override PhysicsVector Size | 200 | public override PhysicsVector Size |
220 | { | 201 | { |
221 | get | 202 | get { return new PhysicsVector(0, 0, 0); } |
222 | { | 203 | set { } |
223 | return new PhysicsVector(0, 0, 0); | ||
224 | } | ||
225 | set | ||
226 | { | ||
227 | } | ||
228 | } | 204 | } |
229 | 205 | ||
230 | public override PhysicsVector Velocity | 206 | public override PhysicsVector Velocity |
231 | { | 207 | { |
232 | get | 208 | get { return _velocity; } |
233 | { | 209 | set { _velocity = value; } |
234 | return _velocity; | ||
235 | } | ||
236 | set | ||
237 | { | ||
238 | _velocity = value; | ||
239 | } | ||
240 | } | 210 | } |
241 | 211 | ||
242 | public override Quaternion Orientation | 212 | public override Quaternion Orientation |
243 | { | 213 | { |
244 | get | 214 | get { return Quaternion.Identity; } |
245 | { | 215 | set { } |
246 | return Quaternion.Identity; | ||
247 | } | ||
248 | set | ||
249 | { | ||
250 | |||
251 | } | ||
252 | } | 216 | } |
253 | 217 | ||
254 | public override PhysicsVector Acceleration | 218 | public override PhysicsVector Acceleration |
255 | { | 219 | { |
256 | get | 220 | get { return _acceleration; } |
257 | { | ||
258 | return _acceleration; | ||
259 | } | ||
260 | |||
261 | } | 221 | } |
262 | 222 | ||
263 | public override bool Kinematic | 223 | public override bool Kinematic |
264 | { | 224 | { |
265 | get | 225 | get { return true; } |
266 | { | 226 | set { } |
267 | return true; | ||
268 | } | ||
269 | set | ||
270 | { | ||
271 | |||
272 | } | ||
273 | } | 227 | } |
228 | |||
274 | public void SetAcceleration(PhysicsVector accel) | 229 | public void SetAcceleration(PhysicsVector accel) |
275 | { | 230 | { |
276 | this._acceleration = accel; | 231 | _acceleration = accel; |
277 | } | 232 | } |
278 | 233 | ||
279 | public override void AddForce(PhysicsVector force) | 234 | public override void AddForce(PhysicsVector force) |
280 | { | 235 | { |
281 | |||
282 | } | 236 | } |
283 | 237 | ||
284 | public override void SetMomentum(PhysicsVector momentum) | 238 | public override void SetMomentum(PhysicsVector momentum) |
285 | { | 239 | { |
286 | |||
287 | } | 240 | } |
288 | } | 241 | } |
289 | 242 | } \ No newline at end of file | |
290 | } | ||
diff --git a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs index 0180917..c8596f7 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/AssemblyInfo.cs | |||
@@ -1,4 +1,4 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
@@ -27,24 +27,26 @@ | |||
27 | */ | 27 | */ |
28 | using System.Reflection; | 28 | using System.Reflection; |
29 | using System.Runtime.InteropServices; | 29 | using System.Runtime.InteropServices; |
30 | |||
30 | // Information about this assembly is defined by the following | 31 | // Information about this assembly is defined by the following |
31 | // attributes. | 32 | // attributes. |
32 | // | 33 | // |
33 | // change them to the information which is associated with the assembly | 34 | // change them to the information which is associated with the assembly |
34 | // you compile. | 35 | // you compile. |
35 | 36 | ||
36 | [assembly: AssemblyTitle("BulletXPlugin")] | 37 | [assembly : AssemblyTitle("BulletXPlugin")] |
37 | [assembly: AssemblyDescription("")] | 38 | [assembly : AssemblyDescription("")] |
38 | [assembly: AssemblyConfiguration("")] | 39 | [assembly : AssemblyConfiguration("")] |
39 | [assembly: AssemblyCompany("")] | 40 | [assembly : AssemblyCompany("")] |
40 | [assembly: AssemblyProduct("BulletXPlugin")] | 41 | [assembly : AssemblyProduct("BulletXPlugin")] |
41 | [assembly: AssemblyCopyright("")] | 42 | [assembly : AssemblyCopyright("")] |
42 | [assembly: AssemblyTrademark("")] | 43 | [assembly : AssemblyTrademark("")] |
43 | [assembly: AssemblyCulture("")] | 44 | [assembly : AssemblyCulture("")] |
44 | 45 | ||
45 | // This sets the default COM visibility of types in the assembly to invisible. | 46 | // This sets the default COM visibility of types in the assembly to invisible. |
46 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. | 47 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. |
47 | [assembly: ComVisible(false)] | 48 | |
49 | [assembly : ComVisible(false)] | ||
48 | 50 | ||
49 | // The assembly version has following format : | 51 | // The assembly version has following format : |
50 | // | 52 | // |
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices; | |||
53 | // You can specify all values by your own or you can build default build and revision | 55 | // You can specify all values by your own or you can build default build and revision |
54 | // numbers with the '*' character (the default): | 56 | // numbers with the '*' character (the default): |
55 | 57 | ||
56 | [assembly: AssemblyVersion("1.0.0.0")] | 58 | [assembly : AssemblyVersion("1.0.0.0")] \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs index 9fdc017..1658e2d 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs | |||
@@ -27,6 +27,7 @@ | |||
27 | */ | 27 | */ |
28 | 28 | ||
29 | #region Copyright | 29 | #region Copyright |
30 | |||
30 | /* | 31 | /* |
31 | * Copyright (c) Contributors, http://www.openmetaverse.org/ | 32 | * Copyright (c) Contributors, http://www.openmetaverse.org/ |
32 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 33 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
@@ -54,18 +55,21 @@ | |||
54 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 55 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
55 | * | 56 | * |
56 | */ | 57 | */ |
58 | |||
57 | #endregion | 59 | #endregion |
60 | |||
58 | #region References | 61 | #region References |
62 | |||
59 | using System; | 63 | using System; |
60 | using System.Collections.Generic; | 64 | using System.Collections.Generic; |
61 | using OpenSim.Region.Physics.Manager; | ||
62 | using OpenSim.Framework; | ||
63 | using Axiom.Math; | ||
64 | using AxiomQuaternion = Axiom.Math.Quaternion; | ||
65 | //Specific References for BulletXPlugin | ||
66 | using MonoXnaCompactMaths; | 65 | using MonoXnaCompactMaths; |
66 | using OpenSim.Framework; | ||
67 | using OpenSim.Region.Physics.Manager; | ||
67 | using XnaDevRu.BulletX; | 68 | using XnaDevRu.BulletX; |
68 | using XnaDevRu.BulletX.Dynamics; | 69 | using XnaDevRu.BulletX.Dynamics; |
70 | using AxiomQuaternion = Axiom.Math.Quaternion; | ||
71 | using BoxShape=XnaDevRu.BulletX.BoxShape; | ||
72 | //Specific References for BulletXPlugin | ||
69 | 73 | ||
70 | #endregion | 74 | #endregion |
71 | 75 | ||
@@ -80,27 +84,31 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
80 | { | 84 | { |
81 | } | 85 | } |
82 | } | 86 | } |
87 | |||
83 | /// <summary> | 88 | /// <summary> |
84 | /// BulletXConversions are called now BulletXMaths | 89 | /// BulletXConversions are called now BulletXMaths |
85 | /// This Class converts objects and types for BulletX and give some operations | 90 | /// This Class converts objects and types for BulletX and give some operations |
86 | /// </summary> | 91 | /// </summary> |
87 | public class BulletXMaths | 92 | public class BulletXMaths |
88 | { | 93 | { |
89 | //Vector3 | 94 | //Vector3 |
90 | public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) | 95 | public static Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) |
91 | { | 96 | { |
92 | return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); | 97 | return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); |
93 | } | 98 | } |
94 | public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3) | 99 | |
100 | public static PhysicsVector XnaVector3ToPhysicsVector(Vector3 xnaVector3) | ||
95 | { | 101 | { |
96 | return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); | 102 | return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); |
97 | } | 103 | } |
104 | |||
98 | //Quaternion | 105 | //Quaternion |
99 | public static MonoXnaCompactMaths.Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion) | 106 | public static Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion) |
100 | { | 107 | { |
101 | return new MonoXnaCompactMaths.Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w); | 108 | return new Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w); |
102 | } | 109 | } |
103 | public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(MonoXnaCompactMaths.Quaternion xnaQuaternion) | 110 | |
111 | public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(Quaternion xnaQuaternion) | ||
104 | { | 112 | { |
105 | return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z); | 113 | return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z); |
106 | } | 114 | } |
@@ -110,70 +118,79 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
110 | //- GetRotation (class MatrixOperations) | 118 | //- GetRotation (class MatrixOperations) |
111 | //- GetElement (class MathHelper) | 119 | //- GetElement (class MathHelper) |
112 | //- SetElement (class MathHelper) | 120 | //- SetElement (class MathHelper) |
113 | internal static void SetRotation(ref Matrix m, MonoXnaCompactMaths.Quaternion q) | 121 | internal static void SetRotation(ref Matrix m, Quaternion q) |
114 | { | 122 | { |
115 | float d = q.LengthSquared(); | 123 | float d = q.LengthSquared(); |
116 | float s = 2f / d; | 124 | float s = 2f/d; |
117 | float xs = q.X * s, ys = q.Y * s, zs = q.Z * s; | 125 | float xs = q.X*s, ys = q.Y*s, zs = q.Z*s; |
118 | float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs; | 126 | float wx = q.W*xs, wy = q.W*ys, wz = q.W*zs; |
119 | float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs; | 127 | float xx = q.X*xs, xy = q.X*ys, xz = q.X*zs; |
120 | float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs; | 128 | float yy = q.Y*ys, yz = q.Y*zs, zz = q.Z*zs; |
121 | m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0, | 129 | m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0, |
122 | xy + wz, 1 - (xx + zz), yz - wx, 0, | 130 | xy + wz, 1 - (xx + zz), yz - wx, 0, |
123 | xz - wy, yz + wx, 1 - (xx + yy), 0, | 131 | xz - wy, yz + wx, 1 - (xx + yy), 0, |
124 | m.M41, m.M42, m.M43, 1); | 132 | m.M41, m.M42, m.M43, 1); |
125 | } | 133 | } |
126 | internal static MonoXnaCompactMaths.Quaternion GetRotation(Matrix m) | 134 | |
135 | internal static Quaternion GetRotation(Matrix m) | ||
127 | { | 136 | { |
128 | MonoXnaCompactMaths.Quaternion q = new MonoXnaCompactMaths.Quaternion(); | 137 | Quaternion q = new Quaternion(); |
129 | 138 | ||
130 | float trace = m.M11 + m.M22 + m.M33; | 139 | float trace = m.M11 + m.M22 + m.M33; |
131 | 140 | ||
132 | if (trace > 0) | 141 | if (trace > 0) |
133 | { | 142 | { |
134 | float s = (float)Math.Sqrt(trace + 1); | 143 | float s = (float) Math.Sqrt(trace + 1); |
135 | q.W = s * 0.5f; | 144 | q.W = s*0.5f; |
136 | s = 0.5f / s; | 145 | s = 0.5f/s; |
137 | 146 | ||
138 | q.X = (m.M32 - m.M23) * s; | 147 | q.X = (m.M32 - m.M23)*s; |
139 | q.Y = (m.M13 - m.M31) * s; | 148 | q.Y = (m.M13 - m.M31)*s; |
140 | q.Z = (m.M21 - m.M12) * s; | 149 | q.Z = (m.M21 - m.M12)*s; |
141 | } | 150 | } |
142 | else | 151 | else |
143 | { | 152 | { |
144 | int i = m.M11 < m.M22 ? | 153 | int i = m.M11 < m.M22 |
145 | (m.M22 < m.M33 ? 2 : 1) : | 154 | ? |
146 | (m.M11 < m.M33 ? 2 : 0); | 155 | (m.M22 < m.M33 ? 2 : 1) |
147 | int j = (i + 1) % 3; | 156 | : |
148 | int k = (i + 2) % 3; | 157 | (m.M11 < m.M33 ? 2 : 0); |
149 | 158 | int j = (i + 1)%3; | |
150 | float s = (float)Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1); | 159 | int k = (i + 2)%3; |
151 | SetElement(ref q, i, s * 0.5f); | 160 | |
152 | s = 0.5f / s; | 161 | float s = (float) Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1); |
153 | 162 | SetElement(ref q, i, s*0.5f); | |
154 | q.W = (GetElement(m, k, j) - GetElement(m, j, k)) * s; | 163 | s = 0.5f/s; |
155 | SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j)) * s); | 164 | |
156 | SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k)) * s); | 165 | q.W = (GetElement(m, k, j) - GetElement(m, j, k))*s; |
166 | SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j))*s); | ||
167 | SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k))*s); | ||
157 | } | 168 | } |
158 | 169 | ||
159 | return q; | 170 | return q; |
160 | } | 171 | } |
161 | internal static float SetElement(ref MonoXnaCompactMaths.Quaternion q, int index, float value) | 172 | |
173 | internal static float SetElement(ref Quaternion q, int index, float value) | ||
162 | { | 174 | { |
163 | switch (index) | 175 | switch (index) |
164 | { | 176 | { |
165 | case 0: | 177 | case 0: |
166 | q.X = value; break; | 178 | q.X = value; |
179 | break; | ||
167 | case 1: | 180 | case 1: |
168 | q.Y = value; break; | 181 | q.Y = value; |
182 | break; | ||
169 | case 2: | 183 | case 2: |
170 | q.Z = value; break; | 184 | q.Z = value; |
185 | break; | ||
171 | case 3: | 186 | case 3: |
172 | q.W = value; break; | 187 | q.W = value; |
188 | break; | ||
173 | } | 189 | } |
174 | 190 | ||
175 | return 0; | 191 | return 0; |
176 | } | 192 | } |
193 | |||
177 | internal static float GetElement(Matrix mat, int row, int col) | 194 | internal static float GetElement(Matrix mat, int row, int col) |
178 | { | 195 | { |
179 | switch (row) | 196 | switch (row) |
@@ -187,7 +204,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
187 | return mat.M12; | 204 | return mat.M12; |
188 | case 2: | 205 | case 2: |
189 | return mat.M13; | 206 | return mat.M13; |
190 | } break; | 207 | } |
208 | break; | ||
191 | case 1: | 209 | case 1: |
192 | switch (col) | 210 | switch (col) |
193 | { | 211 | { |
@@ -197,7 +215,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
197 | return mat.M22; | 215 | return mat.M22; |
198 | case 2: | 216 | case 2: |
199 | return mat.M23; | 217 | return mat.M23; |
200 | } break; | 218 | } |
219 | break; | ||
201 | case 2: | 220 | case 2: |
202 | switch (col) | 221 | switch (col) |
203 | { | 222 | { |
@@ -207,12 +226,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
207 | return mat.M32; | 226 | return mat.M32; |
208 | case 2: | 227 | case 2: |
209 | return mat.M33; | 228 | return mat.M33; |
210 | } break; | 229 | } |
230 | break; | ||
211 | } | 231 | } |
212 | 232 | ||
213 | return 0; | 233 | return 0; |
214 | } | 234 | } |
215 | } | 235 | } |
236 | |||
216 | /// <summary> | 237 | /// <summary> |
217 | /// PhysicsPlugin Class for BulletX | 238 | /// PhysicsPlugin Class for BulletX |
218 | /// </summary> | 239 | /// </summary> |
@@ -223,10 +244,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
223 | public BulletXPlugin() | 244 | public BulletXPlugin() |
224 | { | 245 | { |
225 | } | 246 | } |
247 | |||
226 | public bool Init() | 248 | public bool Init() |
227 | { | 249 | { |
228 | return true; | 250 | return true; |
229 | } | 251 | } |
252 | |||
230 | public PhysicsScene GetScene() | 253 | public PhysicsScene GetScene() |
231 | { | 254 | { |
232 | if (_mScene == null) | 255 | if (_mScene == null) |
@@ -235,20 +258,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
235 | } | 258 | } |
236 | return (_mScene); | 259 | return (_mScene); |
237 | } | 260 | } |
261 | |||
238 | public string GetName() | 262 | public string GetName() |
239 | { | 263 | { |
240 | return ("modified_BulletX");//Changed!! "BulletXEngine" To "modified_BulletX" | 264 | return ("modified_BulletX"); //Changed!! "BulletXEngine" To "modified_BulletX" |
241 | } | 265 | } |
266 | |||
242 | public void Dispose() | 267 | public void Dispose() |
243 | { | 268 | { |
244 | } | 269 | } |
245 | } | 270 | } |
271 | |||
246 | /// <summary> | 272 | /// <summary> |
247 | /// PhysicsScene Class for BulletX | 273 | /// PhysicsScene Class for BulletX |
248 | /// </summary> | 274 | /// </summary> |
249 | public class BulletXScene : PhysicsScene | 275 | public class BulletXScene : PhysicsScene |
250 | { | 276 | { |
251 | #region BulletXScene Fields | 277 | #region BulletXScene Fields |
278 | |||
252 | public DiscreteDynamicsWorld ddWorld; | 279 | public DiscreteDynamicsWorld ddWorld; |
253 | private CollisionDispatcher cDispatcher; | 280 | private CollisionDispatcher cDispatcher; |
254 | private OverlappingPairCache opCache; | 281 | private OverlappingPairCache opCache; |
@@ -271,33 +298,58 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
271 | private List<BulletXCharacter> _characters = new List<BulletXCharacter>(); | 298 | private List<BulletXCharacter> _characters = new List<BulletXCharacter>(); |
272 | private List<BulletXPrim> _prims = new List<BulletXPrim>(); | 299 | private List<BulletXPrim> _prims = new List<BulletXPrim>(); |
273 | 300 | ||
274 | public static float Gravity { get { return gravity; } } | 301 | public static float Gravity |
275 | public static float HeightLevel0 { get { return heightLevel0; } } | 302 | { |
276 | public static float HeightLevel1 { get { return heightLevel1; } } | 303 | get { return gravity; } |
277 | public static float LowGravityFactor { get { return lowGravityFactor; } } | 304 | } |
278 | public static int MaxXY { get { return maxXY; } } | 305 | |
279 | public static int MaxZ { get { return maxZ; } } | 306 | public static float HeightLevel0 |
307 | { | ||
308 | get { return heightLevel0; } | ||
309 | } | ||
310 | |||
311 | public static float HeightLevel1 | ||
312 | { | ||
313 | get { return heightLevel1; } | ||
314 | } | ||
315 | |||
316 | public static float LowGravityFactor | ||
317 | { | ||
318 | get { return lowGravityFactor; } | ||
319 | } | ||
320 | |||
321 | public static int MaxXY | ||
322 | { | ||
323 | get { return maxXY; } | ||
324 | } | ||
325 | |||
326 | public static int MaxZ | ||
327 | { | ||
328 | get { return maxZ; } | ||
329 | } | ||
280 | 330 | ||
281 | private List<RigidBody> _forgottenRigidBodies = new List<RigidBody>(); | 331 | private List<RigidBody> _forgottenRigidBodies = new List<RigidBody>(); |
282 | internal string is_ex_message = "Can't remove rigidBody!: "; | 332 | internal string is_ex_message = "Can't remove rigidBody!: "; |
333 | |||
283 | #endregion | 334 | #endregion |
284 | 335 | ||
285 | public BulletXScene() | 336 | public BulletXScene() |
286 | { | 337 | { |
287 | cDispatcher = new CollisionDispatcher(); | 338 | cDispatcher = new CollisionDispatcher(); |
288 | MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ); | 339 | Vector3 worldMinDim = new Vector3((float) minXY, (float) minXY, (float) minZ); |
289 | MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ); | 340 | Vector3 worldMaxDim = new Vector3((float) maxXY, (float) maxXY, (float) maxZ); |
290 | opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); | 341 | opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); |
291 | sicSolver = new SequentialImpulseConstraintSolver(); | 342 | sicSolver = new SequentialImpulseConstraintSolver(); |
292 | 343 | ||
293 | lock (BulletXLock) | 344 | lock (BulletXLock) |
294 | { | 345 | { |
295 | ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); | 346 | ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); |
296 | ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); | 347 | ddWorld.Gravity = new Vector3(0, 0, -gravity); |
297 | } | 348 | } |
298 | //this._heightmap = new float[65536]; | 349 | //this._heightmap = new float[65536]; |
299 | } | 350 | } |
300 | public override PhysicsActor AddAvatar(string avName, PhysicsVector position) | 351 | |
352 | public override PhysicsActor AddAvatar(string avName, PhysicsVector position) | ||
301 | { | 353 | { |
302 | PhysicsVector pos = new PhysicsVector(); | 354 | PhysicsVector pos = new PhysicsVector(); |
303 | pos.X = position.X; | 355 | pos.X = position.X; |
@@ -311,6 +363,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
311 | } | 363 | } |
312 | return newAv; | 364 | return newAv; |
313 | } | 365 | } |
366 | |||
314 | public override void RemoveAvatar(PhysicsActor actor) | 367 | public override void RemoveAvatar(PhysicsActor actor) |
315 | { | 368 | { |
316 | if (actor is BulletXCharacter) | 369 | if (actor is BulletXCharacter) |
@@ -319,20 +372,22 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
319 | { | 372 | { |
320 | try | 373 | try |
321 | { | 374 | { |
322 | ddWorld.RemoveRigidBody(((BulletXCharacter)actor).RigidBody); | 375 | ddWorld.RemoveRigidBody(((BulletXCharacter) actor).RigidBody); |
323 | } | 376 | } |
324 | catch (Exception ex) | 377 | catch (Exception ex) |
325 | { | 378 | { |
326 | BulletXMessage(is_ex_message + ex.Message, true); | 379 | BulletXMessage(is_ex_message + ex.Message, true); |
327 | ((BulletXCharacter)actor).RigidBody.ActivationState = ActivationState.DisableSimulation; | 380 | ((BulletXCharacter) actor).RigidBody.ActivationState = ActivationState.DisableSimulation; |
328 | AddForgottenRigidBody(((BulletXCharacter)actor).RigidBody); | 381 | AddForgottenRigidBody(((BulletXCharacter) actor).RigidBody); |
329 | } | 382 | } |
330 | _characters.Remove((BulletXCharacter)actor); | 383 | _characters.Remove((BulletXCharacter) actor); |
331 | } | 384 | } |
332 | GC.Collect(); | 385 | GC.Collect(); |
333 | } | 386 | } |
334 | } | 387 | } |
335 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation) | 388 | |
389 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, | ||
390 | PhysicsVector size, AxiomQuaternion rotation) | ||
336 | { | 391 | { |
337 | PhysicsActor result; | 392 | PhysicsActor result; |
338 | 393 | ||
@@ -358,11 +413,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
358 | 413 | ||
359 | return result; | 414 | return result; |
360 | } | 415 | } |
361 | public PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation) | 416 | |
417 | public PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation) | ||
362 | { | 418 | { |
363 | return AddPrim("", position, size, rotation, null, null); | 419 | return AddPrim("", position, size, rotation, null, null); |
364 | } | 420 | } |
365 | public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | 421 | |
422 | public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, | ||
423 | Mesh mesh, PrimitiveBaseShape pbs) | ||
366 | { | 424 | { |
367 | BulletXPrim newPrim = null; | 425 | BulletXPrim newPrim = null; |
368 | lock (BulletXLock) | 426 | lock (BulletXLock) |
@@ -372,6 +430,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
372 | } | 430 | } |
373 | return newPrim; | 431 | return newPrim; |
374 | } | 432 | } |
433 | |||
375 | public override void RemovePrim(PhysicsActor prim) | 434 | public override void RemovePrim(PhysicsActor prim) |
376 | { | 435 | { |
377 | if (prim is BulletXPrim) | 436 | if (prim is BulletXPrim) |
@@ -380,19 +439,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
380 | { | 439 | { |
381 | try | 440 | try |
382 | { | 441 | { |
383 | ddWorld.RemoveRigidBody(((BulletXPrim)prim).RigidBody); | 442 | ddWorld.RemoveRigidBody(((BulletXPrim) prim).RigidBody); |
384 | } | 443 | } |
385 | catch (Exception ex) | 444 | catch (Exception ex) |
386 | { | 445 | { |
387 | BulletXMessage(is_ex_message + ex.Message, true); | 446 | BulletXMessage(is_ex_message + ex.Message, true); |
388 | ((BulletXPrim)prim).RigidBody.ActivationState = ActivationState.DisableSimulation; | 447 | ((BulletXPrim) prim).RigidBody.ActivationState = ActivationState.DisableSimulation; |
389 | AddForgottenRigidBody(((BulletXPrim)prim).RigidBody); | 448 | AddForgottenRigidBody(((BulletXPrim) prim).RigidBody); |
390 | } | 449 | } |
391 | _prims.Remove((BulletXPrim)prim); | 450 | _prims.Remove((BulletXPrim) prim); |
392 | } | 451 | } |
393 | GC.Collect(); | 452 | GC.Collect(); |
394 | } | 453 | } |
395 | } | 454 | } |
455 | |||
396 | public override void Simulate(float timeStep) | 456 | public override void Simulate(float timeStep) |
397 | { | 457 | { |
398 | lock (BulletXLock) | 458 | lock (BulletXLock) |
@@ -408,6 +468,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
408 | UpdateKineticsForAll(); | 468 | UpdateKineticsForAll(); |
409 | } | 469 | } |
410 | } | 470 | } |
471 | |||
411 | private void MoveAllObjects(float timeStep) | 472 | private void MoveAllObjects(float timeStep) |
412 | { | 473 | { |
413 | foreach (BulletXCharacter actor in _characters) | 474 | foreach (BulletXCharacter actor in _characters) |
@@ -418,6 +479,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
418 | { | 479 | { |
419 | } | 480 | } |
420 | } | 481 | } |
482 | |||
421 | private void ValidateHeightForAll() | 483 | private void ValidateHeightForAll() |
422 | { | 484 | { |
423 | float _height; | 485 | float _height; |
@@ -431,7 +493,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
431 | foreach (BulletXPrim prim in _prims) | 493 | foreach (BulletXPrim prim in _prims) |
432 | { | 494 | { |
433 | //_height = HeightValue(prim.RigidBodyPosition); | 495 | //_height = HeightValue(prim.RigidBodyPosition); |
434 | _height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition); | 496 | _height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition); |
435 | prim.ValidateHeight(_height); | 497 | prim.ValidateHeight(_height); |
436 | //if (_simFlatPlanet.heightIsNotValid(prim.RigidBodyPosition, out _height)) prim.ValidateHeight(_height); | 498 | //if (_simFlatPlanet.heightIsNotValid(prim.RigidBodyPosition, out _height)) prim.ValidateHeight(_height); |
437 | } | 499 | } |
@@ -444,6 +506,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
444 | // prim.ValidateHeight(0); | 506 | // prim.ValidateHeight(0); |
445 | //} | 507 | //} |
446 | } | 508 | } |
509 | |||
447 | private void UpdateKineticsForAll() | 510 | private void UpdateKineticsForAll() |
448 | { | 511 | { |
449 | //UpdatePosition > UpdateKinetics. | 512 | //UpdatePosition > UpdateKinetics. |
@@ -458,17 +521,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
458 | } | 521 | } |
459 | //if(this._simFlatPlanet!=null) this._simFlatPlanet.Restore(); | 522 | //if(this._simFlatPlanet!=null) this._simFlatPlanet.Restore(); |
460 | } | 523 | } |
524 | |||
461 | public override void GetResults() | 525 | public override void GetResults() |
462 | { | 526 | { |
463 | |||
464 | } | 527 | } |
528 | |||
465 | public override bool IsThreaded | 529 | public override bool IsThreaded |
466 | { | 530 | { |
467 | get | 531 | get { return (false); // for now we won't be multithreaded |
468 | { | ||
469 | return (false); // for now we won't be multithreaded | ||
470 | } | 532 | } |
471 | } | 533 | } |
534 | |||
472 | public override void SetTerrain(float[] heightMap) | 535 | public override void SetTerrain(float[] heightMap) |
473 | { | 536 | { |
474 | ////As the same as ODE, heightmap (x,y) must be swapped for BulletX | 537 | ////As the same as ODE, heightmap (x,y) must be swapped for BulletX |
@@ -494,41 +557,44 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
494 | DeleteTerrain(); | 557 | DeleteTerrain(); |
495 | //There is a BulletXLock inside the constructor of BulletXPlanet | 558 | //There is a BulletXLock inside the constructor of BulletXPlanet |
496 | //this._simFlatPlanet = new BulletXPlanet(this, swappedHeightMap); | 559 | //this._simFlatPlanet = new BulletXPlanet(this, swappedHeightMap); |
497 | this._simFlatPlanet = new BulletXPlanet(this, heightMap); | 560 | _simFlatPlanet = new BulletXPlanet(this, heightMap); |
498 | //this._heightmap = heightMap; | 561 | //this._heightmap = heightMap; |
499 | } | 562 | } |
563 | |||
500 | public override void DeleteTerrain() | 564 | public override void DeleteTerrain() |
501 | { | 565 | { |
502 | if (this._simFlatPlanet != null) | 566 | if (_simFlatPlanet != null) |
503 | { | 567 | { |
504 | lock (BulletXLock) | 568 | lock (BulletXLock) |
505 | { | 569 | { |
506 | try | 570 | try |
507 | { | 571 | { |
508 | ddWorld.RemoveRigidBody(this._simFlatPlanet.RigidBody); | 572 | ddWorld.RemoveRigidBody(_simFlatPlanet.RigidBody); |
509 | } | 573 | } |
510 | catch (Exception ex) | 574 | catch (Exception ex) |
511 | { | 575 | { |
512 | BulletXMessage(is_ex_message + ex.Message, true); | 576 | BulletXMessage(is_ex_message + ex.Message, true); |
513 | this._simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation; | 577 | _simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation; |
514 | AddForgottenRigidBody(this._simFlatPlanet.RigidBody); | 578 | AddForgottenRigidBody(_simFlatPlanet.RigidBody); |
515 | } | 579 | } |
516 | } | 580 | } |
517 | this._simFlatPlanet = null; | 581 | _simFlatPlanet = null; |
518 | GC.Collect(); | 582 | GC.Collect(); |
519 | BulletXMessage("Terrain erased!", false); | 583 | BulletXMessage("Terrain erased!", false); |
520 | } | 584 | } |
521 | //this._heightmap = null; | 585 | //this._heightmap = null; |
522 | } | 586 | } |
587 | |||
523 | internal void AddForgottenRigidBody(RigidBody forgottenRigidBody) | 588 | internal void AddForgottenRigidBody(RigidBody forgottenRigidBody) |
524 | { | 589 | { |
525 | _forgottenRigidBodies.Add(forgottenRigidBody); | 590 | _forgottenRigidBodies.Add(forgottenRigidBody); |
526 | } | 591 | } |
592 | |||
527 | private void RemoveForgottenRigidBodies() | 593 | private void RemoveForgottenRigidBodies() |
528 | { | 594 | { |
529 | RigidBody forgottenRigidBody; | 595 | RigidBody forgottenRigidBody; |
530 | int nRigidBodies = _forgottenRigidBodies.Count; | 596 | int nRigidBodies = _forgottenRigidBodies.Count; |
531 | for(int i = nRigidBodies - 1; i >= 0; i--) | 597 | for (int i = nRigidBodies - 1; i >= 0; i--) |
532 | { | 598 | { |
533 | forgottenRigidBody = _forgottenRigidBodies[i]; | 599 | forgottenRigidBody = _forgottenRigidBodies[i]; |
534 | try | 600 | try |
@@ -544,10 +610,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
544 | } | 610 | } |
545 | GC.Collect(); | 611 | GC.Collect(); |
546 | } | 612 | } |
613 | |||
547 | internal void BulletXMessage(string message, bool isWarning) | 614 | internal void BulletXMessage(string message, bool isWarning) |
548 | { | 615 | { |
549 | PhysicsPluginManager.PhysicsPluginMessage("[Modified BulletX]:\t" + message, isWarning); | 616 | PhysicsPluginManager.PhysicsPluginMessage("[Modified BulletX]:\t" + message, isWarning); |
550 | } | 617 | } |
618 | |||
551 | //temp | 619 | //temp |
552 | //private float HeightValue(MonoXnaCompactMaths.Vector3 position) | 620 | //private float HeightValue(MonoXnaCompactMaths.Vector3 position) |
553 | //{ | 621 | //{ |
@@ -559,10 +627,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
559 | // height = this._heightmap[li_y * 256 + li_x]; | 627 | // height = this._heightmap[li_y * 256 + li_x]; |
560 | // if (height < 0) height = 0; | 628 | // if (height < 0) height = 0; |
561 | // else if (height > maxZ) height = maxZ; | 629 | // else if (height > maxZ) height = maxZ; |
562 | 630 | ||
563 | // return height; | 631 | // return height; |
564 | //} | 632 | //} |
565 | } | 633 | } |
634 | |||
566 | /// <summary> | 635 | /// <summary> |
567 | /// PhysicsActor Character Class for BulletX | 636 | /// PhysicsActor Character Class for BulletX |
568 | /// </summary> | 637 | /// </summary> |
@@ -576,21 +645,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
576 | private bool flying; | 645 | private bool flying; |
577 | private RigidBody rigidBody; | 646 | private RigidBody rigidBody; |
578 | 647 | ||
579 | public MonoXnaCompactMaths.Vector3 RigidBodyPosition | 648 | public Vector3 RigidBodyPosition |
580 | { | 649 | { |
581 | get { return this.rigidBody.CenterOfMassPosition; } | 650 | get { return rigidBody.CenterOfMassPosition; } |
582 | } | 651 | } |
652 | |||
583 | public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) | 653 | public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) |
584 | : this("", parent_scene, pos) | 654 | : this("", parent_scene, pos) |
585 | { | 655 | { |
586 | } | 656 | } |
657 | |||
587 | public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos) | 658 | public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos) |
588 | : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), | 659 | : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), |
589 | AxiomQuaternion.Identity) | 660 | AxiomQuaternion.Identity) |
590 | { | 661 | { |
591 | } | 662 | } |
663 | |||
592 | public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, | 664 | public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, |
593 | PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) | 665 | PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) |
594 | { | 666 | { |
595 | //This fields will be removed. They're temporal | 667 | //This fields will be removed. They're temporal |
596 | float _sizeX = 0.5f; | 668 | float _sizeX = 0.5f; |
@@ -622,23 +694,23 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
622 | //For now, like ODE, collisionShape = sphere of radious = 1.0 | 694 | //For now, like ODE, collisionShape = sphere of radious = 1.0 |
623 | CollisionShape _collisionShape = new SphereShape(1.0f); | 695 | CollisionShape _collisionShape = new SphereShape(1.0f); |
624 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); | 696 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); |
625 | MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); | 697 | Vector3 _localInertia = new Vector3(); |
626 | _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 | 698 | _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 |
627 | rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); | 699 | rigidBody = |
700 | new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, | ||
701 | _friction, _restitution); | ||
628 | //rigidBody.ActivationState = ActivationState.DisableDeactivation; | 702 | //rigidBody.ActivationState = ActivationState.DisableDeactivation; |
629 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition | 703 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition |
630 | MonoXnaCompactMaths.Vector3 _vDebugTranslation; | 704 | Vector3 _vDebugTranslation; |
631 | _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; | 705 | _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; |
632 | rigidBody.Translate(_vDebugTranslation); | 706 | rigidBody.Translate(_vDebugTranslation); |
633 | parent_scene.ddWorld.AddRigidBody(rigidBody); | 707 | parent_scene.ddWorld.AddRigidBody(rigidBody); |
634 | } | 708 | } |
635 | } | 709 | } |
710 | |||
636 | public override PhysicsVector Position | 711 | public override PhysicsVector Position |
637 | { | 712 | { |
638 | get | 713 | get { return _position; } |
639 | { | ||
640 | return _position; | ||
641 | } | ||
642 | set | 714 | set |
643 | { | 715 | { |
644 | lock (BulletXScene.BulletXLock) | 716 | lock (BulletXScene.BulletXLock) |
@@ -648,12 +720,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
648 | } | 720 | } |
649 | } | 721 | } |
650 | } | 722 | } |
723 | |||
651 | public override PhysicsVector Velocity | 724 | public override PhysicsVector Velocity |
652 | { | 725 | { |
653 | get | 726 | get { return _velocity; } |
654 | { | ||
655 | return _velocity; | ||
656 | } | ||
657 | set | 727 | set |
658 | { | 728 | { |
659 | lock (BulletXScene.BulletXLock) | 729 | lock (BulletXScene.BulletXLock) |
@@ -663,12 +733,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
663 | } | 733 | } |
664 | } | 734 | } |
665 | } | 735 | } |
736 | |||
666 | public override PhysicsVector Size | 737 | public override PhysicsVector Size |
667 | { | 738 | { |
668 | get | 739 | get { return _size; } |
669 | { | ||
670 | return _size; | ||
671 | } | ||
672 | set | 740 | set |
673 | { | 741 | { |
674 | lock (BulletXScene.BulletXLock) | 742 | lock (BulletXScene.BulletXLock) |
@@ -677,19 +745,15 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
677 | } | 745 | } |
678 | } | 746 | } |
679 | } | 747 | } |
748 | |||
680 | public override PhysicsVector Acceleration | 749 | public override PhysicsVector Acceleration |
681 | { | 750 | { |
682 | get | 751 | get { return _acceleration; } |
683 | { | ||
684 | return _acceleration; | ||
685 | } | ||
686 | } | 752 | } |
753 | |||
687 | public override AxiomQuaternion Orientation | 754 | public override AxiomQuaternion Orientation |
688 | { | 755 | { |
689 | get | 756 | get { return _orientation; } |
690 | { | ||
691 | return _orientation; | ||
692 | } | ||
693 | set | 757 | set |
694 | { | 758 | { |
695 | lock (BulletXScene.BulletXLock) | 759 | lock (BulletXScene.BulletXLock) |
@@ -698,24 +762,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
698 | } | 762 | } |
699 | } | 763 | } |
700 | } | 764 | } |
765 | |||
701 | public RigidBody RigidBody | 766 | public RigidBody RigidBody |
702 | { | 767 | { |
703 | get | 768 | get { return rigidBody; } |
704 | { | ||
705 | return rigidBody; | ||
706 | } | ||
707 | } | 769 | } |
770 | |||
708 | public override bool Flying | 771 | public override bool Flying |
709 | { | 772 | { |
710 | get | 773 | get { return flying; } |
711 | { | 774 | set { flying = value; } |
712 | return flying; | ||
713 | } | ||
714 | set | ||
715 | { | ||
716 | flying = value; | ||
717 | } | ||
718 | } | 775 | } |
776 | |||
719 | public void SetAcceleration(PhysicsVector accel) | 777 | public void SetAcceleration(PhysicsVector accel) |
720 | { | 778 | { |
721 | lock (BulletXScene.BulletXLock) | 779 | lock (BulletXScene.BulletXLock) |
@@ -723,116 +781,121 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
723 | _acceleration = accel; | 781 | _acceleration = accel; |
724 | } | 782 | } |
725 | } | 783 | } |
784 | |||
726 | public override bool Kinematic | 785 | public override bool Kinematic |
727 | { | 786 | { |
728 | get | 787 | get { return false; } |
729 | { | 788 | set { } |
730 | return false; | ||
731 | } | ||
732 | set | ||
733 | { | ||
734 | |||
735 | } | ||
736 | } | 789 | } |
790 | |||
737 | public override void AddForce(PhysicsVector force) | 791 | public override void AddForce(PhysicsVector force) |
738 | { | 792 | { |
739 | |||
740 | } | 793 | } |
794 | |||
741 | public override void SetMomentum(PhysicsVector momentum) | 795 | public override void SetMomentum(PhysicsVector momentum) |
742 | { | 796 | { |
743 | |||
744 | } | 797 | } |
798 | |||
745 | internal void Move(float timeStep) | 799 | internal void Move(float timeStep) |
746 | { | 800 | { |
747 | MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); | 801 | Vector3 vec = new Vector3(); |
748 | //At this point it's supossed that: | 802 | //At this point it's supossed that: |
749 | //_velocity == rigidBody.LinearVelocity | 803 | //_velocity == rigidBody.LinearVelocity |
750 | vec.X = this._velocity.X; | 804 | vec.X = _velocity.X; |
751 | vec.Y = this._velocity.Y; | 805 | vec.Y = _velocity.Y; |
752 | vec.Z = this._velocity.Z; | 806 | vec.Z = _velocity.Z; |
753 | if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate(); | 807 | if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate(); |
754 | if (flying) | 808 | if (flying) |
755 | { | 809 | { |
756 | //Antigravity with movement | 810 | //Antigravity with movement |
757 | if (this._position.Z <= BulletXScene.HeightLevel0) | 811 | if (_position.Z <= BulletXScene.HeightLevel0) |
758 | { | 812 | { |
759 | vec.Z += BulletXScene.Gravity * timeStep; | 813 | vec.Z += BulletXScene.Gravity*timeStep; |
760 | } | 814 | } |
761 | //Lowgravity with movement | 815 | //Lowgravity with movement |
762 | else if ((this._position.Z > BulletXScene.HeightLevel0) | 816 | else if ((_position.Z > BulletXScene.HeightLevel0) |
763 | && (this._position.Z <= BulletXScene.HeightLevel1)) | 817 | && (_position.Z <= BulletXScene.HeightLevel1)) |
764 | { | 818 | { |
765 | vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); | 819 | vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor); |
766 | } | 820 | } |
767 | //Lowgravity with... | 821 | //Lowgravity with... |
768 | else if (this._position.Z > BulletXScene.HeightLevel1) | 822 | else if (_position.Z > BulletXScene.HeightLevel1) |
769 | { | 823 | { |
770 | if (vec.Z > 0) //no movement | 824 | if (vec.Z > 0) //no movement |
771 | vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); | 825 | vec.Z = BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor); |
772 | else | 826 | else |
773 | vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); | 827 | vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor); |
774 | |||
775 | } | 828 | } |
776 | } | 829 | } |
777 | rigidBody.LinearVelocity = vec; | 830 | rigidBody.LinearVelocity = vec; |
778 | } | 831 | } |
832 | |||
779 | //This validation is very basic | 833 | //This validation is very basic |
780 | internal void ValidateHeight(float heighmapPositionValue) | 834 | internal void ValidateHeight(float heighmapPositionValue) |
781 | { | 835 | { |
782 | if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f) | 836 | if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f) |
783 | { | 837 | { |
784 | Matrix m = rigidBody.WorldTransform; | 838 | Matrix m = rigidBody.WorldTransform; |
785 | MonoXnaCompactMaths.Vector3 v3 = m.Translation; | 839 | Vector3 v3 = m.Translation; |
786 | v3.Z = heighmapPositionValue + _size.Z / 2.0f; | 840 | v3.Z = heighmapPositionValue + _size.Z/2.0f; |
787 | m.Translation = v3; | 841 | m.Translation = v3; |
788 | rigidBody.WorldTransform = m; | 842 | rigidBody.WorldTransform = m; |
789 | //When an Avie touch the ground it's vertical velocity it's reduced to ZERO | 843 | //When an Avie touch the ground it's vertical velocity it's reduced to ZERO |
790 | Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f)); | 844 | Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f)); |
791 | } | 845 | } |
792 | } | 846 | } |
847 | |||
793 | internal void UpdateKinetics() | 848 | internal void UpdateKinetics() |
794 | { | 849 | { |
795 | this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); | 850 | _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); |
796 | this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); | 851 | _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); |
797 | //Orientation it seems that it will be the default. | 852 | //Orientation it seems that it will be the default. |
798 | ReOrient(); | 853 | ReOrient(); |
799 | } | 854 | } |
800 | 855 | ||
801 | #region Methods for updating values of RigidBody | 856 | #region Methods for updating values of RigidBody |
857 | |||
802 | private void Translate() | 858 | private void Translate() |
803 | { | 859 | { |
804 | Translate(this._position); | 860 | Translate(_position); |
805 | } | 861 | } |
862 | |||
806 | private void Translate(PhysicsVector _newPos) | 863 | private void Translate(PhysicsVector _newPos) |
807 | { | 864 | { |
808 | MonoXnaCompactMaths.Vector3 _translation; | 865 | Vector3 _translation; |
809 | _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; | 866 | _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; |
810 | rigidBody.Translate(_translation); | 867 | rigidBody.Translate(_translation); |
811 | } | 868 | } |
869 | |||
812 | private void Speed() | 870 | private void Speed() |
813 | { | 871 | { |
814 | Speed(this._velocity); | 872 | Speed(_velocity); |
815 | } | 873 | } |
874 | |||
816 | private void Speed(PhysicsVector _newSpeed) | 875 | private void Speed(PhysicsVector _newSpeed) |
817 | { | 876 | { |
818 | MonoXnaCompactMaths.Vector3 _speed; | 877 | Vector3 _speed; |
819 | _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); | 878 | _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); |
820 | rigidBody.LinearVelocity = _speed; | 879 | rigidBody.LinearVelocity = _speed; |
821 | } | 880 | } |
881 | |||
822 | private void ReOrient() | 882 | private void ReOrient() |
823 | { | 883 | { |
824 | ReOrient(this._orientation); | 884 | ReOrient(_orientation); |
825 | } | 885 | } |
886 | |||
826 | private void ReOrient(AxiomQuaternion _newOrient) | 887 | private void ReOrient(AxiomQuaternion _newOrient) |
827 | { | 888 | { |
828 | MonoXnaCompactMaths.Quaternion _newOrientation; | 889 | Quaternion _newOrientation; |
829 | _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); | 890 | _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); |
830 | Matrix _comTransform = rigidBody.CenterOfMassTransform; | 891 | Matrix _comTransform = rigidBody.CenterOfMassTransform; |
831 | BulletXMaths.SetRotation(ref _comTransform, _newOrientation); | 892 | BulletXMaths.SetRotation(ref _comTransform, _newOrientation); |
832 | rigidBody.CenterOfMassTransform = _comTransform; | 893 | rigidBody.CenterOfMassTransform = _comTransform; |
833 | } | 894 | } |
895 | |||
834 | #endregion | 896 | #endregion |
835 | } | 897 | } |
898 | |||
836 | /// <summary> | 899 | /// <summary> |
837 | /// PhysicsActor Prim Class for BulletX | 900 | /// PhysicsActor Prim Class for BulletX |
838 | /// </summary> | 901 | /// </summary> |
@@ -851,27 +914,32 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
851 | //_physical value will be linked with the prim object value | 914 | //_physical value will be linked with the prim object value |
852 | private Boolean _physical = false; | 915 | private Boolean _physical = false; |
853 | 916 | ||
854 | public MonoXnaCompactMaths.Vector3 RigidBodyPosition | 917 | public Vector3 RigidBodyPosition |
855 | { | 918 | { |
856 | get { return this.rigidBody.CenterOfMassPosition; } | 919 | get { return rigidBody.CenterOfMassPosition; } |
857 | } | 920 | } |
921 | |||
858 | public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation) | 922 | public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation) |
859 | : this("", parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, null, null) | 923 | : this("", parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, null, null) |
860 | { | 924 | { |
861 | } | 925 | } |
862 | public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, | 926 | |
863 | AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | 927 | public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, |
928 | AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | ||
864 | : this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs) | 929 | : this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs) |
865 | { | 930 | { |
866 | } | 931 | } |
867 | public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size, | 932 | |
868 | PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | 933 | public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, |
934 | PhysicsVector size, | ||
935 | PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | ||
869 | { | 936 | { |
870 | if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0"); | 937 | if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0"); |
871 | if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity; | 938 | if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity; |
872 | 939 | ||
873 | _position = pos; | 940 | _position = pos; |
874 | if (_physical) _velocity = velocity; else _velocity = new PhysicsVector(); | 941 | if (_physical) _velocity = velocity; |
942 | else _velocity = new PhysicsVector(); | ||
875 | _size = size; | 943 | _size = size; |
876 | _acceleration = aceleration; | 944 | _acceleration = aceleration; |
877 | _orientation = rotation; | 945 | _orientation = rotation; |
@@ -889,26 +957,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
889 | { | 957 | { |
890 | _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos); | 958 | _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos); |
891 | //For now all prims are boxes | 959 | //For now all prims are boxes |
892 | CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f); | 960 | CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size)/2.0f); |
893 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); | 961 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); |
894 | MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); | 962 | Vector3 _localInertia = new Vector3(); |
895 | if(_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0 | 963 | if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0 |
896 | rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); | 964 | rigidBody = |
965 | new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, | ||
966 | _friction, _restitution); | ||
897 | //rigidBody.ActivationState = ActivationState.DisableDeactivation; | 967 | //rigidBody.ActivationState = ActivationState.DisableDeactivation; |
898 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition | 968 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition |
899 | MonoXnaCompactMaths.Vector3 _vDebugTranslation; | 969 | Vector3 _vDebugTranslation; |
900 | _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; | 970 | _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; |
901 | rigidBody.Translate(_vDebugTranslation); | 971 | rigidBody.Translate(_vDebugTranslation); |
902 | //--- | 972 | //--- |
903 | parent_scene.ddWorld.AddRigidBody(rigidBody); | 973 | parent_scene.ddWorld.AddRigidBody(rigidBody); |
904 | } | 974 | } |
905 | } | 975 | } |
976 | |||
906 | public override PhysicsVector Position | 977 | public override PhysicsVector Position |
907 | { | 978 | { |
908 | get | 979 | get { return _position; } |
909 | { | ||
910 | return _position; | ||
911 | } | ||
912 | set | 980 | set |
913 | { | 981 | { |
914 | lock (BulletXScene.BulletXLock) | 982 | lock (BulletXScene.BulletXLock) |
@@ -918,12 +986,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
918 | } | 986 | } |
919 | } | 987 | } |
920 | } | 988 | } |
989 | |||
921 | public override PhysicsVector Velocity | 990 | public override PhysicsVector Velocity |
922 | { | 991 | { |
923 | get | 992 | get { return _velocity; } |
924 | { | ||
925 | return _velocity; | ||
926 | } | ||
927 | set | 993 | set |
928 | { | 994 | { |
929 | lock (BulletXScene.BulletXLock) | 995 | lock (BulletXScene.BulletXLock) |
@@ -941,12 +1007,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
941 | } | 1007 | } |
942 | } | 1008 | } |
943 | } | 1009 | } |
1010 | |||
944 | public override PhysicsVector Size | 1011 | public override PhysicsVector Size |
945 | { | 1012 | { |
946 | get | 1013 | get { return _size; } |
947 | { | ||
948 | return _size; | ||
949 | } | ||
950 | set | 1014 | set |
951 | { | 1015 | { |
952 | lock (BulletXScene.BulletXLock) | 1016 | lock (BulletXScene.BulletXLock) |
@@ -956,19 +1020,15 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
956 | } | 1020 | } |
957 | } | 1021 | } |
958 | } | 1022 | } |
1023 | |||
959 | public override PhysicsVector Acceleration | 1024 | public override PhysicsVector Acceleration |
960 | { | 1025 | { |
961 | get | 1026 | get { return _acceleration; } |
962 | { | ||
963 | return _acceleration; | ||
964 | } | ||
965 | } | 1027 | } |
1028 | |||
966 | public override AxiomQuaternion Orientation | 1029 | public override AxiomQuaternion Orientation |
967 | { | 1030 | { |
968 | get | 1031 | get { return _orientation; } |
969 | { | ||
970 | return _orientation; | ||
971 | } | ||
972 | set | 1032 | set |
973 | { | 1033 | { |
974 | lock (BulletXScene.BulletXLock) | 1034 | lock (BulletXScene.BulletXLock) |
@@ -978,43 +1038,34 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
978 | } | 1038 | } |
979 | } | 1039 | } |
980 | } | 1040 | } |
1041 | |||
981 | public float Mass | 1042 | public float Mass |
982 | { | 1043 | { |
983 | get | 1044 | get |
984 | { | 1045 | { |
985 | //For now all prims are boxes | 1046 | //For now all prims are boxes |
986 | return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z; | 1047 | return (_physical ? 1 : 0)*_density*_size.X*_size.Y*_size.Z; |
987 | } | 1048 | } |
988 | } | 1049 | } |
1050 | |||
989 | public RigidBody RigidBody | 1051 | public RigidBody RigidBody |
990 | { | 1052 | { |
991 | get | 1053 | get { return rigidBody; } |
992 | { | ||
993 | return rigidBody; | ||
994 | } | ||
995 | } | 1054 | } |
1055 | |||
996 | public override bool Flying | 1056 | public override bool Flying |
997 | { | 1057 | { |
998 | get | 1058 | get { return false; //no flying prims for you |
999 | { | ||
1000 | return false; //no flying prims for you | ||
1001 | } | ||
1002 | set | ||
1003 | { | ||
1004 | |||
1005 | } | 1059 | } |
1060 | set { } | ||
1006 | } | 1061 | } |
1062 | |||
1007 | public Boolean Physical | 1063 | public Boolean Physical |
1008 | { | 1064 | { |
1009 | get | 1065 | get { return _physical; } |
1010 | { | 1066 | set { _physical = value; } |
1011 | return _physical; | ||
1012 | } | ||
1013 | set | ||
1014 | { | ||
1015 | _physical = value; | ||
1016 | } | ||
1017 | } | 1067 | } |
1068 | |||
1018 | public void SetAcceleration(PhysicsVector accel) | 1069 | public void SetAcceleration(PhysicsVector accel) |
1019 | { | 1070 | { |
1020 | lock (BulletXScene.BulletXLock) | 1071 | lock (BulletXScene.BulletXLock) |
@@ -1022,6 +1073,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
1022 | _acceleration = accel; | 1073 | _acceleration = accel; |
1023 | } | 1074 | } |
1024 | } | 1075 | } |
1076 | |||
1025 | public override bool Kinematic | 1077 | public override bool Kinematic |
1026 | { | 1078 | { |
1027 | get | 1079 | get |
@@ -1034,36 +1086,38 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
1034 | //this._prim.Kinematic = value; | 1086 | //this._prim.Kinematic = value; |
1035 | } | 1087 | } |
1036 | } | 1088 | } |
1089 | |||
1037 | public override void AddForce(PhysicsVector force) | 1090 | public override void AddForce(PhysicsVector force) |
1038 | { | 1091 | { |
1039 | |||
1040 | } | 1092 | } |
1093 | |||
1041 | public override void SetMomentum(PhysicsVector momentum) | 1094 | public override void SetMomentum(PhysicsVector momentum) |
1042 | { | 1095 | { |
1043 | |||
1044 | } | 1096 | } |
1097 | |||
1045 | internal void ValidateHeight(float heighmapPositionValue) | 1098 | internal void ValidateHeight(float heighmapPositionValue) |
1046 | { | 1099 | { |
1047 | if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f) | 1100 | if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f) |
1048 | { | 1101 | { |
1049 | Matrix m = rigidBody.WorldTransform; | 1102 | Matrix m = rigidBody.WorldTransform; |
1050 | MonoXnaCompactMaths.Vector3 v3 = m.Translation; | 1103 | Vector3 v3 = m.Translation; |
1051 | v3.Z = heighmapPositionValue + _size.Z / 2.0f; | 1104 | v3.Z = heighmapPositionValue + _size.Z/2.0f; |
1052 | m.Translation = v3; | 1105 | m.Translation = v3; |
1053 | rigidBody.WorldTransform = m; | 1106 | rigidBody.WorldTransform = m; |
1054 | //When a Prim touch the ground it's vertical velocity it's reduced to ZERO | 1107 | //When a Prim touch the ground it's vertical velocity it's reduced to ZERO |
1055 | //Static objects don't have linear velocity | 1108 | //Static objects don't have linear velocity |
1056 | if(_physical) | 1109 | if (_physical) |
1057 | Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f)); | 1110 | Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f)); |
1058 | } | 1111 | } |
1059 | } | 1112 | } |
1113 | |||
1060 | internal void UpdateKinetics() | 1114 | internal void UpdateKinetics() |
1061 | { | 1115 | { |
1062 | if (_physical) //Updates properties. Prim updates its properties physically | 1116 | if (_physical) //Updates properties. Prim updates its properties physically |
1063 | { | 1117 | { |
1064 | this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); | 1118 | _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); |
1065 | this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); | 1119 | _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); |
1066 | this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); | 1120 | _orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); |
1067 | } | 1121 | } |
1068 | else //Doesn't updates properties. That's a cancel | 1122 | else //Doesn't updates properties. That's a cancel |
1069 | { | 1123 | { |
@@ -1074,35 +1128,41 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
1074 | } | 1128 | } |
1075 | 1129 | ||
1076 | #region Methods for updating values of RigidBody | 1130 | #region Methods for updating values of RigidBody |
1131 | |||
1077 | private void Translate() | 1132 | private void Translate() |
1078 | { | 1133 | { |
1079 | Translate(this._position); | 1134 | Translate(_position); |
1080 | } | 1135 | } |
1136 | |||
1081 | private void Translate(PhysicsVector _newPos) | 1137 | private void Translate(PhysicsVector _newPos) |
1082 | { | 1138 | { |
1083 | MonoXnaCompactMaths.Vector3 _translation; | 1139 | Vector3 _translation; |
1084 | _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; | 1140 | _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; |
1085 | rigidBody.Translate(_translation); | 1141 | rigidBody.Translate(_translation); |
1086 | } | 1142 | } |
1143 | |||
1087 | private void Speed() | 1144 | private void Speed() |
1088 | { | 1145 | { |
1089 | Speed(this._velocity); | 1146 | Speed(_velocity); |
1090 | } | 1147 | } |
1148 | |||
1091 | private void Speed(PhysicsVector _newSpeed) | 1149 | private void Speed(PhysicsVector _newSpeed) |
1092 | { | 1150 | { |
1093 | MonoXnaCompactMaths.Vector3 _speed; | 1151 | Vector3 _speed; |
1094 | _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); | 1152 | _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); |
1095 | rigidBody.LinearVelocity = _speed; | 1153 | rigidBody.LinearVelocity = _speed; |
1096 | } | 1154 | } |
1155 | |||
1097 | private void ReSize() | 1156 | private void ReSize() |
1098 | { | 1157 | { |
1099 | ReSize(this._size); | 1158 | ReSize(_size); |
1100 | } | 1159 | } |
1160 | |||
1101 | private void ReSize(PhysicsVector _newSize) | 1161 | private void ReSize(PhysicsVector _newSize) |
1102 | { | 1162 | { |
1103 | //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't | 1163 | //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't |
1104 | //so i have to do it manually. That's recreating rigidbody | 1164 | //so i have to do it manually. That's recreating rigidbody |
1105 | MonoXnaCompactMaths.Vector3 _newsize; | 1165 | Vector3 _newsize; |
1106 | _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize); | 1166 | _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize); |
1107 | if ((_newsize.X == 0) || (_newsize.Y == 0) || (_newsize.Z == 0)) throw new Exception("Size 0"); | 1167 | if ((_newsize.X == 0) || (_newsize.Y == 0) || (_newsize.Z == 0)) throw new Exception("Size 0"); |
1108 | 1168 | ||
@@ -1114,67 +1174,77 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
1114 | Matrix _startTransform = Matrix.Identity; | 1174 | Matrix _startTransform = Matrix.Identity; |
1115 | Matrix _centerOfMassOffset = Matrix.Identity; | 1175 | Matrix _centerOfMassOffset = Matrix.Identity; |
1116 | RigidBody _tmpRigidBody; | 1176 | RigidBody _tmpRigidBody; |
1117 | _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(this._position); | 1177 | _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_position); |
1118 | //For now all prims are boxes | 1178 | //For now all prims are boxes |
1119 | CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f); | 1179 | CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize)/2.0f); |
1120 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); | 1180 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); |
1121 | MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); | 1181 | Vector3 _localInertia = new Vector3(); |
1122 | if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0 | 1182 | if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0 |
1123 | _tmpRigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); | 1183 | _tmpRigidBody = |
1184 | new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, | ||
1185 | _friction, _restitution); | ||
1124 | //rigidBody.ActivationState = ActivationState.DisableDeactivation; | 1186 | //rigidBody.ActivationState = ActivationState.DisableDeactivation; |
1125 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition | 1187 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition |
1126 | MonoXnaCompactMaths.Vector3 _vDebugTranslation; | 1188 | Vector3 _vDebugTranslation; |
1127 | _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; | 1189 | _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; |
1128 | _tmpRigidBody.Translate(_vDebugTranslation); | 1190 | _tmpRigidBody.Translate(_vDebugTranslation); |
1129 | //--- | 1191 | //--- |
1130 | //There is a bug when trying to remove a rigidBody that is colliding with something.. | 1192 | //There is a bug when trying to remove a rigidBody that is colliding with something.. |
1131 | try | 1193 | try |
1132 | { | 1194 | { |
1133 | this._parent_scene.ddWorld.RemoveRigidBody(rigidBody); | 1195 | _parent_scene.ddWorld.RemoveRigidBody(rigidBody); |
1134 | } | 1196 | } |
1135 | catch(Exception ex) | 1197 | catch (Exception ex) |
1136 | { | 1198 | { |
1137 | this._parent_scene.BulletXMessage(this._parent_scene.is_ex_message + ex.Message, true); | 1199 | _parent_scene.BulletXMessage(_parent_scene.is_ex_message + ex.Message, true); |
1138 | rigidBody.ActivationState = ActivationState.DisableSimulation; | 1200 | rigidBody.ActivationState = ActivationState.DisableSimulation; |
1139 | this._parent_scene.AddForgottenRigidBody(rigidBody); | 1201 | _parent_scene.AddForgottenRigidBody(rigidBody); |
1140 | } | 1202 | } |
1141 | rigidBody = _tmpRigidBody; | 1203 | rigidBody = _tmpRigidBody; |
1142 | this._parent_scene.ddWorld.AddRigidBody(rigidBody); | 1204 | _parent_scene.ddWorld.AddRigidBody(rigidBody); |
1143 | if (_physical) Speed();//Static objects don't have linear velocity | 1205 | if (_physical) Speed(); //Static objects don't have linear velocity |
1144 | ReOrient(); | 1206 | ReOrient(); |
1145 | GC.Collect(); | 1207 | GC.Collect(); |
1146 | } | 1208 | } |
1209 | |||
1147 | private void ReOrient() | 1210 | private void ReOrient() |
1148 | { | 1211 | { |
1149 | ReOrient(this._orientation); | 1212 | ReOrient(_orientation); |
1150 | } | 1213 | } |
1214 | |||
1151 | private void ReOrient(AxiomQuaternion _newOrient) | 1215 | private void ReOrient(AxiomQuaternion _newOrient) |
1152 | { | 1216 | { |
1153 | MonoXnaCompactMaths.Quaternion _newOrientation; | 1217 | Quaternion _newOrientation; |
1154 | _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); | 1218 | _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); |
1155 | Matrix _comTransform = rigidBody.CenterOfMassTransform; | 1219 | Matrix _comTransform = rigidBody.CenterOfMassTransform; |
1156 | BulletXMaths.SetRotation(ref _comTransform, _newOrientation); | 1220 | BulletXMaths.SetRotation(ref _comTransform, _newOrientation); |
1157 | rigidBody.CenterOfMassTransform = _comTransform; | 1221 | rigidBody.CenterOfMassTransform = _comTransform; |
1158 | } | 1222 | } |
1159 | #endregion | ||
1160 | 1223 | ||
1224 | #endregion | ||
1161 | } | 1225 | } |
1226 | |||
1162 | /// <summary> | 1227 | /// <summary> |
1163 | /// This Class manage a HeighField as a RigidBody. This is for to be added in the BulletXScene | 1228 | /// This Class manage a HeighField as a RigidBody. This is for to be added in the BulletXScene |
1164 | /// </summary> | 1229 | /// </summary> |
1165 | internal class BulletXPlanet | 1230 | internal class BulletXPlanet |
1166 | { | 1231 | { |
1167 | private PhysicsVector _staticPosition; | 1232 | private PhysicsVector _staticPosition; |
1168 | private PhysicsVector _staticVelocity; | 1233 | private PhysicsVector _staticVelocity; |
1169 | private AxiomQuaternion _staticOrientation; | 1234 | private AxiomQuaternion _staticOrientation; |
1170 | private float _mass; | 1235 | private float _mass; |
1171 | private BulletXScene _parentscene; | 1236 | private BulletXScene _parentscene; |
1172 | internal float[] _heightField; | 1237 | internal float[] _heightField; |
1173 | private RigidBody _flatPlanet; | 1238 | private RigidBody _flatPlanet; |
1174 | internal RigidBody RigidBody { get { return _flatPlanet; } } | 1239 | |
1240 | internal RigidBody RigidBody | ||
1241 | { | ||
1242 | get { return _flatPlanet; } | ||
1243 | } | ||
1244 | |||
1175 | internal BulletXPlanet(BulletXScene parent_scene, float[] heightField) | 1245 | internal BulletXPlanet(BulletXScene parent_scene, float[] heightField) |
1176 | { | 1246 | { |
1177 | _staticPosition = new PhysicsVector(BulletXScene.MaxXY / 2, BulletXScene.MaxXY/2, 0); | 1247 | _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0); |
1178 | _staticVelocity = new PhysicsVector(); | 1248 | _staticVelocity = new PhysicsVector(); |
1179 | _staticOrientation = AxiomQuaternion.Identity; | 1249 | _staticOrientation = AxiomQuaternion.Identity; |
1180 | _mass = 0; //No active | 1250 | _mass = 0; //No active |
@@ -1193,40 +1263,45 @@ namespace OpenSim.Region.Physics.BulletXPlugin | |||
1193 | try | 1263 | try |
1194 | { | 1264 | { |
1195 | _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition); | 1265 | _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition); |
1196 | CollisionShape _collisionShape = new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField, (float)BulletXScene.MaxZ, 2, true, false); | 1266 | CollisionShape _collisionShape = |
1267 | new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField, | ||
1268 | (float) BulletXScene.MaxZ, 2, true, false); | ||
1197 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); | 1269 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); |
1198 | MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); | 1270 | Vector3 _localInertia = new Vector3(); |
1199 | //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 | 1271 | //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 |
1200 | _flatPlanet = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); | 1272 | _flatPlanet = |
1273 | new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, | ||
1274 | _angularDamping, _friction, _restitution); | ||
1201 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition | 1275 | //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition |
1202 | MonoXnaCompactMaths.Vector3 _vDebugTranslation; | 1276 | Vector3 _vDebugTranslation; |
1203 | _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition; | 1277 | _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition; |
1204 | _flatPlanet.Translate(_vDebugTranslation); | 1278 | _flatPlanet.Translate(_vDebugTranslation); |
1205 | parent_scene.ddWorld.AddRigidBody(_flatPlanet); | 1279 | parent_scene.ddWorld.AddRigidBody(_flatPlanet); |
1206 | } | 1280 | } |
1207 | catch (Exception ex) | 1281 | catch (Exception ex) |
1208 | { | 1282 | { |
1209 | this._parentscene.BulletXMessage(ex.Message, true); | 1283 | _parentscene.BulletXMessage(ex.Message, true); |
1210 | } | 1284 | } |
1211 | } | 1285 | } |
1212 | this._parentscene.BulletXMessage("BulletXPlanet created.", false); | 1286 | _parentscene.BulletXMessage("BulletXPlanet created.", false); |
1213 | } | 1287 | } |
1214 | internal float HeightValue(MonoXnaCompactMaths.Vector3 position) | 1288 | |
1289 | internal float HeightValue(Vector3 position) | ||
1215 | { | 1290 | { |
1216 | int li_x, li_y; | 1291 | int li_x, li_y; |
1217 | float height; | 1292 | float height; |
1218 | li_x = (int)Math.Round(position.X); | 1293 | li_x = (int) Math.Round(position.X); |
1219 | if (li_x < 0) li_x = 0; | 1294 | if (li_x < 0) li_x = 0; |
1220 | if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1; | 1295 | if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1; |
1221 | li_y = (int)Math.Round(position.Y); | 1296 | li_y = (int) Math.Round(position.Y); |
1222 | if (li_y < 0) li_y = 0; | 1297 | if (li_y < 0) li_y = 0; |
1223 | if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1; | 1298 | if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1; |
1224 | 1299 | ||
1225 | height = ((HeightfieldTerrainShape)this._flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y); | 1300 | height = ((HeightfieldTerrainShape) _flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y); |
1226 | if (height < 0) height = 0; | 1301 | if (height < 0) height = 0; |
1227 | else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ; | 1302 | else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ; |
1228 | 1303 | ||
1229 | return height; | 1304 | return height; |
1230 | } | 1305 | } |
1231 | } | 1306 | } |
1232 | } | 1307 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs index 2355e91..c213b64 100644 --- a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs | |||
@@ -27,24 +27,26 @@ | |||
27 | */ | 27 | */ |
28 | using System.Reflection; | 28 | using System.Reflection; |
29 | using System.Runtime.InteropServices; | 29 | using System.Runtime.InteropServices; |
30 | |||
30 | // Information about this assembly is defined by the following | 31 | // Information about this assembly is defined by the following |
31 | // attributes. | 32 | // attributes. |
32 | // | 33 | // |
33 | // change them to the information which is associated with the assembly | 34 | // change them to the information which is associated with the assembly |
34 | // you compile. | 35 | // you compile. |
35 | 36 | ||
36 | [assembly: AssemblyTitle("PhysicsManager")] | 37 | [assembly : AssemblyTitle("PhysicsManager")] |
37 | [assembly: AssemblyDescription("")] | 38 | [assembly : AssemblyDescription("")] |
38 | [assembly: AssemblyConfiguration("")] | 39 | [assembly : AssemblyConfiguration("")] |
39 | [assembly: AssemblyCompany("")] | 40 | [assembly : AssemblyCompany("")] |
40 | [assembly: AssemblyProduct("PhysicsManager")] | 41 | [assembly : AssemblyProduct("PhysicsManager")] |
41 | [assembly: AssemblyCopyright("")] | 42 | [assembly : AssemblyCopyright("")] |
42 | [assembly: AssemblyTrademark("")] | 43 | [assembly : AssemblyTrademark("")] |
43 | [assembly: AssemblyCulture("")] | 44 | [assembly : AssemblyCulture("")] |
44 | 45 | ||
45 | // This sets the default COM visibility of types in the assembly to invisible. | 46 | // This sets the default COM visibility of types in the assembly to invisible. |
46 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. | 47 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. |
47 | [assembly: ComVisible(false)] | 48 | |
49 | [assembly : ComVisible(false)] | ||
48 | 50 | ||
49 | // The assembly version has following format : | 51 | // The assembly version has following format : |
50 | // | 52 | // |
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices; | |||
53 | // You can specify all values by your own or you can build default build and revision | 55 | // You can specify all values by your own or you can build default build and revision |
54 | // numbers with the '*' character (the default): | 56 | // numbers with the '*' character (the default): |
55 | 57 | ||
56 | [assembly: AssemblyVersion("1.0.*")] | 58 | [assembly : AssemblyVersion("1.0.*")] \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs index 0fa7455..b59c13a 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs | |||
@@ -30,7 +30,9 @@ using Axiom.Math; | |||
30 | namespace OpenSim.Region.Physics.Manager | 30 | namespace OpenSim.Region.Physics.Manager |
31 | { | 31 | { |
32 | public delegate void PositionUpdate(PhysicsVector position); | 32 | public delegate void PositionUpdate(PhysicsVector position); |
33 | |||
33 | public delegate void VelocityUpdate(PhysicsVector velocity); | 34 | public delegate void VelocityUpdate(PhysicsVector velocity); |
35 | |||
34 | public delegate void OrientationUpdate(Quaternion orientation); | 36 | public delegate void OrientationUpdate(Quaternion orientation); |
35 | 37 | ||
36 | public abstract class PhysicsActor | 38 | public abstract class PhysicsActor |
@@ -43,52 +45,22 @@ namespace OpenSim.Region.Physics.Manager | |||
43 | 45 | ||
44 | public static PhysicsActor Null | 46 | public static PhysicsActor Null |
45 | { | 47 | { |
46 | get | 48 | get { return new NullPhysicsActor(); } |
47 | { | ||
48 | return new NullPhysicsActor(); | ||
49 | } | ||
50 | } | 49 | } |
51 | 50 | ||
52 | public abstract PhysicsVector Size | 51 | public abstract PhysicsVector Size { get; set; } |
53 | { | ||
54 | get; | ||
55 | set; | ||
56 | } | ||
57 | 52 | ||
58 | public abstract PhysicsVector Position | 53 | public abstract PhysicsVector Position { get; set; } |
59 | { | ||
60 | get; | ||
61 | set; | ||
62 | } | ||
63 | 54 | ||
64 | public abstract PhysicsVector Velocity | 55 | public abstract PhysicsVector Velocity { get; set; } |
65 | { | ||
66 | get; | ||
67 | set; | ||
68 | } | ||
69 | 56 | ||
70 | public abstract PhysicsVector Acceleration | 57 | public abstract PhysicsVector Acceleration { get; } |
71 | { | ||
72 | get; | ||
73 | } | ||
74 | 58 | ||
75 | public abstract Quaternion Orientation | 59 | public abstract Quaternion Orientation { get; set; } |
76 | { | ||
77 | get; | ||
78 | set; | ||
79 | } | ||
80 | 60 | ||
81 | public abstract bool Flying | 61 | public abstract bool Flying { get; set; } |
82 | { | ||
83 | get; | ||
84 | set; | ||
85 | } | ||
86 | 62 | ||
87 | public abstract bool Kinematic | 63 | public abstract bool Kinematic { get; set; } |
88 | { | ||
89 | get; | ||
90 | set; | ||
91 | } | ||
92 | 64 | ||
93 | public abstract void AddForce(PhysicsVector force); | 65 | public abstract void AddForce(PhysicsVector force); |
94 | 66 | ||
@@ -99,50 +71,26 @@ namespace OpenSim.Region.Physics.Manager | |||
99 | { | 71 | { |
100 | public override PhysicsVector Position | 72 | public override PhysicsVector Position |
101 | { | 73 | { |
102 | get | 74 | get { return PhysicsVector.Zero; } |
103 | { | 75 | set { return; } |
104 | return PhysicsVector.Zero; | ||
105 | } | ||
106 | set | ||
107 | { | ||
108 | return; | ||
109 | } | ||
110 | } | 76 | } |
111 | 77 | ||
112 | public override PhysicsVector Size | 78 | public override PhysicsVector Size |
113 | { | 79 | { |
114 | get | 80 | get { return PhysicsVector.Zero; } |
115 | { | 81 | set { return; } |
116 | return PhysicsVector.Zero; | ||
117 | } | ||
118 | set | ||
119 | { | ||
120 | return; | ||
121 | } | ||
122 | } | 82 | } |
123 | 83 | ||
124 | public override PhysicsVector Velocity | 84 | public override PhysicsVector Velocity |
125 | { | 85 | { |
126 | get | 86 | get { return PhysicsVector.Zero; } |
127 | { | 87 | set { return; } |
128 | return PhysicsVector.Zero; | ||
129 | } | ||
130 | set | ||
131 | { | ||
132 | return; | ||
133 | } | ||
134 | } | 88 | } |
135 | 89 | ||
136 | public override Quaternion Orientation | 90 | public override Quaternion Orientation |
137 | { | 91 | { |
138 | get | 92 | get { return Quaternion.Identity; } |
139 | { | 93 | set { } |
140 | return Quaternion.Identity; | ||
141 | } | ||
142 | set | ||
143 | { | ||
144 | |||
145 | } | ||
146 | } | 94 | } |
147 | 95 | ||
148 | public override PhysicsVector Acceleration | 96 | public override PhysicsVector Acceleration |
@@ -152,26 +100,14 @@ namespace OpenSim.Region.Physics.Manager | |||
152 | 100 | ||
153 | public override bool Flying | 101 | public override bool Flying |
154 | { | 102 | { |
155 | get | 103 | get { return false; } |
156 | { | 104 | set { return; } |
157 | return false; | ||
158 | } | ||
159 | set | ||
160 | { | ||
161 | return; | ||
162 | } | ||
163 | } | 105 | } |
164 | 106 | ||
165 | public override bool Kinematic | 107 | public override bool Kinematic |
166 | { | 108 | { |
167 | get | 109 | get { return true; } |
168 | { | 110 | set { return; } |
169 | return true; | ||
170 | } | ||
171 | set | ||
172 | { | ||
173 | return; | ||
174 | } | ||
175 | } | 111 | } |
176 | 112 | ||
177 | public override void AddForce(PhysicsVector force) | 113 | public override void AddForce(PhysicsVector force) |
@@ -184,4 +120,4 @@ namespace OpenSim.Region.Physics.Manager | |||
184 | return; | 120 | return; |
185 | } | 121 | } |
186 | } | 122 | } |
187 | } | 123 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs index 81bc938..09ebf29 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs | |||
@@ -33,77 +33,77 @@ using OpenSim.Framework.Console; | |||
33 | 33 | ||
34 | namespace OpenSim.Region.Physics.Manager | 34 | namespace OpenSim.Region.Physics.Manager |
35 | { | 35 | { |
36 | /// <summary> | 36 | /// <summary> |
37 | /// Description of MyClass. | 37 | /// Description of MyClass. |
38 | /// </summary> | 38 | /// </summary> |
39 | public class PhysicsPluginManager | 39 | public class PhysicsPluginManager |
40 | { | 40 | { |
41 | private Dictionary<string, IPhysicsPlugin> _plugins=new Dictionary<string, IPhysicsPlugin>(); | 41 | private Dictionary<string, IPhysicsPlugin> _plugins = new Dictionary<string, IPhysicsPlugin>(); |
42 | 42 | ||
43 | public PhysicsPluginManager() | 43 | public PhysicsPluginManager() |
44 | { | 44 | { |
45 | 45 | } | |
46 | } | 46 | |
47 | 47 | public PhysicsScene GetPhysicsScene(string engineName) | |
48 | public PhysicsScene GetPhysicsScene(string engineName) | 48 | { |
49 | { | ||
50 | if (String.IsNullOrEmpty(engineName)) | 49 | if (String.IsNullOrEmpty(engineName)) |
51 | { | 50 | { |
52 | return PhysicsScene.Null; | 51 | return PhysicsScene.Null; |
53 | } | 52 | } |
54 | 53 | ||
55 | if(_plugins.ContainsKey(engineName)) | 54 | if (_plugins.ContainsKey(engineName)) |
56 | { | 55 | { |
57 | MainLog.Instance.Verbose("PHYSICS","creating "+engineName); | 56 | MainLog.Instance.Verbose("PHYSICS", "creating " + engineName); |
58 | return _plugins[engineName].GetScene(); | 57 | return _plugins[engineName].GetScene(); |
59 | } | 58 | } |
60 | else | 59 | else |
61 | { | 60 | { |
62 | MainLog.Instance.Warn("PHYSICS", "couldn't find physicsEngine: {0}", engineName); | 61 | MainLog.Instance.Warn("PHYSICS", "couldn't find physicsEngine: {0}", engineName); |
63 | throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}",engineName)); | 62 | throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}", engineName)); |
64 | } | 63 | } |
65 | } | 64 | } |
66 | 65 | ||
67 | public void LoadPlugins() | 66 | public void LoadPlugins() |
68 | { | 67 | { |
69 | string path = Path.Combine(AppDomain.CurrentDomain.BaseDirectory ,"Physics"); | 68 | string path = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Physics"); |
70 | string[] pluginFiles = Directory.GetFiles(path, "*.dll"); | 69 | string[] pluginFiles = Directory.GetFiles(path, "*.dll"); |
71 | 70 | ||
72 | 71 | ||
73 | for(int i= 0; i<pluginFiles.Length; i++) | 72 | for (int i = 0; i < pluginFiles.Length; i++) |
74 | { | 73 | { |
75 | this.AddPlugin(pluginFiles[i]); | 74 | AddPlugin(pluginFiles[i]); |
76 | } | 75 | } |
77 | } | 76 | } |
78 | 77 | ||
79 | private void AddPlugin(string FileName) | 78 | private void AddPlugin(string FileName) |
80 | { | 79 | { |
81 | Assembly pluginAssembly = Assembly.LoadFrom(FileName); | 80 | Assembly pluginAssembly = Assembly.LoadFrom(FileName); |
82 | 81 | ||
83 | foreach (Type pluginType in pluginAssembly.GetTypes()) | 82 | foreach (Type pluginType in pluginAssembly.GetTypes()) |
84 | { | 83 | { |
85 | if (pluginType.IsPublic) | 84 | if (pluginType.IsPublic) |
86 | { | 85 | { |
87 | if (!pluginType.IsAbstract) | 86 | if (!pluginType.IsAbstract) |
88 | { | 87 | { |
89 | Type typeInterface = pluginType.GetInterface("IPhysicsPlugin", true); | 88 | Type typeInterface = pluginType.GetInterface("IPhysicsPlugin", true); |
90 | 89 | ||
91 | if (typeInterface != null) | 90 | if (typeInterface != null) |
92 | { | 91 | { |
93 | IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString())); | 92 | IPhysicsPlugin plug = |
94 | plug.Init(); | 93 | (IPhysicsPlugin) Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString())); |
95 | this._plugins.Add(plug.GetName(),plug); | 94 | plug.Init(); |
96 | OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS","Added physics engine: " + plug.GetName()); | 95 | _plugins.Add(plug.GetName(), plug); |
97 | 96 | MainLog.Instance.Verbose("PHYSICS", "Added physics engine: " + plug.GetName()); | |
98 | } | 97 | } |
99 | 98 | ||
100 | typeInterface = null; | 99 | typeInterface = null; |
101 | } | 100 | } |
102 | } | 101 | } |
103 | } | 102 | } |
104 | 103 | ||
105 | pluginAssembly = null; | 104 | pluginAssembly = null; |
106 | } | 105 | } |
106 | |||
107 | //--- | 107 | //--- |
108 | public static void PhysicsPluginMessage(string message, bool isWarning) | 108 | public static void PhysicsPluginMessage(string message, bool isWarning) |
109 | { | 109 | { |
@@ -116,14 +116,15 @@ namespace OpenSim.Region.Physics.Manager | |||
116 | MainLog.Instance.Verbose("PHYSICS", message); | 116 | MainLog.Instance.Verbose("PHYSICS", message); |
117 | } | 117 | } |
118 | } | 118 | } |
119 | |||
119 | //--- | 120 | //--- |
120 | } | 121 | } |
121 | 122 | ||
122 | public interface IPhysicsPlugin | 123 | public interface IPhysicsPlugin |
123 | { | 124 | { |
124 | bool Init(); | 125 | bool Init(); |
125 | PhysicsScene GetScene(); | 126 | PhysicsScene GetScene(); |
126 | string GetName(); | 127 | string GetName(); |
127 | void Dispose(); | 128 | void Dispose(); |
128 | } | 129 | } |
129 | } | 130 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 9ab2997..3f08234 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs | |||
@@ -25,9 +25,9 @@ | |||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | * | 26 | * |
27 | */ | 27 | */ |
28 | using Axiom.Math; | ||
28 | using OpenSim.Framework; | 29 | using OpenSim.Framework; |
29 | using OpenSim.Framework.Console; | 30 | using OpenSim.Framework.Console; |
30 | using Axiom.Math; | ||
31 | 31 | ||
32 | namespace OpenSim.Region.Physics.Manager | 32 | namespace OpenSim.Region.Physics.Manager |
33 | { | 33 | { |
@@ -35,10 +35,7 @@ namespace OpenSim.Region.Physics.Manager | |||
35 | { | 35 | { |
36 | public static PhysicsScene Null | 36 | public static PhysicsScene Null |
37 | { | 37 | { |
38 | get | 38 | get { return new NullPhysicsScene(); } |
39 | { | ||
40 | return new NullPhysicsScene(); | ||
41 | } | ||
42 | } | 39 | } |
43 | 40 | ||
44 | public abstract PhysicsActor AddAvatar(string avName, PhysicsVector position); | 41 | public abstract PhysicsActor AddAvatar(string avName, PhysicsVector position); |
@@ -47,7 +44,8 @@ namespace OpenSim.Region.Physics.Manager | |||
47 | 44 | ||
48 | public abstract void RemovePrim(PhysicsActor prim); | 45 | public abstract void RemovePrim(PhysicsActor prim); |
49 | 46 | ||
50 | public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation); | 47 | public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, |
48 | PhysicsVector size, Quaternion rotation); | ||
51 | 49 | ||
52 | public abstract void Simulate(float timeStep); | 50 | public abstract void Simulate(float timeStep); |
53 | 51 | ||
@@ -57,10 +55,7 @@ namespace OpenSim.Region.Physics.Manager | |||
57 | 55 | ||
58 | public abstract void DeleteTerrain(); | 56 | public abstract void DeleteTerrain(); |
59 | 57 | ||
60 | public abstract bool IsThreaded | 58 | public abstract bool IsThreaded { get; } |
61 | { | ||
62 | get; | ||
63 | } | ||
64 | 59 | ||
65 | private class NullPhysicsScene : PhysicsScene | 60 | private class NullPhysicsScene : PhysicsScene |
66 | { | 61 | { |
@@ -74,12 +69,10 @@ namespace OpenSim.Region.Physics.Manager | |||
74 | 69 | ||
75 | public override void RemoveAvatar(PhysicsActor actor) | 70 | public override void RemoveAvatar(PhysicsActor actor) |
76 | { | 71 | { |
77 | |||
78 | } | 72 | } |
79 | 73 | ||
80 | public override void RemovePrim(PhysicsActor prim) | 74 | public override void RemovePrim(PhysicsActor prim) |
81 | { | 75 | { |
82 | |||
83 | } | 76 | } |
84 | 77 | ||
85 | /* | 78 | /* |
@@ -89,7 +82,9 @@ namespace OpenSim.Region.Physics.Manager | |||
89 | return PhysicsActor.Null; | 82 | return PhysicsActor.Null; |
90 | } | 83 | } |
91 | */ | 84 | */ |
92 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) | 85 | |
86 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, | ||
87 | PhysicsVector size, Quaternion rotation) | ||
93 | { | 88 | { |
94 | MainLog.Instance.Verbose("NullPhysicsScene : AddPrim({0},{1})", position, size); | 89 | MainLog.Instance.Verbose("NullPhysicsScene : AddPrim({0},{1})", position, size); |
95 | return PhysicsActor.Null; | 90 | return PhysicsActor.Null; |
@@ -97,7 +92,7 @@ namespace OpenSim.Region.Physics.Manager | |||
97 | 92 | ||
98 | public override void Simulate(float timeStep) | 93 | public override void Simulate(float timeStep) |
99 | { | 94 | { |
100 | m_workIndicator = (m_workIndicator + 1) % 10; | 95 | m_workIndicator = (m_workIndicator + 1)%10; |
101 | 96 | ||
102 | //OpenSim.Framework.Console.MainLog.Instance.SetStatus(m_workIndicator.ToString()); | 97 | //OpenSim.Framework.Console.MainLog.Instance.SetStatus(m_workIndicator.ToString()); |
103 | } | 98 | } |
@@ -114,7 +109,6 @@ namespace OpenSim.Region.Physics.Manager | |||
114 | 109 | ||
115 | public override void DeleteTerrain() | 110 | public override void DeleteTerrain() |
116 | { | 111 | { |
117 | |||
118 | } | 112 | } |
119 | 113 | ||
120 | public override bool IsThreaded | 114 | public override bool IsThreaded |
@@ -123,4 +117,4 @@ namespace OpenSim.Region.Physics.Manager | |||
123 | } | 117 | } |
124 | } | 118 | } |
125 | } | 119 | } |
126 | } | 120 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs index 722c5dd..7de37e4 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs | |||
@@ -35,7 +35,6 @@ namespace OpenSim.Region.Physics.Manager | |||
35 | 35 | ||
36 | public PhysicsVector() | 36 | public PhysicsVector() |
37 | { | 37 | { |
38 | |||
39 | } | 38 | } |
40 | 39 | ||
41 | public PhysicsVector(float x, float y, float z) | 40 | public PhysicsVector(float x, float y, float z) |
@@ -49,7 +48,7 @@ namespace OpenSim.Region.Physics.Manager | |||
49 | 48 | ||
50 | public override string ToString() | 49 | public override string ToString() |
51 | { | 50 | { |
52 | return "<" + this.X + "," + this.Y + "," + this.Z + ">"; | 51 | return "<" + X + "," + Y + "," + Z + ">"; |
53 | } | 52 | } |
54 | } | 53 | } |
55 | } | 54 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs index 3f840cc..d110a17 100644 --- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs | |||
@@ -27,24 +27,26 @@ | |||
27 | */ | 27 | */ |
28 | using System.Reflection; | 28 | using System.Reflection; |
29 | using System.Runtime.InteropServices; | 29 | using System.Runtime.InteropServices; |
30 | |||
30 | // Information about this assembly is defined by the following | 31 | // Information about this assembly is defined by the following |
31 | // attributes. | 32 | // attributes. |
32 | // | 33 | // |
33 | // change them to the information which is associated with the assembly | 34 | // change them to the information which is associated with the assembly |
34 | // you compile. | 35 | // you compile. |
35 | 36 | ||
36 | [assembly: AssemblyTitle("RealPhysXplugin")] | 37 | [assembly : AssemblyTitle("RealPhysXplugin")] |
37 | [assembly: AssemblyDescription("")] | 38 | [assembly : AssemblyDescription("")] |
38 | [assembly: AssemblyConfiguration("")] | 39 | [assembly : AssemblyConfiguration("")] |
39 | [assembly: AssemblyCompany("")] | 40 | [assembly : AssemblyCompany("")] |
40 | [assembly: AssemblyProduct("RealPhysXplugin")] | 41 | [assembly : AssemblyProduct("RealPhysXplugin")] |
41 | [assembly: AssemblyCopyright("")] | 42 | [assembly : AssemblyCopyright("")] |
42 | [assembly: AssemblyTrademark("")] | 43 | [assembly : AssemblyTrademark("")] |
43 | [assembly: AssemblyCulture("")] | 44 | [assembly : AssemblyCulture("")] |
44 | 45 | ||
45 | // This sets the default COM visibility of types in the assembly to invisible. | 46 | // This sets the default COM visibility of types in the assembly to invisible. |
46 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. | 47 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. |
47 | [assembly: ComVisible(false)] | 48 | |
49 | [assembly : ComVisible(false)] | ||
48 | 50 | ||
49 | // The assembly version has following format : | 51 | // The assembly version has following format : |
50 | // | 52 | // |
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices; | |||
53 | // You can specify all values by your own or you can build default build and revision | 55 | // You can specify all values by your own or you can build default build and revision |
54 | // numbers with the '*' character (the default): | 56 | // numbers with the '*' character (the default): |
55 | 57 | ||
56 | [assembly: AssemblyVersion("1.0.*")] | 58 | [assembly : AssemblyVersion("1.0.*")] \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs index 2ace097..13184e2 100644 --- a/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs +++ b/OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs | |||
@@ -27,10 +27,9 @@ | |||
27 | */ | 27 | */ |
28 | 28 | ||
29 | using System; | 29 | using System; |
30 | using System.Globalization; | ||
31 | using System.Diagnostics; | ||
32 | using System.Collections.Generic; | 30 | using System.Collections.Generic; |
33 | 31 | using System.Diagnostics; | |
32 | using System.Globalization; | ||
34 | using OpenSim.Region.Physics.Manager; | 33 | using OpenSim.Region.Physics.Manager; |
35 | 34 | ||
36 | public class Vertex : IComparable<Vertex> | 35 | public class Vertex : IComparable<Vertex> |
@@ -76,8 +75,6 @@ public class Vertex : IComparable<Vertex> | |||
76 | { | 75 | { |
77 | return me.CompareTo(other) < 0; | 76 | return me.CompareTo(other) < 0; |
78 | } | 77 | } |
79 | |||
80 | |||
81 | } | 78 | } |
82 | 79 | ||
83 | public class Simplex : IComparable<Simplex> | 80 | public class Simplex : IComparable<Simplex> |
@@ -122,8 +119,7 @@ public class Simplex : IComparable<Simplex> | |||
122 | 119 | ||
123 | return 0; | 120 | return 0; |
124 | } | 121 | } |
125 | 122 | } ; | |
126 | }; | ||
127 | 123 | ||
128 | public class Triangle | 124 | public class Triangle |
129 | { | 125 | { |
@@ -131,9 +127,9 @@ public class Triangle | |||
131 | public Vertex v2; | 127 | public Vertex v2; |
132 | public Vertex v3; | 128 | public Vertex v3; |
133 | 129 | ||
134 | float radius_square; | 130 | private float radius_square; |
135 | float cx; | 131 | private float cx; |
136 | float cy; | 132 | private float cy; |
137 | 133 | ||
138 | public Triangle(Vertex _v1, Vertex _v2, Vertex _v3) | 134 | public Triangle(Vertex _v1, Vertex _v2, Vertex _v3) |
139 | { | 135 | { |
@@ -149,18 +145,18 @@ public class Triangle | |||
149 | float dx, dy; | 145 | float dx, dy; |
150 | float dd; | 146 | float dd; |
151 | 147 | ||
152 | dx = x - this.cx; | 148 | dx = x - cx; |
153 | dy = y - this.cy; | 149 | dy = y - cy; |
154 | 150 | ||
155 | dd = dx * dx + dy * dy; | 151 | dd = dx*dx + dy*dy; |
156 | if (dd < this.radius_square) | 152 | if (dd < radius_square) |
157 | return true; | 153 | return true; |
158 | else | 154 | else |
159 | return false; | 155 | return false; |
160 | } | 156 | } |
161 | 157 | ||
162 | 158 | ||
163 | void CalcCircle() | 159 | private void CalcCircle() |
164 | { | 160 | { |
165 | // Calculate the center and the radius of a circle given by three points p1, p2, p3 | 161 | // Calculate the center and the radius of a circle given by three points p1, p2, p3 |
166 | // It is assumed, that the triangles vertices are already set correctly | 162 | // It is assumed, that the triangles vertices are already set correctly |
@@ -198,8 +194,8 @@ public class Triangle | |||
198 | p3y = v3.point.Y; | 194 | p3y = v3.point.Y; |
199 | 195 | ||
200 | /* calc helping values first */ | 196 | /* calc helping values first */ |
201 | c1 = (p1x * p1x + p1y * p1y - p2x * p2x - p2y * p2y) / 2; | 197 | c1 = (p1x*p1x + p1y*p1y - p2x*p2x - p2y*p2y)/2; |
202 | c2 = (p1x * p1x + p1y * p1y - p3x * p3x - p3y * p3y) / 2; | 198 | c2 = (p1x*p1x + p1y*p1y - p3x*p3x - p3y*p3y)/2; |
203 | 199 | ||
204 | v1x = p1x - p2x; | 200 | v1x = p1x - p2x; |
205 | v1y = p1y - p2y; | 201 | v1y = p1y - p2y; |
@@ -207,35 +203,34 @@ public class Triangle | |||
207 | v2x = p1x - p3x; | 203 | v2x = p1x - p3x; |
208 | v2y = p1y - p3y; | 204 | v2y = p1y - p3y; |
209 | 205 | ||
210 | z = (c1 * v2x - c2 * v1x); | 206 | z = (c1*v2x - c2*v1x); |
211 | n = (v1y * v2x - v2y * v1x); | 207 | n = (v1y*v2x - v2y*v1x); |
212 | 208 | ||
213 | if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location | 209 | if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location |
214 | { | 210 | { |
215 | radius_square = 0.0f; | 211 | radius_square = 0.0f; |
216 | return; | 212 | return; |
217 | } | 213 | } |
218 | 214 | ||
219 | this.cy = (float)(z / n); | 215 | cy = (float) (z/n); |
220 | 216 | ||
221 | if (v2x != 0.0) | 217 | if (v2x != 0.0) |
222 | { | 218 | { |
223 | this.cx = (float)((c2 - v2y * this.cy) / v2x); | 219 | cx = (float) ((c2 - v2y*cy)/v2x); |
224 | } | 220 | } |
225 | else if (v1x != 0.0) | 221 | else if (v1x != 0.0) |
226 | { | 222 | { |
227 | this.cx = (float)((c1 - v1y * this.cy) / v1x); | 223 | cx = (float) ((c1 - v1y*cy)/v1x); |
228 | } | 224 | } |
229 | else | 225 | else |
230 | { | 226 | { |
231 | Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */ | 227 | Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */ |
232 | } | 228 | } |
233 | 229 | ||
234 | rx = (p1x - this.cx); | 230 | rx = (p1x - cx); |
235 | ry = (p1y - this.cy); | 231 | ry = (p1y - cy); |
236 | |||
237 | this.radius_square = (float)(rx * rx + ry * ry); | ||
238 | 232 | ||
233 | radius_square = (float) (rx*rx + ry*ry); | ||
239 | } | 234 | } |
240 | 235 | ||
241 | public List<Simplex> GetSimplices() | 236 | public List<Simplex> GetSimplices() |
@@ -254,17 +249,18 @@ public class Triangle | |||
254 | 249 | ||
255 | public override String ToString() | 250 | public override String ToString() |
256 | { | 251 | { |
257 | |||
258 | NumberFormatInfo nfi = new NumberFormatInfo(); | 252 | NumberFormatInfo nfi = new NumberFormatInfo(); |
259 | nfi.CurrencyDecimalDigits = 2; | 253 | nfi.CurrencyDecimalDigits = 2; |
260 | nfi.CurrencyDecimalSeparator = "."; | 254 | nfi.CurrencyDecimalSeparator = "."; |
261 | 255 | ||
262 | String s1 = "<" + v1.point.X.ToString(nfi) + "," + v1.point.Y.ToString(nfi) + "," + v1.point.Z.ToString(nfi) + ">"; | 256 | String s1 = "<" + v1.point.X.ToString(nfi) + "," + v1.point.Y.ToString(nfi) + "," + v1.point.Z.ToString(nfi) + |
263 | String s2 = "<" + v2.point.X.ToString(nfi) + "," + v2.point.Y.ToString(nfi) + "," + v2.point.Z.ToString(nfi) + ">"; | 257 | ">"; |
264 | String s3 = "<" + v3.point.X.ToString(nfi) + "," + v3.point.Y.ToString(nfi) + "," + v3.point.Z.ToString(nfi) + ">"; | 258 | String s2 = "<" + v2.point.X.ToString(nfi) + "," + v2.point.Y.ToString(nfi) + "," + v2.point.Z.ToString(nfi) + |
259 | ">"; | ||
260 | String s3 = "<" + v3.point.X.ToString(nfi) + "," + v3.point.Y.ToString(nfi) + "," + v3.point.Z.ToString(nfi) + | ||
261 | ">"; | ||
265 | 262 | ||
266 | return s1 + ";" + s2 + ";" + s3; | 263 | return s1 + ";" + s2 + ";" + s3; |
267 | |||
268 | } | 264 | } |
269 | 265 | ||
270 | public PhysicsVector getNormal() | 266 | public PhysicsVector getNormal() |
@@ -281,12 +277,12 @@ public class Triangle | |||
281 | // Cross product for normal | 277 | // Cross product for normal |
282 | PhysicsVector n = new PhysicsVector(); | 278 | PhysicsVector n = new PhysicsVector(); |
283 | float nx, ny, nz; | 279 | float nx, ny, nz; |
284 | n.X = e1.Y * e2.Z - e1.Z * e2.Y; | 280 | n.X = e1.Y*e2.Z - e1.Z*e2.Y; |
285 | n.Y = e1.Z * e2.X - e1.X * e2.Z; | 281 | n.Y = e1.Z*e2.X - e1.X*e2.Z; |
286 | n.Z = e1.X * e2.Y - e1.Y * e2.X; | 282 | n.Z = e1.X*e2.Y - e1.Y*e2.X; |
287 | 283 | ||
288 | // Length | 284 | // Length |
289 | float l = (float)Math.Sqrt(n.X * n.X + n.Y * n.Y + n.Z * n.Z); | 285 | float l = (float) Math.Sqrt(n.X*n.X + n.Y*n.Y + n.Z*n.Z); |
290 | 286 | ||
291 | // Normalized "normal" | 287 | // Normalized "normal" |
292 | n.X /= l; | 288 | n.X /= l; |
@@ -303,6 +299,4 @@ public class Triangle | |||
303 | v1 = v2; | 299 | v1 = v2; |
304 | v2 = vt; | 300 | v2 = vt; |
305 | } | 301 | } |
306 | } | 302 | } \ No newline at end of file |
307 | |||
308 | |||
diff --git a/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs index dd18e24..46de15e 100644 --- a/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs | |||
@@ -27,12 +27,8 @@ | |||
27 | */ | 27 | */ |
28 | 28 | ||
29 | using System; | 29 | using System; |
30 | using System.Globalization; | ||
31 | using System.Diagnostics; | ||
32 | using System.Collections.Generic; | 30 | using System.Collections.Generic; |
33 | using System.Text; | ||
34 | using System.Runtime.InteropServices; | 31 | using System.Runtime.InteropServices; |
35 | |||
36 | using OpenSim.Framework; | 32 | using OpenSim.Framework; |
37 | using OpenSim.Region.Physics.Manager; | 33 | using OpenSim.Region.Physics.Manager; |
38 | 34 | ||
@@ -75,14 +71,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
75 | 71 | ||
76 | public float[] getVertexListAsFloat() | 72 | public float[] getVertexListAsFloat() |
77 | { | 73 | { |
78 | float[] result = new float[vertices.Count * 3]; | 74 | float[] result = new float[vertices.Count*3]; |
79 | for (int i = 0; i < vertices.Count; i++) | 75 | for (int i = 0; i < vertices.Count; i++) |
80 | { | 76 | { |
81 | Vertex v = vertices[i]; | 77 | Vertex v = vertices[i]; |
82 | PhysicsVector point = v.point; | 78 | PhysicsVector point = v.point; |
83 | result[3 * i + 0] = point.X; | 79 | result[3*i + 0] = point.X; |
84 | result[3 * i + 1] = point.Y; | 80 | result[3*i + 1] = point.Y; |
85 | result[3 * i + 2] = point.Z; | 81 | result[3*i + 2] = point.Z; |
86 | } | 82 | } |
87 | GCHandle.Alloc(result, GCHandleType.Pinned); | 83 | GCHandle.Alloc(result, GCHandleType.Pinned); |
88 | return result; | 84 | return result; |
@@ -90,13 +86,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
90 | 86 | ||
91 | public int[] getIndexListAsInt() | 87 | public int[] getIndexListAsInt() |
92 | { | 88 | { |
93 | int[] result = new int[triangles.Count * 3]; | 89 | int[] result = new int[triangles.Count*3]; |
94 | for (int i = 0; i < triangles.Count; i++) | 90 | for (int i = 0; i < triangles.Count; i++) |
95 | { | 91 | { |
96 | Triangle t = triangles[i]; | 92 | Triangle t = triangles[i]; |
97 | result[3 * i + 0] = vertices.IndexOf(t.v1); | 93 | result[3*i + 0] = vertices.IndexOf(t.v1); |
98 | result[3 * i + 1] = vertices.IndexOf(t.v2); | 94 | result[3*i + 1] = vertices.IndexOf(t.v2); |
99 | result[3 * i + 2] = vertices.IndexOf(t.v3); | 95 | result[3*i + 2] = vertices.IndexOf(t.v3); |
100 | } | 96 | } |
101 | GCHandle.Alloc(result, GCHandleType.Pinned); | 97 | GCHandle.Alloc(result, GCHandleType.Pinned); |
102 | return result; | 98 | return result; |
@@ -110,16 +106,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
110 | 106 | ||
111 | foreach (Triangle t in newMesh.triangles) | 107 | foreach (Triangle t in newMesh.triangles) |
112 | Add(t); | 108 | Add(t); |
113 | |||
114 | } | 109 | } |
115 | } | 110 | } |
116 | 111 | ||
117 | 112 | ||
118 | |||
119 | public class Meshmerizer | 113 | public class Meshmerizer |
120 | { | 114 | { |
121 | 115 | private static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v) | |
122 | static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v) | ||
123 | { | 116 | { |
124 | List<Triangle> influenced = new List<Triangle>(); | 117 | List<Triangle> influenced = new List<Triangle>(); |
125 | foreach (Triangle t in triangles) | 118 | foreach (Triangle t in triangles) |
@@ -133,9 +126,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
133 | } | 126 | } |
134 | return influenced; | 127 | return influenced; |
135 | } | 128 | } |
136 | 129 | ||
137 | 130 | ||
138 | static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles, List<int> innerBorders) | 131 | private static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles, |
132 | List<int> innerBorders) | ||
139 | { | 133 | { |
140 | // This is a variant of the delaunay algorithm | 134 | // This is a variant of the delaunay algorithm |
141 | // each time a new vertex is inserted, all triangles that are influenced by it are deleted | 135 | // each time a new vertex is inserted, all triangles that are influenced by it are deleted |
@@ -143,7 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
143 | // It is not very time efficient but easy to implement. | 137 | // It is not very time efficient but easy to implement. |
144 | 138 | ||
145 | int iCurrentVertex; | 139 | int iCurrentVertex; |
146 | int iMaxVertex=vertices.Count; | 140 | int iMaxVertex = vertices.Count; |
147 | for (iCurrentVertex = usedForSeed; iCurrentVertex < iMaxVertex; iCurrentVertex++) | 141 | for (iCurrentVertex = usedForSeed; iCurrentVertex < iMaxVertex; iCurrentVertex++) |
148 | { | 142 | { |
149 | // Background: A triangle mesh fulfills the delaunay condition if (iff!) | 143 | // Background: A triangle mesh fulfills the delaunay condition if (iff!) |
@@ -154,8 +148,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
154 | // do not fulfill this condition with respect to the new triangle | 148 | // do not fulfill this condition with respect to the new triangle |
155 | 149 | ||
156 | // Find the triangles that are influenced by the new vertex | 150 | // Find the triangles that are influenced by the new vertex |
157 | Vertex v=vertices[iCurrentVertex]; | 151 | Vertex v = vertices[iCurrentVertex]; |
158 | List<Triangle> influencedTriangles=FindInfluencedTriangles(triangles, v); | 152 | List<Triangle> influencedTriangles = FindInfluencedTriangles(triangles, v); |
159 | 153 | ||
160 | List<Simplex> simplices = new List<Simplex>(); | 154 | List<Simplex> simplices = new List<Simplex>(); |
161 | 155 | ||
@@ -175,10 +169,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
175 | // Look for duplicate simplices here. | 169 | // Look for duplicate simplices here. |
176 | // Remember, they are directly side by side in the list right now | 170 | // Remember, they are directly side by side in the list right now |
177 | int iSimplex; | 171 | int iSimplex; |
178 | List<Simplex> innerSimplices=new List<Simplex>(); | 172 | List<Simplex> innerSimplices = new List<Simplex>(); |
179 | for (iSimplex = 1; iSimplex < simplices.Count; iSimplex++) // Startindex=1, so we can refer backwards | 173 | for (iSimplex = 1; iSimplex < simplices.Count; iSimplex++) // Startindex=1, so we can refer backwards |
180 | { | 174 | { |
181 | if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex])==0) | 175 | if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex]) == 0) |
182 | { | 176 | { |
183 | innerSimplices.Add(simplices[iSimplex - 1]); | 177 | innerSimplices.Add(simplices[iSimplex - 1]); |
184 | innerSimplices.Add(simplices[iSimplex]); | 178 | innerSimplices.Add(simplices[iSimplex]); |
@@ -187,7 +181,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
187 | 181 | ||
188 | foreach (Simplex s in innerSimplices) | 182 | foreach (Simplex s in innerSimplices) |
189 | { | 183 | { |
190 | simplices.Remove(s); | 184 | simplices.Remove(s); |
191 | } | 185 | } |
192 | 186 | ||
193 | // each simplex still in the list belongs to the hull of the region in question | 187 | // each simplex still in the list belongs to the hull of the region in question |
@@ -210,7 +204,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
210 | foreach (Triangle t in triangles) | 204 | foreach (Triangle t in triangles) |
211 | { | 205 | { |
212 | if ( | 206 | if ( |
213 | innerBorders.Contains(vertices.IndexOf(t.v1)) | 207 | innerBorders.Contains(vertices.IndexOf(t.v1)) |
214 | && innerBorders.Contains(vertices.IndexOf(t.v2)) | 208 | && innerBorders.Contains(vertices.IndexOf(t.v2)) |
215 | && innerBorders.Contains(vertices.IndexOf(t.v3)) | 209 | && innerBorders.Contains(vertices.IndexOf(t.v3)) |
216 | ) | 210 | ) |
@@ -223,18 +217,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
223 | } | 217 | } |
224 | 218 | ||
225 | 219 | ||
226 | static Mesh CreateBoxMeshX(PrimitiveBaseShape primShape, PhysicsVector size) | 220 | private static Mesh CreateBoxMeshX(PrimitiveBaseShape primShape, PhysicsVector size) |
227 | // Builds the x (+ and -) surfaces of a box shaped prim | 221 | // Builds the x (+ and -) surfaces of a box shaped prim |
228 | { | 222 | { |
229 | UInt16 hollowFactor = primShape.ProfileHollow; | 223 | UInt16 hollowFactor = primShape.ProfileHollow; |
230 | Mesh meshMX = new Mesh(); | 224 | Mesh meshMX = new Mesh(); |
231 | 225 | ||
232 | 226 | ||
233 | // Surface 0, -X | 227 | // Surface 0, -X |
234 | meshMX.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f)); | 228 | meshMX.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f)); |
235 | meshMX.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f)); | 229 | meshMX.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f)); |
236 | meshMX.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f)); | 230 | meshMX.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f)); |
237 | meshMX.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f)); | 231 | meshMX.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f)); |
238 | 232 | ||
239 | meshMX.Add(new Triangle(meshMX.vertices[0], meshMX.vertices[2], meshMX.vertices[1])); | 233 | meshMX.Add(new Triangle(meshMX.vertices[0], meshMX.vertices[2], meshMX.vertices[1])); |
240 | meshMX.Add(new Triangle(meshMX.vertices[1], meshMX.vertices[2], meshMX.vertices[3])); | 234 | meshMX.Add(new Triangle(meshMX.vertices[1], meshMX.vertices[2], meshMX.vertices[3])); |
@@ -242,10 +236,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
242 | 236 | ||
243 | Mesh meshPX = new Mesh(); | 237 | Mesh meshPX = new Mesh(); |
244 | // Surface 1, +X | 238 | // Surface 1, +X |
245 | meshPX.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f)); | 239 | meshPX.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f)); |
246 | meshPX.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f)); | 240 | meshPX.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f)); |
247 | meshPX.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f)); | 241 | meshPX.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f)); |
248 | meshPX.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f)); | 242 | meshPX.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f)); |
249 | 243 | ||
250 | 244 | ||
251 | meshPX.Add(new Triangle(meshPX.vertices[0], meshPX.vertices[1], meshPX.vertices[2])); | 245 | meshPX.Add(new Triangle(meshPX.vertices[0], meshPX.vertices[1], meshPX.vertices[2])); |
@@ -254,17 +248,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
254 | 248 | ||
255 | if (hollowFactor > 0) | 249 | if (hollowFactor > 0) |
256 | { | 250 | { |
257 | float hollowFactorF = (float)hollowFactor / (float)50000; | 251 | float hollowFactorF = (float) hollowFactor/(float) 50000; |
258 | 252 | ||
259 | Vertex IPP; | 253 | Vertex IPP; |
260 | Vertex IPM; | 254 | Vertex IPM; |
261 | Vertex IMP; | 255 | Vertex IMP; |
262 | Vertex IMM; | 256 | Vertex IMM; |
263 | 257 | ||
264 | IPP = new Vertex("Inner-X+Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 258 | IPP = new Vertex("Inner-X+Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f); |
265 | IPM = new Vertex("Inner-X+Y-Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | 259 | IPM = new Vertex("Inner-X+Y-Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
266 | IMP = new Vertex("Inner-X-Y+Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 260 | IMP = new Vertex("Inner-X-Y+Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f); |
267 | IMM = new Vertex("Inner-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | 261 | IMM = new Vertex("Inner-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
268 | 262 | ||
269 | meshMX.Add(IPP); | 263 | meshMX.Add(IPP); |
270 | meshMX.Add(IPM); | 264 | meshMX.Add(IPM); |
@@ -280,11 +274,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
280 | } | 274 | } |
281 | 275 | ||
282 | 276 | ||
283 | 277 | IPP = new Vertex("Inner+X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f); | |
284 | IPP = new Vertex("Inner+X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 278 | IPM = new Vertex("Inner+X+Y-Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
285 | IPM = new Vertex("Inner+X+Y-Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | 279 | IMP = new Vertex("Inner+X-Y+Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f); |
286 | IMP = new Vertex("Inner+X-Y+Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 280 | IMM = new Vertex("Inner+X-Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
287 | IMM = new Vertex("Inner+X-Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | ||
288 | 281 | ||
289 | meshPX.Add(IPP); | 282 | meshPX.Add(IPP); |
290 | meshPX.Add(IPM); | 283 | meshPX.Add(IPM); |
@@ -308,18 +301,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
308 | } | 301 | } |
309 | 302 | ||
310 | 303 | ||
311 | 304 | private static Mesh CreateBoxMeshY(PrimitiveBaseShape primShape, PhysicsVector size) | |
312 | static Mesh CreateBoxMeshY(PrimitiveBaseShape primShape, PhysicsVector size) | 305 | // Builds the y (+ and -) surfaces of a box shaped prim |
313 | // Builds the y (+ and -) surfaces of a box shaped prim | ||
314 | { | 306 | { |
315 | UInt16 hollowFactor = primShape.ProfileHollow; | 307 | UInt16 hollowFactor = primShape.ProfileHollow; |
316 | 308 | ||
317 | // (M)inus Y | 309 | // (M)inus Y |
318 | Mesh MeshMY = new Mesh(); | 310 | Mesh MeshMY = new Mesh(); |
319 | MeshMY.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f)); | 311 | MeshMY.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f)); |
320 | MeshMY.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f)); | 312 | MeshMY.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f)); |
321 | MeshMY.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f)); | 313 | MeshMY.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f)); |
322 | MeshMY.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f)); | 314 | MeshMY.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f)); |
323 | 315 | ||
324 | MeshMY.Add(new Triangle(MeshMY.vertices[0], MeshMY.vertices[1], MeshMY.vertices[2])); | 316 | MeshMY.Add(new Triangle(MeshMY.vertices[0], MeshMY.vertices[1], MeshMY.vertices[2])); |
325 | MeshMY.Add(new Triangle(MeshMY.vertices[2], MeshMY.vertices[1], MeshMY.vertices[3])); | 317 | MeshMY.Add(new Triangle(MeshMY.vertices[2], MeshMY.vertices[1], MeshMY.vertices[3])); |
@@ -327,27 +319,27 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
327 | // (P)lus Y | 319 | // (P)lus Y |
328 | Mesh MeshPY = new Mesh(); | 320 | Mesh MeshPY = new Mesh(); |
329 | 321 | ||
330 | MeshPY.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f)); | 322 | MeshPY.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f)); |
331 | MeshPY.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f)); | 323 | MeshPY.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f)); |
332 | MeshPY.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f)); | 324 | MeshPY.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f)); |
333 | MeshPY.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f)); | 325 | MeshPY.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f)); |
334 | 326 | ||
335 | MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[0], MeshPY.vertices[2])); | 327 | MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[0], MeshPY.vertices[2])); |
336 | MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[2], MeshPY.vertices[3])); | 328 | MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[2], MeshPY.vertices[3])); |
337 | 329 | ||
338 | if (hollowFactor > 0) | 330 | if (hollowFactor > 0) |
339 | { | 331 | { |
340 | float hollowFactorF = (float)hollowFactor / (float)50000; | 332 | float hollowFactorF = (float) hollowFactor/(float) 50000; |
341 | 333 | ||
342 | Vertex IPP; | 334 | Vertex IPP; |
343 | Vertex IPM; | 335 | Vertex IPM; |
344 | Vertex IMP; | 336 | Vertex IMP; |
345 | Vertex IMM; | 337 | Vertex IMM; |
346 | 338 | ||
347 | IPP = new Vertex("Inner+X-Y+Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 339 | IPP = new Vertex("Inner+X-Y+Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f); |
348 | IPM = new Vertex("Inner+X-Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | 340 | IPM = new Vertex("Inner+X-Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
349 | IMP = new Vertex("Inner-X-Y+Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 341 | IMP = new Vertex("Inner-X-Y+Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f); |
350 | IMM = new Vertex("Inner-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | 342 | IMM = new Vertex("Inner-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
351 | 343 | ||
352 | MeshMY.Add(IPP); | 344 | MeshMY.Add(IPP); |
353 | MeshMY.Add(IPM); | 345 | MeshMY.Add(IPM); |
@@ -363,11 +355,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
363 | } | 355 | } |
364 | 356 | ||
365 | 357 | ||
366 | 358 | IPP = new Vertex("Inner+X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f); | |
367 | IPP = new Vertex("Inner+X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 359 | IPM = new Vertex("Inner+X+Y-Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
368 | IPM=new Vertex("Inner+X+Y-Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | 360 | IMP = new Vertex("Inner-X+Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f); |
369 | IMP=new Vertex("Inner-X+Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f); | 361 | IMM = new Vertex("Inner-X+Y-Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f); |
370 | IMM=new Vertex("Inner-X+Y-Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f); | ||
371 | 362 | ||
372 | MeshPY.Add(IPP); | 363 | MeshPY.Add(IPP); |
373 | MeshPY.Add(IPM); | 364 | MeshPY.Add(IPM); |
@@ -381,9 +372,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
381 | { | 372 | { |
382 | PhysicsVector n = t.getNormal(); | 373 | PhysicsVector n = t.getNormal(); |
383 | } | 374 | } |
384 | |||
385 | |||
386 | |||
387 | } | 375 | } |
388 | 376 | ||
389 | 377 | ||
@@ -393,9 +381,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
393 | 381 | ||
394 | return result; | 382 | return result; |
395 | } | 383 | } |
396 | 384 | ||
397 | static Mesh CreateBoxMeshZ(PrimitiveBaseShape primShape, PhysicsVector size) | 385 | private static Mesh CreateBoxMeshZ(PrimitiveBaseShape primShape, PhysicsVector size) |
398 | // Builds the z (+ and -) surfaces of a box shaped prim | 386 | // Builds the z (+ and -) surfaces of a box shaped prim |
399 | { | 387 | { |
400 | UInt16 hollowFactor = primShape.ProfileHollow; | 388 | UInt16 hollowFactor = primShape.ProfileHollow; |
401 | 389 | ||
@@ -403,10 +391,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
403 | // (M)inus Z | 391 | // (M)inus Z |
404 | Mesh MZ = new Mesh(); | 392 | Mesh MZ = new Mesh(); |
405 | 393 | ||
406 | MZ.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f)); | 394 | MZ.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f)); |
407 | MZ.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f)); | 395 | MZ.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f)); |
408 | MZ.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f)); | 396 | MZ.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f)); |
409 | MZ.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f)); | 397 | MZ.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f)); |
410 | 398 | ||
411 | 399 | ||
412 | MZ.Add(new Triangle(MZ.vertices[1], MZ.vertices[0], MZ.vertices[2])); | 400 | MZ.Add(new Triangle(MZ.vertices[1], MZ.vertices[0], MZ.vertices[2])); |
@@ -415,10 +403,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
415 | // (P)lus Z | 403 | // (P)lus Z |
416 | Mesh PZ = new Mesh(); | 404 | Mesh PZ = new Mesh(); |
417 | 405 | ||
418 | PZ.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, 0.0f)); | 406 | PZ.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, 0.0f)); |
419 | PZ.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, 0.0f)); | 407 | PZ.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, 0.0f)); |
420 | PZ.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, 0.0f)); | 408 | PZ.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, 0.0f)); |
421 | PZ.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, 0.0f)); | 409 | PZ.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, 0.0f)); |
422 | 410 | ||
423 | // Surface 5, +Z | 411 | // Surface 5, +Z |
424 | PZ.Add(new Triangle(PZ.vertices[0], PZ.vertices[1], PZ.vertices[2])); | 412 | PZ.Add(new Triangle(PZ.vertices[0], PZ.vertices[1], PZ.vertices[2])); |
@@ -426,12 +414,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
426 | 414 | ||
427 | if (hollowFactor > 0) | 415 | if (hollowFactor > 0) |
428 | { | 416 | { |
429 | float hollowFactorF = (float)hollowFactor / (float)50000; | 417 | float hollowFactorF = (float) hollowFactor/(float) 50000; |
430 | 418 | ||
431 | MZ.Add(new Vertex("-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f)); | 419 | MZ.Add(new Vertex("-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f)); |
432 | MZ.Add(new Vertex("-X+Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f)); | 420 | MZ.Add(new Vertex("-X+Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f)); |
433 | MZ.Add(new Vertex("-X-Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f)); | 421 | MZ.Add(new Vertex("-X-Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f)); |
434 | MZ.Add(new Vertex("-X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f)); | 422 | MZ.Add(new Vertex("-X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f)); |
435 | 423 | ||
436 | List<int> innerBorders = new List<int>(); | 424 | List<int> innerBorders = new List<int>(); |
437 | innerBorders.Add(4); | 425 | innerBorders.Add(4); |
@@ -441,10 +429,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
441 | 429 | ||
442 | InsertVertices(MZ.vertices, 4, MZ.triangles, innerBorders); | 430 | InsertVertices(MZ.vertices, 4, MZ.triangles, innerBorders); |
443 | 431 | ||
444 | PZ.Add(new Vertex("-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f)); | 432 | PZ.Add(new Vertex("-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f)); |
445 | PZ.Add(new Vertex("-X+Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f)); | 433 | PZ.Add(new Vertex("-X+Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f)); |
446 | PZ.Add(new Vertex("-X-Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f)); | 434 | PZ.Add(new Vertex("-X-Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f)); |
447 | PZ.Add(new Vertex("-X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f)); | 435 | PZ.Add(new Vertex("-X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f)); |
448 | 436 | ||
449 | innerBorders = new List<int>(); | 437 | innerBorders = new List<int>(); |
450 | innerBorders.Add(4); | 438 | innerBorders.Add(4); |
@@ -453,16 +441,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
453 | innerBorders.Add(7); | 441 | innerBorders.Add(7); |
454 | 442 | ||
455 | InsertVertices(PZ.vertices, 4, PZ.triangles, innerBorders); | 443 | InsertVertices(PZ.vertices, 4, PZ.triangles, innerBorders); |
456 | |||
457 | } | 444 | } |
458 | 445 | ||
459 | foreach (Vertex v in PZ.vertices) | 446 | foreach (Vertex v in PZ.vertices) |
460 | { | 447 | { |
461 | v.point.Z = size.Z / 2.0f; | 448 | v.point.Z = size.Z/2.0f; |
462 | } | 449 | } |
463 | foreach (Vertex v in MZ.vertices) | 450 | foreach (Vertex v in MZ.vertices) |
464 | { | 451 | { |
465 | v.point.Z = -size.Z / 2.0f; | 452 | v.point.Z = -size.Z/2.0f; |
466 | } | 453 | } |
467 | 454 | ||
468 | foreach (Triangle t in MZ.triangles) | 455 | foreach (Triangle t in MZ.triangles) |
@@ -486,15 +473,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
486 | return result; | 473 | return result; |
487 | } | 474 | } |
488 | 475 | ||
489 | static Mesh CreateBoxMesh(PrimitiveBaseShape primShape, PhysicsVector size) | 476 | private static Mesh CreateBoxMesh(PrimitiveBaseShape primShape, PhysicsVector size) |
490 | { | 477 | { |
491 | Mesh result = new Mesh(); | 478 | Mesh result = new Mesh(); |
492 | 479 | ||
493 | 480 | ||
494 | 481 | Mesh MeshX = CreateBoxMeshX(primShape, size); | |
495 | Mesh MeshX = Meshmerizer.CreateBoxMeshX(primShape, size); | 482 | Mesh MeshY = CreateBoxMeshY(primShape, size); |
496 | Mesh MeshY = Meshmerizer.CreateBoxMeshY(primShape, size); | 483 | Mesh MeshZ = CreateBoxMeshZ(primShape, size); |
497 | Mesh MeshZ = Meshmerizer.CreateBoxMeshZ(primShape, size); | ||
498 | 484 | ||
499 | result.Append(MeshX); | 485 | result.Append(MeshX); |
500 | result.Append(MeshY); | 486 | result.Append(MeshY); |
@@ -504,64 +490,63 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
504 | } | 490 | } |
505 | 491 | ||
506 | 492 | ||
507 | public static void CalcNormals(Mesh mesh) | 493 | public static void CalcNormals(Mesh mesh) |
508 | { | 494 | { |
509 | int iTriangles = mesh.triangles.Count; | 495 | int iTriangles = mesh.triangles.Count; |
510 | 496 | ||
511 | mesh.normals = new float[iTriangles*3]; | 497 | mesh.normals = new float[iTriangles*3]; |
512 | 498 | ||
513 | int i=0; | 499 | int i = 0; |
514 | foreach (Triangle t in mesh.triangles) | 500 | foreach (Triangle t in mesh.triangles) |
515 | { | 501 | { |
516 | |||
517 | float ux, uy, uz; | 502 | float ux, uy, uz; |
518 | float vx, vy, vz; | 503 | float vx, vy, vz; |
519 | float wx, wy, wz; | 504 | float wx, wy, wz; |
520 | 505 | ||
521 | ux = t.v1.point.X; | 506 | ux = t.v1.point.X; |
522 | uy = t.v1.point.Y; | 507 | uy = t.v1.point.Y; |
523 | uz = t.v1.point.Z; | 508 | uz = t.v1.point.Z; |
524 | 509 | ||
525 | vx = t.v2.point.X; | 510 | vx = t.v2.point.X; |
526 | vy = t.v2.point.Y; | 511 | vy = t.v2.point.Y; |
527 | vz = t.v2.point.Z; | 512 | vz = t.v2.point.Z; |
528 | 513 | ||
529 | wx = t.v3.point.X; | 514 | wx = t.v3.point.X; |
530 | wy = t.v3.point.Y; | 515 | wy = t.v3.point.Y; |
531 | wz = t.v3.point.Z; | 516 | wz = t.v3.point.Z; |
532 | 517 | ||
533 | // Vectors for edges | 518 | // Vectors for edges |
534 | float e1x, e1y, e1z; | 519 | float e1x, e1y, e1z; |
535 | float e2x, e2y, e2z; | 520 | float e2x, e2y, e2z; |
536 | 521 | ||
537 | e1x = ux - vx; | 522 | e1x = ux - vx; |
538 | e1y = uy - vy; | 523 | e1y = uy - vy; |
539 | e1z = uz - vz; | 524 | e1z = uz - vz; |
540 | 525 | ||
541 | e2x = ux - wx; | 526 | e2x = ux - wx; |
542 | e2y = uy - wy; | 527 | e2y = uy - wy; |
543 | e2z = uz - wz; | 528 | e2z = uz - wz; |
544 | 529 | ||
545 | 530 | ||
546 | // Cross product for normal | 531 | // Cross product for normal |
547 | float nx, ny, nz; | 532 | float nx, ny, nz; |
548 | nx = e1y * e2z - e1z * e2y; | 533 | nx = e1y*e2z - e1z*e2y; |
549 | ny = e1z * e2x - e1x * e2z; | 534 | ny = e1z*e2x - e1x*e2z; |
550 | nz = e1x * e2y - e1y * e2x; | 535 | nz = e1x*e2y - e1y*e2x; |
551 | 536 | ||
552 | // Length | 537 | // Length |
553 | float l = (float)Math.Sqrt(nx * nx + ny * ny + nz * nz); | 538 | float l = (float) Math.Sqrt(nx*nx + ny*ny + nz*nz); |
554 | 539 | ||
555 | // Normalized "normal" | 540 | // Normalized "normal" |
556 | nx /= l; | 541 | nx /= l; |
557 | ny /= l; | 542 | ny /= l; |
558 | nz /= l; | 543 | nz /= l; |
559 | 544 | ||
560 | mesh.normals[i] = nx; | 545 | mesh.normals[i] = nx; |
561 | mesh.normals[i + 1] = ny; | 546 | mesh.normals[i + 1] = ny; |
562 | mesh.normals[i + 2] = nz; | 547 | mesh.normals[i + 2] = nz; |
563 | 548 | ||
564 | i+=3; | 549 | i += 3; |
565 | } | 550 | } |
566 | } | 551 | } |
567 | 552 | ||
@@ -572,18 +557,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
572 | switch (primShape.ProfileShape) | 557 | switch (primShape.ProfileShape) |
573 | { | 558 | { |
574 | case ProfileShape.Square: | 559 | case ProfileShape.Square: |
575 | mesh=CreateBoxMesh(primShape, size); | 560 | mesh = CreateBoxMesh(primShape, size); |
576 | CalcNormals(mesh); | 561 | CalcNormals(mesh); |
577 | break; | 562 | break; |
578 | default: | 563 | default: |
579 | mesh=null; | 564 | mesh = null; |
580 | break; | 565 | break; |
581 | } | 566 | } |
582 | 567 | ||
583 | return mesh; | 568 | return mesh; |
584 | |||
585 | } | 569 | } |
586 | } | 570 | } |
587 | } | 571 | } \ No newline at end of file |
588 | |||
589 | |||
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index a20452f..c9af6dd 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | |||
@@ -25,19 +25,14 @@ | |||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | * | 26 | * |
27 | */ | 27 | */ |
28 | |||
28 | using System; | 29 | using System; |
29 | using System.Threading; | ||
30 | using System.Collections.Generic; | 30 | using System.Collections.Generic; |
31 | |||
32 | using libsecondlife; | ||
33 | |||
34 | using Axiom.Math; | 31 | using Axiom.Math; |
35 | using Ode.NET; | 32 | using Ode.NET; |
36 | using OpenSim.Framework; | 33 | using OpenSim.Framework; |
37 | using OpenSim.Framework.Console; | ||
38 | using OpenSim.Region.Physics.Manager; | 34 | using OpenSim.Region.Physics.Manager; |
39 | 35 | ||
40 | |||
41 | namespace OpenSim.Region.Physics.OdePlugin | 36 | namespace OpenSim.Region.Physics.OdePlugin |
42 | { | 37 | { |
43 | /// <summary> | 38 | /// <summary> |
@@ -49,7 +44,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
49 | 44 | ||
50 | public OdePlugin() | 45 | public OdePlugin() |
51 | { | 46 | { |
52 | |||
53 | } | 47 | } |
54 | 48 | ||
55 | public bool Init() | 49 | public bool Init() |
@@ -73,7 +67,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
73 | 67 | ||
74 | public void Dispose() | 68 | public void Dispose() |
75 | { | 69 | { |
76 | |||
77 | } | 70 | } |
78 | } | 71 | } |
79 | 72 | ||
@@ -82,17 +75,17 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
82 | private static float ODE_STEPSIZE = 0.004f; | 75 | private static float ODE_STEPSIZE = 0.004f; |
83 | private static bool RENDER_FLAG = false; | 76 | private static bool RENDER_FLAG = false; |
84 | private IntPtr contactgroup; | 77 | private IntPtr contactgroup; |
85 | private IntPtr LandGeom=(IntPtr)0; | 78 | private IntPtr LandGeom = (IntPtr) 0; |
86 | private double[] _heightmap; | 79 | private double[] _heightmap; |
87 | private d.NearCallback nearCallback; | 80 | private d.NearCallback nearCallback; |
88 | public d.TriCallback triCallback; | 81 | public d.TriCallback triCallback; |
89 | public d.TriArrayCallback triArrayCallback; | 82 | public d.TriArrayCallback triArrayCallback; |
90 | private List<OdeCharacter> _characters = new List<OdeCharacter>(); | 83 | private List<OdeCharacter> _characters = new List<OdeCharacter>(); |
91 | private List<OdePrim> _prims = new List<OdePrim>(); | 84 | private List<OdePrim> _prims = new List<OdePrim>(); |
92 | public Dictionary<IntPtr, String> geom_name_map=new Dictionary<IntPtr, String>(); | 85 | public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); |
93 | private d.ContactGeom[] contacts = new d.ContactGeom[30]; | 86 | private d.ContactGeom[] contacts = new d.ContactGeom[30]; |
94 | private d.Contact contact; | 87 | private d.Contact contact; |
95 | private float step_time=0.0f; | 88 | private float step_time = 0.0f; |
96 | public IntPtr world; | 89 | public IntPtr world; |
97 | public IntPtr space; | 90 | public IntPtr space; |
98 | public static Object OdeLock = new Object(); | 91 | public static Object OdeLock = new Object(); |
@@ -140,7 +133,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
140 | return; | 133 | return; |
141 | 134 | ||
142 | d.GeomClassID id = d.GeomGetClass(g1); | 135 | d.GeomClassID id = d.GeomGetClass(g1); |
143 | if (id==d.GeomClassID.TriMeshClass) | 136 | if (id == d.GeomClassID.TriMeshClass) |
144 | { | 137 | { |
145 | String name1 = null; | 138 | String name1 = null; |
146 | String name2 = null; | 139 | String name2 = null; |
@@ -163,7 +156,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
163 | IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); | 156 | IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); |
164 | d.JointAttach(joint, b1, b2); | 157 | d.JointAttach(joint, b1, b2); |
165 | } | 158 | } |
166 | |||
167 | } | 159 | } |
168 | 160 | ||
169 | private void collision_optimized() | 161 | private void collision_optimized() |
@@ -171,7 +163,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
171 | foreach (OdeCharacter chr in _characters) | 163 | foreach (OdeCharacter chr in _characters) |
172 | { | 164 | { |
173 | d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback); | 165 | d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback); |
174 | foreach (OdeCharacter ch2 in _characters) /// should be a separate space -- lots of avatars will be N**2 slow | 166 | foreach (OdeCharacter ch2 in _characters) |
167 | /// should be a separate space -- lots of avatars will be N**2 slow | ||
175 | { | 168 | { |
176 | d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback); | 169 | d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback); |
177 | } | 170 | } |
@@ -193,8 +186,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
193 | { | 186 | { |
194 | lock (OdeLock) | 187 | lock (OdeLock) |
195 | { | 188 | { |
196 | ((OdeCharacter)actor).Destroy(); | 189 | ((OdeCharacter) actor).Destroy(); |
197 | _characters.Remove((OdeCharacter)actor); | 190 | _characters.Remove((OdeCharacter) actor); |
198 | } | 191 | } |
199 | } | 192 | } |
200 | 193 | ||
@@ -204,13 +197,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
204 | { | 197 | { |
205 | lock (OdeLock) | 198 | lock (OdeLock) |
206 | { | 199 | { |
207 | d.GeomDestroy(((OdePrim)prim).prim_geom); | 200 | d.GeomDestroy(((OdePrim) prim).prim_geom); |
208 | _prims.Remove((OdePrim)prim); | 201 | _prims.Remove((OdePrim) prim); |
209 | } | 202 | } |
210 | } | 203 | } |
211 | } | 204 | } |
212 | 205 | ||
213 | PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | 206 | private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, |
207 | Mesh mesh, PrimitiveBaseShape pbs) | ||
214 | { | 208 | { |
215 | PhysicsVector pos = new PhysicsVector(); | 209 | PhysicsVector pos = new PhysicsVector(); |
216 | pos.X = position.X; | 210 | pos.X = position.X; |
@@ -235,7 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
235 | } | 229 | } |
236 | 230 | ||
237 | 231 | ||
238 | public int TriArrayCallback(System.IntPtr trimesh, System.IntPtr refObject, int[] triangleIndex, int triCount) | 232 | public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount) |
239 | { | 233 | { |
240 | /* String name1 = null; | 234 | /* String name1 = null; |
241 | String name2 = null; | 235 | String name2 = null; |
@@ -254,15 +248,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
254 | return 1; | 248 | return 1; |
255 | } | 249 | } |
256 | 250 | ||
257 | public int TriCallback(System.IntPtr trimesh, System.IntPtr refObject, int triangleIndex) | 251 | public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex) |
258 | { | 252 | { |
259 | |||
260 | String name1 = null; | 253 | String name1 = null; |
261 | String name2 = null; | 254 | String name2 = null; |
262 | 255 | ||
263 | if (!geom_name_map.TryGetValue(trimesh, out name1)) | 256 | if (!geom_name_map.TryGetValue(trimesh, out name1)) |
264 | { | 257 | { |
265 | name1 = "null"; | 258 | name1 = "null"; |
266 | } | 259 | } |
267 | if (!geom_name_map.TryGetValue(refObject, out name2)) | 260 | if (!geom_name_map.TryGetValue(refObject, out name2)) |
268 | { | 261 | { |
@@ -282,11 +275,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
282 | } | 275 | } |
283 | 276 | ||
284 | 277 | ||
285 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) | 278 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, |
279 | PhysicsVector size, Quaternion rotation) | ||
286 | { | 280 | { |
287 | PhysicsActor result; | 281 | PhysicsActor result; |
288 | 282 | ||
289 | switch(pbs.ProfileShape) | 283 | switch (pbs.ProfileShape) |
290 | { | 284 | { |
291 | case ProfileShape.Square: | 285 | case ProfileShape.Square: |
292 | /// support simple box & hollow box now; later, more shapes | 286 | /// support simple box & hollow box now; later, more shapes |
@@ -310,7 +304,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
310 | } | 304 | } |
311 | 305 | ||
312 | 306 | ||
313 | |||
314 | public override void Simulate(float timeStep) | 307 | public override void Simulate(float timeStep) |
315 | { | 308 | { |
316 | step_time += timeStep; | 309 | step_time += timeStep; |
@@ -327,11 +320,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
327 | Vector3 rx, ry, rz; | 320 | Vector3 rx, ry, rz; |
328 | p.Orientation.ToAxes(out rx, out ry, out rz); | 321 | p.Orientation.ToAxes(out rx, out ry, out rz); |
329 | Console.WriteLine("RENDER: block; " + p.Size.X + ", " + p.Size.Y + ", " + p.Size.Z + "; " + | 322 | Console.WriteLine("RENDER: block; " + p.Size.X + ", " + p.Size.Y + ", " + p.Size.Z + "; " + |
330 | " 0, 0, 1; " + //shape, size, color | 323 | " 0, 0, 1; " + //shape, size, color |
331 | (p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " + (p.Position.Z - 33.0f) + "; " + // position | 324 | (p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " + |
332 | rx.x + "," + ry.x + "," + rz.x + ", " + // rotation | 325 | (p.Position.Z - 33.0f) + "; " + // position |
333 | rx.y + "," + ry.y + "," + rz.y + ", " + | 326 | rx.x + "," + ry.x + "," + rz.x + ", " + // rotation |
334 | rx.z + "," + ry.z + "," + rz.z); | 327 | rx.y + "," + ry.y + "," + rz.y + ", " + |
328 | rx.z + "," + ry.z + "," + rz.z); | ||
335 | } | 329 | } |
336 | } | 330 | } |
337 | int i = 0; | 331 | int i = 0; |
@@ -357,22 +351,27 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
357 | float Zoff = -33.0f; | 351 | float Zoff = -33.0f; |
358 | d.Matrix3 temp = d.BodyGetRotation(actor.Body); | 352 | d.Matrix3 temp = d.BodyGetRotation(actor.Body); |
359 | Console.WriteLine("RENDER: cylinder; " + // shape | 353 | Console.WriteLine("RENDER: cylinder; " + // shape |
360 | OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size | 354 | OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size |
361 | "; 0, 1, 0; " + // color | 355 | "; 0, 1, 0; " + // color |
362 | (actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " + (actor.Position.Z + Zoff) + "; " + // position | 356 | (actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " + |
363 | temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation | 357 | (actor.Position.Z + Zoff) + "; " + // position |
364 | temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " + | 358 | temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation |
365 | temp.M02 + "," + temp.M12 + "," + temp.M22); | 359 | temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " + |
366 | d.Vector3 caphead; d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH * .5f, out caphead); | 360 | temp.M02 + "," + temp.M12 + "," + temp.M22); |
367 | d.Vector3 capfoot; d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH * .5f, out capfoot); | 361 | d.Vector3 caphead; |
362 | d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH*.5f, out caphead); | ||
363 | d.Vector3 capfoot; | ||
364 | d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH*.5f, out capfoot); | ||
368 | Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size | 365 | Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size |
369 | "; 1, 0, 1; " + //color | 366 | "; 1, 0, 1; " + //color |
370 | (caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) + "; " + // position | 367 | (caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) + |
371 | "1,0,0, 0,1,0, 0,0,1"); // rotation | 368 | "; " + // position |
369 | "1,0,0, 0,1,0, 0,0,1"); // rotation | ||
372 | Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size | 370 | Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size |
373 | "; 1, 0, 0; " + //color | 371 | "; 1, 0, 0; " + //color |
374 | (capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) + "; " + // position | 372 | (capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) + |
375 | "1,0,0, 0,1,0, 0,0,1"); // rotation | 373 | "; " + // position |
374 | "1,0,0, 0,1,0, 0,0,1"); // rotation | ||
376 | } | 375 | } |
377 | } | 376 | } |
378 | } | 377 | } |
@@ -380,14 +379,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
380 | 379 | ||
381 | public override void GetResults() | 380 | public override void GetResults() |
382 | { | 381 | { |
383 | |||
384 | } | 382 | } |
385 | 383 | ||
386 | public override bool IsThreaded | 384 | public override bool IsThreaded |
387 | { | 385 | { |
388 | get | 386 | get { return (false); // for now we won't be multithreaded |
389 | { | ||
390 | return (false); // for now we won't be multithreaded | ||
391 | } | 387 | } |
392 | } | 388 | } |
393 | 389 | ||
@@ -400,21 +396,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
400 | { | 396 | { |
401 | for (int y = 0; y < 258; y++) | 397 | for (int y = 0; y < 258; y++) |
402 | { | 398 | { |
403 | int xx = x-1; | 399 | int xx = x - 1; |
404 | if (xx < 0) xx = 0; | 400 | if (xx < 0) xx = 0; |
405 | if (xx > 255) xx = 255; | 401 | if (xx > 255) xx = 255; |
406 | int yy = y-1; | 402 | int yy = y - 1; |
407 | if (yy < 0) yy = 0; | 403 | if (yy < 0) yy = 0; |
408 | if (yy > 255) yy = 255; | 404 | if (yy > 255) yy = 255; |
409 | 405 | ||
410 | double val = (double)heightMap[yy * 256 + xx]; | 406 | double val = (double) heightMap[yy*256 + xx]; |
411 | _heightmap[x * 258 + y] = val; | 407 | _heightmap[x*258 + y] = val; |
412 | } | 408 | } |
413 | } | 409 | } |
414 | 410 | ||
415 | lock (OdeLock) | 411 | lock (OdeLock) |
416 | { | 412 | { |
417 | if (!(LandGeom == (IntPtr)0)) | 413 | if (!(LandGeom == (IntPtr) 0)) |
418 | { | 414 | { |
419 | d.SpaceRemove(space, LandGeom); | 415 | d.SpaceRemove(space, LandGeom); |
420 | } | 416 | } |
@@ -422,7 +418,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
422 | d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 258, 258, 1.0f, 0.0f, 2.0f, 0); | 418 | d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 258, 258, 1.0f, 0.0f, 2.0f, 0); |
423 | d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); | 419 | d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); |
424 | LandGeom = d.CreateHeightfield(space, HeightmapData, 1); | 420 | LandGeom = d.CreateHeightfield(space, HeightmapData, 1); |
425 | this.geom_name_map[LandGeom]="Terrain"; | 421 | geom_name_map[LandGeom] = "Terrain"; |
426 | 422 | ||
427 | d.Matrix3 R = new d.Matrix3(); | 423 | d.Matrix3 R = new d.Matrix3(); |
428 | 424 | ||
@@ -430,7 +426,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
430 | Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0)); | 426 | Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0)); |
431 | //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); | 427 | //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); |
432 | 428 | ||
433 | q1 = q1 * q2; | 429 | q1 = q1*q2; |
434 | //q1 = q1 * q3; | 430 | //q1 = q1 * q3; |
435 | Vector3 v3 = new Vector3(); | 431 | Vector3 v3 = new Vector3(); |
436 | float angle = 0; | 432 | float angle = 0; |
@@ -444,7 +440,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
444 | 440 | ||
445 | public override void DeleteTerrain() | 441 | public override void DeleteTerrain() |
446 | { | 442 | { |
447 | |||
448 | } | 443 | } |
449 | } | 444 | } |
450 | 445 | ||
@@ -452,12 +447,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
452 | { | 447 | { |
453 | private PhysicsVector _position; | 448 | private PhysicsVector _position; |
454 | private d.Vector3 _zeroPosition; | 449 | private d.Vector3 _zeroPosition; |
455 | private bool _zeroFlag=false; | 450 | private bool _zeroFlag = false; |
456 | private PhysicsVector _velocity; | 451 | private PhysicsVector _velocity; |
457 | private PhysicsVector _target_velocity; | 452 | private PhysicsVector _target_velocity; |
458 | private PhysicsVector _acceleration; | 453 | private PhysicsVector _acceleration; |
459 | private static float PID_D=4000.0f; | 454 | private static float PID_D = 4000.0f; |
460 | private static float PID_P=7000.0f; | 455 | private static float PID_P = 7000.0f; |
461 | private static float POSTURE_SERVO = 10000.0f; | 456 | private static float POSTURE_SERVO = 10000.0f; |
462 | public static float CAPSULE_RADIUS = 0.5f; | 457 | public static float CAPSULE_RADIUS = 0.5f; |
463 | public static float CAPSULE_LENGTH = 0.9f; | 458 | public static float CAPSULE_LENGTH = 0.9f; |
@@ -484,28 +479,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
484 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); | 479 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
485 | d.GeomSetBody(Shell, Body); | 480 | d.GeomSetBody(Shell, Body); |
486 | } | 481 | } |
487 | parent_scene.geom_name_map[Shell]=avName; | 482 | parent_scene.geom_name_map[Shell] = avName; |
488 | |||
489 | } | 483 | } |
490 | 484 | ||
491 | public override bool Flying | 485 | public override bool Flying |
492 | { | 486 | { |
493 | get | 487 | get { return flying; } |
494 | { | 488 | set { flying = value; } |
495 | return flying; | ||
496 | } | ||
497 | set | ||
498 | { | ||
499 | flying = value; | ||
500 | } | ||
501 | } | 489 | } |
502 | 490 | ||
503 | public override PhysicsVector Position | 491 | public override PhysicsVector Position |
504 | { | 492 | { |
505 | get | 493 | get { return _position; } |
506 | { | ||
507 | return _position; | ||
508 | } | ||
509 | set | 494 | set |
510 | { | 495 | { |
511 | lock (OdeScene.OdeLock) | 496 | lock (OdeScene.OdeLock) |
@@ -518,60 +503,34 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
518 | 503 | ||
519 | public override PhysicsVector Size | 504 | public override PhysicsVector Size |
520 | { | 505 | { |
521 | get | 506 | get { return new PhysicsVector(0, 0, 0); } |
522 | { | 507 | set { } |
523 | return new PhysicsVector(0,0,0); | ||
524 | } | ||
525 | set | ||
526 | { | ||
527 | } | ||
528 | } | 508 | } |
529 | 509 | ||
530 | 510 | ||
531 | public override PhysicsVector Velocity | 511 | public override PhysicsVector Velocity |
532 | { | 512 | { |
533 | get | 513 | get { return _velocity; } |
534 | { | 514 | set { _target_velocity = value; } |
535 | return _velocity; | ||
536 | } | ||
537 | set | ||
538 | { | ||
539 | _target_velocity = value; | ||
540 | } | ||
541 | } | 515 | } |
542 | 516 | ||
543 | public override bool Kinematic | 517 | public override bool Kinematic |
544 | { | 518 | { |
545 | get | 519 | get { return false; } |
546 | { | 520 | set { } |
547 | return false; | ||
548 | } | ||
549 | set | ||
550 | { | ||
551 | |||
552 | } | ||
553 | } | 521 | } |
554 | 522 | ||
555 | public override Quaternion Orientation | 523 | public override Quaternion Orientation |
556 | { | 524 | { |
557 | get | 525 | get { return Quaternion.Identity; } |
558 | { | 526 | set { } |
559 | return Quaternion.Identity; | ||
560 | } | ||
561 | set | ||
562 | { | ||
563 | |||
564 | } | ||
565 | } | 527 | } |
566 | 528 | ||
567 | public override PhysicsVector Acceleration | 529 | public override PhysicsVector Acceleration |
568 | { | 530 | { |
569 | get | 531 | get { return _acceleration; } |
570 | { | ||
571 | return _acceleration; | ||
572 | } | ||
573 | |||
574 | } | 532 | } |
533 | |||
575 | public void SetAcceleration(PhysicsVector accel) | 534 | public void SetAcceleration(PhysicsVector accel) |
576 | { | 535 | { |
577 | _acceleration = accel; | 536 | _acceleration = accel; |
@@ -579,12 +538,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
579 | 538 | ||
580 | public override void AddForce(PhysicsVector force) | 539 | public override void AddForce(PhysicsVector force) |
581 | { | 540 | { |
582 | |||
583 | } | 541 | } |
584 | 542 | ||
585 | public override void SetMomentum(PhysicsVector momentum) | 543 | public override void SetMomentum(PhysicsVector momentum) |
586 | { | 544 | { |
587 | |||
588 | } | 545 | } |
589 | 546 | ||
590 | public void Move(float timeStep) | 547 | public void Move(float timeStep) |
@@ -603,28 +560,28 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
603 | _zeroPosition = d.BodyGetPosition(Body); | 560 | _zeroPosition = d.BodyGetPosition(Body); |
604 | } | 561 | } |
605 | d.Vector3 pos = d.BodyGetPosition(Body); | 562 | d.Vector3 pos = d.BodyGetPosition(Body); |
606 | vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P; | 563 | vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P; |
607 | vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P; | 564 | vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P; |
608 | if (flying) | 565 | if (flying) |
609 | { | 566 | { |
610 | vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; | 567 | vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P; |
611 | } | 568 | } |
612 | } | 569 | } |
613 | else | 570 | else |
614 | { | 571 | { |
615 | _zeroFlag = false; | 572 | _zeroFlag = false; |
616 | vec.X = (_target_velocity.X - vel.X) * PID_D; | 573 | vec.X = (_target_velocity.X - vel.X)*PID_D; |
617 | vec.Y = (_target_velocity.Y - vel.Y) * PID_D; | 574 | vec.Y = (_target_velocity.Y - vel.Y)*PID_D; |
618 | if (flying) | 575 | if (flying) |
619 | { | 576 | { |
620 | vec.Z = (_target_velocity.Z - vel.Z) * PID_D; | 577 | vec.Z = (_target_velocity.Z - vel.Z)*PID_D; |
621 | } | 578 | } |
622 | } | 579 | } |
623 | if (flying) | 580 | if (flying) |
624 | { | 581 | { |
625 | vec.Z += 10.0f; | 582 | vec.Z += 10.0f; |
626 | } | 583 | } |
627 | d.BodyAddForce(this.Body, vec.X, vec.Y, vec.Z); | 584 | d.BodyAddForce(Body, vec.X, vec.Y, vec.Z); |
628 | 585 | ||
629 | // ok -- let's stand up straight! | 586 | // ok -- let's stand up straight! |
630 | d.Vector3 feet; | 587 | d.Vector3 feet; |
@@ -634,7 +591,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
634 | float posture = head.Z - feet.Z; | 591 | float posture = head.Z - feet.Z; |
635 | 592 | ||
636 | // restoring force proportional to lack of posture: | 593 | // restoring force proportional to lack of posture: |
637 | float servo = (2.5f-posture) * POSTURE_SERVO; | 594 | float servo = (2.5f - posture)*POSTURE_SERVO; |
638 | d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); | 595 | d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); |
639 | d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); | 596 | d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); |
640 | } | 597 | } |
@@ -650,9 +607,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
650 | if (vec.X > 255.95f) vec.X = 255.95f; | 607 | if (vec.X > 255.95f) vec.X = 255.95f; |
651 | if (vec.Y > 255.95f) vec.Y = 255.95f; | 608 | if (vec.Y > 255.95f) vec.Y = 255.95f; |
652 | 609 | ||
653 | this._position.X = vec.X; | 610 | _position.X = vec.X; |
654 | this._position.Y = vec.Y; | 611 | _position.Y = vec.Y; |
655 | this._position.Z = vec.Z; | 612 | _position.Z = vec.Z; |
656 | 613 | ||
657 | if (_zeroFlag) | 614 | if (_zeroFlag) |
658 | { | 615 | { |
@@ -673,9 +630,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
673 | { | 630 | { |
674 | lock (OdeScene.OdeLock) | 631 | lock (OdeScene.OdeLock) |
675 | { | 632 | { |
676 | d.GeomDestroy(this.Shell); | 633 | d.GeomDestroy(Shell); |
677 | this._parent_scene.geom_name_map.Remove(this.Shell); | 634 | _parent_scene.geom_name_map.Remove(Shell); |
678 | d.BodyDestroy(this.Body); | 635 | d.BodyDestroy(Body); |
679 | } | 636 | } |
680 | } | 637 | } |
681 | } | 638 | } |
@@ -693,7 +650,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
693 | public IntPtr prim_geom; | 650 | public IntPtr prim_geom; |
694 | public IntPtr _triMeshData; | 651 | public IntPtr _triMeshData; |
695 | 652 | ||
696 | public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, | 653 | public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, |
697 | Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) | 654 | Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs) |
698 | { | 655 | { |
699 | _velocity = new PhysicsVector(); | 656 | _velocity = new PhysicsVector(); |
@@ -707,7 +664,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
707 | 664 | ||
708 | lock (OdeScene.OdeLock) | 665 | lock (OdeScene.OdeLock) |
709 | { | 666 | { |
710 | if (mesh!=null) | 667 | if (mesh != null) |
711 | { | 668 | { |
712 | setMesh(parent_scene, mesh); | 669 | setMesh(parent_scene, mesh); |
713 | } | 670 | } |
@@ -723,20 +680,22 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
723 | myrot.Y = rotation.y; | 680 | myrot.Y = rotation.y; |
724 | myrot.Z = rotation.z; | 681 | myrot.Z = rotation.z; |
725 | d.GeomSetQuaternion(prim_geom, ref myrot); | 682 | d.GeomSetQuaternion(prim_geom, ref myrot); |
726 | parent_scene.geom_name_map[prim_geom] = primName; // don't do .add() here; old geoms get recycled with the same hash | 683 | parent_scene.geom_name_map[prim_geom] = primName; |
684 | // don't do .add() here; old geoms get recycled with the same hash | ||
727 | } | 685 | } |
728 | } | 686 | } |
729 | 687 | ||
730 | public void setMesh(OdeScene parent_scene, Mesh mesh) | 688 | public void setMesh(OdeScene parent_scene, Mesh mesh) |
731 | { | 689 | { |
732 | float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory | 690 | float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory |
733 | int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage | 691 | int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage |
734 | int VertexCount = vertexList.GetLength(0) / 3; | 692 | int VertexCount = vertexList.GetLength(0)/3; |
735 | int IndexCount = indexList.GetLength(0); | 693 | int IndexCount = indexList.GetLength(0); |
736 | 694 | ||
737 | _triMeshData = d.GeomTriMeshDataCreate(); | 695 | _triMeshData = d.GeomTriMeshDataCreate(); |
738 | 696 | ||
739 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount, 3 * sizeof(int)); | 697 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount, |
698 | 3*sizeof (int)); | ||
740 | d.GeomTriMeshDataPreprocess(_triMeshData); | 699 | d.GeomTriMeshDataPreprocess(_triMeshData); |
741 | 700 | ||
742 | prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null); | 701 | prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null); |
@@ -744,21 +703,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
744 | 703 | ||
745 | public override bool Flying | 704 | public override bool Flying |
746 | { | 705 | { |
747 | get | 706 | get { return false; //no flying prims for you |
748 | { | ||
749 | return false; //no flying prims for you | ||
750 | } | ||
751 | set | ||
752 | { | ||
753 | } | 707 | } |
708 | set { } | ||
754 | } | 709 | } |
755 | 710 | ||
756 | public override PhysicsVector Position | 711 | public override PhysicsVector Position |
757 | { | 712 | { |
758 | get | 713 | get { return _position; } |
759 | { | ||
760 | return _position; | ||
761 | } | ||
762 | set | 714 | set |
763 | { | 715 | { |
764 | _position = value; | 716 | _position = value; |
@@ -771,10 +723,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
771 | 723 | ||
772 | public override PhysicsVector Size | 724 | public override PhysicsVector Size |
773 | { | 725 | { |
774 | get | 726 | get { return _size; } |
775 | { | ||
776 | return _size; | ||
777 | } | ||
778 | set | 727 | set |
779 | { | 728 | { |
780 | _size = value; | 729 | _size = value; |
@@ -798,33 +747,19 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
798 | 747 | ||
799 | public override PhysicsVector Velocity | 748 | public override PhysicsVector Velocity |
800 | { | 749 | { |
801 | get | 750 | get { return _velocity; } |
802 | { | 751 | set { _velocity = value; } |
803 | return _velocity; | ||
804 | } | ||
805 | set | ||
806 | { | ||
807 | _velocity = value; | ||
808 | } | ||
809 | } | 752 | } |
810 | 753 | ||
811 | public override bool Kinematic | 754 | public override bool Kinematic |
812 | { | 755 | { |
813 | get | 756 | get { return false; } |
814 | { | 757 | set { } |
815 | return false; | ||
816 | } | ||
817 | set | ||
818 | { | ||
819 | } | ||
820 | } | 758 | } |
821 | 759 | ||
822 | public override Quaternion Orientation | 760 | public override Quaternion Orientation |
823 | { | 761 | { |
824 | get | 762 | get { return _orientation; } |
825 | { | ||
826 | return _orientation; | ||
827 | } | ||
828 | set | 763 | set |
829 | { | 764 | { |
830 | _orientation = value; | 765 | _orientation = value; |
@@ -842,15 +777,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
842 | 777 | ||
843 | public override PhysicsVector Acceleration | 778 | public override PhysicsVector Acceleration |
844 | { | 779 | { |
845 | get | 780 | get { return _acceleration; } |
846 | { | ||
847 | return _acceleration; | ||
848 | } | ||
849 | } | 781 | } |
850 | 782 | ||
851 | public void SetAcceleration(PhysicsVector accel) | 783 | public void SetAcceleration(PhysicsVector accel) |
852 | { | 784 | { |
853 | this._acceleration = accel; | 785 | _acceleration = accel; |
854 | } | 786 | } |
855 | 787 | ||
856 | public override void AddForce(PhysicsVector force) | 788 | public override void AddForce(PhysicsVector force) |
@@ -861,4 +793,4 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
861 | { | 793 | { |
862 | } | 794 | } |
863 | } | 795 | } |
864 | } | 796 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs index 3f840cc..d110a17 100644 --- a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs | |||
@@ -27,24 +27,26 @@ | |||
27 | */ | 27 | */ |
28 | using System.Reflection; | 28 | using System.Reflection; |
29 | using System.Runtime.InteropServices; | 29 | using System.Runtime.InteropServices; |
30 | |||
30 | // Information about this assembly is defined by the following | 31 | // Information about this assembly is defined by the following |
31 | // attributes. | 32 | // attributes. |
32 | // | 33 | // |
33 | // change them to the information which is associated with the assembly | 34 | // change them to the information which is associated with the assembly |
34 | // you compile. | 35 | // you compile. |
35 | 36 | ||
36 | [assembly: AssemblyTitle("RealPhysXplugin")] | 37 | [assembly : AssemblyTitle("RealPhysXplugin")] |
37 | [assembly: AssemblyDescription("")] | 38 | [assembly : AssemblyDescription("")] |
38 | [assembly: AssemblyConfiguration("")] | 39 | [assembly : AssemblyConfiguration("")] |
39 | [assembly: AssemblyCompany("")] | 40 | [assembly : AssemblyCompany("")] |
40 | [assembly: AssemblyProduct("RealPhysXplugin")] | 41 | [assembly : AssemblyProduct("RealPhysXplugin")] |
41 | [assembly: AssemblyCopyright("")] | 42 | [assembly : AssemblyCopyright("")] |
42 | [assembly: AssemblyTrademark("")] | 43 | [assembly : AssemblyTrademark("")] |
43 | [assembly: AssemblyCulture("")] | 44 | [assembly : AssemblyCulture("")] |
44 | 45 | ||
45 | // This sets the default COM visibility of types in the assembly to invisible. | 46 | // This sets the default COM visibility of types in the assembly to invisible. |
46 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. | 47 | // If you need to expose a type to COM, use [ComVisible(true)] on that type. |
47 | [assembly: ComVisible(false)] | 48 | |
49 | [assembly : ComVisible(false)] | ||
48 | 50 | ||
49 | // The assembly version has following format : | 51 | // The assembly version has following format : |
50 | // | 52 | // |
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices; | |||
53 | // You can specify all values by your own or you can build default build and revision | 55 | // You can specify all values by your own or you can build default build and revision |
54 | // numbers with the '*' character (the default): | 56 | // numbers with the '*' character (the default): |
55 | 57 | ||
56 | [assembly: AssemblyVersion("1.0.*")] | 58 | [assembly : AssemblyVersion("1.0.*")] \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs index a7cef88..4896359 100644 --- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs +++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs | |||
@@ -34,102 +34,99 @@ using Quaternion=Axiom.Math.Quaternion; | |||
34 | 34 | ||
35 | namespace OpenSim.Region.Physics.PhysXPlugin | 35 | namespace OpenSim.Region.Physics.PhysXPlugin |
36 | { | 36 | { |
37 | /// <summary> | 37 | /// <summary> |
38 | /// Will be the PhysX plugin but for now will be a very basic physics engine | 38 | /// Will be the PhysX plugin but for now will be a very basic physics engine |
39 | /// </summary> | 39 | /// </summary> |
40 | public class PhysXPlugin : IPhysicsPlugin | 40 | public class PhysXPlugin : IPhysicsPlugin |
41 | { | 41 | { |
42 | private PhysXScene _mScene; | 42 | private PhysXScene _mScene; |
43 | 43 | ||
44 | public PhysXPlugin() | 44 | public PhysXPlugin() |
45 | { | 45 | { |
46 | 46 | } | |
47 | } | 47 | |
48 | 48 | public bool Init() | |
49 | public bool Init() | 49 | { |
50 | { | 50 | return true; |
51 | return true; | 51 | } |
52 | } | 52 | |
53 | 53 | public PhysicsScene GetScene() | |
54 | public PhysicsScene GetScene() | 54 | { |
55 | { | 55 | if (_mScene == null) |
56 | if(_mScene == null) | 56 | { |
57 | { | 57 | _mScene = new PhysXScene(); |
58 | _mScene = new PhysXScene(); | 58 | } |
59 | } | 59 | return (_mScene); |
60 | return(_mScene); | 60 | } |
61 | } | 61 | |
62 | 62 | public string GetName() | |
63 | public string GetName() | 63 | { |
64 | { | 64 | return ("RealPhysX"); |
65 | return("RealPhysX"); | 65 | } |
66 | } | 66 | |
67 | 67 | public void Dispose() | |
68 | public void Dispose() | 68 | { |
69 | { | 69 | } |
70 | 70 | } | |
71 | } | 71 | |
72 | } | 72 | public class PhysXScene : PhysicsScene |
73 | 73 | { | |
74 | public class PhysXScene :PhysicsScene | 74 | private List<PhysXCharacter> _characters = new List<PhysXCharacter>(); |
75 | { | 75 | private List<PhysXPrim> _prims = new List<PhysXPrim>(); |
76 | private List<PhysXCharacter> _characters = new List<PhysXCharacter>(); | 76 | private float[] _heightMap = null; |
77 | private List<PhysXPrim> _prims = new List<PhysXPrim>(); | 77 | private NxPhysicsSDK mySdk; |
78 | private float[] _heightMap = null; | 78 | private NxScene scene; |
79 | private NxPhysicsSDK mySdk; | 79 | |
80 | private NxScene scene; | 80 | public PhysXScene() |
81 | 81 | { | |
82 | public PhysXScene() | 82 | mySdk = NxPhysicsSDK.CreateSDK(); |
83 | { | 83 | Console.WriteLine("Sdk created - now creating scene"); |
84 | mySdk = NxPhysicsSDK.CreateSDK(); | 84 | scene = mySdk.CreateScene(); |
85 | Console.WriteLine("Sdk created - now creating scene"); | 85 | } |
86 | scene = mySdk.CreateScene(); | 86 | |
87 | 87 | public override PhysicsActor AddAvatar(string avName, PhysicsVector position) | |
88 | } | 88 | { |
89 | 89 | Vec3 pos = new Vec3(); | |
90 | public override PhysicsActor AddAvatar(string avName, PhysicsVector position) | 90 | pos.X = position.X; |
91 | { | 91 | pos.Y = position.Y; |
92 | Vec3 pos = new Vec3(); | 92 | pos.Z = position.Z; |
93 | pos.X = position.X; | 93 | PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos)); |
94 | pos.Y = position.Y; | ||
95 | pos.Z = position.Z; | ||
96 | PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos)); | ||
97 | act.Position = position; | 94 | act.Position = position; |
98 | _characters.Add(act); | 95 | _characters.Add(act); |
99 | return act; | 96 | return act; |
100 | } | 97 | } |
101 | 98 | ||
102 | public override void RemovePrim(PhysicsActor prim) | 99 | public override void RemovePrim(PhysicsActor prim) |
103 | { | 100 | { |
104 | |||
105 | } | 101 | } |
106 | 102 | ||
107 | public override void RemoveAvatar(PhysicsActor actor) | 103 | public override void RemoveAvatar(PhysicsActor actor) |
108 | { | 104 | { |
105 | } | ||
109 | 106 | ||
107 | private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) | ||
108 | { | ||
109 | Vec3 pos = new Vec3(); | ||
110 | pos.X = position.X; | ||
111 | pos.Y = position.Y; | ||
112 | pos.Z = position.Z; | ||
113 | Vec3 siz = new Vec3(); | ||
114 | siz.X = size.X; | ||
115 | siz.Y = size.Y; | ||
116 | siz.Z = size.Z; | ||
117 | PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz)); | ||
118 | _prims.Add(act); | ||
119 | return act; | ||
110 | } | 120 | } |
111 | 121 | ||
112 | PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) | 122 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, |
113 | { | 123 | PhysicsVector size, Quaternion rotation) |
114 | Vec3 pos = new Vec3(); | ||
115 | pos.X = position.X; | ||
116 | pos.Y = position.Y; | ||
117 | pos.Z = position.Z; | ||
118 | Vec3 siz = new Vec3(); | ||
119 | siz.X = size.X; | ||
120 | siz.Y = size.Y; | ||
121 | siz.Z = size.Z; | ||
122 | PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz)); | ||
123 | _prims.Add(act); | ||
124 | return act; | ||
125 | } | ||
126 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) | ||
127 | { | 124 | { |
128 | return AddPrim(position, size, rotation); | 125 | return AddPrim(position, size, rotation); |
129 | } | 126 | } |
130 | 127 | ||
131 | public override void Simulate(float timeStep) | 128 | public override void Simulate(float timeStep) |
132 | { | 129 | { |
133 | try | 130 | try |
134 | { | 131 | { |
135 | foreach (PhysXCharacter actor in _characters) | 132 | foreach (PhysXCharacter actor in _characters) |
@@ -149,309 +146,237 @@ namespace OpenSim.Region.Physics.PhysXPlugin | |||
149 | { | 146 | { |
150 | Console.WriteLine(e.Message); | 147 | Console.WriteLine(e.Message); |
151 | } | 148 | } |
152 | 149 | } | |
153 | } | 150 | |
154 | 151 | public override void GetResults() | |
155 | public override void GetResults() | 152 | { |
156 | { | 153 | } |
157 | 154 | ||
158 | } | 155 | public override bool IsThreaded |
159 | 156 | { | |
160 | public override bool IsThreaded | 157 | get { return (false); // for now we won't be multithreaded |
161 | { | 158 | } |
162 | get | 159 | } |
163 | { | 160 | |
164 | return(false); // for now we won't be multithreaded | 161 | public override void SetTerrain(float[] heightMap) |
165 | } | 162 | { |
166 | } | 163 | if (_heightMap != null) |
167 | |||
168 | public override void SetTerrain(float[] heightMap) | ||
169 | { | ||
170 | if (this._heightMap != null) | ||
171 | { | 164 | { |
172 | Console.WriteLine("PhysX - deleting old terrain"); | 165 | Console.WriteLine("PhysX - deleting old terrain"); |
173 | this.scene.DeleteTerrain(); | 166 | scene.DeleteTerrain(); |
174 | } | 167 | } |
175 | this._heightMap = heightMap; | 168 | _heightMap = heightMap; |
176 | this.scene.AddTerrain(heightMap); | 169 | scene.AddTerrain(heightMap); |
177 | } | 170 | } |
178 | 171 | ||
179 | public override void DeleteTerrain() | 172 | public override void DeleteTerrain() |
180 | { | 173 | { |
181 | this.scene.DeleteTerrain(); | 174 | scene.DeleteTerrain(); |
182 | } | 175 | } |
183 | } | 176 | } |
184 | 177 | ||
185 | public class PhysXCharacter : PhysicsActor | 178 | public class PhysXCharacter : PhysicsActor |
186 | { | 179 | { |
187 | private PhysicsVector _position; | 180 | private PhysicsVector _position; |
188 | private PhysicsVector _velocity; | 181 | private PhysicsVector _velocity; |
189 | private PhysicsVector _acceleration; | 182 | private PhysicsVector _acceleration; |
190 | private NxCharacter _character; | 183 | private NxCharacter _character; |
191 | private bool flying; | 184 | private bool flying; |
192 | private float gravityAccel; | 185 | private float gravityAccel; |
193 | 186 | ||
194 | public PhysXCharacter(NxCharacter character) | 187 | public PhysXCharacter(NxCharacter character) |
195 | { | 188 | { |
196 | _velocity = new PhysicsVector(); | 189 | _velocity = new PhysicsVector(); |
197 | _position = new PhysicsVector(); | 190 | _position = new PhysicsVector(); |
198 | _acceleration = new PhysicsVector(); | 191 | _acceleration = new PhysicsVector(); |
199 | _character = character; | 192 | _character = character; |
200 | } | 193 | } |
201 | 194 | ||
202 | public override bool Flying | 195 | public override bool Flying |
203 | { | 196 | { |
204 | get | 197 | get { return flying; } |
205 | { | 198 | set { flying = value; } |
206 | return flying; | 199 | } |
207 | } | 200 | |
208 | set | 201 | public override PhysicsVector Position |
209 | { | 202 | { |
210 | flying = value; | 203 | get { return _position; } |
211 | } | 204 | set |
212 | } | 205 | { |
213 | 206 | _position = value; | |
214 | public override PhysicsVector Position | ||
215 | { | ||
216 | get | ||
217 | { | ||
218 | return _position; | ||
219 | } | ||
220 | set | ||
221 | { | ||
222 | _position = value; | ||
223 | Vec3 ps = new Vec3(); | 207 | Vec3 ps = new Vec3(); |
224 | ps.X = value.X; | 208 | ps.X = value.X; |
225 | ps.Y = value.Y; | 209 | ps.Y = value.Y; |
226 | ps.Z = value.Z; | 210 | ps.Z = value.Z; |
227 | this._character.Position = ps; | 211 | _character.Position = ps; |
228 | } | 212 | } |
229 | } | 213 | } |
230 | 214 | ||
231 | public override PhysicsVector Size | 215 | public override PhysicsVector Size |
232 | { | 216 | { |
233 | get | 217 | get { return new PhysicsVector(0, 0, 0); } |
218 | set { } | ||
219 | } | ||
220 | |||
221 | public override PhysicsVector Velocity | ||
222 | { | ||
223 | get { return _velocity; } | ||
224 | set { _velocity = value; } | ||
225 | } | ||
226 | |||
227 | public override bool Kinematic | ||
228 | { | ||
229 | get { return false; } | ||
230 | set { } | ||
231 | } | ||
232 | |||
233 | public override Quaternion Orientation | ||
234 | { | ||
235 | get { return Quaternion.Identity; } | ||
236 | set { } | ||
237 | } | ||
238 | |||
239 | public override PhysicsVector Acceleration | ||
240 | { | ||
241 | get { return _acceleration; } | ||
242 | } | ||
243 | |||
244 | public void SetAcceleration(PhysicsVector accel) | ||
245 | { | ||
246 | _acceleration = accel; | ||
247 | } | ||
248 | |||
249 | public override void AddForce(PhysicsVector force) | ||
250 | { | ||
251 | } | ||
252 | |||
253 | public override void SetMomentum(PhysicsVector momentum) | ||
254 | { | ||
255 | } | ||
256 | |||
257 | public void Move(float timeStep) | ||
258 | { | ||
259 | Vec3 vec = new Vec3(); | ||
260 | vec.X = _velocity.X*timeStep; | ||
261 | vec.Y = _velocity.Y*timeStep; | ||
262 | if (flying) | ||
234 | { | 263 | { |
235 | return new PhysicsVector(0,0,0); | 264 | vec.Z = (_velocity.Z)*timeStep; |
236 | } | 265 | } |
237 | set | 266 | else |
267 | { | ||
268 | gravityAccel += -9.8f; | ||
269 | vec.Z = (gravityAccel + _velocity.Z)*timeStep; | ||
270 | } | ||
271 | int res = _character.Move(vec); | ||
272 | if (res == 1) | ||
238 | { | 273 | { |
274 | gravityAccel = 0; | ||
239 | } | 275 | } |
240 | } | 276 | } |
241 | public override PhysicsVector Velocity | ||
242 | { | ||
243 | get | ||
244 | { | ||
245 | return _velocity; | ||
246 | } | ||
247 | set | ||
248 | { | ||
249 | _velocity = value; | ||
250 | } | ||
251 | } | ||
252 | |||
253 | public override bool Kinematic | ||
254 | { | ||
255 | get | ||
256 | { | ||
257 | return false; | ||
258 | } | ||
259 | set | ||
260 | { | ||
261 | |||
262 | } | ||
263 | } | ||
264 | |||
265 | public override Quaternion Orientation | ||
266 | { | ||
267 | get | ||
268 | { | ||
269 | return Quaternion.Identity; | ||
270 | } | ||
271 | set | ||
272 | { | ||
273 | |||
274 | } | ||
275 | } | ||
276 | |||
277 | public override PhysicsVector Acceleration | ||
278 | { | ||
279 | get | ||
280 | { | ||
281 | return _acceleration; | ||
282 | } | ||
283 | |||
284 | } | ||
285 | public void SetAcceleration (PhysicsVector accel) | ||
286 | { | ||
287 | this._acceleration = accel; | ||
288 | } | ||
289 | |||
290 | public override void AddForce(PhysicsVector force) | ||
291 | { | ||
292 | |||
293 | } | ||
294 | |||
295 | public override void SetMomentum(PhysicsVector momentum) | ||
296 | { | ||
297 | |||
298 | } | ||
299 | |||
300 | public void Move(float timeStep) | ||
301 | { | ||
302 | Vec3 vec = new Vec3(); | ||
303 | vec.X = this._velocity.X * timeStep; | ||
304 | vec.Y = this._velocity.Y * timeStep; | ||
305 | if(flying) | ||
306 | { | ||
307 | vec.Z = ( this._velocity.Z) * timeStep; | ||
308 | } | ||
309 | else | ||
310 | { | ||
311 | gravityAccel+= -9.8f; | ||
312 | vec.Z = (gravityAccel + this._velocity.Z) * timeStep; | ||
313 | } | ||
314 | int res = this._character.Move(vec); | ||
315 | if(res == 1) | ||
316 | { | ||
317 | gravityAccel = 0; | ||
318 | } | ||
319 | } | ||
320 | |||
321 | public void UpdatePosition() | ||
322 | { | ||
323 | Vec3 vec = this._character.Position; | ||
324 | this._position.X = vec.X; | ||
325 | this._position.Y = vec.Y; | ||
326 | this._position.Z = vec.Z; | ||
327 | } | ||
328 | } | ||
329 | |||
330 | public class PhysXPrim : PhysicsActor | ||
331 | { | ||
332 | private PhysicsVector _position; | ||
333 | private PhysicsVector _velocity; | ||
334 | private PhysicsVector _acceleration; | ||
335 | private NxActor _prim; | ||
336 | |||
337 | public PhysXPrim(NxActor prim) | ||
338 | { | ||
339 | _velocity = new PhysicsVector(); | ||
340 | _position = new PhysicsVector(); | ||
341 | _acceleration = new PhysicsVector(); | ||
342 | _prim = prim; | ||
343 | } | ||
344 | public override bool Flying | ||
345 | { | ||
346 | get | ||
347 | { | ||
348 | return false; //no flying prims for you | ||
349 | } | ||
350 | set | ||
351 | { | ||
352 | |||
353 | } | ||
354 | } | ||
355 | public override PhysicsVector Position | ||
356 | { | ||
357 | get | ||
358 | { | ||
359 | PhysicsVector pos = new PhysicsVector(); | ||
360 | Vec3 vec = this._prim.Position; | ||
361 | pos.X = vec.X; | ||
362 | pos.Y = vec.Y; | ||
363 | pos.Z = vec.Z; | ||
364 | return pos; | ||
365 | |||
366 | } | ||
367 | set | ||
368 | { | ||
369 | PhysicsVector vec = value; | ||
370 | Vec3 pos = new Vec3(); | ||
371 | pos.X = vec.X; | ||
372 | pos.Y = vec.Y; | ||
373 | pos.Z = vec.Z; | ||
374 | this._prim.Position = pos; | ||
375 | } | ||
376 | } | ||
377 | 277 | ||
378 | public override PhysicsVector Size | 278 | public void UpdatePosition() |
279 | { | ||
280 | Vec3 vec = _character.Position; | ||
281 | _position.X = vec.X; | ||
282 | _position.Y = vec.Y; | ||
283 | _position.Z = vec.Z; | ||
284 | } | ||
285 | } | ||
286 | |||
287 | public class PhysXPrim : PhysicsActor | ||
288 | { | ||
289 | private PhysicsVector _position; | ||
290 | private PhysicsVector _velocity; | ||
291 | private PhysicsVector _acceleration; | ||
292 | private NxActor _prim; | ||
293 | |||
294 | public PhysXPrim(NxActor prim) | ||
295 | { | ||
296 | _velocity = new PhysicsVector(); | ||
297 | _position = new PhysicsVector(); | ||
298 | _acceleration = new PhysicsVector(); | ||
299 | _prim = prim; | ||
300 | } | ||
301 | |||
302 | public override bool Flying | ||
303 | { | ||
304 | get { return false; //no flying prims for you | ||
305 | } | ||
306 | set { } | ||
307 | } | ||
308 | |||
309 | public override PhysicsVector Position | ||
379 | { | 310 | { |
380 | get | 311 | get |
381 | { | 312 | { |
382 | return new PhysicsVector(0, 0, 0); | 313 | PhysicsVector pos = new PhysicsVector(); |
314 | Vec3 vec = _prim.Position; | ||
315 | pos.X = vec.X; | ||
316 | pos.Y = vec.Y; | ||
317 | pos.Z = vec.Z; | ||
318 | return pos; | ||
383 | } | 319 | } |
384 | set | 320 | set |
385 | { | 321 | { |
322 | PhysicsVector vec = value; | ||
323 | Vec3 pos = new Vec3(); | ||
324 | pos.X = vec.X; | ||
325 | pos.Y = vec.Y; | ||
326 | pos.Z = vec.Z; | ||
327 | _prim.Position = pos; | ||
386 | } | 328 | } |
387 | } | 329 | } |
388 | 330 | ||
389 | public override PhysicsVector Velocity | 331 | public override PhysicsVector Size |
390 | { | 332 | { |
391 | get | 333 | get { return new PhysicsVector(0, 0, 0); } |
392 | { | 334 | set { } |
393 | return _velocity; | 335 | } |
394 | } | 336 | |
395 | set | 337 | public override PhysicsVector Velocity |
396 | { | 338 | { |
397 | _velocity = value; | 339 | get { return _velocity; } |
398 | } | 340 | set { _velocity = value; } |
399 | } | 341 | } |
400 | 342 | ||
401 | public override bool Kinematic | 343 | public override bool Kinematic |
402 | { | 344 | { |
403 | get | 345 | get { return _prim.Kinematic; } |
404 | { | 346 | set { _prim.Kinematic = value; } |
405 | return this._prim.Kinematic; | 347 | } |
406 | } | 348 | |
407 | set | 349 | public override Quaternion Orientation |
408 | { | 350 | { |
409 | this._prim.Kinematic = value; | 351 | get |
410 | } | 352 | { |
411 | } | 353 | Quaternion res = new Quaternion(); |
412 | 354 | PhysXWrapper.Quaternion quat = _prim.GetOrientation(); | |
413 | public override Quaternion Orientation | 355 | res.w = quat.W; |
414 | { | 356 | res.x = quat.X; |
415 | get | 357 | res.y = quat.Y; |
416 | { | 358 | res.z = quat.Z; |
417 | Quaternion res = new Quaternion(); | 359 | return res; |
418 | PhysXWrapper.Quaternion quat = this._prim.GetOrientation(); | 360 | } |
419 | res.w = quat.W; | 361 | set { } |
420 | res.x = quat.X; | 362 | } |
421 | res.y = quat.Y; | 363 | |
422 | res.z = quat.Z; | 364 | public override PhysicsVector Acceleration |
423 | return res; | 365 | { |
424 | } | 366 | get { return _acceleration; } |
425 | set | 367 | } |
426 | { | 368 | |
427 | 369 | public void SetAcceleration(PhysicsVector accel) | |
428 | } | 370 | { |
429 | } | 371 | _acceleration = accel; |
430 | 372 | } | |
431 | public override PhysicsVector Acceleration | 373 | |
432 | { | 374 | public override void AddForce(PhysicsVector force) |
433 | get | 375 | { |
434 | { | 376 | } |
435 | return _acceleration; | 377 | |
436 | } | 378 | public override void SetMomentum(PhysicsVector momentum) |
437 | 379 | { | |
438 | } | 380 | } |
439 | public void SetAcceleration (PhysicsVector accel) | 381 | } |
440 | { | 382 | } \ No newline at end of file |
441 | this._acceleration = accel; | ||
442 | } | ||
443 | |||
444 | public override void AddForce(PhysicsVector force) | ||
445 | { | ||
446 | |||
447 | } | ||
448 | |||
449 | public override void SetMomentum(PhysicsVector momentum) | ||
450 | { | ||
451 | |||
452 | } | ||
453 | |||
454 | |||
455 | } | ||
456 | |||
457 | } | ||