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authordan miller2007-10-07 14:40:02 +0000
committerdan miller2007-10-07 14:40:02 +0000
commit2d5f5e2b32c5b8cc5bf6492964e06724b8935fd1 (patch)
treeb76a0d37987e75822ea0c3b3cff914a495548054 /OpenSim/Region/Physics
parentremoved the OpenSim.Region.ScriptEngine.DotNetEngine reference from OpenSim.... (diff)
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applied Darok"s BulletXPlugin changes 003.patch
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs464
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs13
2 files changed, 378 insertions, 99 deletions
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index af13d02..705eb38 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -30,19 +30,29 @@
30#region References 30#region References
31using System; 31using System;
32using System.Collections.Generic; 32using System.Collections.Generic;
33using OpenSim.Framework.Types;
34using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34using OpenSim.Framework.Types;
35using Axiom.Math; 35using Axiom.Math;
36using AxiomQuaternion = Axiom.Math.Quaternion; 36using AxiomQuaternion = Axiom.Math.Quaternion;
37//Specific References for BulletXPlugin 37//Specific References for BulletXPlugin
38using MonoXnaCompactMaths; //Called as MXCM 38using MonoXnaCompactMaths;
39using XnaDevRu.BulletX; 39using XnaDevRu.BulletX;
40using XnaDevRu.BulletX.Dynamics; 40using XnaDevRu.BulletX.Dynamics;
41
41#endregion 42#endregion
42 43
43namespace OpenSim.Region.Physics.BulletXPlugin 44namespace OpenSim.Region.Physics.BulletXPlugin
44{ 45{
45 /// <summary> 46 /// <summary>
47 /// This class is only here for compilations reasons
48 /// </summary>
49 public class Mesh
50 {
51 public Mesh()
52 {
53 }
54 }
55 /// <summary>
46 /// BulletXConversions are called now BulletXMaths 56 /// BulletXConversions are called now BulletXMaths
47 /// This Class converts objects and types for BulletX and give some operations 57 /// This Class converts objects and types for BulletX and give some operations
48 /// </summary> 58 /// </summary>
@@ -222,12 +232,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
222 private const int maxXY = 256; 232 private const int maxXY = 256;
223 private const int maxZ = 4096; 233 private const int maxZ = 4096;
224 private const int maxHandles = 32766; //Why? I don't know 234 private const int maxHandles = 32766; //Why? I don't know
225 private static float gravity = 9.8f; 235 private const float gravity = 9.8f;
226 private static float heightLevel0 = 77.0f; 236 private const float heightLevel0 = 77.0f;
227 private static float heightLevel1 = 200.0f; 237 private const float heightLevel1 = 200.0f;
228 private static float lowGravityFactor = 0.2f; 238 private const float lowGravityFactor = 0.2f;
229 239 //OpenSim calls Simulate 10 times per seconds. So FPS = "Simulate Calls" * simulationSubSteps = 100 FPS
230 private float[] _heightmap; 240 private const int simulationSubSteps = 10;
241 //private float[] _heightmap;
242 private BulletXPlanet _simFlatPlanet;
231 private List<BulletXCharacter> _characters = new List<BulletXCharacter>(); 243 private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
232 private List<BulletXPrim> _prims = new List<BulletXPrim>(); 244 private List<BulletXPrim> _prims = new List<BulletXPrim>();
233 245
@@ -235,6 +247,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
235 public static float HeightLevel0 { get { return heightLevel0; } } 247 public static float HeightLevel0 { get { return heightLevel0; } }
236 public static float HeightLevel1 { get { return heightLevel1; } } 248 public static float HeightLevel1 { get { return heightLevel1; } }
237 public static float LowGravityFactor { get { return lowGravityFactor; } } 249 public static float LowGravityFactor { get { return lowGravityFactor; } }
250 public static int MaxXY { get { return maxXY; } }
251 public static int MaxZ { get { return maxZ; } }
252
253 private List<RigidBody> _forgottenRigidBodies = new List<RigidBody>();
254 internal string is_ex_message = "Can't remove rigidBody!: ";
238 #endregion 255 #endregion
239 256
240 public BulletXScene() 257 public BulletXScene()
@@ -250,10 +267,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
250 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); 267 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
251 ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); 268 ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
252 } 269 }
253 270 //this._heightmap = new float[65536];
254 this._heightmap = new float[65536];
255 } 271 }
256 public override PhysicsActor AddAvatar(string avName, PhysicsVector position) 272 public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
257 { 273 {
258 PhysicsVector pos = new PhysicsVector(); 274 PhysicsVector pos = new PhysicsVector();
259 pos.X = position.X; 275 pos.X = position.X;
@@ -262,7 +278,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
262 BulletXCharacter newAv = null; 278 BulletXCharacter newAv = null;
263 lock (BulletXLock) 279 lock (BulletXLock)
264 { 280 {
265 newAv = new BulletXCharacter(this, pos); 281 newAv = new BulletXCharacter(avName, this, pos);
266 _characters.Add(newAv); 282 _characters.Add(newAv);
267 } 283 }
268 return newAv; 284 return newAv;
@@ -273,48 +289,98 @@ namespace OpenSim.Region.Physics.BulletXPlugin
273 { 289 {
274 lock (BulletXLock) 290 lock (BulletXLock)
275 { 291 {
292 try
293 {
294 ddWorld.RemoveRigidBody(((BulletXCharacter)actor).RigidBody);
295 }
296 catch (Exception ex)
297 {
298 BulletXMessage(is_ex_message + ex.Message, true);
299 ((BulletXCharacter)actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
300 AddForgottenRigidBody(((BulletXCharacter)actor).RigidBody);
301 }
276 _characters.Remove((BulletXCharacter)actor); 302 _characters.Remove((BulletXCharacter)actor);
277 } 303 }
304 GC.Collect();
305 }
306 }
307 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
308 {
309 PhysicsActor result;
310
311 switch (pbs.ProfileShape)
312 {
313 case ProfileShape.Square:
314 /// support simple box & hollow box now; later, more shapes
315 if (pbs.ProfileHollow == 0)
316 {
317 result = AddPrim(primName, position, size, rotation, null, null);
318 }
319 else
320 {
321 Mesh mesh = null;
322 result = AddPrim(primName, position, size, rotation, mesh, pbs);
323 }
324 break;
325
326 default:
327 result = AddPrim(primName, position, size, rotation, null, null);
328 break;
278 } 329 }
330
331 return result;
279 } 332 }
280 PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation) 333 public PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation)
334 {
335 return AddPrim("", position, size, rotation, null, null);
336 }
337 public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
281 { 338 {
282 BulletXPrim newPrim = null; 339 BulletXPrim newPrim = null;
283 lock (BulletXLock) 340 lock (BulletXLock)
284 { 341 {
285 newPrim = new BulletXPrim(this, position, size, rotation); 342 newPrim = new BulletXPrim(name, this, position, size, rotation, mesh, pbs);
286 _prims.Add(newPrim); 343 _prims.Add(newPrim);
287 } 344 }
288 return newPrim; 345 return newPrim;
289 } 346 }
290 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
291 {
292 return AddPrim(position, size, rotation);
293 }
294
295 public override void RemovePrim(PhysicsActor prim) 347 public override void RemovePrim(PhysicsActor prim)
296 { 348 {
297 if (prim is BulletXPrim) 349 if (prim is BulletXPrim)
298 { 350 {
299 lock (BulletXLock) 351 lock (BulletXLock)
300 { 352 {
353 try
354 {
355 ddWorld.RemoveRigidBody(((BulletXPrim)prim).RigidBody);
356 }
357 catch (Exception ex)
358 {
359 BulletXMessage(is_ex_message + ex.Message, true);
360 ((BulletXPrim)prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
361 AddForgottenRigidBody(((BulletXPrim)prim).RigidBody);
362 }
301 _prims.Remove((BulletXPrim)prim); 363 _prims.Remove((BulletXPrim)prim);
302 } 364 }
365 GC.Collect();
303 } 366 }
304 } 367 }
305 public override void Simulate(float timeStep) 368 public override void Simulate(float timeStep)
306 { 369 {
307 lock (BulletXLock) 370 lock (BulletXLock)
308 { 371 {
309 BXSMove(timeStep); 372 //Try to remove garbage
310 ddWorld.StepSimulation(timeStep, 0, timeStep); 373 RemoveForgottenRigidBodies();
311 //Heightmap Validation: 374 //End of remove
312 BXSValidateHeight(); 375 MoveAllObjects(timeStep);
376 ddWorld.StepSimulation(timeStep, simulationSubSteps, timeStep);
377 //Extra Heightmap Validation: BulletX's HeightFieldTerrain somestimes doesn't work so fine.
378 ValidateHeightForAll();
313 //End heightmap validation. 379 //End heightmap validation.
314 BXSUpdateKinetics(); 380 UpdateKineticsForAll();
315 } 381 }
316 } 382 }
317 private void BXSMove(float timeStep) 383 private void MoveAllObjects(float timeStep)
318 { 384 {
319 foreach (BulletXCharacter actor in _characters) 385 foreach (BulletXCharacter actor in _characters)
320 { 386 {
@@ -324,39 +390,33 @@ namespace OpenSim.Region.Physics.BulletXPlugin
324 { 390 {
325 } 391 }
326 } 392 }
327 private void BXSValidateHeight() 393 private void ValidateHeightForAll()
328 { 394 {
329 float _height; 395 float _height;
330 foreach (BulletXCharacter actor in _characters) 396 foreach (BulletXCharacter actor in _characters)
331 { 397 {
332 if ((actor.RigidBodyHorizontalPosition.x < 0) || (actor.RigidBodyHorizontalPosition.y < 0)) 398 //_height = HeightValue(actor.RigidBodyPosition);
333 { 399 _height = _simFlatPlanet.HeightValue(actor.RigidBodyPosition);
334 _height = 0;
335 }
336 else
337 {
338 _height = this._heightmap[
339 (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
340 + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)];
341 }
342 actor.ValidateHeight(_height); 400 actor.ValidateHeight(_height);
401 //if (_simFlatPlanet.heightIsNotValid(actor.RigidBodyPosition, out _height)) actor.ValidateHeight(_height);
343 } 402 }
344 foreach (BulletXPrim prim in _prims) 403 foreach (BulletXPrim prim in _prims)
345 { 404 {
346 if ((prim.RigidBodyHorizontalPosition.x < 0) || (prim.RigidBodyHorizontalPosition.y < 0)) 405 //_height = HeightValue(prim.RigidBodyPosition);
347 { 406 _height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition);
348 _height = 0;
349 }
350 else
351 {
352 _height = this._heightmap[
353 (int)Math.Round(prim.RigidBodyHorizontalPosition.x) * 256
354 + (int)Math.Round(prim.RigidBodyHorizontalPosition.y)];
355 }
356 prim.ValidateHeight(_height); 407 prim.ValidateHeight(_height);
408 //if (_simFlatPlanet.heightIsNotValid(prim.RigidBodyPosition, out _height)) prim.ValidateHeight(_height);
357 } 409 }
410 //foreach (BulletXCharacter actor in _characters)
411 //{
412 // actor.ValidateHeight(0);
413 //}
414 //foreach (BulletXPrim prim in _prims)
415 //{
416 // prim.ValidateHeight(0);
417 //}
358 } 418 }
359 private void BXSUpdateKinetics() 419 private void UpdateKineticsForAll()
360 { 420 {
361 //UpdatePosition > UpdateKinetics. 421 //UpdatePosition > UpdateKinetics.
362 //Not only position will be updated, also velocity cause acceleration. 422 //Not only position will be updated, also velocity cause acceleration.
@@ -368,6 +428,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
368 { 428 {
369 prim.UpdateKinetics(); 429 prim.UpdateKinetics();
370 } 430 }
431 //if(this._simFlatPlanet!=null) this._simFlatPlanet.Restore();
371 } 432 }
372 public override void GetResults() 433 public override void GetResults()
373 { 434 {
@@ -382,24 +443,97 @@ namespace OpenSim.Region.Physics.BulletXPlugin
382 } 443 }
383 public override void SetTerrain(float[] heightMap) 444 public override void SetTerrain(float[] heightMap)
384 { 445 {
385 //As the same as ODE, heightmap (x,y) must be swapped for BulletX 446 ////As the same as ODE, heightmap (x,y) must be swapped for BulletX
386 for (int i = 0; i < 65536; i++) 447 //for (int i = 0; i < 65536; i++)
448 //{
449 // // this._heightmap[i] = (double)heightMap[i];
450 // // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
451 // int x = i & 0xff;
452 // int y = i >> 8;
453 // this._heightmap[i] = heightMap[x * 256 + y];
454 //}
455
456 //float[] swappedHeightMap = new float[65536];
457 ////As the same as ODE, heightmap (x,y) must be swapped for BulletX
458 //for (int i = 0; i < 65536; i++)
459 //{
460 // // this._heightmap[i] = (double)heightMap[i];
461 // // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
462 // int x = i & 0xff;
463 // int y = i >> 8;
464 // swappedHeightMap[i] = heightMap[x * 256 + y];
465 //}
466 DeleteTerrain();
467 //There is a BulletXLock inside the constructor of BulletXPlanet
468 //this._simFlatPlanet = new BulletXPlanet(this, swappedHeightMap);
469 this._simFlatPlanet = new BulletXPlanet(this, heightMap);
470 //this._heightmap = heightMap;
471 }
472 public override void DeleteTerrain()
473 {
474 if (this._simFlatPlanet != null)
387 { 475 {
388 // this._heightmap[i] = (double)heightMap[i]; 476 lock (BulletXLock)
389 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) 477 {
390 int x = i & 0xff; 478 try
391 int y = i >> 8; 479 {
392 this._heightmap[i] = heightMap[x * 256 + y]; 480 ddWorld.RemoveRigidBody(this._simFlatPlanet.RigidBody);
481 }
482 catch (Exception ex)
483 {
484 BulletXMessage(is_ex_message + ex.Message, true);
485 this._simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation;
486 AddForgottenRigidBody(this._simFlatPlanet.RigidBody);
487 }
488 }
489 this._simFlatPlanet = null;
490 GC.Collect();
491 BulletXMessage("Terrain erased!", false);
393 } 492 }
394 lock (BulletXLock) 493 //this._heightmap = null;
494 }
495 internal void AddForgottenRigidBody(RigidBody forgottenRigidBody)
496 {
497 _forgottenRigidBodies.Add(forgottenRigidBody);
498 }
499 private void RemoveForgottenRigidBodies()
500 {
501 RigidBody forgottenRigidBody;
502 int nRigidBodies = _forgottenRigidBodies.Count;
503 for(int i = nRigidBodies - 1; i >= 0; i--)
395 { 504 {
396 //Updating BulletX HeightMap??? 505 forgottenRigidBody = _forgottenRigidBodies[i];
506 try
507 {
508 ddWorld.RemoveRigidBody(forgottenRigidBody);
509 _forgottenRigidBodies.Remove(forgottenRigidBody);
510 BulletXMessage("Forgotten Rigid Body Removed", false);
511 }
512 catch (Exception ex)
513 {
514 BulletXMessage("Can't remove forgottenRigidBody!: " + ex.Message, false);
515 }
397 } 516 }
517 GC.Collect();
398 } 518 }
399 public override void DeleteTerrain() 519 internal void BulletXMessage(string message, bool isWarning)
400 { 520 {
401 521 PhysicsPluginManager.PhysicsPluginMessage("[Modified BulletX]:\t" + message, isWarning);
402 } 522 }
523 //temp
524 //private float HeightValue(MonoXnaCompactMaths.Vector3 position)
525 //{
526 // int li_x, li_y;
527 // float height;
528 // li_x = (int)Math.Round(position.X); if (li_x < 0) li_x = 0;
529 // li_y = (int)Math.Round(position.Y); if (li_y < 0) li_y = 0;
530
531 // height = this._heightmap[li_y * 256 + li_x];
532 // if (height < 0) height = 0;
533 // else if (height > maxZ) height = maxZ;
534
535 // return height;
536 //}
403 } 537 }
404 /// <summary> 538 /// <summary>
405 /// PhysicsActor Character Class for BulletX 539 /// PhysicsActor Character Class for BulletX
@@ -414,19 +548,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
414 private bool flying; 548 private bool flying;
415 private RigidBody rigidBody; 549 private RigidBody rigidBody;
416 550
417 public Axiom.Math.Vector2 RigidBodyHorizontalPosition 551 public MonoXnaCompactMaths.Vector3 RigidBodyPosition
418 { 552 {
419 get 553 get { return this.rigidBody.CenterOfMassPosition; }
420 {
421 return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
422 }
423 } 554 }
424 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) 555 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
425 : this(parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), 556 : this("", parent_scene, pos)
557 {
558 }
559 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
560 : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
426 AxiomQuaternion.Identity) 561 AxiomQuaternion.Identity)
427 { 562 {
428 } 563 }
429 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 564 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
430 PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) 565 PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
431 { 566 {
432 //This fields will be removed. They're temporal 567 //This fields will be removed. They're temporal
@@ -462,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
462 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); 597 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
463 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 598 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
464 rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); 599 rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
465 rigidBody.ActivationState = ActivationState.DisableDeactivation; 600 //rigidBody.ActivationState = ActivationState.DisableDeactivation;
466 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition 601 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
467 MonoXnaCompactMaths.Vector3 _vDebugTranslation; 602 MonoXnaCompactMaths.Vector3 _vDebugTranslation;
468 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; 603 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
@@ -535,6 +670,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
535 } 670 }
536 } 671 }
537 } 672 }
673 public RigidBody RigidBody
674 {
675 get
676 {
677 return rigidBody;
678 }
679 }
538 public override bool Flying 680 public override bool Flying
539 { 681 {
540 get 682 get
@@ -579,8 +721,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
579 //_velocity == rigidBody.LinearVelocity 721 //_velocity == rigidBody.LinearVelocity
580 vec.X = this._velocity.X; 722 vec.X = this._velocity.X;
581 vec.Y = this._velocity.Y; 723 vec.Y = this._velocity.Y;
582 vec.Z = this._velocity.Z; 724 vec.Z = this._velocity.Z;
583 725 if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate();
584 if (flying) 726 if (flying)
585 { 727 {
586 //Antigravity with movement 728 //Antigravity with movement
@@ -677,33 +819,37 @@ namespace OpenSim.Region.Physics.BulletXPlugin
677 //For now all prims have the same density, all prims are made of water. Be water my friend! :D 819 //For now all prims have the same density, all prims are made of water. Be water my friend! :D
678 private const float _density = 1000.0f; 820 private const float _density = 1000.0f;
679 private RigidBody rigidBody; 821 private RigidBody rigidBody;
822 private BulletXScene _parent_scene;
680 //_physical value will be linked with the prim object value 823 //_physical value will be linked with the prim object value
681 private Boolean _physical = false; 824 private Boolean _physical = false;
682 825
683 public Axiom.Math.Vector2 RigidBodyHorizontalPosition 826 public MonoXnaCompactMaths.Vector3 RigidBodyPosition
684 { 827 {
685 get 828 get { return this.rigidBody.CenterOfMassPosition; }
686 {
687 return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
688 }
689 } 829 }
690 public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation) 830 public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
691 : this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation) 831 : this("", parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, null, null)
692 { 832 {
693 } 833 }
694 public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size, 834 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
695 PhysicsVector aceleration, AxiomQuaternion rotation) 835 AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
836 : this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs)
837 {
838 }
839 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
840 PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
696 { 841 {
697 _position = pos;
698 _velocity = velocity;
699 _size = size;
700 if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0"); 842 if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");
843 if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity;
701 844
845 _position = pos;
846 if (_physical) _velocity = velocity; else _velocity = new PhysicsVector();
847 _size = size;
702 _acceleration = aceleration; 848 _acceleration = aceleration;
703 //Because a bug, orientation will be fixed to AxiomQuaternion.Identity 849 _orientation = rotation;
704 _orientation = AxiomQuaternion.Identity; 850
705 //_orientation = rotation; 851 _parent_scene = parent_scene;
706 //--- 852
707 //For RigidBody Constructor. The next values might change 853 //For RigidBody Constructor. The next values might change
708 float _linearDamping = 0.0f; 854 float _linearDamping = 0.0f;
709 float _angularDamping = 0.0f; 855 float _angularDamping = 0.0f;
@@ -718,9 +864,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
718 CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f); 864 CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f);
719 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); 865 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
720 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); 866 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
721 _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0 867 if(_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
722 rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); 868 rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
723 rigidBody.ActivationState = ActivationState.DisableDeactivation; 869 //rigidBody.ActivationState = ActivationState.DisableDeactivation;
724 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition 870 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
725 MonoXnaCompactMaths.Vector3 _vDebugTranslation; 871 MonoXnaCompactMaths.Vector3 _vDebugTranslation;
726 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; 872 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
@@ -754,8 +900,16 @@ namespace OpenSim.Region.Physics.BulletXPlugin
754 { 900 {
755 lock (BulletXScene.BulletXLock) 901 lock (BulletXScene.BulletXLock)
756 { 902 {
757 _velocity = value; 903 //Static objects don' have linear velocity
758 Speed(); 904 if (_physical)
905 {
906 _velocity = value;
907 Speed();
908 }
909 else
910 {
911 _velocity = new PhysicsVector();
912 }
759 } 913 }
760 } 914 }
761 } 915 }
@@ -801,7 +955,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
801 get 955 get
802 { 956 {
803 //For now all prims are boxes 957 //For now all prims are boxes
804 return _density * _size.X * _size.Y * _size.Z; 958 return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z;
959 }
960 }
961 public RigidBody RigidBody
962 {
963 get
964 {
965 return rigidBody;
805 } 966 }
806 } 967 }
807 public override bool Flying 968 public override bool Flying
@@ -863,7 +1024,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
863 m.Translation = v3; 1024 m.Translation = v3;
864 rigidBody.WorldTransform = m; 1025 rigidBody.WorldTransform = m;
865 //When a Prim touch the ground it's vertical velocity it's reduced to ZERO 1026 //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
866 Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f)); 1027 //Static objects don't have linear velocity
1028 if(_physical)
1029 Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
867 } 1030 }
868 } 1031 }
869 internal void UpdateKinetics() 1032 internal void UpdateKinetics()
@@ -872,18 +1035,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
872 { 1035 {
873 this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); 1036 this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
874 this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); 1037 this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
875 //Orientation is not implemented yet in MonoXnaCompactMaths 1038 this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation);
876 //this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); < Good
877 //ReOrient();
878 //---
879 ReOrient();
880 } 1039 }
881 else //Doesn't updates properties. That's a cancel 1040 else //Doesn't updates properties. That's a cancel
882 { 1041 {
883 Translate(); 1042 Translate();
884 Speed(); 1043 //Speed(); //<- Static objects don't have linear velocity
885 //Orientation is not implemented yet in MonoXnaCompactMaths
886 //ReOrient();
887 ReOrient(); 1044 ReOrient();
888 } 1045 }
889 } 1046 }
@@ -915,10 +1072,49 @@ namespace OpenSim.Region.Physics.BulletXPlugin
915 } 1072 }
916 private void ReSize(PhysicsVector _newSize) 1073 private void ReSize(PhysicsVector _newSize)
917 { 1074 {
1075 //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
1076 //so i have to do it manually. That's recreating rigidbody
918 MonoXnaCompactMaths.Vector3 _newsize; 1077 MonoXnaCompactMaths.Vector3 _newsize;
919 _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize); 1078 _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize);
920 //For now all prims are Boxes 1079 if ((_newsize.X == 0) || (_newsize.Y == 0) || (_newsize.Z == 0)) throw new Exception("Size 0");
921 rigidBody.CollisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f); 1080
1081 //For RigidBody Constructor. The next values might change
1082 float _linearDamping = 0.0f;
1083 float _angularDamping = 0.0f;
1084 float _friction = 0.5f;
1085 float _restitution = 0.0f;
1086 Matrix _startTransform = Matrix.Identity;
1087 Matrix _centerOfMassOffset = Matrix.Identity;
1088 RigidBody _tmpRigidBody;
1089 _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(this._position);
1090 //For now all prims are boxes
1091 CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f);
1092 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
1093 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
1094 if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
1095 _tmpRigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
1096 //rigidBody.ActivationState = ActivationState.DisableDeactivation;
1097 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
1098 MonoXnaCompactMaths.Vector3 _vDebugTranslation;
1099 _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
1100 _tmpRigidBody.Translate(_vDebugTranslation);
1101 //---
1102 //There is a bug when trying to remove a rigidBody that is colliding with something..
1103 try
1104 {
1105 this._parent_scene.ddWorld.RemoveRigidBody(rigidBody);
1106 }
1107 catch(Exception ex)
1108 {
1109 this._parent_scene.BulletXMessage(this._parent_scene.is_ex_message + ex.Message, true);
1110 rigidBody.ActivationState = ActivationState.DisableSimulation;
1111 this._parent_scene.AddForgottenRigidBody(rigidBody);
1112 }
1113 rigidBody = _tmpRigidBody;
1114 this._parent_scene.ddWorld.AddRigidBody(rigidBody);
1115 if (_physical) Speed();//Static objects don't have linear velocity
1116 ReOrient();
1117 GC.Collect();
922 } 1118 }
923 private void ReOrient() 1119 private void ReOrient()
924 { 1120 {
@@ -935,4 +1131,74 @@ namespace OpenSim.Region.Physics.BulletXPlugin
935 #endregion 1131 #endregion
936 1132
937 } 1133 }
1134 /// <summary>
1135 /// This Class manage a HeighField as a RigidBody. This is for to be added in the BulletXScene
1136 /// </summary>
1137 internal class BulletXPlanet
1138 {
1139 private PhysicsVector _staticPosition;
1140 private PhysicsVector _staticVelocity;
1141 private AxiomQuaternion _staticOrientation;
1142 private float _mass;
1143 private BulletXScene _parentscene;
1144 internal float[] _heightField;
1145 private RigidBody _flatPlanet;
1146 internal RigidBody RigidBody { get { return _flatPlanet; } }
1147 internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
1148 {
1149 _staticPosition = new PhysicsVector(BulletXScene.MaxXY / 2, BulletXScene.MaxXY/2, 0);
1150 _staticVelocity = new PhysicsVector();
1151 _staticOrientation = AxiomQuaternion.Identity;
1152 _mass = 0; //No active
1153 _parentscene = parent_scene;
1154 _heightField = heightField;
1155
1156 float _linearDamping = 0.0f;
1157 float _angularDamping = 0.0f;
1158 float _friction = 0.5f;
1159 float _restitution = 0.0f;
1160 Matrix _startTransform = Matrix.Identity;
1161 Matrix _centerOfMassOffset = Matrix.Identity;
1162
1163 lock (BulletXScene.BulletXLock)
1164 {
1165 try
1166 {
1167 _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
1168 CollisionShape _collisionShape = new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField, (float)BulletXScene.MaxZ, 2, true, false);
1169 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
1170 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
1171 //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
1172 _flatPlanet = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
1173 //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
1174 MonoXnaCompactMaths.Vector3 _vDebugTranslation;
1175 _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
1176 _flatPlanet.Translate(_vDebugTranslation);
1177 parent_scene.ddWorld.AddRigidBody(_flatPlanet);
1178 }
1179 catch (Exception ex)
1180 {
1181 this._parentscene.BulletXMessage(ex.Message, true);
1182 }
1183 }
1184 this._parentscene.BulletXMessage("BulletXPlanet created.", false);
1185 }
1186 internal float HeightValue(MonoXnaCompactMaths.Vector3 position)
1187 {
1188 int li_x, li_y;
1189 float height;
1190 li_x = (int)Math.Round(position.X);
1191 if (li_x < 0) li_x = 0;
1192 if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1;
1193 li_y = (int)Math.Round(position.Y);
1194 if (li_y < 0) li_y = 0;
1195 if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1;
1196
1197 height = ((HeightfieldTerrainShape)this._flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y);
1198 if (height < 0) height = 0;
1199 else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ;
1200
1201 return height;
1202 }
1203 }
938} 1204}
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 15645b1..87b6d34 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -104,6 +104,19 @@ namespace OpenSim.Region.Physics.Manager
104 104
105 pluginAssembly = null; 105 pluginAssembly = null;
106 } 106 }
107 //---
108 public static void PhysicsPluginMessage(string message, bool isWarning)
109 {
110 if (isWarning)
111 {
112 MainLog.Instance.Warn("PHYSICS", message);
113 }
114 else
115 {
116 MainLog.Instance.Verbose("PHYSICS", message);
117 }
118 }
119 //---
107 } 120 }
108 121
109 public interface IPhysicsPlugin 122 public interface IPhysicsPlugin