diff options
author | UbitUmarov | 2015-09-12 21:38:26 +0100 |
---|---|---|
committer | UbitUmarov | 2015-09-12 21:38:26 +0100 |
commit | e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd (patch) | |
tree | 1ca1c7225046f446604ffa80e348f2497d9ae482 /OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | |
parent | remove a silly and not necessary List i added (diff) | |
download | opensim-SC_OLD-e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd.zip opensim-SC_OLD-e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd.tar.gz opensim-SC_OLD-e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd.tar.bz2 opensim-SC_OLD-e9a56d5e194b9b80f8adf5d1ce5d9ab3f5f7bfdd.tar.xz |
rename Ubit physics modules
Diffstat (limited to 'OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs')
-rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | 3896 |
1 files changed, 3896 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs new file mode 100644 index 0000000..91aca26 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | |||
@@ -0,0 +1,3896 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | /* | ||
29 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
30 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
31 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
32 | * characteristics and Kinetic motion. | ||
33 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
34 | * (dynamics) and the associated settings. Old Linear and angular | ||
35 | * motors for dynamic motion have been replace with MoveLinear() | ||
36 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
37 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
38 | * switch between 'VEHICLE' parameter use and general dynamics | ||
39 | * settings use. | ||
40 | */ | ||
41 | |||
42 | //#define SPAM | ||
43 | |||
44 | using System; | ||
45 | using System.Collections.Generic; | ||
46 | using System.Reflection; | ||
47 | using System.Runtime.InteropServices; | ||
48 | using System.Threading; | ||
49 | using log4net; | ||
50 | using OpenMetaverse; | ||
51 | using OdeAPI; | ||
52 | using OpenSim.Framework; | ||
53 | using OpenSim.Region.PhysicsModules.SharedBase; | ||
54 | |||
55 | namespace OpenSim.Region.PhysicsModule.ubOde | ||
56 | { | ||
57 | public class OdePrim : PhysicsActor | ||
58 | { | ||
59 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
60 | |||
61 | private bool m_isphysical; | ||
62 | private bool m_fakeisphysical; | ||
63 | private bool m_isphantom; | ||
64 | private bool m_fakeisphantom; | ||
65 | internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | ||
66 | private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | ||
67 | |||
68 | protected bool m_building; | ||
69 | protected bool m_forcePosOrRotation; | ||
70 | private bool m_iscolliding; | ||
71 | |||
72 | internal bool m_isSelected; | ||
73 | private bool m_delaySelect; | ||
74 | private bool m_lastdoneSelected; | ||
75 | internal bool m_outbounds; | ||
76 | |||
77 | private Quaternion m_lastorientation; | ||
78 | private Quaternion _orientation; | ||
79 | |||
80 | private Vector3 _position; | ||
81 | private Vector3 _velocity; | ||
82 | private Vector3 m_torque; | ||
83 | private Vector3 m_lastVelocity; | ||
84 | private Vector3 m_lastposition; | ||
85 | private Vector3 m_rotationalVelocity; | ||
86 | private Vector3 _size; | ||
87 | private Vector3 _acceleration; | ||
88 | private Vector3 m_angularlock = Vector3.One; | ||
89 | private IntPtr Amotor; | ||
90 | |||
91 | private Vector3 m_force; | ||
92 | private Vector3 m_forceacc; | ||
93 | private Vector3 m_angularForceacc; | ||
94 | |||
95 | private float m_invTimeStep; | ||
96 | private float m_timeStep; | ||
97 | |||
98 | private Vector3 m_PIDTarget; | ||
99 | private float m_PIDTau; | ||
100 | private bool m_usePID; | ||
101 | |||
102 | private float m_PIDHoverHeight; | ||
103 | private float m_PIDHoverTau; | ||
104 | private bool m_useHoverPID; | ||
105 | private PIDHoverType m_PIDHoverType; | ||
106 | private float m_targetHoverHeight; | ||
107 | private float m_groundHeight; | ||
108 | private float m_waterHeight; | ||
109 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | ||
110 | |||
111 | private int body_autodisable_frames; | ||
112 | public int bodydisablecontrol; | ||
113 | private float m_gravmod = 1.0f; | ||
114 | |||
115 | // Default we're a Geometry | ||
116 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); | ||
117 | // Default colide nonphysical don't try to colide with anything | ||
118 | private const CollisionCategories m_default_collisionFlagsNotPhysical = 0; | ||
119 | |||
120 | private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom | | ||
121 | CollisionCategories.Character | | ||
122 | CollisionCategories.Land | | ||
123 | CollisionCategories.VolumeDtc); | ||
124 | |||
125 | // private bool m_collidesLand = true; | ||
126 | private bool m_collidesWater; | ||
127 | // public bool m_returnCollisions; | ||
128 | |||
129 | private bool m_NoColide; // for now only for internal use for bad meshs | ||
130 | |||
131 | |||
132 | // Default, Collide with Other Geometries, spaces and Bodies | ||
133 | private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical; | ||
134 | |||
135 | public bool m_disabled; | ||
136 | |||
137 | private uint m_localID; | ||
138 | |||
139 | private IMesh m_mesh; | ||
140 | private object m_meshlock = new object(); | ||
141 | private PrimitiveBaseShape _pbs; | ||
142 | |||
143 | private UUID? m_assetID; | ||
144 | private MeshState m_meshState; | ||
145 | |||
146 | public ODEScene _parent_scene; | ||
147 | |||
148 | /// <summary> | ||
149 | /// The physics space which contains prim geometry | ||
150 | /// </summary> | ||
151 | public IntPtr m_targetSpace; | ||
152 | |||
153 | public IntPtr prim_geom; | ||
154 | public IntPtr _triMeshData; | ||
155 | |||
156 | private PhysicsActor _parent; | ||
157 | |||
158 | private List<OdePrim> childrenPrim = new List<OdePrim>(); | ||
159 | |||
160 | public float m_collisionscore; | ||
161 | private int m_colliderfilter = 0; | ||
162 | |||
163 | public IntPtr collide_geom; // for objects: geom if single prim space it linkset | ||
164 | |||
165 | private float m_density; | ||
166 | private byte m_shapetype; | ||
167 | public bool _zeroFlag; | ||
168 | private bool m_lastUpdateSent; | ||
169 | |||
170 | public IntPtr Body; | ||
171 | |||
172 | private Vector3 _target_velocity; | ||
173 | |||
174 | public Vector3 m_OBBOffset; | ||
175 | public Vector3 m_OBB; | ||
176 | public float primOOBradiusSQ; | ||
177 | |||
178 | private bool m_hasOBB = true; | ||
179 | |||
180 | private float m_physCost; | ||
181 | private float m_streamCost; | ||
182 | |||
183 | public d.Mass primdMass; // prim inertia information on it's own referencial | ||
184 | float primMass; // prim own mass | ||
185 | float primVolume; // prim own volume; | ||
186 | float _mass; // object mass acording to case | ||
187 | |||
188 | public int givefakepos; | ||
189 | private Vector3 fakepos; | ||
190 | public int givefakeori; | ||
191 | private Quaternion fakeori; | ||
192 | |||
193 | private int m_eventsubscription; | ||
194 | private int m_cureventsubscription; | ||
195 | private CollisionEventUpdate CollisionEventsThisFrame = null; | ||
196 | private bool SentEmptyCollisionsEvent; | ||
197 | |||
198 | public volatile bool childPrim; | ||
199 | |||
200 | public ODEDynamics m_vehicle; | ||
201 | |||
202 | internal int m_material = (int)Material.Wood; | ||
203 | private float mu; | ||
204 | private float bounce; | ||
205 | |||
206 | /// <summary> | ||
207 | /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. | ||
208 | /// </summary> | ||
209 | public override bool IsPhysical // this is not reliable for internal use | ||
210 | { | ||
211 | get { return m_fakeisphysical; } | ||
212 | set | ||
213 | { | ||
214 | m_fakeisphysical = value; // we show imediatly to outside that we changed physical | ||
215 | // and also to stop imediatly some updates | ||
216 | // but real change will only happen in taintprocessing | ||
217 | |||
218 | if (!value) // Zero the remembered last velocity | ||
219 | m_lastVelocity = Vector3.Zero; | ||
220 | AddChange(changes.Physical, value); | ||
221 | } | ||
222 | } | ||
223 | |||
224 | public override bool IsVolumeDtc | ||
225 | { | ||
226 | get { return m_fakeisVolumeDetect; } | ||
227 | set | ||
228 | { | ||
229 | m_fakeisVolumeDetect = value; | ||
230 | AddChange(changes.VolumeDtc, value); | ||
231 | } | ||
232 | } | ||
233 | |||
234 | public override bool Phantom // this is not reliable for internal use | ||
235 | { | ||
236 | get { return m_fakeisphantom; } | ||
237 | set | ||
238 | { | ||
239 | m_fakeisphantom = value; | ||
240 | AddChange(changes.Phantom, value); | ||
241 | } | ||
242 | } | ||
243 | |||
244 | public override bool Building // this is not reliable for internal use | ||
245 | { | ||
246 | get { return m_building; } | ||
247 | set | ||
248 | { | ||
249 | // if (value) | ||
250 | // m_building = true; | ||
251 | AddChange(changes.building, value); | ||
252 | } | ||
253 | } | ||
254 | |||
255 | public override void getContactData(ref ContactData cdata) | ||
256 | { | ||
257 | cdata.mu = mu; | ||
258 | cdata.bounce = bounce; | ||
259 | |||
260 | // cdata.softcolide = m_softcolide; | ||
261 | cdata.softcolide = false; | ||
262 | |||
263 | if (m_isphysical) | ||
264 | { | ||
265 | ODEDynamics veh; | ||
266 | if (_parent != null) | ||
267 | veh = ((OdePrim)_parent).m_vehicle; | ||
268 | else | ||
269 | veh = m_vehicle; | ||
270 | |||
271 | if (veh != null && veh.Type != Vehicle.TYPE_NONE) | ||
272 | cdata.mu *= veh.FrictionFactor; | ||
273 | // cdata.mu *= 0; | ||
274 | } | ||
275 | } | ||
276 | |||
277 | public override float PhysicsCost | ||
278 | { | ||
279 | get | ||
280 | { | ||
281 | return m_physCost; | ||
282 | } | ||
283 | } | ||
284 | |||
285 | public override float StreamCost | ||
286 | { | ||
287 | get | ||
288 | { | ||
289 | return m_streamCost; | ||
290 | } | ||
291 | } | ||
292 | |||
293 | public override int PhysicsActorType | ||
294 | { | ||
295 | get { return (int)ActorTypes.Prim; } | ||
296 | set { return; } | ||
297 | } | ||
298 | |||
299 | public override bool SetAlwaysRun | ||
300 | { | ||
301 | get { return false; } | ||
302 | set { return; } | ||
303 | } | ||
304 | |||
305 | public override uint LocalID | ||
306 | { | ||
307 | get { return m_localID; } | ||
308 | set { m_localID = value; } | ||
309 | } | ||
310 | |||
311 | public override PhysicsActor ParentActor | ||
312 | { | ||
313 | get | ||
314 | { | ||
315 | if (childPrim) | ||
316 | return _parent; | ||
317 | else | ||
318 | return (PhysicsActor)this; | ||
319 | } | ||
320 | } | ||
321 | |||
322 | public override bool Grabbed | ||
323 | { | ||
324 | set { return; } | ||
325 | } | ||
326 | |||
327 | public override bool Selected | ||
328 | { | ||
329 | set | ||
330 | { | ||
331 | if (value) | ||
332 | m_isSelected = value; // if true set imediatly to stop moves etc | ||
333 | AddChange(changes.Selected, value); | ||
334 | } | ||
335 | } | ||
336 | |||
337 | public override bool Flying | ||
338 | { | ||
339 | // no flying prims for you | ||
340 | get { return false; } | ||
341 | set { } | ||
342 | } | ||
343 | |||
344 | public override bool IsColliding | ||
345 | { | ||
346 | get { return m_iscolliding; } | ||
347 | set | ||
348 | { | ||
349 | if (value) | ||
350 | { | ||
351 | m_colliderfilter += 2; | ||
352 | if (m_colliderfilter > 2) | ||
353 | m_colliderfilter = 2; | ||
354 | } | ||
355 | else | ||
356 | { | ||
357 | m_colliderfilter--; | ||
358 | if (m_colliderfilter < 0) | ||
359 | m_colliderfilter = 0; | ||
360 | } | ||
361 | |||
362 | if (m_colliderfilter == 0) | ||
363 | m_iscolliding = false; | ||
364 | else | ||
365 | m_iscolliding = true; | ||
366 | } | ||
367 | } | ||
368 | |||
369 | public override bool CollidingGround | ||
370 | { | ||
371 | get { return false; } | ||
372 | set { return; } | ||
373 | } | ||
374 | |||
375 | public override bool CollidingObj | ||
376 | { | ||
377 | get { return false; } | ||
378 | set { return; } | ||
379 | } | ||
380 | |||
381 | |||
382 | public override bool ThrottleUpdates {get;set;} | ||
383 | |||
384 | public override bool Stopped | ||
385 | { | ||
386 | get { return _zeroFlag; } | ||
387 | } | ||
388 | |||
389 | public override Vector3 Position | ||
390 | { | ||
391 | get | ||
392 | { | ||
393 | if (givefakepos > 0) | ||
394 | return fakepos; | ||
395 | else | ||
396 | return _position; | ||
397 | } | ||
398 | |||
399 | set | ||
400 | { | ||
401 | fakepos = value; | ||
402 | givefakepos++; | ||
403 | AddChange(changes.Position, value); | ||
404 | } | ||
405 | } | ||
406 | |||
407 | public override Vector3 Size | ||
408 | { | ||
409 | get { return _size; } | ||
410 | set | ||
411 | { | ||
412 | if (value.IsFinite()) | ||
413 | { | ||
414 | _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype); | ||
415 | } | ||
416 | else | ||
417 | { | ||
418 | m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); | ||
419 | } | ||
420 | } | ||
421 | } | ||
422 | |||
423 | public override float Mass | ||
424 | { | ||
425 | get { return primMass; } | ||
426 | } | ||
427 | |||
428 | public override Vector3 Force | ||
429 | { | ||
430 | get { return m_force; } | ||
431 | set | ||
432 | { | ||
433 | if (value.IsFinite()) | ||
434 | { | ||
435 | AddChange(changes.Force, value); | ||
436 | } | ||
437 | else | ||
438 | { | ||
439 | m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); | ||
440 | } | ||
441 | } | ||
442 | } | ||
443 | |||
444 | public override void SetVolumeDetect(int param) | ||
445 | { | ||
446 | m_fakeisVolumeDetect = (param != 0); | ||
447 | AddChange(changes.VolumeDtc, m_fakeisVolumeDetect); | ||
448 | } | ||
449 | |||
450 | public override Vector3 GeometricCenter | ||
451 | { | ||
452 | // this is not real geometric center but a average of positions relative to root prim acording to | ||
453 | // http://wiki.secondlife.com/wiki/llGetGeometricCenter | ||
454 | // ignoring tortured prims details since sl also seems to ignore | ||
455 | // so no real use in doing it on physics | ||
456 | get | ||
457 | { | ||
458 | return Vector3.Zero; | ||
459 | } | ||
460 | } | ||
461 | |||
462 | public override Vector3 CenterOfMass | ||
463 | { | ||
464 | get | ||
465 | { | ||
466 | lock (_parent_scene.OdeLock) | ||
467 | { | ||
468 | d.Vector3 dtmp; | ||
469 | if (!childPrim && Body != IntPtr.Zero) | ||
470 | { | ||
471 | dtmp = d.BodyGetPosition(Body); | ||
472 | return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
473 | } | ||
474 | else if (prim_geom != IntPtr.Zero) | ||
475 | { | ||
476 | d.Quaternion dq; | ||
477 | d.GeomCopyQuaternion(prim_geom, out dq); | ||
478 | Quaternion q; | ||
479 | q.X = dq.X; | ||
480 | q.Y = dq.Y; | ||
481 | q.Z = dq.Z; | ||
482 | q.W = dq.W; | ||
483 | |||
484 | Vector3 Ptot = m_OBBOffset * q; | ||
485 | dtmp = d.GeomGetPosition(prim_geom); | ||
486 | Ptot.X += dtmp.X; | ||
487 | Ptot.Y += dtmp.Y; | ||
488 | Ptot.Z += dtmp.Z; | ||
489 | |||
490 | // if(childPrim) we only know about physical linksets | ||
491 | return Ptot; | ||
492 | /* | ||
493 | float tmass = _mass; | ||
494 | Ptot *= tmass; | ||
495 | |||
496 | float m; | ||
497 | |||
498 | foreach (OdePrim prm in childrenPrim) | ||
499 | { | ||
500 | m = prm._mass; | ||
501 | Ptot += prm.CenterOfMass * m; | ||
502 | tmass += m; | ||
503 | } | ||
504 | |||
505 | if (tmass == 0) | ||
506 | tmass = 0; | ||
507 | else | ||
508 | tmass = 1.0f / tmass; | ||
509 | |||
510 | Ptot *= tmass; | ||
511 | return Ptot; | ||
512 | */ | ||
513 | } | ||
514 | else | ||
515 | return _position; | ||
516 | } | ||
517 | } | ||
518 | } | ||
519 | |||
520 | public override Vector3 OOBsize | ||
521 | { | ||
522 | get | ||
523 | { | ||
524 | return m_OBB; | ||
525 | } | ||
526 | } | ||
527 | |||
528 | public override Vector3 OOBoffset | ||
529 | { | ||
530 | get | ||
531 | { | ||
532 | return m_OBBOffset; | ||
533 | } | ||
534 | } | ||
535 | |||
536 | public override float OOBRadiusSQ | ||
537 | { | ||
538 | get | ||
539 | { | ||
540 | return primOOBradiusSQ; | ||
541 | } | ||
542 | } | ||
543 | |||
544 | public override PrimitiveBaseShape Shape | ||
545 | { | ||
546 | set | ||
547 | { | ||
548 | // AddChange(changes.Shape, value); | ||
549 | _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype); | ||
550 | } | ||
551 | } | ||
552 | |||
553 | public override byte PhysicsShapeType | ||
554 | { | ||
555 | get | ||
556 | { | ||
557 | return m_shapetype; | ||
558 | } | ||
559 | set | ||
560 | { | ||
561 | m_shapetype = value; | ||
562 | _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); | ||
563 | } | ||
564 | } | ||
565 | |||
566 | public override Vector3 Velocity | ||
567 | { | ||
568 | get | ||
569 | { | ||
570 | if (_zeroFlag) | ||
571 | return Vector3.Zero; | ||
572 | return _velocity; | ||
573 | } | ||
574 | set | ||
575 | { | ||
576 | if (value.IsFinite()) | ||
577 | { | ||
578 | AddChange(changes.Velocity, value); | ||
579 | } | ||
580 | else | ||
581 | { | ||
582 | m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); | ||
583 | } | ||
584 | |||
585 | } | ||
586 | } | ||
587 | |||
588 | public override Vector3 Torque | ||
589 | { | ||
590 | get | ||
591 | { | ||
592 | if (!IsPhysical || Body == IntPtr.Zero) | ||
593 | return Vector3.Zero; | ||
594 | |||
595 | return m_torque; | ||
596 | } | ||
597 | |||
598 | set | ||
599 | { | ||
600 | if (value.IsFinite()) | ||
601 | { | ||
602 | AddChange(changes.Torque, value); | ||
603 | } | ||
604 | else | ||
605 | { | ||
606 | m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); | ||
607 | } | ||
608 | } | ||
609 | } | ||
610 | |||
611 | public override float CollisionScore | ||
612 | { | ||
613 | get { return m_collisionscore; } | ||
614 | set { m_collisionscore = value; } | ||
615 | } | ||
616 | |||
617 | public override bool Kinematic | ||
618 | { | ||
619 | get { return false; } | ||
620 | set { } | ||
621 | } | ||
622 | |||
623 | public override Quaternion Orientation | ||
624 | { | ||
625 | get | ||
626 | { | ||
627 | if (givefakeori > 0) | ||
628 | return fakeori; | ||
629 | else | ||
630 | |||
631 | return _orientation; | ||
632 | } | ||
633 | set | ||
634 | { | ||
635 | if (QuaternionIsFinite(value)) | ||
636 | { | ||
637 | fakeori = value; | ||
638 | givefakeori++; | ||
639 | |||
640 | value.Normalize(); | ||
641 | |||
642 | AddChange(changes.Orientation, value); | ||
643 | } | ||
644 | else | ||
645 | m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); | ||
646 | |||
647 | } | ||
648 | } | ||
649 | |||
650 | public override Vector3 Acceleration | ||
651 | { | ||
652 | get { return _acceleration; } | ||
653 | set { } | ||
654 | } | ||
655 | |||
656 | public override Vector3 RotationalVelocity | ||
657 | { | ||
658 | get | ||
659 | { | ||
660 | Vector3 pv = Vector3.Zero; | ||
661 | if (_zeroFlag) | ||
662 | return pv; | ||
663 | |||
664 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | ||
665 | return pv; | ||
666 | |||
667 | return m_rotationalVelocity; | ||
668 | } | ||
669 | set | ||
670 | { | ||
671 | if (value.IsFinite()) | ||
672 | { | ||
673 | AddChange(changes.AngVelocity, value); | ||
674 | } | ||
675 | else | ||
676 | { | ||
677 | m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); | ||
678 | } | ||
679 | } | ||
680 | } | ||
681 | |||
682 | public override float Buoyancy | ||
683 | { | ||
684 | get { return m_buoyancy; } | ||
685 | set | ||
686 | { | ||
687 | AddChange(changes.Buoyancy,value); | ||
688 | } | ||
689 | } | ||
690 | |||
691 | public override bool FloatOnWater | ||
692 | { | ||
693 | set | ||
694 | { | ||
695 | AddChange(changes.CollidesWater, value); | ||
696 | } | ||
697 | } | ||
698 | |||
699 | public override Vector3 PIDTarget | ||
700 | { | ||
701 | set | ||
702 | { | ||
703 | if (value.IsFinite()) | ||
704 | { | ||
705 | AddChange(changes.PIDTarget,value); | ||
706 | } | ||
707 | else | ||
708 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | ||
709 | } | ||
710 | } | ||
711 | |||
712 | public override bool PIDActive | ||
713 | { | ||
714 | get | ||
715 | { | ||
716 | return m_usePID; | ||
717 | } | ||
718 | set | ||
719 | { | ||
720 | AddChange(changes.PIDActive,value); | ||
721 | } | ||
722 | } | ||
723 | |||
724 | public override float PIDTau | ||
725 | { | ||
726 | set | ||
727 | { | ||
728 | float tmp = 0; | ||
729 | if (value > 0) | ||
730 | { | ||
731 | float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); | ||
732 | if (value < mint) | ||
733 | tmp = mint; | ||
734 | else | ||
735 | tmp = value; | ||
736 | } | ||
737 | AddChange(changes.PIDTau,tmp); | ||
738 | } | ||
739 | } | ||
740 | |||
741 | public override float PIDHoverHeight | ||
742 | { | ||
743 | set | ||
744 | { | ||
745 | AddChange(changes.PIDHoverHeight,value); | ||
746 | } | ||
747 | } | ||
748 | public override bool PIDHoverActive | ||
749 | { | ||
750 | set | ||
751 | { | ||
752 | AddChange(changes.PIDHoverActive, value); | ||
753 | } | ||
754 | } | ||
755 | |||
756 | public override PIDHoverType PIDHoverType | ||
757 | { | ||
758 | set | ||
759 | { | ||
760 | AddChange(changes.PIDHoverType,value); | ||
761 | } | ||
762 | } | ||
763 | |||
764 | public override float PIDHoverTau | ||
765 | { | ||
766 | set | ||
767 | { | ||
768 | float tmp =0; | ||
769 | if (value > 0) | ||
770 | { | ||
771 | float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); | ||
772 | if (value < mint) | ||
773 | tmp = mint; | ||
774 | else | ||
775 | tmp = value; | ||
776 | } | ||
777 | AddChange(changes.PIDHoverTau, tmp); | ||
778 | } | ||
779 | } | ||
780 | |||
781 | public override Quaternion APIDTarget { set { return; } } | ||
782 | |||
783 | public override bool APIDActive { set { return; } } | ||
784 | |||
785 | public override float APIDStrength { set { return; } } | ||
786 | |||
787 | public override float APIDDamping { set { return; } } | ||
788 | |||
789 | public override int VehicleType | ||
790 | { | ||
791 | // we may need to put a fake on this | ||
792 | get | ||
793 | { | ||
794 | if (m_vehicle == null) | ||
795 | return (int)Vehicle.TYPE_NONE; | ||
796 | else | ||
797 | return (int)m_vehicle.Type; | ||
798 | } | ||
799 | set | ||
800 | { | ||
801 | AddChange(changes.VehicleType, value); | ||
802 | } | ||
803 | } | ||
804 | |||
805 | public override void VehicleFloatParam(int param, float value) | ||
806 | { | ||
807 | strVehicleFloatParam fp = new strVehicleFloatParam(); | ||
808 | fp.param = param; | ||
809 | fp.value = value; | ||
810 | AddChange(changes.VehicleFloatParam, fp); | ||
811 | } | ||
812 | |||
813 | public override void VehicleVectorParam(int param, Vector3 value) | ||
814 | { | ||
815 | strVehicleVectorParam fp = new strVehicleVectorParam(); | ||
816 | fp.param = param; | ||
817 | fp.value = value; | ||
818 | AddChange(changes.VehicleVectorParam, fp); | ||
819 | } | ||
820 | |||
821 | public override void VehicleRotationParam(int param, Quaternion value) | ||
822 | { | ||
823 | strVehicleQuatParam fp = new strVehicleQuatParam(); | ||
824 | fp.param = param; | ||
825 | fp.value = value; | ||
826 | AddChange(changes.VehicleRotationParam, fp); | ||
827 | } | ||
828 | |||
829 | public override void VehicleFlags(int param, bool value) | ||
830 | { | ||
831 | strVehicleBoolParam bp = new strVehicleBoolParam(); | ||
832 | bp.param = param; | ||
833 | bp.value = value; | ||
834 | AddChange(changes.VehicleFlags, bp); | ||
835 | } | ||
836 | |||
837 | public override void SetVehicle(object vdata) | ||
838 | { | ||
839 | AddChange(changes.SetVehicle, vdata); | ||
840 | } | ||
841 | public void SetAcceleration(Vector3 accel) | ||
842 | { | ||
843 | _acceleration = accel; | ||
844 | } | ||
845 | |||
846 | public override void AddForce(Vector3 force, bool pushforce) | ||
847 | { | ||
848 | if (force.IsFinite()) | ||
849 | { | ||
850 | if(pushforce) | ||
851 | AddChange(changes.AddForce, force); | ||
852 | else // a impulse | ||
853 | AddChange(changes.AddForce, force * m_invTimeStep); | ||
854 | } | ||
855 | else | ||
856 | { | ||
857 | m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); | ||
858 | } | ||
859 | //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); | ||
860 | } | ||
861 | |||
862 | public override void AddAngularForce(Vector3 force, bool pushforce) | ||
863 | { | ||
864 | if (force.IsFinite()) | ||
865 | { | ||
866 | // if(pushforce) for now applyrotationimpulse seems more happy applied as a force | ||
867 | AddChange(changes.AddAngForce, force); | ||
868 | // else // a impulse | ||
869 | // AddChange(changes.AddAngForce, force * m_invTimeStep); | ||
870 | } | ||
871 | else | ||
872 | { | ||
873 | m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); | ||
874 | } | ||
875 | } | ||
876 | |||
877 | public override void CrossingFailure() | ||
878 | { | ||
879 | if (m_outbounds) | ||
880 | { | ||
881 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); | ||
882 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | ||
883 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | ||
884 | |||
885 | m_lastposition = _position; | ||
886 | _velocity.X = 0; | ||
887 | _velocity.Y = 0; | ||
888 | _velocity.Z = 0; | ||
889 | |||
890 | m_lastVelocity = _velocity; | ||
891 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
892 | m_vehicle.Stop(); | ||
893 | |||
894 | if(Body != IntPtr.Zero) | ||
895 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
896 | if (prim_geom != IntPtr.Zero) | ||
897 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
898 | |||
899 | m_outbounds = false; | ||
900 | changeDisable(false); | ||
901 | base.RequestPhysicsterseUpdate(); | ||
902 | } | ||
903 | } | ||
904 | |||
905 | public override void SetMomentum(Vector3 momentum) | ||
906 | { | ||
907 | } | ||
908 | |||
909 | public override void SetMaterial(int pMaterial) | ||
910 | { | ||
911 | m_material = pMaterial; | ||
912 | mu = _parent_scene.m_materialContactsData[pMaterial].mu; | ||
913 | bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; | ||
914 | } | ||
915 | |||
916 | public override float Density | ||
917 | { | ||
918 | get | ||
919 | { | ||
920 | return m_density * 100f; | ||
921 | } | ||
922 | set | ||
923 | { | ||
924 | m_density = value / 100f; | ||
925 | // for not prim mass is not updated since this implies full rebuild of body inertia TODO | ||
926 | } | ||
927 | } | ||
928 | public override float GravModifier | ||
929 | { | ||
930 | get | ||
931 | { | ||
932 | return m_gravmod; | ||
933 | } | ||
934 | set | ||
935 | { | ||
936 | m_gravmod = value; | ||
937 | if (m_vehicle != null) | ||
938 | m_vehicle.GravMod = m_gravmod; | ||
939 | } | ||
940 | } | ||
941 | public override float Friction | ||
942 | { | ||
943 | get | ||
944 | { | ||
945 | return mu; | ||
946 | } | ||
947 | set | ||
948 | { | ||
949 | mu = value; | ||
950 | } | ||
951 | } | ||
952 | |||
953 | public override float Restitution | ||
954 | { | ||
955 | get | ||
956 | { | ||
957 | return bounce; | ||
958 | } | ||
959 | set | ||
960 | { | ||
961 | bounce = value; | ||
962 | } | ||
963 | } | ||
964 | |||
965 | public void setPrimForRemoval() | ||
966 | { | ||
967 | AddChange(changes.Remove, null); | ||
968 | } | ||
969 | |||
970 | public override void link(PhysicsActor obj) | ||
971 | { | ||
972 | AddChange(changes.Link, obj); | ||
973 | } | ||
974 | |||
975 | public override void delink() | ||
976 | { | ||
977 | AddChange(changes.DeLink, null); | ||
978 | } | ||
979 | |||
980 | public override void LockAngularMotion(Vector3 axis) | ||
981 | { | ||
982 | // reverse the zero/non zero values for ODE. | ||
983 | if (axis.IsFinite()) | ||
984 | { | ||
985 | axis.X = (axis.X > 0) ? 1f : 0f; | ||
986 | axis.Y = (axis.Y > 0) ? 1f : 0f; | ||
987 | axis.Z = (axis.Z > 0) ? 1f : 0f; | ||
988 | // m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); | ||
989 | AddChange(changes.AngLock, axis); | ||
990 | } | ||
991 | else | ||
992 | { | ||
993 | m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); | ||
994 | } | ||
995 | } | ||
996 | |||
997 | public override void SubscribeEvents(int ms) | ||
998 | { | ||
999 | m_eventsubscription = ms; | ||
1000 | m_cureventsubscription = 0; | ||
1001 | if (CollisionEventsThisFrame == null) | ||
1002 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
1003 | SentEmptyCollisionsEvent = false; | ||
1004 | } | ||
1005 | |||
1006 | public override void UnSubscribeEvents() | ||
1007 | { | ||
1008 | if (CollisionEventsThisFrame != null) | ||
1009 | { | ||
1010 | CollisionEventsThisFrame.Clear(); | ||
1011 | CollisionEventsThisFrame = null; | ||
1012 | } | ||
1013 | m_eventsubscription = 0; | ||
1014 | _parent_scene.RemoveCollisionEventReporting(this); | ||
1015 | } | ||
1016 | |||
1017 | public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
1018 | { | ||
1019 | if (CollisionEventsThisFrame == null) | ||
1020 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
1021 | // if(CollisionEventsThisFrame.Count < 32) | ||
1022 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | ||
1023 | } | ||
1024 | |||
1025 | public void SendCollisions() | ||
1026 | { | ||
1027 | if (CollisionEventsThisFrame == null) | ||
1028 | return; | ||
1029 | |||
1030 | if (m_cureventsubscription < m_eventsubscription) | ||
1031 | return; | ||
1032 | |||
1033 | m_cureventsubscription = 0; | ||
1034 | |||
1035 | int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; | ||
1036 | |||
1037 | if (!SentEmptyCollisionsEvent || ncolisions > 0) | ||
1038 | { | ||
1039 | base.SendCollisionUpdate(CollisionEventsThisFrame); | ||
1040 | |||
1041 | if (ncolisions == 0) | ||
1042 | { | ||
1043 | SentEmptyCollisionsEvent = true; | ||
1044 | _parent_scene.RemoveCollisionEventReporting(this); | ||
1045 | } | ||
1046 | else | ||
1047 | { | ||
1048 | SentEmptyCollisionsEvent = false; | ||
1049 | CollisionEventsThisFrame.Clear(); | ||
1050 | } | ||
1051 | } | ||
1052 | } | ||
1053 | |||
1054 | internal void AddCollisionFrameTime(int t) | ||
1055 | { | ||
1056 | if (m_cureventsubscription < 50000) | ||
1057 | m_cureventsubscription += t; | ||
1058 | } | ||
1059 | |||
1060 | public override bool SubscribedEvents() | ||
1061 | { | ||
1062 | if (m_eventsubscription > 0) | ||
1063 | return true; | ||
1064 | return false; | ||
1065 | } | ||
1066 | |||
1067 | public OdePrim(String primName, ODEScene parent_scene, Vector3 pos, Vector3 size, | ||
1068 | Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) | ||
1069 | { | ||
1070 | Name = primName; | ||
1071 | LocalID = plocalID; | ||
1072 | |||
1073 | m_vehicle = null; | ||
1074 | |||
1075 | if (!pos.IsFinite()) | ||
1076 | { | ||
1077 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), | ||
1078 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | ||
1079 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); | ||
1080 | } | ||
1081 | _position = pos; | ||
1082 | givefakepos = 0; | ||
1083 | |||
1084 | m_timeStep = parent_scene.ODE_STEPSIZE; | ||
1085 | m_invTimeStep = 1f / m_timeStep; | ||
1086 | |||
1087 | m_density = parent_scene.geomDefaultDensity; | ||
1088 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | ||
1089 | |||
1090 | prim_geom = IntPtr.Zero; | ||
1091 | collide_geom = IntPtr.Zero; | ||
1092 | Body = IntPtr.Zero; | ||
1093 | |||
1094 | if (!size.IsFinite()) | ||
1095 | { | ||
1096 | size = new Vector3(0.5f, 0.5f, 0.5f); | ||
1097 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); | ||
1098 | } | ||
1099 | |||
1100 | if (size.X <= 0) size.X = 0.01f; | ||
1101 | if (size.Y <= 0) size.Y = 0.01f; | ||
1102 | if (size.Z <= 0) size.Z = 0.01f; | ||
1103 | |||
1104 | _size = size; | ||
1105 | |||
1106 | if (!QuaternionIsFinite(rotation)) | ||
1107 | { | ||
1108 | rotation = Quaternion.Identity; | ||
1109 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); | ||
1110 | } | ||
1111 | |||
1112 | _orientation = rotation; | ||
1113 | givefakeori = 0; | ||
1114 | |||
1115 | _pbs = pbs; | ||
1116 | |||
1117 | _parent_scene = parent_scene; | ||
1118 | m_targetSpace = IntPtr.Zero; | ||
1119 | |||
1120 | if (pos.Z < 0) | ||
1121 | { | ||
1122 | m_isphysical = false; | ||
1123 | } | ||
1124 | else | ||
1125 | { | ||
1126 | m_isphysical = pisPhysical; | ||
1127 | } | ||
1128 | m_fakeisphysical = m_isphysical; | ||
1129 | |||
1130 | m_isVolumeDetect = false; | ||
1131 | m_fakeisVolumeDetect = false; | ||
1132 | |||
1133 | m_force = Vector3.Zero; | ||
1134 | |||
1135 | m_iscolliding = false; | ||
1136 | m_colliderfilter = 0; | ||
1137 | m_NoColide = false; | ||
1138 | |||
1139 | _triMeshData = IntPtr.Zero; | ||
1140 | |||
1141 | m_shapetype = _shapeType; | ||
1142 | |||
1143 | m_lastdoneSelected = false; | ||
1144 | m_isSelected = false; | ||
1145 | m_delaySelect = false; | ||
1146 | |||
1147 | m_isphantom = pisPhantom; | ||
1148 | m_fakeisphantom = pisPhantom; | ||
1149 | |||
1150 | mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; | ||
1151 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; | ||
1152 | |||
1153 | m_building = true; // control must set this to false when done | ||
1154 | |||
1155 | // get basic mass parameters | ||
1156 | ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); | ||
1157 | |||
1158 | primVolume = repData.volume; | ||
1159 | m_OBB = repData.OBB; | ||
1160 | m_OBBOffset = repData.OBBOffset; | ||
1161 | |||
1162 | UpdatePrimBodyData(); | ||
1163 | } | ||
1164 | |||
1165 | private void resetCollisionAccounting() | ||
1166 | { | ||
1167 | m_collisionscore = 0; | ||
1168 | } | ||
1169 | |||
1170 | private void UpdateCollisionCatFlags() | ||
1171 | { | ||
1172 | if(m_isphysical && m_disabled) | ||
1173 | { | ||
1174 | m_collisionCategories = 0; | ||
1175 | m_collisionFlags = 0; | ||
1176 | } | ||
1177 | |||
1178 | else if (m_isSelected) | ||
1179 | { | ||
1180 | m_collisionCategories = CollisionCategories.Selected; | ||
1181 | m_collisionFlags = 0; | ||
1182 | } | ||
1183 | |||
1184 | else if (m_isVolumeDetect) | ||
1185 | { | ||
1186 | m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1187 | if (m_isphysical) | ||
1188 | m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; | ||
1189 | else | ||
1190 | m_collisionFlags = 0; | ||
1191 | } | ||
1192 | else if (m_isphantom) | ||
1193 | { | ||
1194 | m_collisionCategories = CollisionCategories.Phantom; | ||
1195 | if (m_isphysical) | ||
1196 | m_collisionFlags = CollisionCategories.Land; | ||
1197 | else | ||
1198 | m_collisionFlags = 0; | ||
1199 | } | ||
1200 | else | ||
1201 | { | ||
1202 | m_collisionCategories = CollisionCategories.Geom; | ||
1203 | if (m_isphysical) | ||
1204 | m_collisionFlags = m_default_collisionFlagsPhysical; | ||
1205 | else | ||
1206 | m_collisionFlags = m_default_collisionFlagsNotPhysical; | ||
1207 | } | ||
1208 | } | ||
1209 | |||
1210 | private void ApplyCollisionCatFlags() | ||
1211 | { | ||
1212 | if (prim_geom != IntPtr.Zero) | ||
1213 | { | ||
1214 | if (!childPrim && childrenPrim.Count > 0) | ||
1215 | { | ||
1216 | foreach (OdePrim prm in childrenPrim) | ||
1217 | { | ||
1218 | if (m_isphysical && m_disabled) | ||
1219 | { | ||
1220 | prm.m_collisionCategories = 0; | ||
1221 | prm.m_collisionFlags = 0; | ||
1222 | } | ||
1223 | else | ||
1224 | { | ||
1225 | // preserve some | ||
1226 | if (prm.m_isSelected) | ||
1227 | { | ||
1228 | prm.m_collisionCategories = CollisionCategories.Selected; | ||
1229 | prm.m_collisionFlags = 0; | ||
1230 | } | ||
1231 | else if (prm.m_isVolumeDetect) | ||
1232 | { | ||
1233 | prm.m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1234 | if (m_isphysical) | ||
1235 | prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; | ||
1236 | else | ||
1237 | prm.m_collisionFlags = 0; | ||
1238 | } | ||
1239 | else if (prm.m_isphantom) | ||
1240 | { | ||
1241 | prm.m_collisionCategories = CollisionCategories.Phantom; | ||
1242 | if (m_isphysical) | ||
1243 | prm.m_collisionFlags = CollisionCategories.Land; | ||
1244 | else | ||
1245 | prm.m_collisionFlags = 0; | ||
1246 | } | ||
1247 | else | ||
1248 | { | ||
1249 | prm.m_collisionCategories = m_collisionCategories; | ||
1250 | prm.m_collisionFlags = m_collisionFlags; | ||
1251 | } | ||
1252 | } | ||
1253 | |||
1254 | if (prm.prim_geom != IntPtr.Zero) | ||
1255 | { | ||
1256 | if (prm.m_NoColide) | ||
1257 | { | ||
1258 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
1259 | if (m_isphysical) | ||
1260 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | ||
1261 | else | ||
1262 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
1263 | } | ||
1264 | else | ||
1265 | { | ||
1266 | d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); | ||
1267 | d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); | ||
1268 | } | ||
1269 | } | ||
1270 | } | ||
1271 | } | ||
1272 | |||
1273 | if (m_NoColide) | ||
1274 | { | ||
1275 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1276 | d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); | ||
1277 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
1278 | { | ||
1279 | d.GeomSetCategoryBits(collide_geom, 0); | ||
1280 | d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); | ||
1281 | } | ||
1282 | } | ||
1283 | else | ||
1284 | { | ||
1285 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1286 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1287 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
1288 | { | ||
1289 | d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); | ||
1290 | d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); | ||
1291 | } | ||
1292 | } | ||
1293 | } | ||
1294 | } | ||
1295 | |||
1296 | private void createAMotor(Vector3 axis) | ||
1297 | { | ||
1298 | if (Body == IntPtr.Zero) | ||
1299 | return; | ||
1300 | |||
1301 | if (Amotor != IntPtr.Zero) | ||
1302 | { | ||
1303 | d.JointDestroy(Amotor); | ||
1304 | Amotor = IntPtr.Zero; | ||
1305 | } | ||
1306 | |||
1307 | int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); | ||
1308 | |||
1309 | if (axisnum <= 0) | ||
1310 | return; | ||
1311 | |||
1312 | // stop it | ||
1313 | d.BodySetTorque(Body, 0, 0, 0); | ||
1314 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
1315 | |||
1316 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | ||
1317 | d.JointAttach(Amotor, Body, IntPtr.Zero); | ||
1318 | |||
1319 | d.JointSetAMotorMode(Amotor, 0); | ||
1320 | |||
1321 | d.JointSetAMotorNumAxes(Amotor, axisnum); | ||
1322 | |||
1323 | // get current orientation to lock | ||
1324 | |||
1325 | d.Quaternion dcur = d.BodyGetQuaternion(Body); | ||
1326 | Quaternion curr; // crap convertion between identical things | ||
1327 | curr.X = dcur.X; | ||
1328 | curr.Y = dcur.Y; | ||
1329 | curr.Z = dcur.Z; | ||
1330 | curr.W = dcur.W; | ||
1331 | Vector3 ax; | ||
1332 | |||
1333 | int i = 0; | ||
1334 | int j = 0; | ||
1335 | if (axis.X == 0) | ||
1336 | { | ||
1337 | ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X | ||
1338 | // ODE should do this with axis relative to body 1 but seems to fail | ||
1339 | d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); | ||
1340 | d.JointSetAMotorAngle(Amotor, 0, 0); | ||
1341 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f); | ||
1342 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f); | ||
1343 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | ||
1344 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1345 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); | ||
1346 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); | ||
1347 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); | ||
1348 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); | ||
1349 | i++; | ||
1350 | j = 256; // move to next axis set | ||
1351 | } | ||
1352 | |||
1353 | if (axis.Y == 0) | ||
1354 | { | ||
1355 | ax = (new Vector3(0, 1, 0)) * curr; | ||
1356 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
1357 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
1358 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); | ||
1359 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); | ||
1360 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
1361 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1362 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
1363 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
1364 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | ||
1365 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | ||
1366 | i++; | ||
1367 | j += 256; | ||
1368 | } | ||
1369 | |||
1370 | if (axis.Z == 0) | ||
1371 | { | ||
1372 | ax = (new Vector3(0, 0, 1)) * curr; | ||
1373 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
1374 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
1375 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); | ||
1376 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); | ||
1377 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
1378 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1379 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
1380 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
1381 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | ||
1382 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | ||
1383 | } | ||
1384 | } | ||
1385 | |||
1386 | |||
1387 | private void SetGeom(IntPtr geom) | ||
1388 | { | ||
1389 | prim_geom = geom; | ||
1390 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); | ||
1391 | if (prim_geom != IntPtr.Zero) | ||
1392 | { | ||
1393 | |||
1394 | if (m_NoColide) | ||
1395 | { | ||
1396 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1397 | if (m_isphysical) | ||
1398 | { | ||
1399 | d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); | ||
1400 | } | ||
1401 | else | ||
1402 | { | ||
1403 | d.GeomSetCollideBits(prim_geom, 0); | ||
1404 | d.GeomDisable(prim_geom); | ||
1405 | } | ||
1406 | } | ||
1407 | else | ||
1408 | { | ||
1409 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1410 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1411 | } | ||
1412 | |||
1413 | UpdatePrimBodyData(); | ||
1414 | _parent_scene.actor_name_map[prim_geom] = this; | ||
1415 | |||
1416 | /* | ||
1417 | // debug | ||
1418 | d.AABB aabb; | ||
1419 | d.GeomGetAABB(prim_geom, out aabb); | ||
1420 | float x = aabb.MaxX - aabb.MinX; | ||
1421 | float y = aabb.MaxY - aabb.MinY; | ||
1422 | float z = aabb.MaxZ - aabb.MinZ; | ||
1423 | if( x > 60.0f || y > 60.0f || z > 60.0f) | ||
1424 | m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", | ||
1425 | Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); | ||
1426 | else if (x < 0.001f || y < 0.001f || z < 0.001f) | ||
1427 | m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", | ||
1428 | Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); | ||
1429 | |||
1430 | // | ||
1431 | */ | ||
1432 | |||
1433 | } | ||
1434 | else | ||
1435 | m_log.Warn("Setting bad Geom"); | ||
1436 | } | ||
1437 | |||
1438 | private bool GetMeshGeom() | ||
1439 | { | ||
1440 | IntPtr vertices, indices; | ||
1441 | int vertexCount, indexCount; | ||
1442 | int vertexStride, triStride; | ||
1443 | |||
1444 | IMesh mesh = m_mesh; | ||
1445 | |||
1446 | if (mesh == null) | ||
1447 | return false; | ||
1448 | |||
1449 | mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); | ||
1450 | mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); | ||
1451 | |||
1452 | if (vertexCount == 0 || indexCount == 0) | ||
1453 | { | ||
1454 | m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1} at {2}", | ||
1455 | Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh",_position.ToString()); | ||
1456 | |||
1457 | m_hasOBB = false; | ||
1458 | m_OBBOffset = Vector3.Zero; | ||
1459 | m_OBB = _size * 0.5f; | ||
1460 | |||
1461 | m_physCost = 0.1f; | ||
1462 | m_streamCost = 1.0f; | ||
1463 | |||
1464 | _parent_scene.mesher.ReleaseMesh(mesh); | ||
1465 | m_meshState = MeshState.MeshFailed; | ||
1466 | m_mesh = null; | ||
1467 | return false; | ||
1468 | } | ||
1469 | |||
1470 | IntPtr geo = IntPtr.Zero; | ||
1471 | |||
1472 | try | ||
1473 | { | ||
1474 | _triMeshData = d.GeomTriMeshDataCreate(); | ||
1475 | |||
1476 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | ||
1477 | d.GeomTriMeshDataPreprocess(_triMeshData); | ||
1478 | |||
1479 | geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); | ||
1480 | } | ||
1481 | |||
1482 | catch (Exception e) | ||
1483 | { | ||
1484 | m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); | ||
1485 | if (_triMeshData != IntPtr.Zero) | ||
1486 | { | ||
1487 | try | ||
1488 | { | ||
1489 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1490 | } | ||
1491 | catch | ||
1492 | { | ||
1493 | } | ||
1494 | } | ||
1495 | _triMeshData = IntPtr.Zero; | ||
1496 | |||
1497 | m_hasOBB = false; | ||
1498 | m_OBBOffset = Vector3.Zero; | ||
1499 | m_OBB = _size * 0.5f; | ||
1500 | m_physCost = 0.1f; | ||
1501 | m_streamCost = 1.0f; | ||
1502 | |||
1503 | _parent_scene.mesher.ReleaseMesh(mesh); | ||
1504 | m_meshState = MeshState.MeshFailed; | ||
1505 | m_mesh = null; | ||
1506 | return false; | ||
1507 | } | ||
1508 | |||
1509 | m_physCost = 0.0013f * (float)indexCount; | ||
1510 | // todo | ||
1511 | m_streamCost = 1.0f; | ||
1512 | |||
1513 | SetGeom(geo); | ||
1514 | |||
1515 | return true; | ||
1516 | } | ||
1517 | |||
1518 | private void CreateGeom() | ||
1519 | { | ||
1520 | bool hasMesh = false; | ||
1521 | |||
1522 | m_NoColide = false; | ||
1523 | |||
1524 | if ((m_meshState & MeshState.MeshNoColide) != 0) | ||
1525 | m_NoColide = true; | ||
1526 | |||
1527 | else if(m_mesh != null) | ||
1528 | { | ||
1529 | if (GetMeshGeom()) | ||
1530 | hasMesh = true; | ||
1531 | else | ||
1532 | m_NoColide = true; | ||
1533 | } | ||
1534 | |||
1535 | |||
1536 | if (!hasMesh) | ||
1537 | { | ||
1538 | IntPtr geo = IntPtr.Zero; | ||
1539 | |||
1540 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1541 | && _size.X == _size.Y && _size.Y == _size.Z) | ||
1542 | { // it's a sphere | ||
1543 | try | ||
1544 | { | ||
1545 | geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); | ||
1546 | } | ||
1547 | catch (Exception e) | ||
1548 | { | ||
1549 | m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); | ||
1550 | return; | ||
1551 | } | ||
1552 | } | ||
1553 | else | ||
1554 | {// do it as a box | ||
1555 | try | ||
1556 | { | ||
1557 | geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); | ||
1558 | } | ||
1559 | catch (Exception e) | ||
1560 | { | ||
1561 | m_log.Warn("[PHYSICS]: Create box failed: {0}", e); | ||
1562 | return; | ||
1563 | } | ||
1564 | } | ||
1565 | m_physCost = 0.1f; | ||
1566 | m_streamCost = 1.0f; | ||
1567 | SetGeom(geo); | ||
1568 | } | ||
1569 | } | ||
1570 | |||
1571 | private void RemoveGeom() | ||
1572 | { | ||
1573 | if (prim_geom != IntPtr.Zero) | ||
1574 | { | ||
1575 | _parent_scene.actor_name_map.Remove(prim_geom); | ||
1576 | |||
1577 | try | ||
1578 | { | ||
1579 | d.GeomDestroy(prim_geom); | ||
1580 | if (_triMeshData != IntPtr.Zero) | ||
1581 | { | ||
1582 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1583 | _triMeshData = IntPtr.Zero; | ||
1584 | } | ||
1585 | } | ||
1586 | catch (Exception e) | ||
1587 | { | ||
1588 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); | ||
1589 | } | ||
1590 | |||
1591 | prim_geom = IntPtr.Zero; | ||
1592 | collide_geom = IntPtr.Zero; | ||
1593 | m_targetSpace = IntPtr.Zero; | ||
1594 | } | ||
1595 | else | ||
1596 | { | ||
1597 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); | ||
1598 | } | ||
1599 | |||
1600 | lock (m_meshlock) | ||
1601 | { | ||
1602 | if (m_mesh != null) | ||
1603 | { | ||
1604 | _parent_scene.mesher.ReleaseMesh(m_mesh); | ||
1605 | m_mesh = null; | ||
1606 | } | ||
1607 | } | ||
1608 | |||
1609 | Body = IntPtr.Zero; | ||
1610 | m_hasOBB = false; | ||
1611 | } | ||
1612 | |||
1613 | //sets non physical prim m_targetSpace to right space in spaces grid for static prims | ||
1614 | // should only be called for non physical prims unless they are becoming non physical | ||
1615 | private void SetInStaticSpace(OdePrim prim) | ||
1616 | { | ||
1617 | IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); | ||
1618 | prim.m_targetSpace = targetSpace; | ||
1619 | collide_geom = IntPtr.Zero; | ||
1620 | } | ||
1621 | |||
1622 | public void enableBodySoft() | ||
1623 | { | ||
1624 | m_disabled = false; | ||
1625 | if (!childPrim && !m_isSelected) | ||
1626 | { | ||
1627 | if (m_isphysical && Body != IntPtr.Zero) | ||
1628 | { | ||
1629 | UpdateCollisionCatFlags(); | ||
1630 | ApplyCollisionCatFlags(); | ||
1631 | |||
1632 | d.BodyEnable(Body); | ||
1633 | } | ||
1634 | } | ||
1635 | resetCollisionAccounting(); | ||
1636 | } | ||
1637 | |||
1638 | private void disableBodySoft() | ||
1639 | { | ||
1640 | m_disabled = true; | ||
1641 | if (!childPrim) | ||
1642 | { | ||
1643 | if (m_isphysical && Body != IntPtr.Zero) | ||
1644 | { | ||
1645 | if (m_isSelected) | ||
1646 | m_collisionFlags = CollisionCategories.Selected; | ||
1647 | else | ||
1648 | m_collisionCategories = 0; | ||
1649 | m_collisionFlags = 0; | ||
1650 | ApplyCollisionCatFlags(); | ||
1651 | d.BodyDisable(Body); | ||
1652 | } | ||
1653 | } | ||
1654 | } | ||
1655 | |||
1656 | private void MakeBody() | ||
1657 | { | ||
1658 | if (!m_isphysical) // only physical get bodies | ||
1659 | return; | ||
1660 | |||
1661 | if (childPrim) // child prims don't get bodies; | ||
1662 | return; | ||
1663 | |||
1664 | if (m_building) | ||
1665 | return; | ||
1666 | |||
1667 | if (prim_geom == IntPtr.Zero) | ||
1668 | { | ||
1669 | m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); | ||
1670 | return; | ||
1671 | } | ||
1672 | |||
1673 | if (Body != IntPtr.Zero) | ||
1674 | { | ||
1675 | DestroyBody(); | ||
1676 | m_log.Warn("[PHYSICS]: MakeBody called having a body"); | ||
1677 | } | ||
1678 | |||
1679 | if (d.GeomGetBody(prim_geom) != IntPtr.Zero) | ||
1680 | { | ||
1681 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1682 | m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); | ||
1683 | } | ||
1684 | |||
1685 | d.Matrix3 mymat = new d.Matrix3(); | ||
1686 | d.Quaternion myrot = new d.Quaternion(); | ||
1687 | d.Mass objdmass = new d.Mass { }; | ||
1688 | |||
1689 | Body = d.BodyCreate(_parent_scene.world); | ||
1690 | |||
1691 | objdmass = primdMass; | ||
1692 | |||
1693 | // rotate inertia | ||
1694 | myrot.X = _orientation.X; | ||
1695 | myrot.Y = _orientation.Y; | ||
1696 | myrot.Z = _orientation.Z; | ||
1697 | myrot.W = _orientation.W; | ||
1698 | |||
1699 | d.RfromQ(out mymat, ref myrot); | ||
1700 | d.MassRotate(ref objdmass, ref mymat); | ||
1701 | |||
1702 | // set the body rotation | ||
1703 | d.BodySetRotation(Body, ref mymat); | ||
1704 | |||
1705 | // recompute full object inertia if needed | ||
1706 | if (childrenPrim.Count > 0) | ||
1707 | { | ||
1708 | d.Matrix3 mat = new d.Matrix3(); | ||
1709 | d.Quaternion quat = new d.Quaternion(); | ||
1710 | d.Mass tmpdmass = new d.Mass { }; | ||
1711 | Vector3 rcm; | ||
1712 | |||
1713 | rcm.X = _position.X; | ||
1714 | rcm.Y = _position.Y; | ||
1715 | rcm.Z = _position.Z; | ||
1716 | |||
1717 | lock (childrenPrim) | ||
1718 | { | ||
1719 | foreach (OdePrim prm in childrenPrim) | ||
1720 | { | ||
1721 | if (prm.prim_geom == IntPtr.Zero) | ||
1722 | { | ||
1723 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); | ||
1724 | continue; | ||
1725 | } | ||
1726 | |||
1727 | tmpdmass = prm.primdMass; | ||
1728 | |||
1729 | // apply prim current rotation to inertia | ||
1730 | quat.X = prm._orientation.X; | ||
1731 | quat.Y = prm._orientation.Y; | ||
1732 | quat.Z = prm._orientation.Z; | ||
1733 | quat.W = prm._orientation.W; | ||
1734 | d.RfromQ(out mat, ref quat); | ||
1735 | d.MassRotate(ref tmpdmass, ref mat); | ||
1736 | |||
1737 | Vector3 ppos = prm._position; | ||
1738 | ppos.X -= rcm.X; | ||
1739 | ppos.Y -= rcm.Y; | ||
1740 | ppos.Z -= rcm.Z; | ||
1741 | // refer inertia to root prim center of mass position | ||
1742 | d.MassTranslate(ref tmpdmass, | ||
1743 | ppos.X, | ||
1744 | ppos.Y, | ||
1745 | ppos.Z); | ||
1746 | |||
1747 | d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia | ||
1748 | // fix prim colision cats | ||
1749 | |||
1750 | if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) | ||
1751 | { | ||
1752 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
1753 | m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); | ||
1754 | } | ||
1755 | |||
1756 | d.GeomClearOffset(prm.prim_geom); | ||
1757 | d.GeomSetBody(prm.prim_geom, Body); | ||
1758 | prm.Body = Body; | ||
1759 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation | ||
1760 | } | ||
1761 | } | ||
1762 | } | ||
1763 | |||
1764 | d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset | ||
1765 | // associate root geom with body | ||
1766 | d.GeomSetBody(prim_geom, Body); | ||
1767 | |||
1768 | d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); | ||
1769 | d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1770 | |||
1771 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
1772 | myrot.X = -myrot.X; | ||
1773 | myrot.Y = -myrot.Y; | ||
1774 | myrot.Z = -myrot.Z; | ||
1775 | |||
1776 | d.RfromQ(out mymat, ref myrot); | ||
1777 | d.MassRotate(ref objdmass, ref mymat); | ||
1778 | |||
1779 | d.BodySetMass(Body, ref objdmass); | ||
1780 | _mass = objdmass.mass; | ||
1781 | |||
1782 | // disconnect from world gravity so we can apply buoyancy | ||
1783 | d.BodySetGravityMode(Body, false); | ||
1784 | |||
1785 | d.BodySetAutoDisableFlag(Body, true); | ||
1786 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | ||
1787 | d.BodySetAutoDisableAngularThreshold(Body, 0.01f); | ||
1788 | d.BodySetAutoDisableLinearThreshold(Body, 0.01f); | ||
1789 | d.BodySetDamping(Body, .005f, .001f); | ||
1790 | |||
1791 | if (m_targetSpace != IntPtr.Zero) | ||
1792 | { | ||
1793 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
1794 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | ||
1795 | d.SpaceRemove(m_targetSpace, prim_geom); | ||
1796 | } | ||
1797 | |||
1798 | if (childrenPrim.Count == 0) | ||
1799 | { | ||
1800 | collide_geom = prim_geom; | ||
1801 | m_targetSpace = _parent_scene.ActiveSpace; | ||
1802 | } | ||
1803 | else | ||
1804 | { | ||
1805 | m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); | ||
1806 | d.HashSpaceSetLevels(m_targetSpace, -2, 8); | ||
1807 | d.SpaceSetSublevel(m_targetSpace, 3); | ||
1808 | d.SpaceSetCleanup(m_targetSpace, false); | ||
1809 | |||
1810 | d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | | ||
1811 | CollisionCategories.Geom | | ||
1812 | CollisionCategories.Phantom | | ||
1813 | CollisionCategories.VolumeDtc | ||
1814 | )); | ||
1815 | d.GeomSetCollideBits(m_targetSpace, 0); | ||
1816 | collide_geom = m_targetSpace; | ||
1817 | } | ||
1818 | |||
1819 | d.SpaceAdd(m_targetSpace, prim_geom); | ||
1820 | |||
1821 | if (m_delaySelect) | ||
1822 | { | ||
1823 | m_isSelected = true; | ||
1824 | m_delaySelect = false; | ||
1825 | } | ||
1826 | |||
1827 | m_collisionscore = 0; | ||
1828 | |||
1829 | UpdateCollisionCatFlags(); | ||
1830 | ApplyCollisionCatFlags(); | ||
1831 | |||
1832 | _parent_scene.addActivePrim(this); | ||
1833 | |||
1834 | lock (childrenPrim) | ||
1835 | { | ||
1836 | foreach (OdePrim prm in childrenPrim) | ||
1837 | { | ||
1838 | if (prm.prim_geom == IntPtr.Zero) | ||
1839 | continue; | ||
1840 | |||
1841 | Vector3 ppos = prm._position; | ||
1842 | d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position | ||
1843 | |||
1844 | if (prm.m_targetSpace != m_targetSpace) | ||
1845 | { | ||
1846 | if (prm.m_targetSpace != IntPtr.Zero) | ||
1847 | { | ||
1848 | _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); | ||
1849 | if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) | ||
1850 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); | ||
1851 | } | ||
1852 | prm.m_targetSpace = m_targetSpace; | ||
1853 | d.SpaceAdd(m_targetSpace, prm.prim_geom); | ||
1854 | } | ||
1855 | |||
1856 | prm.m_collisionscore = 0; | ||
1857 | |||
1858 | if(!m_disabled) | ||
1859 | prm.m_disabled = false; | ||
1860 | |||
1861 | _parent_scene.addActivePrim(prm); | ||
1862 | } | ||
1863 | } | ||
1864 | |||
1865 | // The body doesn't already have a finite rotation mode set here | ||
1866 | if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) | ||
1867 | { | ||
1868 | createAMotor(m_angularlock); | ||
1869 | } | ||
1870 | |||
1871 | |||
1872 | if (m_isSelected || m_disabled) | ||
1873 | { | ||
1874 | d.BodyDisable(Body); | ||
1875 | } | ||
1876 | else | ||
1877 | { | ||
1878 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); | ||
1879 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | ||
1880 | } | ||
1881 | _parent_scene.addActiveGroups(this); | ||
1882 | } | ||
1883 | |||
1884 | private void DestroyBody() | ||
1885 | { | ||
1886 | if (Body != IntPtr.Zero) | ||
1887 | { | ||
1888 | _parent_scene.remActivePrim(this); | ||
1889 | |||
1890 | collide_geom = IntPtr.Zero; | ||
1891 | |||
1892 | if (m_disabled) | ||
1893 | m_collisionCategories = 0; | ||
1894 | else if (m_isSelected) | ||
1895 | m_collisionCategories = CollisionCategories.Selected; | ||
1896 | else if (m_isVolumeDetect) | ||
1897 | m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1898 | else if (m_isphantom) | ||
1899 | m_collisionCategories = CollisionCategories.Phantom; | ||
1900 | else | ||
1901 | m_collisionCategories = CollisionCategories.Geom; | ||
1902 | |||
1903 | m_collisionFlags = 0; | ||
1904 | |||
1905 | if (prim_geom != IntPtr.Zero) | ||
1906 | { | ||
1907 | if (m_NoColide) | ||
1908 | { | ||
1909 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1910 | d.GeomSetCollideBits(prim_geom, 0); | ||
1911 | } | ||
1912 | else | ||
1913 | { | ||
1914 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1915 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1916 | } | ||
1917 | UpdateDataFromGeom(); | ||
1918 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1919 | SetInStaticSpace(this); | ||
1920 | } | ||
1921 | |||
1922 | if (!childPrim) | ||
1923 | { | ||
1924 | lock (childrenPrim) | ||
1925 | { | ||
1926 | foreach (OdePrim prm in childrenPrim) | ||
1927 | { | ||
1928 | _parent_scene.remActivePrim(prm); | ||
1929 | |||
1930 | if (prm.m_isSelected) | ||
1931 | prm.m_collisionCategories = CollisionCategories.Selected; | ||
1932 | else if (prm.m_isVolumeDetect) | ||
1933 | prm.m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1934 | else if (prm.m_isphantom) | ||
1935 | prm.m_collisionCategories = CollisionCategories.Phantom; | ||
1936 | else | ||
1937 | prm.m_collisionCategories = CollisionCategories.Geom; | ||
1938 | |||
1939 | prm.m_collisionFlags = 0; | ||
1940 | |||
1941 | if (prm.prim_geom != IntPtr.Zero) | ||
1942 | { | ||
1943 | if (prm.m_NoColide) | ||
1944 | { | ||
1945 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
1946 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
1947 | } | ||
1948 | else | ||
1949 | { | ||
1950 | d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); | ||
1951 | d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); | ||
1952 | } | ||
1953 | prm.UpdateDataFromGeom(); | ||
1954 | SetInStaticSpace(prm); | ||
1955 | } | ||
1956 | prm.Body = IntPtr.Zero; | ||
1957 | prm._mass = prm.primMass; | ||
1958 | prm.m_collisionscore = 0; | ||
1959 | } | ||
1960 | } | ||
1961 | if (Amotor != IntPtr.Zero) | ||
1962 | { | ||
1963 | d.JointDestroy(Amotor); | ||
1964 | Amotor = IntPtr.Zero; | ||
1965 | } | ||
1966 | _parent_scene.remActiveGroup(this); | ||
1967 | d.BodyDestroy(Body); | ||
1968 | } | ||
1969 | Body = IntPtr.Zero; | ||
1970 | } | ||
1971 | _mass = primMass; | ||
1972 | m_collisionscore = 0; | ||
1973 | } | ||
1974 | |||
1975 | private void FixInertia(Vector3 NewPos,Quaternion newrot) | ||
1976 | { | ||
1977 | d.Matrix3 mat = new d.Matrix3(); | ||
1978 | d.Quaternion quat = new d.Quaternion(); | ||
1979 | |||
1980 | d.Mass tmpdmass = new d.Mass { }; | ||
1981 | d.Mass objdmass = new d.Mass { }; | ||
1982 | |||
1983 | d.BodyGetMass(Body, out tmpdmass); | ||
1984 | objdmass = tmpdmass; | ||
1985 | |||
1986 | d.Vector3 dobjpos; | ||
1987 | d.Vector3 thispos; | ||
1988 | |||
1989 | // get current object position and rotation | ||
1990 | dobjpos = d.BodyGetPosition(Body); | ||
1991 | |||
1992 | // get prim own inertia in its local frame | ||
1993 | tmpdmass = primdMass; | ||
1994 | |||
1995 | // transform to object frame | ||
1996 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
1997 | d.MassRotate(ref tmpdmass, ref mat); | ||
1998 | |||
1999 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2000 | d.MassTranslate(ref tmpdmass, | ||
2001 | thispos.X, | ||
2002 | thispos.Y, | ||
2003 | thispos.Z); | ||
2004 | |||
2005 | // subtract current prim inertia from object | ||
2006 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2007 | |||
2008 | // back prim own inertia | ||
2009 | tmpdmass = primdMass; | ||
2010 | |||
2011 | // update to new position and orientation | ||
2012 | _position = NewPos; | ||
2013 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
2014 | _orientation = newrot; | ||
2015 | quat.X = newrot.X; | ||
2016 | quat.Y = newrot.Y; | ||
2017 | quat.Z = newrot.Z; | ||
2018 | quat.W = newrot.W; | ||
2019 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
2020 | |||
2021 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2022 | d.MassRotate(ref tmpdmass, ref mat); | ||
2023 | |||
2024 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2025 | d.MassTranslate(ref tmpdmass, | ||
2026 | thispos.X, | ||
2027 | thispos.Y, | ||
2028 | thispos.Z); | ||
2029 | |||
2030 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
2031 | |||
2032 | // fix all positions | ||
2033 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2034 | while (g != IntPtr.Zero) | ||
2035 | { | ||
2036 | thispos = d.GeomGetOffsetPosition(g); | ||
2037 | thispos.X -= objdmass.c.X; | ||
2038 | thispos.Y -= objdmass.c.Y; | ||
2039 | thispos.Z -= objdmass.c.Z; | ||
2040 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2041 | g = d.dBodyGetNextGeom(g); | ||
2042 | } | ||
2043 | d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); | ||
2044 | |||
2045 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2046 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2047 | d.BodySetMass(Body, ref objdmass); | ||
2048 | _mass = objdmass.mass; | ||
2049 | } | ||
2050 | |||
2051 | |||
2052 | |||
2053 | private void FixInertia(Vector3 NewPos) | ||
2054 | { | ||
2055 | d.Matrix3 primmat = new d.Matrix3(); | ||
2056 | d.Mass tmpdmass = new d.Mass { }; | ||
2057 | d.Mass objdmass = new d.Mass { }; | ||
2058 | d.Mass primmass = new d.Mass { }; | ||
2059 | |||
2060 | d.Vector3 dobjpos; | ||
2061 | d.Vector3 thispos; | ||
2062 | |||
2063 | d.BodyGetMass(Body, out objdmass); | ||
2064 | |||
2065 | // get prim own inertia in its local frame | ||
2066 | primmass = primdMass; | ||
2067 | // transform to object frame | ||
2068 | primmat = d.GeomGetOffsetRotation(prim_geom); | ||
2069 | d.MassRotate(ref primmass, ref primmat); | ||
2070 | |||
2071 | tmpdmass = primmass; | ||
2072 | |||
2073 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2074 | d.MassTranslate(ref tmpdmass, | ||
2075 | thispos.X, | ||
2076 | thispos.Y, | ||
2077 | thispos.Z); | ||
2078 | |||
2079 | // subtract current prim inertia from object | ||
2080 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2081 | |||
2082 | // update to new position | ||
2083 | _position = NewPos; | ||
2084 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
2085 | |||
2086 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2087 | d.MassTranslate(ref primmass, | ||
2088 | thispos.X, | ||
2089 | thispos.Y, | ||
2090 | thispos.Z); | ||
2091 | |||
2092 | d.MassAdd(ref objdmass, ref primmass); | ||
2093 | |||
2094 | // fix all positions | ||
2095 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2096 | while (g != IntPtr.Zero) | ||
2097 | { | ||
2098 | thispos = d.GeomGetOffsetPosition(g); | ||
2099 | thispos.X -= objdmass.c.X; | ||
2100 | thispos.Y -= objdmass.c.Y; | ||
2101 | thispos.Z -= objdmass.c.Z; | ||
2102 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2103 | g = d.dBodyGetNextGeom(g); | ||
2104 | } | ||
2105 | |||
2106 | d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); | ||
2107 | |||
2108 | // get current object position and rotation | ||
2109 | dobjpos = d.BodyGetPosition(Body); | ||
2110 | |||
2111 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2112 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2113 | d.BodySetMass(Body, ref objdmass); | ||
2114 | _mass = objdmass.mass; | ||
2115 | } | ||
2116 | |||
2117 | private void FixInertia(Quaternion newrot) | ||
2118 | { | ||
2119 | d.Matrix3 mat = new d.Matrix3(); | ||
2120 | d.Quaternion quat = new d.Quaternion(); | ||
2121 | |||
2122 | d.Mass tmpdmass = new d.Mass { }; | ||
2123 | d.Mass objdmass = new d.Mass { }; | ||
2124 | d.Vector3 dobjpos; | ||
2125 | d.Vector3 thispos; | ||
2126 | |||
2127 | d.BodyGetMass(Body, out objdmass); | ||
2128 | |||
2129 | // get prim own inertia in its local frame | ||
2130 | tmpdmass = primdMass; | ||
2131 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2132 | d.MassRotate(ref tmpdmass, ref mat); | ||
2133 | // transform to object frame | ||
2134 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2135 | d.MassTranslate(ref tmpdmass, | ||
2136 | thispos.X, | ||
2137 | thispos.Y, | ||
2138 | thispos.Z); | ||
2139 | |||
2140 | // subtract current prim inertia from object | ||
2141 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2142 | |||
2143 | // update to new orientation | ||
2144 | _orientation = newrot; | ||
2145 | quat.X = newrot.X; | ||
2146 | quat.Y = newrot.Y; | ||
2147 | quat.Z = newrot.Z; | ||
2148 | quat.W = newrot.W; | ||
2149 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
2150 | |||
2151 | tmpdmass = primdMass; | ||
2152 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2153 | d.MassRotate(ref tmpdmass, ref mat); | ||
2154 | d.MassTranslate(ref tmpdmass, | ||
2155 | thispos.X, | ||
2156 | thispos.Y, | ||
2157 | thispos.Z); | ||
2158 | |||
2159 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
2160 | |||
2161 | // fix all positions | ||
2162 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2163 | while (g != IntPtr.Zero) | ||
2164 | { | ||
2165 | thispos = d.GeomGetOffsetPosition(g); | ||
2166 | thispos.X -= objdmass.c.X; | ||
2167 | thispos.Y -= objdmass.c.Y; | ||
2168 | thispos.Z -= objdmass.c.Z; | ||
2169 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2170 | g = d.dBodyGetNextGeom(g); | ||
2171 | } | ||
2172 | |||
2173 | d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); | ||
2174 | // get current object position and rotation | ||
2175 | dobjpos = d.BodyGetPosition(Body); | ||
2176 | |||
2177 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2178 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2179 | d.BodySetMass(Body, ref objdmass); | ||
2180 | _mass = objdmass.mass; | ||
2181 | } | ||
2182 | |||
2183 | |||
2184 | #region Mass Calculation | ||
2185 | |||
2186 | private void UpdatePrimBodyData() | ||
2187 | { | ||
2188 | primMass = m_density * primVolume; | ||
2189 | |||
2190 | if (primMass <= 0) | ||
2191 | primMass = 0.0001f;//ckrinke: Mass must be greater then zero. | ||
2192 | if (primMass > _parent_scene.maximumMassObject) | ||
2193 | primMass = _parent_scene.maximumMassObject; | ||
2194 | |||
2195 | _mass = primMass; // just in case | ||
2196 | |||
2197 | d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z); | ||
2198 | |||
2199 | d.MassTranslate(ref primdMass, | ||
2200 | m_OBBOffset.X, | ||
2201 | m_OBBOffset.Y, | ||
2202 | m_OBBOffset.Z); | ||
2203 | |||
2204 | primOOBradiusSQ = m_OBB.LengthSquared(); | ||
2205 | |||
2206 | if (_triMeshData != IntPtr.Zero) | ||
2207 | { | ||
2208 | float pc = m_physCost; | ||
2209 | float psf = primOOBradiusSQ; | ||
2210 | psf *= 1.33f * .2f; | ||
2211 | pc *= psf; | ||
2212 | if (pc < 0.1f) | ||
2213 | pc = 0.1f; | ||
2214 | |||
2215 | m_physCost = pc; | ||
2216 | } | ||
2217 | else | ||
2218 | m_physCost = 0.1f; | ||
2219 | |||
2220 | m_streamCost = 1.0f; | ||
2221 | } | ||
2222 | |||
2223 | #endregion | ||
2224 | |||
2225 | |||
2226 | /// <summary> | ||
2227 | /// Add a child prim to this parent prim. | ||
2228 | /// </summary> | ||
2229 | /// <param name="prim">Child prim</param> | ||
2230 | // I'm the parent | ||
2231 | // prim is the child | ||
2232 | public void ParentPrim(OdePrim prim) | ||
2233 | { | ||
2234 | //Console.WriteLine("ParentPrim " + m_primName); | ||
2235 | if (this.m_localID != prim.m_localID) | ||
2236 | { | ||
2237 | DestroyBody(); // for now we need to rebuil entire object on link change | ||
2238 | |||
2239 | lock (childrenPrim) | ||
2240 | { | ||
2241 | // adopt the prim | ||
2242 | if (!childrenPrim.Contains(prim)) | ||
2243 | childrenPrim.Add(prim); | ||
2244 | |||
2245 | // see if this prim has kids and adopt them also | ||
2246 | // should not happen for now | ||
2247 | foreach (OdePrim prm in prim.childrenPrim) | ||
2248 | { | ||
2249 | if (!childrenPrim.Contains(prm)) | ||
2250 | { | ||
2251 | if (prm.Body != IntPtr.Zero) | ||
2252 | { | ||
2253 | if (prm.prim_geom != IntPtr.Zero) | ||
2254 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
2255 | if (prm.Body != prim.Body) | ||
2256 | prm.DestroyBody(); // don't loose bodies around | ||
2257 | prm.Body = IntPtr.Zero; | ||
2258 | } | ||
2259 | |||
2260 | childrenPrim.Add(prm); | ||
2261 | prm._parent = this; | ||
2262 | } | ||
2263 | } | ||
2264 | } | ||
2265 | //Remove old children from the prim | ||
2266 | prim.childrenPrim.Clear(); | ||
2267 | |||
2268 | if (prim.Body != IntPtr.Zero) | ||
2269 | { | ||
2270 | if (prim.prim_geom != IntPtr.Zero) | ||
2271 | d.GeomSetBody(prim.prim_geom, IntPtr.Zero); | ||
2272 | prim.DestroyBody(); // don't loose bodies around | ||
2273 | prim.Body = IntPtr.Zero; | ||
2274 | } | ||
2275 | |||
2276 | prim.childPrim = true; | ||
2277 | prim._parent = this; | ||
2278 | |||
2279 | MakeBody(); // full nasty reconstruction | ||
2280 | } | ||
2281 | } | ||
2282 | |||
2283 | private void UpdateChildsfromgeom() | ||
2284 | { | ||
2285 | if (childrenPrim.Count > 0) | ||
2286 | { | ||
2287 | foreach (OdePrim prm in childrenPrim) | ||
2288 | prm.UpdateDataFromGeom(); | ||
2289 | } | ||
2290 | } | ||
2291 | |||
2292 | private void UpdateDataFromGeom() | ||
2293 | { | ||
2294 | if (prim_geom != IntPtr.Zero) | ||
2295 | { | ||
2296 | d.Quaternion qtmp; | ||
2297 | d.GeomCopyQuaternion(prim_geom, out qtmp); | ||
2298 | _orientation.X = qtmp.X; | ||
2299 | _orientation.Y = qtmp.Y; | ||
2300 | _orientation.Z = qtmp.Z; | ||
2301 | _orientation.W = qtmp.W; | ||
2302 | /* | ||
2303 | // Debug | ||
2304 | float qlen = _orientation.Length(); | ||
2305 | if (qlen > 1.01f || qlen < 0.99) | ||
2306 | m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); | ||
2307 | // | ||
2308 | */ | ||
2309 | _orientation.Normalize(); | ||
2310 | |||
2311 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); | ||
2312 | _position.X = lpos.X; | ||
2313 | _position.Y = lpos.Y; | ||
2314 | _position.Z = lpos.Z; | ||
2315 | } | ||
2316 | } | ||
2317 | |||
2318 | private void ChildDelink(OdePrim odePrim, bool remakebodies) | ||
2319 | { | ||
2320 | // Okay, we have a delinked child.. destroy all body and remake | ||
2321 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
2322 | return; | ||
2323 | |||
2324 | DestroyBody(); | ||
2325 | |||
2326 | if (odePrim == this) // delinking the root prim | ||
2327 | { | ||
2328 | OdePrim newroot = null; | ||
2329 | lock (childrenPrim) | ||
2330 | { | ||
2331 | if (childrenPrim.Count > 0) | ||
2332 | { | ||
2333 | newroot = childrenPrim[0]; | ||
2334 | childrenPrim.RemoveAt(0); | ||
2335 | foreach (OdePrim prm in childrenPrim) | ||
2336 | { | ||
2337 | newroot.childrenPrim.Add(prm); | ||
2338 | } | ||
2339 | childrenPrim.Clear(); | ||
2340 | } | ||
2341 | if (newroot != null) | ||
2342 | { | ||
2343 | newroot.childPrim = false; | ||
2344 | newroot._parent = null; | ||
2345 | if (remakebodies) | ||
2346 | newroot.MakeBody(); | ||
2347 | } | ||
2348 | } | ||
2349 | } | ||
2350 | |||
2351 | else | ||
2352 | { | ||
2353 | lock (childrenPrim) | ||
2354 | { | ||
2355 | childrenPrim.Remove(odePrim); | ||
2356 | odePrim.childPrim = false; | ||
2357 | odePrim._parent = null; | ||
2358 | // odePrim.UpdateDataFromGeom(); | ||
2359 | if (remakebodies) | ||
2360 | odePrim.MakeBody(); | ||
2361 | } | ||
2362 | } | ||
2363 | if (remakebodies) | ||
2364 | MakeBody(); | ||
2365 | } | ||
2366 | |||
2367 | protected void ChildRemove(OdePrim odePrim, bool reMakeBody) | ||
2368 | { | ||
2369 | // Okay, we have a delinked child.. destroy all body and remake | ||
2370 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
2371 | return; | ||
2372 | |||
2373 | DestroyBody(); | ||
2374 | |||
2375 | if (odePrim == this) | ||
2376 | { | ||
2377 | OdePrim newroot = null; | ||
2378 | lock (childrenPrim) | ||
2379 | { | ||
2380 | if (childrenPrim.Count > 0) | ||
2381 | { | ||
2382 | newroot = childrenPrim[0]; | ||
2383 | childrenPrim.RemoveAt(0); | ||
2384 | foreach (OdePrim prm in childrenPrim) | ||
2385 | { | ||
2386 | newroot.childrenPrim.Add(prm); | ||
2387 | } | ||
2388 | childrenPrim.Clear(); | ||
2389 | } | ||
2390 | if (newroot != null) | ||
2391 | { | ||
2392 | newroot.childPrim = false; | ||
2393 | newroot._parent = null; | ||
2394 | newroot.MakeBody(); | ||
2395 | } | ||
2396 | } | ||
2397 | if (reMakeBody) | ||
2398 | MakeBody(); | ||
2399 | return; | ||
2400 | } | ||
2401 | else | ||
2402 | { | ||
2403 | lock (childrenPrim) | ||
2404 | { | ||
2405 | childrenPrim.Remove(odePrim); | ||
2406 | odePrim.childPrim = false; | ||
2407 | odePrim._parent = null; | ||
2408 | if (reMakeBody) | ||
2409 | odePrim.MakeBody(); | ||
2410 | } | ||
2411 | } | ||
2412 | MakeBody(); | ||
2413 | } | ||
2414 | |||
2415 | |||
2416 | #region changes | ||
2417 | |||
2418 | private void changeadd() | ||
2419 | { | ||
2420 | } | ||
2421 | |||
2422 | private void changeAngularLock(Vector3 newLock) | ||
2423 | { | ||
2424 | // do we have a Physical object? | ||
2425 | if (Body != IntPtr.Zero) | ||
2426 | { | ||
2427 | //Check that we have a Parent | ||
2428 | //If we have a parent then we're not authorative here | ||
2429 | if (_parent == null) | ||
2430 | { | ||
2431 | if (!newLock.ApproxEquals(Vector3.One, 0f)) | ||
2432 | { | ||
2433 | createAMotor(newLock); | ||
2434 | } | ||
2435 | else | ||
2436 | { | ||
2437 | if (Amotor != IntPtr.Zero) | ||
2438 | { | ||
2439 | d.JointDestroy(Amotor); | ||
2440 | Amotor = IntPtr.Zero; | ||
2441 | } | ||
2442 | } | ||
2443 | } | ||
2444 | } | ||
2445 | // Store this for later in case we get turned into a separate body | ||
2446 | m_angularlock = newLock; | ||
2447 | } | ||
2448 | |||
2449 | private void changeLink(OdePrim NewParent) | ||
2450 | { | ||
2451 | if (_parent == null && NewParent != null) | ||
2452 | { | ||
2453 | NewParent.ParentPrim(this); | ||
2454 | } | ||
2455 | else if (_parent != null) | ||
2456 | { | ||
2457 | if (_parent is OdePrim) | ||
2458 | { | ||
2459 | if (NewParent != _parent) | ||
2460 | { | ||
2461 | (_parent as OdePrim).ChildDelink(this, false); // for now... | ||
2462 | childPrim = false; | ||
2463 | |||
2464 | if (NewParent != null) | ||
2465 | { | ||
2466 | NewParent.ParentPrim(this); | ||
2467 | } | ||
2468 | } | ||
2469 | } | ||
2470 | } | ||
2471 | _parent = NewParent; | ||
2472 | } | ||
2473 | |||
2474 | |||
2475 | private void Stop() | ||
2476 | { | ||
2477 | if (!childPrim) | ||
2478 | { | ||
2479 | // m_force = Vector3.Zero; | ||
2480 | m_forceacc = Vector3.Zero; | ||
2481 | m_angularForceacc = Vector3.Zero; | ||
2482 | // m_torque = Vector3.Zero; | ||
2483 | _velocity = Vector3.Zero; | ||
2484 | _acceleration = Vector3.Zero; | ||
2485 | m_rotationalVelocity = Vector3.Zero; | ||
2486 | _target_velocity = Vector3.Zero; | ||
2487 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
2488 | m_vehicle.Stop(); | ||
2489 | |||
2490 | _zeroFlag = false; | ||
2491 | base.RequestPhysicsterseUpdate(); | ||
2492 | } | ||
2493 | |||
2494 | if (Body != IntPtr.Zero) | ||
2495 | { | ||
2496 | d.BodySetForce(Body, 0f, 0f, 0f); | ||
2497 | d.BodySetTorque(Body, 0f, 0f, 0f); | ||
2498 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | ||
2499 | d.BodySetAngularVel(Body, 0f, 0f, 0f); | ||
2500 | } | ||
2501 | } | ||
2502 | |||
2503 | private void changePhantomStatus(bool newval) | ||
2504 | { | ||
2505 | m_isphantom = newval; | ||
2506 | |||
2507 | UpdateCollisionCatFlags(); | ||
2508 | ApplyCollisionCatFlags(); | ||
2509 | } | ||
2510 | |||
2511 | /* not in use | ||
2512 | internal void ChildSelectedChange(bool childSelect) | ||
2513 | { | ||
2514 | if(childPrim) | ||
2515 | return; | ||
2516 | |||
2517 | if (childSelect == m_isSelected) | ||
2518 | return; | ||
2519 | |||
2520 | if (childSelect) | ||
2521 | { | ||
2522 | DoSelectedStatus(true); | ||
2523 | } | ||
2524 | |||
2525 | else | ||
2526 | { | ||
2527 | foreach (OdePrim prm in childrenPrim) | ||
2528 | { | ||
2529 | if (prm.m_isSelected) | ||
2530 | return; | ||
2531 | } | ||
2532 | DoSelectedStatus(false); | ||
2533 | } | ||
2534 | } | ||
2535 | */ | ||
2536 | private void changeSelectedStatus(bool newval) | ||
2537 | { | ||
2538 | if (m_lastdoneSelected == newval) | ||
2539 | return; | ||
2540 | |||
2541 | m_lastdoneSelected = newval; | ||
2542 | DoSelectedStatus(newval); | ||
2543 | } | ||
2544 | |||
2545 | private void CheckDelaySelect() | ||
2546 | { | ||
2547 | if (m_delaySelect) | ||
2548 | { | ||
2549 | DoSelectedStatus(m_isSelected); | ||
2550 | } | ||
2551 | } | ||
2552 | |||
2553 | private void DoSelectedStatus(bool newval) | ||
2554 | { | ||
2555 | m_isSelected = newval; | ||
2556 | Stop(); | ||
2557 | |||
2558 | if (newval) | ||
2559 | { | ||
2560 | if (!childPrim && Body != IntPtr.Zero) | ||
2561 | d.BodyDisable(Body); | ||
2562 | |||
2563 | if (m_delaySelect || m_isphysical) | ||
2564 | { | ||
2565 | m_collisionCategories = CollisionCategories.Selected; | ||
2566 | m_collisionFlags = 0; | ||
2567 | |||
2568 | if (!childPrim) | ||
2569 | { | ||
2570 | foreach (OdePrim prm in childrenPrim) | ||
2571 | { | ||
2572 | prm.m_collisionCategories = m_collisionCategories; | ||
2573 | prm.m_collisionFlags = m_collisionFlags; | ||
2574 | |||
2575 | if (prm.prim_geom != IntPtr.Zero) | ||
2576 | { | ||
2577 | |||
2578 | if (prm.m_NoColide) | ||
2579 | { | ||
2580 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
2581 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
2582 | } | ||
2583 | else | ||
2584 | { | ||
2585 | d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); | ||
2586 | d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); | ||
2587 | } | ||
2588 | } | ||
2589 | prm.m_delaySelect = false; | ||
2590 | } | ||
2591 | } | ||
2592 | // else if (_parent != null) | ||
2593 | // ((OdePrim)_parent).ChildSelectedChange(true); | ||
2594 | |||
2595 | |||
2596 | if (prim_geom != IntPtr.Zero) | ||
2597 | { | ||
2598 | if (m_NoColide) | ||
2599 | { | ||
2600 | d.GeomSetCategoryBits(prim_geom, 0); | ||
2601 | d.GeomSetCollideBits(prim_geom, 0); | ||
2602 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
2603 | { | ||
2604 | d.GeomSetCategoryBits(collide_geom, 0); | ||
2605 | d.GeomSetCollideBits(collide_geom, 0); | ||
2606 | } | ||
2607 | |||
2608 | } | ||
2609 | else | ||
2610 | { | ||
2611 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
2612 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
2613 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
2614 | { | ||
2615 | d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); | ||
2616 | d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); | ||
2617 | } | ||
2618 | } | ||
2619 | } | ||
2620 | |||
2621 | m_delaySelect = false; | ||
2622 | } | ||
2623 | else if(!m_isphysical) | ||
2624 | { | ||
2625 | m_delaySelect = true; | ||
2626 | } | ||
2627 | } | ||
2628 | else | ||
2629 | { | ||
2630 | if (!childPrim) | ||
2631 | { | ||
2632 | if (Body != IntPtr.Zero && !m_disabled) | ||
2633 | d.BodyEnable(Body); | ||
2634 | } | ||
2635 | // else if (_parent != null) | ||
2636 | // ((OdePrim)_parent).ChildSelectedChange(false); | ||
2637 | |||
2638 | UpdateCollisionCatFlags(); | ||
2639 | ApplyCollisionCatFlags(); | ||
2640 | |||
2641 | m_delaySelect = false; | ||
2642 | } | ||
2643 | |||
2644 | resetCollisionAccounting(); | ||
2645 | } | ||
2646 | |||
2647 | private void changePosition(Vector3 newPos) | ||
2648 | { | ||
2649 | CheckDelaySelect(); | ||
2650 | if (m_isphysical) | ||
2651 | { | ||
2652 | if (childPrim) // inertia is messed, must rebuild | ||
2653 | { | ||
2654 | if (m_building) | ||
2655 | { | ||
2656 | _position = newPos; | ||
2657 | } | ||
2658 | |||
2659 | else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) | ||
2660 | { | ||
2661 | FixInertia(newPos); | ||
2662 | if (!d.BodyIsEnabled(Body)) | ||
2663 | d.BodyEnable(Body); | ||
2664 | } | ||
2665 | } | ||
2666 | else | ||
2667 | { | ||
2668 | if (_position != newPos) | ||
2669 | { | ||
2670 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2671 | _position = newPos; | ||
2672 | } | ||
2673 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2674 | d.BodyEnable(Body); | ||
2675 | } | ||
2676 | } | ||
2677 | else | ||
2678 | { | ||
2679 | if (prim_geom != IntPtr.Zero) | ||
2680 | { | ||
2681 | if (newPos != _position) | ||
2682 | { | ||
2683 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2684 | _position = newPos; | ||
2685 | |||
2686 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2687 | } | ||
2688 | } | ||
2689 | } | ||
2690 | givefakepos--; | ||
2691 | if (givefakepos < 0) | ||
2692 | givefakepos = 0; | ||
2693 | // changeSelectedStatus(); | ||
2694 | resetCollisionAccounting(); | ||
2695 | } | ||
2696 | |||
2697 | private void changeOrientation(Quaternion newOri) | ||
2698 | { | ||
2699 | CheckDelaySelect(); | ||
2700 | if (m_isphysical) | ||
2701 | { | ||
2702 | if (childPrim) // inertia is messed, must rebuild | ||
2703 | { | ||
2704 | if (m_building) | ||
2705 | { | ||
2706 | _orientation = newOri; | ||
2707 | } | ||
2708 | /* | ||
2709 | else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) | ||
2710 | { | ||
2711 | FixInertia(_position, newOri); | ||
2712 | if (!d.BodyIsEnabled(Body)) | ||
2713 | d.BodyEnable(Body); | ||
2714 | } | ||
2715 | */ | ||
2716 | } | ||
2717 | else | ||
2718 | { | ||
2719 | if (newOri != _orientation) | ||
2720 | { | ||
2721 | d.Quaternion myrot = new d.Quaternion(); | ||
2722 | myrot.X = newOri.X; | ||
2723 | myrot.Y = newOri.Y; | ||
2724 | myrot.Z = newOri.Z; | ||
2725 | myrot.W = newOri.W; | ||
2726 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2727 | _orientation = newOri; | ||
2728 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | ||
2729 | createAMotor(m_angularlock); | ||
2730 | } | ||
2731 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2732 | d.BodyEnable(Body); | ||
2733 | } | ||
2734 | } | ||
2735 | else | ||
2736 | { | ||
2737 | if (prim_geom != IntPtr.Zero) | ||
2738 | { | ||
2739 | if (newOri != _orientation) | ||
2740 | { | ||
2741 | d.Quaternion myrot = new d.Quaternion(); | ||
2742 | myrot.X = newOri.X; | ||
2743 | myrot.Y = newOri.Y; | ||
2744 | myrot.Z = newOri.Z; | ||
2745 | myrot.W = newOri.W; | ||
2746 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2747 | _orientation = newOri; | ||
2748 | } | ||
2749 | } | ||
2750 | } | ||
2751 | givefakeori--; | ||
2752 | if (givefakeori < 0) | ||
2753 | givefakeori = 0; | ||
2754 | resetCollisionAccounting(); | ||
2755 | } | ||
2756 | |||
2757 | private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) | ||
2758 | { | ||
2759 | CheckDelaySelect(); | ||
2760 | if (m_isphysical) | ||
2761 | { | ||
2762 | if (childPrim && m_building) // inertia is messed, must rebuild | ||
2763 | { | ||
2764 | _position = newPos; | ||
2765 | _orientation = newOri; | ||
2766 | } | ||
2767 | else | ||
2768 | { | ||
2769 | if (newOri != _orientation) | ||
2770 | { | ||
2771 | d.Quaternion myrot = new d.Quaternion(); | ||
2772 | myrot.X = newOri.X; | ||
2773 | myrot.Y = newOri.Y; | ||
2774 | myrot.Z = newOri.Z; | ||
2775 | myrot.W = newOri.W; | ||
2776 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2777 | _orientation = newOri; | ||
2778 | if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) | ||
2779 | createAMotor(m_angularlock); | ||
2780 | } | ||
2781 | if (_position != newPos) | ||
2782 | { | ||
2783 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2784 | _position = newPos; | ||
2785 | } | ||
2786 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2787 | d.BodyEnable(Body); | ||
2788 | } | ||
2789 | } | ||
2790 | else | ||
2791 | { | ||
2792 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | ||
2793 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | ||
2794 | |||
2795 | if (prim_geom != IntPtr.Zero) | ||
2796 | { | ||
2797 | if (newOri != _orientation) | ||
2798 | { | ||
2799 | d.Quaternion myrot = new d.Quaternion(); | ||
2800 | myrot.X = newOri.X; | ||
2801 | myrot.Y = newOri.Y; | ||
2802 | myrot.Z = newOri.Z; | ||
2803 | myrot.W = newOri.W; | ||
2804 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2805 | _orientation = newOri; | ||
2806 | } | ||
2807 | |||
2808 | if (newPos != _position) | ||
2809 | { | ||
2810 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2811 | _position = newPos; | ||
2812 | |||
2813 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2814 | } | ||
2815 | } | ||
2816 | } | ||
2817 | givefakepos--; | ||
2818 | if (givefakepos < 0) | ||
2819 | givefakepos = 0; | ||
2820 | givefakeori--; | ||
2821 | if (givefakeori < 0) | ||
2822 | givefakeori = 0; | ||
2823 | resetCollisionAccounting(); | ||
2824 | } | ||
2825 | |||
2826 | private void changeDisable(bool disable) | ||
2827 | { | ||
2828 | if (disable) | ||
2829 | { | ||
2830 | if (!m_disabled) | ||
2831 | disableBodySoft(); | ||
2832 | } | ||
2833 | else | ||
2834 | { | ||
2835 | if (m_disabled) | ||
2836 | enableBodySoft(); | ||
2837 | } | ||
2838 | } | ||
2839 | |||
2840 | private void changePhysicsStatus(bool NewStatus) | ||
2841 | { | ||
2842 | CheckDelaySelect(); | ||
2843 | |||
2844 | m_isphysical = NewStatus; | ||
2845 | |||
2846 | if (!childPrim) | ||
2847 | { | ||
2848 | if (NewStatus) | ||
2849 | { | ||
2850 | if (Body == IntPtr.Zero) | ||
2851 | MakeBody(); | ||
2852 | } | ||
2853 | else | ||
2854 | { | ||
2855 | if (Body != IntPtr.Zero) | ||
2856 | { | ||
2857 | DestroyBody(); | ||
2858 | } | ||
2859 | Stop(); | ||
2860 | } | ||
2861 | } | ||
2862 | |||
2863 | resetCollisionAccounting(); | ||
2864 | } | ||
2865 | |||
2866 | private void changeSize(Vector3 newSize) | ||
2867 | { | ||
2868 | } | ||
2869 | |||
2870 | private void changeShape(PrimitiveBaseShape newShape) | ||
2871 | { | ||
2872 | } | ||
2873 | |||
2874 | private void changeAddPhysRep(ODEPhysRepData repData) | ||
2875 | { | ||
2876 | _size = repData.size; //?? | ||
2877 | _pbs = repData.pbs; | ||
2878 | m_shapetype = repData.shapetype; | ||
2879 | |||
2880 | m_mesh = repData.mesh; | ||
2881 | |||
2882 | m_assetID = repData.assetID; | ||
2883 | m_meshState = repData.meshState; | ||
2884 | |||
2885 | m_hasOBB = repData.hasOBB; | ||
2886 | m_OBBOffset = repData.OBBOffset; | ||
2887 | m_OBB = repData.OBB; | ||
2888 | |||
2889 | primVolume = repData.volume; | ||
2890 | |||
2891 | CreateGeom(); | ||
2892 | |||
2893 | if (prim_geom != IntPtr.Zero) | ||
2894 | { | ||
2895 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2896 | d.Quaternion myrot = new d.Quaternion(); | ||
2897 | myrot.X = _orientation.X; | ||
2898 | myrot.Y = _orientation.Y; | ||
2899 | myrot.Z = _orientation.Z; | ||
2900 | myrot.W = _orientation.W; | ||
2901 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2902 | } | ||
2903 | |||
2904 | if (!m_isphysical) | ||
2905 | { | ||
2906 | SetInStaticSpace(this); | ||
2907 | UpdateCollisionCatFlags(); | ||
2908 | ApplyCollisionCatFlags(); | ||
2909 | } | ||
2910 | else | ||
2911 | MakeBody(); | ||
2912 | |||
2913 | if ((m_meshState & MeshState.NeedMask) != 0) | ||
2914 | { | ||
2915 | repData.size = _size; | ||
2916 | repData.pbs = _pbs; | ||
2917 | repData.shapetype = m_shapetype; | ||
2918 | _parent_scene.m_meshWorker.RequestMesh(repData); | ||
2919 | } | ||
2920 | } | ||
2921 | |||
2922 | private void changePhysRepData(ODEPhysRepData repData) | ||
2923 | { | ||
2924 | CheckDelaySelect(); | ||
2925 | |||
2926 | OdePrim parent = (OdePrim)_parent; | ||
2927 | |||
2928 | bool chp = childPrim; | ||
2929 | |||
2930 | if (chp) | ||
2931 | { | ||
2932 | if (parent != null) | ||
2933 | { | ||
2934 | parent.DestroyBody(); | ||
2935 | } | ||
2936 | } | ||
2937 | else | ||
2938 | { | ||
2939 | DestroyBody(); | ||
2940 | } | ||
2941 | |||
2942 | RemoveGeom(); | ||
2943 | |||
2944 | _size = repData.size; | ||
2945 | _pbs = repData.pbs; | ||
2946 | m_shapetype = repData.shapetype; | ||
2947 | |||
2948 | m_mesh = repData.mesh; | ||
2949 | |||
2950 | m_assetID = repData.assetID; | ||
2951 | m_meshState = repData.meshState; | ||
2952 | |||
2953 | m_hasOBB = repData.hasOBB; | ||
2954 | m_OBBOffset = repData.OBBOffset; | ||
2955 | m_OBB = repData.OBB; | ||
2956 | |||
2957 | primVolume = repData.volume; | ||
2958 | |||
2959 | CreateGeom(); | ||
2960 | |||
2961 | if (prim_geom != IntPtr.Zero) | ||
2962 | { | ||
2963 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2964 | d.Quaternion myrot = new d.Quaternion(); | ||
2965 | myrot.X = _orientation.X; | ||
2966 | myrot.Y = _orientation.Y; | ||
2967 | myrot.Z = _orientation.Z; | ||
2968 | myrot.W = _orientation.W; | ||
2969 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
2970 | } | ||
2971 | |||
2972 | if (m_isphysical) | ||
2973 | { | ||
2974 | if (chp) | ||
2975 | { | ||
2976 | if (parent != null) | ||
2977 | { | ||
2978 | parent.MakeBody(); | ||
2979 | } | ||
2980 | } | ||
2981 | else | ||
2982 | MakeBody(); | ||
2983 | } | ||
2984 | else | ||
2985 | { | ||
2986 | SetInStaticSpace(this); | ||
2987 | UpdateCollisionCatFlags(); | ||
2988 | ApplyCollisionCatFlags(); | ||
2989 | } | ||
2990 | |||
2991 | resetCollisionAccounting(); | ||
2992 | |||
2993 | if ((m_meshState & MeshState.NeedMask) != 0) | ||
2994 | { | ||
2995 | repData.size = _size; | ||
2996 | repData.pbs = _pbs; | ||
2997 | repData.shapetype = m_shapetype; | ||
2998 | _parent_scene.m_meshWorker.RequestMesh(repData); | ||
2999 | } | ||
3000 | } | ||
3001 | |||
3002 | private void changeFloatOnWater(bool newval) | ||
3003 | { | ||
3004 | m_collidesWater = newval; | ||
3005 | |||
3006 | UpdateCollisionCatFlags(); | ||
3007 | ApplyCollisionCatFlags(); | ||
3008 | } | ||
3009 | |||
3010 | private void changeSetTorque(Vector3 newtorque) | ||
3011 | { | ||
3012 | if (!m_isSelected) | ||
3013 | { | ||
3014 | if (m_isphysical && Body != IntPtr.Zero) | ||
3015 | { | ||
3016 | if (m_disabled) | ||
3017 | enableBodySoft(); | ||
3018 | else if (!d.BodyIsEnabled(Body)) | ||
3019 | d.BodyEnable(Body); | ||
3020 | |||
3021 | } | ||
3022 | m_torque = newtorque; | ||
3023 | } | ||
3024 | } | ||
3025 | |||
3026 | private void changeForce(Vector3 force) | ||
3027 | { | ||
3028 | m_force = force; | ||
3029 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
3030 | d.BodyEnable(Body); | ||
3031 | } | ||
3032 | |||
3033 | private void changeAddForce(Vector3 theforce) | ||
3034 | { | ||
3035 | m_forceacc += theforce; | ||
3036 | if (!m_isSelected) | ||
3037 | { | ||
3038 | lock (this) | ||
3039 | { | ||
3040 | //m_log.Info("[PHYSICS]: dequeing forcelist"); | ||
3041 | if (m_isphysical && Body != IntPtr.Zero) | ||
3042 | { | ||
3043 | if (m_disabled) | ||
3044 | enableBodySoft(); | ||
3045 | else if (!d.BodyIsEnabled(Body)) | ||
3046 | d.BodyEnable(Body); | ||
3047 | } | ||
3048 | } | ||
3049 | m_collisionscore = 0; | ||
3050 | } | ||
3051 | } | ||
3052 | |||
3053 | // actually angular impulse | ||
3054 | private void changeAddAngularImpulse(Vector3 aimpulse) | ||
3055 | { | ||
3056 | m_angularForceacc += aimpulse * m_invTimeStep; | ||
3057 | if (!m_isSelected) | ||
3058 | { | ||
3059 | lock (this) | ||
3060 | { | ||
3061 | if (m_isphysical && Body != IntPtr.Zero) | ||
3062 | { | ||
3063 | if (m_disabled) | ||
3064 | enableBodySoft(); | ||
3065 | else if (!d.BodyIsEnabled(Body)) | ||
3066 | d.BodyEnable(Body); | ||
3067 | } | ||
3068 | } | ||
3069 | m_collisionscore = 0; | ||
3070 | } | ||
3071 | } | ||
3072 | |||
3073 | private void changevelocity(Vector3 newVel) | ||
3074 | { | ||
3075 | float len = newVel.LengthSquared(); | ||
3076 | if (len > 100000.0f) // limit to 100m/s | ||
3077 | { | ||
3078 | len = 100.0f / (float)Math.Sqrt(len); | ||
3079 | newVel *= len; | ||
3080 | } | ||
3081 | |||
3082 | if (!m_isSelected) | ||
3083 | { | ||
3084 | if (Body != IntPtr.Zero) | ||
3085 | { | ||
3086 | if (m_disabled) | ||
3087 | enableBodySoft(); | ||
3088 | else if (!d.BodyIsEnabled(Body)) | ||
3089 | d.BodyEnable(Body); | ||
3090 | |||
3091 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); | ||
3092 | } | ||
3093 | //resetCollisionAccounting(); | ||
3094 | } | ||
3095 | _velocity = newVel; | ||
3096 | } | ||
3097 | |||
3098 | private void changeangvelocity(Vector3 newAngVel) | ||
3099 | { | ||
3100 | float len = newAngVel.LengthSquared(); | ||
3101 | if (len > 144.0f) // limit to 12rad/s | ||
3102 | { | ||
3103 | len = 12.0f / (float)Math.Sqrt(len); | ||
3104 | newAngVel *= len; | ||
3105 | } | ||
3106 | |||
3107 | if (!m_isSelected) | ||
3108 | { | ||
3109 | if (Body != IntPtr.Zero) | ||
3110 | { | ||
3111 | if (m_disabled) | ||
3112 | enableBodySoft(); | ||
3113 | else if (!d.BodyIsEnabled(Body)) | ||
3114 | d.BodyEnable(Body); | ||
3115 | |||
3116 | |||
3117 | d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); | ||
3118 | } | ||
3119 | //resetCollisionAccounting(); | ||
3120 | } | ||
3121 | m_rotationalVelocity = newAngVel; | ||
3122 | } | ||
3123 | |||
3124 | private void changeVolumedetetion(bool newVolDtc) | ||
3125 | { | ||
3126 | m_isVolumeDetect = newVolDtc; | ||
3127 | m_fakeisVolumeDetect = newVolDtc; | ||
3128 | UpdateCollisionCatFlags(); | ||
3129 | ApplyCollisionCatFlags(); | ||
3130 | } | ||
3131 | |||
3132 | protected void changeBuilding(bool newbuilding) | ||
3133 | { | ||
3134 | // Check if we need to do anything | ||
3135 | if (newbuilding == m_building) | ||
3136 | return; | ||
3137 | |||
3138 | if ((bool)newbuilding) | ||
3139 | { | ||
3140 | m_building = true; | ||
3141 | if (!childPrim) | ||
3142 | DestroyBody(); | ||
3143 | } | ||
3144 | else | ||
3145 | { | ||
3146 | m_building = false; | ||
3147 | CheckDelaySelect(); | ||
3148 | if (!childPrim) | ||
3149 | MakeBody(); | ||
3150 | } | ||
3151 | if (!childPrim && childrenPrim.Count > 0) | ||
3152 | { | ||
3153 | foreach (OdePrim prm in childrenPrim) | ||
3154 | prm.changeBuilding(m_building); // call directly | ||
3155 | } | ||
3156 | } | ||
3157 | |||
3158 | public void changeSetVehicle(VehicleData vdata) | ||
3159 | { | ||
3160 | if (m_vehicle == null) | ||
3161 | m_vehicle = new ODEDynamics(this); | ||
3162 | m_vehicle.DoSetVehicle(vdata); | ||
3163 | } | ||
3164 | |||
3165 | private void changeVehicleType(int value) | ||
3166 | { | ||
3167 | if (value == (int)Vehicle.TYPE_NONE) | ||
3168 | { | ||
3169 | if (m_vehicle != null) | ||
3170 | m_vehicle = null; | ||
3171 | } | ||
3172 | else | ||
3173 | { | ||
3174 | if (m_vehicle == null) | ||
3175 | m_vehicle = new ODEDynamics(this); | ||
3176 | |||
3177 | m_vehicle.ProcessTypeChange((Vehicle)value); | ||
3178 | } | ||
3179 | } | ||
3180 | |||
3181 | private void changeVehicleFloatParam(strVehicleFloatParam fp) | ||
3182 | { | ||
3183 | if (m_vehicle == null) | ||
3184 | return; | ||
3185 | |||
3186 | m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); | ||
3187 | } | ||
3188 | |||
3189 | private void changeVehicleVectorParam(strVehicleVectorParam vp) | ||
3190 | { | ||
3191 | if (m_vehicle == null) | ||
3192 | return; | ||
3193 | m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); | ||
3194 | } | ||
3195 | |||
3196 | private void changeVehicleRotationParam(strVehicleQuatParam qp) | ||
3197 | { | ||
3198 | if (m_vehicle == null) | ||
3199 | return; | ||
3200 | m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); | ||
3201 | } | ||
3202 | |||
3203 | private void changeVehicleFlags(strVehicleBoolParam bp) | ||
3204 | { | ||
3205 | if (m_vehicle == null) | ||
3206 | return; | ||
3207 | m_vehicle.ProcessVehicleFlags(bp.param, bp.value); | ||
3208 | } | ||
3209 | |||
3210 | private void changeBuoyancy(float b) | ||
3211 | { | ||
3212 | m_buoyancy = b; | ||
3213 | } | ||
3214 | |||
3215 | private void changePIDTarget(Vector3 trg) | ||
3216 | { | ||
3217 | m_PIDTarget = trg; | ||
3218 | } | ||
3219 | |||
3220 | private void changePIDTau(float tau) | ||
3221 | { | ||
3222 | m_PIDTau = tau; | ||
3223 | } | ||
3224 | |||
3225 | private void changePIDActive(bool val) | ||
3226 | { | ||
3227 | m_usePID = val; | ||
3228 | } | ||
3229 | |||
3230 | private void changePIDHoverHeight(float val) | ||
3231 | { | ||
3232 | m_PIDHoverHeight = val; | ||
3233 | if (val == 0) | ||
3234 | m_useHoverPID = false; | ||
3235 | } | ||
3236 | |||
3237 | private void changePIDHoverType(PIDHoverType type) | ||
3238 | { | ||
3239 | m_PIDHoverType = type; | ||
3240 | } | ||
3241 | |||
3242 | private void changePIDHoverTau(float tau) | ||
3243 | { | ||
3244 | m_PIDHoverTau = tau; | ||
3245 | } | ||
3246 | |||
3247 | private void changePIDHoverActive(bool active) | ||
3248 | { | ||
3249 | m_useHoverPID = active; | ||
3250 | } | ||
3251 | |||
3252 | #endregion | ||
3253 | |||
3254 | public void Move() | ||
3255 | { | ||
3256 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && | ||
3257 | !m_disabled && !m_isSelected && !m_building && !m_outbounds) | ||
3258 | { | ||
3259 | if (!d.BodyIsEnabled(Body)) | ||
3260 | { | ||
3261 | // let vehicles sleep | ||
3262 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
3263 | return; | ||
3264 | |||
3265 | if (++bodydisablecontrol < 20) | ||
3266 | return; | ||
3267 | |||
3268 | d.BodyEnable(Body); | ||
3269 | } | ||
3270 | |||
3271 | bodydisablecontrol = 0; | ||
3272 | |||
3273 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator | ||
3274 | |||
3275 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
3276 | { | ||
3277 | // 'VEHICLES' are dealt with in ODEDynamics.cs | ||
3278 | m_vehicle.Step(); | ||
3279 | return; | ||
3280 | } | ||
3281 | |||
3282 | float fx = 0; | ||
3283 | float fy = 0; | ||
3284 | float fz = 0; | ||
3285 | |||
3286 | float m_mass = _mass; | ||
3287 | |||
3288 | if (m_usePID && m_PIDTau > 0) | ||
3289 | { | ||
3290 | // for now position error | ||
3291 | _target_velocity = | ||
3292 | new Vector3( | ||
3293 | (m_PIDTarget.X - lpos.X), | ||
3294 | (m_PIDTarget.Y - lpos.Y), | ||
3295 | (m_PIDTarget.Z - lpos.Z) | ||
3296 | ); | ||
3297 | |||
3298 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) | ||
3299 | { | ||
3300 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | ||
3301 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
3302 | return; | ||
3303 | } | ||
3304 | else | ||
3305 | { | ||
3306 | _zeroFlag = false; | ||
3307 | |||
3308 | float tmp = 1 / m_PIDTau; | ||
3309 | _target_velocity *= tmp; | ||
3310 | |||
3311 | // apply limits | ||
3312 | tmp = _target_velocity.Length(); | ||
3313 | if (tmp > 50.0f) | ||
3314 | { | ||
3315 | tmp = 50 / tmp; | ||
3316 | _target_velocity *= tmp; | ||
3317 | } | ||
3318 | else if (tmp < 0.05f) | ||
3319 | { | ||
3320 | tmp = 0.05f / tmp; | ||
3321 | _target_velocity *= tmp; | ||
3322 | } | ||
3323 | |||
3324 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3325 | fx = (_target_velocity.X - vel.X) * m_invTimeStep; | ||
3326 | fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; | ||
3327 | fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; | ||
3328 | // d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); | ||
3329 | } | ||
3330 | } // end if (m_usePID) | ||
3331 | |||
3332 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | ||
3333 | else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) | ||
3334 | { | ||
3335 | |||
3336 | // Non-Vehicles have a limited set of Hover options. | ||
3337 | // determine what our target height really is based on HoverType | ||
3338 | |||
3339 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); | ||
3340 | |||
3341 | switch (m_PIDHoverType) | ||
3342 | { | ||
3343 | case PIDHoverType.Ground: | ||
3344 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
3345 | break; | ||
3346 | |||
3347 | case PIDHoverType.GroundAndWater: | ||
3348 | m_waterHeight = _parent_scene.GetWaterLevel(); | ||
3349 | if (m_groundHeight > m_waterHeight) | ||
3350 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
3351 | else | ||
3352 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | ||
3353 | break; | ||
3354 | } // end switch (m_PIDHoverType) | ||
3355 | |||
3356 | // don't go underground unless volumedetector | ||
3357 | |||
3358 | if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) | ||
3359 | { | ||
3360 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3361 | |||
3362 | fz = (m_targetHoverHeight - lpos.Z); | ||
3363 | |||
3364 | // if error is zero, use position control; otherwise, velocity control | ||
3365 | if (Math.Abs(fz) < 0.01f) | ||
3366 | { | ||
3367 | d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); | ||
3368 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | ||
3369 | } | ||
3370 | else | ||
3371 | { | ||
3372 | _zeroFlag = false; | ||
3373 | fz /= m_PIDHoverTau; | ||
3374 | |||
3375 | float tmp = Math.Abs(fz); | ||
3376 | if (tmp > 50) | ||
3377 | fz = 50 * Math.Sign(fz); | ||
3378 | else if (tmp < 0.1) | ||
3379 | fz = 0.1f * Math.Sign(fz); | ||
3380 | |||
3381 | fz = ((fz - vel.Z) * m_invTimeStep); | ||
3382 | } | ||
3383 | } | ||
3384 | } | ||
3385 | else | ||
3386 | { | ||
3387 | float b = (1.0f - m_buoyancy) * m_gravmod; | ||
3388 | fx = _parent_scene.gravityx * b; | ||
3389 | fy = _parent_scene.gravityy * b; | ||
3390 | fz = _parent_scene.gravityz * b; | ||
3391 | } | ||
3392 | |||
3393 | fx *= m_mass; | ||
3394 | fy *= m_mass; | ||
3395 | fz *= m_mass; | ||
3396 | |||
3397 | // constant force | ||
3398 | fx += m_force.X; | ||
3399 | fy += m_force.Y; | ||
3400 | fz += m_force.Z; | ||
3401 | |||
3402 | fx += m_forceacc.X; | ||
3403 | fy += m_forceacc.Y; | ||
3404 | fz += m_forceacc.Z; | ||
3405 | |||
3406 | m_forceacc = Vector3.Zero; | ||
3407 | |||
3408 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | ||
3409 | if (fx != 0 || fy != 0 || fz != 0) | ||
3410 | { | ||
3411 | d.BodyAddForce(Body, fx, fy, fz); | ||
3412 | //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); | ||
3413 | } | ||
3414 | |||
3415 | Vector3 trq; | ||
3416 | |||
3417 | trq = m_torque; | ||
3418 | trq += m_angularForceacc; | ||
3419 | m_angularForceacc = Vector3.Zero; | ||
3420 | if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) | ||
3421 | { | ||
3422 | d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); | ||
3423 | } | ||
3424 | } | ||
3425 | else | ||
3426 | { // is not physical, or is not a body or is selected | ||
3427 | // _zeroPosition = d.BodyGetPosition(Body); | ||
3428 | return; | ||
3429 | //Console.WriteLine("Nothing " + Name); | ||
3430 | |||
3431 | } | ||
3432 | } | ||
3433 | |||
3434 | public void UpdatePositionAndVelocity(int frame) | ||
3435 | { | ||
3436 | if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) | ||
3437 | { | ||
3438 | bool bodyenabled = d.BodyIsEnabled(Body); | ||
3439 | if (bodyenabled || !_zeroFlag) | ||
3440 | { | ||
3441 | bool lastZeroFlag = _zeroFlag; | ||
3442 | |||
3443 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); | ||
3444 | |||
3445 | // check outside region | ||
3446 | if (lpos.Z < -100 || lpos.Z > 100000f) | ||
3447 | { | ||
3448 | m_outbounds = true; | ||
3449 | |||
3450 | lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); | ||
3451 | _acceleration.X = 0; | ||
3452 | _acceleration.Y = 0; | ||
3453 | _acceleration.Z = 0; | ||
3454 | |||
3455 | _velocity.X = 0; | ||
3456 | _velocity.Y = 0; | ||
3457 | _velocity.Z = 0; | ||
3458 | m_rotationalVelocity.X = 0; | ||
3459 | m_rotationalVelocity.Y = 0; | ||
3460 | m_rotationalVelocity.Z = 0; | ||
3461 | |||
3462 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
3463 | d.BodySetAngularVel(Body, 0, 0, 0); // stop it | ||
3464 | d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere | ||
3465 | m_lastposition = _position; | ||
3466 | m_lastorientation = _orientation; | ||
3467 | |||
3468 | base.RequestPhysicsterseUpdate(); | ||
3469 | |||
3470 | // throttleCounter = 0; | ||
3471 | _zeroFlag = true; | ||
3472 | |||
3473 | disableBodySoft(); // disable it and colisions | ||
3474 | base.RaiseOutOfBounds(_position); | ||
3475 | return; | ||
3476 | } | ||
3477 | |||
3478 | if (lpos.X < 0f) | ||
3479 | { | ||
3480 | _position.X = Util.Clip(lpos.X, -2f, -0.1f); | ||
3481 | m_outbounds = true; | ||
3482 | } | ||
3483 | else if (lpos.X > _parent_scene.WorldExtents.X) | ||
3484 | { | ||
3485 | _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); | ||
3486 | m_outbounds = true; | ||
3487 | } | ||
3488 | if (lpos.Y < 0f) | ||
3489 | { | ||
3490 | _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); | ||
3491 | m_outbounds = true; | ||
3492 | } | ||
3493 | else if (lpos.Y > _parent_scene.WorldExtents.Y) | ||
3494 | { | ||
3495 | _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); | ||
3496 | m_outbounds = true; | ||
3497 | } | ||
3498 | |||
3499 | if (m_outbounds) | ||
3500 | { | ||
3501 | m_lastposition = _position; | ||
3502 | m_lastorientation = _orientation; | ||
3503 | |||
3504 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | ||
3505 | m_rotationalVelocity.X = dtmp.X; | ||
3506 | m_rotationalVelocity.Y = dtmp.Y; | ||
3507 | m_rotationalVelocity.Z = dtmp.Z; | ||
3508 | |||
3509 | dtmp = d.BodyGetLinearVel(Body); | ||
3510 | _velocity.X = dtmp.X; | ||
3511 | _velocity.Y = dtmp.Y; | ||
3512 | _velocity.Z = dtmp.Z; | ||
3513 | |||
3514 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
3515 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
3516 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
3517 | disableBodySoft(); // stop collisions | ||
3518 | UnSubscribeEvents(); | ||
3519 | |||
3520 | base.RequestPhysicsterseUpdate(); | ||
3521 | return; | ||
3522 | } | ||
3523 | |||
3524 | d.Quaternion ori; | ||
3525 | d.GeomCopyQuaternion(prim_geom, out ori); | ||
3526 | |||
3527 | // decide if moving | ||
3528 | // use positions since this are integrated quantities | ||
3529 | // tolerance values depende a lot on simulation noise... | ||
3530 | // use simple math.abs since we dont need to be exact | ||
3531 | |||
3532 | if (!bodyenabled || | ||
3533 | (Math.Abs(_position.X - lpos.X) < 0.005f) | ||
3534 | && (Math.Abs(_position.Y - lpos.Y) < 0.005f) | ||
3535 | && (Math.Abs(_position.Z - lpos.Z) < 0.005f) | ||
3536 | && (Math.Abs(_orientation.X - ori.X) < 0.0005f) | ||
3537 | && (Math.Abs(_orientation.Y - ori.Y) < 0.0005f) | ||
3538 | && (Math.Abs(_orientation.Z - ori.Z) < 0.0005f) // ignore W | ||
3539 | ) | ||
3540 | { | ||
3541 | _zeroFlag = true; | ||
3542 | } | ||
3543 | else | ||
3544 | _zeroFlag = false; | ||
3545 | |||
3546 | // update velocities and aceleration | ||
3547 | if (!(_zeroFlag && lastZeroFlag)) | ||
3548 | { | ||
3549 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3550 | |||
3551 | _acceleration = _velocity; | ||
3552 | |||
3553 | if ((Math.Abs(vel.X) < 0.005f) && | ||
3554 | (Math.Abs(vel.Y) < 0.005f) && | ||
3555 | (Math.Abs(vel.Z) < 0.005f)) | ||
3556 | { | ||
3557 | _velocity = Vector3.Zero; | ||
3558 | float t = -m_invTimeStep; | ||
3559 | _acceleration = _acceleration * t; | ||
3560 | } | ||
3561 | else | ||
3562 | { | ||
3563 | _velocity.X = vel.X; | ||
3564 | _velocity.Y = vel.Y; | ||
3565 | _velocity.Z = vel.Z; | ||
3566 | _acceleration = (_velocity - _acceleration) * m_invTimeStep; | ||
3567 | } | ||
3568 | |||
3569 | if ((Math.Abs(_acceleration.X) < 0.01f) && | ||
3570 | (Math.Abs(_acceleration.Y) < 0.01f) && | ||
3571 | (Math.Abs(_acceleration.Z) < 0.01f)) | ||
3572 | { | ||
3573 | _acceleration = Vector3.Zero; | ||
3574 | } | ||
3575 | |||
3576 | if ((Math.Abs(_orientation.X - ori.X) < 0.0001) && | ||
3577 | (Math.Abs(_orientation.Y - ori.Y) < 0.0001) && | ||
3578 | (Math.Abs(_orientation.Z - ori.Z) < 0.0001) | ||
3579 | ) | ||
3580 | { | ||
3581 | m_rotationalVelocity = Vector3.Zero; | ||
3582 | } | ||
3583 | else | ||
3584 | { | ||
3585 | vel = d.BodyGetAngularVel(Body); | ||
3586 | m_rotationalVelocity.X = vel.X; | ||
3587 | m_rotationalVelocity.Y = vel.Y; | ||
3588 | m_rotationalVelocity.Z = vel.Z; | ||
3589 | } | ||
3590 | // } | ||
3591 | |||
3592 | _position.X = lpos.X; | ||
3593 | _position.Y = lpos.Y; | ||
3594 | _position.Z = lpos.Z; | ||
3595 | |||
3596 | _orientation.X = ori.X; | ||
3597 | _orientation.Y = ori.Y; | ||
3598 | _orientation.Z = ori.Z; | ||
3599 | _orientation.W = ori.W; | ||
3600 | } | ||
3601 | if (_zeroFlag) | ||
3602 | { | ||
3603 | if (lastZeroFlag) | ||
3604 | { | ||
3605 | _velocity = Vector3.Zero; | ||
3606 | _acceleration = Vector3.Zero; | ||
3607 | m_rotationalVelocity = Vector3.Zero; | ||
3608 | } | ||
3609 | |||
3610 | if (!m_lastUpdateSent) | ||
3611 | { | ||
3612 | base.RequestPhysicsterseUpdate(); | ||
3613 | if (lastZeroFlag) | ||
3614 | m_lastUpdateSent = true; | ||
3615 | } | ||
3616 | return; | ||
3617 | } | ||
3618 | |||
3619 | base.RequestPhysicsterseUpdate(); | ||
3620 | m_lastUpdateSent = false; | ||
3621 | } | ||
3622 | } | ||
3623 | } | ||
3624 | |||
3625 | internal static bool QuaternionIsFinite(Quaternion q) | ||
3626 | { | ||
3627 | if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) | ||
3628 | return false; | ||
3629 | if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) | ||
3630 | return false; | ||
3631 | if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) | ||
3632 | return false; | ||
3633 | if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) | ||
3634 | return false; | ||
3635 | return true; | ||
3636 | } | ||
3637 | |||
3638 | internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) | ||
3639 | { | ||
3640 | // assumes object center of mass is zero | ||
3641 | float smass = part.mass; | ||
3642 | theobj.mass -= smass; | ||
3643 | |||
3644 | smass *= 1.0f / (theobj.mass); ; | ||
3645 | |||
3646 | theobj.c.X -= part.c.X * smass; | ||
3647 | theobj.c.Y -= part.c.Y * smass; | ||
3648 | theobj.c.Z -= part.c.Z * smass; | ||
3649 | |||
3650 | theobj.I.M00 -= part.I.M00; | ||
3651 | theobj.I.M01 -= part.I.M01; | ||
3652 | theobj.I.M02 -= part.I.M02; | ||
3653 | theobj.I.M10 -= part.I.M10; | ||
3654 | theobj.I.M11 -= part.I.M11; | ||
3655 | theobj.I.M12 -= part.I.M12; | ||
3656 | theobj.I.M20 -= part.I.M20; | ||
3657 | theobj.I.M21 -= part.I.M21; | ||
3658 | theobj.I.M22 -= part.I.M22; | ||
3659 | } | ||
3660 | |||
3661 | private void donullchange() | ||
3662 | { | ||
3663 | } | ||
3664 | |||
3665 | public bool DoAChange(changes what, object arg) | ||
3666 | { | ||
3667 | if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) | ||
3668 | { | ||
3669 | return false; | ||
3670 | } | ||
3671 | |||
3672 | // nasty switch | ||
3673 | switch (what) | ||
3674 | { | ||
3675 | case changes.Add: | ||
3676 | changeadd(); | ||
3677 | break; | ||
3678 | |||
3679 | case changes.AddPhysRep: | ||
3680 | changeAddPhysRep((ODEPhysRepData)arg); | ||
3681 | break; | ||
3682 | |||
3683 | case changes.Remove: | ||
3684 | //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... | ||
3685 | //When we return true, it destroys all of the prims in the linkset anyway | ||
3686 | if (_parent != null) | ||
3687 | { | ||
3688 | OdePrim parent = (OdePrim)_parent; | ||
3689 | parent.ChildRemove(this, false); | ||
3690 | } | ||
3691 | else | ||
3692 | ChildRemove(this, false); | ||
3693 | |||
3694 | m_vehicle = null; | ||
3695 | RemoveGeom(); | ||
3696 | m_targetSpace = IntPtr.Zero; | ||
3697 | UnSubscribeEvents(); | ||
3698 | return true; | ||
3699 | |||
3700 | case changes.Link: | ||
3701 | OdePrim tmp = (OdePrim)arg; | ||
3702 | changeLink(tmp); | ||
3703 | break; | ||
3704 | |||
3705 | case changes.DeLink: | ||
3706 | changeLink(null); | ||
3707 | break; | ||
3708 | |||
3709 | case changes.Position: | ||
3710 | changePosition((Vector3)arg); | ||
3711 | break; | ||
3712 | |||
3713 | case changes.Orientation: | ||
3714 | changeOrientation((Quaternion)arg); | ||
3715 | break; | ||
3716 | |||
3717 | case changes.PosOffset: | ||
3718 | donullchange(); | ||
3719 | break; | ||
3720 | |||
3721 | case changes.OriOffset: | ||
3722 | donullchange(); | ||
3723 | break; | ||
3724 | |||
3725 | case changes.Velocity: | ||
3726 | changevelocity((Vector3)arg); | ||
3727 | break; | ||
3728 | |||
3729 | // case changes.Acceleration: | ||
3730 | // changeacceleration((Vector3)arg); | ||
3731 | // break; | ||
3732 | |||
3733 | case changes.AngVelocity: | ||
3734 | changeangvelocity((Vector3)arg); | ||
3735 | break; | ||
3736 | |||
3737 | case changes.Force: | ||
3738 | changeForce((Vector3)arg); | ||
3739 | break; | ||
3740 | |||
3741 | case changes.Torque: | ||
3742 | changeSetTorque((Vector3)arg); | ||
3743 | break; | ||
3744 | |||
3745 | case changes.AddForce: | ||
3746 | changeAddForce((Vector3)arg); | ||
3747 | break; | ||
3748 | |||
3749 | case changes.AddAngForce: | ||
3750 | changeAddAngularImpulse((Vector3)arg); | ||
3751 | break; | ||
3752 | |||
3753 | case changes.AngLock: | ||
3754 | changeAngularLock((Vector3)arg); | ||
3755 | break; | ||
3756 | |||
3757 | case changes.Size: | ||
3758 | changeSize((Vector3)arg); | ||
3759 | break; | ||
3760 | |||
3761 | case changes.Shape: | ||
3762 | changeShape((PrimitiveBaseShape)arg); | ||
3763 | break; | ||
3764 | |||
3765 | case changes.PhysRepData: | ||
3766 | changePhysRepData((ODEPhysRepData) arg); | ||
3767 | break; | ||
3768 | |||
3769 | case changes.CollidesWater: | ||
3770 | changeFloatOnWater((bool)arg); | ||
3771 | break; | ||
3772 | |||
3773 | case changes.VolumeDtc: | ||
3774 | changeVolumedetetion((bool)arg); | ||
3775 | break; | ||
3776 | |||
3777 | case changes.Phantom: | ||
3778 | changePhantomStatus((bool)arg); | ||
3779 | break; | ||
3780 | |||
3781 | case changes.Physical: | ||
3782 | changePhysicsStatus((bool)arg); | ||
3783 | break; | ||
3784 | |||
3785 | case changes.Selected: | ||
3786 | changeSelectedStatus((bool)arg); | ||
3787 | break; | ||
3788 | |||
3789 | case changes.disabled: | ||
3790 | changeDisable((bool)arg); | ||
3791 | break; | ||
3792 | |||
3793 | case changes.building: | ||
3794 | changeBuilding((bool)arg); | ||
3795 | break; | ||
3796 | |||
3797 | case changes.VehicleType: | ||
3798 | changeVehicleType((int)arg); | ||
3799 | break; | ||
3800 | |||
3801 | case changes.VehicleFlags: | ||
3802 | changeVehicleFlags((strVehicleBoolParam) arg); | ||
3803 | break; | ||
3804 | |||
3805 | case changes.VehicleFloatParam: | ||
3806 | changeVehicleFloatParam((strVehicleFloatParam) arg); | ||
3807 | break; | ||
3808 | |||
3809 | case changes.VehicleVectorParam: | ||
3810 | changeVehicleVectorParam((strVehicleVectorParam) arg); | ||
3811 | break; | ||
3812 | |||
3813 | case changes.VehicleRotationParam: | ||
3814 | changeVehicleRotationParam((strVehicleQuatParam) arg); | ||
3815 | break; | ||
3816 | |||
3817 | case changes.SetVehicle: | ||
3818 | changeSetVehicle((VehicleData) arg); | ||
3819 | break; | ||
3820 | |||
3821 | case changes.Buoyancy: | ||
3822 | changeBuoyancy((float)arg); | ||
3823 | break; | ||
3824 | |||
3825 | case changes.PIDTarget: | ||
3826 | changePIDTarget((Vector3)arg); | ||
3827 | break; | ||
3828 | |||
3829 | case changes.PIDTau: | ||
3830 | changePIDTau((float)arg); | ||
3831 | break; | ||
3832 | |||
3833 | case changes.PIDActive: | ||
3834 | changePIDActive((bool)arg); | ||
3835 | break; | ||
3836 | |||
3837 | case changes.PIDHoverHeight: | ||
3838 | changePIDHoverHeight((float)arg); | ||
3839 | break; | ||
3840 | |||
3841 | case changes.PIDHoverType: | ||
3842 | changePIDHoverType((PIDHoverType)arg); | ||
3843 | break; | ||
3844 | |||
3845 | case changes.PIDHoverTau: | ||
3846 | changePIDHoverTau((float)arg); | ||
3847 | break; | ||
3848 | |||
3849 | case changes.PIDHoverActive: | ||
3850 | changePIDHoverActive((bool)arg); | ||
3851 | break; | ||
3852 | |||
3853 | case changes.Null: | ||
3854 | donullchange(); | ||
3855 | break; | ||
3856 | |||
3857 | |||
3858 | |||
3859 | default: | ||
3860 | donullchange(); | ||
3861 | break; | ||
3862 | } | ||
3863 | return false; | ||
3864 | } | ||
3865 | |||
3866 | public void AddChange(changes what, object arg) | ||
3867 | { | ||
3868 | _parent_scene.AddChange((PhysicsActor) this, what, arg); | ||
3869 | } | ||
3870 | |||
3871 | |||
3872 | private struct strVehicleBoolParam | ||
3873 | { | ||
3874 | public int param; | ||
3875 | public bool value; | ||
3876 | } | ||
3877 | |||
3878 | private struct strVehicleFloatParam | ||
3879 | { | ||
3880 | public int param; | ||
3881 | public float value; | ||
3882 | } | ||
3883 | |||
3884 | private struct strVehicleQuatParam | ||
3885 | { | ||
3886 | public int param; | ||
3887 | public Quaternion value; | ||
3888 | } | ||
3889 | |||
3890 | private struct strVehicleVectorParam | ||
3891 | { | ||
3892 | public int param; | ||
3893 | public Vector3 value; | ||
3894 | } | ||
3895 | } | ||
3896 | } | ||