diff options
author | Teravus Ovares | 2008-12-07 04:03:09 +0000 |
---|---|---|
committer | Teravus Ovares | 2008-12-07 04:03:09 +0000 |
commit | 76e1462dff5594252af8e26cc6fc9b9560af090d (patch) | |
tree | d2496eef6233445d05ea21d043344d95e4fa16c8 /OpenSim/Region | |
parent | Send the creation-date of items to the viewer. This fixes Mantis#2769. (diff) | |
download | opensim-SC_OLD-76e1462dff5594252af8e26cc6fc9b9560af090d.zip opensim-SC_OLD-76e1462dff5594252af8e26cc6fc9b9560af090d.tar.gz opensim-SC_OLD-76e1462dff5594252af8e26cc6fc9b9560af090d.tar.bz2 opensim-SC_OLD-76e1462dff5594252af8e26cc6fc9b9560af090d.tar.xz |
* Tweaks physics so that linked prim are a single body. This will make linked prim more stable and probably the last obstacle to vehicles physics wise.
* Fixed a bug that caused physics proxies to be scattered when you link an object.
* Single physical prim work exactly the same as before, just linked physical prim will have changed.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Environment/Scenes/SceneGraph.cs | 4 | ||||
-rw-r--r-- | OpenSim/Region/Environment/Scenes/SceneObjectPart.cs | 6 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 489 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 183 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/drawstuff.cs | 98 |
5 files changed, 697 insertions, 83 deletions
diff --git a/OpenSim/Region/Environment/Scenes/SceneGraph.cs b/OpenSim/Region/Environment/Scenes/SceneGraph.cs index 078916a..aed01df 100644 --- a/OpenSim/Region/Environment/Scenes/SceneGraph.cs +++ b/OpenSim/Region/Environment/Scenes/SceneGraph.cs | |||
@@ -1405,6 +1405,10 @@ namespace OpenSim.Region.Environment.Scenes | |||
1405 | foreach (SceneObjectGroup sceneObj in children) | 1405 | foreach (SceneObjectGroup sceneObj in children) |
1406 | { | 1406 | { |
1407 | parenPrim.LinkToGroup(sceneObj); | 1407 | parenPrim.LinkToGroup(sceneObj); |
1408 | |||
1409 | // this is here so physics gets updated! | ||
1410 | // Don't remove! Bad juju! Stay away! or fix physics! | ||
1411 | sceneObj.AbsolutePosition = sceneObj.AbsolutePosition; | ||
1408 | } | 1412 | } |
1409 | 1413 | ||
1410 | // We need to explicitly resend the newly link prim's object properties since no other actions | 1414 | // We need to explicitly resend the newly link prim's object properties since no other actions |
diff --git a/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs b/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs index b15aff8..2fc379c 100644 --- a/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs | |||
@@ -1247,6 +1247,12 @@ if (m_shape != null) { | |||
1247 | if (userExposed) | 1247 | if (userExposed) |
1248 | dupe.UUID = UUID.Random(); | 1248 | dupe.UUID = UUID.Random(); |
1249 | 1249 | ||
1250 | //memberwiseclone means it also clones the physics actor reference | ||
1251 | // This will make physical prim 'bounce' if not set to null. | ||
1252 | if (!userExposed) | ||
1253 | dupe.PhysActor = null; | ||
1254 | |||
1255 | |||
1250 | dupe._ownerID = AgentID; | 1256 | dupe._ownerID = AgentID; |
1251 | dupe._groupID = GroupID; | 1257 | dupe._groupID = GroupID; |
1252 | dupe.GroupPosition = GroupPosition; | 1258 | dupe.GroupPosition = GroupPosition; |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 79a7519..0a461e9 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -24,7 +24,6 @@ | |||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | |||
28 | using System; | 27 | using System; |
29 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
30 | using System.Reflection; | 29 | using System.Reflection; |
@@ -118,6 +117,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
118 | private PhysicsActor _parent = null; | 117 | private PhysicsActor _parent = null; |
119 | private PhysicsActor m_taintparent = null; | 118 | private PhysicsActor m_taintparent = null; |
120 | 119 | ||
120 | private List<OdePrim> childrenPrim = new List<OdePrim>(); | ||
121 | |||
121 | private bool iscolliding = false; | 122 | private bool iscolliding = false; |
122 | private bool m_isphysical = false; | 123 | private bool m_isphysical = false; |
123 | private bool m_isSelected = false; | 124 | private bool m_isSelected = false; |
@@ -147,6 +148,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
147 | 148 | ||
148 | private IntPtr m_linkJoint = (IntPtr)0; | 149 | private IntPtr m_linkJoint = (IntPtr)0; |
149 | 150 | ||
151 | public volatile bool childPrim = false; | ||
152 | |||
150 | public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, | 153 | public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, |
151 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) | 154 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) |
152 | { | 155 | { |
@@ -161,10 +164,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
161 | m_density = parent_scene.geomDefaultDensity; | 164 | m_density = parent_scene.geomDefaultDensity; |
162 | m_tensor = parent_scene.bodyMotorJointMaxforceTensor; | 165 | m_tensor = parent_scene.bodyMotorJointMaxforceTensor; |
163 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | 166 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; |
164 | |||
165 | 167 | ||
166 | prim_geom = (IntPtr)0; | 168 | |
167 | prev_geom = (IntPtr)0; | 169 | prim_geom = IntPtr.Zero; |
170 | prev_geom = IntPtr.Zero; | ||
168 | 171 | ||
169 | if (size.X <= 0) size.X = 0.01f; | 172 | if (size.X <= 0) size.X = 0.01f; |
170 | if (size.Y <= 0) size.Y = 0.01f; | 173 | if (size.Y <= 0) size.Y = 0.01f; |
@@ -247,64 +250,83 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
247 | { | 250 | { |
248 | prev_geom = prim_geom; | 251 | prev_geom = prim_geom; |
249 | prim_geom = geom; | 252 | prim_geom = geom; |
250 | if (prim_geom != (IntPtr)0) | 253 | if (prim_geom != IntPtr.Zero) |
251 | { | 254 | { |
252 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 255 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
253 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 256 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
254 | } | 257 | } |
258 | |||
259 | if (childPrim) | ||
260 | { | ||
261 | if (_parent != null && _parent is OdePrim) | ||
262 | { | ||
263 | OdePrim parent = (OdePrim)_parent; | ||
264 | parent.ChildSetGeom(this); | ||
265 | } | ||
266 | } | ||
255 | //m_log.Warn("Setting Geom to: " + prim_geom); | 267 | //m_log.Warn("Setting Geom to: " + prim_geom); |
256 | } | 268 | } |
257 | 269 | ||
270 | |||
271 | |||
258 | public void enableBodySoft() | 272 | public void enableBodySoft() |
259 | { | 273 | { |
260 | if (m_isphysical && Body != (IntPtr)0) | 274 | if (!childPrim) |
261 | d.BodyEnable(Body); | 275 | { |
276 | if (m_isphysical && Body != IntPtr.Zero) | ||
277 | d.BodyEnable(Body); | ||
262 | 278 | ||
263 | m_disabled = false; | 279 | m_disabled = false; |
280 | } | ||
264 | } | 281 | } |
265 | 282 | ||
266 | public void disableBodySoft() | 283 | public void disableBodySoft() |
267 | { | 284 | { |
268 | m_disabled = true; | 285 | m_disabled = true; |
269 | 286 | ||
270 | if (m_isphysical && Body != (IntPtr)0) | 287 | if (m_isphysical && Body != IntPtr.Zero) |
271 | d.BodyDisable(Body); | 288 | d.BodyDisable(Body); |
272 | } | 289 | } |
273 | 290 | ||
274 | public void enableBody() | 291 | public void enableBody() |
275 | { | 292 | { |
276 | // Sets the geom to a body | 293 | // Don't enable this body if we're a child prim |
277 | Body = d.BodyCreate(_parent_scene.world); | 294 | // this should be taken care of in the parent function not here |
295 | if (!childPrim) | ||
296 | { | ||
297 | // Sets the geom to a body | ||
298 | Body = d.BodyCreate(_parent_scene.world); | ||
278 | 299 | ||
279 | setMass(); | 300 | setMass(); |
280 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); | 301 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); |
281 | d.Quaternion myrot = new d.Quaternion(); | 302 | d.Quaternion myrot = new d.Quaternion(); |
282 | myrot.X = _orientation.X; | 303 | myrot.X = _orientation.X; |
283 | myrot.Y = _orientation.Y; | 304 | myrot.Y = _orientation.Y; |
284 | myrot.Z = _orientation.Z; | 305 | myrot.Z = _orientation.Z; |
285 | myrot.W = _orientation.W; | 306 | myrot.W = _orientation.W; |
286 | d.BodySetQuaternion(Body, ref myrot); | 307 | d.BodySetQuaternion(Body, ref myrot); |
287 | d.GeomSetBody(prim_geom, Body); | 308 | d.GeomSetBody(prim_geom, Body); |
288 | m_collisionCategories |= CollisionCategories.Body; | 309 | m_collisionCategories |= CollisionCategories.Body; |
289 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 310 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
290 | 311 | ||
291 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 312 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
292 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 313 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
293 | 314 | ||
294 | d.BodySetAutoDisableFlag(Body, true); | 315 | d.BodySetAutoDisableFlag(Body, true); |
295 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | 316 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
296 | 317 | ||
297 | m_interpenetrationcount = 0; | 318 | m_interpenetrationcount = 0; |
298 | m_collisionscore = 0; | 319 | m_collisionscore = 0; |
299 | m_disabled = false; | 320 | m_disabled = false; |
300 | 321 | ||
301 | // The body doesn't already have a finite rotation mode set here | 322 | // The body doesn't already have a finite rotation mode set here |
302 | if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) | 323 | if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) |
303 | { | 324 | { |
304 | createAMotor(m_angularlock); | 325 | createAMotor(m_angularlock); |
305 | } | 326 | } |
306 | 327 | ||
307 | _parent_scene.addActivePrim(this); | 328 | _parent_scene.addActivePrim(this); |
329 | } | ||
308 | } | 330 | } |
309 | 331 | ||
310 | #region Mass Calculation | 332 | #region Mass Calculation |
@@ -627,20 +649,41 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
627 | //this kills the body so things like 'mesh' can re-create it. | 649 | //this kills the body so things like 'mesh' can re-create it. |
628 | lock (this) | 650 | lock (this) |
629 | { | 651 | { |
630 | if (Body != (IntPtr)0) | 652 | if (!childPrim) |
653 | { | ||
654 | if (Body != IntPtr.Zero) | ||
655 | { | ||
656 | _parent_scene.remActivePrim(this); | ||
657 | |||
658 | m_collisionCategories &= ~CollisionCategories.Body; | ||
659 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | ||
660 | |||
661 | if (prim_geom != IntPtr.Zero) | ||
662 | { | ||
663 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
664 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
665 | } | ||
666 | |||
667 | |||
668 | d.BodyDestroy(Body); | ||
669 | Body = IntPtr.Zero; | ||
670 | } | ||
671 | } | ||
672 | else | ||
631 | { | 673 | { |
674 | _parent_scene.remActivePrim(this); | ||
675 | |||
632 | m_collisionCategories &= ~CollisionCategories.Body; | 676 | m_collisionCategories &= ~CollisionCategories.Body; |
633 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 677 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
634 | 678 | ||
635 | if (prim_geom != (IntPtr)0) | 679 | if (prim_geom != IntPtr.Zero) |
636 | { | 680 | { |
637 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 681 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
638 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 682 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
639 | } | 683 | } |
640 | 684 | ||
641 | _parent_scene.remActivePrim(this); | 685 | |
642 | d.BodyDestroy(Body); | 686 | Body = IntPtr.Zero; |
643 | Body = (IntPtr)0; | ||
644 | } | 687 | } |
645 | } | 688 | } |
646 | m_disabled = true; | 689 | m_disabled = true; |
@@ -655,9 +698,20 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
655 | Thread.Sleep(10); | 698 | Thread.Sleep(10); |
656 | 699 | ||
657 | //Kill Body so that mesh can re-make the geom | 700 | //Kill Body so that mesh can re-make the geom |
658 | if (IsPhysical && Body != (IntPtr) 0) | 701 | if (IsPhysical && Body != IntPtr.Zero) |
659 | { | 702 | { |
660 | disableBody(); | 703 | if (childPrim) |
704 | { | ||
705 | if (_parent != null) | ||
706 | { | ||
707 | OdePrim parent = (OdePrim)_parent; | ||
708 | parent.ChildDelink(this); | ||
709 | } | ||
710 | } | ||
711 | else | ||
712 | { | ||
713 | disableBody(); | ||
714 | } | ||
661 | } | 715 | } |
662 | 716 | ||
663 | IMesh oldMesh = primMesh; | 717 | IMesh oldMesh = primMesh; |
@@ -682,7 +736,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
682 | 736 | ||
683 | try | 737 | try |
684 | { | 738 | { |
685 | if (prim_geom == (IntPtr)0) | 739 | if (prim_geom == IntPtr.Zero) |
686 | { | 740 | { |
687 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); | 741 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); |
688 | } | 742 | } |
@@ -715,7 +769,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
715 | { | 769 | { |
716 | changeadd(timestep); | 770 | changeadd(timestep); |
717 | } | 771 | } |
718 | if (prim_geom != (IntPtr)0) | 772 | if (prim_geom != IntPtr.Zero) |
719 | { | 773 | { |
720 | if (!_position.IsIdentical(m_taintposition,0f)) | 774 | if (!_position.IsIdentical(m_taintposition,0f)) |
721 | changemove(timestep); | 775 | changemove(timestep); |
@@ -724,7 +778,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
724 | rotate(timestep); | 778 | rotate(timestep); |
725 | // | 779 | // |
726 | 780 | ||
727 | if (m_taintPhysics != m_isphysical) | 781 | if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) |
728 | changePhysicsStatus(timestep); | 782 | changePhysicsStatus(timestep); |
729 | // | 783 | // |
730 | 784 | ||
@@ -783,7 +837,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
783 | if (Amotor != IntPtr.Zero) | 837 | if (Amotor != IntPtr.Zero) |
784 | { | 838 | { |
785 | d.JointDestroy(Amotor); | 839 | d.JointDestroy(Amotor); |
786 | Amotor = (IntPtr)0; | 840 | Amotor = IntPtr.Zero; |
787 | } | 841 | } |
788 | } | 842 | } |
789 | } | 843 | } |
@@ -794,11 +848,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
794 | 848 | ||
795 | private void changelink(float timestep) | 849 | private void changelink(float timestep) |
796 | { | 850 | { |
851 | // If the newly set parent is not null | ||
852 | // create link | ||
797 | if (_parent == null && m_taintparent != null) | 853 | if (_parent == null && m_taintparent != null) |
798 | { | 854 | { |
799 | if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) | 855 | if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) |
800 | { | 856 | { |
801 | OdePrim obj = (OdePrim)m_taintparent; | 857 | OdePrim obj = (OdePrim)m_taintparent; |
858 | //obj.disableBody(); | ||
859 | |||
860 | obj.ParentPrim(this); | ||
861 | |||
862 | /* | ||
802 | if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body) | 863 | if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body) |
803 | { | 864 | { |
804 | _linkJointGroup = d.JointGroupCreate(0); | 865 | _linkJointGroup = d.JointGroupCreate(0); |
@@ -806,18 +867,245 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
806 | d.JointAttach(m_linkJoint, obj.Body, Body); | 867 | d.JointAttach(m_linkJoint, obj.Body, Body); |
807 | d.JointSetFixed(m_linkJoint); | 868 | d.JointSetFixed(m_linkJoint); |
808 | } | 869 | } |
870 | */ | ||
809 | } | 871 | } |
810 | } | 872 | } |
873 | // If the newly set parent is null | ||
874 | // destroy link | ||
811 | else if (_parent != null && m_taintparent == null) | 875 | else if (_parent != null && m_taintparent == null) |
812 | { | 876 | { |
813 | if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) | 877 | if (_parent is OdePrim) |
878 | { | ||
879 | OdePrim obj = (OdePrim)_parent; | ||
880 | obj.ChildDelink(this); | ||
881 | childPrim = false; | ||
882 | //_parent = null; | ||
883 | } | ||
884 | |||
885 | /* | ||
886 | if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) | ||
814 | d.JointGroupDestroy(_linkJointGroup); | 887 | d.JointGroupDestroy(_linkJointGroup); |
815 | 888 | ||
816 | _linkJointGroup = (IntPtr)0; | 889 | _linkJointGroup = (IntPtr)0; |
817 | m_linkJoint = (IntPtr)0; | 890 | m_linkJoint = (IntPtr)0; |
891 | */ | ||
818 | } | 892 | } |
819 | 893 | ||
820 | _parent = m_taintparent; | 894 | _parent = m_taintparent; |
895 | m_taintPhysics = m_isphysical; | ||
896 | } | ||
897 | |||
898 | // I'm the parent | ||
899 | // prim is the child | ||
900 | public void ParentPrim(OdePrim prim) | ||
901 | { | ||
902 | if (this.m_localID != prim.m_localID) | ||
903 | { | ||
904 | if (Body == IntPtr.Zero) | ||
905 | { | ||
906 | Body = d.BodyCreate(_parent_scene.world); | ||
907 | } | ||
908 | if (Body != IntPtr.Zero) | ||
909 | { | ||
910 | lock (childrenPrim) | ||
911 | { | ||
912 | if (!childrenPrim.Contains(prim)) | ||
913 | { | ||
914 | childrenPrim.Add(prim); | ||
915 | |||
916 | foreach (OdePrim prm in childrenPrim) | ||
917 | { | ||
918 | d.Mass m2; | ||
919 | d.MassSetZero(out m2); | ||
920 | d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); | ||
921 | |||
922 | |||
923 | d.Quaternion quat = new d.Quaternion(); | ||
924 | quat.W = prm._orientation.W; | ||
925 | quat.X = prm._orientation.X; | ||
926 | quat.Y = prm._orientation.Y; | ||
927 | quat.Z = prm._orientation.Z; | ||
928 | |||
929 | d.Matrix3 mat = new d.Matrix3(); | ||
930 | d.RfromQ(out mat, ref quat); | ||
931 | d.MassRotate(out m2, ref mat); | ||
932 | d.MassTranslate(out m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); | ||
933 | d.MassAdd(ref pMass, ref m2); | ||
934 | } | ||
935 | foreach (OdePrim prm in childrenPrim) | ||
936 | { | ||
937 | prm.m_collisionCategories |= CollisionCategories.Body; | ||
938 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | ||
939 | |||
940 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); | ||
941 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); | ||
942 | |||
943 | |||
944 | d.Quaternion quat = new d.Quaternion(); | ||
945 | quat.W = prm._orientation.W; | ||
946 | quat.X = prm._orientation.X; | ||
947 | quat.Y = prm._orientation.Y; | ||
948 | quat.Z = prm._orientation.Z; | ||
949 | |||
950 | d.Matrix3 mat = new d.Matrix3(); | ||
951 | d.RfromQ(out mat, ref quat); | ||
952 | if (Body != IntPtr.Zero) | ||
953 | { | ||
954 | d.GeomSetBody(prm.prim_geom, Body); | ||
955 | prm.childPrim = true; | ||
956 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); | ||
957 | //d.GeomSetOffsetPosition(prim.prim_geom, | ||
958 | // (Position.X - prm.Position.X) - pMass.c.X, | ||
959 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | ||
960 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | ||
961 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); | ||
962 | //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); | ||
963 | d.MassTranslate(out pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
964 | d.BodySetMass(Body, ref pMass); | ||
965 | } | ||
966 | else | ||
967 | { | ||
968 | m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body"); | ||
969 | } | ||
970 | |||
971 | |||
972 | prm.m_interpenetrationcount = 0; | ||
973 | prm.m_collisionscore = 0; | ||
974 | prm.m_disabled = false; | ||
975 | |||
976 | // The body doesn't already have a finite rotation mode set here | ||
977 | if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) | ||
978 | { | ||
979 | prm.createAMotor(m_angularlock); | ||
980 | } | ||
981 | prm.Body = Body; | ||
982 | _parent_scene.addActivePrim(prm); | ||
983 | } | ||
984 | |||
985 | m_collisionCategories |= CollisionCategories.Body; | ||
986 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | ||
987 | |||
988 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | ||
989 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | ||
990 | |||
991 | |||
992 | d.Quaternion quat2 = new d.Quaternion(); | ||
993 | quat2.W = _orientation.W; | ||
994 | quat2.X = _orientation.X; | ||
995 | quat2.Y = _orientation.Y; | ||
996 | quat2.Z = _orientation.Z; | ||
997 | |||
998 | d.Matrix3 mat2 = new d.Matrix3(); | ||
999 | d.RfromQ(out mat2, ref quat2); | ||
1000 | d.GeomSetBody(prim_geom, Body); | ||
1001 | d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); | ||
1002 | //d.GeomSetOffsetPosition(prim.prim_geom, | ||
1003 | // (Position.X - prm.Position.X) - pMass.c.X, | ||
1004 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | ||
1005 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | ||
1006 | //d.GeomSetOffsetRotation(prim_geom, ref mat2); | ||
1007 | d.MassTranslate(out pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1008 | d.BodySetMass(Body, ref pMass); | ||
1009 | |||
1010 | d.BodySetAutoDisableFlag(Body, true); | ||
1011 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | ||
1012 | |||
1013 | |||
1014 | m_interpenetrationcount = 0; | ||
1015 | m_collisionscore = 0; | ||
1016 | m_disabled = false; | ||
1017 | |||
1018 | // The body doesn't already have a finite rotation mode set here | ||
1019 | if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) | ||
1020 | { | ||
1021 | createAMotor(m_angularlock); | ||
1022 | } | ||
1023 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); | ||
1024 | |||
1025 | _parent_scene.addActivePrim(this); | ||
1026 | } | ||
1027 | } | ||
1028 | } | ||
1029 | } | ||
1030 | |||
1031 | } | ||
1032 | |||
1033 | private void ChildSetGeom(OdePrim odePrim) | ||
1034 | { | ||
1035 | //if (m_isphysical && Body != IntPtr.Zero) | ||
1036 | lock (childrenPrim) | ||
1037 | { | ||
1038 | foreach (OdePrim prm in childrenPrim) | ||
1039 | { | ||
1040 | //prm.childPrim = true; | ||
1041 | prm.disableBody(); | ||
1042 | //prm.m_taintparent = null; | ||
1043 | //prm._parent = null; | ||
1044 | //prm.m_taintPhysics = false; | ||
1045 | //prm.m_disabled = true; | ||
1046 | //prm.childPrim = false; | ||
1047 | } | ||
1048 | } | ||
1049 | disableBody(); | ||
1050 | |||
1051 | |||
1052 | if (Body != IntPtr.Zero) | ||
1053 | { | ||
1054 | _parent_scene.remActivePrim(this); | ||
1055 | } | ||
1056 | |||
1057 | lock (childrenPrim) | ||
1058 | { | ||
1059 | foreach (OdePrim prm in childrenPrim) | ||
1060 | { | ||
1061 | ParentPrim(prm); | ||
1062 | } | ||
1063 | } | ||
1064 | |||
1065 | } | ||
1066 | |||
1067 | private void ChildDelink(OdePrim odePrim) | ||
1068 | { | ||
1069 | // Okay, we have a delinked child.. need to rebuild the body. | ||
1070 | lock (childrenPrim) | ||
1071 | { | ||
1072 | foreach (OdePrim prm in childrenPrim) | ||
1073 | { | ||
1074 | prm.childPrim = true; | ||
1075 | prm.disableBody(); | ||
1076 | //prm.m_taintparent = null; | ||
1077 | //prm._parent = null; | ||
1078 | //prm.m_taintPhysics = false; | ||
1079 | //prm.m_disabled = true; | ||
1080 | //prm.childPrim = false; | ||
1081 | } | ||
1082 | } | ||
1083 | disableBody(); | ||
1084 | |||
1085 | lock (childrenPrim) | ||
1086 | { | ||
1087 | childrenPrim.Remove(odePrim); | ||
1088 | } | ||
1089 | |||
1090 | |||
1091 | |||
1092 | |||
1093 | if (Body != IntPtr.Zero) | ||
1094 | { | ||
1095 | _parent_scene.remActivePrim(this); | ||
1096 | } | ||
1097 | |||
1098 | |||
1099 | |||
1100 | lock (childrenPrim) | ||
1101 | { | ||
1102 | foreach (OdePrim prm in childrenPrim) | ||
1103 | { | ||
1104 | ParentPrim(prm); | ||
1105 | } | ||
1106 | } | ||
1107 | |||
1108 | |||
821 | } | 1109 | } |
822 | 1110 | ||
823 | private void changeSelectedStatus(float timestep) | 1111 | private void changeSelectedStatus(float timestep) |
@@ -837,7 +1125,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
837 | disableBodySoft(); | 1125 | disableBodySoft(); |
838 | } | 1126 | } |
839 | 1127 | ||
840 | if (prim_geom != (IntPtr)0) | 1128 | if (prim_geom != IntPtr.Zero) |
841 | { | 1129 | { |
842 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1130 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
843 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1131 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
@@ -862,7 +1150,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
862 | if (m_collidesWater) | 1150 | if (m_collidesWater) |
863 | m_collisionFlags |= CollisionCategories.Water; | 1151 | m_collisionFlags |= CollisionCategories.Water; |
864 | 1152 | ||
865 | if (prim_geom != (IntPtr)0) | 1153 | if (prim_geom != IntPtr.Zero) |
866 | { | 1154 | { |
867 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1155 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
868 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1156 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
@@ -993,7 +1281,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
993 | { | 1281 | { |
994 | CreateGeom(m_targetSpace, _mesh); | 1282 | CreateGeom(m_targetSpace, _mesh); |
995 | 1283 | ||
996 | if (prim_geom != (IntPtr) 0) | 1284 | if (prim_geom != IntPtr.Zero) |
997 | { | 1285 | { |
998 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 1286 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
999 | d.Quaternion myrot = new d.Quaternion(); | 1287 | d.Quaternion myrot = new d.Quaternion(); |
@@ -1004,7 +1292,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1004 | d.GeomSetQuaternion(prim_geom, ref myrot); | 1292 | d.GeomSetQuaternion(prim_geom, ref myrot); |
1005 | } | 1293 | } |
1006 | 1294 | ||
1007 | if (m_isphysical && Body == (IntPtr)0) | 1295 | if (m_isphysical && Body == IntPtr.Zero) |
1008 | { | 1296 | { |
1009 | enableBody(); | 1297 | enableBody(); |
1010 | } | 1298 | } |
@@ -1023,16 +1311,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1023 | if (m_isphysical) | 1311 | if (m_isphysical) |
1024 | { | 1312 | { |
1025 | // This is a fallback.. May no longer be necessary. | 1313 | // This is a fallback.. May no longer be necessary. |
1026 | if (Body == (IntPtr) 0) | 1314 | if (Body == IntPtr.Zero) |
1027 | enableBody(); | 1315 | enableBody(); |
1028 | //Prim auto disable after 20 frames, | 1316 | //Prim auto disable after 20 frames, |
1029 | //if you move it, re-enable the prim manually. | 1317 | //if you move it, re-enable the prim manually. |
1030 | if (_parent != null) | 1318 | if (_parent != null) |
1031 | { | 1319 | { |
1032 | if (m_linkJoint != (IntPtr)0) | 1320 | if (m_linkJoint != IntPtr.Zero) |
1033 | { | 1321 | { |
1034 | d.JointDestroy(m_linkJoint); | 1322 | d.JointDestroy(m_linkJoint); |
1035 | m_linkJoint = (IntPtr)0; | 1323 | m_linkJoint = IntPtr.Zero; |
1036 | } | 1324 | } |
1037 | } | 1325 | } |
1038 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); | 1326 | d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); |
@@ -1058,7 +1346,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1058 | m_targetSpace = tempspace; | 1346 | m_targetSpace = tempspace; |
1059 | 1347 | ||
1060 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1348 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1061 | if (prim_geom != (IntPtr) 0) | 1349 | if (prim_geom != IntPtr.Zero) |
1062 | { | 1350 | { |
1063 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 1351 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); |
1064 | 1352 | ||
@@ -1079,7 +1367,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1079 | float fy = 0; | 1367 | float fy = 0; |
1080 | float fz = 0; | 1368 | float fz = 0; |
1081 | 1369 | ||
1082 | if (IsPhysical && Body != (IntPtr)0 && !m_isSelected) | 1370 | if (IsPhysical && Body != IntPtr.Zero && !m_isSelected) |
1083 | { | 1371 | { |
1084 | //float PID_P = 900.0f; | 1372 | //float PID_P = 900.0f; |
1085 | 1373 | ||
@@ -1201,7 +1489,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1201 | myrot.Z = _orientation.Z; | 1489 | myrot.Z = _orientation.Z; |
1202 | myrot.W = _orientation.W; | 1490 | myrot.W = _orientation.W; |
1203 | d.GeomSetQuaternion(prim_geom, ref myrot); | 1491 | d.GeomSetQuaternion(prim_geom, ref myrot); |
1204 | if (m_isphysical && Body != (IntPtr) 0) | 1492 | if (m_isphysical && Body != IntPtr.Zero) |
1205 | { | 1493 | { |
1206 | d.BodySetQuaternion(Body, ref myrot); | 1494 | d.BodySetQuaternion(Body, ref myrot); |
1207 | if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) | 1495 | if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) |
@@ -1222,10 +1510,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1222 | public void changedisable(float timestep) | 1510 | public void changedisable(float timestep) |
1223 | { | 1511 | { |
1224 | m_disabled = true; | 1512 | m_disabled = true; |
1225 | if (Body != (IntPtr)0) | 1513 | if (Body != IntPtr.Zero) |
1226 | { | 1514 | { |
1227 | d.BodyDisable(Body); | 1515 | d.BodyDisable(Body); |
1228 | Body = (IntPtr)0; | 1516 | Body = IntPtr.Zero; |
1229 | } | 1517 | } |
1230 | 1518 | ||
1231 | m_taintdisable = false; | 1519 | m_taintdisable = false; |
@@ -1235,7 +1523,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1235 | { | 1523 | { |
1236 | if (m_isphysical == true) | 1524 | if (m_isphysical == true) |
1237 | { | 1525 | { |
1238 | if (Body == (IntPtr)0) | 1526 | if (Body == IntPtr.Zero) |
1239 | { | 1527 | { |
1240 | if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) | 1528 | if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) |
1241 | { | 1529 | { |
@@ -1249,7 +1537,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1249 | } | 1537 | } |
1250 | else | 1538 | else |
1251 | { | 1539 | { |
1252 | if (Body != (IntPtr)0) | 1540 | if (Body != IntPtr.Zero) |
1253 | { | 1541 | { |
1254 | if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) | 1542 | if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) |
1255 | { | 1543 | { |
@@ -1272,7 +1560,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1272 | 1560 | ||
1273 | changeadd(2f); | 1561 | changeadd(2f); |
1274 | } | 1562 | } |
1275 | disableBody(); | 1563 | if (childPrim) |
1564 | { | ||
1565 | if (_parent != null) | ||
1566 | { | ||
1567 | OdePrim parent = (OdePrim)_parent; | ||
1568 | parent.ChildDelink(this); | ||
1569 | } | ||
1570 | } | ||
1571 | else | ||
1572 | { | ||
1573 | disableBody(); | ||
1574 | } | ||
1276 | } | 1575 | } |
1277 | } | 1576 | } |
1278 | 1577 | ||
@@ -1301,9 +1600,20 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1301 | // Cleanup meshing here | 1600 | // Cleanup meshing here |
1302 | } | 1601 | } |
1303 | //kill body to rebuild | 1602 | //kill body to rebuild |
1304 | if (IsPhysical && Body != (IntPtr)0) | 1603 | if (IsPhysical && Body != IntPtr.Zero) |
1305 | { | 1604 | { |
1306 | disableBody(); | 1605 | if (childPrim) |
1606 | { | ||
1607 | if (_parent != null) | ||
1608 | { | ||
1609 | OdePrim parent = (OdePrim)_parent; | ||
1610 | parent.ChildDelink(this); | ||
1611 | } | ||
1612 | } | ||
1613 | else | ||
1614 | { | ||
1615 | disableBody(); | ||
1616 | } | ||
1307 | } | 1617 | } |
1308 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | 1618 | if (d.SpaceQuery(m_targetSpace, prim_geom)) |
1309 | { | 1619 | { |
@@ -1311,7 +1621,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1311 | d.SpaceRemove(m_targetSpace, prim_geom); | 1621 | d.SpaceRemove(m_targetSpace, prim_geom); |
1312 | } | 1622 | } |
1313 | d.GeomDestroy(prim_geom); | 1623 | d.GeomDestroy(prim_geom); |
1314 | prim_geom = (IntPtr)0; | 1624 | prim_geom = IntPtr.Zero; |
1315 | // we don't need to do space calculation because the client sends a position update also. | 1625 | // we don't need to do space calculation because the client sends a position update also. |
1316 | 1626 | ||
1317 | // Construction of new prim | 1627 | // Construction of new prim |
@@ -1349,7 +1659,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1349 | d.GeomSetQuaternion(prim_geom, ref myrot); | 1659 | d.GeomSetQuaternion(prim_geom, ref myrot); |
1350 | 1660 | ||
1351 | //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); | 1661 | //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); |
1352 | if (IsPhysical && Body == (IntPtr)0) | 1662 | if (IsPhysical && Body == IntPtr.Zero && !childPrim) |
1353 | { | 1663 | { |
1354 | // Re creates body on size. | 1664 | // Re creates body on size. |
1355 | // EnableBody also does setMass() | 1665 | // EnableBody also does setMass() |
@@ -1360,7 +1670,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1360 | _parent_scene.geom_name_map[prim_geom] = oldname; | 1670 | _parent_scene.geom_name_map[prim_geom] = oldname; |
1361 | 1671 | ||
1362 | changeSelectedStatus(timestamp); | 1672 | changeSelectedStatus(timestamp); |
1363 | 1673 | if (childPrim) | |
1674 | { | ||
1675 | if (_parent is OdePrim) | ||
1676 | { | ||
1677 | OdePrim parent = (OdePrim)_parent; | ||
1678 | parent.ChildSetGeom(this); | ||
1679 | } | ||
1680 | } | ||
1364 | resetCollisionAccounting(); | 1681 | resetCollisionAccounting(); |
1365 | m_taintsize = _size; | 1682 | m_taintsize = _size; |
1366 | } | 1683 | } |
@@ -1541,7 +1858,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1541 | { | 1858 | { |
1542 | m_collidesWater = m_taintCollidesWater; | 1859 | m_collidesWater = m_taintCollidesWater; |
1543 | 1860 | ||
1544 | if (prim_geom != (IntPtr)0) | 1861 | if (prim_geom != IntPtr.Zero) |
1545 | { | 1862 | { |
1546 | if (m_collidesWater) | 1863 | if (m_collidesWater) |
1547 | { | 1864 | { |
@@ -1560,9 +1877,20 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1560 | string oldname = _parent_scene.geom_name_map[prim_geom]; | 1877 | string oldname = _parent_scene.geom_name_map[prim_geom]; |
1561 | 1878 | ||
1562 | // Cleanup of old prim geometry and Bodies | 1879 | // Cleanup of old prim geometry and Bodies |
1563 | if (IsPhysical && Body != (IntPtr) 0) | 1880 | if (IsPhysical && Body != IntPtr.Zero) |
1564 | { | 1881 | { |
1565 | disableBody(); | 1882 | if (childPrim) |
1883 | { | ||
1884 | if (_parent != null) | ||
1885 | { | ||
1886 | OdePrim parent = (OdePrim)_parent; | ||
1887 | parent.ChildDelink(this); | ||
1888 | } | ||
1889 | } | ||
1890 | else | ||
1891 | { | ||
1892 | disableBody(); | ||
1893 | } | ||
1566 | } | 1894 | } |
1567 | try | 1895 | try |
1568 | { | 1896 | { |
@@ -1573,7 +1901,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1573 | prim_geom = IntPtr.Zero; | 1901 | prim_geom = IntPtr.Zero; |
1574 | m_log.Error("[PHYSICS]: PrimGeom dead"); | 1902 | m_log.Error("[PHYSICS]: PrimGeom dead"); |
1575 | } | 1903 | } |
1576 | prim_geom = (IntPtr) 0; | 1904 | prim_geom = IntPtr.Zero; |
1577 | // we don't need to do space calculation because the client sends a position update also. | 1905 | // we don't need to do space calculation because the client sends a position update also. |
1578 | if (_size.X <= 0) _size.X = 0.01f; | 1906 | if (_size.X <= 0) _size.X = 0.01f; |
1579 | if (_size.Y <= 0) _size.Y = 0.01f; | 1907 | if (_size.Y <= 0) _size.Y = 0.01f; |
@@ -1608,7 +1936,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1608 | d.GeomSetQuaternion(prim_geom, ref myrot); | 1936 | d.GeomSetQuaternion(prim_geom, ref myrot); |
1609 | 1937 | ||
1610 | //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); | 1938 | //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); |
1611 | if (IsPhysical && Body == (IntPtr)0) | 1939 | if (IsPhysical && Body == IntPtr.Zero) |
1612 | { | 1940 | { |
1613 | // Re creates body on size. | 1941 | // Re creates body on size. |
1614 | // EnableBody also does setMass() | 1942 | // EnableBody also does setMass() |
@@ -1618,7 +1946,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1618 | _parent_scene.geom_name_map[prim_geom] = oldname; | 1946 | _parent_scene.geom_name_map[prim_geom] = oldname; |
1619 | 1947 | ||
1620 | changeSelectedStatus(timestamp); | 1948 | changeSelectedStatus(timestamp); |
1621 | 1949 | if (childPrim) | |
1950 | { | ||
1951 | if (_parent is OdePrim) | ||
1952 | { | ||
1953 | OdePrim parent = (OdePrim)_parent; | ||
1954 | parent.ChildSetGeom(this); | ||
1955 | } | ||
1956 | } | ||
1622 | resetCollisionAccounting(); | 1957 | resetCollisionAccounting(); |
1623 | m_taintshape = false; | 1958 | m_taintshape = false; |
1624 | } | 1959 | } |
@@ -1658,7 +1993,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1658 | Thread.Sleep(20); | 1993 | Thread.Sleep(20); |
1659 | if (IsPhysical) | 1994 | if (IsPhysical) |
1660 | { | 1995 | { |
1661 | if (Body != (IntPtr)0) | 1996 | if (Body != IntPtr.Zero) |
1662 | { | 1997 | { |
1663 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); | 1998 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); |
1664 | } | 1999 | } |
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index 0dab05c..a50c5ae 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | |||
@@ -24,6 +24,7 @@ | |||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | //#define USE_DRAWSTUFF | ||
27 | 28 | ||
28 | using System; | 29 | using System; |
29 | using System.Collections.Generic; | 30 | using System.Collections.Generic; |
@@ -34,6 +35,9 @@ using System.IO; | |||
34 | using log4net; | 35 | using log4net; |
35 | using Nini.Config; | 36 | using Nini.Config; |
36 | using Ode.NET; | 37 | using Ode.NET; |
38 | #if USE_DRAWSTUFF | ||
39 | using Drawstuff.NET; | ||
40 | #endif | ||
37 | using OpenSim.Framework; | 41 | using OpenSim.Framework; |
38 | using OpenSim.Region.Physics.Manager; | 42 | using OpenSim.Region.Physics.Manager; |
39 | using OpenMetaverse; | 43 | using OpenMetaverse; |
@@ -257,6 +261,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
257 | public int physics_logging_interval = 0; | 261 | public int physics_logging_interval = 0; |
258 | public bool physics_logging_append_existing_logfile = false; | 262 | public bool physics_logging_append_existing_logfile = false; |
259 | 263 | ||
264 | public d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f); | ||
265 | public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); | ||
266 | |||
260 | /// <summary> | 267 | /// <summary> |
261 | /// Initiailizes the scene | 268 | /// Initiailizes the scene |
262 | /// Sets many properties that ODE requires to be stable | 269 | /// Sets many properties that ODE requires to be stable |
@@ -280,6 +287,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
280 | //contactgroup | 287 | //contactgroup |
281 | 288 | ||
282 | d.WorldSetAutoDisableFlag(world, false); | 289 | d.WorldSetAutoDisableFlag(world, false); |
290 | #if USE_DRAWSTUFF | ||
291 | |||
292 | Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization)); | ||
293 | viewthread.Start(); | ||
294 | #endif | ||
283 | } | 295 | } |
284 | 296 | ||
285 | // zero out a heightmap array float array (single dimention [flattened])) | 297 | // zero out a heightmap array float array (single dimention [flattened])) |
@@ -290,6 +302,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
290 | // we can hit test less. | 302 | // we can hit test less. |
291 | } | 303 | } |
292 | 304 | ||
305 | #if USE_DRAWSTUFF | ||
306 | public void startvisualization(object o) | ||
307 | { | ||
308 | ds.Functions fn; | ||
309 | fn.version = ds.VERSION; | ||
310 | fn.start = new ds.CallbackFunction(start); | ||
311 | fn.step = new ds.CallbackFunction(step); | ||
312 | fn.command = new ds.CallbackFunction(command); | ||
313 | fn.stop = null; | ||
314 | fn.path_to_textures = "./textures"; | ||
315 | string[] args = new string[0]; | ||
316 | ds.SimulationLoop(args.Length, args, 352, 288, ref fn); | ||
317 | } | ||
318 | #endif | ||
319 | |||
293 | // Initialize the mesh plugin | 320 | // Initialize the mesh plugin |
294 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | 321 | public override void Initialise(IMesher meshmerizer, IConfigSource config) |
295 | { | 322 | { |
@@ -787,6 +814,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
787 | _perloopContact.Add(contacts[i]); | 814 | _perloopContact.Add(contacts[i]); |
788 | joint = d.JointCreateContact(world, contactgroup, ref TerrainContact); | 815 | joint = d.JointCreateContact(world, contactgroup, ref TerrainContact); |
789 | } | 816 | } |
817 | //if (p2.PhysicsActorType == (int)ActorTypes.Prim) | ||
818 | //{ | ||
819 | //m_log.Debug("[PHYSICS]: prim contacting with ground"); | ||
820 | //} | ||
790 | } | 821 | } |
791 | else if (name1 == "Water" || name2 == "Water") | 822 | else if (name1 == "Water" || name2 == "Water") |
792 | { | 823 | { |
@@ -1137,7 +1168,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1137 | List<OdePrim> removeprims = null; | 1168 | List<OdePrim> removeprims = null; |
1138 | foreach (OdePrim chr in _activeprims) | 1169 | foreach (OdePrim chr in _activeprims) |
1139 | { | 1170 | { |
1140 | if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) | 1171 | if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) |
1141 | { | 1172 | { |
1142 | try | 1173 | try |
1143 | { | 1174 | { |
@@ -1243,7 +1274,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1243 | { | 1274 | { |
1244 | newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode); | 1275 | newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode); |
1245 | 1276 | ||
1246 | _prims.Add(newPrim); | 1277 | lock (_prims) |
1278 | _prims.Add(newPrim); | ||
1247 | } | 1279 | } |
1248 | 1280 | ||
1249 | return newPrim; | 1281 | return newPrim; |
@@ -1252,8 +1284,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1252 | public void addActivePrim(OdePrim activatePrim) | 1284 | public void addActivePrim(OdePrim activatePrim) |
1253 | { | 1285 | { |
1254 | // adds active prim.. (ones that should be iterated over in collisions_optimized | 1286 | // adds active prim.. (ones that should be iterated over in collisions_optimized |
1255 | 1287 | lock (_activeprims) | |
1256 | _activeprims.Add(activatePrim); | 1288 | { |
1289 | if (!_activeprims.Contains(activatePrim)) | ||
1290 | _activeprims.Add(activatePrim); | ||
1291 | //else | ||
1292 | // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); | ||
1293 | } | ||
1257 | } | 1294 | } |
1258 | 1295 | ||
1259 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, | 1296 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, |
@@ -1334,6 +1371,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1334 | if (prim.IsPhysical) | 1371 | if (prim.IsPhysical) |
1335 | { | 1372 | { |
1336 | prim.disableBody(); | 1373 | prim.disableBody(); |
1374 | if (prim.childPrim) | ||
1375 | { | ||
1376 | prim.childPrim = false; | ||
1377 | prim.Body = IntPtr.Zero; | ||
1378 | prim.m_disabled = true; | ||
1379 | prim.IsPhysical = false; | ||
1380 | } | ||
1381 | |||
1382 | |||
1337 | } | 1383 | } |
1338 | // we don't want to remove the main space | 1384 | // we don't want to remove the main space |
1339 | 1385 | ||
@@ -1376,6 +1422,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1376 | { | 1422 | { |
1377 | m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed."); | 1423 | m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed."); |
1378 | } | 1424 | } |
1425 | lock (_prims) | ||
1379 | _prims.Remove(prim); | 1426 | _prims.Remove(prim); |
1380 | 1427 | ||
1381 | //If there are no more geometries in the sub-space, we don't need it in the main space anymore | 1428 | //If there are no more geometries in the sub-space, we don't need it in the main space anymore |
@@ -2376,9 +2423,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2376 | { | 2423 | { |
2377 | lock (OdeLock) | 2424 | lock (OdeLock) |
2378 | { | 2425 | { |
2379 | foreach (OdePrim prm in _prims) | 2426 | lock (_prims) |
2380 | { | 2427 | { |
2381 | RemovePrim(prm); | 2428 | foreach (OdePrim prm in _prims) |
2429 | { | ||
2430 | RemovePrim(prm); | ||
2431 | } | ||
2382 | } | 2432 | } |
2383 | 2433 | ||
2384 | //foreach (OdeCharacter act in _characters) | 2434 | //foreach (OdeCharacter act in _characters) |
@@ -2411,5 +2461,126 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2411 | } | 2461 | } |
2412 | return returncolliders; | 2462 | return returncolliders; |
2413 | } | 2463 | } |
2464 | #if USE_DRAWSTUFF | ||
2465 | // Keyboard callback | ||
2466 | public void command(int cmd) | ||
2467 | { | ||
2468 | IntPtr geom; | ||
2469 | d.Mass mass; | ||
2470 | d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f); | ||
2471 | |||
2472 | |||
2473 | |||
2474 | Char ch = Char.ToLower((Char)cmd); | ||
2475 | switch ((Char)ch) | ||
2476 | { | ||
2477 | case 'w': | ||
2478 | Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD)); | ||
2479 | |||
2480 | xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z; | ||
2481 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2482 | break; | ||
2483 | |||
2484 | case 'a': | ||
2485 | hpr.X++; | ||
2486 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2487 | break; | ||
2488 | |||
2489 | case 's': | ||
2490 | Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD)); | ||
2491 | |||
2492 | xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z; | ||
2493 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2494 | break; | ||
2495 | case 'd': | ||
2496 | hpr.X--; | ||
2497 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2498 | break; | ||
2499 | case 'r': | ||
2500 | xyz.Z++; | ||
2501 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2502 | break; | ||
2503 | case 'f': | ||
2504 | xyz.Z--; | ||
2505 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2506 | break; | ||
2507 | case 'e': | ||
2508 | xyz.Y++; | ||
2509 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2510 | break; | ||
2511 | case 'q': | ||
2512 | xyz.Y--; | ||
2513 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2514 | break; | ||
2515 | } | ||
2516 | } | ||
2517 | |||
2518 | public void step(int pause) | ||
2519 | { | ||
2520 | |||
2521 | ds.SetColor(1.0f, 1.0f, 0.0f); | ||
2522 | ds.SetTexture(ds.Texture.Wood); | ||
2523 | lock (_prims) | ||
2524 | { | ||
2525 | foreach (OdePrim prm in _prims) | ||
2526 | { | ||
2527 | //IntPtr body = d.GeomGetBody(prm.prim_geom); | ||
2528 | if (prm.prim_geom != IntPtr.Zero) | ||
2529 | { | ||
2530 | d.Vector3 pos; | ||
2531 | d.GeomCopyPosition(prm.prim_geom, out pos); | ||
2532 | //d.BodyCopyPosition(body, out pos); | ||
2533 | |||
2534 | d.Matrix3 R; | ||
2535 | d.GeomCopyRotation(prm.prim_geom, out R); | ||
2536 | //d.BodyCopyRotation(body, out R); | ||
2537 | |||
2538 | |||
2539 | d.Vector3 sides = new d.Vector3(); | ||
2540 | sides.X = prm.Size.X; | ||
2541 | sides.Y = prm.Size.Y; | ||
2542 | sides.Z = prm.Size.Z; | ||
2543 | |||
2544 | ds.DrawBox(ref pos, ref R, ref sides); | ||
2545 | } | ||
2546 | } | ||
2547 | } | ||
2548 | ds.SetColor(1.0f, 0.0f, 0.0f); | ||
2549 | lock (_characters) | ||
2550 | { | ||
2551 | foreach (OdeCharacter chr in _characters) | ||
2552 | { | ||
2553 | if (chr.Shell != IntPtr.Zero) | ||
2554 | { | ||
2555 | IntPtr body = d.GeomGetBody(chr.Shell); | ||
2556 | |||
2557 | d.Vector3 pos; | ||
2558 | d.GeomCopyPosition(chr.Shell, out pos); | ||
2559 | //d.BodyCopyPosition(body, out pos); | ||
2560 | |||
2561 | d.Matrix3 R; | ||
2562 | d.GeomCopyRotation(chr.Shell, out R); | ||
2563 | //d.BodyCopyRotation(body, out R); | ||
2564 | |||
2565 | ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f); | ||
2566 | d.Vector3 sides = new d.Vector3(); | ||
2567 | sides.X = 0.5f; | ||
2568 | sides.Y = 0.5f; | ||
2569 | sides.Z = 0.5f; | ||
2570 | |||
2571 | ds.DrawBox(ref pos, ref R, ref sides); | ||
2572 | |||
2573 | |||
2574 | } | ||
2575 | } | ||
2576 | } | ||
2577 | } | ||
2578 | |||
2579 | public void start(int unused) | ||
2580 | { | ||
2581 | |||
2582 | ds.SetViewpoint(ref xyz, ref hpr); | ||
2583 | } | ||
2584 | #endif | ||
2414 | } | 2585 | } |
2415 | } | 2586 | } |
diff --git a/OpenSim/Region/Physics/OdePlugin/drawstuff.cs b/OpenSim/Region/Physics/OdePlugin/drawstuff.cs new file mode 100644 index 0000000..73afe12 --- /dev/null +++ b/OpenSim/Region/Physics/OdePlugin/drawstuff.cs | |||
@@ -0,0 +1,98 @@ | |||
1 | /* | ||
2 | * Copyright ODE | ||
3 | * Ode.NET - .NET bindings for ODE | ||
4 | * Jason Perkins (starkos@industriousone.com) | ||
5 | * Licensed under the New BSD | ||
6 | * Part of the OpenDynamicsEngine | ||
7 | Open Dynamics Engine | ||
8 | Copyright (c) 2001-2007, Russell L. Smith. | ||
9 | All rights reserved. | ||
10 | |||
11 | Redistribution and use in source and binary forms, with or without | ||
12 | modification, are permitted provided that the following conditions | ||
13 | are met: | ||
14 | |||
15 | Redistributions of source code must retain the above copyright notice, | ||
16 | this list of conditions and the following disclaimer. | ||
17 | |||
18 | Redistributions in binary form must reproduce the above copyright notice, | ||
19 | this list of conditions and the following disclaimer in the documentation | ||
20 | and/or other materials provided with the distribution. | ||
21 | |||
22 | Neither the names of ODE's copyright owner nor the names of its | ||
23 | contributors may be used to endorse or promote products derived from | ||
24 | this software without specific prior written permission. | ||
25 | |||
26 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
27 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
28 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
29 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
30 | OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
31 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED | ||
32 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR | ||
33 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF | ||
34 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING | ||
35 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
36 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
37 | * | ||
38 | * | ||
39 | */ | ||
40 | |||
41 | using System; | ||
42 | using System.Runtime.InteropServices; | ||
43 | using Ode.NET; | ||
44 | |||
45 | namespace Drawstuff.NET | ||
46 | { | ||
47 | #if dDOUBLE | ||
48 | using dReal = System.Double; | ||
49 | #else | ||
50 | using dReal = System.Single; | ||
51 | #endif | ||
52 | |||
53 | public static class ds | ||
54 | { | ||
55 | public const int VERSION = 2; | ||
56 | |||
57 | public enum Texture | ||
58 | { | ||
59 | None, | ||
60 | Wood | ||
61 | } | ||
62 | |||
63 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
64 | public delegate void CallbackFunction(int arg); | ||
65 | |||
66 | [StructLayout(LayoutKind.Sequential)] | ||
67 | public struct Functions | ||
68 | { | ||
69 | public int version; | ||
70 | public CallbackFunction start; | ||
71 | public CallbackFunction step; | ||
72 | public CallbackFunction command; | ||
73 | public CallbackFunction stop; | ||
74 | public string path_to_textures; | ||
75 | } | ||
76 | |||
77 | [DllImport("drawstuff", EntryPoint = "dsDrawBox")] | ||
78 | public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides); | ||
79 | |||
80 | [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")] | ||
81 | public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius); | ||
82 | |||
83 | [DllImport("drawstuff", EntryPoint = "dsDrawConvex")] | ||
84 | public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); | ||
85 | |||
86 | [DllImport("drawstuff", EntryPoint = "dsSetColor")] | ||
87 | public static extern void SetColor(float red, float green, float blue); | ||
88 | |||
89 | [DllImport("drawstuff", EntryPoint = "dsSetTexture")] | ||
90 | public static extern void SetTexture(Texture texture); | ||
91 | |||
92 | [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")] | ||
93 | public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr); | ||
94 | |||
95 | [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")] | ||
96 | public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn); | ||
97 | } | ||
98 | } \ No newline at end of file | ||